dgBilateralConstraint::dgBilateralConstraint ()
:dgConstraint ()
,m_destructor(NULL)
{
m_maxDOF = 6;
m_isBilateral = true;
m_contactActive = true;
SetStiffness (dgFloat32 (1.0f));
memset (m_jointForce, 0, sizeof (m_jointForce));
memset (m_rowIsMotor, 0, sizeof (m_rowIsMotor));
memset (m_motorAcceleration, 0, sizeof (m_motorAcceleration));
}
dgUpVectorConstraint::dgUpVectorConstraint ()
:dgBilateralConstraint()
{
dgAssert ( dgInt32 (sizeof (dgUpVectorConstraint) & 15) == 0);
dgAssert ((((dgUnsigned64) &m_localMatrix0) & 15) == 0);
// dgUpVectorConstraintArray& array = * world;
// constraint = array.GetElement();
SetStiffness (dgFloat32 (0.995f));
m_maxDOF = 2;
m_constId = m_upVectorConstraint;
m_callBack = NULL;
}
dgBilateralConstraint::dgBilateralConstraint ()
:dgConstraint ()
{
dgAssert (dgInt32 (sizeof (dgBilateralConstraint) & 15) == 0);
dgAssert ((((dgUnsigned64) &m_localMatrix0) & 15) == 0);
m_maxDOF = 6;
m_contactActive = true;
m_destructor = NULL;
m_localMatrix0 = dgGetIdentityMatrix();
m_localMatrix1 = dgGetIdentityMatrix();
//SetStiffness (90.0f/99.0f);
SetStiffness (dgFloat32 (0.9f));
m_useExactSolver = false;
m_useExactSolverContactLimit = 0;
memset (m_jointForce, 0, sizeof (m_jointForce));
memset (m_rowIsMotor, 0, sizeof (m_rowIsMotor));
memset (m_motorAcceleration, 0, sizeof (m_motorAcceleration));
}
