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btHingeConstraint.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.
*/

/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */

#ifndef HINGECONSTRAINT_H
#define HINGECONSTRAINT_H

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

class btRigidBody;

/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
/// axis defines the orientation of the hinge axis
00029 class btHingeConstraint : public btTypedConstraint
{
      btJacobianEntry   m_jac[3]; //3 orthogonal linear constraints
      btJacobianEntry   m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor

      btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis.
      btTransform m_rbBFrame;

      btScalar    m_motorTargetVelocity;
      btScalar    m_maxMotorImpulse;

      btScalar    m_limitSoftness; 
      btScalar    m_biasFactor; 
      btScalar    m_relaxationFactor; 

      btScalar    m_lowerLimit;     
      btScalar    m_upperLimit;     
      
      btScalar    m_kHinge;

      btScalar    m_limitSign;
      btScalar    m_correction;

      btScalar    m_accLimitImpulse;

      bool        m_angularOnly;
      bool        m_enableAngularMotor;
      bool        m_solveLimit;

      
public:

      btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB);

      btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA);
      
      btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame);

      btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame);

      btHingeConstraint();

      virtual void      buildJacobian();

      virtual     void  solveConstraint(btScalar      timeStep);

      void  updateRHS(btScalar      timeStep);

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

      void  setAngularOnly(bool angularOnly)
      {
            m_angularOnly = angularOnly;
      }

      void  enableAngularMotor(bool enableMotor,btScalar targetVelocity,btScalar maxMotorImpulse)
      {
            m_enableAngularMotor  = enableMotor;
            m_motorTargetVelocity = targetVelocity;
            m_maxMotorImpulse = maxMotorImpulse;
      }

      void  setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
      {
            m_lowerLimit = low;
            m_upperLimit = high;

            m_limitSoftness =  _softness;
            m_biasFactor = _biasFactor;
            m_relaxationFactor = _relaxationFactor;

      }

      btScalar getHingeAngle();


      const btTransform& getAFrame() { return m_rbAFrame; };      
      const btTransform& getBFrame() { return m_rbBFrame; };

      inline int getSolveLimit()
      {
            return m_solveLimit;
      }

      inline btScalar getLimitSign()
      {
            return m_limitSign;
      }
            
};

#endif //HINGECONSTRAINT_H

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