648 lines
19 KiB
C++
648 lines
19 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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/// 2009 March: btGeneric6DofConstraint refactored by Roman Ponomarev
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/// Added support for generic constraint solver through getInfo1/getInfo2 methods
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/*
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2007-09-09
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btGeneric6DofConstraint 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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#ifndef BT_GENERIC_6DOF_CONSTRAINT_H
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#define BT_GENERIC_6DOF_CONSTRAINT_H
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#include "LinearMath/btVector3.h"
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#include "btJacobianEntry.h"
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#include "btTypedConstraint.h"
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class btRigidBody;
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#ifdef BT_USE_DOUBLE_PRECISION
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#define btGeneric6DofConstraintData2 btGeneric6DofConstraintDoubleData2
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#define btGeneric6DofConstraintDataName "btGeneric6DofConstraintDoubleData2"
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#else
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#define btGeneric6DofConstraintData2 btGeneric6DofConstraintData
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#define btGeneric6DofConstraintDataName "btGeneric6DofConstraintData"
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#endif //BT_USE_DOUBLE_PRECISION
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//! Rotation Limit structure for generic joints
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class btRotationalLimitMotor
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{
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public:
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//! limit_parameters
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//!@{
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btScalar m_loLimit;//!< joint limit
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btScalar m_hiLimit;//!< joint limit
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btScalar m_targetVelocity;//!< target motor velocity
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btScalar m_maxMotorForce;//!< max force on motor
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btScalar m_maxLimitForce;//!< max force on limit
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btScalar m_damping;//!< Damping.
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btScalar m_limitSoftness;//! Relaxation factor
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btScalar m_normalCFM;//!< Constraint force mixing factor
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btScalar m_stopERP;//!< Error tolerance factor when joint is at limit
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btScalar m_stopCFM;//!< Constraint force mixing factor when joint is at limit
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btScalar m_bounce;//!< restitution factor
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bool m_enableMotor;
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//!@}
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//! temp_variables
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//!@{
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btScalar m_currentLimitError;//! How much is violated this limit
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btScalar m_currentPosition; //! current value of angle
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int m_currentLimit;//!< 0=free, 1=at lo limit, 2=at hi limit
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btScalar m_accumulatedImpulse;
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//!@}
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btRotationalLimitMotor()
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{
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m_accumulatedImpulse = 0.f;
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m_targetVelocity = 0;
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m_maxMotorForce = 6.0f;
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m_maxLimitForce = 300.0f;
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m_loLimit = 1.0f;
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m_hiLimit = -1.0f;
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m_normalCFM = 0.f;
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m_stopERP = 0.2f;
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m_stopCFM = 0.f;
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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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}
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btRotationalLimitMotor(const btRotationalLimitMotor & limot)
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{
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m_targetVelocity = limot.m_targetVelocity;
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m_maxMotorForce = limot.m_maxMotorForce;
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m_limitSoftness = limot.m_limitSoftness;
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m_loLimit = limot.m_loLimit;
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m_hiLimit = limot.m_hiLimit;
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m_normalCFM = limot.m_normalCFM;
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m_stopERP = limot.m_stopERP;
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m_stopCFM = limot.m_stopCFM;
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m_bounce = limot.m_bounce;
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m_currentLimit = limot.m_currentLimit;
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m_currentLimitError = limot.m_currentLimitError;
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m_enableMotor = limot.m_enableMotor;
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}
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//! Is limited
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bool isLimited() const
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{
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if(m_loLimit > m_hiLimit) return false;
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return true;
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}
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//! Need apply correction
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bool needApplyTorques() const
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{
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if(m_currentLimit == 0 && m_enableMotor == false) return false;
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return true;
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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(btScalar test_value);
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//! apply the correction impulses for two bodies
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btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btRigidBody * body1);
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};
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class btTranslationalLimitMotor
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{
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public:
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btVector3 m_lowerLimit;//!< the constraint lower limits
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btVector3 m_upperLimit;//!< the constraint upper limits
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btVector3 m_accumulatedImpulse;
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//! Linear_Limit_parameters
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//!@{
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btScalar m_limitSoftness;//!< Softness for linear limit
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btScalar m_damping;//!< Damping for linear limit
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btScalar m_restitution;//! Bounce parameter for linear limit
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btVector3 m_normalCFM;//!< Constraint force mixing factor
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btVector3 m_stopERP;//!< Error tolerance factor when joint is at limit
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btVector3 m_stopCFM;//!< Constraint force mixing factor when joint is at limit
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//!@}
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bool m_enableMotor[3];
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btVector3 m_targetVelocity;//!< target motor velocity
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btVector3 m_maxMotorForce;//!< max force on motor
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btVector3 m_currentLimitError;//! How much is violated this limit
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btVector3 m_currentLinearDiff;//! Current relative offset of constraint frames
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int m_currentLimit[3];//!< 0=free, 1=at lower limit, 2=at upper limit
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btTranslationalLimitMotor()
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{
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m_lowerLimit.setValue(0.f,0.f,0.f);
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m_upperLimit.setValue(0.f,0.f,0.f);
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m_accumulatedImpulse.setValue(0.f,0.f,0.f);
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m_normalCFM.setValue(0.f, 0.f, 0.f);
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m_stopERP.setValue(0.2f, 0.2f, 0.2f);
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m_stopCFM.setValue(0.f, 0.f, 0.f);
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m_limitSoftness = 0.7f;
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m_damping = btScalar(1.0f);
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m_restitution = btScalar(0.5f);
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for(int i=0; i < 3; i++)
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{
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m_enableMotor[i] = false;
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m_targetVelocity[i] = btScalar(0.f);
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m_maxMotorForce[i] = btScalar(0.f);
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}
