128 lines
5.0 KiB
C++
128 lines
5.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library Maya Plugin
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Copyright (c) 2008 Herbert Law
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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
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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
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not claim that you wrote the original software. If you use this
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software in a product, an acknowledgment in the product documentation
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would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must
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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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Written by: Herbert Law <Herbert.Law@gmail.com>
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Modified by Roman Ponomarev <rponom@gmail.com>
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12/24/2009 : Nail constraint improvements
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*/
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//bt_sixdof_constraint.h
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#ifndef DYN_BT_SIXDOF_CONSTRAINT_H
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#define DYN_BT_SIXDOF_CONSTRAINT_H
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#include "bt_constraint.h"
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#include "sixdof_constraint_impl.h"
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class bt_sixdof_constraint_t: public bt_constraint_t, public sixdof_constraint_impl_t {
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public:
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virtual void set_damping(float d) {
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// btGeneric6DofConstraint* p2pc = static_cast<btGeneric6DofConstraint*>(m_constraint.get());
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// p2pc->m_setting.m_damping = d;
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}
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virtual void set_LinLimit(float lower, float upper) {
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btGeneric6DofConstraint* sixdof = static_cast<btGeneric6DofConstraint*>(m_constraint.get());
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// sixdof->setLowerLinLimit(lower);
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// sixdof->setUpperLinLimit(upper);
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}
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virtual void set_AngLimit(float lower, float upper) {
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btGeneric6DofConstraint* sixdof = static_cast<btGeneric6DofConstraint*>(m_constraint.get());
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// sixdof->setLowerAngLimit(lower);
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// sixdof->setUpperAngLimit(upper);
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}
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virtual float damping() const {
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// btGeneric6DofConstraint const* hc = static_cast<btGeneric6DofConstraint const*>(m_constraint.get());
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// return hc->m_setting.m_damping;
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return 0;
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}
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//
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virtual void set_pivot(vec3f const &p) {
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/* btGeneric6DofConstraint* p2pc = static_cast<btGeneric6DofConstraint*>(m_constraint.get());
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btVector3 bt_pivot(p[0], p[1], p[2]);
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p2pc->setPivotA(bt_pivot);
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p2pc->setPivotB(m_constraint->getRigidBodyA().getCenterOfMassTransform()(bt_pivot));
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// p2pc->buildJacobian();
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*/ }
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virtual void get_pivot(vec3f &p) const {
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/* btGeneric6DofConstraint const* hc = static_cast<btGeneric6DofConstraint const*>(m_constraint.get());
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p[0] = hc->getPivotInA().x();
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p[1] = hc->getPivotInA().y();
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p[2] = hc->getPivotInA().z();
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*/ }
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virtual void get_world_pivot(vec3f &p) const {
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/* btGeneric6DofConstraint const* hc = static_cast<btGeneric6DofConstraint const*>(m_constraint.get());
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p[0] = hc->getPivotInB().x();
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p[1] = hc->getPivotInB().y();
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p[2] = hc->getPivotInB().z();
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*/ }
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virtual void set_world(vec3f const &p) {
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btGeneric6DofConstraint* constraint = static_cast<btGeneric6DofConstraint*>(m_constraint.get());
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btTransform framInA = constraint->getRigidBodyA().getCenterOfMassTransform().inverse();
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btTransform framInB = constraint->getRigidBodyB().getCenterOfMassTransform().inverse();
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constraint->getFrameOffsetA() = framInA;
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constraint->getFrameOffsetB() = framInB;
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world = p;
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}
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virtual void get_world(vec3f &p) const {
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/* btGeneric6DofConstraint const* hc = static_cast<btGeneric6DofConstraint const*>(m_constraint.get());
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p[0] = hc->getFrameOffsetB().getOrigin().x();
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p[1] = hc->getFrameOffsetB().getOrigin().y();
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p[2] = hc->getFrameOffsetB().getOrigin().z();
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*/ p = world;
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}
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virtual void update_constraint(rigid_body_impl_t* rb)
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{
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btGeneric6DofConstraint* constraint = static_cast<btGeneric6DofConstraint*>(m_constraint.get());
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constraint->getFrameOffsetA() = constraint->getRigidBodyA().getCenterOfMassTransform().inverse();
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constraint->getFrameOffsetB() = constraint->getRigidBodyB().getCenterOfMassTransform().inverse();
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}
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protected:
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friend class bt_solver_t;
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vec3f world;
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bt_sixdof_constraint_t(rigid_body_impl_t* rbA, vec3f const& pivotA, rigid_body_impl_t* rbB, vec3f const& pivotB):
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sixdof_constraint_impl_t()
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{
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btRigidBody& bt_bodyA = *static_cast<bt_rigid_body_t*>(rbA)->body();
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btRigidBody& bt_bodyB = *static_cast<bt_rigid_body_t*>(rbB)->body();
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btTransform framInA = bt_bodyA.getCenterOfMassTransform().inverse();
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btTransform framInB = bt_bodyB.getCenterOfMassTransform().inverse();
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btGeneric6DofConstraint * sixdof = new btGeneric6DofConstraint(bt_bodyA, bt_bodyB, framInA, framInB, true);
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m_constraint.reset(sixdof);
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rbA->add_constraint(this);
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}
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private:
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};
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#endif //DYN_BT_SIXDOF_CONSTRAINT_H
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