fix: some file didn't have the svn:eol-style native yet
This commit is contained in:
erwin.coumans
@@ -1,151 +1,151 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "btGeneric6DofSpringConstraint.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "LinearMath/btTransformUtil.h"
|
||||
|
||||
|
||||
btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
|
||||
: btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA)
|
||||
{
|
||||
for(int i = 0; i < 6; i++)
|
||||
{
|
||||
m_springEnabled[i] = false;
|
||||
m_equilibriumPoint[i] = btScalar(0.f);
|
||||
m_springStiffness[i] = btScalar(0.f);
|
||||
m_springDamping[i] = btScalar(1.f);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btGeneric6DofSpringConstraint::enableSpring(int index, bool onOff)
|
||||
{
|
||||
btAssert((index >= 0) && (index < 6));
|
||||
m_springEnabled[index] = onOff;
|
||||
if(index < 3)
|
||||
{
|
||||
m_linearLimits.m_enableMotor[index] = onOff;
|
||||
}
|
||||
else
|
||||
{
|
||||
m_angularLimits[index - 3].m_enableMotor = onOff;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btGeneric6DofSpringConstraint::setStiffness(int index, btScalar stiffness)
|
||||
{
|
||||
btAssert((index >= 0) && (index < 6));
|
||||
m_springStiffness[index] = stiffness;
|
||||
}
|
||||
|
||||
|
||||
void btGeneric6DofSpringConstraint::setDamping(int index, btScalar damping)
|
||||
{
|
||||
btAssert((index >= 0) && (index < 6));
|
||||
m_springDamping[index] = damping;
|
||||
}
|
||||
|
||||
|
||||
void btGeneric6DofSpringConstraint::setEquilibriumPoint()
|
||||
{
|
||||
calculateTransforms();
|
||||
int i;
|
||||
|
||||
for( i = 0; i < 3; i++)
|
||||
{
|
||||
m_equilibriumPoint[i] = m_calculatedLinearDiff[i];
|
||||
}
|
||||
for(i = 0; i < 3; i++)
|
||||
{
|
||||
m_equilibriumPoint[i + 3] = m_calculatedAxisAngleDiff[i];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index)
|
||||
{
|
||||
btAssert((index >= 0) && (index < 6));
|
||||
calculateTransforms();
|
||||
if(index < 3)
|
||||
{
|
||||
m_equilibriumPoint[index] = m_calculatedLinearDiff[index];
|
||||
}
|
||||
else
|
||||
{
|
||||
m_equilibriumPoint[index] = m_calculatedAxisAngleDiff[index - 3];
|
||||
}
|
||||
}
|
||||
|
||||
void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index, btScalar val)
|
||||
{
|
||||
btAssert((index >= 0) && (index < 6));
|
||||
m_equilibriumPoint[index] = val;
|
||||
}
|
||||
|
||||
|
||||
void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* info)
|
||||
{
|
||||
// it is assumed that calculateTransforms() have been called before this call
|
||||
int i;
|
||||
btVector3 relVel = m_rbB.getLinearVelocity() - m_rbA.getLinearVelocity();
|
||||
for(i = 0; i < 3; i++)
|
||||
{
|
||||
if(m_springEnabled[i])
|
||||
{
|
||||
// get current position of constraint
|
||||
btScalar currPos = m_calculatedLinearDiff[i];
|
||||
// calculate difference
|
||||
btScalar delta = currPos - m_equilibriumPoint[i];
|
||||
// spring force is (delta * m_stiffness) according to Hooke's Law
|
||||
btScalar force = delta * m_springStiffness[i];
|
||||
btScalar velFactor = info->fps * m_springDamping[i] / btScalar(info->m_numIterations);
|
||||
m_linearLimits.m_targetVelocity[i] = velFactor * force;
|
||||
m_linearLimits.m_maxMotorForce[i] = btFabs(force) / info->fps;
|
||||
}
|
||||
}
|
||||
for(i = 0; i < 3; i++)
|
||||
{
|
||||
if(m_springEnabled[i + 3])
|
||||
{
|
||||
// get current position of constraint
|
||||
btScalar currPos = m_calculatedAxisAngleDiff[i];
|
||||
// calculate difference
|
||||
btScalar delta = currPos - m_equilibriumPoint[i+3];
|
||||
// spring force is (-delta * m_stiffness) according to Hooke's Law
|
||||
btScalar force = -delta * m_springStiffness[i+3];
|
||||
btScalar velFactor = info->fps * m_springDamping[i+3] / btScalar(info->m_numIterations);
|
||||
