// constructor
// anchor, axis1 and axis2 are in world coordinate system
// axis1 must be orthogonal to axis2
btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2)
: btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
m_anchor(anchor),
m_axis1(axis1),
m_axis2(axis2)
{
// build frame basis
// 6DOF constraint uses Euler angles and to define limits
// it is assumed that rotational order is :
// Z - first, allowed limits are (-PI,PI);
// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
// used to prevent constraint from instability on poles;
// new position of X, allowed limits are (-PI,PI);
// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
// Build the frame in world coordinate system first
btVector3 zAxis = m_axis1.normalize();
btVector3 yAxis = m_axis2.normalize();
btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
btTransform frameInW;
frameInW.setIdentity();
frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0],
xAxis[1], yAxis[1], zAxis[1],
xAxis[2], yAxis[2], zAxis[2]);
frameInW.setOrigin(anchor);
// now get constraint frame in local coordinate systems
m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
// sei limits
setLinearLowerLimit(btVector3(0., 0., 0.));
setLinearUpperLimit(btVector3(0., 0., 0.));
setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI + UNIV_EPS, -SIMD_PI + UNIV_EPS));
setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI - UNIV_EPS, SIMD_PI - UNIV_EPS));
}
btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA)
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), m_angularOnly(false), m_enableAngularMotor(false)
{
// since no frame is given, assume this to be zero angle and just pick rb transform axis
// fixed axis in worldspace
btVector3 rbAxisA1, rbAxisA2;
btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);
m_rbAFrame.getOrigin() = pivotInA;
m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
btVector3 axisInB = rbA.getCenterOfMassTransform().getBasis() * -axisInA;
btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1);
btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
m_rbBFrame.getOrigin() = rbA.getCenterOfMassTransform()(pivotInA);
m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
//start with free
m_lowerLimit = btScalar(1e30);
m_upperLimit = btScalar(-1e30);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
m_solveLimit = false;
}
btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA)
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), m_angularOnly(false), m_enableAngularMotor(false),
m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
m_useReferenceFrameA(useReferenceFrameA),
m_flags(0),m_limit()
{
// since no frame is given, assume this to be zero angle and just pick rb transform axis
// fixed axis in worldspace
btVector3 rbAxisA1, rbAxisA2;
btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);
m_rbAFrame.getOrigin() = pivotInA;
m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
btVector3 axisInB = rbA.getCenterOfMassTransform().getBasis() * axisInA;
btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1);
btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
m_rbBFrame.getOrigin() = rbA.getCenterOfMassTransform()(pivotInA);
m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
}
btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB,
const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA)
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),
#ifdef _BT_USE_CENTER_LIMIT_
m_limit(),
#endif
m_angularOnly(false),
m_enableAngularMotor(false),
m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
m_useReferenceFrameA(useReferenceFrameA),
m_flags(0),
m_normalCFM(0),
m_normalERP(0),
m_stopCFM(0),
m_stopERP(0)
{
m_rbAFrame.getOrigin() = pivotInA;
// since no frame is given, assume this to be zero angle and just pick rb transform axis
btVector3 rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(0);
btVector3 rbAxisA2;
btScalar projection = axisInA.dot(rbAxisA1);
if (projection >= 1.0f - SIMD_EPSILON) {
rbAxisA1 = -rbA.getCenterOfMassTransform().getBasis().getColumn(2);
rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);
} else if (projection <= -1.0f + SIMD_EPSILON) {
rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(2);
rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);
} else {
rbAxisA2 = axisInA.cross(rbAxisA1);
rbAxisA1 = rbAxisA2.cross(axisInA);
}
m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1);
btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
m_rbBFrame.getOrigin() = pivotInB;
m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
#ifndef _BT_USE_CENTER_LIMIT_
//start with free
m_lowerLimit = btScalar(1.0f);
m_upperLimit = btScalar(-1.0f);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
m_solveLimit = false;
#endif
m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
}
//bilateral constraint between two dynamic objects
void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
btRigidBody& body2, const btVector3& pos2,
btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep)
{
(void)timeStep;
(void)distance;
btScalar normalLenSqr = normal.length2();
btAssert(btFabs(normalLenSqr) < btScalar(1.1));
if (normalLenSqr > btScalar(1.1))
{
impulse = btScalar(0.);
return;
}
btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
//this jacobian entry could be re-used for all iterations
btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
btVector3 vel = vel1 - vel2;
btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
body2.getCenterOfMassTransform().getBasis().transpose(),
rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
body2.getInvInertiaDiagLocal(),body2.getInvMass());
btScalar jacDiagAB = jac.getDiagonal();
btScalar jacDiagABInv = btScalar(1.) / jacDiagAB;
btScalar rel_vel = jac.getRelativeVelocity(
body1.getLinearVelocity(),
body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(),
body2.getLinearVelocity(),
body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity());
btScalar a;
a=jacDiagABInv;
rel_vel = normal.dot(vel);
//todo: move this into proper structure
btScalar contactDamping = btScalar(0.2);
#ifdef ONLY_USE_LINEAR_MASS
btScalar massTerm = btScalar(1.) / (body1.getInvMass() + body2.getInvMass());
impulse = - contactDamping * rel_vel * massTerm;
#else
btScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
impulse = velocityImpulse;
#endif
}
btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA)
:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)),
m_flags(0),
m_useSolveConstraintObsolete(false)
{
}
btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB,
btVector3& axisInA,btVector3& axisInB)
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),
m_angularOnly(false),
m_enableAngularMotor(false)
{
m_rbAFrame.getOrigin() = pivotInA;
// since no frame is given, assume this to be zero angle and just pick rb transform axis
btVector3 rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(0);
btVector3 rbAxisA2;
btScalar projection = axisInA.dot(rbAxisA1);
if (projection >= 1.0f - SIMD_EPSILON) {
rbAxisA1 = -rbA.getCenterOfMassTransform().getBasis().getColumn(2);
rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);
} else if (projection <= -1.0f + SIMD_EPSILON) {
rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(2);
rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);
} else {
rbAxisA2 = axisInA.cross(rbAxisA1);
rbAxisA1 = rbAxisA2.cross(axisInA);
}
m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1);
btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
m_rbBFrame.getOrigin() = pivotInB;
m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),-axisInB.getX(),
rbAxisB1.getY(),rbAxisB2.getY(),-axisInB.getY(),
rbAxisB1.getZ(),rbAxisB2.getZ(),-axisInB.getZ() );
//start with free
m_lowerLimit = btScalar(1e30);
m_upperLimit = btScalar(-1e30);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
m_solveLimit = false;
}
btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint(btRigidBody& rbB, const btTransform& frameInB, RotateOrder rotOrder)
: btTypedConstraint(D6_SPRING_2_CONSTRAINT_TYPE, getFixedBody(), rbB)
, m_frameInB(frameInB)
, m_rotateOrder(rotOrder)
, m_flags(0)
{
///not providing rigidbody A means implicitly using worldspace for body A
m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
calculateTransforms();
}
btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
: btTypedConstraint(D6_CONSTRAINT_TYPE, getFixedBody(), rbB),
m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameB),
m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
