e12c89e8c9
Document version and how to extract sources in thirdparty/README.md. Drop unnecessary CMake and Premake files. Simplify SCsub, drop unused one.
808 lines
24 KiB
C++
808 lines
24 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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/*
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2007-09-09
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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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#include "b3Generic6DofConstraint.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
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#include "Bullet3Common/b3TransformUtil.h"
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#include "Bullet3Common/b3TransformUtil.h"
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#include <new>
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#define D6_USE_OBSOLETE_METHOD false
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#define D6_USE_FRAME_OFFSET true
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b3Generic6DofConstraint::b3Generic6DofConstraint(int rbA,int rbB, const b3Transform& frameInA, const b3Transform& frameInB, bool useLinearReferenceFrameA, const b3RigidBodyData* bodies)
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: b3TypedConstraint(B3_D6_CONSTRAINT_TYPE, rbA, rbB)
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, m_frameInA(frameInA)
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, m_frameInB(frameInB),
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m_useLinearReferenceFrameA(useLinearReferenceFrameA),
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m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
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m_flags(0)
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{
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calculateTransforms(bodies);
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}
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#define GENERIC_D6_DISABLE_WARMSTARTING 1
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b3Scalar btGetMatrixElem(const b3Matrix3x3& mat, int index);
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b3Scalar btGetMatrixElem(const b3Matrix3x3& mat, int index)
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{
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int i = index%3;
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int j = index/3;
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return mat[i][j];
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}
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///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
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bool matrixToEulerXYZ(const b3Matrix3x3& mat,b3Vector3& xyz);
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bool matrixToEulerXYZ(const b3Matrix3x3& mat,b3Vector3& xyz)
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{
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// // rot = cy*cz -cy*sz sy
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// // cz*sx*sy+cx*sz cx*cz-sx*sy*sz -cy*sx
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// // -cx*cz*sy+sx*sz cz*sx+cx*sy*sz cx*cy
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//
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b3Scalar fi = btGetMatrixElem(mat,2);
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if (fi < b3Scalar(1.0f))
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{
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if (fi > b3Scalar(-1.0f))
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{
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xyz[0] = b3Atan2(-btGetMatrixElem(mat,5),btGetMatrixElem(mat,8));
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xyz[1] = b3Asin(btGetMatrixElem(mat,2));
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xyz[2] = b3Atan2(-btGetMatrixElem(mat,1),btGetMatrixElem(mat,0));
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return true;
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}
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else
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{
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// WARNING. Not unique. XA - ZA = -atan2(r10,r11)
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xyz[0] = -b3Atan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
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xyz[1] = -B3_HALF_PI;
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xyz[2] = b3Scalar(0.0);
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return false;
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}
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}
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else
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{
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// WARNING. Not unique. XAngle + ZAngle = atan2(r10,r11)
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xyz[0] = b3Atan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
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xyz[1] = B3_HALF_PI;
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xyz[2] = 0.0;
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}
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return false;
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}
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//////////////////////////// b3RotationalLimitMotor ////////////////////////////////////
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int b3RotationalLimitMotor::testLimitValue(b3Scalar test_value)
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{
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if(m_loLimit>m_hiLimit)
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{
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m_currentLimit = 0;//Free from violation
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return 0;
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}
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if (test_value < m_loLimit)
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{
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m_currentLimit = 1;//low limit violation
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m_currentLimitError = test_value - m_loLimit;
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if(m_currentLimitError>B3_PI)
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m_currentLimitError-=B3_2_PI;
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else if(m_currentLimitError<-B3_PI)
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m_currentLimitError+=B3_2_PI;
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return 1;
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}
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else if (test_value> m_hiLimit)
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{
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m_currentLimit = 2;//High limit violation
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m_currentLimitError = test_value - m_hiLimit;
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if(m_currentLimitError>B3_PI)
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m_currentLimitError-=B3_2_PI;
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else if(m_currentLimitError<-B3_PI)
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m_currentLimitError+=B3_2_PI;
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return 2;
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};
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m_currentLimit = 0;//Free from violation
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return 0;
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}
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//////////////////////////// End b3RotationalLimitMotor ////////////////////////////////////
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//////////////////////////// b3TranslationalLimitMotor ////////////////////////////////////
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int b3TranslationalLimitMotor::testLimitValue(int limitIndex, b3Scalar test_value)
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{
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b3Scalar loLimit = m_lowerLimit[limitIndex];
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b3Scalar hiLimit = m_upperLimit[limitIndex];
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if(loLimit > hiLimit)
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{
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m_currentLimit[limitIndex] = 0;//Free from violation
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m_currentLimitError[limitIndex] = b3Scalar(0.f);
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return 0;
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}
