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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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64
src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
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@@ -18,14 +18,14 @@ Added by Roman Ponomarev (rponom@gmail.com)
April 04, 2008
*/
//-----------------------------------------------------------------------------
#include "btSliderConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btTransformUtil.h"
#include <new>
//-----------------------------------------------------------------------------
void btSliderConstraint::initParams()
{
@@ -62,9 +62,9 @@ void btSliderConstraint::initParams()
m_maxAngMotorForce = btScalar(0.);
m_accumulatedAngMotorImpulse = btScalar(0.0);
} // btSliderConstraint::initParams()
}
//-----------------------------------------------------------------------------
btSliderConstraint::btSliderConstraint()
:btTypedConstraint(SLIDER_CONSTRAINT_TYPE),
@@ -73,9 +73,9 @@ btSliderConstraint::btSliderConstraint()
// m_useSolveConstraintObsolete(true)
{
initParams();
} // btSliderConstraint::btSliderConstraint()
}
//-----------------------------------------------------------------------------
btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB)
@@ -86,9 +86,9 @@ btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const
// m_useSolveConstraintObsolete(true)
{
initParams();
} // btSliderConstraint::btSliderConstraint()
}
//-----------------------------------------------------------------------------
static btRigidBody s_fixed(0, 0, 0);
btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, s_fixed, rbB)
@@ -102,9 +102,9 @@ btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& fram
// m_frameInA.getOrigin() = m_rbA.getCenterOfMassTransform()(m_frameInA.getOrigin());
initParams();
} // btSliderConstraint::btSliderConstraint()
}
//-----------------------------------------------------------------------------
void btSliderConstraint::buildJacobian()
{
@@ -120,9 +120,9 @@ void btSliderConstraint::buildJacobian()
{
buildJacobianInt(m_rbB, m_rbA, m_frameInB, m_frameInA);
}
} // btSliderConstraint::buildJacobian()
}
//-----------------------------------------------------------------------------
void btSliderConstraint::buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB)
{
@@ -175,9 +175,9 @@ void btSliderConstraint::buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, co
// clear accumulator for motors
m_accumulatedLinMotorImpulse = btScalar(0.0);
m_accumulatedAngMotorImpulse = btScalar(0.0);
} // btSliderConstraint::buildJacobianInt()
}
//-----------------------------------------------------------------------------
void btSliderConstraint::getInfo1(btConstraintInfo1* info)
{
@@ -205,9 +205,9 @@ void btSliderConstraint::getInfo1(btConstraintInfo1* info)
info->nub--;
}
}
} // btSliderConstraint::getInfo1()
}
//-----------------------------------------------------------------------------
void btSliderConstraint::getInfo2(btConstraintInfo2* info)
{
@@ -515,9 +515,9 @@ void btSliderConstraint::getInfo2(btConstraintInfo2* info)
info->m_constraintError[srow] *= getSoftnessLimAng();
} // if(limit)
} // if angular limit or powered
} // btSliderConstraint::getInfo2()
}
//-----------------------------------------------------------------------------
void btSliderConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep)
{
@@ -533,9 +533,9 @@ void btSliderConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBod
solveConstraintInt(m_rbB,bodyB, m_rbA,bodyA);
}
}
} // btSliderConstraint::solveConstraint()
}
//-----------------------------------------------------------------------------
void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btSolverBody& bodyA,btRigidBody& rbB, btSolverBody& bodyB)
{
@@ -719,11 +719,11 @@ void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btSolverBody& body
bodyB.applyImpulse(btVector3(0,0,0), rbB.getInvInertiaTensorWorld()*axisA,-angImpulse);
}
}
} // btSliderConstraint::solveConstraint()
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
void btSliderConstraint::calculateTransforms(void){
if(m_useLinearReferenceFrameA || (!m_useSolveConstraintObsolete))
@@ -756,9 +756,9 @@ void btSliderConstraint::calculateTransforms(void){
normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
m_depth[i] = m_delta.dot(normalWorld);
}
} // btSliderConstraint::calculateTransforms()
}
//-----------------------------------------------------------------------------
void btSliderConstraint::testLinLimits(void)
{
@@ -785,9 +785,9 @@ void btSliderConstraint::testLinLimits(void)
{
m_depth[0] = btScalar(0.);
}
} // btSliderConstraint::testLinLimits()
}
//-----------------------------------------------------------------------------
void btSliderConstraint::testAngLimits(void)
{
@@ -811,9 +811,9 @@ void btSliderConstraint::testAngLimits(void)
m_solveAngLim = true;
}
}
} // btSliderConstraint::testAngLimits()
}
//-----------------------------------------------------------------------------
btVector3 btSliderConstraint::getAncorInA(void)
{
@@ -821,13 +821,13 @@ btVector3 btSliderConstraint::getAncorInA(void)
ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * btScalar(0.5) * m_sliderAxis;
ancorInA = m_rbA.getCenterOfMassTransform().inverse() * ancorInA;
return ancorInA;
} // btSliderConstraint::getAncorInA()
}
//-----------------------------------------------------------------------------
btVector3 btSliderConstraint::getAncorInB(void)
{
btVector3 ancorInB;
ancorInB = m_frameInB.getOrigin();
return ancorInB;
} // btSliderConstraint::getAncorInB();
}