Bullet Collision Detection & Physics Library
btPoint2PointConstraint.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16
19#include <new>
20
21
22
23
24
26:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB),
27m_flags(0),
28m_useSolveConstraintObsolete(false)
29{
30
31}
32
33
35:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)),
36m_flags(0),
37m_useSolveConstraintObsolete(false)
38{
39
40}
41
43{
44
46 {
48
49 btVector3 normal(0,0,0);
50
51 for (int i=0;i<3;i++)
52 {
53 normal[i] = 1;
54 new (&m_jac[i]) btJacobianEntry(
59 normal,
64 normal[i] = 0;
65 }
66 }
67
68
69}
70
72{
74}
75
77{
79 {
80 info->m_numConstraintRows = 0;
81 info->nub = 0;
82 } else
83 {
84 info->m_numConstraintRows = 3;
85 info->nub = 3;
86 }
87}
88
89
90
91
93{
95}
96
98{
100
101 //retrieve matrices
102
103 // anchor points in global coordinates with respect to body PORs.
104
105 // set jacobian
106 info->m_J1linearAxis[0] = 1;
107 info->m_J1linearAxis[info->rowskip+1] = 1;
108 info->m_J1linearAxis[2*info->rowskip+2] = 1;
109
110 btVector3 a1 = body0_trans.getBasis()*getPivotInA();
111 {
112 btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
113 btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip);
114 btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip);
115 btVector3 a1neg = -a1;
116 a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
117 }
118
119 info->m_J2linearAxis[0] = -1;
120 info->m_J2linearAxis[info->rowskip+1] = -1;
121 info->m_J2linearAxis[2*info->rowskip+2] = -1;
122
123 btVector3 a2 = body1_trans.getBasis()*getPivotInB();
124
125 {
126 // btVector3 a2n = -a2;
127 btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
128 btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip);
129 btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip);
130 a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
131 }
132
133
134
135 // set right hand side
136 btScalar currERP = (m_flags & BT_P2P_FLAGS_ERP) ? m_erp : info->erp;
137 btScalar k = info->fps * currERP;
138 int j;
139 for (j=0; j<3; j++)
140 {
141 info->m_constraintError[j*info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
142 //printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
143 }
145 {
146 for (j=0; j<3; j++)
147 {
148 info->cfm[j*info->rowskip] = m_cfm;
149 }
150 }
151
152 btScalar impulseClamp = m_setting.m_impulseClamp;//
153 for (j=0; j<3; j++)
154 {
156 {
157 info->m_lowerLimit[j*info->rowskip] = -impulseClamp;
158 info->m_upperLimit[j*info->rowskip] = impulseClamp;
159 }
160 }
162
163}
164
165
166
168{
169 (void)timeStep;
170
171}
172
175void btPoint2PointConstraint::setParam(int num, btScalar value, int axis)
176{
177 if(axis != -1)
178 {
180 }
181 else
182 {
183 switch(num)
184 {
185 case BT_CONSTRAINT_ERP :
187 m_erp = value;
189 break;
190 case BT_CONSTRAINT_CFM :
192 m_cfm = value;
194 break;
195 default:
197 }
198 }
199}
200
203{
204 btScalar retVal(SIMD_INFINITY);
205 if(axis != -1)
206 {
208 }
209 else
210 {
211 switch(num)
212 {
213 case BT_CONSTRAINT_ERP :
216 retVal = m_erp;
217 break;
218 case BT_CONSTRAINT_CFM :
221 retVal = m_cfm;
222 break;
223 default:
225 }
226 }
227 return retVal;
228}
229
@ BT_P2P_FLAGS_CFM
@ BT_P2P_FLAGS_ERP
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
#define SIMD_INFINITY
Definition: btScalar.h:522
#define btAssert(x)
Definition: btScalar.h:131
#define btAssertConstrParams(_par)
@ BT_CONSTRAINT_CFM
@ BT_CONSTRAINT_ERP
@ BT_CONSTRAINT_STOP_CFM
@ BT_CONSTRAINT_STOP_ERP
@ POINT2POINT_CONSTRAINT_TYPE
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
btMatrix3x3 transpose() const
Return the transpose of the matrix.
Definition: btMatrix3x3.h:958
btPoint2PointConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB)
virtual void buildJacobian()
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 getInfo1NonVirtual(btConstraintInfo1 *info)
void updateRHS(btScalar timeStep)
void getInfo2NonVirtual(btConstraintInfo2 *info, const btTransform &body0_trans, const btTransform &body1_trans)
const btVector3 & getPivotInB() const
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...
bool m_useSolveConstraintObsolete
for backwards compatibility during the transition to 'getInfo/getInfo2'
virtual btScalar getParam(int num, int axis=-1) const
return the local value of parameter
const btVector3 & getPivotInA() const
virtual void getInfo2(btConstraintInfo2 *info)
internal method used by the constraint solver, don't use them directly
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:63
btScalar getInvMass() const
Definition: btRigidBody.h:273
const btVector3 & getInvInertiaDiagLocal() const
Definition: btRigidBody.h:297
const btTransform & getCenterOfMassTransform() const
Definition: btRigidBody.h:359
const btVector3 & getCenterOfMassPosition() const
Definition: btRigidBody.h:354
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:112
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:117
TypedConstraint is the baseclass for Bullet constraints and vehicles.
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
void getSkewSymmetricMatrix(btVector3 *v0, btVector3 *v1, btVector3 *v2) const
Definition: btVector3.h:660