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dgregorius: added accumulated impulse and function for computation of angles around each constraint axis as preparation for angular limits...

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dondickied
2006-06-24 19:32:23 +00:00
parent 2eed545a70
commit 3cf1fb3646
2 changed files with 105 additions and 23 deletions
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16
BulletDynamics/ConstraintSolver/Generic6DofConstraint.h
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@@ -33,12 +33,14 @@ class Generic6DofConstraint : public TypedConstraint
JacobianEntry m_jac[3]; // 3 orthogonal linear constraints
JacobianEntry m_jacAng[3]; // 3 orthogonal angular constraints
SimdTransform m_frameInA; // the constraint space w.r.t body A
SimdTransform m_frameInB; // the constraint space w.r.t body B
SimdScalar m_lowerLimit[6]; // the constraint lower limits
SimdScalar m_upperLimit[6]; // the constraint upper limits
SimdScalar m_accumulatedLinearImpulse[3];
SimdScalar m_accumulatedAngularImpulse[3];
SimdScalar m_angularLowerLimit[3]; // the constraint lower limits
SimdScalar m_angularUpperLimit[3]; // the constraint upper limits
public:
@@ -52,6 +54,14 @@ public:
void UpdateRHS(SimdScalar timeStep);
SimdScalar ComputeAngle(int axis) const;
void SetAngularLimit(int axis, SimdScalar lo, SimdScalar hi)
{
m_angularLowerLimit[axis] = lo;
m_angularUpperLimit[axis] = hi;
}
const RigidBody& GetRigidBodyA() const
{
return m_rbA;