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