m_angularLimits[i].m_targetVelocity = velFactor * force;
|
||||
m_angularLimits[i].m_maxMotorForce = btFabs(force) / info->fps;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btGeneric6DofSpringConstraint::getInfo2(btConstraintInfo2* info)
|
||||
{
|
||||
// this will be called by constraint solver at the constraint setup stage
|
||||
// set current motor parameters
|
||||
internalUpdateSprings(info);
|
||||
// do the rest of job for constraint setup
|
||||
btGeneric6DofConstraint::getInfo2(info);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "btGeneric6DofSpringConstraint.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "LinearMath/btTransformUtil.h"
|
||||
|
||||
|
||||
btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
|
||||
: btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA)
|
||||
{
|
||||
for(int i = 0; i < 6; i++)
|
||||
{
|
||||
m_springEnabled[i] = false;
|
||||
m_equilibriumPoint[i] = btScalar(0.f);
|
||||
m_springStiffness[i] = btScalar(0.f);
|
||||
m_springDamping[i] = btScalar(1.f);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btGeneric6DofSpringConstraint::enableSpring(int index, bool onOff)
|
||||
{
|
||||
btAssert((index >= 0) && (index < 6));
|
||||
m_springEnabled[index] = onOff;
|
||||
if(index < 3)
|
||||
{
|
||||
m_linearLimits.m_enableMotor[index] = onOff;
|
||||
}
|
||||
else
|
||||
{
|
||||
m_angularLimits[index - 3].m_enableMotor = onOff;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btGeneric6DofSpringConstraint::setStiffness(int index, btScalar stiffness)
|
||||
{
|
||||
btAssert((index >= 0) && (index < 6));
|
||||
m_springStiffness[index] = stiffness;
|
||||
}
|
||||
|
||||
|
||||
void btGeneric6DofSpringConstraint::setDamping(int index, btScalar damping)
|
||||
{
|
||||
btAssert((index >= 0) && (index < 6));
|
||||
m_springDamping[index] = damping;
|
||||
}
|
||||
|
||||
|
||||
void btGeneric6DofSpringConstraint::setEquilibriumPoint()
|
||||
{
|
||||
calculateTransforms();
|
||||
int i;
|
||||
|
||||
for( i = 0; i < 3; i++)
|
||||
{
|
||||
m_equilibriumPoint[i] = m_calculatedLinearDiff[i];
|
||||
}
|
||||
for(i = 0; i < 3; i++)
|
||||
{
|
||||
m_equilibriumPoint[i + 3] = m_calculatedAxisAngleDiff[i];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index)
|
||||
{
|
||||
btAssert((index >= 0) && (index < 6));
|
||||
calculateTransforms();
|
||||
if(index < 3)
|
||||
{
|
||||
m_equilibriumPoint[index] = m_calculatedLinearDiff[index];
|
||||
}
|
||||
else
|
||||
{
|
||||
m_equilibriumPoint[index] = m_calculatedAxisAngleDiff[index - 3];
|
||||
}
|
||||
}
|
||||
|
||||
void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index, btScalar val)
|
||||
{
|
||||
btAssert((index >= 0) && (index < 6));
|
||||
m_equilibriumPoint[index] = val;
|
||||
}
|
||||
|
||||
|
||||
void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* info)
|
||||
{
|
||||
// it is assumed that calculateTransforms() have been called before this call
|
||||
int i;
|
||||
btVector3 relVel = m_rbB.getLinearVelocity() - m_rbA.getLinearVelocity();
|
||||
for(i = 0; i < 3; i++)
|
||||
{
|
||||
if(m_springEnabled[i])
|
||||
{
|
||||
// get current position of constraint
|
||||
btScalar currPos = m_calculatedLinearDiff[i];
|
||||
// calculate difference
|
||||
btScalar delta = currPos - m_equilibriumPoint[i];
|
||||
// spring force is (delta * m_stiffness) according to Hooke's Law
|
||||
btScalar force = delta * m_springStiffness[i];
|
||||
btScalar velFactor = info->fps * m_springDamping[i] / btScalar(info->m_numIterations);
|
||||
m_linearLimits.m_targetVelocity[i] = velFactor * force;
|
||||
m_linearLimits.m_maxMotorForce[i] = btFabs(force) / info->fps;
|
||||
}
|
||||
}
|
||||
for(i = 0; i < 3; i++)
|
||||
{
|
||||
if(m_springEnabled[i + 3])
|
||||
{
|
||||
// get current position of constraint
