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Basic support for COLLADA physics constraints (each DOF can be completely locked or free, no limits yet)

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This commit is contained in:
ejcoumans
2006-07-28 21:49:26 +00:00
parent 63594284c3
commit b8cbfe5f72
5 changed files with 379 additions and 120 deletions
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50
BulletDynamics/ConstraintSolver/Generic6DofConstraint.h
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@@ -30,7 +30,7 @@ class RigidBody;
/// Work in progress (is still a Hinge actually)
class Generic6DofConstraint : public TypedConstraint
{
JacobianEntry m_jac[3]; // 3 orthogonal linear constraints
JacobianEntry m_jacLinear[3]; // 3 orthogonal linear constraints
JacobianEntry m_jacAng[3]; // 3 orthogonal angular constraints
SimdTransform m_frameInA; // the constraint space w.r.t body A
@@ -55,11 +55,49 @@ public:
SimdScalar ComputeAngle(int axis) const;
void SetAngularLimit(int axis, SimdScalar lo, SimdScalar hi)
{
m_lowerLimit[axis + 3] = lo;
m_upperLimit[axis + 3] = hi;
}
void setLinearLowerLimit(const SimdVector3& linearLower)
{
m_lowerLimit[0] = linearLower.getX();
m_lowerLimit[1] = linearLower.getY();
m_lowerLimit[2] = linearLower.getZ();
}
void setLinearUpperLimit(const SimdVector3& linearUpper)
{
m_upperLimit[0] = linearUpper.getX();
m_upperLimit[1] = linearUpper.getY();
m_upperLimit[2] = linearUpper.getZ();
}
void setAngularLowerLimit(const SimdVector3& angularLower)
{
m_lowerLimit[3] = angularLower.getX();
m_lowerLimit[4] = angularLower.getY();
m_lowerLimit[5] = angularLower.getZ();
}
void setAngularUpperLimit(const SimdVector3& angularUpper)
{
m_upperLimit[3] = angularUpper.getX();
m_upperLimit[4] = angularUpper.getY();
m_upperLimit[5] = angularUpper.getZ();
}
//first 3 are linear, next 3 are angular
void SetLimit(int axis, SimdScalar lo, SimdScalar hi)
{
m_lowerLimit[axis] = lo;
m_upperLimit[axis] = hi;
}
//free means upper < lower,
//locked means upper == lower
//limited means upper > lower
//limitIndex: first 3 are linear, next 3 are angular
bool isLimited(int limitIndex)
{
return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
}
const RigidBody& GetRigidBodyA() const
{