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if (test_value < loLimit)
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{
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m_currentLimit[limitIndex] = 2;//low limit violation
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m_currentLimitError[limitIndex] = test_value - loLimit;
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return 2;
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}
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else if (test_value> hiLimit)
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{
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m_currentLimit[limitIndex] = 1;//High limit violation
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m_currentLimitError[limitIndex] = test_value - hiLimit;
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return 1;
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};
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m_currentLimit[limitIndex] = 0;//Free from violation
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m_currentLimitError[limitIndex] = b3Scalar(0.f);
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return 0;
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}
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//////////////////////////// b3TranslationalLimitMotor ////////////////////////////////////
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void b3Generic6DofConstraint::calculateAngleInfo()
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{
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b3Matrix3x3 relative_frame = m_calculatedTransformA.getBasis().inverse()*m_calculatedTransformB.getBasis();
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matrixToEulerXYZ(relative_frame,m_calculatedAxisAngleDiff);
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// in euler angle mode we do not actually constrain the angular velocity
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// along the axes axis[0] and axis[2] (although we do use axis[1]) :
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//
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// to get constrain w2-w1 along ...not
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// ------ --------------------- ------
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// d(angle[0])/dt = 0 ax[1] x ax[2] ax[0]
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// d(angle[1])/dt = 0 ax[1]
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// d(angle[2])/dt = 0 ax[0] x ax[1] ax[2]
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//
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// constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0.
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// to prove the result for angle[0], write the expression for angle[0] from
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// GetInfo1 then take the derivative. to prove this for angle[2] it is
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// easier to take the euler rate expression for d(angle[2])/dt with respect
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// to the components of w and set that to 0.
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b3Vector3 axis0 = m_calculatedTransformB.getBasis().getColumn(0);
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b3Vector3 axis2 = m_calculatedTransformA.getBasis().getColumn(2);
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m_calculatedAxis[1] = axis2.cross(axis0);
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m_calculatedAxis[0] = m_calculatedAxis[1].cross(axis2);
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m_calculatedAxis[2] = axis0.cross(m_calculatedAxis[1]);
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m_calculatedAxis[0].normalize();
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m_calculatedAxis[1].normalize();
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m_calculatedAxis[2].normalize();
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}
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static b3Transform getCenterOfMassTransform(const b3RigidBodyData& body)
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{
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b3Transform tr(body.m_quat,body.m_pos);
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return tr;
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}
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void b3Generic6DofConstraint::calculateTransforms(const b3RigidBodyData* bodies)
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{
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b3Transform transA;
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b3Transform transB;
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transA = getCenterOfMassTransform(bodies[m_rbA]);
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transB = getCenterOfMassTransform(bodies[m_rbB]);
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calculateTransforms(transA,transB,bodies);
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}
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void b3Generic6DofConstraint::calculateTransforms(const b3Transform& transA,const b3Transform& transB,const b3RigidBodyData* bodies)
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{
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m_calculatedTransformA = transA * m_frameInA;
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m_calculatedTransformB = transB * m_frameInB;
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calculateLinearInfo();
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calculateAngleInfo();
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if(m_useOffsetForConstraintFrame)
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{ // get weight factors depending on masses
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b3Scalar miA = bodies[m_rbA].m_invMass;
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b3Scalar miB = bodies[m_rbB].m_invMass;
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m_hasStaticBody = (miA < B3_EPSILON) || (miB < B3_EPSILON);
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b3Scalar miS = miA + miB;
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if(miS > b3Scalar(0.f))
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{
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m_factA = miB / miS;
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}
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else
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{
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m_factA = b3Scalar(0.5f);
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}
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m_factB = b3Scalar(1.0f) - m_factA;
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}
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}
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bool b3Generic6DofConstraint::testAngularLimitMotor(int axis_index)
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{
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b3Scalar angle = m_calculatedAxisAngleDiff[axis_index];
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angle = b3AdjustAngleToLimits(angle, m_angularLimits[axis_index].m_loLimit, m_angularLimits[axis_index].m_hiLimit);
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m_angularLimits[axis_index].m_currentPosition = angle;
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//test limits
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m_angularLimits[axis_index].testLimitValue(angle);
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return m_angularLimits[axis_index].needApplyTorques();
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}
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void b3Generic6DofConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
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{
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//prepare constraint
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calculateTransforms(getCenterOfMassTransform(bodies[m_rbA]),getCenterOfMassTransform(bodies[m_rbB]),bodies);
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info->m_numConstraintRows = 0;
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info->nub = 6;
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int i;
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//test linear limits
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for(i = 0; i < 3; i++)
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{
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if(m_linearLimits.needApplyForce(i))
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{
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info->m_numConstraintRows++;
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info->nub--;