|
||||
btScalar currPos = m_calculatedAxisAngleDiff[i];
|
||||
// calculate difference
|
||||
btScalar delta = currPos - m_equilibriumPoint[i+3];
|
||||
// spring force is (-delta * m_stiffness) according to Hooke's Law
|
||||
btScalar force = -delta * m_springStiffness[i+3];
|
||||
btScalar velFactor = info->fps * m_springDamping[i+3] / btScalar(info->m_numIterations);
|
||||
m_angularLimits[i].m_targetVelocity = velFactor * force;
|
||||
m_angularLimits[i].m_maxMotorForce = btFabs(force) / info->fps;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btGeneric6DofSpringConstraint::getInfo2(btConstraintInfo2* info)
|
||||
{
|
||||
// this will be called by constraint solver at the constraint setup stage
|
||||
// set current motor parameters
|
||||
internalUpdateSprings(info);
|
||||
// do the rest of job for constraint setup
|
||||
btGeneric6DofConstraint::getInfo2(info);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,55 +1,55 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef GENERIC_6DOF_SPRING_CONSTRAINT_H
|
||||
#define GENERIC_6DOF_SPRING_CONSTRAINT_H
|
||||
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "btTypedConstraint.h"
|
||||
#include "btGeneric6DofConstraint.h"
|
||||
|
||||
|
||||
/// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF
|
||||
|
||||
/// DOF index used in enableSpring() and setStiffness() means:
|
||||
/// 0 : translation X
|
||||
/// 1 : translation Y
|
||||
/// 2 : translation Z
|
||||
/// 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] )
|
||||
/// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] )
|
||||
/// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )
|
||||
|
||||
class btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
|
||||
{
|
||||
protected:
|
||||
bool m_springEnabled[6];
|
||||
btScalar m_equilibriumPoint[6];
|
||||
btScalar m_springStiffness[6];
|
||||
btScalar m_springDamping[6]; // between 0 and 1 (1 == no damping)
|
||||
void internalUpdateSprings(btConstraintInfo2* info);
|
||||
public:
|
||||
btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
|
||||
void enableSpring(int index, bool onOff);
|
||||
void setStiffness(int index, btScalar stiffness);
|
||||
void setDamping(int index, btScalar damping);
|
||||
void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
|
||||
void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF
|
||||
void setEquilibriumPoint(int index, btScalar val);
|
||||
virtual void getInfo2 (btConstraintInfo2* info);
|
||||
};
|
||||
|
||||
#endif // GENERIC_6DOF_SPRING_CONSTRAINT_H
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef GENERIC_6DOF_SPRING_CONSTRAINT_H
|
||||
#define GENERIC_6DOF_SPRING_CONSTRAINT_H
|
||||
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "btTypedConstraint.h"
|
||||
#include "btGeneric6DofConstraint.h"
|
||||
|
||||
|
||||
/// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF
|
||||
|
||||
/// DOF index used in enableSpring() and setStiffness() means:
|
||||
/// 0 : translation X
|
||||
/// 1 : translation Y
|
||||
/// 2 : translation Z
|
||||
/// 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] )
|
||||
/// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] )
|
||||
/// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )
|
||||
|
||||
class btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
|
||||
{
|
||||
protected:
|
||||
bool m_springEnabled[6];
|
||||
btScalar m_equilibriumPoint[6];
|
||||
btScalar m_springStiffness[6];
|
||||
btScalar m_springDamping[6]; // between 0 and 1 (1 == no damping)
|
||||
void internalUpdateSprings(btConstraintInfo2* info);
|
||||
public:
|
||||
btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
|
||||
void enableSpring(int index, bool onOff);
|
||||
void setStiffness(int index, btScalar stiffness);
|
