Danbias/Code/Physics/Bullet Source/BulletDynamics/ConstraintSolver/btHingeConstraint.h

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2014-02-09 21:24:09 +01:00
/*
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.
*/
/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */
#ifndef BT_HINGECONSTRAINT_H
#define BT_HINGECONSTRAINT_H
#define _BT_USE_CENTER_LIMIT_ 1
#include "LinearMath/btVector3.h"
#include "btJacobianEntry.h"
#include "btTypedConstraint.h"
class btRigidBody;
#ifdef BT_USE_DOUBLE_PRECISION
#define btHingeConstraintData btHingeConstraintDoubleData2 //rename to 2 for backwards compatibility, so we can still load the 'btHingeConstraintDoubleData' version
#define btHingeConstraintDataName "btHingeConstraintDoubleData2"
#else
#define btHingeConstraintData btHingeConstraintFloatData
#define btHingeConstraintDataName "btHingeConstraintFloatData"
#endif //BT_USE_DOUBLE_PRECISION
enum btHingeFlags
{
BT_HINGE_FLAGS_CFM_STOP = 1,
BT_HINGE_FLAGS_ERP_STOP = 2,
BT_HINGE_FLAGS_CFM_NORM = 4
};
/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
/// axis defines the orientation of the hinge axis
ATTRIBUTE_ALIGNED16(class) btHingeConstraint : public btTypedConstraint
{
#ifdef IN_PARALLELL_SOLVER
public:
#endif
btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
btJacobianEntry m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis.
btTransform m_rbBFrame;
btScalar m_motorTargetVelocity;
btScalar m_maxMotorImpulse;
#ifdef _BT_USE_CENTER_LIMIT_
btAngularLimit m_limit;
#else
btScalar m_lowerLimit;
btScalar m_upperLimit;
btScalar m_limitSign;
btScalar m_correction;
btScalar m_limitSoftness;
btScalar m_biasFactor;
btScalar m_relaxationFactor;
bool m_solveLimit;
#endif
btScalar m_kHinge;
btScalar m_accLimitImpulse;
btScalar m_hingeAngle;
btScalar m_referenceSign;
bool m_angularOnly;
bool m_enableAngularMotor;
bool m_useSolveConstraintObsolete;
bool m_useOffsetForConstraintFrame;
bool m_useReferenceFrameA;
btScalar m_accMotorImpulse;
int m_flags;
btScalar m_normalCFM;
btScalar m_stopCFM;
btScalar m_stopERP;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA = false);
btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA = false);
btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false);
btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false);
virtual void buildJacobian();
virtual void getInfo1 (btConstraintInfo1* info);
void getInfo1NonVirtual(btConstraintInfo1* info);
virtual void getInfo2 (btConstraintInfo2* info);
void getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
void getInfo2Internal(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
void getInfo2InternalUsingFrameOffset(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
void updateRHS(btScalar timeStep);
const btRigidBody& getRigidBodyA() const
{
return m_rbA;
}
const btRigidBody& getRigidBodyB() const
{
return m_rbB;
}
btRigidBody& getRigidBodyA()
{
return m_rbA;
}
btRigidBody& getRigidBodyB()
{
return m_rbB;
}
btTransform& getFrameOffsetA()
{
return m_rbAFrame;
}
btTransform& getFrameOffsetB()
{
return m_rbBFrame;
}
void setFrames(const btTransform& frameA, const btTransform& frameB);
void setAngularOnly(bool angularOnly)
{
m_angularOnly = angularOnly;
}
void enableAngularMotor(bool enableMotor,btScalar targetVelocity,btScalar maxMotorImpulse)
{
m_enableAngularMotor = enableMotor;
m_motorTargetVelocity = targetVelocity;
m_maxMotorImpulse = maxMotorImpulse;
}
// extra motor API, including ability to set a target rotation (as opposed to angular velocity)
// note: setMotorTarget sets angular velocity under the hood, so you must call it every tick to
// maintain a given angular target.
void enableMotor(bool enableMotor) { m_enableAngularMotor = enableMotor; }
void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; }
void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B.
