diff --git a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp index 65ae62c3c..114abce24 100644 --- a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp +++ b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp @@ -403,3 +403,4 @@ btScalar btHingeConstraint::getHingeAngle() return btAtan2Fast( swingAxis.dot(refAxis0), swingAxis.dot(refAxis1) ); } + diff --git a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h index 01e6e7fa4..4fa9972f6 100644 --- a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h +++ b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h @@ -135,7 +135,24 @@ public: { return m_limitSign; } - + + inline bool getAngularOnly() + { + return m_angularOnly; + } + inline bool getEnableAngularMotor() + { + return m_enableAngularMotor; + } + inline btScalar getMotorTargetVelosity() + { + return m_motorTargetVelocity; + } + inline btScalar getMaxMotorImpulse() + { + return m_maxMotorImpulse; + } + }; #endif //HINGECONSTRAINT_H diff --git a/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp index ce67a9440..290d92e12 100755 --- a/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp +++ b/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp @@ -1,397 +1,414 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -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. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -/* -Added by Roman Ponomarev (rponom@gmail.com) -April 04, 2008 -*/ - -//----------------------------------------------------------------------------- - -#include "btSliderConstraint.h" -#include "BulletDynamics/Dynamics/btRigidBody.h" -#include "LinearMath/btTransformUtil.h" -#include - -//----------------------------------------------------------------------------- - -void btSliderConstraint::initParams() -{ - m_lowerLinLimit = btScalar(1.0); - m_upperLinLimit = btScalar(-1.0); - m_lowerAngLimit = btScalar(0.); - m_upperAngLimit = btScalar(0.); - m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS; - m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION; - m_dampingDirLin = btScalar(0.); - m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS; - m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION; - m_dampingDirAng = btScalar(0.); - m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS; - m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION; - m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING; - m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS; - m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION; - m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING; - m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS; - m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION; - m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING; - m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS; - m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION; - m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING; - - m_poweredLinMotor = false; - m_targetLinMotorVelocity = btScalar(0.); - m_maxLinMotorForce = btScalar(0.); - m_accumulatedLinMotorImpulse = btScalar(0.0); - - m_poweredAngMotor = false; - m_targetAngMotorVelocity = btScalar(0.); - m_maxAngMotorForce = btScalar(0.); - m_accumulatedAngMotorImpulse = btScalar(0.0); - -} // btSliderConstraint::initParams() - -//----------------------------------------------------------------------------- - -btSliderConstraint::btSliderConstraint() - :btTypedConstraint(SLIDER_CONSTRAINT_TYPE), - m_useLinearReferenceFrameA(true) -{ - initParams(); -} // btSliderConstraint::btSliderConstraint() - -//----------------------------------------------------------------------------- - -btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA) - : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB) - , m_frameInA(frameInA) - , m_frameInB(frameInB), - m_useLinearReferenceFrameA(useLinearReferenceFrameA) -{ - initParams(); -} // btSliderConstraint::btSliderConstraint() - -//----------------------------------------------------------------------------- - -void btSliderConstraint::buildJacobian() -{ - if(m_useLinearReferenceFrameA) - { - buildJacobianInt(m_rbA, m_rbB, m_frameInA, m_frameInB); - } - else - { - buildJacobianInt(m_rbB, m_rbA, m_frameInB, m_frameInA); - } -} // btSliderConstraint::buildJacobian() - -//----------------------------------------------------------------------------- - -void btSliderConstraint::buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB) -{ - //calculate transforms - m_calculatedTransformA = rbA.getCenterOfMassTransform() * frameInA; - m_calculatedTransformB = rbB.getCenterOfMassTransform() * frameInB; - m_realPivotAInW = m_calculatedTransformA.getOrigin(); - m_realPivotBInW = m_calculatedTransformB.getOrigin(); - m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X - m_delta = m_realPivotBInW - m_realPivotAInW; - m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis; - m_relPosA = m_projPivotInW - rbA.getCenterOfMassPosition(); - m_relPosB = m_realPivotBInW - rbB.getCenterOfMassPosition(); - btVector3 normalWorld; - int i; - //linear part - for(i = 0; i < 3; i++) - { - normalWorld = m_calculatedTransformA.getBasis().getColumn(i); - new (&m_jacLin[i]) btJacobianEntry( - rbA.getCenterOfMassTransform().getBasis().transpose(), - rbB.getCenterOfMassTransform().getBasis().transpose(), - m_relPosA, - m_relPosB, - normalWorld, - rbA.getInvInertiaDiagLocal(), - rbA.getInvMass(), - rbB.getInvInertiaDiagLocal(), - rbB.getInvMass() - ); - m_jacLinDiagABInv[i] = btScalar(1.) / m_jacLin[i].getDiagonal(); - m_depth[i] = m_delta.dot(normalWorld); - } - testLinLimits(); - // angular part - for(i = 0; i < 3; i++) - { - normalWorld = m_calculatedTransformA.getBasis().getColumn(i); - new (&m_jacAng[i]) btJacobianEntry( - normalWorld, - rbA.getCenterOfMassTransform().getBasis().transpose(), - rbB.getCenterOfMassTransform().getBasis().transpose(), - rbA.getInvInertiaDiagLocal(), - rbB.getInvInertiaDiagLocal() - ); - } - testAngLimits(); - btVector3 axisA = m_calculatedTransformA.getBasis().getColumn(0); - m_kAngle = btScalar(1.0 )/ (rbA.computeAngularImpulseDenominator(axisA) + rbB.computeAngularImpulseDenominator(axisA)); - // clear accumulator for motors - m_accumulatedLinMotorImpulse = btScalar(0.0); - m_accumulatedAngMotorImpulse = btScalar(0.0); -} // btSliderConstraint::buildJacobianInt() - -//----------------------------------------------------------------------------- - -void btSliderConstraint::solveConstraint(btScalar timeStep) -{ - m_timeStep = timeStep; - if(m_useLinearReferenceFrameA) - { - solveConstraintInt(m_rbA, m_rbB); - } - else - { - solveConstraintInt(m_rbB, m_rbA); - } -} // btSliderConstraint::solveConstraint() - -//----------------------------------------------------------------------------- - -void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB) -{ - int i; - // linear - btVector3 velA = rbA.getVelocityInLocalPoint(m_relPosA); - btVector3 velB = rbB.getVelocityInLocalPoint(m_relPosB); - btVector3 vel = velA - velB; - for(i = 0; i < 3; i++) - { - const btVector3& normal = m_jacLin[i].m_linearJointAxis; - btScalar rel_vel = normal.dot(vel); - // calculate positional error - btScalar depth = m_depth[i]; - // get parameters - btScalar softness = (i) ? m_softnessOrthoLin : (m_solveLinLim ? m_softnessLimLin : m_softnessDirLin); - btScalar restitution = (i) ? m_restitutionOrthoLin : (m_solveLinLim ? m_restitutionLimLin : m_restitutionDirLin); - btScalar damping = (i) ? m_dampingOrthoLin : (m_solveLinLim ? m_dampingLimLin : m_dampingDirLin); - // calcutate and apply impulse - btScalar normalImpulse = softness * (restitution * depth / m_timeStep - damping * rel_vel) * m_jacLinDiagABInv[i]; - btVector3 impulse_vector = normal * normalImpulse; - rbA.applyImpulse( impulse_vector, m_relPosA); - rbB.applyImpulse(-impulse_vector, m_relPosB); - if(m_poweredLinMotor && (!i)) - { // apply linear motor - if(m_accumulatedLinMotorImpulse < m_maxLinMotorForce) - { - btScalar desiredMotorVel = m_targetLinMotorVelocity; - btScalar motor_relvel = desiredMotorVel + rel_vel; - normalImpulse = -motor_relvel * m_jacLinDiagABInv[i]; - // clamp accumulated impulse - btScalar new_acc = m_accumulatedLinMotorImpulse + btFabs(normalImpulse); - if(new_acc > m_maxLinMotorForce) - { - new_acc = m_maxLinMotorForce; - } - btScalar del = new_acc - m_accumulatedLinMotorImpulse; - if(normalImpulse < btScalar(0.0)) - { - normalImpulse = -del; - } - else - { - normalImpulse = del; - } - m_accumulatedLinMotorImpulse = new_acc; - // apply clamped impulse - impulse_vector = normal * normalImpulse; - rbA.applyImpulse( impulse_vector, m_relPosA); - rbB.applyImpulse(-impulse_vector, m_relPosB); - } - } - } - // angular - // get axes in world space - btVector3 axisA = m_calculatedTransformA.getBasis().getColumn(0); - btVector3 axisB = m_calculatedTransformB.getBasis().getColumn(0); - - const btVector3& angVelA = rbA.getAngularVelocity(); - const btVector3& angVelB = rbB.getAngularVelocity(); - - btVector3 angVelAroundAxisA = axisA * axisA.dot(angVelA); - btVector3 angVelAroundAxisB = axisB * axisB.dot(angVelB); - - btVector3 angAorthog = angVelA - angVelAroundAxisA; - btVector3 angBorthog = angVelB - angVelAroundAxisB; - btVector3 velrelOrthog = angAorthog-angBorthog; - //solve orthogonal angular velocity correction - btScalar len = velrelOrthog.length(); - if (len > btScalar(0.00001)) - { - btVector3 normal = velrelOrthog.normalized(); - btScalar denom = rbA.computeAngularImpulseDenominator(normal) + rbB.computeAngularImpulseDenominator(normal); - velrelOrthog *= (btScalar(1.)/denom) * m_dampingOrthoAng * m_softnessOrthoAng; - } - //solve angular positional correction - btVector3 angularError = axisA.cross(axisB) *(btScalar(1.)/m_timeStep); - btScalar len2 = angularError.length(); - if (len2>btScalar(0.00001)) - { - btVector3 normal2 = angularError.normalized(); - btScalar denom2 = rbA.computeAngularImpulseDenominator(normal2) + rbB.computeAngularImpulseDenominator(normal2); - angularError *= (btScalar(1.)