1 | /* |
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2 | Bullet Continuous Collision Detection and Physics Library |
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3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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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 | |
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16 | |
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17 | #include "btTypedConstraint.h" |
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18 | #include "BulletDynamics/Dynamics/btRigidBody.h" |
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19 | #include "LinearMath/btSerializer.h" |
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20 | |
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21 | |
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22 | #define DEFAULT_DEBUGDRAW_SIZE btScalar(0.3f) |
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23 | |
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24 | btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA) |
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25 | :btTypedObject(type), |
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26 | m_userConstraintType(-1), |
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27 | m_userConstraintId(-1), |
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28 | m_needsFeedback(false), |
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29 | m_rbA(rbA), |
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30 | m_rbB(getFixedBody()), |
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31 | m_appliedImpulse(btScalar(0.)), |
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32 | m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE), |
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33 | m_breakingImpulseThreshold(SIMD_INFINITY), |
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34 | m_isEnabled(true) |
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35 | { |
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36 | } |
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37 | |
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38 | |
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39 | btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB) |
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40 | :btTypedObject(type), |
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41 | m_userConstraintType(-1), |
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42 | m_userConstraintId(-1), |
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43 | m_needsFeedback(false), |
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44 | m_rbA(rbA), |
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45 | m_rbB(rbB), |
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46 | m_appliedImpulse(btScalar(0.)), |
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47 | m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE), |
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48 | m_breakingImpulseThreshold(SIMD_INFINITY), |
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49 | m_isEnabled(true) |
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50 | { |
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51 | } |
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52 | |
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53 | |
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54 | |
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55 | |
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56 | btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact) |
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57 | { |
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58 | if(lowLim > uppLim) |
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59 | { |
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60 | return btScalar(1.0f); |
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61 | } |
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62 | else if(lowLim == uppLim) |
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63 | { |
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64 | return btScalar(0.0f); |
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65 | } |
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66 | btScalar lim_fact = btScalar(1.0f); |
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67 | btScalar delta_max = vel / timeFact; |
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68 | if(delta_max < btScalar(0.0f)) |
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69 | { |
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70 | if((pos >= lowLim) && (pos < (lowLim - delta_max))) |
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71 | { |
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72 | lim_fact = (lowLim - pos) / delta_max; |
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73 | } |
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74 | else if(pos < lowLim) |
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75 | { |
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76 | lim_fact = btScalar(0.0f); |
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77 | } |
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78 | else |
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79 | { |
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80 | lim_fact = btScalar(1.0f); |
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81 | } |
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82 | } |
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83 | else if(delta_max > btScalar(0.0f)) |
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84 | { |
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85 | if((pos <= uppLim) && (pos > (uppLim - delta_max))) |
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86 | { |
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87 | lim_fact = (uppLim - pos) / delta_max; |
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88 | } |
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89 | else if(pos > uppLim) |
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90 | { |
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91 | lim_fact = btScalar(0.0f); |
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92 | } |
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93 | else |
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94 | { |
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95 | lim_fact = btScalar(1.0f); |
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96 | } |
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97 | } |
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98 | else |
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99 | { |
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100 | lim_fact = btScalar(0.0f); |
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101 | } |
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102 | return lim_fact; |
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103 | } |
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104 | |
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105 | ///fills the dataBuffer and returns the struct name (and 0 on failure) |
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106 | const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* serializer) const |
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107 | { |
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108 | btTypedConstraintData* tcd = (btTypedConstraintData*) dataBuffer; |
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109 | |
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110 | tcd->m_rbA = (btRigidBodyData*)serializer->getUniquePointer(&m_rbA); |
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111 | tcd->m_rbB = (btRigidBodyData*)serializer->getUniquePointer(&m_rbB); |
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112 | char* name = (char*) serializer->findNameForPointer(this); |
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113 | tcd->m_name = (char*)serializer->getUniquePointer(name); |
