77 lines
2.4 KiB
C++
77 lines
2.4 KiB
C++
/*
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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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#ifndef GENERIC_6DOF_CONSTRAINT_H
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#define GENERIC_6DOF_CONSTRAINT_H
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#include "SimdVector3.h"
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#include "ConstraintSolver/JacobianEntry.h"
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#include "TypedConstraint.h"
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class RigidBody;
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/// Generic6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
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/// Generic6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'
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/// Work in progress (is still a Hinge actually)
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class Generic6DofConstraint : public TypedConstraint
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{
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JacobianEntry m_jac[3]; // 3 orthogonal linear constraints
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JacobianEntry m_jacAng[3]; // 3 orthogonal angular constraints
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SimdTransform m_frameInA; // the constraint space w.r.t body A
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SimdTransform m_frameInB; // the constraint space w.r.t body B
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SimdScalar m_lowerLimit[6]; // the constraint lower limits
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SimdScalar m_upperLimit[6]; // the constraint upper limits
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SimdScalar m_accumulatedImpulse[6];
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public:
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Generic6DofConstraint(RigidBody& rbA, RigidBody& rbB, const SimdTransform& frameInA, const SimdTransform& frameInB );
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Generic6DofConstraint();
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virtual void BuildJacobian();
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virtual void SolveConstraint(SimdScalar timeStep);
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void UpdateRHS(SimdScalar timeStep);
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SimdScalar ComputeAngle(int axis) const;
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void SetAngularLimit(int axis, SimdScalar lo, SimdScalar hi)
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{
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m_lowerLimit[axis + 3] = lo;
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m_upperLimit[axis + 3] = hi;
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}
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const RigidBody& GetRigidBodyA() const
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{
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return m_rbA;
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}
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const RigidBody& GetRigidBodyB() const
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{
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return m_rbB;
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}
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};
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#endif //GENERIC_6DOF_CONSTRAINT_H
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