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692 lines
17 KiB
C++
692 lines
17 KiB
C++
#include "generic_6dof_joint_sw.h"
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#define GENERIC_D6_DISABLE_WARMSTARTING 1
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real_t btGetMatrixElem(const Matrix3& mat, int index);
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real_t btGetMatrixElem(const Matrix3& mat, int index)
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{
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int i = index%3;
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int j = index/3;
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return mat[i][j];
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}
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///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
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bool matrixToEulerXYZ(const Matrix3& mat,Vector3& xyz);
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bool matrixToEulerXYZ(const Matrix3& mat,Vector3& xyz)
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{
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// // rot = cy*cz -cy*sz sy
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// // cz*sx*sy+cx*sz cx*cz-sx*sy*sz -cy*sx
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// // -cx*cz*sy+sx*sz cz*sx+cx*sy*sz cx*cy
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//
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if (btGetMatrixElem(mat,2) < real_t(1.0))
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{
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if (btGetMatrixElem(mat,2) > real_t(-1.0))
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{
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xyz[0] = Math::atan2(-btGetMatrixElem(mat,5),btGetMatrixElem(mat,8));
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xyz[1] = Math::asin(btGetMatrixElem(mat,2));
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xyz[2] = Math::atan2(-btGetMatrixElem(mat,1),btGetMatrixElem(mat,0));
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return true;
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}
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else
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{
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// WARNING. Not unique. XA - ZA = -atan2(r10,r11)
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xyz[0] = -Math::atan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
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xyz[1] = -Math_PI*0.5;
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xyz[2] = real_t(0.0);
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return false;
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}
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}
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else
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{
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// WARNING. Not unique. XAngle + ZAngle = atan2(r10,r11)
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xyz[0] = Math::atan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
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xyz[1] = Math_PI*0.5;
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xyz[2] = 0.0;
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}
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return false;
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}
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//////////////////////////// G6DOFRotationalLimitMotorSW ////////////////////////////////////
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int G6DOFRotationalLimitMotorSW::testLimitValue(real_t test_value)
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{
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if(m_loLimit>m_hiLimit)
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{
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m_currentLimit = 0;//Free from violation
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return 0;
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}
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if (test_value < m_loLimit)
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{
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m_currentLimit = 1;//low limit violation
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m_currentLimitError = test_value - m_loLimit;
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return 1;
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}
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else if (test_value> m_hiLimit)
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{
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m_currentLimit = 2;//High limit violation
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m_currentLimitError = test_value - m_hiLimit;
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return 2;
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};
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m_currentLimit = 0;//Free from violation
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return 0;
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}
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real_t G6DOFRotationalLimitMotorSW::solveAngularLimits(
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real_t timeStep,Vector3& axis,real_t jacDiagABInv,
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BodySW * body0, BodySW * body1)
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{
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if (needApplyTorques()==false) return 0.0f;
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real_t target_velocity = m_targetVelocity;
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real_t maxMotorForce = m_maxMotorForce;
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//current error correction
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if (m_currentLimit!=0)
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{
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target_velocity = -m_ERP*m_currentLimitError/(timeStep);
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maxMotorForce = m_maxLimitForce;
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}
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maxMotorForce *= timeStep;
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// current velocity difference
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Vector3 vel_diff = body0->get_angular_velocity();
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if (body1)
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{
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vel_diff -= body1->get_angular_velocity();
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}
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real_t rel_vel = axis.dot(vel_diff);
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// correction velocity
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real_t motor_relvel = m_limitSoftness*(target_velocity - m_damping*rel_vel);
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if ( motor_relvel < CMP_EPSILON && motor_relvel > -CMP_EPSILON )
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{
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return 0.0f;//no need for applying force
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}
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// correction impulse
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real_t unclippedMotorImpulse = (1+m_bounce)*motor_relvel*jacDiagABInv;
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// clip correction impulse
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real_t clippedMotorImpulse;
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///@todo: should clip against accumulated impulse
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if (unclippedMotorImpulse>0.0f)
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{
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clippedMotorImpulse = unclippedMotorImpulse > maxMotorForce? maxMotorForce: unclippedMotorImpulse;
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}
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else
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{
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clippedMotorImpulse = unclippedMotorImpulse < -maxMotorForce ? -maxMotorForce: unclippedMotorImpulse;
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}