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}
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}
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//test angular limits
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for (i=0;i<3 ;i++ )
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{
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if(testAngularLimitMotor(i))
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{
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info->m_numConstraintRows++;
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info->nub--;
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}
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}
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// printf("info->m_numConstraintRows=%d\n",info->m_numConstraintRows);
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}
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void b3Generic6DofConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
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{
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//pre-allocate all 6
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info->m_numConstraintRows = 6;
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info->nub = 0;
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}
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void b3Generic6DofConstraint::getInfo2 (b3ConstraintInfo2* info,const b3RigidBodyData* bodies)
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{
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b3Transform transA = getCenterOfMassTransform(bodies[m_rbA]);
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b3Transform transB = getCenterOfMassTransform(bodies[m_rbB]);
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const b3Vector3& linVelA = bodies[m_rbA].m_linVel;
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const b3Vector3& linVelB = bodies[m_rbB].m_linVel;
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const b3Vector3& angVelA = bodies[m_rbA].m_angVel;
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const b3Vector3& angVelB = bodies[m_rbB].m_angVel;
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if(m_useOffsetForConstraintFrame)
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{ // for stability better to solve angular limits first
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int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
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setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
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}
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else
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{ // leave old version for compatibility
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int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB);
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setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
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}
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}
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void b3Generic6DofConstraint::getInfo2NonVirtual (b3ConstraintInfo2* info, const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB,const b3RigidBodyData* bodies)
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{
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//prepare constraint
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calculateTransforms(transA,transB,bodies);
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int i;
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for (i=0;i<3 ;i++ )
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{
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testAngularLimitMotor(i);
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}
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if(m_useOffsetForConstraintFrame)
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{ // for stability better to solve angular limits first
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int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
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setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
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}
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else
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{ // leave old version for compatibility
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int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB);
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setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
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}
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}
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int b3Generic6DofConstraint::setLinearLimits(b3ConstraintInfo2* info, int row, const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB)
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{
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// int row = 0;
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//solve linear limits
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b3RotationalLimitMotor limot;
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for (int i=0;i<3 ;i++ )
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{
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if(m_linearLimits.needApplyForce(i))
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{ // re-use rotational motor code
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limot.m_bounce = b3Scalar(0.f);
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limot.m_currentLimit = m_linearLimits.m_currentLimit[i];
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limot.m_currentPosition = m_linearLimits.m_currentLinearDiff[i];
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limot.m_currentLimitError = m_linearLimits.m_currentLimitError[i];
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limot.m_damping = m_linearLimits.m_damping;
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limot.m_enableMotor = m_linearLimits.m_enableMotor[i];
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limot.m_hiLimit = m_linearLimits.m_upperLimit[i];
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limot.m_limitSoftness = m_linearLimits.m_limitSoftness;
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limot.m_loLimit = m_linearLimits.m_lowerLimit[i];
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limot.m_maxLimitForce = b3Scalar(0.f);
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limot.m_maxMotorForce = m_linearLimits.m_maxMotorForce[i];
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limot.m_targetVelocity = m_linearLimits.m_targetVelocity[i];
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b3Vector3 axis = m_calculatedTransformA.getBasis().getColumn(i);
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int flags = m_flags >> (i * B3_6DOF_FLAGS_AXIS_SHIFT);
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limot.m_normalCFM = (flags & B3_6DOF_FLAGS_CFM_NORM) ? m_linearLimits.m_normalCFM[i] : info->cfm[0];
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limot.m_stopCFM = (flags & B3_6DOF_FLAGS_CFM_STOP) ? m_linearLimits.m_stopCFM[i] : info->cfm[0];
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limot.m_stopERP = (flags & B3_6DOF_FLAGS_ERP_STOP) ? m_linearLimits.m_stopERP[i] : info->erp;
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if(m_useOffsetForConstraintFrame)
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{
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int indx1 = (i + 1) % 3;
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int indx2 = (i + 2) % 3;
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int rotAllowed = 1; // rotations around orthos to current axis
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if(m_angularLimits[indx1].m_currentLimit && m_angularLimits[indx2].m_currentLimit)
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{
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rotAllowed = 0;
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}
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row += get_limit_motor_info2(&limot, transA,transB,linVelA,linVelB,angVelA,angVelB, info, row, axis, 0, rotAllowed);
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}
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else
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{
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row += get_limit_motor_info2(&limot, transA,transB,linVelA,linVelB,angVelA,angVelB, info, row, axis, 0);
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}
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}
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}
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return row;
