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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  942. data/sample/hello_bullet/HelloBullet.rb +170 -0
  943. metadata +987 -0
@@ -0,0 +1,452 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2003-2010 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
+ #ifndef BT_TYPED_CONSTRAINT_H
17
+ #define BT_TYPED_CONSTRAINT_H
18
+
19
+ class btRigidBody;
20
+ #include "LinearMath/btScalar.h"
21
+ #include "btSolverConstraint.h"
22
+
23
+ class btSerializer;
24
+
25
+ //Don't change any of the existing enum values, so add enum types at the end for serialization compatibility
26
+ enum btTypedConstraintType
27
+ {
28
+ POINT2POINT_CONSTRAINT_TYPE=3,
29
+ HINGE_CONSTRAINT_TYPE,
30
+ CONETWIST_CONSTRAINT_TYPE,
31
+ D6_CONSTRAINT_TYPE,
32
+ SLIDER_CONSTRAINT_TYPE,
33
+ CONTACT_CONSTRAINT_TYPE,
34
+ D6_SPRING_CONSTRAINT_TYPE,
35
+ MAX_CONSTRAINT_TYPE
36
+ };
37
+
38
+
39
+ enum btConstraintParams
40
+ {
41
+ BT_CONSTRAINT_ERP=1,
42
+ BT_CONSTRAINT_STOP_ERP,
43
+ BT_CONSTRAINT_CFM,
44
+ BT_CONSTRAINT_STOP_CFM
45
+ };
46
+
47
+ #if 1
48
+ #define btAssertConstrParams(_par) btAssert(_par)
49
+ #else
50
+ #define btAssertConstrParams(_par)
51
+ #endif
52
+
53
+
54
+ ///TypedConstraint is the baseclass for Bullet constraints and vehicles
55
+ class btTypedConstraint : public btTypedObject
56
+ {
57
+ int m_userConstraintType;
58
+
59
+ union
60
+ {
61
+ int m_userConstraintId;
62
+ void* m_userConstraintPtr;
63
+ };
64
+
65
+ btScalar m_breakingImpulseThreshold;
66
+ bool m_isEnabled;
67
+ bool m_needsFeedback;
68
+ int m_overrideNumSolverIterations;
69
+
70
+
71
+ btTypedConstraint& operator=(btTypedConstraint& other)
72
+ {
73
+ btAssert(0);
74
+ (void) other;
75
+ return *this;
76
+ }
77
+
78
+ protected:
79
+ btRigidBody& m_rbA;
80
+ btRigidBody& m_rbB;
81
+ btScalar m_appliedImpulse;
82
+ btScalar m_dbgDrawSize;
83
+
84
+ ///internal method used by the constraint solver, don't use them directly
85
+ btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact);
86
+
87
+
88
+ public:
89
+
90
+ virtual ~btTypedConstraint() {};
91
+ btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA);
92
+ btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB);
93
+
94
+ struct btConstraintInfo1 {
95
+ int m_numConstraintRows,nub;
96
+ };
97
+
98
+ static btRigidBody& getFixedBody();
99
+
100
+ struct btConstraintInfo2 {
101
+ // integrator parameters: frames per second (1/stepsize), default error
102
+ // reduction parameter (0..1).
103
+ btScalar fps,erp;
104
+
105
+ // for the first and second body, pointers to two (linear and angular)
106
+ // n*3 jacobian sub matrices, stored by rows. these matrices will have
107
+ // been initialized to 0 on entry. if the second body is zero then the
108
+ // J2xx pointers may be 0.
109
+ btScalar *m_J1linearAxis,*m_J1angularAxis,*m_J2linearAxis,*m_J2angularAxis;
110
+
111
+ // elements to jump from one row to the next in J's
112
+ int rowskip;
113
+
114
+ // right hand sides of the equation J*v = c + cfm * lambda. cfm is the
115
+ // "constraint force mixing" vector. c is set to zero on entry, cfm is
116
+ // set to a constant value (typically very small or zero) value on entry.
