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Added linear and angular motors for the slider constraint

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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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31
src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
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@@ -106,6 +106,15 @@ protected:
btScalar m_angDepth;
btScalar m_kAngle;
bool m_poweredLinMotor;
btScalar m_targetLinMotorVelocity;
btScalar m_maxLinMotorForce;
btScalar m_accumulatedLinMotorImpulse;
bool m_poweredAngMotor;
btScalar m_targetAngMotorVelocity;
btScalar m_maxAngMotorForce;
btScalar m_accumulatedAngMotorImpulse;
//------------------------
void initParams();
@@ -170,9 +179,31 @@ public:
void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; }
void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; }
void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; }
void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; }
bool getPoweredLinMotor() { return m_poweredLinMotor; }
void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; }
btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; }
void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; }
btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; }
void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; }
bool getPoweredAngMotor() { return m_poweredAngMotor; }
void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; }
btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; }
// access for ODE solver
bool getSolveLinLimit() { return m_solveLinLim; }
btScalar getLinDepth() { return m_depth[0]; }
bool getSolveAngLimit() { return m_solveAngLim; }
btScalar getAngDepth() { return m_angDepth; }
// internal
void buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB);
void solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB);
// shared code used by ODE solver
void calculateTransforms(void);
void testLinLimits(void);
void testAngLimits(void);
};
//-----------------------------------------------------------------------------