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engines/hpl1/engine/libraries/newton/physics/dgPointToCurveConstraint.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 "dgPointToCurveConstraint.h"
+#include "dgBody.h"
+#include "hpl1/engine/libraries/newton/core/dg.h"
+
+
+/*
+
+
+ //////////////////////////////////////////////////////////////////////
+ // Construction/Destruction
+ //////////////////////////////////////////////////////////////////////
+
+ dgPointToCurveConstraint::dgPointToCurveConstraint()
+ {
+
+ }
+
+ dgPointToCurveConstraint::~dgPointToCurveConstraint()
+ {
+ }
+
+
+ dgPointToCurveConstraint* dgPointToCurveConstraint::Create(dgWorld* world)
+ {
+ dgPointToCurveConstraint*  constraint;
+
+ constraint = dgPointToCurveConstraintArray::GetPool().GetElement();
+
+ constraint->Init();
+ constraint->m_maxDOF = 2;
+ constraint->m_destructor = NULL;
+ constraint->m_constId = dgPointToCurveConstraintId;
+ return constraint;
+ }
+
+ void dgPointToCurveConstraint::Remove(dgWorld* world)
+ {
+ dgBallConstraintArray& array = *world;
+ dgBilateralConstraint::Remove ();
+ // dgBallConstraintArray::GetPool().RemoveElement (this);
+ array.RemoveElement (this);
+
+ }
+
+ void dgPointToCurveConstraint::SetDestructorCallback (OnConstraintDestroy destructor)
+ {
+ m_destructor = destructor;
+ }
+
+
+ //dgUnsigned32 dgPointToCurveConstraint::CalcRestrictedDOF()
+ //{
+ // NEWTON_ASSERT (0);
+ // return 0;
+ //}
+
+
+ void dgPointToCurveConstraint::SetPivotPoint(
+ const dgVector &pivot,
+ OnPointToCurveCallback curve,
+ void *curveContext)
+ {
+ NEWTON_ASSERT (0);
+
+ // NEWTON_ASSERT (m_dynamic0);
+
+ // m_curve = curve;
+ // m_context = curveContext;
+ // m_pivot = m_dynamic0->GetBody()->GetMatrix().UntransformVector (pivot);
+
+ }
+
+
+ dgUnsigned32 dgPointToCurveConstraint::JacobianDerivative (dgContraintDescritor& params)
+ {
+ NEWTON_ASSERT (0);
+ return 0;
+ // dgBody* body0;
+ // dgFloat32 kPosit;
+ //
+ // NEWTON_ASSERT (m_dynamic0);
+ //
+ // body0 = m_dynamic0->GetBody();
+ // NEWTON_ASSERT (body0);
+ //
+ // NEWTON_ASSERT (body0->GetDynamic() == m_dynamic0);
+ //
+ // const dgMatrix& mat0 = body0->GetMatrix();
+ //
+ // dgVector front;
+ // dgVector up;
+ // dgVector right;
+ // dgVector tangent;
+ //  dgVector pivet1;
+ // dgVector pivet0 (mat0.RotateVector (m_pivot));
+ //
+ // dgVector    point (pivet0 + mat0.posit);
+ // m_curve (m_context, pivet0, pivet1, front);
+
+ // front = front.Scale (dgRsqrt (front % front));
+ // Create__Basis(front, up, right);
+
+ // dgVector pivetUp (pivet0 * up);
+ // dgVector pivetRight (pivet0 * right);
+
+ // dgJacobian* jacobian01 = params.m_jacobian_01;
+
+ // jacobian01[0].derivative[0] = up.m_x;
+ // jacobian01[0].derivative[1] = up.m_y;
+ // jacobian01[0].derivative[2] = up.m_z;
+ // jacobian01[0].derivative[3] = pivetUp.m_x;
+ // jacobian01[0].derivative[4] = pivetUp.m_y;
+ // jacobian01[0].derivative[5] = pivetUp.m_z;
+
+ // jacobian01[1].derivative[0] = right.m_x;
+ // jacobian01[1].derivative[1] = right.m_y;
+ // jacobian01[1].derivative[2] = right.m_z;
+ // jacobian01[1].derivative[3] = pivetRight.m_x;
+ // jacobian01[1].derivative[4] = pivetRight.m_y;
+ // jacobian01[1].derivative[5] = pivetRight.m_z;
+
+ // kPosit = 0.7f * params.m_invTimestep * params.m_invTimestep;
+ // dgVector positError (pivet1 - point);
+
+ // params.m_jointAccel[0] = (positError % up) * kPosit;
+ // params.m_jointAccel[1] = (positError % right) * kPosit;
+ }
+ */