||||
void setDamping(int index, btScalar damping);
|
||||
void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
|
||||
void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF
|
||||
void setEquilibriumPoint(int index, btScalar val);
|
||||
virtual void getInfo2 (btConstraintInfo2* info);
|
||||
};
|
||||
|
||||
#endif // GENERIC_6DOF_SPRING_CONSTRAINT_H
|
||||
|
||||
|
||||
@@ -1,66 +1,66 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#include "btHinge2Constraint.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "LinearMath/btTransformUtil.h"
|
||||
|
||||
|
||||
|
||||
// constructor
|
||||
// anchor, axis1 and axis2 are in world coordinate system
|
||||
// axis1 must be orthogonal to axis2
|
||||
btHinge2Constraint::btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
|
||||
: btGeneric6DofSpringConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
|
||||
m_anchor(anchor),
|
||||
m_axis1(axis1),
|
||||
m_axis2(axis2)
|
||||
{
|
||||
// build frame basis
|
||||
// 6DOF constraint uses Euler angles and to define limits
|
||||
// it is assumed that rotational order is :
|
||||
// Z - first, allowed limits are (-PI,PI);
|
||||
// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
|
||||
// used to prevent constraint from instability on poles;
|
||||
// new position of X, allowed limits are (-PI,PI);
|
||||
// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
|
||||
// Build the frame in world coordinate system first
|
||||
btVector3 zAxis = axis1.normalize();
|
||||
btVector3 xAxis = axis2.normalize();
|
||||
btVector3 yAxis = zAxis.cross(xAxis); // we want right coordinate system
|
||||
btTransform frameInW;
|
||||
frameInW.setIdentity();
|
||||
frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0],
|
||||
xAxis[1], yAxis[1], zAxis[1],
|
||||
xAxis[2], yAxis[2], zAxis[2]);
|
||||
frameInW.setOrigin(anchor);
|
||||
// now get constraint frame in local coordinate systems
|
||||
m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
|
||||
m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
|
||||
// sei limits
|
||||
setLinearLowerLimit(btVector3(0.f, 0.f, -1.f));
|
||||
setLinearUpperLimit(btVector3(0.f, 0.f, 1.f));
|
||||
// like front wheels of a car
|
||||
setAngularLowerLimit(btVector3(1.f, 0.f, -SIMD_HALF_PI * 0.5f));
|
||||
setAngularUpperLimit(btVector3(-1.f, 0.f, SIMD_HALF_PI * 0.5f));
|
||||
// enable suspension
|
||||
enableSpring(2, true);
|
||||
setStiffness(2, SIMD_PI * SIMD_PI * 4.f); // period 1 sec for 1 kilogramm weel :-)
|
||||
setDamping(2, 0.01f);
|
||||
setEquilibriumPoint();
|
||||
}
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#include "btHinge2Constraint.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "LinearMath/btTransformUtil.h"
|
||||
|
||||
|
||||
|
||||
// constructor
|
||||
// anchor, axis1 and axis2 are in world coordinate system
|
||||
// axis1 must be orthogonal to axis2
|
||||
btHinge2Constraint::btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
|
||||
: btGeneric6DofSpringConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
|
||||
m_anchor(anchor),
|
||||
m_axis1(axis1),
|
||||
m_axis2(axis2)
|
||||
{
|
||||
// build frame basis
|
||||
// 6DOF constraint uses Euler angles and to define limits
|
||||
// it is assumed that rotational order is :
|
||||
// Z - first, allowed limits are (-PI,PI);
|
||||
// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
|
||||
// used to prevent constraint from instability on poles;
|
||||
// new position of X, allowed limits are (-PI,PI);
|
||||
// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
|
||||
// Build the frame in world coordinate system first
|
||||
btVector3 zAxis = axis1.normalize();
|
||||
btVector3 xAxis = axis2.normalize();
|
||||
btVector3 yAxis = zAxis.cross(xAxis); // we want right coordinate system