117
+ btScalar *m_constraintError,*cfm;
118
+
119
+ // lo and hi limits for variables (set to -/+ infinity on entry).
120
+ btScalar *m_lowerLimit,*m_upperLimit;
121
+
122
+ // findex vector for variables. see the LCP solver interface for a
123
+ // description of what this does. this is set to -1 on entry.
124
+ // note that the returned indexes are relative to the first index of
125
+ // the constraint.
126
+ int *findex;
127
+ // number of solver iterations
128
+ int m_numIterations;
129
+
130
+ //damping of the velocity
131
+ btScalar m_damping;
132
+ };
133
+
134
+ int getOverrideNumSolverIterations() const
135
+ {
136
+ return m_overrideNumSolverIterations;
137
+ }
138
+
139
+ ///override the number of constraint solver iterations used to solve this constraint
140
+ ///-1 will use the default number of iterations, as specified in SolverInfo.m_numIterations
141
+ void setOverrideNumSolverIterations(int overideNumIterations)
142
+ {
143
+ m_overrideNumSolverIterations = overideNumIterations;
144
+ }
145
+
146
+ ///internal method used by the constraint solver, don't use them directly
147
+ virtual void buildJacobian() {};
148
+
149
+ ///internal method used by the constraint solver, don't use them directly
150
+ virtual void setupSolverConstraint(btConstraintArray& ca, int solverBodyA,int solverBodyB, btScalar timeStep)
151
+ {
152
+ (void)ca;
153
+ (void)solverBodyA;
154
+ (void)solverBodyB;
155
+ (void)timeStep;
156
+ }
157
+
158
+ ///internal method used by the constraint solver, don't use them directly
159
+ virtual void getInfo1 (btConstraintInfo1* info)=0;
160
+
161
+ ///internal method used by the constraint solver, don't use them directly
162
+ virtual void getInfo2 (btConstraintInfo2* info)=0;
163
+
164
+ ///internal method used by the constraint solver, don't use them directly
165
+ void internalSetAppliedImpulse(btScalar appliedImpulse)
166
+ {
167
+ m_appliedImpulse = appliedImpulse;
168
+ }
169
+ ///internal method used by the constraint solver, don't use them directly
170
+ btScalar internalGetAppliedImpulse()
171
+ {
172
+ return m_appliedImpulse;
173
+ }
174
+
175
+
176
+ btScalar getBreakingImpulseThreshold() const
177
+ {
178
+ return m_breakingImpulseThreshold;
179
+ }
180
+
181
+ void setBreakingImpulseThreshold(btScalar threshold)
182
+ {
183
+ m_breakingImpulseThreshold = threshold;
184
+ }
185
+
186
+ bool isEnabled() const
187
+ {
188
+ return m_isEnabled;
189
+ }
190
+
191
+ void setEnabled(bool enabled)
192
+ {
193
+ m_isEnabled=enabled;
194
+ }
195
+
196
+
197
+ ///internal method used by the constraint solver, don't use them directly
198
+ virtual void solveConstraintObsolete(btRigidBody& /*bodyA*/,btRigidBody& /*bodyB*/,btScalar /*timeStep*/) {};
199
+
200
+
201
+ const btRigidBody& getRigidBodyA() const
202
+ {
203
+ return m_rbA;
204
+ }
205
+ const btRigidBody& getRigidBodyB() const
206
+ {
207
+ return m_rbB;
208
+ }
209
+
210
+ btRigidBody& getRigidBodyA()
211
+ {
212
+ return m_rbA;
213
+ }
214
+ btRigidBody& getRigidBodyB()
215
+ {
216
+ return m_rbB;
217
+ }
218
+
219
+ int getUserConstraintType() const
220
+ {
221
+ return m_userConstraintType ;
222
+ }
223
+
224
+ void setUserConstraintType(int userConstraintType)
225
+ {
226
+ m_userConstraintType = userConstraintType;
227
+ };
228
+
229
+ void setUserConstraintId(int uid)
230
+ {
231
+ m_userConstraintId = uid;
232
+ }
233
+
234
+ int getUserConstraintId() const
235
+ {
236
+ return m_userConstraintId;
237
+ }
238
+
239
+ void setUserConstraintPtr(void* ptr)
240
+ {
241
+ m_userConstraintPtr = ptr;
242
+ }
243
+
244
+ void* getUserConstraintPtr()
245
+ {
246
+ return m_userConstraintPtr;
247
+ }
248
+
249
+ int getUid() const
250
+ {
251
+ return m_userConstraintId;
252
+ }
253
+
254
+ bool needsFeedback() const
255
+ {
256
+ return m_needsFeedback;
257
+ }
258
+
259
+ ///enableFeedback will allow to read the applied linear and angular impulse
260
+ ///use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information
261
+ void enableFeedback(bool needsFeedback)
262
+ {
263
+ m_needsFeedback = needsFeedback;
264
+ }
265
+
266
+ ///getAppliedImpulse is an estimated total applied impulse.