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}
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btTranslationalLimitMotor(const btTranslationalLimitMotor & other )
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{
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m_lowerLimit = other.m_lowerLimit;
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m_upperLimit = other.m_upperLimit;
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m_accumulatedImpulse = other.m_accumulatedImpulse;
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m_limitSoftness = other.m_limitSoftness ;
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m_damping = other.m_damping;
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m_restitution = other.m_restitution;
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m_normalCFM = other.m_normalCFM;
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m_stopERP = other.m_stopERP;
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m_stopCFM = other.m_stopCFM;
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for(int i=0; i < 3; i++)
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{
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m_enableMotor[i] = other.m_enableMotor[i];
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m_targetVelocity[i] = other.m_targetVelocity[i];
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m_maxMotorForce[i] = other.m_maxMotorForce[i];
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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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inline bool isLimited(int limitIndex) const
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{
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return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
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}
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inline bool needApplyForce(int limitIndex) const
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{
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if(m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false;
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return true;
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}
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int testLimitValue(int limitIndex, btScalar test_value);
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btScalar solveLinearAxis(
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btScalar timeStep,
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btScalar jacDiagABInv,
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btRigidBody& body1,const btVector3 &pointInA,
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btRigidBody& body2,const btVector3 &pointInB,
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int limit_index,
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const btVector3 & axis_normal_on_a,
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const btVector3 & anchorPos);
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};
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enum bt6DofFlags
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{
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BT_6DOF_FLAGS_CFM_NORM = 1,
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BT_6DOF_FLAGS_CFM_STOP = 2,
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BT_6DOF_FLAGS_ERP_STOP = 4
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};
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#define BT_6DOF_FLAGS_AXIS_SHIFT 3 // bits per axis
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/// btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
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/*!
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btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'.
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currently this limit supports rotational motors<br>
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<ul>
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<li> For Linear limits, use btGeneric6DofConstraint.setLinearUpperLimit, btGeneric6DofConstraint.setLinearLowerLimit. You can set the parameters with the btTranslationalLimitMotor structure accsesible through the btGeneric6DofConstraint.getTranslationalLimitMotor method.
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At this moment translational motors are not supported. May be in the future. </li>
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<li> For Angular limits, use the btRotationalLimitMotor structure for configuring the limit.
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This is accessible through btGeneric6DofConstraint.getLimitMotor method,
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This brings support for limit parameters and motors. </li>
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<li> Angulars limits have these possible ranges:
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<table border=1 >
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<tr>
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<td><b>AXIS</b></td>
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<td><b>MIN ANGLE</b></td>
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<td><b>MAX ANGLE</b></td>
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</tr><tr>
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<td>X</td>
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<td>-PI</td>
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<td>PI</td>
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</tr><tr>
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<td>Y</td>
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<td>-PI/2</td>
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<td>PI/2</td>
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</tr><tr>
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<td>Z</td>
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<td>-PI</td>
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<td>PI</td>
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</tr>
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</table>
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</li>
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</ul>
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*/
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ATTRIBUTE_ALIGNED16(class) btGeneric6DofConstraint : public btTypedConstraint
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{
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protected:
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//! relative_frames
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//!@{
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btTransform m_frameInA;//!< the constraint space w.r.t body A
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btTransform 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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btJacobianEntry m_jacLinear[3];//!< 3 orthogonal linear constraints
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btJacobianEntry 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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btTranslationalLimitMotor m_linearLimits;
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//!@}
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//! hinge_parameters
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//!@{
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btRotationalLimitMotor 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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btScalar m_timeStep;
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btTransform m_calculatedTransformA;
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btTransform m_calculatedTransformB;
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btVector3 m_calculatedAxisAngleDiff;
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btVector3 m_calculatedAxis[3];
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btVector3 m_calculatedLinearDiff;
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btScalar m_factA;
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btScalar m_factB;
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bool m_hasStaticBody;
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btVector3 m_AnchorPos; // point betwen pivots of bodies A and B to solve linear axes
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bool m_useLinearReferenceFrameA;
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bool m_useOffsetForConstraintFrame;
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int m_flags;
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//!@}
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btGeneric6DofConstraint& operator=(btGeneric6DofConstraint& other)
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{
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btAssert(0);
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(void) other;
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return *this;
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}
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int setAngularLimits(btConstraintInfo2 *info, int row_offset,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
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int setLinearLimits(btConstraintInfo2 *info, int row, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
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void buildLinearJacobian(
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btJacobianEntry & jacLinear,const btVector3 & normalWorld,
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const btVector3 & pivotAInW,const btVector3 & pivotBInW);
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void buildAngularJacobian(btJacobianEntry & jacAngular,const btVector3 & jointAxisW);
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// tests linear limits
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void calculateLinearInfo();
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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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BT_DECLARE_ALIGNED_ALLOCATOR();
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///for backwards compatibility during the transition to 'getInfo/getInfo2'
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bool m_useSolveConstraintObsolete;
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btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
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btGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
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//! Calcs global transform of the offsets
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/*!