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// sort with accumulated impulses
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real_t lo = real_t(-1e30);
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real_t hi = real_t(1e30);
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real_t oldaccumImpulse = m_accumulatedImpulse;
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real_t sum = oldaccumImpulse + clippedMotorImpulse;
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m_accumulatedImpulse = sum > hi ? real_t(0.) : sum < lo ? real_t(0.) : sum;
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clippedMotorImpulse = m_accumulatedImpulse - oldaccumImpulse;
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Vector3 motorImp = clippedMotorImpulse * axis;
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body0->apply_torque_impulse(motorImp);
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if (body1) body1->apply_torque_impulse(-motorImp);
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return clippedMotorImpulse;
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}
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//////////////////////////// End G6DOFRotationalLimitMotorSW ////////////////////////////////////
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//////////////////////////// G6DOFTranslationalLimitMotorSW ////////////////////////////////////
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real_t G6DOFTranslationalLimitMotorSW::solveLinearAxis(
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real_t timeStep,
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real_t jacDiagABInv,
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BodySW* body1,const Vector3 &pointInA,
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BodySW* body2,const Vector3 &pointInB,
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int limit_index,
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const Vector3 & axis_normal_on_a,
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const Vector3 & anchorPos)
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{
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///find relative velocity
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// Vector3 rel_pos1 = pointInA - body1->get_transform().origin;
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// Vector3 rel_pos2 = pointInB - body2->get_transform().origin;
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Vector3 rel_pos1 = anchorPos - body1->get_transform().origin;
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Vector3 rel_pos2 = anchorPos - body2->get_transform().origin;
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Vector3 vel1 = body1->get_velocity_in_local_point(rel_pos1);
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Vector3 vel2 = body2->get_velocity_in_local_point(rel_pos2);
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Vector3 vel = vel1 - vel2;
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real_t rel_vel = axis_normal_on_a.dot(vel);
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/// apply displacement correction
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//positional error (zeroth order error)
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real_t depth = -(pointInA - pointInB).dot(axis_normal_on_a);
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real_t lo = real_t(-1e30);
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real_t hi = real_t(1e30);
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real_t minLimit = m_lowerLimit[limit_index];
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real_t maxLimit = m_upperLimit[limit_index];
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//handle the limits
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if (minLimit < maxLimit)
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{
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{
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if (depth > maxLimit)
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{
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depth -= maxLimit;
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lo = real_t(0.);
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}
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else
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{
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if (depth < minLimit)
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{
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depth -= minLimit;
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hi = real_t(0.);
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}
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else
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{
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return 0.0f;
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}
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}
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}
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}
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real_t normalImpulse= m_limitSoftness[limit_index]*(m_restitution[limit_index]*depth/timeStep - m_damping[limit_index]*rel_vel) * jacDiagABInv;
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real_t oldNormalImpulse = m_accumulatedImpulse[limit_index];
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real_t sum = oldNormalImpulse + normalImpulse;
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m_accumulatedImpulse[limit_index] = sum > hi ? real_t(0.) : sum < lo ? real_t(0.) : sum;
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normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse;
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Vector3 impulse_vector = axis_normal_on_a * normalImpulse;
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body1->apply_impulse( rel_pos1, impulse_vector);
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body2->apply_impulse( rel_pos2, -impulse_vector);
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return normalImpulse;
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}
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//////////////////////////// G6DOFTranslationalLimitMotorSW ////////////////////////////////////
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Generic6DOFJointSW::Generic6DOFJointSW(BodySW* rbA, BodySW* rbB, const Transform& frameInA, const Transform& frameInB, bool useLinearReferenceFrameA)
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: JointSW(_arr,2)
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, m_frameInA(frameInA)
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, m_frameInB(frameInB),
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m_useLinearReferenceFrameA(useLinearReferenceFrameA)
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{
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A=rbA;
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B=rbB;
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A->add_constraint(this,0);
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B->add_constraint(this,1);
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}
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void Generic6DOFJointSW::calculateAngleInfo()
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{
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Matrix3 relative_frame = m_calculatedTransformA.basis.inverse()*m_calculatedTransformB.basis;
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matrixToEulerXYZ(relative_frame,m_calculatedAxisAngleDiff);
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// in euler angle mode we do not actually constrain the angular velocity
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// along the axes axis[0] and axis[2] (although we do use axis[1]) :
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//
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// to get constrain w2-w1 along ...not
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// ------ --------------------- ------
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// d(angle[0])/dt = 0 ax[1] x ax[2] ax[0]
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// d(angle[1])/dt = 0 ax[1]
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// d(angle[2])/dt = 0 ax[0] x ax[1] ax[2]
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//
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// constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0.