267
+ ///This feedback could be used to determine breaking constraints or playing sounds.
268
+ btScalar getAppliedImpulse() const
269
+ {
270
+ btAssert(m_needsFeedback);
271
+ return m_appliedImpulse;
272
+ }
273
+
274
+ btTypedConstraintType getConstraintType () const
275
+ {
276
+ return btTypedConstraintType(m_objectType);
277
+ }
278
+
279
+ void setDbgDrawSize(btScalar dbgDrawSize)
280
+ {
281
+ m_dbgDrawSize = dbgDrawSize;
282
+ }
283
+ btScalar getDbgDrawSize()
284
+ {
285
+ return m_dbgDrawSize;
286
+ }
287
+
288
+ ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
289
+ ///If no axis is provided, it uses the default axis for this constraint.
290
+ virtual void setParam(int num, btScalar value, int axis = -1) = 0;
291
+
292
+ ///return the local value of parameter
293
+ virtual btScalar getParam(int num, int axis = -1) const = 0;
294
+
295
+ virtual int calculateSerializeBufferSize() const;
296
+
297
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
298
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
299
+
300
+ };
301
+
302
+ // returns angle in range [-SIMD_2_PI, SIMD_2_PI], closest to one of the limits
303
+ // all arguments should be normalized angles (i.e. in range [-SIMD_PI, SIMD_PI])
304
+ SIMD_FORCE_INLINE btScalar btAdjustAngleToLimits(btScalar angleInRadians, btScalar angleLowerLimitInRadians, btScalar angleUpperLimitInRadians)
305
+ {
306
+ if(angleLowerLimitInRadians >= angleUpperLimitInRadians)
307
+ {
308
+ return angleInRadians;
309
+ }
310
+ else if(angleInRadians < angleLowerLimitInRadians)
311
+ {
312
+ btScalar diffLo = btFabs(btNormalizeAngle(angleLowerLimitInRadians - angleInRadians));
313
+ btScalar diffHi = btFabs(btNormalizeAngle(angleUpperLimitInRadians - angleInRadians));
314
+ return (diffLo < diffHi) ? angleInRadians : (angleInRadians + SIMD_2_PI);
315
+ }
316
+ else if(angleInRadians > angleUpperLimitInRadians)
317
+ {
318
+ btScalar diffHi = btFabs(btNormalizeAngle(angleInRadians - angleUpperLimitInRadians));
319
+ btScalar diffLo = btFabs(btNormalizeAngle(angleInRadians - angleLowerLimitInRadians));
320
+ return (diffLo < diffHi) ? (angleInRadians - SIMD_2_PI) : angleInRadians;
321
+ }
322
+ else
323
+ {
324
+ return angleInRadians;
325
+ }
326
+ }
327
+
328
+ ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
329
+ struct btTypedConstraintData
330
+ {
331
+ btRigidBodyData *m_rbA;
332
+ btRigidBodyData *m_rbB;
333
+ char *m_name;
334
+
335
+ int m_objectType;
336
+ int m_userConstraintType;
337
+ int m_userConstraintId;
338
+ int m_needsFeedback;
339
+
340
+ float m_appliedImpulse;
341
+ float m_dbgDrawSize;
342
+
343
