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engines/hpl1/engine/libraries/newton/physics/dgBilateralConstraint.h

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+/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
+*
+* 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.
+*/
+
+#if !defined(AFX_DGBILATERALCONSTRAINT_H__7C9E1F9A_5EC6_48BE_8C9F_FB90132C6619__INCLUDED_)
+#define AFX_DGBILATERALCONSTRAINT_H__7C9E1F9A_5EC6_48BE_8C9F_FB90132C6619__INCLUDED_
+
+#include "dgConstraint.h"
+
+
+class dgBilateralConstraint: public dgConstraint {
+
+public:
+	virtual void SetDestructorCallback(OnConstraintDestroy destructor);
+
+protected:
+	dgBilateralConstraint();
+	virtual ~dgBilateralConstraint();
+
+	virtual void Init() {
+		NEWTON_ASSERT(0);
+	}
+	virtual void Remove(dgWorld *world) {
+		NEWTON_ASSERT(0);
+	}
+	virtual bool IsBilateral() const;
+
+	virtual dgFloat32 GetStiffness() const;
+	virtual void SetStiffness(dgFloat32 stiffness);
+
+	void SetPivotAndPinDir(const dgVector &pivot, const dgVector &pinDirection);
+	void SetPivotAndPinDir(const dgVector &pivot, const dgVector &pinDirection0, const dgVector &pinDirection1);
+	dgVector CalculateGlobalMatrixAndAngle(dgMatrix &globalMatrix0, dgMatrix &globalMatrix1) const;
+	void CalculateMatrixOffset(const dgVector &pivot, const dgVector &dir, dgMatrix &matrix0, dgMatrix &matrix1);
+
+
+	virtual void JointAccelerations(const dgJointAccelerationDecriptor &params);
+	virtual void JointAccelerationsSimd(const dgJointAccelerationDecriptor &params);
+	virtual void JointVelocityCorrection(const dgJointAccelerationDecriptor &params);
+
+
+	void SetMotorAcceleration(dgInt32 index, dgFloat32 accelration, dgContraintDescritor &desc);
+	void SetJacobianDerivative(dgInt32 index, dgContraintDescritor &desc, const dgFloat32 *jacobianA, const dgFloat32 *jacobianB, dgFloat32 *jointForce);
+	void CalculatePointDerivative(dgInt32 index, dgContraintDescritor &desc, const dgVector &normalGlobal, const dgPointParam &param, dgFloat32 *jointForce);
+	void CalculateAngularDerivative(dgInt32 index, dgContraintDescritor &desc, const dgVector &normalGlobal, dgFloat32 stiffness, dgFloat32 jointAngle, dgFloat32 *jointForce);
+	dgFloat32 CalculateSpringDamperAcceleration(dgInt32 index, const dgContraintDescritor &desc, dgFloat32 jointAngle, const dgVector &p0Global, const dgVector &p1Global, dgFloat32 springK, dgFloat32 springD);
+
+
+	dgMatrix m_localMatrix0;
+	dgMatrix m_localMatrix1;
+	dgFloat32 m_stiffness;
+	dgFloat32 m_jointForce[32];
+	dgInt32   m_rowIsMotor[32];
+	dgFloat32 m_motorAcceleration[32];
+
+
+	OnConstraintDestroy m_destructor;
+};
+
+#endif // !defined(AFX_DGBILATERALCONSTRAINT_H__7C9E1F9A_5EC6_48BE_8C9F_FB90132C6619__INCLUDED_)
+