366 lines
11 KiB
C++
366 lines
11 KiB
C++
/*************************************************************************/
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/* generic_6dof_joint_sw.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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/*
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Adapted to Godot from the Bullet library.
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*/
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#ifndef GENERIC_6DOF_JOINT_SW_H
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#define GENERIC_6DOF_JOINT_SW_H
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#include "servers/physics/joints/jacobian_entry_sw.h"
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#include "servers/physics/joints_sw.h"
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/*
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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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/*
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2007-09-09
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Generic6DOFJointSW Refactored by Francisco Le?n
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email: projectileman@yahoo.com
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http://gimpact.sf.net
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*/
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//! Rotation Limit structure for generic joints
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class G6DOFRotationalLimitMotorSW {
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public:
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//! limit_parameters
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//!@{
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real_t m_loLimit; //!< joint limit
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real_t m_hiLimit; //!< joint limit
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real_t m_targetVelocity; //!< target motor velocity
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real_t m_maxMotorForce; //!< max force on motor
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real_t m_maxLimitForce; //!< max force on limit
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real_t m_damping; //!< Damping.
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real_t m_limitSoftness; //! Relaxation factor
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real_t m_ERP; //!< Error tolerance factor when joint is at limit
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real_t m_bounce; //!< restitution factor
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bool m_enableMotor;
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bool m_enableLimit;
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//!@}
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//! temp_variables
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//!@{
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real_t m_currentLimitError; //!< How much is violated this limit
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int m_currentLimit; //!< 0=free, 1=at lo limit, 2=at hi limit
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real_t m_accumulatedImpulse;
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//!@}
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G6DOFRotationalLimitMotorSW() {
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m_accumulatedImpulse = 0.f;
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m_targetVelocity = 0;
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m_maxMotorForce = 0.1f;
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m_maxLimitForce = 300.0f;
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m_loLimit = -1e30;
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m_hiLimit = 1e30;
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m_ERP = 0.5f;
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m_bounce = 0.0f;
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m_damping = 1.0f;
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m_limitSoftness = 0.5f;
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m_currentLimit = 0;
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m_currentLimitError = 0;
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m_enableMotor = false;
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m_enableLimit = false;
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}
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//! Is limited
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bool isLimited() {
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return (m_loLimit < m_hiLimit);
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}
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//! Need apply correction
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bool needApplyTorques() {
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return (m_enableMotor || m_currentLimit != 0);
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}
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//! calculates error
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/*!
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calculates m_currentLimit and m_currentLimitError.
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*/
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int testLimitValue(real_t test_value);
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//! apply the correction impulses for two bodies
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real_t solveAngularLimits(real_t timeStep, Vector3 &axis, real_t jacDiagABInv, BodySW *body0, BodySW *body1);
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};
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class G6DOFTranslationalLimitMotorSW {
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public:
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Vector3 m_lowerLimit; //!< the constraint lower limits
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Vector3 m_upperLimit; //!< the constraint upper limits
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Vector3 m_accumulatedImpulse;
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//! Linear_Limit_parameters
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//!@{
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Vector3 m_limitSoftness; //!< Softness for linear limit
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Vector3 m_damping; //!< Damping for linear limit
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Vector3 m_restitution; //! Bounce parameter for linear limit
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//!@}
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bool enable_limit[3];
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G6DOFTranslationalLimitMotorSW() {
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m_lowerLimit = Vector3(0.f, 0.f, 0.f);
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m_upperLimit = Vector3(0.f, 0.f, 0.f);
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m_accumulatedImpulse = Vector3(0.f, 0.f, 0.f);
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m_limitSoftness = Vector3(1, 1, 1) * 0.7f;
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m_damping = Vector3(1, 1, 1) * real_t(1.0f);
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m_restitution = Vector3(1, 1, 1) * real_t(0.5f);
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enable_limit[0] = true;
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enable_limit[1] = true;
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enable_limit[2] = true;
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}
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//! Test limit
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/*!
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* - free means upper < lower,
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* - locked means upper == lower
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* - limited means upper > lower
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* - limitIndex: first 3 are linear, next 3 are angular
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*/
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inline bool isLimited(int limitIndex) {
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return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
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}
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real_t solveLinearAxis(
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real_t timeStep,
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real_t jacDiagABInv,
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BodySW *body1, const Vector3 &pointInA,
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BodySW *body2, const Vector3 &pointInB,
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int limit_index,
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const Vector3 &axis_normal_on_a,
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const Vector3 &anchorPos);
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};
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class Generic6DOFJointSW : public JointSW {
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protected:
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union {
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struct {
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BodySW *A;
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BodySW *B;
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};
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BodySW *_arr[2];
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};
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//! relative_frames
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//!@{
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Transform m_frameInA; //!< the constraint space w.r.t body A
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Transform m_frameInB; //!< the constraint space w.r.t body B
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//!@}
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//! Jacobians
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//!@{
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JacobianEntrySW m_jacLinear[3]; //!< 3 orthogonal linear constraints
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JacobianEntrySW m_jacAng[3]; //!< 3 orthogonal angular constraints
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//!@}
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//! Linear_Limit_parameters
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//!@{
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G6DOFTranslationalLimitMotorSW m_linearLimits;
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//!@}
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//! hinge_parameters
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//!@{
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G6DOFRotationalLimitMotorSW m_angularLimits[3];
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//!@}
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protected:
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//! temporal variables
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//!@{
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real_t m_timeStep;
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Transform m_calculatedTransformA;
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Transform m_calculatedTransformB;
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Vector3 m_calculatedAxisAngleDiff;
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Vector3 m_calculatedAxis[3];
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Vector3 m_AnchorPos; // point between pivots of bodies A and B to solve linear axes
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bool m_useLinearReferenceFrameA;
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//!@}
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Generic6DOFJointSW(Generic6DOFJointSW const &) = delete;
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void operator=(Generic6DOFJointSW const &) = delete;
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void buildLinearJacobian(
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JacobianEntrySW &jacLinear, const Vector3 &normalWorld,
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const Vector3 &pivotAInW, const Vector3 &pivotBInW);
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void buildAngularJacobian(JacobianEntrySW &jacAngular, const Vector3 &jointAxisW);
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//! calcs the euler angles between the two bodies.