+ int m_disableCollisionsBetweenLinkedBodies;
344
+ int m_overrideNumSolverIterations;
345
+
346
+ float m_breakingImpulseThreshold;
347
+ int m_isEnabled;
348
+
349
+ };
350
+
351
+ SIMD_FORCE_INLINE int btTypedConstraint::calculateSerializeBufferSize() const
352
+ {
353
+ return sizeof(btTypedConstraintData);
354
+ }
355
+
356
+
357
+
358
+ class btAngularLimit
359
+ {
360
+ private:
361
+ btScalar
362
+ m_center,
363
+ m_halfRange,
364
+ m_softness,
365
+ m_biasFactor,
366
+ m_relaxationFactor,
367
+ m_correction,
368
+ m_sign;
369
+
370
+ bool
371
+ m_solveLimit;
372
+
373
+ public:
374
+ /// Default constructor initializes limit as inactive, allowing free constraint movement
375
+ btAngularLimit()
376
+ :m_center(0.0f),
377
+ m_halfRange(-1.0f),
378
+ m_softness(0.9f),
379
+ m_biasFactor(0.3f),
380
+ m_relaxationFactor(1.0f),
381
+ m_correction(0.0f),
382
+ m_sign(0.0f),
383
+ m_solveLimit(false)
384
+ {}
385
+
386
+ /// Sets all limit's parameters.
387
+ /// When low > high limit becomes inactive.
388
+ /// When high - low > 2PI limit is ineffective too becouse no angle can exceed the limit
389
+ void set(btScalar low, btScalar high, btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f);
390
+
391
+ /// Checks conastaint angle against limit. If limit is active and the angle violates the limit
392
+ /// correction is calculated.
393
+ void test(const btScalar angle);
394
+
395
+ /// Returns limit's softness
396
+ inline btScalar getSoftness() const
397
+ {
398
+ return m_softness;
399
+ }
400
+
401
+ /// Returns limit's bias factor
402
+ inline btScalar getBiasFactor() const
403
+ {
404
+ return m_biasFactor;
405
+ }
406
+
407
+ /// Returns limit's relaxation factor
408
+ inline btScalar getRelaxationFactor() const
409
+ {
410
+ return m_relaxationFactor;
411
+ }
412
+
413
+ /// Returns correction value evaluated when test() was invoked
414
+ inline btScalar getCorrection() const
415
+ {
416
+ return m_correction;
417
+ }
418
+
419
+ /// Returns sign value evaluated when test() was invoked
420
+ inline btScalar getSign() const
421
+ {
422
+ return m_sign;
423
+ }
424
+
425
+ /// Gives half of the distance between min and max limit angle
426
+ inline btScalar getHalfRange() const
427
+ {
428
+ return m_halfRange;
429
+ }
430
+
431
+ /// Returns true when the last test() invocation recognized limit violation
432
+ inline bool isLimit() const
433
+ {
434
+ return m_solveLimit;
435
+ }
436
+
437
+ /// Checks given angle against limit. If limit is active and angle doesn't fit it, the angle
438
+ /// returned is modified so it equals to the limit closest to given angle.