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Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
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\sa btGeneric6DofConstraint.getCalculatedTransformA , btGeneric6DofConstraint.getCalculatedTransformB, btGeneric6DofConstraint.calculateAngleInfo
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*/
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void calculateTransforms(const btTransform& transA,const btTransform& transB);
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void calculateTransforms();
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//! Gets the global transform of the offset for body A
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/*!
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\sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.
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*/
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const btTransform & getCalculatedTransformA() const
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{
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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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/*!
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\sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.
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*/
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const btTransform & getCalculatedTransformB() const
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{
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return m_calculatedTransformB;
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}
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const btTransform & getFrameOffsetA() const
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{
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return m_frameInA;
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}
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const btTransform & getFrameOffsetB() const
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{
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return m_frameInB;
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}
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btTransform & getFrameOffsetA()
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{
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return m_frameInA;
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}
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btTransform & getFrameOffsetB()
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{
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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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virtual void buildJacobian();
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virtual void getInfo1 (btConstraintInfo1* info);
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void getInfo1NonVirtual (btConstraintInfo1* info);
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virtual void getInfo2 (btConstraintInfo2* info);
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void getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
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void updateRHS(btScalar timeStep);
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//! Get the rotation axis in global coordinates
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/*!
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\pre btGeneric6DofConstraint.buildJacobian must be called previously.
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*/
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btVector3 getAxis(int axis_index) const;
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//! Get the relative Euler angle
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/*!
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\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
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*/
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btScalar getAngle(int axis_index) const;
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//! Get the relative position of the constraint pivot
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/*!
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\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
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*/
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btScalar getRelativePivotPosition(int axis_index) const;
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void setFrames(const btTransform & frameA, const btTransform & frameB);
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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 btGeneric6DofConstraint::calculateTransforms() must be called previously.
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*/
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bool testAngularLimitMotor(int axis_index);
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void setLinearLowerLimit(const btVector3& linearLower)
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{
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m_linearLimits.m_lowerLimit = linearLower;
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}
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void getLinearLowerLimit(btVector3& linearLower) const
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{
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linearLower = m_linearLimits.m_lowerLimit;
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}
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void setLinearUpperLimit(const btVector3& linearUpper)
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{
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m_linearLimits.m_upperLimit = linearUpper;
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}
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void getLinearUpperLimit(btVector3& linearUpper) const
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{
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linearUpper = m_linearLimits.m_upperLimit;
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}
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void setAngularLowerLimit(const btVector3& angularLower)
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{
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for(int i = 0; i < 3; i++)
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m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
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}
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void getAngularLowerLimit(btVector3& angularLower) const
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{
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for(int i = 0; i < 3; i++)
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angularLower[i] = m_angularLimits[i].m_loLimit;
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}
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void setAngularUpperLimit(const btVector3& angularUpper)
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{
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for(int i = 0; i < 3; i++)
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m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
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}
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void getAngularUpperLimit(btVector3& angularUpper) const
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{
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for(int i = 0; i < 3; i++)
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angularUpper[i] = m_angularLimits[i].m_hiLimit;
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}
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//! Retrieves the angular limit informacion
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btRotationalLimitMotor * getRotationalLimitMotor(int index)
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{
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return &m_angularLimits[index];
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}
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//! Retrieves the limit informacion
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btTranslationalLimitMotor * getTranslationalLimitMotor()
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{
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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, btScalar lo, btScalar hi)
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|
{
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if(axis<3)
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{
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m_linearLimits.m_lowerLimit[axis] = lo;
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m_linearLimits.m_upperLimit[axis] = hi;
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}
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else
|
|
{
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lo = btNormalizeAngle(lo);
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hi = btNormalizeAngle(hi);
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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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|
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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) const
|
|
{
|
|
if(limitIndex<3)
|
|
{
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|
return m_linearLimits.isLimited(limitIndex);
|
|
|
|
}
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|
return m_angularLimits[limitIndex-3].isLimited();
|
|
}
|
|
|
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virtual void calcAnchorPos(void); // overridable
|
|
|
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int get_limit_motor_info2( btRotationalLimitMotor * limot,
|
|
const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB,
|
|
btConstraintInfo2 *info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
|
|
|
|
// access for UseFrameOffset
|
|
bool getUseFrameOffset() const { return m_useOffsetForConstraintFrame; }
|
|
void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
|
|
|
|
bool getUseLinearReferenceFrameA() const { return m_useLinearReferenceFrameA; }
|
|
void setUseLinearReferenceFrameA(bool linearReferenceFrameA) { m_useLinearReferenceFrameA = linearReferenceFrameA; }
|
|
|
|
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
|
|
///If no axis is provided, it uses the default axis for this constraint.
