Changeset 2907 for code/branches/questsystem5/src/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.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/btHingeConstraint.h (modified) (4 diffs)

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

@@ -54 +54 @@
 
         btScalar        m_accLimitImpulse;
+        btScalar        m_hingeAngle;
+        btScalar    m_referenceSign;
 
         bool            m_angularOnly;
         bool            m_enableAngularMotor;
         bool            m_solveLimit;
+        bool            m_useSolveConstraintObsolete;
+        bool            m_useReferenceFrameA;
 
         
 public:
 
-        btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB);
+        btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB, bool useReferenceFrameA = false);
 
-        btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA);
+        btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA, bool useReferenceFrameA = false);
         
-        btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame);
+        btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false);
 
-        btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
+        btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false);
 
         btHingeConstraint();
@@ -74 +78 @@
         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);
@@ -87 +95 @@
         }
 
+        btRigidBody& getRigidBodyA()    
+        {               
+                return m_rbA;   
+        }       
+
+        btRigidBody& getRigidBodyB()    
+        {               
+                return m_rbB;   
+        }       
+        
         void    setAngularOnly(bool angularOnly)
         {
@@ -123 +141 @@
         btScalar getHingeAngle();
 
+        void testLimit();
+
 
         const btTransform& getAFrame() { return m_rbAFrame; };