[1963] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | btConeTwistConstraint is Copyright (c) 2007 Starbreeze Studios |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | |
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| 15 | Written by: Marcus Hennix |
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| 16 | */ |
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| 17 | |
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| 18 | |
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| 19 | |
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| 20 | #ifndef CONETWISTCONSTRAINT_H |
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| 21 | #define CONETWISTCONSTRAINT_H |
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| 22 | |
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| 23 | #include "../../LinearMath/btVector3.h" |
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| 24 | #include "btJacobianEntry.h" |
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| 25 | #include "btTypedConstraint.h" |
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| 26 | |
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| 27 | class btRigidBody; |
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| 28 | |
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| 29 | |
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| 30 | ///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc) |
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| 31 | class btConeTwistConstraint : public btTypedConstraint |
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| 32 | { |
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| 33 | #ifdef IN_PARALLELL_SOLVER |
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| 34 | public: |
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| 35 | #endif |
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| 36 | btJacobianEntry m_jac[3]; //3 orthogonal linear constraints |
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| 37 | |
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| 38 | btTransform m_rbAFrame; |
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| 39 | btTransform m_rbBFrame; |
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| 40 | |
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| 41 | btScalar m_limitSoftness; |
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| 42 | btScalar m_biasFactor; |
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| 43 | btScalar m_relaxationFactor; |
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| 44 | |
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| 45 | btScalar m_swingSpan1; |
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| 46 | btScalar m_swingSpan2; |
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| 47 | btScalar m_twistSpan; |
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| 48 | |
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| 49 | btVector3 m_swingAxis; |
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| 50 | btVector3 m_twistAxis; |
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| 51 | |
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| 52 | btScalar m_kSwing; |
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| 53 | btScalar m_kTwist; |
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| 54 | |
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| 55 | btScalar m_twistLimitSign; |
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| 56 | btScalar m_swingCorrection; |
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| 57 | btScalar m_twistCorrection; |
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| 58 | |
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| 59 | btScalar m_accSwingLimitImpulse; |
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| 60 | btScalar m_accTwistLimitImpulse; |
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| 61 | |
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| 62 | bool m_angularOnly; |
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| 63 | bool m_solveTwistLimit; |
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| 64 | bool m_solveSwingLimit; |
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| 65 | |
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| 66 | |
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| 67 | public: |
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| 68 | |
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| 69 | btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame); |
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| 70 | |
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| 71 | btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame); |
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| 72 | |
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| 73 | btConeTwistConstraint(); |
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| 74 | |
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| 75 | virtual void buildJacobian(); |
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| 76 | |
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| 77 | virtual void solveConstraint(btScalar timeStep); |
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| 78 | |
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| 79 | void updateRHS(btScalar timeStep); |
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| 80 | |
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| 81 | const btRigidBody& getRigidBodyA() const |
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| 82 | { |
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| 83 | return m_rbA; |
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| 84 | } |
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| 85 | const btRigidBody& getRigidBodyB() const |
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| 86 | { |
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| 87 | return m_rbB; |
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| 88 | } |
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| 89 | |
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| 90 | void setAngularOnly(bool angularOnly) |
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| 91 | { |
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| 92 | m_angularOnly = angularOnly; |
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| 93 | } |
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| 94 | |
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| 95 | void setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 0.8f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f) |
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| 96 | { |
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| 97 | m_swingSpan1 = _swingSpan1; |
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| 98 | m_swingSpan2 = _swingSpan2; |
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| 99 | m_twistSpan = _twistSpan; |
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| 100 | |
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| 101 | m_limitSoftness = _softness; |
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| 102 | m_biasFactor = _biasFactor; |
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| 103 | m_relaxationFactor = _relaxationFactor; |
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| 104 | } |
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| 105 | |
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| 106 | const btTransform& getAFrame() { return m_rbAFrame; }; |
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| 107 | const btTransform& getBFrame() { return m_rbBFrame; }; |
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| 108 | |
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| 109 | inline int getSolveTwistLimit() |
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| 110 | { |
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| 111 | return m_solveTwistLimit; |
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| 112 | } |
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| 113 | |
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| 114 | inline int getSolveSwingLimit() |
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| 115 | { |
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| 116 | return m_solveTwistLimit; |
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| 117 | } |
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| 118 | |
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| 119 | inline btScalar getTwistLimitSign() |
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| 120 | { |
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| 121 | return m_twistLimitSign; |
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| 122 | } |
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| 123 | |
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| 124 | }; |
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| 125 | |
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| 126 | #endif //CONETWISTCONSTRAINT_H |
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