|
||||
btTransform frameInW;
|
||||
frameInW.setIdentity();
|
||||
frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0],
|
||||
xAxis[1], yAxis[1], zAxis[1],
|
||||
xAxis[2], yAxis[2], zAxis[2]);
|
||||
frameInW.setOrigin(anchor);
|
||||
// now get constraint frame in local coordinate systems
|
||||
m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
|
||||
m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
|
||||
// sei limits
|
||||
setLinearLowerLimit(btVector3(0.f, 0.f, -1.f));
|
||||
setLinearUpperLimit(btVector3(0.f, 0.f, 1.f));
|
||||
// like front wheels of a car
|
||||
setAngularLowerLimit(btVector3(1.f, 0.f, -SIMD_HALF_PI * 0.5f));
|
||||
setAngularUpperLimit(btVector3(-1.f, 0.f, SIMD_HALF_PI * 0.5f));
|
||||
// enable suspension
|
||||
enableSpring(2, true);
|
||||
setStiffness(2, SIMD_PI * SIMD_PI * 4.f); // period 1 sec for 1 kilogramm weel :-)
|
||||
setDamping(2, 0.01f);
|
||||
setEquilibriumPoint();
|
||||
}
|
||||
|
||||
|
||||
@@ -1,58 +1,58 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef HINGE2_CONSTRAINT_H
|
||||
#define HINGE2_CONSTRAINT_H
|
||||
|
||||
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "btTypedConstraint.h"
|
||||
#include "btGeneric6DofSpringConstraint.h"
|
||||
|
||||
|
||||
|
||||
// Constraint similar to ODE Hinge2 Joint
|
||||
// has 3 degrees of frredom:
|
||||
// 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2)
|
||||
// 1 translational (along axis Z) with suspension spring
|
||||
|
||||
class btHinge2Constraint : public btGeneric6DofSpringConstraint
|
||||
{
|
||||
protected:
|
||||
btVector3 m_anchor;
|
||||
btVector3 m_axis1;
|
||||
btVector3 m_axis2;
|
||||
public:
|
||||
// constructor
|
||||
// anchor, axis1 and axis2 are in world coordinate system
|
||||
// axis1 must be orthogonal to axis2
|
||||
btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2);
|
||||
// access
|
||||
const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
|
||||
const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
|
||||
const btVector3& getAxis1() { return m_axis1; }
|
||||
const btVector3& getAxis2() { return m_axis2; }
|
||||
btScalar getAngle1() { return getAngle(2); }
|
||||
btScalar getAngle2() { return getAngle(0); }
|
||||
// limits
|
||||
void setUpperLimit(btScalar ang1max) { setAngularUpperLimit(btVector3(-1.f, 0.f, ang1max)); }
|
||||
void setLowerLimit(btScalar ang1min) { setAngularLowerLimit(btVector3( 1.f, 0.f, ang1min)); }
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif // HINGE2_CONSTRAINT_H
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef HINGE2_CONSTRAINT_H
|
||||
#define HINGE2_CONSTRAINT_H
|
||||
|
||||
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "btTypedConstraint.h"
|
||||
#include "btGeneric6DofSpringConstraint.h"
|
||||
|
||||
|
||||
|
||||
// Constraint similar to ODE Hinge2 Joint
|
||||
// has 3 degrees of frredom:
|
||||
// 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2)
|
||||
// 1 translational (along axis Z) with suspension spring
|
||||
|
||||
class btHinge2Constraint : public btGeneric6DofSpringConstraint
|
||||
{
|
||||
protected:
|
||||
btVector3 m_anchor;
|
||||
btVector3 m_axis1;
|
||||
btVector3 m_axis2;
|
||||
public:
|
||||
// constructor
|
||||
// anchor, axis1 and axis2 are in world coordinate system
|
||||
// axis1 must be orthogonal to axis2
|
||||
btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2);
|
||||
// access
|
||||
const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
|
||||
const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
|
||||
const btVector3& getAxis1() { return m_axis1; }
|
||||
const btVector3& getAxis2() { return m_axis2; }
|
||||
btScalar getAngle1() { return getAngle(2); }
|
||||
btScalar getAngle2() { return getAngle(0); }
