mirror of
https://github.com/godotengine/godot.git
synced 2024-12-21 10:25:24 +08:00
135 lines
3.9 KiB
C++
135 lines
3.9 KiB
C++
/*
|
|
Copyright (c) 2012 Advanced Micro Devices, Inc.
|
|
|
|
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.
|
|
*/
|
|
//Originally written by Erwin Coumans
|
|
|
|
#include "b3GpuGenericConstraint.h"
|
|
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
|
|
|
|
#include <new>
|
|
#include "Bullet3Common/b3Transform.h"
|
|
|
|
void b3GpuGenericConstraint::getInfo1(unsigned int* info, const b3RigidBodyData* bodies)
|
|
{
|
|
switch (m_constraintType)
|
|
{
|
|
case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:
|
|
{
|
|
*info = 3;
|
|
break;
|
|
};
|
|
default:
|
|
{
|
|
b3Assert(0);
|
|
}
|
|
};
|
|
}
|
|
|
|
void getInfo2Point2Point(b3GpuGenericConstraint* constraint, b3GpuConstraintInfo2* info, const b3RigidBodyData* bodies)
|
|
{
|
|
b3Transform trA;
|
|
trA.setIdentity();
|
|
trA.setOrigin(bodies[constraint->m_rbA].m_pos);
|
|
trA.setRotation(bodies[constraint->m_rbA].m_quat);
|
|
|
|
b3Transform trB;
|
|
trB.setIdentity();
|
|
trB.setOrigin(bodies[constraint->m_rbB].m_pos);
|
|
trB.setRotation(bodies[constraint->m_rbB].m_quat);
|
|
|
|
// anchor points in global coordinates with respect to body PORs.
|
|
|
|
// set jacobian
|
|
info->m_J1linearAxis[0] = 1;
|
|
info->m_J1linearAxis[info->rowskip + 1] = 1;
|
|
info->m_J1linearAxis[2 * info->rowskip + 2] = 1;
|
|
|
|
b3Vector3 a1 = trA.getBasis() * constraint->getPivotInA();
|
|
//b3Vector3 a1a = b3QuatRotate(trA.getRotation(),constraint->getPivotInA());
|
|
|
|
{
|
|
b3Vector3* angular0 = (b3Vector3*)(info->m_J1angularAxis);
|
|
b3Vector3* angular1 = (b3Vector3*)(info->m_J1angularAxis + info->rowskip);
|
|
b3Vector3* angular2 = (b3Vector3*)(info->m_J1angularAxis + 2 * info->rowskip);
|
|
b3Vector3 a1neg = -a1;
|
|
a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2);
|
|
}
|
|
|
|
if (info->m_J2linearAxis)
|
|
{
|
|
info->m_J2linearAxis[0] = -1;
|
|
info->m_J2linearAxis[info->rowskip + 1] = -1;
|
|
info->m_J2linearAxis[2 * info->rowskip + 2] = -1;
|
|
}
|
|
|
|
b3Vector3 a2 = trB.getBasis() * constraint->getPivotInB();
|
|
|
|
{
|
|
// b3Vector3 a2n = -a2;
|
|
b3Vector3* angular0 = (b3Vector3*)(info->m_J2angularAxis);
|
|
b3Vector3* angular1 = (b3Vector3*)(info->m_J2angularAxis + info->rowskip);
|
|
b3Vector3* angular2 = (b3Vector3*)(info->m_J2angularAxis + 2 * info->rowskip);
|
|
a2.getSkewSymmetricMatrix(angular0, angular1, angular2);
|
|
}
|
|
|
|
// set right hand side
|
|
// b3Scalar currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp;
|
|
b3Scalar currERP = info->erp;
|
|
|
|
b3Scalar k = info->fps * currERP;
|
|
int j;
|
|
for (j = 0; j < 3; j++)
|
|
{
|
|
info->m_constraintError[j * info->rowskip] = k * (a2[j] + trB.getOrigin()[j] - a1[j] - trA.getOrigin()[j]);
|
|
//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
|
|
}
|
|
#if 0
|
|
if(m_flags & B3_P2P_FLAGS_CFM)
|
|
{
|
|
for (j=0; j<3; j++)
|
|
{
|
|
info->cfm[j*info->rowskip] = m_cfm;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#if 0
|
|
b3Scalar impulseClamp = m_setting.m_impulseClamp;//
|
|
for (j=0; j<3; j++)
|
|
{
|
|
if (m_setting.m_impulseClamp > 0)
|
|
{
|
|
info->m_lowerLimit[j*info->rowskip] = -impulseClamp;
|
|
info->m_upperLimit[j*info->rowskip] = impulseClamp;
|
|
}
|
|
}
|
|
info->m_damping = m_setting.m_damping;
|
|
#endif
|
|
}
|
|
|
|
void b3GpuGenericConstraint::getInfo2(b3GpuConstraintInfo2* info, const b3RigidBodyData* bodies)
|
|
{
|
|
switch (m_constraintType)
|
|
{
|
|
case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:
|
|
{
|
|
getInfo2Point2Point(this, info, bodies);
|
|
break;
|
|
};
|
|
default:
|
|
{
|
|
b3Assert(0);
|
|
}
|
|
};
|
|
}
|