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// to prove the result for angle[0], write the expression for angle[0] from
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// GetInfo1 then take the derivative. to prove this for angle[2] it is
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// easier to take the euler rate expression for d(angle[2])/dt with respect
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// to the components of w and set that to 0.
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Vector3 axis0 = m_calculatedTransformB.basis.get_axis(0);
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Vector3 axis2 = m_calculatedTransformA.basis.get_axis(2);
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m_calculatedAxis[1] = axis2.cross(axis0);
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m_calculatedAxis[0] = m_calculatedAxis[1].cross(axis2);
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m_calculatedAxis[2] = axis0.cross(m_calculatedAxis[1]);
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// if(m_debugDrawer)
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// {
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//
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// char buff[300];
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// sprintf(buff,"\n X: %.2f ; Y: %.2f ; Z: %.2f ",
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// m_calculatedAxisAngleDiff[0],
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// m_calculatedAxisAngleDiff[1],
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// m_calculatedAxisAngleDiff[2]);
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// m_debugDrawer->reportErrorWarning(buff);
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// }
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}
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void Generic6DOFJointSW::calculateTransforms()
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{
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m_calculatedTransformA = A->get_transform() * m_frameInA;
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m_calculatedTransformB = B->get_transform() * m_frameInB;
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calculateAngleInfo();
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}
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void Generic6DOFJointSW::buildLinearJacobian(
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JacobianEntrySW & jacLinear,const Vector3 & normalWorld,
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const Vector3 & pivotAInW,const Vector3 & pivotBInW)
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{
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memnew_placement(&jacLinear, JacobianEntrySW(
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A->get_transform().basis.transposed(),
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B->get_transform().basis.transposed(),
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pivotAInW - A->get_transform().origin,
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pivotBInW - B->get_transform().origin,
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normalWorld,
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A->get_inv_inertia(),
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A->get_inv_mass(),
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B->get_inv_inertia(),
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B->get_inv_mass()));
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}
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void Generic6DOFJointSW::buildAngularJacobian(
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JacobianEntrySW & jacAngular,const Vector3 & jointAxisW)
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{
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memnew_placement(&jacAngular, JacobianEntrySW(jointAxisW,
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A->get_transform().basis.transposed(),
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B->get_transform().basis.transposed(),
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A->get_inv_inertia(),
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B->get_inv_inertia()));
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}
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bool Generic6DOFJointSW::testAngularLimitMotor(int axis_index)
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{
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real_t angle = m_calculatedAxisAngleDiff[axis_index];
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//test limits
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m_angularLimits[axis_index].testLimitValue(angle);
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return m_angularLimits[axis_index].needApplyTorques();
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}
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bool Generic6DOFJointSW::setup(float p_step) {
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// Clear accumulated impulses for the next simulation step
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m_linearLimits.m_accumulatedImpulse=Vector3(real_t(0.), real_t(0.), real_t(0.));
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int i;
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for(i = 0; i < 3; i++)
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{
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m_angularLimits[i].m_accumulatedImpulse = real_t(0.);
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}
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//calculates transform
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calculateTransforms();
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// const Vector3& pivotAInW = m_calculatedTransformA.origin;
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// const Vector3& pivotBInW = m_calculatedTransformB.origin;
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calcAnchorPos();
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Vector3 pivotAInW = m_AnchorPos;
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Vector3 pivotBInW = m_AnchorPos;
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// not used here
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// Vector3 rel_pos1 = pivotAInW - A->get_transform().origin;
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// Vector3 rel_pos2 = pivotBInW - B->get_transform().origin;
