Changeset 2907 for code/branches/questsystem5/src/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h

Timestamp:

Apr 8, 2009, 12:36:08 AM (16 years ago)

Author:

dafrick

Message:

Merging of the current QuestSystem branch.

Location:

code/branches/questsystem5

Files:

• . (modified) (1 prop)
• src/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h (modified) (6 diffs)

code/branches/questsystem5/src/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h

@@ -43 +43 @@
         btScalar        m_relaxationFactor;
 
+        btScalar        m_damping;
+
         btScalar        m_swingSpan1;
         btScalar        m_swingSpan2;
         btScalar        m_twistSpan;
 
+        btScalar        m_fixThresh;
+
         btVector3   m_swingAxis;
         btVector3       m_twistAxis;
@@ -57 +61 @@
         btScalar        m_twistCorrection;
 
+        btScalar        m_twistAngle;
+
         btScalar        m_accSwingLimitImpulse;
         btScalar        m_accTwistLimitImpulse;
@@ -64 +70 @@
         bool            m_solveSwingLimit;
 
+        bool    m_useSolveConstraintObsolete;
+
+        // not yet used...
+        btScalar        m_swingLimitRatio;
+        btScalar        m_twistLimitRatio;
+        btVector3   m_twistAxisA;
+
+        // motor
+        bool             m_bMotorEnabled;
+        bool             m_bNormalizedMotorStrength;
+        btQuaternion m_qTarget;
+        btScalar         m_maxMotorImpulse;
+        btVector3        m_accMotorImpulse;
         
 public:
@@ -75 +94 @@
         virtual void    buildJacobian();
 
-        virtual void    solveConstraint(btScalar        timeStep);
+        virtual void getInfo1 (btConstraintInfo1* info);
+        
+        virtual void getInfo2 (btConstraintInfo2* info);
+        
+
+        virtual void    solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar        timeStep);
 
         void    updateRHS(btScalar      timeStep);
@@ -93 +117 @@
         }
 
-        void    setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan,  btScalar _softness = 0.8f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
+        void    setLimit(int limitIndex,btScalar limitValue)
+        {
+                switch (limitIndex)
+                {
+                case 3:
+                        {
+                                m_twistSpan = limitValue;
+                                break;
+                        }
+                case 4:
+                        {
+                                m_swingSpan2 = limitValue;
+                                break;
+                        }
+                case 5:
+                        {
+                                m_swingSpan1 = limitValue;
+                                break;
+                        }
+                default:
+                        {
+                        }
+                };
+        }
+
+        void    setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan,  btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
         {
                 m_swingSpan1 = _swingSpan1;
@@ -122 +171 @@
         }
 
+        void calcAngleInfo();
+        void calcAngleInfo2();
+
+        inline btScalar getSwingSpan1()
+        {
+                return m_swingSpan1;
+        }
+        inline btScalar getSwingSpan2()
+        {
+                return m_swingSpan2;
+        }
+        inline btScalar getTwistSpan()
+        {
+                return m_twistSpan;
+        }
+        inline btScalar getTwistAngle()
+        {
+                return m_twistAngle;
+        }
+        bool isPastSwingLimit() { return m_solveSwingLimit; }
+
+
+        void setDamping(btScalar damping) { m_damping = damping; }
+
+        void enableMotor(bool b) { m_bMotorEnabled = b; }
+        void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; }
+        void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; }
+
+        btScalar getFixThresh() { return m_fixThresh; }
+        void setFixThresh(btScalar fixThresh) { m_fixThresh = fixThresh; }
+
+        // setMotorTarget:
+        // q: the desired rotation of bodyA wrt bodyB.
+        // note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability)
+        // note: don't forget to enableMotor()
+        void setMotorTarget(const btQuaternion &q);
+
+        // same as above, but q is the desired rotation of frameA wrt frameB in constraint space
+        void setMotorTargetInConstraintSpace(const btQuaternion &q);
+
+        btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const;
+
+
+
+protected:
+        void init();
+
+        void computeConeLimitInfo(const btQuaternion& qCone, // in
+                btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs
+
+        void computeTwistLimitInfo(const btQuaternion& qTwist, // in
+                btScalar& twistAngle, btVector3& vTwistAxis); // all outs
+
+        void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const;
 };