/denom2) * m_restitutionOrthoAng * m_softnessOrthoAng; - } - // apply impulse - rbA.applyTorqueImpulse(-velrelOrthog+angularError); - rbB.applyTorqueImpulse(velrelOrthog-angularError); - btScalar impulseMag; - //solve angular limits - if(m_solveAngLim) - { - impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingLimAng + m_angDepth * m_restitutionLimAng / m_timeStep; - impulseMag *= m_kAngle * m_softnessLimAng; - } - else - { - impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingDirAng + m_angDepth * m_restitutionDirAng / m_timeStep; - impulseMag *= m_kAngle * m_softnessDirAng; - } - btVector3 impulse = axisA * impulseMag; - rbA.applyTorqueImpulse(impulse); - rbB.applyTorqueImpulse(-impulse); - //apply angular motor - if(m_poweredAngMotor) - { - if(m_accumulatedAngMotorImpulse < m_maxAngMotorForce) - { - btVector3 velrel = angVelAroundAxisA - angVelAroundAxisB; - btScalar projRelVel = velrel.dot(axisA); - - btScalar desiredMotorVel = m_targetAngMotorVelocity; - btScalar motor_relvel = desiredMotorVel - projRelVel; - - btScalar angImpulse = m_kAngle * motor_relvel; - // clamp accumulated impulse - btScalar new_acc = m_accumulatedAngMotorImpulse + btFabs(angImpulse); - if(new_acc > m_maxAngMotorForce) - { - new_acc = m_maxAngMotorForce; - } - btScalar del = new_acc - m_accumulatedAngMotorImpulse; - if(angImpulse < btScalar(0.0)) - { - angImpulse = -del; - } - else - { - angImpulse = del; - } - m_accumulatedAngMotorImpulse = new_acc; - // apply clamped impulse - btVector3 motorImp = angImpulse * axisA; - m_rbA.applyTorqueImpulse(motorImp); - m_rbB.applyTorqueImpulse(-motorImp); - } - } -} // btSliderConstraint::solveConstraint() - -//----------------------------------------------------------------------------- - -//----------------------------------------------------------------------------- - -void btSliderConstraint::calculateTransforms(void){ - if(m_useLinearReferenceFrameA) - { - m_calculatedTransformA = m_rbA.getCenterOfMassTransform() * m_frameInA; - m_calculatedTransformB = m_rbB.getCenterOfMassTransform() * m_frameInB; - } - else - { - m_calculatedTransformA = m_rbB.getCenterOfMassTransform() * m_frameInB; - m_calculatedTransformB = m_rbA.getCenterOfMassTransform() * m_frameInA; - } - m_realPivotAInW = m_calculatedTransformA.getOrigin(); - m_realPivotBInW = m_calculatedTransformB.getOrigin(); - m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X - m_delta = m_realPivotBInW - m_realPivotAInW; - m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis; - btVector3 normalWorld; - int i; - //linear part - for(i = 0; i < 3; i++) - { - normalWorld = m_calculatedTransformA.getBasis().getColumn(i); - m_depth[i] = m_delta.dot(normalWorld); - } -} // btSliderConstraint::calculateTransforms() - -//----------------------------------------------------------------------------- - -void btSliderConstraint::testLinLimits(void) -{ - m_solveLinLim = false; - if(m_lowerLinLimit <= m_upperLinLimit) - { - if(m_depth[0] > m_upperLinLimit) - { - m_depth[0] -= m_upperLinLimit; - m_solveLinLim = true; - } - else if(m_depth[0] < m_lowerLinLimit) - { - m_depth[0] -= m_lowerLinLimit; - m_solveLinLim = true; - } - else - { - m_depth[0] = btScalar(0.); - } - } - else - { - m_depth[0] = btScalar(0.); - } -} // btSliderConstraint::testLinLimits() - -//----------------------------------------------------------------------------- - - -void btSliderConstraint::testAngLimits(void) -{ - m_angDepth = btScalar(0.); - m_solveAngLim = false; - if(m_lowerAngLimit <= m_upperAngLimit) - { - const btVector3 axisA0 = m_calculatedTransformA.getBasis().getColumn(1); - const btVector3 axisA1 = m_calculatedTransformA.getBasis().getColumn(2); - const btVector3 axisB0 = m_calculatedTransformB.getBasis().getColumn(1); - btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0)); - if(rot < m_lowerAngLimit) - { - m_angDepth = rot - m_lowerAngLimit; - m_solveAngLim = true; - } - else if(rot > m_upperAngLimit) - { - m_angDepth = rot - m_upperAngLimit; - m_solveAngLim = true; - } - } -} // btSliderConstraint::testAngLimits() - - -//----------------------------------------------------------------------------- - - +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +/* +Added by Roman Ponomarev (rponom@gmail.com) +April 04, 2008 +*/ + +//----------------------------------------------------------------------------- + +#include "btSliderConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "LinearMath/btTransformUtil.h" +#include + +//----------------------------------------------------------------------------- + +void btSliderConstraint::initParams() +{ + m_lowerLinLimit = btScalar(1.0); + m_upperLinLimit = btScalar(-1.0); + m_lowerAngLimit = btScalar(0.); + m_upperAngLimit = btScalar(0.); + m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS; + m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION; + m_dampingDirLin = btScalar(0.); + m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS; + m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION; + m_dampingDirAng = btScalar(0.); + m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS; + m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION; + m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING; + m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS; + m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION; + m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING; + m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS; + m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION; + m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING; + m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS; + m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION; + m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING; + + m_poweredLinMotor = false; + m_targetLinMotorVelocity = btScalar(0.); + m_maxLinMotorForce = btScalar(0.); + m_accumulatedLinMotorImpulse = btScalar(0.0); + + m_poweredAngMotor = false; + m_targetAngMotorVelocity = btScalar(0.); + m_maxAngMotorForce = btScalar(0.); + m_accumulatedAngMotorImpulse = btScalar(0.0); + +} // btSliderConstraint::initParams() + +//----------------------------------------------------------------------------- + +btSliderConstraint::btSliderConstraint() + :btTypedConstraint(SLIDER_CONSTRAINT_TYPE), + m_useLinearReferenceFrameA(true) +{ + initParams(); +} // btSliderConstraint::btSliderConstraint() + +//----------------------------------------------------------------------------- + +btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA) + : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB) + , m_frameInA(frameInA) + , m_frameInB(frameInB), + m_useLinearReferenceFrameA(useLinearReferenceFrameA) +{ + initParams(); +} // btSliderConstraint::btSliderConstraint() + +//----------------------------------------------------------------------------- + +void btSliderConstraint::buildJacobian() +{ + if(m_useLinearReferenceFrameA) + { + buildJacobianInt(m_rbA, m_rbB, m_frameInA, m_frameInB); + } + else + { + buildJacobianInt(m_rbB, m_rbA, m_frameInB, m_frameInA); + } +} // btSliderConstraint::buildJacobian() + +//----------------------------------------------------------------------------- + +void btSliderConstraint::buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB) +{ + //calculate transforms + m_calculatedTransformA = rbA.getCenterOfMassTransform() * frameInA; + m_calculatedTransformB = rbB.getCenterOfMassTransform() * frameInB; + m_realPivotAInW = m_calculatedTransformA.getOrigin(); + m_realPivotBInW = m_calculatedTransformB.getOrigin(); + m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X + m_delta = m_realPivotBInW - m_realPivotAInW; + m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis; + m_relPosA = m_projPivotInW - rbA.getCenterOfMassPosition(); + m_relPosB = m_realPivotBInW - rbB.getCenterOfMassPosition(); + btVector3 normalWorld; + int i; + //linear part + for(i = 0; i < 3; i++) + { + normalWorld = m_calculatedTransformA.getBasis().getColumn(i); + new (&m_jacLin[i]) btJacobianEntry( + rbA.getCenterOfMassTransform().getBasis().transpose(), + rbB.getCenterOfMassTransform().getBasis().transpose(), + m_relPosA, + m_relPosB, + normalWorld, + rbA.getInvInertiaDiagLocal(), + rbA.getInvMass(), + rbB.getInvInertiaDiagLocal(), + rbB.getInvMass() + ); + m_jacLinDiagABInv[i] = btScalar(1.) / m_jacLin[i].getDiagonal(); + m_depth[i] = m_delta.dot(normalWorld); + } + testLinLimits(); + // angular part + for(i = 0; i < 3; i++) + { + normalWorld = m_calculatedTransformA.getBasis().getColumn(i); + new (&m_jacAng[i]) btJacobianEntry( + normalWorld, + rbA.getCenterOfMassTransform().getBasis().transpose(), + rbB.getCenterOfMassTransform().getBasis().transpose(), + rbA.getInvInertiaDiagLocal(), + rbB.getInvInertiaDiagLocal() + ); + } + testAngLimits(); + btVector3 axisA = m_calculatedTransformA.getBasis().getColumn(0); + m_kAngle = btScalar(1.0 )/ (rbA.computeAngularImpulseDenominator(axisA) + rbB.computeAngularImpulseDenominator(axisA)); + // clear accumulator for motors + m_accumulatedLinMotorImpulse = btScalar(0.0); + m_accumulatedAngMotorImpulse = btScalar(0.0); +} // btSliderConstraint::buildJacobianInt() + +//----------------------------------------------------------------------------- + +void btSliderConstraint::solveConstraint(btScalar timeStep) +{ + m_timeStep = timeStep; + if(m_useLinearReferenceFrameA) + { + solveConstraintInt(m_rbA, m_rbB); + } + else + { + solveConstraintInt(m_rbB, m_rbA); + } +} // btSliderConstraint::solveConstraint() + +//----------------------------------------------------------------------------- + +void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB) +{ + int i; + // linear + btVector3 velA = rbA.getVelocityInLocalPoint(m_relPosA); + btVector3 velB = rbB.getVelocityInLocalPoint(m_relPosB); + btVector3 vel = velA - velB; + for(i = 0; i < 3; i++) + { + const btVector3& normal = m_jacLin[i].m_linearJointAxis; + btScalar rel_vel = normal.dot(vel); + // calculate positional error + btScalar depth = m_depth[i]; + // get parameters + btScalar softness = (i) ? m_softnessOrthoLin : (m_solveLinLim ? m_softnessLimLin : m_softnessDirLin); + btScalar restitution = (i) ? m_restitutionOrthoLin : (m_solveLinLim ? m_restitutionLimLin : m_restitutionDirLin); + btScalar damping = (i) ? m_dampingOrthoLin : (m_solveLinLim ? m_dampingLimLin : m_dampingDirLin); + // calcutate and apply impulse + btScalar normalImpulse = softness * (restitution * depth / m_timeStep - damping * rel_vel) * m_jacLinDiagABInv[i]; + btVector3 impulse_vector = normal * normalImpulse; + rbA.applyImpulse( impulse_vector, m_relPosA); + rbB.applyImpulse(-impulse_vector, m_relPosB); + if(m_poweredLinMotor && (!i)) + { // apply linear motor + if(m_accumulatedLinMotorImpulse < m_maxLinMotorForce) + { + btScalar desiredMotorVel = m_targetLinMotorVelocity; + btScalar motor_relvel = desiredMotorVel + rel_vel; + normalImpulse = -motor_relvel * m_jacLinDiagABInv[i]; + // clamp accumulated impulse + btScalar new_acc = m_accumulatedLinMotorImpulse + btFabs(normalImpulse); + if(new_acc > m_maxLinMotorForce) + { + new_acc = m_maxLinMotorForce; + } + btScalar del = new_acc - m_accumulatedLinMotorImpulse; + if(normalImpulse < btScalar(0.0)) + { + normalImpulse = -del; + } + else + { + normalImpulse = del; + } + m_accumulatedLinMotorImpulse = new_acc; + // apply clamped impulse + impulse_vector = normal * normalImpulse; + rbA.applyImpulse( impulse_vector, m_relPosA); + rbB.applyImpulse(-impulse_vector, m_relPosB); + } + } + } + // angular + // get axes in world space + btVector3 axisA = m_calculatedTransformA.getBasis().getColumn(0); + btVector3 axisB = m_calculatedTransformB.getBasis().getColumn(0); + + const btVector3& angVelA = rbA.getAngularVelocity(); + const btVector3& angVelB = rbB.getAngularVelocity(); + + btVector3 angVelAroundAxisA = axisA * axisA.dot(angVelA); + btVector3 angVelAroundAxisB = axisB * axisB.dot(angVelB); + + btVector3 angAorthog = angVelA - angVelAroundAxisA; + btVector3 angBorthog = angVelB - angVelAroundAxisB; + btVector3 velrelOrthog = angAorthog-angBorthog; + //solve orthogonal angular velocity correction + btScalar len = velrelOrthog.length(); + if (len > btScalar(0.00001)) + { + btVector3 normal = velrelOrthog.normalized(); + btScalar denom = rbA.computeAngularImpulseDenominator(normal) + rbB.computeAngularImpulseDenominator(normal); + velrelOrthog *= (btScalar(1.)