|
||||
// limits
|
||||
void setUpperLimit(btScalar ang1max) { setAngularUpperLimit(btVector3(-1.f, 0.f, ang1max)); }
|
||||
void setLowerLimit(btScalar ang1min) { setAngularLowerLimit(btVector3( 1.f, 0.f, ang1min)); }
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif // HINGE2_CONSTRAINT_H
|
||||
|
||||
|
||||
@@ -1,63 +1,63 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#include "btUniversalConstraint.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "LinearMath/btTransformUtil.h"
|
||||
|
||||
|
||||
|
||||
#define UNIV_EPS btScalar(0.01f)
|
||||
|
||||
|
||||
// constructor
|
||||
// anchor, axis1 and axis2 are in world coordinate system
|
||||
// axis1 must be orthogonal to axis2
|
||||
btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
|
||||
: btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
|
||||
m_anchor(anchor),
|
||||
m_axis1(axis1),
|
||||
m_axis2(axis2)
|
||||
{
|
||||
// build frame basis
|
||||
// 6DOF constraint uses Euler angles and to define limits
|
||||
// it is assumed that rotational order is :
|
||||
// Z - first, allowed limits are (-PI,PI);
|
||||
// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
|
||||
// used to prevent constraint from instability on poles;
|
||||
// new position of X, allowed limits are (-PI,PI);
|
||||
// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
|
||||
// Build the frame in world coordinate system first
|
||||
btVector3 zAxis = axis1.normalize();
|
||||
btVector3 yAxis = axis2.normalize();
|
||||
btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
|
||||
btTransform frameInW;
|
||||
frameInW.setIdentity();
|
||||
frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0],
|
||||
xAxis[1], yAxis[1], zAxis[1],
|
||||
xAxis[2], yAxis[2], zAxis[2]);
|
||||
frameInW.setOrigin(anchor);
|
||||
// now get constraint frame in local coordinate systems
|
||||
m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
|
||||
m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
|
||||
// sei limits
|
||||
setLinearLowerLimit(btVector3(0., 0., 0.));
|
||||
setLinearUpperLimit(btVector3(0., 0., 0.));
|
||||
setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI + UNIV_EPS, -SIMD_PI + UNIV_EPS));
|
||||
setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI - UNIV_EPS, SIMD_PI - UNIV_EPS));
|
||||
}
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#include "btUniversalConstraint.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "LinearMath/btTransformUtil.h"
|
||||
|
||||
|
||||
|
||||
#define UNIV_EPS btScalar(0.01f)
|
||||
|
||||
|
||||
// constructor
|
||||
// anchor, axis1 and axis2 are in world coordinate system
|
||||
// axis1 must be orthogonal to axis2
|
||||
btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
|
||||
: btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
|
||||
m_anchor(anchor),
|
||||
m_axis1(axis1),
|
||||
m_axis2(axis2)
|
||||
{
|
||||
// build frame basis
|
||||
// 6DOF constraint uses Euler angles and to define limits
|
||||
// it is assumed that rotational order is :
|
||||
// Z - first, allowed limits are (-PI,PI);
|
||||
// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
|
||||
// used to prevent constraint from instability on poles;
|
||||
// new position of X, allowed limits are (-PI,PI);
|
||||
// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
|
||||
// Build the frame in world coordinate system first
|
||||
btVector3 zAxis = axis1.normalize();
|
||||
btVector3 yAxis = axis2.normalize();
|
||||
btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
|
||||
btTransform frameInW;
|
||||
frameInW.setIdentity();
|
||||
frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0],
|
||||
xAxis[1], yAxis[1], zAxis[1],
|
||||
xAxis[2], yAxis[2], zAxis[2]);
|
||||
frameInW.setOrigin(anchor);
|
