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bullet3/Extras/MayaPlugin/constraint/bt_hinge_constraint.h
rponom e459145b91 Crash bug when "mesh" applied twice fixed 
Constraints reworked - all of them could now work with one or two bodies

Modification of constraint frames and initial positions of rigid bodies
now allowed at start frame only

Plugin version is set to 2.76
2010-01-23 03:15:43 +00:00

194 lines
7.7 KiB
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/*
Bullet Continuous Collision Detection and Physics Library Maya Plugin
Copyright (c) 2008 Herbert Law
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.
Written by: Herbert Law <Herbert.Law@gmail.com>
Modified by Roman Ponomarev <rponom@gmail.com>
01/22/2010 : Constraints reworked
*/
//bt_hinge_constraint.h
#ifndef DYN_BT_HINGE_CONSTRAINT_H
#define DYN_BT_HINGE_CONSTRAINT_H
#include "bt_rigid_body.h"
#include "bt_constraint.h"
#include "hinge_constraint_impl.h"
class bt_hinge_constraint_t: public bt_constraint_t, public hinge_constraint_impl_t {
public:
virtual void set_damping(float d) {
// btHingeConstraint* p2pc = static_cast<btHingeConstraint*>(m_constraint.get());
// p2pc->m_setting.m_damping = d;
}
virtual void set_limit(float lower, float upper, float softness, float bias_factor, float relaxation_factor) {
btHingeConstraint* hinge = static_cast<btHingeConstraint*>(m_constraint.get());
hinge->setLimit(lower, upper, softness, bias_factor, relaxation_factor);
}
virtual void set_axis(vec3f const &p) {
btHingeConstraint* hinge = static_cast<btHingeConstraint*>(m_constraint.get());
btVector3 axis(p[0], p[1], p[2]);
hinge->setAxis(axis);
}
virtual float damping() const {
// btHingeConstraint const* hc = static_cast<btHingeConstraint const*>(m_constraint.get());
// return hc->m_setting.m_damping;
return 0;
}
//
virtual void get_frameA(vec3f& p, quatf& r) const
{
btHingeConstraint const* hc = static_cast<btHingeConstraint const*>(m_constraint.get());
const btTransform& btxform = hc->getAFrame();
btQuaternion bq = btxform.getRotation();
btVector3 bp = btxform.getOrigin();
p = vec3f(bp.x(), bp.y(), bp.z());
r = quatf(bq.w(), bq.x(), bq.y(), bq.z());
}
virtual void get_frameB(vec3f& p, quatf& r) const
{
btHingeConstraint const* hc = static_cast<btHingeConstraint const*>(m_constraint.get());
const btTransform& btxform = hc->getBFrame();
btQuaternion bq = btxform.getRotation();
btVector3 bp = btxform.getOrigin();
p = vec3f(bp.x(), bp.y(), bp.z());
r = quatf(bq.w(), bq.x(), bq.y(), bq.z());
}
virtual void get_invFrameA(vec3f& p, quatf& r) const
{
btHingeConstraint const* hc = static_cast<btHingeConstraint const*>(m_constraint.get());
const btTransform btxform = hc->getAFrame().inverse();
btQuaternion bq = btxform.getRotation();
btVector3 bp = btxform.getOrigin();
p = vec3f(bp.x(), bp.y(), bp.z());
r = quatf(bq.w(), bq.x(), bq.y(), bq.z());
}
virtual void get_invFrameB(vec3f& p, quatf& r) const
{
btHingeConstraint const* hc = static_cast<btHingeConstraint const*>(m_constraint.get());
const btTransform btxform = hc->getBFrame().inverse();
btQuaternion bq = btxform.getRotation();
btVector3 bp = btxform.getOrigin();
p = vec3f(bp.x(), bp.y(), bp.z());
r = quatf(bq.w(), bq.x(), bq.y(), bq.z());
}
virtual void worldToA(vec3f& w, vec3f& p) const
{
btHingeConstraint const* hc = static_cast<btHingeConstraint const*>(m_constraint.get());
const btTransform w2a = (hc->getRigidBodyA().getWorldTransform() * hc->getAFrame()).inverse();