/denom) * m_dampingOrthoAng * m_softnessOrthoAng; + } + //solve angular positional correction + btVector3 angularError = axisA.cross(axisB) *(btScalar(1.)/m_timeStep); + btScalar len2 = angularError.length(); + if (len2>btScalar(0.00001)) + { + btVector3 normal2 = angularError.normalized(); + btScalar denom2 = rbA.computeAngularImpulseDenominator(normal2) + rbB.computeAngularImpulseDenominator(normal2); + angularError *= (btScalar(1.)/denom2) * m_restitutionOrthoAng * m_softnessOrthoAng; + } + // apply impulse + rbA.applyTorqueImpulse(-velrelOrthog+angularError); + rbB.applyTorqueImpulse(velrelOrthog-angularError); + btScalar impulseMag; + //solve angular limits + if(m_solveAngLim) + { + impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingLimAng + m_angDepth * m_restitutionLimAng / m_timeStep; + impulseMag *= m_kAngle * m_softnessLimAng; + } + else + { + impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingDirAng + m_angDepth * m_restitutionDirAng / m_timeStep; + impulseMag *= m_kAngle * m_softnessDirAng; + } + btVector3 impulse = axisA * impulseMag; + rbA.applyTorqueImpulse(impulse); + rbB.applyTorqueImpulse(-impulse); + //apply angular motor + if(m_poweredAngMotor) + { + if(m_accumulatedAngMotorImpulse < m_maxAngMotorForce) + { + btVector3 velrel = angVelAroundAxisA - angVelAroundAxisB; + btScalar projRelVel = velrel.dot(axisA); + + btScalar desiredMotorVel = m_targetAngMotorVelocity; + btScalar motor_relvel = desiredMotorVel - projRelVel; + + btScalar angImpulse = m_kAngle * motor_relvel; + // clamp accumulated impulse + btScalar new_acc = m_accumulatedAngMotorImpulse + btFabs(angImpulse); + if(new_acc > m_maxAngMotorForce) + { + new_acc = m_maxAngMotorForce; + } + btScalar del = new_acc - m_accumulatedAngMotorImpulse; + if(angImpulse < btScalar(0.0)) + { + angImpulse = -del; + } + else + { + angImpulse = del; + } + m_accumulatedAngMotorImpulse = new_acc; + // apply clamped impulse + btVector3 motorImp = angImpulse * axisA; + m_rbA.applyTorqueImpulse(motorImp); + m_rbB.applyTorqueImpulse(-motorImp); + } + } +} // btSliderConstraint::solveConstraint() + +//----------------------------------------------------------------------------- + +//----------------------------------------------------------------------------- + +void btSliderConstraint::calculateTransforms(void){ + if(m_useLinearReferenceFrameA) + { + m_calculatedTransformA = m_rbA.getCenterOfMassTransform() * m_frameInA; + m_calculatedTransformB = m_rbB.getCenterOfMassTransform() * m_frameInB; + } + else + { + m_calculatedTransformA = m_rbB.getCenterOfMassTransform() * m_frameInB; + m_calculatedTransformB = m_rbA.getCenterOfMassTransform() * m_frameInA; + } + m_realPivotAInW = m_calculatedTransformA.getOrigin(); + m_realPivotBInW = m_calculatedTransformB.getOrigin(); + m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X + m_delta = m_realPivotBInW - m_realPivotAInW; + m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis; + btVector3 normalWorld; + int i; + //linear part + for(i = 0; i < 3; i++) + { + normalWorld = m_calculatedTransformA.getBasis().getColumn(i); + m_depth[i] = m_delta.dot(normalWorld); + } +} // btSliderConstraint::calculateTransforms() + +//----------------------------------------------------------------------------- + +void btSliderConstraint::testLinLimits(void) +{ + m_solveLinLim = false; + if(m_lowerLinLimit <= m_upperLinLimit) + { + if(m_depth[0] > m_upperLinLimit) + { + m_depth[0] -= m_upperLinLimit; + m_solveLinLim = true; + } + else if(m_depth[0] < m_lowerLinLimit) + { + m_depth[0] -= m_lowerLinLimit; + m_solveLinLim = true; + } + else + { + m_depth[0] = btScalar(0.); + } + } + else + { + m_depth[0] = btScalar(0.); + } +} // btSliderConstraint::testLinLimits() + +//----------------------------------------------------------------------------- + + +void btSliderConstraint::testAngLimits(void) +{ + m_angDepth = btScalar(0.); + m_solveAngLim = false; + if(m_lowerAngLimit <= m_upperAngLimit) + { + const btVector3 axisA0 = m_calculatedTransformA.getBasis().getColumn(1); + const btVector3 axisA1 = m_calculatedTransformA.getBasis().getColumn(2); + const btVector3 axisB0 = m_calculatedTransformB.getBasis().getColumn(1); + btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0)); + if(rot < m_lowerAngLimit) + { + m_angDepth = rot - m_lowerAngLimit; + m_solveAngLim = true; + } + else if(rot > m_upperAngLimit) + { + m_angDepth = rot - m_upperAngLimit; + m_solveAngLim = true; + } + } +} // btSliderConstraint::testAngLimits() + + +//----------------------------------------------------------------------------- + + + +btVector3 btSliderConstraint::getAncorInA(void) +{ + btVector3 ancorInA; + 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(); diff --git a/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h index 905c5d8ad..cb027af88 100755 --- a/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h +++ b/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h @@ -1,212 +1,215 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -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. