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btGeneric6DofConstraint.h

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

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.
*/

#ifndef GENERIC_6DOF_CONSTRAINT_H
#define GENERIC_6DOF_CONSTRAINT_H

#include "../../LinearMath/btVector3.h"
#include "btJacobianEntry.h"
#include "btTypedConstraint.h"

class btRigidBody;



/// btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
/// btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'
/// Work in progress (is still a Hinge actually)
00030 class btGeneric6DofConstraint : public btTypedConstraint
{
      btJacobianEntry   m_jacLinear[3];               // 3 orthogonal linear constraints
      btJacobianEntry   m_jacAng[3];            // 3 orthogonal angular constraints

      btTransform m_frameInA;             // the constraint space w.r.t body A
      btTransform m_frameInB;             // the constraint space w.r.t body B

      btScalar      m_lowerLimit[6];      // the constraint lower limits
      btScalar      m_upperLimit[6];      // the constraint upper limits

      btScalar          m_accumulatedImpulse[6];

      btGeneric6DofConstraint&      operator=(btGeneric6DofConstraint&  other)
      {
            btAssert(0);
            (void) other;
            return *this;
      }
            
public:
      btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB );

      btGeneric6DofConstraint();

      
      virtual void      buildJacobian();

      virtual     void  solveConstraint(btScalar      timeStep);

      void  updateRHS(btScalar      timeStep);

      btScalar computeAngle(int axis) const;

      void  setLinearLowerLimit(const btVector3& linearLower)
      {
            m_lowerLimit[0] = linearLower.getX();
            m_lowerLimit[1] = linearLower.getY();
            m_lowerLimit[2] = linearLower.getZ();
      }

      void  setLinearUpperLimit(const btVector3& linearUpper)
      {
            m_upperLimit[0] = linearUpper.getX();
            m_upperLimit[1] = linearUpper.getY();
            m_upperLimit[2] = linearUpper.getZ();
      }

      void  setAngularLowerLimit(const btVector3& angularLower)
      {
            m_lowerLimit[3] = angularLower.getX();
            m_lowerLimit[4] = angularLower.getY();
            m_lowerLimit[5] = angularLower.getZ();
      }

      void  setAngularUpperLimit(const btVector3& angularUpper)
      {
            m_upperLimit[3] = angularUpper.getX();
            m_upperLimit[4] = angularUpper.getY();
            m_upperLimit[5] = angularUpper.getZ();
      }

      //first 3 are linear, next 3 are angular
      void SetLimit(int axis, btScalar lo, btScalar hi)
      {
            m_lowerLimit[axis] = lo; 
            m_upperLimit[axis] = hi; 
      }

      //free means upper < lower, 
      //locked means upper == lower
      //limited means upper > lower
      //limitIndex: first 3 are linear, next 3 are angular
      bool  isLimited(int limitIndex)
      {
            return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
      }

      const btRigidBody& getRigidBodyA() const
      {
            return m_rbA;
      }
      const btRigidBody& getRigidBodyB() const
      {
            return m_rbB;
      }
      

};

#endif //GENERIC_6DOF_CONSTRAINT_H

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