m_flags(0),
m_useSolveConstraintObsolete(false)
{
///not providing rigidbody A means implicitly using worldspace for body A
m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
calculateTransforms();
}
btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA)
: btTypedConstraint(SLIDER_CONSTRAINT_TYPE, getFixedBody(), rbB),
m_useSolveConstraintObsolete(false),
m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameA)
{
///not providing rigidbody A means implicitly using worldspace for body A
m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
// m_frameInA.getOrigin() = m_rbA.getCenterOfMassTransform()(m_frameInA.getOrigin());
initParams();
}
// constructor
// anchor, axis1 and axis2 are in world coordinate system
// axis1 must be orthogonal to axis2
btHinge2Constraint::btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
: btGeneric6DofSpringConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
m_anchor(anchor),
m_axis1(axis1),
m_axis2(axis2)
{
// build frame basis
// 6DOF constraint uses Euler angles and to define limits
// it is assumed that rotational order is :
// Z - first, allowed limits are (-PI,PI);
// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
// used to prevent constraint from instability on poles;
// new position of X, allowed limits are (-PI,PI);
// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
// Build the frame in world coordinate system first
btVector3 zAxis = axis1.normalize();
btVector3 xAxis = axis2.normalize();
btVector3 yAxis = zAxis.cross(xAxis); // we want right coordinate system
btTransform frameInW;
frameInW.setIdentity();
frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0],
xAxis[1], yAxis[1], zAxis[1],
xAxis[2], yAxis[2], zAxis[2]);
frameInW.setOrigin(anchor);
// now get constraint frame in local coordinate systems
m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
// sei limits
setLinearLowerLimit(btVector3(0.f, 0.f, -1.f));
setLinearUpperLimit(btVector3(0.f, 0.f, 1.f));
// like front wheels of a car
setAngularLowerLimit(btVector3(1.f, 0.f, -SIMD_HALF_PI * 0.5f));
setAngularUpperLimit(btVector3(-1.f, 0.f, SIMD_HALF_PI * 0.5f));
// enable suspension
enableSpring(2, true);
setStiffness(2, SIMD_PI * SIMD_PI * 4.f); // period 1 sec for 1 kilogramm weel :-)
setDamping(2, 0.01f);
setEquilibriumPoint();
}
//bilateral constraint between two dynamic objects
void RaycastCar::resolveSingleBilateral(btRigidBody & body1,
const btVector3 & pos1,
btRigidBody & body2,
const btVector3 & pos2,
const btVector3 & normal,
btScalar & impulse)
{
btScalar normalLenSqr = normal.length2();
btAssert(btFabs(normalLenSqr) < btScalar(1.1f));
if (normalLenSqr > btScalar(1.1f))
{
impulse = btScalar(0.0f);
return;
}
btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
body2.getCenterOfMassTransform().getBasis().transpose(),
rel_pos1,
rel_pos2,
normal,
body1.getInvInertiaDiagLocal(),
body1.getInvMass(),
body2.getInvInertiaDiagLocal(),
body2.getInvMass());
btScalar jacDiagAB = jac.getDiagonal();
btScalar jacDiagABInv = btScalar(1.0f) / jacDiagAB;
btScalar rel_vel = jac.getRelativeVelocity
(body1.getLinearVelocity(),
body1.getCenterOfMassTransform().getBasis().transpose()*body1.getAngularVelocity(),
body2.getLinearVelocity(),
body2.getCenterOfMassTransform().getBasis().transpose()*body2.getAngularVelocity());
btScalar velocityImpulse = -1.0f * rel_vel * jacDiagABInv;
impulse = velocityImpulse;
}
void btSliderConstraint::buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB)
{
//calculate transforms
m_calculatedTransformA = rbA.getCenterOfMassTransform() * frameInA;
m_calculatedTransformB = rbB.getCenterOfMassTransform() * frameInB;
m_realPivotAInW = m_calculatedTransformA.getOrigin();
m_realPivotBInW = m_calculatedTransformB.getOrigin();
m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X
m_delta = m_realPivotBInW - m_realPivotAInW;
m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
m_relPosA = m_projPivotInW - rbA.getCenterOfMassPosition();
m_relPosB = m_realPivotBInW - rbB.getCenterOfMassPosition();
btVector3 normalWorld;
int i;
//linear part
for(i = 0; i < 3; i++)
{
normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
new (&m_jacLin[i]) btJacobianEntry(
rbA.getCenterOfMassTransform().getBasis().transpose(),
