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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.
*/
#include "dgConstraint.h"
#include "dgBody.h"
#include "dgWorld.h"
#include "hpl1/engine/libraries/newton/core/dg.h"
//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////
//#define LINEAR_VEL_DAMP dgFloat32 (100.0f)
//#define LINEAR_POS_DAMP dgFloat32 (1500.0f)
//#define ANGULAR_VEL_DAMP dgFloat32 (100.0f)
//#define ANGULAR_POS_DAMP dgFloat32 (1500.0f)
//#define DG_VEL_DAMP dgFloat32(100.0f)
//#define DG_POS_DAMP dgFloat32(1500.0f)
void *dgConstraint::GetUserData() const {
return m_userData;
}
void dgConstraint::SetUserData(void *userData) {
m_userData = userData;
}
bool dgConstraint::IsBilateral() const {
return false;
}
void dgConstraint::InitPointParam(dgPointParam ¶m, dgFloat32 stiffness,
const dgVector &p0Global, const dgVector &p1Global) const {
NEWTON_ASSERT(m_body0);
NEWTON_ASSERT(m_body1);
param.m_stiffness = stiffness;
param.m_r0 = p0Global - m_body0->m_globalCentreOfMass;
param.m_posit0 = p0Global;
param.m_veloc0 = m_body0->m_omega * param.m_r0;
param.m_centripetal0 = m_body0->m_omega * param.m_veloc0;
param.m_veloc0 += m_body0->m_veloc;
param.m_r1 = p1Global - m_body1->m_globalCentreOfMass;
param.m_posit1 = p1Global;
param.m_veloc1 = m_body1->m_omega * param.m_r1;
param.m_centripetal1 = m_body1->m_omega * param.m_veloc1;
param.m_veloc1 += m_body1->m_veloc;
}
void dgConstraint::InitInfo(dgConstraintInfo *const info) const {
info->m_attachBody_0 = GetBody0();
NEWTON_ASSERT(info->m_attachBody_0);
dgWorld *const world = info->m_attachBody_0->GetWorld();
if (info->m_attachBody_0 == world->GetSentinelBody()) {
info->m_attachBody_0 = NULL;
}
info->m_attachBody_1 = GetBody1();
if (info->m_attachBody_1 == world->GetSentinelBody()) {
info->m_attachBody_1 = NULL;
}
info->m_attachMatrix_0 = dgGetIdentityMatrix();
info->m_attachMatrix_1 = dgGetIdentityMatrix();
info->m_discriptionType[0] = 0;
}
void dgConstraint::GetInfo(dgConstraintInfo *const info) const {
NEWTON_ASSERT(0);
}
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