ruby-bullet 0.0.2-x86-mingw32

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  1. data/INSTALL.md +22 -0
  2. data/LICENSE +23 -0
  3. data/README.md +41 -0
  4. data/Rakefile +131 -0
  5. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btAxisSweep3.i +30 -0
  6. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseInterface.i +8 -0
  7. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseProxy.i +8 -0
  8. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.i +8 -0
  9. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvt.i +10 -0
  10. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvtBroadphase.i +8 -0
  11. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDispatcher.i +8 -0
  12. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.i +10 -0
  13. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCache.i +8 -0
  14. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.i +8 -0
  15. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btQuantizedBvh.i +8 -0
  16. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btSimpleBroadphase.i +8 -0
  17. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/local_btAxisSweep3Internal.h +191 -0
  18. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/SphereTriangleDetector.i +8 -0
  19. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.i +8 -0
  20. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.i +8 -0
  21. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.i +8 -0
  22. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxDetector.i +8 -0
  23. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionConfiguration.i +21 -0
  24. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionCreateFunc.i +8 -0
  25. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionDispatcher.i +24 -0
  26. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionObject.i +8 -0
  27. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionWorld.i +82 -0
  28. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.i +8 -0
  29. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.i +8 -0
  30. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.i +8 -0
  31. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.i +8 -0
  32. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.i +8 -0
  33. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.i +8 -0
  34. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.i +8 -0
  35. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btGhostObject.i +8 -0
  36. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btInternalEdgeUtility.i +8 -0
  37. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btManifoldResult.i +8 -0
  38. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSimulationIslandManager.i +8 -0
  39. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.i +8 -0
  40. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.i +8 -0
  41. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.i +8 -0
  42. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btUnionFind.i +10 -0
  43. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBox2dShape.i +8 -0
  44. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBoxShape.i +22 -0
  45. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.i +8 -0
  46. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCapsuleShape.i +8 -0
  47. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionMargin.i +8 -0
  48. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionShape.i +8 -0
  49. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCompoundShape.i +8 -0
  50. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConcaveShape.i +8 -0
  51. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConeShape.i +8 -0
  52. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvex2dShape.i +8 -0
  53. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexHullShape.i +8 -0
  54. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexInternalShape.i +8 -0
  55. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPointCloudShape.i +8 -0
  56. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPolyhedron.i +8 -0
  57. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexShape.i +8 -0
  58. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.i +8 -0
  59. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCylinderShape.i +8 -0
  60. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btEmptyShape.i +8 -0
  61. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.i +8 -0
  62. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMaterial.i +8 -0
  63. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMinkowskiSumShape.i +8 -0
  64. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultiSphereShape.i +8 -0
  65. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.i +8 -0
  66. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btOptimizedBvh.i +8 -0
  67. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btPolyhedralConvexShape.i +8 -0
  68. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.i +8 -0
  69. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btShapeHull.i +8 -0
  70. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btSphereShape.i +8 -0
  71. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStaticPlaneShape.i +8 -0
  72. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStridingMeshInterface.i +8 -0
  73. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTetrahedronShape.i +8 -0
  74. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleBuffer.i +8 -0
  75. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleCallback.i +8 -0
  76. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.i +8 -0
  77. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.i +8 -0
  78. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleInfoMap.i +8 -0
  79. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleMeshShape.i +8 -0
  80. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleShape.i +8 -0
  81. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btUniformScalingShape.i +8 -0
  82. data/bindings/bullet/interface/BulletCollision/Gimpact/btBoxCollision.i +8 -0
  83. data/bindings/bullet/interface/BulletCollision/Gimpact/btClipPolygon.i +8 -0
  84. data/bindings/bullet/interface/BulletCollision/Gimpact/btContactProcessing.i +8 -0
  85. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactBvh.i +8 -0
  86. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.i +8 -0
  87. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactMassUtil.i +8 -0
  88. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactQuantizedBvh.i +8 -0
  89. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactShape.i +8 -0
  90. data/bindings/bullet/interface/BulletCollision/Gimpact/btGenericPoolAllocator.i +11 -0
  91. data/bindings/bullet/interface/BulletCollision/Gimpact/btGeometryOperations.i +8 -0
  92. data/bindings/bullet/interface/BulletCollision/Gimpact/btQuantization.i +8 -0
  93. data/bindings/bullet/interface/BulletCollision/Gimpact/btTriangleShapeEx.i +8 -0
  94. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.i +8 -0
  95. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexCast.i +8 -0
  96. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.i +8 -0
  97. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.i +11 -0
  98. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.i +8 -0
  99. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpa2.i +8 -0
  100. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.i +8 -0
  101. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.i +8 -0
  102. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btManifoldPoint.i +8 -0
  103. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.i +8 -0
  104. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPersistentManifold.i +8 -0
  105. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPointCollector.i +8 -0
  106. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.i +8 -0