rbB.getCenterOfMassTransform().getBasis().transpose(),
m_relPosA,
m_relPosB,
normalWorld,
rbA.getInvInertiaDiagLocal(),
rbA.getInvMass(),
rbB.getInvInertiaDiagLocal(),
rbB.getInvMass()
);
m_jacLinDiagABInv[i] = btScalar(1.) / m_jacLin[i].getDiagonal();
m_depth[i] = m_delta.dot(normalWorld);
}
testLinLimits();
// angular part
for(i = 0; i < 3; i++)
{
normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
new (&m_jacAng[i]) btJacobianEntry(
normalWorld,
rbA.getCenterOfMassTransform().getBasis().transpose(),
rbB.getCenterOfMassTransform().getBasis().transpose(),
rbA.getInvInertiaDiagLocal(),
rbB.getInvInertiaDiagLocal()
);
}
testAngLimits();
btVector3 axisA = m_calculatedTransformA.getBasis().getColumn(0);
m_kAngle = btScalar(1.0 )/ (rbA.computeAngularImpulseDenominator(axisA) + rbB.computeAngularImpulseDenominator(axisA));
// clear accumulator for motors
m_accumulatedLinMotorImpulse = btScalar(0.0);
m_accumulatedAngMotorImpulse = btScalar(0.0);
}
void addPickingConstraint(const btVector3& rayFrom, const btVector3& rayTo) {
if (!dynamicsWorld) {
return;
}
removePickingConstraint();
if (pickedObjectIndex <= 0 || pickedObjectIndex >= dynamicsWorld->getNumCollisionObjects()) {
return;
}
pickedBody = btRigidBody::upcast(dynamicsWorld->getCollisionObjectArray()[pickedObjectIndex]);
btVector3 pickPos = rayTo;
btVector3 localPivot = pickedBody->getCenterOfMassTransform().inverse() * pickPos;
pickConstraint = new btPoint2PointConstraint(*pickedBody,localPivot);
pickedBody->setActivationState(DISABLE_DEACTIVATION);
dynamicsWorld->addConstraint(pickConstraint,true);
pickingDistance = (rayFrom-rayTo).length();
pickConstraint->m_setting.m_impulseClamp = 3.0f;
pickConstraint->m_setting.m_tau = 0.001f;
}
void btSliderConstraint::buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB)
{
//calculate transforms
m_calculatedTransformA = rbA.getCenterOfMassTransform() * frameInA;
m_calculatedTransformB = rbB.getCenterOfMassTransform() * frameInB;
m_realPivotAInW = m_calculatedTransformA.getOrigin();
m_realPivotBInW = m_calculatedTransformB.getOrigin();
m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X
m_delta = m_realPivotBInW - m_realPivotAInW;
m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
m_relPosA = m_projPivotInW - rbA.getCenterOfMassPosition();
m_relPosB = m_realPivotBInW - rbB.getCenterOfMassPosition();
btVector3 normalWorld;
int i;
//linear part
for(i = 0; i < 3; i++)
{
normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
new (&m_jacLin[i]) btJacobianEntry(
rbA.getCenterOfMassTransform().getBasis().transpose(),
rbB.getCenterOfMassTransform().getBasis().transpose(),
m_relPosA,
m_relPosB,
normalWorld,
rbA.getInvInertiaDiagLocal(),
rbA.getInvMass(),
rbB.getInvInertiaDiagLocal(),
rbB.getInvMass()
);
m_jacLinDiagABInv[i] = btScalar(1.) / m_jacLin[i].getDiagonal();
m_depth[i] = m_delta.dot(normalWorld);
}
m_solveLinLim = false;
if(m_lowerLinLimit <= m_upperLinLimit)
{
if(m_depth[0] > m_upperLinLimit)
{
m_depth[0] -= m_upperLinLimit;
m_solveLinLim = true;
}
else if(m_depth[0] < m_lowerLinLimit)
{
m_depth[0] -= m_lowerLinLimit;
m_solveLinLim = true;
}
else
{
m_depth[0] = btScalar(0.);
}
}
else
{
m_depth[0] = btScalar(0.);
}
// angular part
for(i = 0; i < 3; i++)
{
normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
new (&m_jacAng[i]) btJacobianEntry(
normalWorld,
rbA.getCenterOfMassTransform().getBasis().transpose(),
rbB.getCenterOfMassTransform().getBasis().transpose(),
rbA.getInvInertiaDiagLocal(),
rbB.getInvInertiaDiagLocal()
);
}
m_angDepth = btScalar(0.);
m_solveAngLim = false;
if(m_lowerAngLimit <= m_upperAngLimit)
{
const btVector3 axisA0 = m_calculatedTransformA.getBasis().getColumn(1);
const btVector3 axisA1 = m_calculatedTransformA.getBasis().getColumn(2);
const btVector3 axisB0 = m_calculatedTransformB.getBasis().getColumn(1);
btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0));
if(rot < m_lowerAngLimit)
{
m_angDepth = rot - m_lowerAngLimit;
m_solveAngLim = true;
}
else if(rot > m_upperAngLimit)
{
m_angDepth = rot - m_upperAngLimit;
m_solveAngLim = true;
}
}
btVector3 axisA = m_calculatedTransformA.getBasis().getColumn(0);
m_kAngle = btScalar(1.0 )/ (rbA.computeAngularImpulseDenominator(axisA) + rbB.computeAngularImpulseDenominator(axisA));
} // btSliderConstraint::buildJacobianInt()
