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Bullet Continuous Collision Detection and Physics Library
btConeTwistConstraint is Copyright (c) 2007 Starbreeze Studios

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.

Written by: Marcus Hennix


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

class btRigidBody;

///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
00031 class btConeTwistConstraint : public btTypedConstraint
      btJacobianEntry   m_jac[3]; //3 orthogonal linear constraints

      btTransform m_rbAFrame; 
      btTransform m_rbBFrame;

      btScalar    m_limitSoftness;
      btScalar    m_biasFactor;
      btScalar    m_relaxationFactor;

      btScalar    m_swingSpan1;
      btScalar    m_swingSpan2;
      btScalar    m_twistSpan;

      btVector3   m_swingAxis;
      btVector3   m_twistAxis;

      btScalar    m_kSwing;
      btScalar    m_kTwist;

      btScalar    m_twistLimitSign;
      btScalar    m_swingCorrection;
      btScalar    m_twistCorrection;

      btScalar    m_accSwingLimitImpulse;
      btScalar    m_accTwistLimitImpulse;

      bool        m_angularOnly;
      bool        m_solveTwistLimit;
      bool        m_solveSwingLimit;


      btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
      btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);


      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  setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan,  btScalar _softness = 0.8f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
            m_swingSpan1 = _swingSpan1;
            m_swingSpan2 = _swingSpan2;
            m_twistSpan  = _twistSpan;

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

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

      inline int getSolveTwistLimit()
            return m_solveTwistLimit;

      inline int getSolveSwingLimit()
            return m_solveTwistLimit;

      inline btScalar getTwistLimitSign()
            return m_twistLimitSign;



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