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}
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int b3Generic6DofConstraint::setAngularLimits(b3ConstraintInfo2 *info, int row_offset, const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB)
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{
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b3Generic6DofConstraint * d6constraint = this;
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int row = row_offset;
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//solve angular limits
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for (int i=0;i<3 ;i++ )
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{
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if(d6constraint->getRotationalLimitMotor(i)->needApplyTorques())
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{
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b3Vector3 axis = d6constraint->getAxis(i);
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int flags = m_flags >> ((i + 3) * B3_6DOF_FLAGS_AXIS_SHIFT);
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if(!(flags & B3_6DOF_FLAGS_CFM_NORM))
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{
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m_angularLimits[i].m_normalCFM = info->cfm[0];
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}
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if(!(flags & B3_6DOF_FLAGS_CFM_STOP))
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{
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m_angularLimits[i].m_stopCFM = info->cfm[0];
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}
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if(!(flags & B3_6DOF_FLAGS_ERP_STOP))
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{
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m_angularLimits[i].m_stopERP = info->erp;
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}
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row += get_limit_motor_info2(d6constraint->getRotationalLimitMotor(i),
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transA,transB,linVelA,linVelB,angVelA,angVelB, info,row,axis,1);
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}
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}
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return row;
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}
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void b3Generic6DofConstraint::updateRHS(b3Scalar timeStep)
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{
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(void)timeStep;
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}
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void b3Generic6DofConstraint::setFrames(const b3Transform& frameA, const b3Transform& frameB,const b3RigidBodyData* bodies)
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{
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m_frameInA = frameA;
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m_frameInB = frameB;
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calculateTransforms(bodies);
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}
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b3Vector3 b3Generic6DofConstraint::getAxis(int axis_index) const
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{
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return m_calculatedAxis[axis_index];
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}
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b3Scalar b3Generic6DofConstraint::getRelativePivotPosition(int axisIndex) const
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{
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return m_calculatedLinearDiff[axisIndex];
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}
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b3Scalar b3Generic6DofConstraint::getAngle(int axisIndex) const
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{
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return m_calculatedAxisAngleDiff[axisIndex];
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}
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void b3Generic6DofConstraint::calcAnchorPos(const b3RigidBodyData* bodies)
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{
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b3Scalar imA = bodies[m_rbA].m_invMass;
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b3Scalar imB = bodies[m_rbB].m_invMass;
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b3Scalar weight;
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if(imB == b3Scalar(0.0))
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{
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weight = b3Scalar(1.0);
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}
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else
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{
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weight = imA / (imA + imB);
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}
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const b3Vector3& pA = m_calculatedTransformA.getOrigin();
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const b3Vector3& pB = m_calculatedTransformB.getOrigin();
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m_AnchorPos = pA * weight + pB * (b3Scalar(1.0) - weight);
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return;
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}
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void b3Generic6DofConstraint::calculateLinearInfo()
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{
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m_calculatedLinearDiff = m_calculatedTransformB.getOrigin() - m_calculatedTransformA.getOrigin();
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m_calculatedLinearDiff = m_calculatedTransformA.getBasis().inverse() * m_calculatedLinearDiff;
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for(int i = 0; i < 3; i++)
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{
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m_linearLimits.m_currentLinearDiff[i] = m_calculatedLinearDiff[i];
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m_linearLimits.testLimitValue(i, m_calculatedLinearDiff[i]);
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}
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}
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int b3Generic6DofConstraint::get_limit_motor_info2(
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b3RotationalLimitMotor * limot,
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const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB,
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b3ConstraintInfo2 *info, int row, b3Vector3& ax1, int rotational,int rotAllowed)
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{
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int srow = row * info->rowskip;
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bool powered = limot->m_enableMotor;
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int limit = limot->m_currentLimit;
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if (powered || limit)
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{ // if the joint is powered, or has joint limits, add in the extra row
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b3Scalar *J1 = rotational ? info->m_J1angularAxis : info->m_J1linearAxis;
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b3Scalar *J2 = rotational ? info->m_J2angularAxis : info->m_J2linearAxis;
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if (J1)
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{
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J1[srow+0] = ax1[0];
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J1[srow+1] = ax1[1];
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J1[srow+2] = ax1[2];
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}
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if (J2)
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{
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J2[srow+0] = -ax1[0];
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J2[srow+1] = -ax1[1];
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J2[srow+2] = -ax1[2];
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}
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if((!rotational))
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{
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if (m_useOffsetForConstraintFrame)
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{
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b3Vector3 tmpA, tmpB, relA, relB;
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// get vector from bodyB to frameB in WCS