||||
// now get constraint frame in local coordinate systems
|
||||
m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
|
||||
m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
|
||||
// sei limits
|
||||
setLinearLowerLimit(btVector3(0., 0., 0.));
|
||||
setLinearUpperLimit(btVector3(0., 0., 0.));
|
||||
setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI + UNIV_EPS, -SIMD_PI + UNIV_EPS));
|
||||
setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI - UNIV_EPS, SIMD_PI - UNIV_EPS));
|
||||
}
|
||||
|
||||
|
||||
@@ -1,60 +1,60 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef UNIVERSAL_CONSTRAINT_H
|
||||
#define UNIVERSAL_CONSTRAINT_H
|
||||
|
||||
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "btTypedConstraint.h"
|
||||
#include "btGeneric6DofConstraint.h"
|
||||
|
||||
|
||||
|
||||
/// Constraint similar to ODE Universal Joint
|
||||
/// has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1)
|
||||
/// and Y (axis 2)
|
||||
/// Description from ODE manual :
|
||||
/// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular.
|
||||
/// In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal."
|
||||
|
||||
class btUniversalConstraint : public btGeneric6DofConstraint
|
||||
{
|
||||
protected:
|
||||
btVector3 m_anchor;
|
||||
btVector3 m_axis1;
|
||||
btVector3 m_axis2;
|
||||
public:
|
||||
// constructor
|
||||
// anchor, axis1 and axis2 are in world coordinate system
|
||||
// axis1 must be orthogonal to axis2
|
||||
btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2);
|
||||
// access
|
||||
const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
|
||||
const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
|
||||
const btVector3& getAxis1() { return m_axis1; }
|
||||
const btVector3& getAxis2() { return m_axis2; }
|
||||
btScalar getAngle1() { return getAngle(2); }
|
||||
btScalar getAngle2() { return getAngle(1); }
|
||||
// limits
|
||||
void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); }
|
||||
void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); }
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif // UNIVERSAL_CONSTRAINT_H
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef UNIVERSAL_CONSTRAINT_H
|
||||
#define UNIVERSAL_CONSTRAINT_H
|
||||
|
||||
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "btTypedConstraint.h"
|
||||
#include "btGeneric6DofConstraint.h"
|
||||
|
||||
|
||||
|
||||
/// Constraint similar to ODE Universal Joint
|
||||
/// has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1)
|
||||
/// and Y (axis 2)
|
||||
/// Description from ODE manual :
|
||||
/// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular.
|
||||
/// In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal."
|
||||
|
||||
class btUniversalConstraint : public btGeneric6DofConstraint
|
||||
{
|
||||
protected:
|
||||
btVector3 m_anchor;
|
||||
btVector3 m_axis1;
|
||||
btVector3 m_axis2;
|
||||
public:
|
||||
// constructor
|
||||
// anchor, axis1 and axis2 are in world coordinate system
|
||||
// axis1 must be orthogonal to axis2
|
||||
btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2);
|
||||
// access
|
||||
const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
|
||||
const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
|
||||
const btVector3& getAxis1() { return m_axis1; }
|
||||
const btVector3& getAxis2() { return m_axis2; }
|
||||
btScalar getAngle1() { return getAngle(2); }
|
||||
btScalar getAngle2() { return getAngle(1); }
|
||||
// limits
|
||||
void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); }
|
||||
void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); }
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif // UNIVERSAL_CONSTRAINT_H
|
||||
|
||||
|
||||
Reference in New Issue
Block a user