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void calculateAngleInfo();
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public:
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Generic6DOFJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA);
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virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_6DOF; }
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virtual bool setup(real_t p_timestep);
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virtual void solve(real_t p_timestep);
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// Calcs the global transform for the joint offset for body A an B, and also calcs the angle differences between the bodies.
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void calculateTransforms();
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// Gets the global transform of the offset for body A. */
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const Transform &getCalculatedTransformA() const {
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return m_calculatedTransformA;
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}
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// Gets the global transform of the offset for body B.
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const Transform &getCalculatedTransformB() const {
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return m_calculatedTransformB;
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}
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const Transform &getFrameOffsetA() const {
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return m_frameInA;
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}
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const Transform &getFrameOffsetB() const {
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return m_frameInB;
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}
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Transform &getFrameOffsetA() {
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return m_frameInA;
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}
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Transform &getFrameOffsetB() {
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return m_frameInB;
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}
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//! performs Jacobian calculation, and also calculates angle differences and axis
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void updateRHS(real_t timeStep);
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//! Get the rotation axis in global coordinates
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/*!
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\pre Generic6DOFJointSW.buildJacobian must be called previously.
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*/
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Vector3 getAxis(int axis_index) const;
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//! Get the relative Euler angle
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/*!
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\pre Generic6DOFJointSW.buildJacobian must be called previously.
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*/
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real_t getAngle(int axis_index) const;
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//! Test angular limit.
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/*!
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Calculates angular correction and returns true if limit needs to be corrected.
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\pre Generic6DOFJointSW.buildJacobian must be called previously.
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*/
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bool testAngularLimitMotor(int axis_index);
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void setLinearLowerLimit(const Vector3 &linearLower) {
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m_linearLimits.m_lowerLimit = linearLower;
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}
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void setLinearUpperLimit(const Vector3 &linearUpper) {
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m_linearLimits.m_upperLimit = linearUpper;
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}
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void setAngularLowerLimit(const Vector3 &angularLower) {
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m_angularLimits[0].m_loLimit = angularLower.x;
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m_angularLimits[1].m_loLimit = angularLower.y;
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m_angularLimits[2].m_loLimit = angularLower.z;
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}
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void setAngularUpperLimit(const Vector3 &angularUpper) {
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m_angularLimits[0].m_hiLimit = angularUpper.x;
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m_angularLimits[1].m_hiLimit = angularUpper.y;
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m_angularLimits[2].m_hiLimit = angularUpper.z;
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}
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//! Retrieves the angular limit informacion
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G6DOFRotationalLimitMotorSW *getRotationalLimitMotor(int index) {
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return &m_angularLimits[index];
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}
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//! Retrieves the limit informacion
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G6DOFTranslationalLimitMotorSW *getTranslationalLimitMotor() {
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return &m_linearLimits;
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}
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//first 3 are linear, next 3 are angular
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void setLimit(int axis, real_t lo, real_t hi) {
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if (axis < 3) {
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m_linearLimits.m_lowerLimit[axis] = lo;
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m_linearLimits.m_upperLimit[axis] = hi;
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} else {
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m_angularLimits[axis - 3].m_loLimit = lo;
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m_angularLimits[axis - 3].m_hiLimit = hi;
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}
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}
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//! Test limit
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/*!
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* - free means upper < lower,
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* - locked means upper == lower
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* - limited means upper > lower
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* - limitIndex: first 3 are linear, next 3 are angular
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*/
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bool isLimited(int limitIndex) {
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if (limitIndex < 3) {
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return m_linearLimits.isLimited(limitIndex);
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}
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return m_angularLimits[limitIndex - 3].isLimited();
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}
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const BodySW *getRigidBodyA() const {
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return A;
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}
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const BodySW *getRigidBodyB() const {
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return B;
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}
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virtual void calcAnchorPos(); // overridable
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void set_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisParam p_param, real_t p_value);
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real_t get_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisParam p_param) const;
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void set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value);
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bool get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const;
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};
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#endif // GENERIC_6DOF_JOINT_SW_H
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