  107. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btRaycastCallback.i +8 -0
  108. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.i +8 -0
  109. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.i +8 -0
  110. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.i +8 -0
  111. data/bindings/bullet/interface/BulletDynamics/Character/btCharacterControllerInterface.i +8 -0
  112. data/bindings/bullet/interface/BulletDynamics/Character/btKinematicCharacterController.i +8 -0
  113. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConeTwistConstraint.i +8 -0
  114. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConstraintSolver.i +8 -0
  115. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactConstraint.i +8 -0
  116. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactSolverInfo.i +8 -0
  117. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.i +8 -0
  118. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.i +8 -0
  119. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHinge2Constraint.i +8 -0
  120. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHingeConstraint.i +8 -0
  121. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btJacobianEntry.i +8 -0
  122. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.i +8 -0
  123. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.i +21 -0
  124. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSliderConstraint.i +8 -0
  125. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.i +8 -0
  126. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverBody.i +8 -0
  127. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverConstraint.i +8 -0
  128. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btTypedConstraint.i +8 -0
  129. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btUniversalConstraint.i +8 -0
  130. data/bindings/bullet/interface/BulletDynamics/Dynamics/btActionInterface.i +8 -0
  131. data/bindings/bullet/interface/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.i +23 -0
  132. data/bindings/bullet/interface/BulletDynamics/Dynamics/btDynamicsWorld.i +37 -0
  133. data/bindings/bullet/interface/BulletDynamics/Dynamics/btRigidBody.i +20 -0
  134. data/bindings/bullet/interface/BulletDynamics/Dynamics/btSimpleDynamicsWorld.i +8 -0
  135. data/bindings/bullet/interface/BulletDynamics/Vehicle/btRaycastVehicle.i +12 -0
  136. data/bindings/bullet/interface/BulletDynamics/Vehicle/btVehicleRaycaster.i +8 -0
  137. data/bindings/bullet/interface/BulletDynamics/Vehicle/btWheelInfo.i +8 -0
  138. data/bindings/bullet/interface/BulletSoftBody/btDefaultSoftBodySolver.i +8 -0
  139. data/bindings/bullet/interface/BulletSoftBody/btSoftBody.i +8 -0
  140. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.i +8 -0
  141. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyData.i +8 -0
  142. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyHelpers.i +8 -0
  143. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyInternals.i +8 -0
  144. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.i +8 -0
  145. data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolverVertexBuffer.i +8 -0
  146. data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolvers.i +8 -0
  147. data/bindings/bullet/interface/BulletSoftBody/btSoftRigidCollisionAlgorithm.i +8 -0
  148. data/bindings/bullet/interface/BulletSoftBody/btSoftRigidDynamicsWorld.i +8 -0
  149. data/bindings/bullet/interface/BulletSoftBody/btSoftSoftCollisionAlgorithm.i +8 -0
  150. data/bindings/bullet/interface/BulletSoftBody/btSparseSDF.i +8 -0
  151. data/bindings/bullet/interface/LinearMath/btAabbUtil2.i +8 -0
  152. data/bindings/bullet/interface/LinearMath/btAlignedAllocator.i +8 -0
  153. data/bindings/bullet/interface/LinearMath/btAlignedObjectArray.i +8 -0
  154. data/bindings/bullet/interface/LinearMath/btConvexHull.i +8 -0
  155. data/bindings/bullet/interface/LinearMath/btConvexHullComputer.i +8 -0
  156. data/bindings/bullet/interface/LinearMath/btDefaultMotionState.i +10 -0
  157. data/bindings/bullet/interface/LinearMath/btGeometryUtil.i +10 -0
  158. data/bindings/bullet/interface/LinearMath/btGrahamScan2dConvexHull.i +8 -0
  159. data/bindings/bullet/interface/LinearMath/btHashMap.i +8 -0
  160. data/bindings/bullet/interface/LinearMath/btIDebugDraw.i +10 -0
  161. data/bindings/bullet/interface/LinearMath/btList.i +8 -0
  162. data/bindings/bullet/interface/LinearMath/btMatrix3x3.i +8 -0
  163. data/bindings/bullet/interface/LinearMath/btMinMax.i +8 -0
  164. data/bindings/bullet/interface/LinearMath/btMotionState.i +10 -0
  165. data/bindings/bullet/interface/LinearMath/btPoolAllocator.i +10 -0
  166. data/bindings/bullet/interface/LinearMath/btQuadWord.i +8 -0
  167. data/bindings/bullet/interface/LinearMath/btQuaternion.i +60 -0
  168. data/bindings/bullet/interface/LinearMath/btQuickprof.i +10 -0
  169. data/bindings/bullet/interface/LinearMath/btRandom.i +8 -0
  170. data/bindings/bullet/interface/LinearMath/btScalar.i +8 -0
  171. data/bindings/bullet/interface/LinearMath/btSerializer.i +10 -0
  172. data/bindings/bullet/interface/LinearMath/btStackAlloc.i +10 -0
  173. data/bindings/bullet/interface/LinearMath/btTransform.i +8 -0
  174. data/bindings/bullet/interface/LinearMath/btTransformUtil.i +8 -0
  175. data/bindings/bullet/interface/LinearMath/btVector3.i +42 -0
  176. data/bindings/bullet/interface/Makefile +19 -0
  177. data/bindings/bullet/interface/bullet.i +9 -0
  178. data/bindings/bullet/interface/bullet_all.i +186 -0
  179. data/bindings/bullet/interface/bullet_wrap.cpp +194161 -0
  180. data/bindings/bullet/interface/bullet_wrap.h +106 -0
  181. data/bindings/bullet/interface/bullet_wrap.o +0 -0
  182. data/bindings/bullet/src/TickListener.h +22 -0
  183. data/deps/include/bullet/Bullet-C-Api.h +176 -0
  184. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp +37 -0
  185. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h +1051 -0
  186. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h +82 -0
  187. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp +17 -0
  188. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +270 -0
  189. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp +23 -0
  190. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h +80 -0
  191. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp +1295 -0
  192. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.h +1257 -0
  193. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp +796 -0
  194. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +146 -0
  195. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.cpp +22 -0
  196. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h +110 -0
  197. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp +489 -0
  198. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h +151 -0
  199. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp +633 -0
  200. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +469 -0
  201. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h +40 -0
  202. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp +1375 -0
  203. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h +579 -0
  204. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp +349 -0
  205. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h +171 -0
  206. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btAxisSweep3.obj +0 -0
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  209. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btDbvt.obj +0 -0
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  212. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btMultiSapBroadphase.obj +0 -0
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  229. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btConvexPlaneCollisionAlgorithm.obj +0 -0
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@@ -0,0 +1,857 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
+
5
+ This software is provided 'as-is', without any express or implied warranty.
