94 lines
3.0 KiB
C++
94 lines
3.0 KiB
C++
/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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*
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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
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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*
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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*
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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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#include "dgConstraint.h"
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#include "dgBody.h"
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#include "dgWorld.h"
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#include "hpl1/engine/libraries/newton/core/dg.h"
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//////////////////////////////////////////////////////////////////////
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// Construction/Destruction
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//////////////////////////////////////////////////////////////////////
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//#define LINEAR_VEL_DAMP dgFloat32 (100.0f)
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//#define LINEAR_POS_DAMP dgFloat32 (1500.0f)
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//#define ANGULAR_VEL_DAMP dgFloat32 (100.0f)
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//#define ANGULAR_POS_DAMP dgFloat32 (1500.0f)
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//#define DG_VEL_DAMP dgFloat32(100.0f)
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//#define DG_POS_DAMP dgFloat32(1500.0f)
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void *dgConstraint::GetUserData() const {
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return m_userData;
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}
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void dgConstraint::SetUserData(void *userData) {
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m_userData = userData;
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}
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bool dgConstraint::IsBilateral() const {
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return false;
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}
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void dgConstraint::InitPointParam(dgPointParam ¶m, dgFloat32 stiffness,
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const dgVector &p0Global, const dgVector &p1Global) const {
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NEWTON_ASSERT(m_body0);
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NEWTON_ASSERT(m_body1);
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param.m_stiffness = stiffness;
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param.m_r0 = p0Global - m_body0->m_globalCentreOfMass;
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param.m_posit0 = p0Global;
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param.m_veloc0 = m_body0->m_omega * param.m_r0;
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param.m_centripetal0 = m_body0->m_omega * param.m_veloc0;
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param.m_veloc0 += m_body0->m_veloc;
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param.m_r1 = p1Global - m_body1->m_globalCentreOfMass;
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param.m_posit1 = p1Global;
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param.m_veloc1 = m_body1->m_omega * param.m_r1;
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param.m_centripetal1 = m_body1->m_omega * param.m_veloc1;
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param.m_veloc1 += m_body1->m_veloc;
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}
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void dgConstraint::InitInfo(dgConstraintInfo *const info) const {
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info->m_attachBody_0 = GetBody0();
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NEWTON_ASSERT(info->m_attachBody_0);
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dgWorld *const world = info->m_attachBody_0->GetWorld();
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if (info->m_attachBody_0 == world->GetSentinelBody()) {
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info->m_attachBody_0 = NULL;
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}
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info->m_attachBody_1 = GetBody1();
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if (info->m_attachBody_1 == world->GetSentinelBody()) {
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info->m_attachBody_1 = NULL;
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}
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info->m_attachMatrix_0 = dgGetIdentityMatrix();
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info->m_attachMatrix_1 = dgGetIdentityMatrix();
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info->m_discriptionType[0] = 0;
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}
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void dgConstraint::GetInfo(dgConstraintInfo *const info) const {
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NEWTON_ASSERT(0);
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}
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