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Vector3 normalWorld;
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//linear part
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for (i=0;i<3;i++)
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{
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if (m_linearLimits.enable_limit[i] && m_linearLimits.isLimited(i))
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{
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if (m_useLinearReferenceFrameA)
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normalWorld = m_calculatedTransformA.basis.get_axis(i);
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else
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normalWorld = m_calculatedTransformB.basis.get_axis(i);
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buildLinearJacobian(
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m_jacLinear[i],normalWorld ,
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pivotAInW,pivotBInW);
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}
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}
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// angular part
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for (i=0;i<3;i++)
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{
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//calculates error angle
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if (m_angularLimits[i].m_enableLimit && testAngularLimitMotor(i))
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{
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normalWorld = this->getAxis(i);
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// Create angular atom
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buildAngularJacobian(m_jacAng[i],normalWorld);
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}
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}
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return true;
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}
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void Generic6DOFJointSW::solve(real_t timeStep)
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{
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m_timeStep = timeStep;
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//calculateTransforms();
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int i;
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// linear
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Vector3 pointInA = m_calculatedTransformA.origin;
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Vector3 pointInB = m_calculatedTransformB.origin;
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real_t jacDiagABInv;
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Vector3 linear_axis;
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for (i=0;i<3;i++)
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{
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if (m_linearLimits.enable_limit[i] && m_linearLimits.isLimited(i))
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{
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jacDiagABInv = real_t(1.) / m_jacLinear[i].getDiagonal();
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if (m_useLinearReferenceFrameA)
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linear_axis = m_calculatedTransformA.basis.get_axis(i);
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else
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linear_axis = m_calculatedTransformB.basis.get_axis(i);
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m_linearLimits.solveLinearAxis(
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m_timeStep,
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jacDiagABInv,
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A,pointInA,
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B,pointInB,
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i,linear_axis, m_AnchorPos);
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}
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}
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// angular
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Vector3 angular_axis;
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real_t angularJacDiagABInv;
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for (i=0;i<3;i++)
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{
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if (m_angularLimits[i].m_enableLimit && m_angularLimits[i].needApplyTorques())
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{
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// get axis
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angular_axis = getAxis(i);
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angularJacDiagABInv = real_t(1.) / m_jacAng[i].getDiagonal();
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m_angularLimits[i].solveAngularLimits(m_timeStep,angular_axis,angularJacDiagABInv, A,B);
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}
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}
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}
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void Generic6DOFJointSW::updateRHS(real_t timeStep)
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{
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(void)timeStep;
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}
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Vector3 Generic6DOFJointSW::getAxis(int axis_index) const
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{
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return m_calculatedAxis[axis_index];
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}
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real_t Generic6DOFJointSW::getAngle(int axis_index) const
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{
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return m_calculatedAxisAngleDiff[axis_index];
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}
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void Generic6DOFJointSW::calcAnchorPos(void)
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{
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real_t imA = A->get_inv_mass();
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real_t imB = B->get_inv_mass();
