69 lines
2.2 KiB
C++
69 lines
2.2 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
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.
|
|
*/
|
|
|
|
#ifndef GENERIC_6DOF_CONSTRAINT_H
|
|
#define GENERIC_6DOF_CONSTRAINT_H
|
|
|
|
#include "SimdVector3.h"
|
|
|
|
#include "ConstraintSolver/JacobianEntry.h"
|
|
#include "TypedConstraint.h"
|
|
|
|
class RigidBody;
|
|
|
|
|
|
|
|
/// Generic6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
|
|
/// Generic6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'
|
|
/// Work in progress (is still a Hinge actually)
|
|
class Generic6DofConstraint : public TypedConstraint
|
|
{
|
|
JacobianEntry m_jac[3]; //3 orthogonal linear constraints
|
|
JacobianEntry m_jacAng[3]; //3 orthogonal angular constraints
|
|
|
|
SimdVector3 m_pivotInA;
|
|
SimdVector3 m_pivotInB;
|
|
SimdVector3 m_axisInA;
|
|
SimdVector3 m_axisInB;
|
|
|
|
|
|
public:
|
|
|
|
Generic6DofConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB,SimdVector3& axisInA,SimdVector3& axisInB);
|
|
|
|
Generic6DofConstraint(RigidBody& rbA,const SimdVector3& pivotInA,SimdVector3& axisInA);
|
|
|
|
Generic6DofConstraint();
|
|
|
|
virtual void BuildJacobian();
|
|
|
|
virtual void SolveConstraint(SimdScalar timeStep);
|
|
|
|
void UpdateRHS(SimdScalar timeStep);
|
|
|
|
const RigidBody& GetRigidBodyA() const
|
|
{
|
|
return m_rbA;
|
|
}
|
|
const RigidBody& GetRigidBodyB() const
|
|
{
|
|
return m_rbB;
|
|
}
|
|
|
|
|
|
};
|
|
|
|
#endif //GENERIC_6DOF_CONSTRAINT_H
|