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Added linear and angular motors for the slider constraint

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This commit is contained in:
rponom
2008-05-23 22:52:51 +00:00
parent a1578accac
commit 6141a55f09
9 changed files with 839 additions and 131 deletions
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44
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -14,7 +14,7 @@ subject to the following restrictions:
*/
/*
2007-09-09
Refactored by Francisco Le<EFBFBD>n
Refactored by Francisco Le?n
email: projectileman@yahoo.com
http://gimpact.sf.net
*/
@@ -199,12 +199,15 @@ btScalar btTranslationalLimitMotor::solveLinearAxis(
btRigidBody& body1,const btVector3 &pointInA,
btRigidBody& body2,const btVector3 &pointInB,
int limit_index,
const btVector3 & axis_normal_on_a)
const btVector3 & axis_normal_on_a,
const btVector3 & anchorPos)
{
///find relative velocity
btVector3 rel_pos1 = pointInA - body1.getCenterOfMassPosition();
btVector3 rel_pos2 = pointInB - body2.getCenterOfMassPosition();
// btVector3 rel_pos1 = pointInA - body1.getCenterOfMassPosition();
// btVector3 rel_pos2 = pointInB - body2.getCenterOfMassPosition();
btVector3 rel_pos1 = anchorPos - body1.getCenterOfMassPosition();
btVector3 rel_pos2 = anchorPos - body2.getCenterOfMassPosition();
btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
@@ -390,12 +393,15 @@ void btGeneric6DofConstraint::buildJacobian()
//calculates transform
calculateTransforms();
const btVector3& pivotAInW = m_calculatedTransformA.getOrigin();
const btVector3& pivotBInW = m_calculatedTransformB.getOrigin();
// const btVector3& pivotAInW = m_calculatedTransformA.getOrigin();
// const btVector3& pivotBInW = m_calculatedTransformB.getOrigin();
calcAnchorPos();
btVector3 pivotAInW = m_AnchorPos;
btVector3 pivotBInW = m_AnchorPos;
btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
// not used here
// btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
// btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
btVector3 normalWorld;
//linear part
@@ -462,7 +468,7 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep)
jacDiagABInv,
m_rbA,pointInA,
m_rbB,pointInB,
i,linear_axis);
i,linear_axis, m_AnchorPos);
}
}
@@ -501,4 +507,22 @@ btScalar btGeneric6DofConstraint::getAngle(int axis_index) const
return m_calculatedAxisAngleDiff[axis_index];
}
void btGeneric6DofConstraint::calcAnchorPos(void)
{
btScalar imA = m_rbA.getInvMass();
btScalar imB = m_rbB.getInvMass();
btScalar weight;
if(imB == btScalar(0.0))
{
weight = btScalar(1.0);
}
else
{
weight = imA / (imA + imB);
}
const btVector3& pA = m_calculatedTransformA.getOrigin();
const btVector3& pB = m_calculatedTransformB.getOrigin();
m_AnchorPos = pA * weight + pB * (btScalar(1.0) - weight);
return;
} // btGeneric6DofConstraint::calcAnchorPos()