Added slider constraint class btSliderConstraint
This commit is contained in:
rponom
181
src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
Executable file
181
src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
Executable file
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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/*
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Added by Roman Ponomarev (rponom@gmail.com)
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April 04, 2008
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TODO:
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- add clamping od accumulated impulse to improve stability
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- add conversion for ODE constraint solver
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*/
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#ifndef SLIDER_CONSTRAINT_H
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#define SLIDER_CONSTRAINT_H
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//-----------------------------------------------------------------------------
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#include "LinearMath/btVector3.h"
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#include "btJacobianEntry.h"
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#include "btTypedConstraint.h"
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//-----------------------------------------------------------------------------
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class btRigidBody;
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//-----------------------------------------------------------------------------
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#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0))
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#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0))
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#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7))
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//-----------------------------------------------------------------------------
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class btSliderConstraint : public btTypedConstraint
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{
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protected:
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btTransform m_frameInA;
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btTransform m_frameInB;
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// use frameA fo define limits, if true
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bool m_useLinearReferenceFrameA;
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// linear limits
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btScalar m_lowerLinLimit;
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btScalar m_upperLinLimit;
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// angular limits
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btScalar m_lowerAngLimit;
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btScalar m_upperAngLimit;
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// softness, restitution and damping for different cases
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// DirLin - moving inside linear limits
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// LimLin - hitting linear limit
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// DirAng - moving inside angular limits
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// LimAng - hitting angular limit
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// OrthoLin, OrthoAng - against constraint axis
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btScalar m_softnessDirLin;
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btScalar m_restitutionDirLin;
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btScalar m_dampingDirLin;
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btScalar m_softnessDirAng;
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btScalar m_restitutionDirAng;
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btScalar m_dampingDirAng;
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btScalar m_softnessLimLin;
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btScalar m_restitutionLimLin;
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btScalar m_dampingLimLin;
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btScalar m_softnessLimAng;
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btScalar m_restitutionLimAng;
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btScalar m_dampingLimAng;
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btScalar m_softnessOrthoLin;
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btScalar m_restitutionOrthoLin;
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btScalar m_dampingOrthoLin;
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btScalar m_softnessOrthoAng;
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btScalar m_restitutionOrthoAng;
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btScalar m_dampingOrthoAng;
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// for interlal use
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bool m_solveLinLim;
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bool m_solveAngLim;
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btJacobianEntry m_jacLin[3];
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btScalar m_jacLinDiagABInv[3];
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btJacobianEntry m_jacAng[3];
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btScalar m_timeStep;
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btTransform m_calculatedTransformA;
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btTransform m_calculatedTransformB;
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btVector3 m_sliderAxis;
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btVector3 m_realPivotAInW;
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btVector3 m_realPivotBInW;
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btVector3 m_projPivotInW;
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btVector3 m_delta;
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btVector3 m_depth;
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btVector3 m_relPosA;
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btVector3 m_relPosB;
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btScalar m_angDepth;
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btScalar m_kAngle;
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//------------------------
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void initParams();
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public:
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// constructors
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btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
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btSliderConstraint();
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// overrides
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virtual void buildJacobian();
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virtual void solveConstraint(btScalar timeStep);
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// access
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const btRigidBody& getRigidBodyA() const { return m_rbA; }
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const btRigidBody& getRigidBodyB() const { return m_rbB; }
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const btTransform & getCalculatedTransformA() const { return m_calculatedTransformA; }
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const btTransform & getCalculatedTransformB() const { return m_calculatedTransformB; }
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const btTransform & getFrameOffsetA() const { return m_frameInA; }
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const btTransform & getFrameOffsetB() const { return m_frameInB; }
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btTransform & getFrameOffsetA() { return m_frameInA; }
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btTransform & getFrameOffsetB() { return m_frameInB; }
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btScalar getLowerLinLimit() { return m_lowerLinLimit; }
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void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; }
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btScalar getUpperLinLimit() { return m_upperLinLimit; }
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void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
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btScalar getLowerAngLimit() { return m_lowerAngLimit; }
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void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = lowerLimit; }
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btScalar getUpperAngLimit() { return m_upperAngLimit; }
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void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = upperLimit; }
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bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; }
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btScalar getSoftnessDirLin() { return m_softnessDirLin; }
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btScalar getRestitutionDirLin() { return m_restitutionDirLin; }
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btScalar getDampingDirLin() { return m_dampingDirLin ; }
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btScalar getSoftnessDirAng() { return m_softnessDirAng; }
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btScalar getRestitutionDirAng() { return m_restitutionDirAng; }
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btScalar getDampingDirAng() { return m_dampingDirAng; }
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btScalar getSoftnessLimLin() { return m_softnessLimLin; }
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btScalar getRestitutionLimLin() { return m_restitutionLimLin; }
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btScalar getDampingLimLin() { return m_dampingLimLin; }
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btScalar getSoftnessLimAng() { return m_softnessLimAng; }
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btScalar getRestitutionLimAng() { return m_restitutionLimAng; }
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btScalar getDampingLimAng() { return m_dampingLimAng; }
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btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; }
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btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; }
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btScalar getDampingOrthoLin() { return m_dampingOrthoLin; }
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btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; }
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btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; }
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btScalar getDampingOrthoAng() { return m_dampingOrthoAng; }
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void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; }
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void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; }
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void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; }
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void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; }
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void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; }
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void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; }
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void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; }
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void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; }
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void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; }
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void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; }
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void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; }
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void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; }
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void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; }
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void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; }
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void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; }
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void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; }
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void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; }
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void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; }
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// internal
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void buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB);
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void solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB);
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};
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//-----------------------------------------------------------------------------
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#endif //SLIDER_CONSTRAINT_H
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