6
+ In no event will the authors be held liable for any damages arising from the use of this software.
7
+ Permission is granted to anyone to use this software for any purpose,
8
+ including commercial applications, and to alter it and redistribute it freely,
9
+ subject to the following restrictions:
10
+
11
+ 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.
12
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13
+ 3. This notice may not be removed or altered from any source distribution.
14
+ */
15
+
16
+ /*
17
+ Added by Roman Ponomarev (rponom@gmail.com)
18
+ April 04, 2008
19
+ */
20
+
21
+
22
+
23
+ #include "btSliderConstraint.h"
24
+ #include "BulletDynamics/Dynamics/btRigidBody.h"
25
+ #include "LinearMath/btTransformUtil.h"
26
+ #include <new>
27
+
28
+ #define USE_OFFSET_FOR_CONSTANT_FRAME true
29
+
30
+ void btSliderConstraint::initParams()
31
+ {
32
+ m_lowerLinLimit = btScalar(1.0);
33
+ m_upperLinLimit = btScalar(-1.0);
34
+ m_lowerAngLimit = btScalar(0.);
35
+ m_upperAngLimit = btScalar(0.);
36
+ m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
37
+ m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
38
+ m_dampingDirLin = btScalar(0.);
39
+ m_cfmDirLin = SLIDER_CONSTRAINT_DEF_CFM;
40
+ m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
41
+ m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
42
+ m_dampingDirAng = btScalar(0.);
43
+ m_cfmDirAng = SLIDER_CONSTRAINT_DEF_CFM;
44
+ m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
45
+ m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
46
+ m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING;
47
+ m_cfmOrthoLin = SLIDER_CONSTRAINT_DEF_CFM;
48
+ m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
49
+ m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
50
+ m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING;
51
+ m_cfmOrthoAng = SLIDER_CONSTRAINT_DEF_CFM;
52
+ m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
53
+ m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
54
+ m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING;
55
+ m_cfmLimLin = SLIDER_CONSTRAINT_DEF_CFM;
56
+ m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
57
+ m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
58
+ m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING;
59
+ m_cfmLimAng = SLIDER_CONSTRAINT_DEF_CFM;
60
+
61
+ m_poweredLinMotor = false;
62
+ m_targetLinMotorVelocity = btScalar(0.);
63
+ m_maxLinMotorForce = btScalar(0.);
64
+ m_accumulatedLinMotorImpulse = btScalar(0.0);
65
+
66
+ m_poweredAngMotor = false;
67
+ m_targetAngMotorVelocity = btScalar(0.);
68
+ m_maxAngMotorForce = btScalar(0.);
69
+ m_accumulatedAngMotorImpulse = btScalar(0.0);
70
+
71
+ m_flags = 0;
72
+ m_flags = 0;
73
+
74
+ m_useOffsetForConstraintFrame = USE_OFFSET_FOR_CONSTANT_FRAME;
75
+
76
+ calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
77
+ }
78
+
79
+
80
+
81
+
82
+
83
+ btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
84
+ : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB),
85
+ m_useSolveConstraintObsolete(false),
86
+ m_frameInA(frameInA),
87
+ m_frameInB(frameInB),
88
+ m_useLinearReferenceFrameA(useLinearReferenceFrameA)
89
+ {
90
+ initParams();
91
+ }
92
+
93
+
94
+
95
+ btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA)
96
+ : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, getFixedBody(), rbB),
97
+ m_useSolveConstraintObsolete(false),
98
+ m_frameInB(frameInB),
99
+ m_useLinearReferenceFrameA(useLinearReferenceFrameA)
100
+ {
101
+ ///not providing rigidbody A means implicitly using worldspace for body A
102
+ m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
103
+ // m_frameInA.getOrigin() = m_rbA.getCenterOfMassTransform()(m_frameInA.getOrigin());
104
+
105
+ initParams();
106
+ }
107
+
108
+
109
+
110
+
111
+
112
+
113
+ void btSliderConstraint::getInfo1(btConstraintInfo1* info)
114
+ {
115
+ if (m_useSolveConstraintObsolete)
116
+ {
117
+ info->m_numConstraintRows = 0;
118
+ info->nub = 0;
119
+ }
120
+ else
121
+ {
122
+ info->m_numConstraintRows = 4; // Fixed 2 linear + 2 angular
123
+ info->nub = 2;
124
+ //prepare constraint
125
+ calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
126
+ testAngLimits();
127
+ testLinLimits();
128
+ if(getSolveLinLimit() || getPoweredLinMotor())
129
+ {
130
+ info->m_numConstraintRows++; // limit 3rd linear as well
131
+ info->nub--;
132
+ }
133
+ if(getSolveAngLimit() || getPoweredAngMotor())
134
+ {
135
+ info->m_numConstraintRows++; // limit 3rd angular as well
136
+ info->nub--;
137
+ }
138
+ }
139
+ }
140
+
141
+ void btSliderConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
142
+ {
143
+
144
+ info->m_numConstraintRows = 6; // Fixed 2 linear + 2 angular + 1 limit (even if not used)
145
+ info->nub = 0;
146
+ }
147
+
148
+ void btSliderConstraint::getInfo2(btConstraintInfo2* info)
149
+ {
150
+ getInfo2NonVirtual(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(), m_rbA.getLinearVelocity(),m_rbB.getLinearVelocity(), m_rbA.getInvMass(),m_rbB.getInvMass());
151
+ }
152
+
153
+
154
+
155
+
156
+
157
+
158
+
159
