added quickstep improvements, to allow for constraints (point to point etc).

Thanks Francisco Leon/projectileman
2007-09-13 07:44:05 +00:00
parent 7f5823ee16
commit 0bf8124668
6 changed files with 1043 additions and 352 deletions
--- a/Extras/quickstep/OdeTypedJoint.h
+++ b/Extras/quickstep/OdeTypedJoint.h
@@ -0,0 +1,111 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+/*
+2007-09-09
+Added support for typed joints by Francisco Le<4C>n
+email: projectileman@yahoo.com
+http://gimpact.sf.net
+*/
+
+#ifndef TYPED_JOINT_H
+#define TYPED_JOINT_H
+
+#include "OdeJoint.h"
+#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
+
+struct OdeSolverBody;
+
+class OdeTypedJoint : public BU_Joint
+{
+public:
+	btTypedConstraint * m_constraint;
+	int		m_index;
+	bool	m_swapBodies;
+	OdeSolverBody* m_body0;
+	OdeSolverBody* m_body1;
+
+	OdeTypedJoint(){}
+	OdeTypedJoint(
+		btTypedConstraint * constraint,
+		int index,bool swap,OdeSolverBody* body0,OdeSolverBody* body1):
+			m_constraint(constraint),
+			m_index(index),
+			m_swapBodies(swap),
+			m_body0(body0),
+			m_body1(body1)
+	{
+	}
+
+	virtual void GetInfo1(Info1 *info);
+	virtual void GetInfo2(Info2 *info);
+};
+
+
+
+class OdeP2PJoint : public OdeTypedJoint
+{
+protected:
+	inline btPoint2PointConstraint * getP2PConstraint()
+	{
+		return static_cast<btPoint2PointConstraint * >(m_constraint);
+	}
+public:
+
+	OdeP2PJoint() {};
+
+	OdeP2PJoint(btTypedConstraint* constraint,int index,bool swap,OdeSolverBody* body0,OdeSolverBody* body1);
+
+	//BU_Joint interface for solver
+
+	virtual void GetInfo1(Info1 *info);
+
+	virtual void GetInfo2(Info2 *info);
+};
+
+
+class OdeD6Joint : public OdeTypedJoint
+{
+protected:
+	inline btGeneric6DofConstraint * getD6Constraint()
+	{
+		return static_cast<btGeneric6DofConstraint * >(m_constraint);
+	}
+
+	int setLinearLimits(Info2 *info);
+	int setAngularLimits(Info2 *info, int row_offset);
+
+public:
+
+	OdeD6Joint() {};
+
+	OdeD6Joint(btTypedConstraint* constraint,int index,bool swap,OdeSolverBody* body0,OdeSolverBody* body1);
+
+	//BU_Joint interface for solver
+
+	virtual void GetInfo1(Info1 *info);
+
+	virtual void GetInfo2(Info2 *info);
+};
+
+//! retrieves the constraint info from a btRotationalLimitMotor object
+/*! \pre testLimitValue must be called on limot*/
+int bt_get_limit_motor_info2(
+	btRotationalLimitMotor * limot,
+	btRigidBody * body0, btRigidBody * body1,
+	BU_Joint::Info2 *info, int row, btVector3 ax1, int rotational);
+
+#endif //CONTACT_JOINT_H
+