79 lines
3.2 KiB
C++
79 lines
3.2 KiB
C++
/* 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 ¶ms);
|
|
virtual void JointAccelerationsSimd(const dgJointAccelerationDecriptor ¶ms);
|
|
virtual void JointVelocityCorrection(const dgJointAccelerationDecriptor ¶ms);
|
|
|
|
|
|
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 ¶m, 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_)
|
|
|