forked from bartvdbraak/blender
79 lines
2.4 KiB
C
79 lines
2.4 KiB
C
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#ifndef BU_Joint_H
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#define BU_Joint_H
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class RigidBody;
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class BU_Joint;
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#include "SimdScalar.h"
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struct BU_ContactJointNode {
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BU_Joint *joint; // pointer to enclosing BU_Joint object
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RigidBody*body; // *other* body this joint is connected to
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};
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typedef SimdScalar dVector3[4];
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class BU_Joint {
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public:
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// naming convention: the "first" body this is connected to is node[0].body,
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// and the "second" body is node[1].body. if this joint is only connected
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// to one body then the second body is 0.
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// info returned by getInfo1 function. the constraint dimension is m (<=6).
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// i.e. that is the total number of rows in the jacobian. `nub' is the
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// number of unbounded variables (which have lo,hi = -/+ infinity).
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BU_Joint();
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virtual ~BU_Joint();
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struct Info1 {
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int m,nub;
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};
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// info returned by getInfo2 function
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struct Info2 {
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// integrator parameters: frames per second (1/stepsize), default error
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// reduction parameter (0..1).
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SimdScalar fps,erp;
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// for the first and second body, pointers to two (linear and angular)
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// n*3 jacobian sub matrices, stored by rows. these matrices will have
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// been initialized to 0 on entry. if the second body is zero then the
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// J2xx pointers may be 0.
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SimdScalar *J1l,*J1a,*J2l,*J2a;
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// elements to jump from one row to the next in J's
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int rowskip;
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// right hand sides of the equation J*v = c + cfm * lambda. cfm is the
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// "constraint force mixing" vector. c is set to zero on entry, cfm is
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// set to a constant value (typically very small or zero) value on entry.
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SimdScalar *c,*cfm;
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// lo and hi limits for variables (set to -/+ infinity on entry).
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SimdScalar *lo,*hi;
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// findex vector for variables. see the LCP solver interface for a
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// description of what this does. this is set to -1 on entry.
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// note that the returned indexes are relative to the first index of
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// the constraint.
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int *findex;
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};
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// virtual function table: size of the joint structure, function pointers.
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// we do it this way instead of using C++ virtual functions because
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// sometimes we need to allocate joints ourself within a memory pool.
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virtual void GetInfo1 (Info1 *info)=0;
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virtual void GetInfo2 (Info2 *info)=0;
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int flags; // dJOINT_xxx flags
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BU_ContactJointNode node[2]; // connections to bodies. node[1].body can be 0
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SimdScalar lambda[6]; // lambda generated by last step
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};
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#endif //BU_Joint_H
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