+ void btSliderConstraint::calculateTransforms(const btTransform& transA,const btTransform& transB)
160
+ {
161
+ if(m_useLinearReferenceFrameA || (!m_useSolveConstraintObsolete))
162
+ {
163
+ m_calculatedTransformA = transA * m_frameInA;
164
+ m_calculatedTransformB = transB * m_frameInB;
165
+ }
166
+ else
167
+ {
168
+ m_calculatedTransformA = transB * m_frameInB;
169
+ m_calculatedTransformB = transA * m_frameInA;
170
+ }
171
+ m_realPivotAInW = m_calculatedTransformA.getOrigin();
172
+ m_realPivotBInW = m_calculatedTransformB.getOrigin();
173
+ m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X
174
+ if(m_useLinearReferenceFrameA || m_useSolveConstraintObsolete)
175
+ {
176
+ m_delta = m_realPivotBInW - m_realPivotAInW;
177
+ }
178
+ else
179
+ {
180
+ m_delta = m_realPivotAInW - m_realPivotBInW;
181
+ }
182
+ m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
183
+ btVector3 normalWorld;
184
+ int i;
185
+ //linear part
186
+ for(i = 0; i < 3; i++)
187
+ {
188
+ normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
189
+ m_depth[i] = m_delta.dot(normalWorld);
190
+ }
191
+ }
192
+
193
+
194
+
195
+ void btSliderConstraint::testLinLimits(void)
196
+ {
197
+ m_solveLinLim = false;
198
+ m_linPos = m_depth[0];
199
+ if(m_lowerLinLimit <= m_upperLinLimit)
200
+ {
201
+ if(m_depth[0] > m_upperLinLimit)
202
+ {
203
+ m_depth[0] -= m_upperLinLimit;
204
+ m_solveLinLim = true;
205
+ }
206
+ else if(m_depth[0] < m_lowerLinLimit)
207
+ {
208
+ m_depth[0] -= m_lowerLinLimit;
209
+ m_solveLinLim = true;
210
+ }
211
+ else
212
+ {
213
+ m_depth[0] = btScalar(0.);
214
+ }
215
+ }
216
+ else
217
+ {
218
+ m_depth[0] = btScalar(0.);
219
+ }
220
+ }
221
+
222
+
223
+
224
+ void btSliderConstraint::testAngLimits(void)
225
+ {
226
+ m_angDepth = btScalar(0.);
227
+ m_solveAngLim = false;
228
+ if(m_lowerAngLimit <= m_upperAngLimit)
229
+ {
230
+ const btVector3 axisA0 = m_calculatedTransformA.getBasis().getColumn(1);
231
+ const btVector3 axisA1 = m_calculatedTransformA.getBasis().getColumn(2);
232
+ const btVector3 axisB0 = m_calculatedTransformB.getBasis().getColumn(1);
233
+ // btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0));
234
+ btScalar rot = btAtan2(axisB0.dot(axisA1), axisB0.dot(axisA0));
235
+ rot = btAdjustAngleToLimits(rot, m_lowerAngLimit, m_upperAngLimit);
236
+ m_angPos = rot;
237
+ if(rot < m_lowerAngLimit)
238
+ {
239
+ m_angDepth = rot - m_lowerAngLimit;
240
+ m_solveAngLim = true;
241
+ }
242
+ else if(rot > m_upperAngLimit)
243
+ {
244
+ m_angDepth = rot - m_upperAngLimit;
245
+ m_solveAngLim = true;
246
+ }
247
+ }
248
+ }
249
+
250
+ btVector3 btSliderConstraint::getAncorInA(void)
251
+ {
252
+ btVector3 ancorInA;
253
+ ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * btScalar(0.5) * m_sliderAxis;
254
+ ancorInA = m_rbA.getCenterOfMassTransform().inverse() * ancorInA;
255
+ return ancorInA;
256
+ }
257
+
258
+
259
+
260
+ btVector3 btSliderConstraint::getAncorInB(void)
261
+ {
262
+ btVector3 ancorInB;
263
+ ancorInB = m_frameInB.getOrigin();
264
+ return ancorInB;
265
+ }
266
+
267
+
268
+ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB, const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass )
269
+ {
270
+ const btTransform& trA = getCalculatedTransformA();
271
+ const btTransform& trB = getCalculatedTransformB();
272
+
273
+ btAssert(!m_useSolveConstraintObsolete);
274
+ int i, s = info->rowskip;
275
+
276
+ btScalar signFact = m_useLinearReferenceFrameA ? btScalar(1.0f) : btScalar(-1.0f);
277
+
278
+ // difference between frames in WCS
279
+ btVector3 ofs = trB.getOrigin() - trA.getOrigin();
280
+ // now get weight factors depending on masses
281
+ btScalar miA = rbAinvMass;
282
+ btScalar miB = rbBinvMass;
283
+ bool hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
284
+ btScalar miS = miA + miB;
285
+ btScalar factA, factB;
286
+ if(miS > btScalar(0.f))
287
+ {
288
+ factA = miB / miS;
289
+ }
290
+ else
291
+ {
292
+ factA = btScalar(0.5f);
293
+ }
294
+ factB = btScalar(1.0f) - factA;
295
+ btVector3 ax1, p, q;
296
+ btVector3 ax1A = trA.getBasis().getColumn(0);
297
+ btVector3 ax1B = trB.getBasis().getColumn(0);
298
+ if(m_useOffsetForConstraintFrame)
299
+ {
300
+ // get the desired direction of slider axis
301
+ // as weighted sum of X-orthos of frameA and frameB in WCS
302
+ ax1 = ax1A * factA + ax1B * factB;
303
+ ax1.normalize();
304
+ // construct two orthos to slider axis
305
+ btPlaneSpace1 (ax1, p, q);
306
+ }
307
+ else
308
+ { // old way - use frameA
309
+ ax1 = trA.getBasis().getColumn(0);
310
+ // get 2 orthos to slider axis (Y, Z)
311
+ p = trA.getBasis().getColumn(1);
312
+ q = trA.getBasis().getColumn(2);
313
+ }
314
+ // make rotations around these orthos equal
315
+ // the slider axis should be the only unconstrained
316
+ // rotational axis, the angular velocity of the two bodies perpendicular to
317
+ // the slider axis should be equal. thus the constraint equations are
318
+ // p*w1 - p*w2 = 0
319
+ // q*w1 - q*w2 = 0
320
+ // where p and q are unit vectors normal to the slider axis, and w1 and w2
321
+ // are the angular velocity vectors of the two bodies.