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real_t weight;
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if(imB == real_t(0.0))
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{
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weight = real_t(1.0);
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}
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else
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{
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weight = imA / (imA + imB);
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}
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const Vector3& pA = m_calculatedTransformA.origin;
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const Vector3& pB = m_calculatedTransformB.origin;
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m_AnchorPos = pA * weight + pB * (real_t(1.0) - weight);
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return;
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} // Generic6DOFJointSW::calcAnchorPos()
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void Generic6DOFJointSW::set_param(Vector3::Axis p_axis,PhysicsServer::G6DOFJointAxisParam p_param, float p_value) {
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ERR_FAIL_INDEX(p_axis,3);
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switch(p_param) {
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case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT: {
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m_linearLimits.m_lowerLimit[p_axis]=p_value;
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} break;
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case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT: {
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m_linearLimits.m_upperLimit[p_axis]=p_value;
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} break;
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case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS: {
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m_linearLimits.m_limitSoftness[p_axis]=p_value;
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} break;
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case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION: {
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m_linearLimits.m_restitution[p_axis]=p_value;
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} break;
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|
case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING: {
|
|
|
|
m_linearLimits.m_damping[p_axis]=p_value;
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT: {
|
|
|
|
m_angularLimits[p_axis].m_loLimit=p_value;
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT: {
|
|
|
|
m_angularLimits[p_axis].m_hiLimit=p_value;
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS: {
|
|
|
|
m_angularLimits[p_axis].m_limitSoftness=p_value;
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING: {
|
|
|
|
m_angularLimits[p_axis].m_damping=p_value;
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION: {
|
|
|
|
m_angularLimits[p_axis].m_bounce=p_value;
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT: {
|
|
|
|
m_angularLimits[p_axis].m_maxLimitForce=p_value;
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP: {
|
|
|
|
m_angularLimits[p_axis].m_ERP=p_value;
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY: {
|
|
|
|
m_angularLimits[p_axis].m_targetVelocity=p_value;
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT: {
|
|
|
|
m_angularLimits[p_axis].m_maxLimitForce=p_value;
|
|
|
|
} break;
|
|
}
|
|
}
|
|
|
|
float Generic6DOFJointSW::get_param(Vector3::Axis p_axis,PhysicsServer::G6DOFJointAxisParam p_param) const{
|
|
ERR_FAIL_INDEX_V(p_axis,3,0);
|
|
switch(p_param) {
|
|
case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT: {
|
|
|
|
return m_linearLimits.m_lowerLimit[p_axis];
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT: {
|
|
|
|
return m_linearLimits.m_upperLimit[p_axis];
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS: {
|
|
|
|
return m_linearLimits.m_limitSoftness[p_axis];
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION: {
|
|
|
|
return m_linearLimits.m_restitution[p_axis];
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING: {
|
|
|
|
return m_linearLimits.m_damping[p_axis];
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT: {
|
|
|
|
return m_angularLimits[p_axis].m_loLimit;
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT: {
|
|
|
|
return m_angularLimits[p_axis].m_hiLimit;
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS: {
|
|
|
|
return m_angularLimits[p_axis].m_limitSoftness;
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING: {
|
|
|
|
return m_angularLimits[p_axis].m_damping;
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION: {
|
|
|
|
return m_angularLimits[p_axis].m_bounce;
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT: {
|
|
|
|
return m_angularLimits[p_axis].m_maxLimitForce;
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP: {
|
|
|
|
return m_angularLimits[p_axis].m_ERP;
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY: {
|
|
|
|
return m_angularLimits[p_axis].m_targetVelocity;
|
|
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT: {
|
|
|
|
return m_angularLimits[p_axis].m_maxLimitForce;
|
|
|
|
} break;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
void Generic6DOFJointSW::set_flag(Vector3::Axis p_axis,PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value){
|
|
|
|
ERR_FAIL_INDEX(p_axis,3);
|
|
|
|
switch(p_flag) {
|
|
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT: {
|
|
|
|
m_linearLimits.enable_limit[p_axis]=p_value;
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT: {
|
|
|
|
m_angularLimits[p_axis].m_enableLimit=p_value;
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR: {
|
|
|
|
m_angularLimits[p_axis].m_enableMotor=p_value;
|
|
} break;
|
|
}
|
|
|
|
|
|
}
|
|
bool Generic6DOFJointSW::get_flag(Vector3::Axis p_axis,PhysicsServer::G6DOFJointAxisFlag p_flag) const{
|
|
|
|
ERR_FAIL_INDEX_V(p_axis,3,0);
|
|
switch(p_flag) {
|
|
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT: {
|
|
|
|
return m_linearLimits.enable_limit[p_axis];
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT: {
|
|
|
|
return m_angularLimits[p_axis].m_enableLimit;
|
|
} break;
|
|
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR: {
|
|
|
|
return m_angularLimits[p_axis].m_enableMotor;
|
|
} break;
|
|
}
|
|
|
|
return 0;
|
|
}
|