void setMotorTarget(btScalar targetAngle, btScalar dt);
void setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
{
#ifdef _BT_USE_CENTER_LIMIT_
m_limit.set(low, high, _softness, _biasFactor, _relaxationFactor);
#else
m_lowerLimit = btNormalizeAngle(low);
m_upperLimit = btNormalizeAngle(high);
m_limitSoftness = _softness;
m_biasFactor = _biasFactor;
m_relaxationFactor = _relaxationFactor;
#endif
}
void setAxis(btVector3& axisInA)
{
btVector3 rbAxisA1, rbAxisA2;
btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);
btVector3 pivotInA = m_rbAFrame.getOrigin();
// m_rbAFrame.getOrigin() = pivotInA;
m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
btVector3 axisInB = m_rbA.getCenterOfMassTransform().getBasis() * axisInA;
btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1);
btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
m_rbBFrame.getOrigin() = m_rbB.getCenterOfMassTransform().inverse()(m_rbA.getCenterOfMassTransform()(pivotInA));
m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
m_rbBFrame.getBasis() = m_rbB.getCenterOfMassTransform().getBasis().inverse() * m_rbBFrame.getBasis();
}
btScalar getLowerLimit() const
{
#ifdef _BT_USE_CENTER_LIMIT_
return m_limit.getLow();
#else
return m_lowerLimit;
#endif
}
btScalar getUpperLimit() const
{
#ifdef _BT_USE_CENTER_LIMIT_
return m_limit.getHigh();
#else
return m_upperLimit;
#endif
}
btScalar getHingeAngle();
btScalar getHingeAngle(const btTransform& transA,const btTransform& transB);
void testLimit(const btTransform& transA,const btTransform& transB);
const btTransform& getAFrame() const { return m_rbAFrame; };
const btTransform& getBFrame() const { return m_rbBFrame; };
btTransform& getAFrame() { return m_rbAFrame; };
btTransform& getBFrame() { return m_rbBFrame; };
inline int getSolveLimit()
{
#ifdef _BT_USE_CENTER_LIMIT_
return m_limit.isLimit();
#else
return m_solveLimit;
#endif
}
inline btScalar getLimitSign()
{
#ifdef _BT_USE_CENTER_LIMIT_
return m_limit.getSign();
#else
return m_limitSign;
#endif
}
inline bool getAngularOnly()
{
return m_angularOnly;
}
inline bool getEnableAngularMotor()
{
return m_enableAngularMotor;
}
inline btScalar getMotorTargetVelosity()
{
return m_motorTargetVelocity;
}
inline btScalar getMaxMotorImpulse()
{
return m_maxMotorImpulse;
}
// access for UseFrameOffset
bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
///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;
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;
};
//only for backward compatibility
#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
///this structure is not used, except for loading pre-2.82 .bullet files
struct btHingeConstraintDoubleData
{
btTypedConstraintData m_typeConstraintData;
btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
btTransformDoubleData m_rbBFrame;
int m_useReferenceFrameA;
int m_angularOnly;
int m_enableAngularMotor;
float m_motorTargetVelocity;
float m_maxMotorImpulse;
float m_lowerLimit;
float m_upperLimit;
float m_limitSoftness;
float m_biasFactor;
float m_relaxationFactor;
};
#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
struct btHingeConstraintFloatData
{
btTypedConstraintData m_typeConstraintData;
btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
btTransformFloatData m_rbBFrame;
int m_useReferenceFrameA;
int m_angularOnly;
int m_enableAngularMotor;
float m_motorTargetVelocity;
float m_maxMotorImpulse;
float m_lowerLimit;
float m_upperLimit;
float m_limitSoftness;
float m_biasFactor;
float m_relaxationFactor;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btHingeConstraintDoubleData2
{
btTypedConstraintDoubleData m_typeConstraintData;
btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
btTransformDoubleData m_rbBFrame;
int m_useReferenceFrameA;
int m_angularOnly;
int m_enableAngularMotor;
double m_motorTargetVelocity;
double m_maxMotorImpulse;
double m_lowerLimit;
double m_upperLimit;
double m_limitSoftness;
double m_biasFactor;
double m_relaxationFactor;
char m_padding1[4];
};
SIMD_FORCE_INLINE int btHingeConstraint::calculateSerializeBufferSize() const
{
return sizeof(btHingeConstraintData);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btHingeConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
{
btHingeConstraintData* hingeData = (btHingeConstraintData*)dataBuffer;
btTypedConstraint::serialize(&hingeData->m_typeConstraintData,serializer);
m_rbAFrame.serialize(hingeData->m_rbAFrame);
m_rbBFrame.serialize(hingeData->m_rbBFrame);
hingeData->m_angularOnly = m_angularOnly;
hingeData->m_enableAngularMotor = m_enableAngularMotor;
hingeData->m_maxMotorImpulse = float(m_maxMotorImpulse);
hingeData->m_motorTargetVelocity = float(m_motorTargetVelocity);
hingeData->m_useReferenceFrameA = m_useReferenceFrameA;
#ifdef _BT_USE_CENTER_LIMIT_
hingeData->m_lowerLimit = float(m_limit.getLow());
hingeData->m_upperLimit = float(m_limit.getHigh());
hingeData->m_limitSoftness = float(m_limit.getSoftness());
hingeData->m_biasFactor = float(m_limit.getBiasFactor());
hingeData->m_relaxationFactor = float(m_limit.getRelaxationFactor());
#else
hingeData->m_lowerLimit = float(m_lowerLimit);
hingeData->m_upperLimit = float(m_upperLimit);
hingeData->m_limitSoftness = float(m_limitSoftness);
hingeData->m_biasFactor = float(m_biasFactor);
hingeData->m_relaxationFactor = float(m_relaxationFactor);
#endif
return btHingeConstraintDataName;
}
#endif //BT_HINGECONSTRAINT_H