322
+ info->m_J1angularAxis[0] = p[0];
323
+ info->m_J1angularAxis[1] = p[1];
324
+ info->m_J1angularAxis[2] = p[2];
325
+ info->m_J1angularAxis[s+0] = q[0];
326
+ info->m_J1angularAxis[s+1] = q[1];
327
+ info->m_J1angularAxis[s+2] = q[2];
328
+
329
+ info->m_J2angularAxis[0] = -p[0];
330
+ info->m_J2angularAxis[1] = -p[1];
331
+ info->m_J2angularAxis[2] = -p[2];
332
+ info->m_J2angularAxis[s+0] = -q[0];
333
+ info->m_J2angularAxis[s+1] = -q[1];
334
+ info->m_J2angularAxis[s+2] = -q[2];
335
+ // compute the right hand side of the constraint equation. set relative
336
+ // body velocities along p and q to bring the slider back into alignment.
337
+ // if ax1A,ax1B are the unit length slider axes as computed from bodyA and
338
+ // bodyB, we need to rotate both bodies along the axis u = (ax1 x ax2).
339
+ // if "theta" is the angle between ax1 and ax2, we need an angular velocity
340
+ // along u to cover angle erp*theta in one step :
341
+ // |angular_velocity| = angle/time = erp*theta / stepsize
342
+ // = (erp*fps) * theta
343
+ // angular_velocity = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
344
+ // = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
345
+ // ...as ax1 and ax2 are unit length. if theta is smallish,
346
+ // theta ~= sin(theta), so
347
+ // angular_velocity = (erp*fps) * (ax1 x ax2)
348
+ // ax1 x ax2 is in the plane space of ax1, so we project the angular
349
+ // velocity to p and q to find the right hand side.
350
+ // btScalar k = info->fps * info->erp * getSoftnessOrthoAng();
351
+ btScalar currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTANG) ? m_softnessOrthoAng : m_softnessOrthoAng * info->erp;
352
+ btScalar k = info->fps * currERP;
353
+
354
+ btVector3 u = ax1A.cross(ax1B);
355
+ info->m_constraintError[0] = k * u.dot(p);
356
+ info->m_constraintError[s] = k * u.dot(q);
357
+ if(m_flags & BT_SLIDER_FLAGS_CFM_ORTANG)
358
+ {
359
+ info->cfm[0] = m_cfmOrthoAng;
360
+ info->cfm[s] = m_cfmOrthoAng;
361
+ }
362
+
363
+ int nrow = 1; // last filled row
364
+ int srow;
365
+ btScalar limit_err;
366
+ int limit;
367
+ int powered;
368
+
369
+ // next two rows.
370
+ // we want: velA + wA x relA == velB + wB x relB ... but this would
371
+ // result in three equations, so we project along two orthos to the slider axis
372
+
373
+ btTransform bodyA_trans = transA;
374
+ btTransform bodyB_trans = transB;
375
+ nrow++;
376
+ int s2 = nrow * s;
377
+ nrow++;
378
+ int s3 = nrow * s;
379
+ btVector3 tmpA(0,0,0), tmpB(0,0,0), relA(0,0,0), relB(0,0,0), c(0,0,0);
380
+ if(m_useOffsetForConstraintFrame)
381
+ {
382
+ // get vector from bodyB to frameB in WCS
383
+ relB = trB.getOrigin() - bodyB_trans.getOrigin();
384
+ // get its projection to slider axis
385
+ btVector3 projB = ax1 * relB.dot(ax1);
386
+ // get vector directed from bodyB to slider axis (and orthogonal to it)
387
+ btVector3 orthoB = relB - projB;
388
+ // same for bodyA
389
+ relA = trA.getOrigin() - bodyA_trans.getOrigin();
390
+ btVector3 projA = ax1 * relA.dot(ax1);
391
+ btVector3 orthoA = relA - projA;
392
+ // get desired offset between frames A and B along slider axis
393
+ btScalar sliderOffs = m_linPos - m_depth[0];
394
+ // desired vector from projection of center of bodyA to projection of center of bodyB to slider axis
395
+ btVector3 totalDist = projA + ax1 * sliderOffs - projB;
396
+ // get offset vectors relA and relB
397
+ relA = orthoA + totalDist * factA;
398
+ relB = orthoB - totalDist * factB;
399
+ // now choose average ortho to slider axis
400
+ p = orthoB * factA + orthoA * factB;
401
+ btScalar len2 = p.length2();
402
+ if(len2 > SIMD_EPSILON)
403
+ {
404
+ p /= btSqrt(len2);
405
+ }
406
+ else
407
+ {
408
+ p = trA.getBasis().getColumn(1);
409
+ }
410
+ // make one more ortho
411
+ q = ax1.cross(p);
412
+ // fill two rows
413
+ tmpA = relA.cross(p);
414
+ tmpB = relB.cross(p);
415
+ for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = tmpA[i];
416
+ for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = -tmpB[i];
417
+ tmpA = relA.cross(q);
418
+ tmpB = relB.cross(q);
419
+ if(hasStaticBody && getSolveAngLimit())
420
+ { // to make constraint between static and dynamic objects more rigid
421
+ // remove wA (or wB) from equation if angular limit is hit
422
+ tmpB *= factB;
423
+ tmpA *= factA;
424
+ }
425
+ for (i=0; i<3; i++) info->m_J1angularAxis[s3+i] = tmpA[i];
426
+ for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = -tmpB[i];
427
+ for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
428
+ for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
429
+ }
430
+ else
431
+ { // old way - maybe incorrect if bodies are not on the slider axis
432
+ // see discussion "Bug in slider constraint" http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=4024&start=0
433
+ c = bodyB_trans.getOrigin() - bodyA_trans.getOrigin();
434
+ btVector3 tmp = c.cross(p);
435
+ for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = factA*tmp[i];
436
+ for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = factB*tmp[i];