439
+ void fit(btScalar& angle) const;
440
+
441
+ /// Returns correction value multiplied by sign value
442
+ btScalar getError() const;
443
+
444
+ btScalar getLow() const;
445
+
446
+ btScalar getHigh() const;
447
+
448
+ };
449
+
450
+
451
+
452
+ #endif //BT_TYPED_CONSTRAINT_H
@@ -0,0 +1,87 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
3
+ Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
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
+
18
+ #include "btUniversalConstraint.h"
19
+ #include "BulletDynamics/Dynamics/btRigidBody.h"
20
+ #include "LinearMath/btTransformUtil.h"
21
+
22
+
23
+
24
+ #define UNIV_EPS btScalar(0.01f)
25
+
26
+
27
+ // constructor
28
+ // anchor, axis1 and axis2 are in world coordinate system
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+ // axis1 must be orthogonal to axis2
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+ btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2)
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+ : btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
32
+ m_anchor(anchor),
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+ m_axis1(axis1),
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+ m_axis2(axis2)
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+ {
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+ // build frame basis
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+ // 6DOF constraint uses Euler angles and to define limits
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+ // it is assumed that rotational order is :
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+ // Z - first, allowed limits are (-PI,PI);
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+ // new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
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+ // used to prevent constraint from instability on poles;
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+ // new position of X, allowed limits are (-PI,PI);
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+ // So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
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+ // Build the frame in world coordinate system first
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+ btVector3 zAxis = m_axis1.normalize();
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+ btVector3 yAxis = m_axis2.normalize();
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+ btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
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+ btTransform frameInW;
49
+ frameInW.setIdentity();
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+ frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0],
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+ xAxis[1], yAxis[1], zAxis[1],
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+ xAxis[2], yAxis[2], zAxis[2]);
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+ frameInW.setOrigin(anchor);
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+ // now get constraint frame in local coordinate systems
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+ m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
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+ m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
57
+ // sei limits
58
+ setLinearLowerLimit(btVector3(0., 0., 0.));
59
+ setLinearUpperLimit(btVector3(0., 0., 0.));
60
+ setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI + UNIV_EPS, -SIMD_PI + UNIV_EPS));
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+ setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI - UNIV_EPS, SIMD_PI - UNIV_EPS));
62
+ }
63
+
64
+ void btUniversalConstraint::setAxis(const btVector3& axis1,const btVector3& axis2)
65
+ {
66
+ m_axis1 = axis1;
67
+ m_axis2 = axis2;
68
+
69
+ btVector3 zAxis = axis1.normalized();
70
+ btVector3 yAxis = axis2.normalized();
71
+ btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
72
+
73
+ btTransform frameInW;
74
+ frameInW.setIdentity();
75
+ frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0],
76
+ xAxis[1], yAxis[1], zAxis[1],
77
+ xAxis[2], yAxis[2], zAxis[2]);
78
+ frameInW.setOrigin(m_anchor);
79
+
80
+ // now get constraint frame in local coordinate systems
81
+ m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
82
+ m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
83
+
84
+ calculateTransforms();
85
+ }
86
+
87
+
@@ -0,0 +1,62 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
3
+ Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
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+
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+ 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:
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+
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
+ #ifndef BT_UNIVERSAL_CONSTRAINT_H
17
+ #define BT_UNIVERSAL_CONSTRAINT_H
18
+
19
+
20
+
21
+ #include "LinearMath/btVector3.h"
22
+ #include "btTypedConstraint.h"
23
+ #include "btGeneric6DofConstraint.h"
24
+
25
+
26
+
27
+ /// Constraint similar to ODE Universal Joint
28
+ /// has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1)
29
+ /// and Y (axis 2)
30
+ /// Description from ODE manual :
31
+ /// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular.
32
+ /// In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal."
33
+
34
+ class btUniversalConstraint : public btGeneric6DofConstraint
35
+ {
36
+ protected:
37
+ btVector3 m_anchor;
38
+ btVector3 m_axis1;
39
+ btVector3 m_axis2;
40
+ public:
41
+ // constructor
42
+ // anchor, axis1 and axis2 are in world coordinate system
43
+ // axis1 must be orthogonal to axis2
44
+ btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2);
45
+ // access
46
+ const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
47
+ const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
48
+ const btVector3& getAxis1() { return m_axis1; }
49
+ const btVector3& getAxis2() { return m_axis2; }
50
+ btScalar getAngle1() { return getAngle(2); }
51
+ btScalar getAngle2() { return getAngle(1); }
52
+ // limits
53
+ void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); }
54
+ void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); }
55
+
56
+ void setAxis( const btVector3& axis1, const btVector3& axis2);
57
+ };
58
+
59
+
60
+
61
+ #endif // BT_UNIVERSAL_CONSTRAINT_H
62
+