215 lines
5.7 KiB
C++
215 lines
5.7 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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#include "btTypedConstraint.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "LinearMath/btSerializer.h"
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#define DEFAULT_DEBUGDRAW_SIZE btScalar(0.05f)
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btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA)
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: btTypedObject(type),
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m_userConstraintType(-1),
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m_userConstraintPtr((void*)-1),
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m_breakingImpulseThreshold(SIMD_INFINITY),
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m_isEnabled(true),
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m_needsFeedback(false),
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m_overrideNumSolverIterations(-1),
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m_rbA(rbA),
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m_rbB(getFixedBody()),
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m_appliedImpulse(btScalar(0.)),
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m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
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m_jointFeedback(0)
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{
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}
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btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA, btRigidBody& rbB)
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: btTypedObject(type),
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m_userConstraintType(-1),
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m_userConstraintPtr((void*)-1),
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m_breakingImpulseThreshold(SIMD_INFINITY),
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m_isEnabled(true),
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m_needsFeedback(false),
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m_overrideNumSolverIterations(-1),
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m_rbA(rbA),
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m_rbB(rbB),
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m_appliedImpulse(btScalar(0.)),
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m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
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m_jointFeedback(0)
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{
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}
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btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
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{
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if (lowLim > uppLim)
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{
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return btScalar(1.0f);
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}
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else if (lowLim == uppLim)
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{
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return btScalar(0.0f);
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}
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btScalar lim_fact = btScalar(1.0f);
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btScalar delta_max = vel / timeFact;
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if (delta_max < btScalar(0.0f))
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{
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if ((pos >= lowLim) && (pos < (lowLim - delta_max)))
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{
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lim_fact = (lowLim - pos) / delta_max;
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}
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else if (pos < lowLim)
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{
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lim_fact = btScalar(0.0f);
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}
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else
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{
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lim_fact = btScalar(1.0f);
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}
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}
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else if (delta_max > btScalar(0.0f))
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{
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if ((pos <= uppLim) && (pos > (uppLim - delta_max)))
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{
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lim_fact = (uppLim - pos) / delta_max;
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}
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else if (pos > uppLim)
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{
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lim_fact = btScalar(0.0f);
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}
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else
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{
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lim_fact = btScalar(1.0f);
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}
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}
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else
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{
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lim_fact = btScalar(0.0f);
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}
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return lim_fact;
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}
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
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{
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btTypedConstraintData2* tcd = (btTypedConstraintData2*)dataBuffer;
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tcd->m_rbA = (btRigidBodyData*)serializer->getUniquePointer(&m_rbA);
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tcd->m_rbB = (btRigidBodyData*)serializer->getUniquePointer(&m_rbB);
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char* name = (char*)serializer->findNameForPointer(this);
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tcd->m_name = (char*)serializer->getUniquePointer(name);
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if (tcd->m_name)
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{
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serializer->serializeName(name);
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}
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tcd->m_objectType = m_objectType;
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tcd->m_needsFeedback = m_needsFeedback;
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tcd->m_overrideNumSolverIterations = m_overrideNumSolverIterations;
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tcd->m_breakingImpulseThreshold = m_breakingImpulseThreshold;
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tcd->m_isEnabled = m_isEnabled ? 1 : 0;
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tcd->m_userConstraintId = m_userConstraintId;
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tcd->m_userConstraintType = m_userConstraintType;
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tcd->m_appliedImpulse = m_appliedImpulse;
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tcd->m_dbgDrawSize = m_dbgDrawSize;
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tcd->m_disableCollisionsBetweenLinkedBodies = false;
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int i;
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for (i = 0; i < m_rbA.getNumConstraintRefs(); i++)
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if (m_rbA.getConstraintRef(i) == this)
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tcd->m_disableCollisionsBetweenLinkedBodies = true;
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for (i = 0; i < m_rbB.getNumConstraintRefs(); i++)
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if (m_rbB.getConstraintRef(i) == this)
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tcd->m_disableCollisionsBetweenLinkedBodies = true;
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return btTypedConstraintDataName;
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}
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btRigidBody& btTypedConstraint::getFixedBody()
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{
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static btRigidBody s_fixed(0, 0, 0);
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s_fixed.setMassProps(btScalar(0.), btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
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return s_fixed;
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}
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void btAngularLimit::set(btScalar low, btScalar high, btScalar _softness, btScalar _biasFactor, btScalar _relaxationFactor)
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{
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m_halfRange = (high - low) / 2.0f;
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m_center = btNormalizeAngle(low + m_halfRange);
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m_softness = _softness;
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m_biasFactor = _biasFactor;
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m_relaxationFactor = _relaxationFactor;
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}
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void btAngularLimit::test(const btScalar angle)
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{
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m_correction = 0.0f;
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m_sign = 0.0f;
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m_solveLimit = false;
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if (m_halfRange >= 0.0f)
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{
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btScalar deviation = btNormalizeAngle(angle - m_center);
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if (deviation < -m_halfRange)
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{
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m_solveLimit = true;
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m_correction = -(deviation + m_halfRange);
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m_sign = +1.0f;
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}
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else if (deviation > m_halfRange)
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{
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m_solveLimit = true;
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m_correction = m_halfRange - deviation;
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m_sign = -1.0f;
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}
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}
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}
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btScalar btAngularLimit::getError() const
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{
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return m_correction * m_sign;
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}
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void btAngularLimit::fit(btScalar& angle) const
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{
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if (m_halfRange > 0.0f)
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{
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btScalar relativeAngle = btNormalizeAngle(angle - m_center);
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if (!btEqual(relativeAngle, m_halfRange))
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{
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if (relativeAngle > 0.0f)
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{
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angle = getHigh();
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}
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else
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{
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angle = getLow();
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}
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}
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}
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}
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btScalar btAngularLimit::getLow() const
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{
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return btNormalizeAngle(m_center - m_halfRange);
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}
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btScalar btAngularLimit::getHigh() const
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{
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return btNormalizeAngle(m_center + m_halfRange);
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}
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