Planet
navi homePPSaboutscreenshotsdownloaddevelopmentforum

source: code/branches/MouseAPI_FS19/src/external/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp

Last change on this file was 8351, checked in by rgrieder, 14 years ago

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

  • *Support for Mac OS X*
  • Visual Studio 2010 support
  • Bullet library update to 2.77
  • OIS library update to 1.3
  • Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
  • Improved install target
  • Compiles now with GCC 4.6
  • Ogre Cg Shader plugin activated for Linux if available
  • And of course lots of bug fixes

There are also some regressions:

  • No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
  • In game console is not working in main menu for CEGUI 0.7
  • Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
  • And of course lots of new bugs we don't yet know about
  • Property svn:eol-style set to native
File size: 3.0 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
3Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16
17
18#include "btHinge2Constraint.h"
19#include "BulletDynamics/Dynamics/btRigidBody.h"
20#include "LinearMath/btTransformUtil.h"
21
22
23
24// constructor
25// anchor, axis1 and axis2 are in world coordinate system
26// axis1 must be orthogonal to axis2
27btHinge2Constraint::btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
28: btGeneric6DofSpringConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
29 m_anchor(anchor),
30 m_axis1(axis1),
31 m_axis2(axis2)
32{
33        // build frame basis
34        // 6DOF constraint uses Euler angles and to define limits
35        // it is assumed that rotational order is :
36        // Z - first, allowed limits are (-PI,PI);
37        // new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
38        // used to prevent constraint from instability on poles;
39        // new position of X, allowed limits are (-PI,PI);
40        // So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
41        // Build the frame in world coordinate system first
42        btVector3 zAxis = axis1.normalize();
43        btVector3 xAxis = axis2.normalize();
44        btVector3 yAxis = zAxis.cross(xAxis); // we want right coordinate system
45        btTransform frameInW;
46        frameInW.setIdentity();
47        frameInW.getBasis().setValue(   xAxis[0], yAxis[0], zAxis[0],   
48                                                                        xAxis[1], yAxis[1], zAxis[1],
49                                                                        xAxis[2], yAxis[2], zAxis[2]);
50        frameInW.setOrigin(anchor);
51        // now get constraint frame in local coordinate systems
52        m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
53        m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
54        // sei limits
55        setLinearLowerLimit(btVector3(0.f, 0.f, -1.f));
56        setLinearUpperLimit(btVector3(0.f, 0.f,  1.f));
57        // like front wheels of a car
58        setAngularLowerLimit(btVector3(1.f,  0.f, -SIMD_HALF_PI * 0.5f)); 
59        setAngularUpperLimit(btVector3(-1.f, 0.f,  SIMD_HALF_PI * 0.5f));
60        // enable suspension
61        enableSpring(2, true);
62        setStiffness(2, SIMD_PI * SIMD_PI * 4.f); // period 1 sec for 1 kilogramm weel :-)
63        setDamping(2, 0.01f);
64        setEquilibriumPoint();
65}
66
Note: See TracBrowser for help on using the repository browser.