116 lines
3.3 KiB
C++
116 lines
3.3 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2018 Erwin Coumans http://bulletphysics.org
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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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///This file was written by Erwin Coumans
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#ifndef BT_MULTIBODY_SPHERICAL_JOINT_LIMIT_H
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#define BT_MULTIBODY_SPHERICAL_JOINT_LIMIT_H
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#include "btMultiBodyConstraint.h"
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struct btSolverInfo;
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class btMultiBodySphericalJointLimit : public btMultiBodyConstraint
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{
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protected:
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btVector3 m_desiredVelocity;
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btQuaternion m_desiredPosition;
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bool m_use_multi_dof_params;
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btVector3 m_kd;
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btVector3 m_kp;
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btScalar m_erp;
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btScalar m_rhsClamp; //maximum error
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btVector3 m_maxAppliedImpulseMultiDof;
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btVector3 m_pivotA;
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btVector3 m_pivotB;
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btScalar m_swingxRange;
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btScalar m_swingyRange;
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btScalar m_twistRange;
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public:
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btMultiBodySphericalJointLimit(btMultiBody* body, int link,
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btScalar swingxRange,
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btScalar swingyRange,
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btScalar twistRange,
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btScalar maxAppliedImpulse);
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virtual ~btMultiBodySphericalJointLimit();
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virtual void finalizeMultiDof();
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virtual int getIslandIdA() const;
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virtual int getIslandIdB() const;
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virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
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btMultiBodyJacobianData& data,
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const btContactSolverInfo& infoGlobal);
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virtual void setVelocityTarget(const btVector3& velTarget, btScalar kd = 1.0)
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{
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m_desiredVelocity = velTarget;
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m_kd = btVector3(kd, kd, kd);
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m_use_multi_dof_params = false;
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}
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virtual void setVelocityTargetMultiDof(const btVector3& velTarget, const btVector3& kd = btVector3(1.0, 1.0, 1.0))
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{
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m_desiredVelocity = velTarget;
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m_kd = kd;
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m_use_multi_dof_params = true;
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}
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virtual void setPositionTarget(const btQuaternion& posTarget, btScalar kp =1.f)
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{
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m_desiredPosition = posTarget;
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m_kp = btVector3(kp, kp, kp);
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m_use_multi_dof_params = false;
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}
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virtual void setPositionTargetMultiDof(const btQuaternion& posTarget, const btVector3& kp = btVector3(1.f, 1.f, 1.f))
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{
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m_desiredPosition = posTarget;
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m_kp = kp;
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m_use_multi_dof_params = true;
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}
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virtual void setErp(btScalar erp)
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{
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m_erp = erp;
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}
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virtual btScalar getErp() const
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{
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return m_erp;
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}
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virtual void setRhsClamp(btScalar rhsClamp)
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{
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m_rhsClamp = rhsClamp;
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}
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btScalar getMaxAppliedImpulseMultiDof(int i) const
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{
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return m_maxAppliedImpulseMultiDof[i];
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}
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void setMaxAppliedImpulseMultiDof(const btVector3& maxImp)
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{
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m_maxAppliedImpulseMultiDof = maxImp;
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m_use_multi_dof_params = true;
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}
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virtual void debugDraw(class btIDebugDraw* drawer);
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};
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#endif //BT_MULTIBODY_SPHERICAL_JOINT_LIMIT_H
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