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -/* -Added by Roman Ponomarev (rponom@gmail.com) -April 04, 2008 - -TODO: - - add clamping od accumulated impulse to improve stability - - add conversion for ODE constraint solver -*/ - -#ifndef SLIDER_CONSTRAINT_H -#define SLIDER_CONSTRAINT_H - -//----------------------------------------------------------------------------- - -#include "LinearMath/btVector3.h" -#include "btJacobianEntry.h" -#include "btTypedConstraint.h" - -//----------------------------------------------------------------------------- - -class btRigidBody; - -//----------------------------------------------------------------------------- - -#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0)) -#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0)) -#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7)) - -//----------------------------------------------------------------------------- - -class btSliderConstraint : public btTypedConstraint -{ -protected: - btTransform m_frameInA; - btTransform m_frameInB; - // use frameA fo define limits, if true - bool m_useLinearReferenceFrameA; - // linear limits - btScalar m_lowerLinLimit; - btScalar m_upperLinLimit; - // angular limits - btScalar m_lowerAngLimit; - btScalar m_upperAngLimit; - // softness, restitution and damping for different cases - // DirLin - moving inside linear limits - // LimLin - hitting linear limit - // DirAng - moving inside angular limits - // LimAng - hitting angular limit - // OrthoLin, OrthoAng - against constraint axis - btScalar m_softnessDirLin; - btScalar m_restitutionDirLin; - btScalar m_dampingDirLin; - btScalar m_softnessDirAng; - btScalar m_restitutionDirAng; - btScalar m_dampingDirAng; - btScalar m_softnessLimLin; - btScalar m_restitutionLimLin; - btScalar m_dampingLimLin; - btScalar m_softnessLimAng; - btScalar m_restitutionLimAng; - btScalar m_dampingLimAng; - btScalar m_softnessOrthoLin; - btScalar m_restitutionOrthoLin; - btScalar m_dampingOrthoLin; - btScalar m_softnessOrthoAng; - btScalar m_restitutionOrthoAng; - btScalar m_dampingOrthoAng; - - // for interlal use - bool m_solveLinLim; - bool m_solveAngLim; - - btJacobianEntry m_jacLin[3]; - btScalar m_jacLinDiagABInv[3]; - - btJacobianEntry m_jacAng[3]; - - btScalar m_timeStep; - btTransform m_calculatedTransformA; - btTransform m_calculatedTransformB; - - btVector3 m_sliderAxis; - btVector3 m_realPivotAInW; - btVector3 m_realPivotBInW; - btVector3 m_projPivotInW; - btVector3 m_delta; - btVector3 m_depth; - btVector3 m_relPosA; - btVector3 m_relPosB; - - btScalar m_angDepth; - btScalar m_kAngle; - - bool m_poweredLinMotor; - btScalar m_targetLinMotorVelocity; - btScalar m_maxLinMotorForce; - btScalar m_accumulatedLinMotorImpulse; - - bool m_poweredAngMotor; - btScalar m_targetAngMotorVelocity; - btScalar m_maxAngMotorForce; - btScalar m_accumulatedAngMotorImpulse; - - //------------------------ - void initParams(); -public: - // constructors - btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA); - btSliderConstraint(); - // overrides - virtual void buildJacobian(); - virtual void solveConstraint(btScalar timeStep); - // access - const btRigidBody& getRigidBodyA() const { return m_rbA; } - const btRigidBody& getRigidBodyB() const { return m_rbB; } - const btTransform & getCalculatedTransformA() const { return m_calculatedTransformA; } - const btTransform & getCalculatedTransformB() const { return m_calculatedTransformB; } - const btTransform & getFrameOffsetA() const { return m_frameInA; } - const btTransform & getFrameOffsetB() const { return m_frameInB; } - btTransform & getFrameOffsetA() { return m_frameInA; } - btTransform & getFrameOffsetB() { return m_frameInB; } - btScalar getLowerLinLimit() { return m_lowerLinLimit; } - void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; } - btScalar getUpperLinLimit() { return m_upperLinLimit; } - void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; } - btScalar getLowerAngLimit() { return m_lowerAngLimit; } - void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = lowerLimit; } - btScalar getUpperAngLimit() { return m_upperAngLimit; } - void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = upperLimit; } - bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; } - btScalar getSoftnessDirLin() { return m_softnessDirLin; } - btScalar getRestitutionDirLin() { return m_restitutionDirLin; } - btScalar getDampingDirLin() { return m_dampingDirLin ; } - btScalar getSoftnessDirAng() { return m_softnessDirAng; } - btScalar getRestitutionDirAng() { return m_restitutionDirAng; } - btScalar getDampingDirAng() { return m_dampingDirAng; } - btScalar getSoftnessLimLin() { return m_softnessLimLin; } - btScalar getRestitutionLimLin() { return m_restitutionLimLin; } - btScalar getDampingLimLin() { return m_dampingLimLin; } - btScalar getSoftnessLimAng() { return m_softnessLimAng; } - btScalar getRestitutionLimAng() { return m_restitutionLimAng; } - btScalar getDampingLimAng() { return