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/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
*
* 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.
*/
#if !defined(AFX_DGBILATERALCONSTRAINT_H__7C9E1F9A_5EC6_48BE_8C9F_FB90132C6619__INCLUDED_)
#define AFX_DGBILATERALCONSTRAINT_H__7C9E1F9A_5EC6_48BE_8C9F_FB90132C6619__INCLUDED_
#include "dgConstraint.h"
class dgBilateralConstraint: public dgConstraint {
public:
virtual void SetDestructorCallback(OnConstraintDestroy destructor);
protected:
dgBilateralConstraint();
virtual ~dgBilateralConstraint();
virtual void Init() {
NEWTON_ASSERT(0);
}
virtual void Remove(dgWorld *world) {
NEWTON_ASSERT(0);
}
virtual bool IsBilateral() const;
virtual dgFloat32 GetStiffness() const;
virtual void SetStiffness(dgFloat32 stiffness);
void SetPivotAndPinDir(const dgVector &pivot, const dgVector &pinDirection);
void SetPivotAndPinDir(const dgVector &pivot, const dgVector &pinDirection0, const dgVector &pinDirection1);
dgVector CalculateGlobalMatrixAndAngle(dgMatrix &globalMatrix0, dgMatrix &globalMatrix1) const;
void CalculateMatrixOffset(const dgVector &pivot, const dgVector &dir, dgMatrix &matrix0, dgMatrix &matrix1);
virtual void JointAccelerations(const dgJointAccelerationDecriptor ¶ms);
virtual void JointAccelerationsSimd(const dgJointAccelerationDecriptor ¶ms);
virtual void JointVelocityCorrection(const dgJointAccelerationDecriptor ¶ms);
void SetMotorAcceleration(dgInt32 index, dgFloat32 accelration, dgContraintDescritor &desc);
void SetJacobianDerivative(dgInt32 index, dgContraintDescritor &desc, const dgFloat32 *jacobianA, const dgFloat32 *jacobianB, dgFloat32 *jointForce);
void CalculatePointDerivative(dgInt32 index, dgContraintDescritor &desc, const dgVector &normalGlobal, const dgPointParam ¶m, dgFloat32 *jointForce);
void CalculateAngularDerivative(dgInt32 index, dgContraintDescritor &desc, const dgVector &normalGlobal, dgFloat32 stiffness, dgFloat32 jointAngle, dgFloat32 *jointForce);
dgFloat32 CalculateSpringDamperAcceleration(dgInt32 index, const dgContraintDescritor &desc, dgFloat32 jointAngle, const dgVector &p0Global, const dgVector &p1Global, dgFloat32 springK, dgFloat32 springD);
dgMatrix m_localMatrix0;
dgMatrix m_localMatrix1;
dgFloat32 m_stiffness;
dgFloat32 m_jointForce[32];
dgInt32 m_rowIsMotor[32];
dgFloat32 m_motorAcceleration[32];
OnConstraintDestroy m_destructor;
};
#endif // !defined(AFX_DGBILATERALCONSTRAINT_H__7C9E1F9A_5EC6_48BE_8C9F_FB90132C6619__INCLUDED_)
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