27 #define HINGE_USE_OBSOLETE_SOLVER false 29 #define HINGE_USE_FRAME_OFFSET true 44 m_enableAngularMotor(false),
47 m_useReferenceFrameA(useReferenceFrameA),
68 rbAxisA2 = axisInA.
cross(rbAxisA1);
69 rbAxisA1 = rbAxisA2.
cross(axisInA);
85 #ifndef _BT_USE_CENTER_LIMIT_ 90 m_relaxationFactor = 1.0f;
91 m_limitSoftness = 0.9f;
137 #ifndef _BT_USE_CENTER_LIMIT_ 142 m_relaxationFactor = 1.0f;
143 m_limitSoftness = 0.9f;
144 m_solveLimit =
false;
168 #ifndef _BT_USE_CENTER_LIMIT_ 173 m_relaxationFactor = 1.0f;
174 m_limitSoftness = 0.9f;
175 m_solveLimit =
false;
201 #ifndef _BT_USE_CENTER_LIMIT_ 206 m_relaxationFactor = 1.0f;
207 m_limitSoftness = 0.9f;
208 m_solveLimit =
false;
226 btVector3 relPos = pivotBInW - pivotAInW;
240 for (
int i=0;i<3;i++)
326 return accAngle + result;
336 return m_accumulatedAngle;
340 m_accumulatedAngle = accAngle;
489 for(i = 0; i < 3; i++)
550 #ifdef _BT_USE_CENTER_LIMIT_ 555 limit = (limit_err >
btScalar(0.0)) ? 1 : 2;
574 if(limit && (lostop == histop))
593 k = info->
fps * currERP;
616 #ifdef _BT_USE_CENTER_LIMIT_ 619 btScalar bounce = m_relaxationFactor;
624 vel -= angVelB.
dot(ax1);
643 if(newc < info->m_constraintError[srow])
650 #ifdef _BT_USE_CENTER_LIMIT_ 698 #ifdef _BT_USE_CENTER_LIMIT_ 703 m_solveLimit =
false;
704 if (m_lowerLimit <= m_upperLimit)
746 if (qHinge.
getZ() < 0)
747 targetAngle = -targetAngle;
754 #ifdef _BT_USE_CENTER_LIMIT_ 757 if (m_lowerLimit < m_upperLimit)
759 if (targetAngle < m_lowerLimit)
760 targetAngle = m_lowerLimit;
761 else if (targetAngle > m_upperLimit)
762 targetAngle = m_upperLimit;
767 btScalar dAngle = targetAngle - curAngle;
805 btVector3 ax1 = ax1A * factA + ax1B * factB;
828 relA = orthoA + totalDist * factA;
829 relB = orthoB - totalDist * factB;
831 p = orthoB * factA + orthoA * factB;
844 tmpA = relA.
cross(p);
845 tmpB = relB.
cross(p);
848 tmpA = relA.
cross(q);
849 tmpB = relB.
cross(q);
858 tmpA = relA.
cross(ax1);
859 tmpB = relB.
cross(ax1);
886 rhs = k * q.
dot(ofs);
888 rhs = k * ax1.
dot(ofs);
928 k = info->
fps * normalErp;
941 #ifdef _BT_USE_CENTER_LIMIT_ 946 limit = (limit_err >
btScalar(0.0)) ? 1 : 2;
965 if(limit && (lostop == histop))
984 k = info->
fps * currERP;
1007 #ifdef _BT_USE_CENTER_LIMIT_ 1010 btScalar bounce = m_relaxationFactor;
1015 vel -= angVelB.
dot(ax1);
1034 if(newc < info->m_constraintError[srow])
1041 #ifdef _BT_USE_CENTER_LIMIT_ 1055 if((axis == -1) || (axis == 5))
1089 if((axis == -1) || (axis == 5))
btScalar * m_constraintError
btScalar getInvMass() const
#define HINGE_USE_OBSOLETE_SOLVER
void getInfo2Internal(btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &angVelA, const btVector3 &angVelB)
btScalar getAngle() const
Return the angle [0, 2Pi] of rotation represented by this quaternion.
btScalar * m_J2angularAxis
virtual void setParam(int num, btScalar value, int axis=-1)
override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0...
btScalar computeAngularImpulseDenominator(const btVector3 &axis) const
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
virtual void getInfo1(btConstraintInfo1 *info)
internal method used by the constraint solver, don't use them directly
virtual void getInfo1(btConstraintInfo1 *info)
internal method used by the constraint solver, don't use them directly
void setAccumulatedHingeAngle(btScalar accAngle)
bool m_useSolveConstraintObsolete
btScalar m_accMotorImpulse
void btPlaneSpace1(const T &n, T &p, T &q)
btScalar btSqrt(btScalar y)
bool m_enableAngularMotor
btScalar * m_J1angularAxis
btVector3 getColumn(int i) const
Get a column of the matrix as a vector.
const btRigidBody & getRigidBodyA() const
btScalar m_motorTargetVelocity
btScalar dot(const btVector3 &v) const
Return the dot product.