m_dampingLimAng; } - btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; } - btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; } - btScalar getDampingOrthoLin() { return m_dampingOrthoLin; } - btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; } - btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; } - btScalar getDampingOrthoAng() { return m_dampingOrthoAng; } - void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; } - void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; } - void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; } - void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; } - void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; } - void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; } - void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; } - void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; } - void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; } - void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; } - void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; } - void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; } - void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; } - void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; } - void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; } - void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; } - void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; } - void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; } - void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; } - bool getPoweredLinMotor() { return m_poweredLinMotor; } - void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; } - btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; } - void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; } - btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; } - void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; } - bool getPoweredAngMotor() { return m_poweredAngMotor; } - void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; } - btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; } - void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; } - btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; } - - // access for ODE solver - bool getSolveLinLimit() { return m_solveLinLim; } - btScalar getLinDepth() { return m_depth[0]; } - bool getSolveAngLimit() { return m_solveAngLim; } - btScalar getAngDepth() { return m_angDepth; } - // internal - void buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB); - void solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB); - // shared code used by ODE solver - void calculateTransforms(void); - void testLinLimits(void); - void testAngLimits(void); -}; - -//----------------------------------------------------------------------------- - -#endif //SLIDER_CONSTRAINT_H - +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +/* +Added by Roman Ponomarev (rponom@gmail.com) +April 04, 2008 + +TODO: + - add clamping od accumulated impulse to improve stability + - add conversion for ODE constraint solver +*/ + +#ifndef SLIDER_CONSTRAINT_H +#define SLIDER_CONSTRAINT_H + +//----------------------------------------------------------------------------- + +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btTypedConstraint.h" + +//----------------------------------------------------------------------------- + +class btRigidBody; + +//----------------------------------------------------------------------------- + +#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0)) +#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0)) +#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7)) + +//----------------------------------------------------------------------------- + +class btSliderConstraint : public btTypedConstraint +{ +protected: + btTransform m_frameInA; + btTransform m_frameInB; + // use frameA fo define limits, if true + bool m_useLinearReferenceFrameA; + // linear limits + btScalar m_lowerLinLimit; + btScalar m_upperLinLimit; + // angular limits + btScalar m_lowerAngLimit; + btScalar m_upperAngLimit; + // softness, restitution and damping for different cases + // DirLin - moving inside linear limits + // LimLin - hitting linear limit + // DirAng - moving inside angular limits + // LimAng - hitting angular limit + // OrthoLin, OrthoAng - against constraint axis + btScalar m_softnessDirLin; + btScalar m_restitutionDirLin; + btScalar m_dampingDirLin; + btScalar m_softnessDirAng; + btScalar m_restitutionDirAng; + btScalar m_dampingDirAng; + btScalar m_softnessLimLin; + btScalar m_restitutionLimLin; + btScalar m_dampingLimLin; + btScalar m_softnessLimAng; + btScalar m_restitutionLimAng; + btScalar m_dampingLimAng; + btScalar m_softnessOrthoLin; + btScalar m_restitutionOrthoLin; + btScalar m_dampingOrthoLin; + btScalar m_softnessOrthoAng; + btScalar m_restitutionOrthoAng; + btScalar m_dampingOrthoAng; + + // for interlal use + bool m_solveLinLim; + bool m_solveAngLim; + + btJacobianEntry m_jacLin[3]; + btScalar m_jacLinDiagABInv[3]; + + btJacobianEntry m_jacAng[3]; + + btScalar m_timeStep; + btTransform m_calculatedTransformA; + btTransform m_calculatedTransformB; + + btVector3 m_sliderAxis; + btVector3 m_realPivotAInW; + btVector3 m_realPivotBInW; + btVector3 m_projPivotInW; + btVector3 m_delta; + btVector3 m_depth; + btVector3 m_relPosA; + btVector3 