437
+ tmp = c.cross(q);
438
+ for (i=0; i<3; i++) info->m_J1angularAxis[s3+i] = factA*tmp[i];
439
+ for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = factB*tmp[i];
440
+
441
+ for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
442
+ for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
443
+ }
444
+ // compute two elements of right hand side
445
+
446
+ // k = info->fps * info->erp * getSoftnessOrthoLin();
447
+ currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN) ? m_softnessOrthoLin : m_softnessOrthoLin * info->erp;
448
+ k = info->fps * currERP;
449
+
450
+ btScalar rhs = k * p.dot(ofs);
451
+ info->m_constraintError[s2] = rhs;
452
+ rhs = k * q.dot(ofs);
453
+ info->m_constraintError[s3] = rhs;
454
+ if(m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN)
455
+ {
456
+ info->cfm[s2] = m_cfmOrthoLin;
457
+ info->cfm[s3] = m_cfmOrthoLin;
458
+ }
459
+
460
+
461
+ // check linear limits
462
+ limit_err = btScalar(0.0);
463
+ limit = 0;
464
+ if(getSolveLinLimit())
465
+ {
466
+ limit_err = getLinDepth() * signFact;
467
+ limit = (limit_err > btScalar(0.0)) ? 2 : 1;
468
+ }
469
+ powered = 0;
470
+ if(getPoweredLinMotor())
471
+ {
472
+ powered = 1;
473
+ }
474
+ // if the slider has joint limits or motor, add in the extra row
475
+ if (limit || powered)
476
+ {
477
+ nrow++;
478
+ srow = nrow * info->rowskip;
479
+ info->m_J1linearAxis[srow+0] = ax1[0];
480
+ info->m_J1linearAxis[srow+1] = ax1[1];
481
+ info->m_J1linearAxis[srow+2] = ax1[2];
482
+ // linear torque decoupling step:
483
+ //
484
+ // we have to be careful that the linear constraint forces (+/- ax1) applied to the two bodies
485
+ // do not create a torque couple. in other words, the points that the
486
+ // constraint force is applied at must lie along the same ax1 axis.
487
+ // a torque couple will result in limited slider-jointed free
488
+ // bodies from gaining angular momentum.
489
+ if(m_useOffsetForConstraintFrame)
490
+ {
491
+ // this is needed only when bodyA and bodyB are both dynamic.
492
+ if(!hasStaticBody)
493
+ {
494
+ tmpA = relA.cross(ax1);
495
+ tmpB = relB.cross(ax1);
496
+ info->m_J1angularAxis[srow+0] = tmpA[0];
497
+ info->m_J1angularAxis[srow+1] = tmpA[1];
498
+ info->m_J1angularAxis[srow+2] = tmpA[2];
499
+ info->m_J2angularAxis[srow+0] = -tmpB[0];
500
+ info->m_J2angularAxis[srow+1] = -tmpB[1];
501
+ info->m_J2angularAxis[srow+2] = -tmpB[2];
502
+ }
503
+ }
504
+ else
505
+ { // The old way. May be incorrect if bodies are not on the slider axis
506
+ btVector3 ltd; // Linear Torque Decoupling vector (a torque)
507
+ ltd = c.cross(ax1);
508
+ info->m_J1angularAxis[srow+0] = factA*ltd[0];
509
+ info->m_J1angularAxis[srow+1] = factA*ltd[1];
510
+ info->m_J1angularAxis[srow+2] = factA*ltd[2];
511
+ info->m_J2angularAxis[srow+0] = factB*ltd[0];
512
+ info->m_J2angularAxis[srow+1] = factB*ltd[1];
513
+ info->m_J2angularAxis[srow+2] = factB*ltd[2];
514
+ }
515
+ // right-hand part
516
+ btScalar lostop = getLowerLinLimit();
517
+ btScalar histop = getUpperLinLimit();
518
+ if(limit && (lostop == histop))
519
+ { // the joint motor is ineffective
520
+ powered = 0;
521
+ }
522
+ info->m_constraintError[srow] = 0.;
523
+ info->m_lowerLimit[srow] = 0.;
524
+ info->m_upperLimit[srow] = 0.;
525
+ currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN) ? m_softnessLimLin : info->erp;
526
+ if(powered)
527
+ {
528
+ if(m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN)
529
+ {
530
+ info->cfm[srow] = m_cfmDirLin;
531
+ }
532
+ btScalar tag_vel = getTargetLinMotorVelocity();
533
+ btScalar mot_fact = getMotorFactor(m_linPos, m_lowerLinLimit, m_upperLinLimit, tag_vel, info->fps * currERP);
534
+ info->m_constraintError[srow] -= signFact * mot_fact * getTargetLinMotorVelocity();
535
+ info->m_lowerLimit[srow] += -getMaxLinMotorForce() * info->fps;
536
+ info->m_upperLimit[srow] += getMaxLinMotorForce() * info->fps;
537
+ }
538
+ if(limit)
539
+ {
540
+ k = info->fps * currERP;
541
+ info->m_constraintError[srow] += k * limit_err;
542
+ if(m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN)
543
+ {
544
+ info->cfm[srow] = m_cfmLimLin;
545
+ }
546
+ if(lostop == histop)
547
+ { // limited low and high simultaneously
548
+ info->m_lowerLimit[srow] = -SIMD_INFINITY;
549
+ info->m_upperLimit[srow] = SIMD_INFINITY;
550
+ }
551
+ else if(limit == 1)
552
+ { // low limit
553
+ info->m_lowerLimit[srow] = -SIMD_INFINITY;
554
+ info->m_upperLimit[srow] = 0;
555
+ }
556
+ else
557
+ { // high limit
558
+ info->m_lowerLimit[srow] = 0;
559
+ info->m_upperLimit[srow] = SIMD_INFINITY;
560
+ }
561
+ // bounce (we'll use slider parameter abs(1.0 - m_dampingLimLin) for that)
562
+ btScalar bounce = btFabs(btScalar(1.0) - getDampingLimLin());
563
+ if(bounce > btScalar(0.0))
564
+ {
565
+ btScalar vel = linVelA.dot(ax1);
566
+ vel -= linVelB.dot(ax1);
567
+ vel *= signFact;
568
+ // only apply bounce if the velocity is incoming, and if the
569
+ // resulting c[] exceeds what we already have.