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relB = m_calculatedTransformB.getOrigin() - transB.getOrigin();
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// get its projection to constraint axis
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b3Vector3 projB = ax1 * relB.dot(ax1);
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// get vector directed from bodyB to constraint axis (and orthogonal to it)
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b3Vector3 orthoB = relB - projB;
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// same for bodyA
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relA = m_calculatedTransformA.getOrigin() - transA.getOrigin();
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b3Vector3 projA = ax1 * relA.dot(ax1);
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b3Vector3 orthoA = relA - projA;
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// get desired offset between frames A and B along constraint axis
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b3Scalar desiredOffs = limot->m_currentPosition - limot->m_currentLimitError;
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// desired vector from projection of center of bodyA to projection of center of bodyB to constraint axis
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b3Vector3 totalDist = projA + ax1 * desiredOffs - projB;
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// get offset vectors relA and relB
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relA = orthoA + totalDist * m_factA;
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relB = orthoB - totalDist * m_factB;
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tmpA = relA.cross(ax1);
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tmpB = relB.cross(ax1);
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if(m_hasStaticBody && (!rotAllowed))
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{
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tmpA *= m_factA;
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tmpB *= m_factB;
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}
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int i;
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for (i=0; i<3; i++) info->m_J1angularAxis[srow+i] = tmpA[i];
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for (i=0; i<3; i++) info->m_J2angularAxis[srow+i] = -tmpB[i];
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} else
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{
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b3Vector3 ltd; // Linear Torque Decoupling vector
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b3Vector3 c = m_calculatedTransformB.getOrigin() - transA.getOrigin();
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ltd = c.cross(ax1);
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info->m_J1angularAxis[srow+0] = ltd[0];
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info->m_J1angularAxis[srow+1] = ltd[1];
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info->m_J1angularAxis[srow+2] = ltd[2];
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c = m_calculatedTransformB.getOrigin() - transB.getOrigin();
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ltd = -c.cross(ax1);
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info->m_J2angularAxis[srow+0] = ltd[0];
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info->m_J2angularAxis[srow+1] = ltd[1];
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info->m_J2angularAxis[srow+2] = ltd[2];
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}
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}
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// if we're limited low and high simultaneously, the joint motor is
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// ineffective
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if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = false;
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info->m_constraintError[srow] = b3Scalar(0.f);
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if (powered)
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{
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info->cfm[srow] = limot->m_normalCFM;
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if(!limit)
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{
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b3Scalar tag_vel = rotational ? limot->m_targetVelocity : -limot->m_targetVelocity;
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b3Scalar mot_fact = getMotorFactor( limot->m_currentPosition,
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limot->m_loLimit,
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limot->m_hiLimit,
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tag_vel,
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info->fps * limot->m_stopERP);
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info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity;
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info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
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info->m_upperLimit[srow] = limot->m_maxMotorForce;
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}
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}
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if(limit)
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{
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b3Scalar k = info->fps * limot->m_stopERP;
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if(!rotational)
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{
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info->m_constraintError[srow] += k * limot->m_currentLimitError;
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}
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else
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{
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info->m_constraintError[srow] += -k * limot->m_currentLimitError;
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}
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info->cfm[srow] = limot->m_stopCFM;
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if (limot->m_loLimit == limot->m_hiLimit)
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{ // limited low and high simultaneously
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info->m_lowerLimit[srow] = -B3_INFINITY;
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info->m_upperLimit[srow] = B3_INFINITY;
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}
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else
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{
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if (limit == 1)
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{
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info->m_lowerLimit[srow] = 0;
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info->m_upperLimit[srow] = B3_INFINITY;
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}
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else
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{
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info->m_lowerLimit[srow] = -B3_INFINITY;
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info->m_upperLimit[srow] = 0;
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}
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// deal with bounce
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if (limot->m_bounce > 0)
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{
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// calculate joint velocity
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b3Scalar vel;
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if (rotational)
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{
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vel = angVelA.dot(ax1);
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//make sure that if no body -> angVelB == zero vec
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// if (body1)
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vel -= angVelB.dot(ax1);
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}
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else
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{
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vel = linVelA.dot(ax1);
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//make sure that if no body -> angVelB == zero vec
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// if (body1)
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vel -= linVelB.dot(ax1);
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}
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// only apply bounce if the velocity is incoming, and if the
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// resulting c[] exceeds what we already have.