|
|
virtual void setParam(int num, btScalar value, int axis = -1);
|
|
///return the local value of parameter
|
|
virtual btScalar getParam(int num, int axis = -1) const;
|
|
|
|
void setAxis( const btVector3& axis1, const btVector3& axis2);
|
|
|
|
virtual int getFlags() const
|
|
{
|
|
return m_flags;
|
|
}
|
|
|
|
virtual int calculateSerializeBufferSize() const;
|
|
|
|
///fills the dataBuffer and returns the struct name (and 0 on failure)
|
|
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
|
|
|
|
|
|
};
|
|
|
|
|
|
struct btGeneric6DofConstraintData
|
|
{
|
|
btTypedConstraintData m_typeConstraintData;
|
|
btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
|
|
btTransformFloatData m_rbBFrame;
|
|
|
|
btVector3FloatData m_linearUpperLimit;
|
|
btVector3FloatData m_linearLowerLimit;
|
|
|
|
btVector3FloatData m_angularUpperLimit;
|
|
btVector3FloatData m_angularLowerLimit;
|
|
|
|
int m_useLinearReferenceFrameA;
|
|
int m_useOffsetForConstraintFrame;
|
|
};
|
|
|
|
struct btGeneric6DofConstraintDoubleData2
|
|
{
|
|
btTypedConstraintDoubleData m_typeConstraintData;
|
|
btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
|
|
btTransformDoubleData m_rbBFrame;
|
|
|
|
btVector3DoubleData m_linearUpperLimit;
|
|
btVector3DoubleData m_linearLowerLimit;
|
|
|
|
btVector3DoubleData m_angularUpperLimit;
|
|
btVector3DoubleData m_angularLowerLimit;
|
|
|
|
int m_useLinearReferenceFrameA;
|
|
int m_useOffsetForConstraintFrame;
|
|
};
|
|
|
|
SIMD_FORCE_INLINE int btGeneric6DofConstraint::calculateSerializeBufferSize() const
|
|
{
|
|
return sizeof(btGeneric6DofConstraintData2);
|
|
}
|
|
|
|
///fills the dataBuffer and returns the struct name (and 0 on failure)
|
|
SIMD_FORCE_INLINE const char* btGeneric6DofConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
|
|
{
|
|
|
|
btGeneric6DofConstraintData2* dof = (btGeneric6DofConstraintData2*)dataBuffer;
|
|
btTypedConstraint::serialize(&dof->m_typeConstraintData,serializer);
|
|
|
|
m_frameInA.serialize(dof->m_rbAFrame);
|
|
m_frameInB.serialize(dof->m_rbBFrame);
|
|
|
|
|
|
int i;
|
|
for (i=0;i<3;i++)
|
|
{
|
|
dof->m_angularLowerLimit.m_floats[i] = m_angularLimits[i].m_loLimit;
|
|
dof->m_angularUpperLimit.m_floats[i] = m_angularLimits[i].m_hiLimit;
|
|
dof->m_linearLowerLimit.m_floats[i] = m_linearLimits.m_lowerLimit[i];
|
|
dof->m_linearUpperLimit.m_floats[i] = m_linearLimits.m_upperLimit[i];
|
|
}
|
|
|
|
dof->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA? 1 : 0;
|
|
dof->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame ? 1 : 0;
|
|
|
|
return btGeneric6DofConstraintDataName;
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#endif //BT_GENERIC_6DOF_CONSTRAINT_H
|