Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

added ConstraintSolver/btConeTwistConstraint.cpp to allow for ragdolls

Browse Source 
improved hinge constraint: adds limits
added btAtan2Fast
quaternion helper functions
All thanks to Starbreeze Studios / Marcus Hennix, Marten Svanfeldt
This commit is contained in:
ejcoumans
2007-07-05 23:17:13 +00:00
parent 7c5164baaf
commit e4363b6e2b
7 changed files with 723 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files

66
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
View File

@@ -13,6 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */
#ifndef HINGECONSTRAINT_H
#define HINGECONSTRAINT_H
@@ -22,7 +24,6 @@ subject to the following restrictions:
class btRigidBody;
/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
/// axis defines the orientation of the hinge axis
class btHingeConstraint : public btTypedConstraint
@@ -30,22 +31,40 @@ class btHingeConstraint : public btTypedConstraint
btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
btJacobianEntry m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
btVector3 m_pivotInA;
btVector3 m_pivotInB;
btVector3 m_axisInA;
btVector3 m_axisInB;
btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis.
btTransform m_rbBFrame;
btScalar m_motorTargetVelocity;
btScalar m_maxMotorImpulse;
btScalar m_limitSoftness;
btScalar m_biasFactor;
btScalar m_relaxationFactor;
btScalar m_lowerLimit;
btScalar m_upperLimit;
btScalar m_kHinge;
btScalar m_limitSign;
btScalar m_correction;
btScalar m_accLimitImpulse;
bool m_angularOnly;
btScalar m_motorTargetVelocity;
btScalar m_maxMotorImpulse;
bool m_enableAngularMotor;
bool m_solveLimit;
public:
btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB,btVector3& axisInA,btVector3& axisInB);
btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB);
btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA);
btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA);
btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame);
btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
btHingeConstraint();
@@ -76,6 +95,33 @@ public:
m_maxMotorImpulse = maxMotorImpulse;
}
void setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
{
m_lowerLimit = low;
m_upperLimit = high;
m_limitSoftness = _softness;
m_biasFactor = _biasFactor;
m_relaxationFactor = _relaxationFactor;
}
btScalar getHingeAngle();
const btTransform& getAFrame() { return m_rbAFrame; };
const btTransform& getBFrame() { return m_rbBFrame; };
inline int getSolveLimit()
{
return m_solveLimit;
}
inline btScalar getLimitSign()
{
return m_limitSign;
}
};
#endif //HINGECONSTRAINT_H