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
btVector3 quatRotate(const btQuaternion &rotation, const btVector3 &v)
const btScalar & getZ() const
Return the z value.
static btVector3 vHinge(0, 0, btScalar(1))
static btScalar btShortestAngularDistance(btScalar accAngle, btScalar curAngle)
btScalar * m_J1linearAxis
void getInfo2NonVirtual(btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &angVelA, const btVector3 &angVelB)
btScalar m_accLimitImpulse
btScalar getUpperLimit() const
btQuaternion shortestArcQuat(const btVector3 &v0, const btVector3 &v1)
#define _BT_USE_CENTER_LIMIT_
const btTransform & getCenterOfMassTransform() const
btQuaternion & normalize()
Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1.
void updateRHS(btScalar timeStep)
void getInfo2InternalUsingFrameOffset(btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &angVelA, const btVector3 &angVelB)
btScalar btAtan2(btScalar x, btScalar y)
btScalar getBiasFactor() const
Returns limit's bias factor.
const btVector3 & getAngularVelocity() const
btVector3 cross(const btVector3 &v) const
Return the cross product between this and another vector.
const btScalar & getY() const
Return the y value.
virtual btScalar getParam(int num, int axis=-1) const
return the local value of parameter
const btScalar & getX() const
Return the x value.
#define HINGE_USE_FRAME_OFFSET
static btScalar btShortestAngleUpdate(btScalar accAngle, btScalar curAngle)
void setValue(const btScalar &xx, const btScalar &xy, const btScalar &xz, const btScalar &yx, const btScalar &yy, const btScalar &yz, const btScalar &zx, const btScalar &zy, const btScalar &zz)
Set the values of the matrix explicitly (row major)
btScalar m_maxMotorImpulse
btScalar getLowerLimit() const
void getInfo1NonVirtual(btConstraintInfo1 *info)
const btVector3 & getCenterOfMassPosition() const
btQuaternion inverse() const
Return the inverse of this quaternion.
The btRigidBody is the main class for rigid body objects.
virtual void buildJacobian()
internal method used by the constraint solver, don't use them directly
btScalar btAdjustAngleToLimits(btScalar angleInRadians, btScalar angleLowerLimitInRadians, btScalar angleUpperLimitInRadians)
btVector3 can be used to represent 3D points and vectors.
btScalar length2() const
Return the length of the vector squared.
btScalar btNormalizeAngle(btScalar angleInRadians)
bool m_useOffsetForConstraintFrame
bool m_useReferenceFrameA
btJacobianEntry m_jacAng[3]
bool getEnableAngularMotor()
btVector3 normalized() const
Return a normalized version of this vector.
btScalar * m_J2linearAxis
btScalar getRelaxationFactor() const
Returns limit's relaxation factor.
btScalar btFmod(btScalar x, btScalar y)
TypedConstraint is the baseclass for Bullet constraints and vehicles.
btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
internal method used by the constraint solver, don't use them directly
btMatrix3x3 transpose() const
Return the transpose of the matrix.
virtual void getInfo2(btConstraintInfo2 *info)
internal method used by the constraint solver, don't use them directly
void fit(btScalar &angle) const
Checks given angle against limit.
btScalar m_appliedImpulse
static btScalar btNormalizeAnglePositive(btScalar angle)
const btVector3 & getInvInertiaDiagLocal() const
btScalar getCorrection() const
Returns correction value evaluated when test() was invoked.
void setFrames(const btTransform &frameA, const btTransform &frameB)
void setMotorTarget(const btQuaternion &qAinB, btScalar dt)
void test(const btScalar angle)
Checks conastaint angle against limit.
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
btScalar getHingeAngle()
The getHingeAngle gives the hinge angle in range [-PI,PI].
const btRigidBody & getRigidBodyB() const
#define btAssertConstrParams(_par)
btScalar getAccumulatedHingeAngle()
void testLimit(const btTransform &transA, const btTransform &transB)
btHingeConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btVector3 &axisInA, const btVector3 &axisInB, bool useReferenceFrameA=false)
const btScalar & getZ() const
Return the z value.
void getSkewSymmetricMatrix(btVector3 *v0, btVector3 *v1, btVector3 *v2) const
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar btFabs(btScalar x)