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Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp | 87 |
1 files changed, 0 insertions, 87 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp deleted file mode 100644 index b009f41aec..0000000000 --- a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp +++ /dev/null @@ -1,87 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org -Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - - - -#include "btUniversalConstraint.h" -#include "BulletDynamics/Dynamics/btRigidBody.h" -#include "LinearMath/btTransformUtil.h" - - - -#define UNIV_EPS btScalar(0.01f) - - -// constructor -// anchor, axis1 and axis2 are in world coordinate system -// axis1 must be orthogonal to axis2 -btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2) -: btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true), - m_anchor(anchor), - m_axis1(axis1), - m_axis2(axis2) -{ - // build frame basis - // 6DOF constraint uses Euler angles and to define limits - // it is assumed that rotational order is : - // Z - first, allowed limits are (-PI,PI); - // new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number - // used to prevent constraint from instability on poles; - // new position of X, allowed limits are (-PI,PI); - // So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs - // Build the frame in world coordinate system first - btVector3 zAxis = m_axis1.normalize(); - btVector3 yAxis = m_axis2.normalize(); - btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system - btTransform frameInW; - frameInW.setIdentity(); - frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0], - xAxis[1], yAxis[1], zAxis[1], - xAxis[2], yAxis[2], zAxis[2]); - frameInW.setOrigin(anchor); - // now get constraint frame in local coordinate systems - m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW; - m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW; - // sei limits - setLinearLowerLimit(btVector3(0., 0., 0.)); - setLinearUpperLimit(btVector3(0., 0., 0.)); - setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI + UNIV_EPS, -SIMD_PI + UNIV_EPS)); - setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI - UNIV_EPS, SIMD_PI - UNIV_EPS)); -} - -void btUniversalConstraint::setAxis(const btVector3& axis1,const btVector3& axis2) -{ - m_axis1 = axis1; - m_axis2 = axis2; - - btVector3 zAxis = axis1.normalized(); - btVector3 yAxis = axis2.normalized(); - btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system - - btTransform frameInW; - frameInW.setIdentity(); - frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0], - xAxis[1], yAxis[1], zAxis[1], - xAxis[2], yAxis[2], zAxis[2]); - frameInW.setOrigin(m_anchor); - - // now get constraint frame in local coordinate systems - m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW; - m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW; - - calculateTransforms(); -} - - |