d9c4529a26
Thanks Benoit for pointing this out, and bugfix: http://code.google.com/p/bullet/issues/detail?id=218 + Added point to point, hinge, slider and generic 6dof constraints to Maya Dynamica plugin Thanks to Herbert Law for the constribution: http://code.google.com/p/bullet/issues/detail?id=221
126 lines
4.7 KiB
C++
126 lines
4.7 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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*/
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//bt_hinge_constraint.h
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#ifndef DYN_BT_HINGE_CONSTRAINT_H
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#define DYN_BT_HINGE_CONSTRAINT_H
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#include "bt_constraint.h"
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#include "hinge_constraint_impl.h"
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class bt_hinge_constraint_t: public bt_constraint_t, public hinge_constraint_impl_t {
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public:
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virtual void set_damping(float d) {
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// btHingeConstraint* p2pc = static_cast<btHingeConstraint*>(m_constraint.get());
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// p2pc->m_setting.m_damping = d;
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}
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virtual void set_limit(float lower, float upper, float softness, float bias_factor, float relaxation_factor) {
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btHingeConstraint* hinge = static_cast<btHingeConstraint*>(m_constraint.get());
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hinge->setLimit(lower, upper, softness, bias_factor, relaxation_factor);
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}
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virtual void set_axis(vec3f const &p) {
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btHingeConstraint* hinge = static_cast<btHingeConstraint*>(m_constraint.get());
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btVector3 axis(p[0], p[1], p[2]);
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hinge->setAxis(axis);
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}
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virtual float damping() const {
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// btHingeConstraint const* hc = static_cast<btHingeConstraint 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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/* btHingeConstraint* p2pc = static_cast<btHingeConstraint*>(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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/* btHingeConstraint const* hc = static_cast<btHingeConstraint 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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/* btHingeConstraint const* hc = static_cast<btHingeConstraint 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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btHingeConstraint* hc = static_cast<btHingeConstraint*>(m_constraint.get());
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btVector3 world(p[0], p[1], p[2]);
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btVector3 pivotA = hc->getRigidBodyA().getWorldTransform().inverse() (world);
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hc->getAFrame().getOrigin() = pivotA;
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hc->getBFrame().getOrigin() = world;
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// p2pc->buildJacobian();
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}
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virtual void get_world(vec3f &p) const {
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btHingeConstraint const* hc = static_cast<btHingeConstraint const*>(m_constraint.get());
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p[0] = hc->getBFrame().getOrigin().x();
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p[1] = hc->getBFrame().getOrigin().y();
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p[2] = hc->getBFrame().getOrigin().z();
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}
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virtual void enable_motor(bool enable, float velocity, float impulse) {
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btHingeConstraint* hinge = static_cast<btHingeConstraint*>(m_constraint.get());
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hinge->enableAngularMotor(enable, velocity, impulse);
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}
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virtual void update_constraint()
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{
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btHingeConstraint* hc = static_cast<btHingeConstraint*>(m_constraint.get());
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btVector3 world = hc->getBFrame().getOrigin();
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btVector3 pivotA = hc->getRigidBodyA().getWorldTransform().inverse() (world);
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hc->getAFrame().getOrigin() = pivotA;
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}
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protected:
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friend class bt_solver_t;
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bt_hinge_constraint_t(rigid_body_impl_t* rb, vec3f const& pivot):
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hinge_constraint_impl_t()
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{
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btRigidBody& bt_body = *static_cast<bt_rigid_body_t*>(rb)->body();
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btVector3 pivotA = bt_body.getCenterOfMassPosition();
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btVector3 btAxisA( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis
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btHingeConstraint * hinge = new btHingeConstraint(bt_body, -pivotA, btAxisA);
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m_constraint.reset(hinge);
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rb->add_constraint(this);
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}
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private:
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};
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#endif //DYN_BT_HINGE_CONSTRAINT_H
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