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engines/hpl1/engine/libraries/newton/physics/dgConstraint.cpp

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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.
+ */
+
+#include "dgConstraint.h"
+#include "dgBody.h"
+#include "dgWorld.h"
+#include "hpl1/engine/libraries/newton/core/dg.h"
+
+
+//////////////////////////////////////////////////////////////////////
+// Construction/Destruction
+//////////////////////////////////////////////////////////////////////
+
+//#define LINEAR_VEL_DAMP   dgFloat32 (100.0f)
+//#define LINEAR_POS_DAMP   dgFloat32 (1500.0f)
+//#define ANGULAR_VEL_DAMP dgFloat32 (100.0f)
+//#define ANGULAR_POS_DAMP dgFloat32 (1500.0f)
+
+//#define DG_VEL_DAMP               dgFloat32(100.0f)
+//#define DG_POS_DAMP               dgFloat32(1500.0f)
+
+void *dgConstraint::GetUserData() const {
+	return m_userData;
+}
+
+void dgConstraint::SetUserData(void *userData) {
+	m_userData = userData;
+}
+
+bool dgConstraint::IsBilateral() const {
+	return false;
+}
+
+void dgConstraint::InitPointParam(dgPointParam &param, dgFloat32 stiffness,
+                                  const dgVector &p0Global, const dgVector &p1Global) const {
+	NEWTON_ASSERT(m_body0);
+	NEWTON_ASSERT(m_body1);
+	param.m_stiffness = stiffness;
+
+	param.m_r0 = p0Global - m_body0->m_globalCentreOfMass;
+	param.m_posit0 = p0Global;
+	param.m_veloc0 = m_body0->m_omega * param.m_r0;
+	param.m_centripetal0 = m_body0->m_omega * param.m_veloc0;
+	param.m_veloc0 += m_body0->m_veloc;
+
+	param.m_r1 = p1Global - m_body1->m_globalCentreOfMass;
+	param.m_posit1 = p1Global;
+	param.m_veloc1 = m_body1->m_omega * param.m_r1;
+	param.m_centripetal1 = m_body1->m_omega * param.m_veloc1;
+	param.m_veloc1 += m_body1->m_veloc;
+}
+
+void dgConstraint::InitInfo(dgConstraintInfo *const info) const {
+
+	info->m_attachBody_0 = GetBody0();
+	NEWTON_ASSERT(info->m_attachBody_0);
+	dgWorld *const world = info->m_attachBody_0->GetWorld();
+	if (info->m_attachBody_0 == world->GetSentinelBody()) {
+		info->m_attachBody_0 = NULL;
+	}
+
+	info->m_attachBody_1 = GetBody1();
+	if (info->m_attachBody_1 == world->GetSentinelBody()) {
+		info->m_attachBody_1 = NULL;
+	}
+
+	info->m_attachMatrix_0 = dgGetIdentityMatrix();
+	info->m_attachMatrix_1 = dgGetIdentityMatrix();
+
+	info->m_discriptionType[0] = 0;
+}
+
+void dgConstraint::GetInfo(dgConstraintInfo *const info) const {
+	NEWTON_ASSERT(0);
+}