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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 "dgUpVectorConstraint.h"
#include "dgBody.h"
#include "dgWorld.h"
#include "hpl1/engine/libraries/newton/core/dg.h"
//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////
dgUpVectorConstraint::dgUpVectorConstraint() : dgBilateralConstraint() {
NEWTON_ASSERT((sizeof(dgUpVectorConstraint) & 15) == 0);
NEWTON_ASSERT((((dgUnsigned64)&m_localMatrix0) & 15) == 0);
// dgUpVectorConstraintArray& array = * world;
// constraint = array.GetElement();
SetStiffness(dgFloat32(0.995f));
m_maxDOF = 2;
m_constId = dgUpVectorConstraintId;
m_callBack = NULL;
}
dgUpVectorConstraint::~dgUpVectorConstraint() {
}
/*
dgUpVectorConstraint* dgUpVectorConstraint::Create(dgWorld* world)
{
dgUpVectorConstraint* constraint;
// constraint = dgUpVectorConstraintArray::GetPool().GetElement();
dgUpVectorConstraintArray& array = * world;
constraint = array.GetElement();
NEWTON_ASSERT ((((dgUnsigned64) &constraint->m_localMatrix0) & 15) == 0);
constraint->Init ();
constraint->SetStiffness (dgFloat32 (0.995f));
constraint->m_maxDOF = 2;
constraint->m_constId = dgUpVectorConstraintId;
constraint->m_callBack = NULL;
return constraint;
}
void dgUpVectorConstraint::Remove(dgWorld* world)
{
dgUpVectorConstraintArray& array = * world;
dgBilateralConstraint::Remove (world);
// dgUpVectorConstraintArray::GetPool().RemoveElement (this);
array.RemoveElement (this);
}
*/
bool dgUpVectorConstraint::IsBilateral() const {
return false;
}
void dgUpVectorConstraint::InitPinDir(const dgVector &pin) {
const dgMatrix &matrix = m_body0->GetMatrix();
dgVector pivot(matrix.m_posit);
SetPivotAndPinDir(pivot, pin);
}
void dgUpVectorConstraint::SetPinDir(const dgVector &pin) {
m_localMatrix1 = dgMatrix(pin);
}
dgVector dgUpVectorConstraint::GetPinDir() const {
return m_localMatrix1.m_front;
}
void dgUpVectorConstraint::SetJointParameterCallBack(
dgUpVectorJointCallBack callback) {
m_callBack = callback;
}
dgUnsigned32 dgUpVectorConstraint::JacobianDerivative(
dgContraintDescritor ¶ms) {
dgInt32 ret;
dgFloat32 mag;
dgFloat32 angle;
dgMatrix matrix0;
dgMatrix matrix1;
CalculateGlobalMatrixAndAngle(matrix0, matrix1);
dgVector lateralDir(matrix0.m_front * matrix1.m_front);
ret = 0;
mag = lateralDir % lateralDir;
if (mag > 1.0e-6f) {
mag = dgSqrt(mag);
lateralDir = lateralDir.Scale(dgFloat32(1.0f) / mag);
angle = dgAsin(mag);
CalculateAngularDerivative(0, params, lateralDir, m_stiffness, angle,
&m_jointForce[0]);
dgVector frontDir(lateralDir * matrix1.m_front);
CalculateAngularDerivative(1, params, frontDir, m_stiffness,
dgFloat32(0.0f), &m_jointForce[1]);
ret = 2;
} else {
CalculateAngularDerivative(0, params, matrix0.m_up, m_stiffness, 0.0,
&m_jointForce[0]);
CalculateAngularDerivative(1, params, matrix0.m_right, m_stiffness,
dgFloat32(0.0f), &m_jointForce[1]);
ret = 2;
}
return dgUnsigned32(ret);
}
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