570
+ if(limit == 1)
571
+ { // low limit
572
+ if(vel < 0)
573
+ {
574
+ btScalar newc = -bounce * vel;
575
+ if (newc > info->m_constraintError[srow])
576
+ {
577
+ info->m_constraintError[srow] = newc;
578
+ }
579
+ }
580
+ }
581
+ else
582
+ { // high limit - all those computations are reversed
583
+ if(vel > 0)
584
+ {
585
+ btScalar newc = -bounce * vel;
586
+ if(newc < info->m_constraintError[srow])
587
+ {
588
+ info->m_constraintError[srow] = newc;
589
+ }
590
+ }
591
+ }
592
+ }
593
+ info->m_constraintError[srow] *= getSoftnessLimLin();
594
+ } // if(limit)
595
+ } // if linear limit
596
+ // check angular limits
597
+ limit_err = btScalar(0.0);
598
+ limit = 0;
599
+ if(getSolveAngLimit())
600
+ {
601
+ limit_err = getAngDepth();
602
+ limit = (limit_err > btScalar(0.0)) ? 1 : 2;
603
+ }
604
+ // if the slider has joint limits, add in the extra row
605
+ powered = 0;
606
+ if(getPoweredAngMotor())
607
+ {
608
+ powered = 1;
609
+ }
610
+ if(limit || powered)
611
+ {
612
+ nrow++;
613
+ srow = nrow * info->rowskip;
614
+ info->m_J1angularAxis[srow+0] = ax1[0];
615
+ info->m_J1angularAxis[srow+1] = ax1[1];
616
+ info->m_J1angularAxis[srow+2] = ax1[2];
617
+
618
+ info->m_J2angularAxis[srow+0] = -ax1[0];
619
+ info->m_J2angularAxis[srow+1] = -ax1[1];
620
+ info->m_J2angularAxis[srow+2] = -ax1[2];
621
+
622
+ btScalar lostop = getLowerAngLimit();
623
+ btScalar histop = getUpperAngLimit();
624
+ if(limit && (lostop == histop))
625
+ { // the joint motor is ineffective
626
+ powered = 0;
627
+ }
628
+ currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMANG) ? m_softnessLimAng : info->erp;
629
+ if(powered)
630
+ {
631
+ if(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG)
632
+ {
633
+ info->cfm[srow] = m_cfmDirAng;
634
+ }
635
+ btScalar mot_fact = getMotorFactor(m_angPos, m_lowerAngLimit, m_upperAngLimit, getTargetAngMotorVelocity(), info->fps * currERP);
636
+ info->m_constraintError[srow] = mot_fact * getTargetAngMotorVelocity();
637
+ info->m_lowerLimit[srow] = -getMaxAngMotorForce() * info->fps;
638
+ info->m_upperLimit[srow] = getMaxAngMotorForce() * info->fps;
639
+ }
640
+ if(limit)
641
+ {
642
+ k = info->fps * currERP;
643
+ info->m_constraintError[srow] += k * limit_err;
644
+ if(m_flags & BT_SLIDER_FLAGS_CFM_LIMANG)
645
+ {
646
+ info->cfm[srow] = m_cfmLimAng;
647
+ }
648
+ if(lostop == histop)
649
+ {
650
+ // limited low and high simultaneously
651
+ info->m_lowerLimit[srow] = -SIMD_INFINITY;
652
+ info->m_upperLimit[srow] = SIMD_INFINITY;
653
+ }
654
+ else if(limit == 1)
655
+ { // low limit
656
+ info->m_lowerLimit[srow] = 0;
657
+ info->m_upperLimit[srow] = SIMD_INFINITY;
658
+ }
659
+ else
660
+ { // high limit
661
+ info->m_lowerLimit[srow] = -SIMD_INFINITY;
662
+ info->m_upperLimit[srow] = 0;
663
+ }
664
+ // bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
665
+ btScalar bounce = btFabs(btScalar(1.0) - getDampingLimAng());
666
+ if(bounce > btScalar(0.0))
667
+ {
668
+ btScalar vel = m_rbA.getAngularVelocity().dot(ax1);
669
+ vel -= m_rbB.getAngularVelocity().dot(ax1);
670
+ // only apply bounce if the velocity is incoming, and if the
671
+ // resulting c[] exceeds what we already have.
