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3 new constraints added : btGeneric6DofSpringConstraint, btUniversalConstraint, btHinge2Constraint

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Motors for btConeTwistConstraint added (for obsolete solver only)
appConstraintDemo changed to test new constraints
Several coding-style fixes
This commit is contained in:
rponom
2009-05-21 22:10:13 +00:00
parent 8d9c445b73
commit c680791ce9
38 changed files with 989 additions and 412 deletions
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58
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -26,7 +26,7 @@ http://gimpact.sf.net
#define D6_USE_OBSOLETE_METHOD false
//-----------------------------------------------------------------------------
btGeneric6DofConstraint::btGeneric6DofConstraint()
:btTypedConstraint(D6_CONSTRAINT_TYPE),
@@ -35,7 +35,7 @@ m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
{
}
//-----------------------------------------------------------------------------
btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
: btTypedConstraint(D6_CONSTRAINT_TYPE, rbA, rbB)
@@ -46,12 +46,12 @@ m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
{
}
//-----------------------------------------------------------------------------
#define GENERIC_D6_DISABLE_WARMSTARTING 1
//-----------------------------------------------------------------------------
btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
btScalar btGetMatrixElem(const btMatrix3x3& mat, int index)
@@ -61,7 +61,7 @@ btScalar btGetMatrixElem(const btMatrix3x3& mat, int index)
return mat[i][j];
}
//-----------------------------------------------------------------------------
///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
bool matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz);
@@ -129,7 +129,7 @@ int btRotationalLimitMotor::testLimitValue(btScalar test_value)
}
//-----------------------------------------------------------------------------
btScalar btRotationalLimitMotor::solveAngularLimits(
btScalar timeStep,btVector3& axis,btScalar jacDiagABInv,
@@ -249,9 +249,9 @@ int btTranslationalLimitMotor::testLimitValue(int limitIndex, btScalar test_valu
m_currentLimit[limitIndex] = 0;//Free from violation
m_currentLimitError[limitIndex] = btScalar(0.f);
return 0;
} // btTranslationalLimitMotor::testLimitValue()
}
//-----------------------------------------------------------------------------
btScalar btTranslationalLimitMotor::solveLinearAxis(
btScalar timeStep,
@@ -372,7 +372,7 @@ void btGeneric6DofConstraint::calculateAngleInfo()
}
//-----------------------------------------------------------------------------
void btGeneric6DofConstraint::calculateTransforms()
{
@@ -382,7 +382,7 @@ void btGeneric6DofConstraint::calculateTransforms()
calculateAngleInfo();
}
//-----------------------------------------------------------------------------
void btGeneric6DofConstraint::buildLinearJacobian(
btJacobianEntry & jacLinear,const btVector3 & normalWorld,
@@ -400,7 +400,7 @@ void btGeneric6DofConstraint::buildLinearJacobian(
m_rbB.getInvMass());
}
//-----------------------------------------------------------------------------
void btGeneric6DofConstraint::buildAngularJacobian(
btJacobianEntry & jacAngular,const btVector3 & jointAxisW)
@@ -413,7 +413,7 @@ void btGeneric6DofConstraint::buildAngularJacobian(
}
//-----------------------------------------------------------------------------
bool btGeneric6DofConstraint::testAngularLimitMotor(int axis_index)
{
@@ -423,7 +423,7 @@ bool btGeneric6DofConstraint::testAngularLimitMotor(int axis_index)
return m_angularLimits[axis_index].needApplyTorques();
}
//-----------------------------------------------------------------------------
void btGeneric6DofConstraint::buildJacobian()
{
@@ -483,7 +483,7 @@ void btGeneric6DofConstraint::buildJacobian()
}
}
//-----------------------------------------------------------------------------
void btGeneric6DofConstraint::getInfo1 (btConstraintInfo1* info)
{
@@ -519,7 +519,7 @@ void btGeneric6DofConstraint::getInfo1 (btConstraintInfo1* info)
}
}
//-----------------------------------------------------------------------------
void btGeneric6DofConstraint::getInfo2 (btConstraintInfo2* info)
{
@@ -528,7 +528,7 @@ void btGeneric6DofConstraint::getInfo2 (btConstraintInfo2* info)
setAngularLimits(info, row);
}
//-----------------------------------------------------------------------------
int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info)
{
@@ -559,7 +559,7 @@ int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info)
return row;
}
//-----------------------------------------------------------------------------
int btGeneric6DofConstraint::setAngularLimits(btConstraintInfo2 *info, int row_offset)
{
@@ -582,7 +582,7 @@ int btGeneric6DofConstraint::setAngularLimits(btConstraintInfo2 *info, int row_o
return row;
}
//-----------------------------------------------------------------------------
void btGeneric6DofConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep)
{
@@ -643,7 +643,7 @@ void btGeneric6DofConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolv
}
}
//-----------------------------------------------------------------------------
void btGeneric6DofConstraint::updateRHS(btScalar timeStep)
{
@@ -651,21 +651,21 @@ void btGeneric6DofConstraint::updateRHS(btScalar timeStep)
}
//-----------------------------------------------------------------------------
btVector3 btGeneric6DofConstraint::getAxis(int axis_index) const
{
return m_calculatedAxis[axis_index];
}
//-----------------------------------------------------------------------------
btScalar btGeneric6DofConstraint::getAngle(int axis_index) const
{
return m_calculatedAxisAngleDiff[axis_index];
}
//-----------------------------------------------------------------------------
void btGeneric6DofConstraint::calcAnchorPos(void)
{
@@ -684,9 +684,9 @@ void btGeneric6DofConstraint::calcAnchorPos(void)
const btVector3& pB = m_calculatedTransformB.getOrigin();
m_AnchorPos = pA * weight + pB * (btScalar(1.0) - weight);
return;
} // btGeneric6DofConstraint::calcAnchorPos()
}
//-----------------------------------------------------------------------------
void btGeneric6DofConstraint::calculateLinearInfo()
{
@@ -696,9 +696,9 @@ void btGeneric6DofConstraint::calculateLinearInfo()
{
m_linearLimits.testLimitValue(i, m_calculatedLinearDiff[i]);
}
} // btGeneric6DofConstraint::calculateLinearInfo()
}
//-----------------------------------------------------------------------------
int btGeneric6DofConstraint::get_limit_motor_info2(
btRotationalLimitMotor * limot,
@@ -824,6 +824,6 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
else return 0;
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------