79 lines
2.1 KiB
C++
79 lines
2.1 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 POINT2POINTCONSTRAINT_H
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#define POINT2POINTCONSTRAINT_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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struct ConstraintSetting
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{
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ConstraintSetting() :
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m_tau(0.3f),
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m_damping(1.f)
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{
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}
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float m_tau;
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float m_damping;
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};
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/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
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class Point2PointConstraint : public TypedConstraint
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{
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JacobianEntry m_jac[3]; //3 orthogonal linear constraints
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SimdVector3 m_pivotInA;
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SimdVector3 m_pivotInB;
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public:
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ConstraintSetting m_setting;
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Point2PointConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB);
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Point2PointConstraint(RigidBody& rbA,const SimdVector3& pivotInA);
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Point2PointConstraint();
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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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void SetPivotA(const SimdVector3& pivotA)
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{
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m_pivotInA = pivotA;
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}
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void SetPivotB(const SimdVector3& pivotB)
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{
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m_pivotInB = pivotB;
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}
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};
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#endif //POINT2POINTCONSTRAINT_H
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