672
+ if(limit == 1)
673
+ { // low limit
674
+ if(vel < 0)
675
+ {
676
+ btScalar newc = -bounce * vel;
677
+ if(newc > info->m_constraintError[srow])
678
+ {
679
+ info->m_constraintError[srow] = newc;
680
+ }
681
+ }
682
+ }
683
+ else
684
+ { // high limit - all those computations are reversed
685
+ if(vel > 0)
686
+ {
687
+ btScalar newc = -bounce * vel;
688
+ if(newc < info->m_constraintError[srow])
689
+ {
690
+ info->m_constraintError[srow] = newc;
691
+ }
692
+ }
693
+ }
694
+ }
695
+ info->m_constraintError[srow] *= getSoftnessLimAng();
696
+ } // if(limit)
697
+ } // if angular limit or powered
698
+ }
699
+
700
+
701
+ ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
702
+ ///If no axis is provided, it uses the default axis for this constraint.
703
+ void btSliderConstraint::setParam(int num, btScalar value, int axis)
704
+ {
705
+ switch(num)
706
+ {
707
+ case BT_CONSTRAINT_STOP_ERP :
708
+ if(axis < 1)
709
+ {
710
+ m_softnessLimLin = value;
711
+ m_flags |= BT_SLIDER_FLAGS_ERP_LIMLIN;
712
+ }
713
+ else if(axis < 3)
714
+ {
715
+ m_softnessOrthoLin = value;
716
+ m_flags |= BT_SLIDER_FLAGS_ERP_ORTLIN;
717
+ }
718
+ else if(axis == 3)
719
+ {
720
+ m_softnessLimAng = value;
721
+ m_flags |= BT_SLIDER_FLAGS_ERP_LIMANG;
722
+ }
723
+ else if(axis < 6)
724
+ {
725
+ m_softnessOrthoAng = value;
726
+ m_flags |= BT_SLIDER_FLAGS_ERP_ORTANG;
727
+ }
728
+ else
729
+ {
730
+ btAssertConstrParams(0);
731
+ }
732
+ break;
733
+ case BT_CONSTRAINT_CFM :
734
+ if(axis < 1)
735
+ {
736
+ m_cfmDirLin = value;
737
+ m_flags |= BT_SLIDER_FLAGS_CFM_DIRLIN;
738
+ }
739
+ else if(axis == 3)
740
+ {
741
+ m_cfmDirAng = value;
742
+ m_flags |= BT_SLIDER_FLAGS_CFM_DIRANG;
743
+ }
744
+ else
745
+ {
746
+ btAssertConstrParams(0);
747
+ }
748
+ break;
749
+ case BT_CONSTRAINT_STOP_CFM :
750
+ if(axis < 1)
751
+ {
752
+ m_cfmLimLin = value;
753
+ m_flags |= BT_SLIDER_FLAGS_CFM_LIMLIN;
754
+ }
755
+ else if(axis < 3)
756
+ {
757
+ m_cfmOrthoLin = value;
758
+ m_flags |= BT_SLIDER_FLAGS_CFM_ORTLIN;
759
+ }
760
+ else if(axis == 3)
761
+ {
762
+ m_cfmLimAng = value;
763
+ m_flags |= BT_SLIDER_FLAGS_CFM_LIMANG;
764
+ }
765
+ else if(axis < 6)
766
+ {
767
+ m_cfmOrthoAng = value;
768
+ m_flags |= BT_SLIDER_FLAGS_CFM_ORTANG;
769
+ }
770
+ else
771
+ {
772
+ btAssertConstrParams(0);
773
+ }
774
+ break;
775
+ }
776
+ }
777
+
778
+ ///return the local value of parameter
779
+ btScalar btSliderConstraint::getParam(int num, int axis) const
780
+ {
781
+ btScalar retVal(SIMD_INFINITY);
782
+ switch(num)
783
+ {
784
+ case BT_CONSTRAINT_STOP_ERP :
785
+ if(axis < 1)
786
+ {
787
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN);
788
+ retVal = m_softnessLimLin;
789
+ }
790
+ else if(axis < 3)
791
+ {
792
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN);
793
+ retVal = m_softnessOrthoLin;
794
+ }
795
+ else if(axis == 3)
796
+ {
797
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMANG);
798
+ retVal = m_softnessLimAng;
799
+ }
800
+ else if(axis < 6)
801
+ {
802
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTANG);
803
+ retVal = m_softnessOrthoAng;
804
+ }
805
+ else
806
+ {
807
+ btAssertConstrParams(0);
808
+ }
809
+ break;
810
+ case BT_CONSTRAINT_CFM :
811
+ if(axis < 1)
812
+ {
813
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN);
814
+ retVal = m_cfmDirLin;
815
+ }
816
+ else if(axis == 3)
817
+ {
818
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG);
819
+ retVal = m_cfmDirAng;
820
+ }
821
+ else
822
+ {
823
+ btAssertConstrParams(0);
824
+ }
825
+ break;
826
+ case BT_CONSTRAINT_STOP_CFM :
827
+ if(axis < 1)
828
+ {
829
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN);
830
+ retVal = m_cfmLimLin;
831
+ }
832
+ else if(axis < 3)
833
+ {
834
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN);
835
+ retVal = m_cfmOrthoLin;
836
+ }
837
+ else if(axis == 3)
838
+ {
839
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMANG);
840
+ retVal = m_cfmLimAng;
841
+ }
842
+ else if(axis < 6)
843
+ {
844
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTANG);
845
+ retVal = m_cfmOrthoAng;
846
+ }
847
+ else
848
+ {
849
+ btAssertConstrParams(0);
850
+ }
851
+ break;
852
+ }
853
+ return retVal;
854
+ }
855
+
856
+
857
+