Changeset 2908 for code/branches/questsystem5/src/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h

Timestamp:

Apr 8, 2009, 12:58:47 AM (16 years ago)

Author:

dafrick

Message:

Reverted to revision 2906 (because I'm too stupid to merge correctly, 2nd try will follow shortly. )

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;
@@ -61 +57 @@
         btScalar        m_twistCorrection;
 
-        btScalar        m_twistAngle;
-
         btScalar        m_accSwingLimitImpulse;
         btScalar        m_accTwistLimitImpulse;
@@ -70 +64 @@
         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:
@@ -94 +75 @@
         virtual void    buildJacobian();
 
-        virtual void getInfo1 (btConstraintInfo1* info);
-        
-        virtual void getInfo2 (btConstraintInfo2* info);
-        
-
-        virtual void    solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar        timeStep);
+        virtual void    solveConstraint(btScalar        timeStep);
 
         void    updateRHS(btScalar      timeStep);
@@ -117 +93 @@
         }
 
-        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)
+        void    setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan,  btScalar _softness = 0.8f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
         {
                 m_swingSpan1 = _swingSpan1;
@@ -171 +122 @@
         }
 
-        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;
 };