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if (limit == 1)
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{
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if (vel < 0)
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{
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b3Scalar newc = -limot->m_bounce* vel;
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if (newc > info->m_constraintError[srow])
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info->m_constraintError[srow] = newc;
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}
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}
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else
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{
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if (vel > 0)
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{
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b3Scalar newc = -limot->m_bounce * vel;
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if (newc < info->m_constraintError[srow])
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info->m_constraintError[srow] = newc;
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}
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}
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}
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}
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}
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return 1;
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}
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else return 0;
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}
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///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
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///If no axis is provided, it uses the default axis for this constraint.
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void b3Generic6DofConstraint::setParam(int num, b3Scalar value, int axis)
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{
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if((axis >= 0) && (axis < 3))
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{
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switch(num)
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{
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case B3_CONSTRAINT_STOP_ERP :
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m_linearLimits.m_stopERP[axis] = value;
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m_flags |= B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
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break;
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case B3_CONSTRAINT_STOP_CFM :
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m_linearLimits.m_stopCFM[axis] = value;
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m_flags |= B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
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break;
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case B3_CONSTRAINT_CFM :
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m_linearLimits.m_normalCFM[axis] = value;
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m_flags |= B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
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break;
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default :
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b3AssertConstrParams(0);
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}
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}
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else if((axis >=3) && (axis < 6))
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{
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switch(num)
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{
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case B3_CONSTRAINT_STOP_ERP :
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m_angularLimits[axis - 3].m_stopERP = value;
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m_flags |= B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
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break;
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case B3_CONSTRAINT_STOP_CFM :
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m_angularLimits[axis - 3].m_stopCFM = value;
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m_flags |= B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
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break;
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case B3_CONSTRAINT_CFM :
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m_angularLimits[axis - 3].m_normalCFM = value;
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m_flags |= B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
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break;
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default :
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b3AssertConstrParams(0);
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}
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}
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else
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{
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b3AssertConstrParams(0);
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}
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}
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///return the local value of parameter
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b3Scalar b3Generic6DofConstraint::getParam(int num, int axis) const
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{
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b3Scalar retVal = 0;
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if((axis >= 0) && (axis < 3))
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{
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switch(num)
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{
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case B3_CONSTRAINT_STOP_ERP :
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b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
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retVal = m_linearLimits.m_stopERP[axis];
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break;
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case B3_CONSTRAINT_STOP_CFM :
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b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
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retVal = m_linearLimits.m_stopCFM[axis];
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break;
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case B3_CONSTRAINT_CFM :
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b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
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retVal = m_linearLimits.m_normalCFM[axis];
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break;
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default :
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b3AssertConstrParams(0);
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}
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}
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else if((axis >=3) && (axis < 6))
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{
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switch(num)
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{
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case B3_CONSTRAINT_STOP_ERP :
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b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
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retVal = m_angularLimits[axis - 3].m_stopERP;
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break;
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case B3_CONSTRAINT_STOP_CFM :
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b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
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retVal = m_angularLimits[axis - 3].m_stopCFM;
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break;
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case B3_CONSTRAINT_CFM :
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b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
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retVal = m_angularLimits[axis - 3].m_normalCFM;
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break;
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default :
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b3AssertConstrParams(0);
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}
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}
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else
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{
|
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b3AssertConstrParams(0);
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}
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return retVal;
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}
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void b3Generic6DofConstraint::setAxis(const b3Vector3& axis1,const b3Vector3& axis2, const b3RigidBodyData* bodies)
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{
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b3Vector3 zAxis = axis1.normalized();
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b3Vector3 yAxis = axis2.normalized();
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b3Vector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
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b3Transform frameInW;
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frameInW.setIdentity();
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frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0],
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xAxis[1], yAxis[1], zAxis[1],
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xAxis[2], yAxis[2], zAxis[2]);
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// now get constraint frame in local coordinate systems
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m_frameInA = getCenterOfMassTransform(bodies[m_rbA]).inverse() * frameInW;
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m_frameInB = getCenterOfMassTransform(bodies[m_rbB]).inverse() * frameInW;
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calculateTransforms(bodies);
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}
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