152 lines
3.7 KiB
C++
152 lines
3.7 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 "b3TypedConstraint.h"
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//#include "Bullet3Common/b3Serializer.h"
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#define B3_DEFAULT_DEBUGDRAW_SIZE b3Scalar(0.3f)
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b3TypedConstraint::b3TypedConstraint(b3TypedConstraintType type, int rbA, int rbB)
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: b3TypedObject(type),
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m_userConstraintType(-1),
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m_userConstraintPtr((void*)-1),
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m_breakingImpulseThreshold(B3_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(b3Scalar(0.)),
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m_dbgDrawSize(B3_DEFAULT_DEBUGDRAW_SIZE),
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m_jointFeedback(0)
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{
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}
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b3Scalar b3TypedConstraint::getMotorFactor(b3Scalar pos, b3Scalar lowLim, b3Scalar uppLim, b3Scalar vel, b3Scalar timeFact)
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{
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if (lowLim > uppLim)
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{
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return b3Scalar(1.0f);
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}
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else if (lowLim == uppLim)
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{
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return b3Scalar(0.0f);
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}
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b3Scalar lim_fact = b3Scalar(1.0f);
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b3Scalar delta_max = vel / timeFact;
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if (delta_max < b3Scalar(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 = b3Scalar(0.0f);
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}
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else
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{
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lim_fact = b3Scalar(1.0f);
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}
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}
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else if (delta_max > b3Scalar(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 = b3Scalar(0.0f);
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}
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else
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{
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lim_fact = b3Scalar(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 = b3Scalar(0.0f);
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}
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return lim_fact;
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}
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void b3AngularLimit::set(b3Scalar low, b3Scalar high, b3Scalar _softness, b3Scalar _biasFactor, b3Scalar _relaxationFactor)
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{
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m_halfRange = (high - low) / 2.0f;
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m_center = b3NormalizeAngle(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 b3AngularLimit::test(const b3Scalar 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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b3Scalar deviation = b3NormalizeAngle(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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b3Scalar b3AngularLimit::getError() const
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{
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return m_correction * m_sign;
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}
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void b3AngularLimit::fit(b3Scalar& angle) const
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{
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if (m_halfRange > 0.0f)
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{
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b3Scalar relativeAngle = b3NormalizeAngle(angle - m_center);
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if (!b3Equal(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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b3Scalar b3AngularLimit::getLow() const
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{
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return b3NormalizeAngle(m_center - m_halfRange);
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}
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b3Scalar b3AngularLimit::getHigh() const
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{
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return b3NormalizeAngle(m_center + m_halfRange);
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}
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