m_relPosB; + + btScalar m_angDepth; + btScalar m_kAngle; + + bool m_poweredLinMotor; + btScalar m_targetLinMotorVelocity; + btScalar m_maxLinMotorForce; + btScalar m_accumulatedLinMotorImpulse; + + bool m_poweredAngMotor; + btScalar m_targetAngMotorVelocity; + btScalar m_maxAngMotorForce; + btScalar m_accumulatedAngMotorImpulse; + + //------------------------ + void initParams(); +public: + // constructors + btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA); + btSliderConstraint(); + // overrides + virtual void buildJacobian(); + virtual void solveConstraint(btScalar timeStep); + // access + const btRigidBody& getRigidBodyA() const { return m_rbA; } + const btRigidBody& getRigidBodyB() const { return m_rbB; } + const btTransform & getCalculatedTransformA() const { return m_calculatedTransformA; } + const btTransform & getCalculatedTransformB() const { return m_calculatedTransformB; } + const btTransform & getFrameOffsetA() const { return m_frameInA; } + const btTransform & getFrameOffsetB() const { return m_frameInB; } + btTransform & getFrameOffsetA() { return m_frameInA; } + btTransform & getFrameOffsetB() { return m_frameInB; } + btScalar getLowerLinLimit() { return m_lowerLinLimit; } + void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; } + btScalar getUpperLinLimit() { return m_upperLinLimit; } + void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; } + btScalar getLowerAngLimit() { return m_lowerAngLimit; } + void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = lowerLimit; } + btScalar getUpperAngLimit() { return m_upperAngLimit; } + void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = upperLimit; } + bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; } + btScalar getSoftnessDirLin() { return m_softnessDirLin; } + btScalar getRestitutionDirLin() { return m_restitutionDirLin; } + btScalar getDampingDirLin() { return m_dampingDirLin ; } + btScalar getSoftnessDirAng() { return m_softnessDirAng; } + btScalar getRestitutionDirAng() { return m_restitutionDirAng; } + btScalar getDampingDirAng() { return m_dampingDirAng; } + btScalar getSoftnessLimLin() { return m_softnessLimLin; } + btScalar getRestitutionLimLin() { return m_restitutionLimLin; } + btScalar getDampingLimLin() { return m_dampingLimLin; } + btScalar getSoftnessLimAng() { return m_softnessLimAng; } + btScalar getRestitutionLimAng() { return m_restitutionLimAng; } + btScalar getDampingLimAng() { return m_dampingLimAng; } + btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; } + btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; } + btScalar getDampingOrthoLin() { return m_dampingOrthoLin; } + btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; } + btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; } + btScalar getDampingOrthoAng() { return m_dampingOrthoAng; } + void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; } + void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; } + void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; } + void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; } + void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; } + void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; } + void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; } + void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; } + void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; } + void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; } + void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; } + void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; } + void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; } + void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; } + void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; } + void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; } + void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; } + void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; } + void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; } + bool getPoweredLinMotor() { return m_poweredLinMotor; } + void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; } + btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; } + void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; } + btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; } + void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; } + bool getPoweredAngMotor() { return m_poweredAngMotor; } + void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; } + btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; } + void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; } + btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; } + + // access for ODE solver + bool getSolveLinLimit() { return m_solveLinLim; } + btScalar getLinDepth() { return m_depth[0]; } + bool getSolveAngLimit() { return m_solveAngLim; } + btScalar getAngDepth() { return m_angDepth; } + // internal + void buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB); + void solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB); + // shared code used by ODE solver + void calculateTransforms(void); + void testLinLimits(void); + void testAngLimits(void); + // access for PE Solver + btVector3 getAncorInA(void); + btVector3 getAncorInB(void); +}; + +//----------------------------------------------------------------------------- + +#endif //SLIDER_CONSTRAINT_H +