forked from bartvdbraak/blender
6f3e593105
remove constraint fixed, Bullet timestep now subdivides Blender game engine timestep, so it runs 60 hertz, SphereShape reverted to old style, so no support for non-uniform scaled spheres for now,
63 lines
1.5 KiB
C++
63 lines
1.5 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef POINT2POINTCONSTRAINT_H
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#define POINT2POINTCONSTRAINT_H
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#include "SimdVector3.h"
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#include "ConstraintSolver/JacobianEntry.h"
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class RigidBody;
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/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
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class Point2PointConstraint
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{
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JacobianEntry m_jac[3]; //3 orthogonal linear constraints
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RigidBody& m_rbA;
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RigidBody& m_rbB;
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SimdVector3 m_pivotInA;
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SimdVector3 m_pivotInB;
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int m_constraintId;
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public:
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Point2PointConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB);
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Point2PointConstraint(RigidBody& rbA,const SimdVector3& pivotInA);
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Point2PointConstraint();
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void BuildJacobian();
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void SolveConstraint(SimdScalar timeStep);
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void UpdateRHS(SimdScalar timeStep);
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const RigidBody& GetRigidBodyA() const
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{
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return m_rbA;
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}
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const RigidBody& GetRigidBodyB() const
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{
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return m_rbB;
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}
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int GetConstraintId()
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{
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return m_constraintId;
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}
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};
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#endif //POINT2POINTCONSTRAINT_H
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