forked from bartvdbraak/blender
57 lines
1.4 KiB
C
57 lines
1.4 KiB
C
|
/*
|
||
|
|
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
|
||
|
|
*
|
||
|
|
* Permission to use, copy, modify, distribute and sell this software
|
||
|
|
* and its documentation for any purpose is hereby granted without fee,
|
||
|
|
* provided that the above copyright notice appear in all copies.
|
||
|
|
* Erwin Coumans makes no representations about the suitability
|
||
|
|
* of this software for any purpose.
|
||
|
|
* It is provided "as is" without express or implied warranty.
|
||
|
|
*/
|
||
|
|
#ifndef POINT2POINTCONSTRAINT_H
|
||
|
|
#define POINT2POINTCONSTRAINT_H
|
||
|
|
|
||
|
|
#include "SimdVector3.h"
|
||
|
|
|
||
|
|
#include "ConstraintSolver/JacobianEntry.h"
|
||
|
|
class RigidBody;
|
||
|
|
|
||
|
|
|
||
|
|
/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
|
||
|
|
class Point2PointConstraint
|
||
|
|
{
|
||
|
|
JacobianEntry m_jac[3]; //3 orthogonal linear constraints
|
||
|
|
RigidBody& m_rbA;
|
||
|
|
RigidBody& m_rbB;
|
||
|
|
|
||
|
|
SimdVector3 m_pivotInA;
|
||
|
|
SimdVector3 m_pivotInB;
|
||
|
|
|
||
|
|
public:
|
||
|
|
|
||
|
|
Point2PointConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB);
|
||
|
|
|
||
|
|
Point2PointConstraint(RigidBody& rbA,const SimdVector3& pivotInA);
|
||
|
|
|
||
|
|
Point2PointConstraint();
|
||
|
|
|
||
|
|
void BuildJacobian();
|
||
|
|
|
||
|
|
void SolveConstraint(SimdScalar timeStep);
|
||
|
|
|
||
|
|
void UpdateRHS(SimdScalar timeStep);
|
||
|
|
|
||
|
|
const RigidBody& GetRigidBodyA() const
|
||
|
|
{
|
||
|
|
return m_rbA;
|
||
|
|
}
|
||
|
|
const RigidBody& GetRigidBodyB() const
|
||
|
|
{
|
||
|
|
return m_rbB;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif //POINT2POINTCONSTRAINT_H
|