btVector3 bw(w[0], w[1], w[2]);
btVector3 bp = w2a * bw;
p = vec3f(bp[0], bp[1], bp[2]);
}
virtual void worldFromB(vec3f& p, vec3f& w) const
{
btHingeConstraint const* hc = static_cast<btHingeConstraint const*>(m_constraint.get());
const btTransform b2w = hc->getRigidBodyB().getWorldTransform() * hc->getBFrame();
btVector3 bp(p[0], p[1], p[2]);
btVector3 bw = b2w * bp;
w = vec3f(bw[0], bw[1], bw[2]);
}
virtual void set_world(vec3f const &p, quatf const& r) {
btHingeConstraint* hc = static_cast<btHingeConstraint*>(m_constraint.get());
btVector3 worldP(p[0], p[1], p[2]);
btQuaternion worldR(r[1], r[2], r[3], r[0]);
btTransform frameAinW(worldR, worldP);
btTransform frameA = hc->getRigidBodyA().getWorldTransform().inverse() * frameAinW;
btTransform frameB = hc->getRigidBodyB().getWorldTransform().inverse() * frameAinW;
hc->getAFrame() = frameA;
hc->getBFrame() = frameB;
}
virtual void get_world(vec3f &p, quatf& r) const {
btHingeConstraint const* hc = static_cast<btHingeConstraint const*>(m_constraint.get());
btTransform frameAinW = hc->getRigidBodyA().getWorldTransform() * hc->getAFrame();
btQuaternion bq = frameAinW.getRotation();
btVector3 bp = frameAinW.getOrigin();
p = vec3f(bp.x(), bp.y(), bp.z());
r = quatf(bq.w(), bq.x(), bq.y(), bq.z());
}
virtual void enable_motor(bool enable, float velocity, float impulse) {
btHingeConstraint* hinge = static_cast<btHingeConstraint*>(m_constraint.get());
hinge->enableAngularMotor(enable, velocity, impulse);
}
virtual void update_constraint(rigid_body_impl_t* rb)
{
btHingeConstraint* hc = static_cast<btHingeConstraint*>(m_constraint.get());
btRigidBody* bt_body = static_cast<bt_rigid_body_t*>(rb)->body();
btTransform frameW, frameL;
if(bt_body == &hc->getRigidBodyA())
{
frameW = hc->getRigidBodyB().getWorldTransform() * hc->getBFrame();
frameL = hc->getRigidBodyA().getWorldTransform().inverse() * frameW;
hc->getAFrame() = frameL;
}
else if(bt_body == &hc->getRigidBodyB())
{
frameW = hc->getRigidBodyA().getWorldTransform() * hc->getAFrame();
frameL = hc->getRigidBodyB().getWorldTransform().inverse() * frameW;
hc->getBFrame() = frameL;
}
setPivotChanged(true);
}
protected:
friend class bt_solver_t;
bt_hinge_constraint_t(rigid_body_impl_t* rb, vec3f const& pivot, quatf const& rot):
hinge_constraint_impl_t()
{
btRigidBody& bt_body = *static_cast<bt_rigid_body_t*>(rb)->body();
btVector3 p(pivot[0], pivot[1], pivot[2]);
btQuaternion q(rot[1], rot[2], rot[3], rot[0]);
btTransform frameInA(q, p);
btHingeConstraint* hinge = new btHingeConstraint(bt_body, frameInA, false);
m_constraint.reset(hinge);
rb->add_constraint(this);
}
bt_hinge_constraint_t(rigid_body_impl_t* rbA, vec3f const& pivotA, quatf const& rotA, rigid_body_impl_t* rbB, vec3f const& pivotB, quatf const& rotB):
hinge_constraint_impl_t()
{
btRigidBody& bt_bodyA = *static_cast<bt_rigid_body_t*>(rbA)->body();
btRigidBody& bt_bodyB = *static_cast<bt_rigid_body_t*>(rbB)->body();
btVector3 pA(pivotA[0], pivotA[1], pivotA[2]);
btQuaternion qA(rotA[1], rotA[2], rotA[3], rotA[0]);
btTransform frameInA(qA, pA);
btVector3 pB(pivotB[0], pivotB[1], pivotB[2]);
btQuaternion qB(rotB[1], rotB[2], rotB[3], rotB[0]);
btTransform frameInB(qB, pB);
btHingeConstraint* hinge = new btHingeConstraint(bt_bodyA, bt_bodyB, frameInA, frameInB, false);
m_constraint.reset(hinge);
rbA->add_constraint(this);
rbB->add_constraint(this);
}
private:
};
#endif //DYN_BT_HINGE_CONSTRAINT_H
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