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add btHingeAccumulatedAngleConstraint derived from btHingeConstraint,

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that exposes a new method getAccumulatedHingeAngle
See also https://github.com/bulletphysics/bullet3/issues/42
This commit is contained in:
Erwin Coumans
2014-07-30 16:13:34 -07:00
parent 97fc144134
commit 1d00d91707
2 changed files with 91 additions and 0 deletions
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38
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
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@@ -236,6 +236,7 @@ public:
}
///The getHingeAngle gives the hinge angle in range [-PI,PI]
btScalar getHingeAngle();
btScalar getHingeAngle(const btTransform& transA,const btTransform& transB);
@@ -326,6 +327,43 @@ struct btHingeConstraintDoubleData
};
#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
///The getAccumulatedHingeAngle returns the accumulated hinge angle, taking rotation across the -PI/PI boundary into account
ATTRIBUTE_ALIGNED16(class) btHingeAccumulatedAngleConstraint : public btHingeConstraint
{
protected:
btScalar m_accumulatedAngle;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btHingeAccumulatedAngleConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA = false)
:btHingeConstraint(rbA,rbB,pivotInA,pivotInB, axisInA,axisInB, useReferenceFrameA )
{
m_accumulatedAngle=getHingeAngle();
}
btHingeAccumulatedAngleConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA = false)
:btHingeConstraint(rbA,pivotInA,axisInA, useReferenceFrameA)
{
m_accumulatedAngle=getHingeAngle();
}
btHingeAccumulatedAngleConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false)
:btHingeConstraint(rbA,rbB, rbAFrame, rbBFrame, useReferenceFrameA )
{
m_accumulatedAngle=getHingeAngle();
}
btHingeAccumulatedAngleConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false)
:btHingeConstraint(rbA,rbAFrame, useReferenceFrameA )
{
m_accumulatedAngle=getHingeAngle();
}
btScalar getAccumulatedHingeAngle();
void setAccumulatedHingeAngle(btScalar accAngle);
virtual void getInfo1 (btConstraintInfo1* info);
};
struct btHingeConstraintFloatData
{