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114 | if (tcd->m_name) |
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115 | { |
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116 | serializer->serializeName(name); |
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117 | } |
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118 | |
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119 | tcd->m_objectType = m_objectType; |
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120 | tcd->m_needsFeedback = m_needsFeedback; |
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121 | tcd->m_userConstraintId =m_userConstraintId; |
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122 | tcd->m_userConstraintType =m_userConstraintType; |
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123 | |
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124 | tcd->m_appliedImpulse = float(m_appliedImpulse); |
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125 | tcd->m_dbgDrawSize = float(m_dbgDrawSize ); |
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126 | |
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127 | tcd->m_disableCollisionsBetweenLinkedBodies = false; |
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128 | |
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129 | int i; |
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130 | for (i=0;i<m_rbA.getNumConstraintRefs();i++) |
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131 | if (m_rbA.getConstraintRef(i) == this) |
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132 | tcd->m_disableCollisionsBetweenLinkedBodies = true; |
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133 | for (i=0;i<m_rbB.getNumConstraintRefs();i++) |
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134 | if (m_rbB.getConstraintRef(i) == this) |
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135 | tcd->m_disableCollisionsBetweenLinkedBodies = true; |
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136 | |
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137 | return "btTypedConstraintData"; |
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138 | } |
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139 | |
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140 | btRigidBody& btTypedConstraint::getFixedBody() |
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141 | { |
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142 | static btRigidBody s_fixed(0, 0,0); |
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143 | s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.))); |
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144 | return s_fixed; |
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145 | } |
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146 | |
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147 | |
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148 | void btAngularLimit::set(btScalar low, btScalar high, btScalar _softness, btScalar _biasFactor, btScalar _relaxationFactor) |
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149 | { |
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150 | m_halfRange = (high - low) / 2.0f; |
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151 | m_center = btNormalizeAngle(low + m_halfRange); |
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152 | m_softness = _softness; |
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153 | m_biasFactor = _biasFactor; |
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154 | m_relaxationFactor = _relaxationFactor; |
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155 | } |
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156 | |
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157 | void btAngularLimit::test(const btScalar angle) |
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158 | { |
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159 | m_correction = 0.0f; |
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160 | m_sign = 0.0f; |
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161 | m_solveLimit = false; |
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162 | |
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163 | if (m_halfRange >= 0.0f) |
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164 | { |
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165 | btScalar deviation = btNormalizeAngle(angle - m_center); |
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166 | if (deviation < -m_halfRange) |
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167 | { |
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168 | m_solveLimit = true; |
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169 | m_correction = - (deviation + m_halfRange); |
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170 | m_sign = +1.0f; |
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171 | } |
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172 | else if (deviation > m_halfRange) |
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173 | { |
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174 | m_solveLimit = true; |
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175 | m_correction = m_halfRange - deviation; |
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176 | m_sign = -1.0f; |
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177 | } |
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178 | } |
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179 | } |
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180 | |
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181 | |
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182 | btScalar btAngularLimit::getError() const |
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183 | { |
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184 | return m_correction * m_sign; |
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185 | } |
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186 | |
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187 | void btAngularLimit::fit(btScalar& angle) const |
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188 | { |
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189 | if (m_halfRange > 0.0f) |
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190 | { |
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191 | btScalar relativeAngle = btNormalizeAngle(angle - m_center); |
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192 | if (!btEqual(relativeAngle, m_halfRange)) |
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193 | { |
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194 | if (relativeAngle > 0.0f) |
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195 | { |
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196 | angle = getHigh(); |
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197 | } |
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198 | else |
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199 | { |
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200 | angle = getLow(); |
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201 | } |
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202 | } |
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203 | } |
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204 | } |
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205 | |
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206 | btScalar btAngularLimit::getLow() const |
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207 | { |
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208 | return btNormalizeAngle(m_center - m_halfRange); |
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209 | } |
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210 | |
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211 | btScalar btAngularLimit::getHigh() const |
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212 | { |
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213 | return btNormalizeAngle(m_center + m_halfRange); |
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214 | } |
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