void b3Generic6DofConstraint::getInfo2 (b3ConstraintInfo2* info,const b3RigidBodyData* bodies)
{
b3Transform transA = getCenterOfMassTransform(bodies[m_rbA]);
b3Transform transB = getCenterOfMassTransform(bodies[m_rbB]);
const b3Vector3& linVelA = bodies[m_rbA].m_linVel;
const b3Vector3& linVelB = bodies[m_rbB].m_linVel;
const b3Vector3& angVelA = bodies[m_rbA].m_angVel;
const b3Vector3& angVelB = bodies[m_rbB].m_angVel;
if(m_useOffsetForConstraintFrame)
{ // for stability better to solve angular limits first
int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
}
else
{ // leave old version for compatibility
int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB);
setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
}
}
void btGeneric6DofSpring2Constraint::getInfo2 (btConstraintInfo2* info)
{
const btTransform& transA = m_rbA.getCenterOfMassTransform();
const btTransform& transB = m_rbB.getCenterOfMassTransform();
const btVector3& linVelA = m_rbA.getLinearVelocity();
const btVector3& linVelB = m_rbB.getLinearVelocity();
const btVector3& angVelA = m_rbA.getAngularVelocity();
const btVector3& angVelB = m_rbB.getAngularVelocity();
// for stability better to solve angular limits first
int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
}
void btGeneric6DofConstraint::getInfo2(btConstraintInfo2* info)
{
btAssert(!m_useSolveConstraintObsolete);
const btTransform& transA = m_rbA.getCenterOfMassTransform();
const btTransform& transB = m_rbB.getCenterOfMassTransform();
const btVector3& linVelA = m_rbA.getLinearVelocity();
const btVector3& linVelB = m_rbB.getLinearVelocity();
const btVector3& angVelA = m_rbA.getAngularVelocity();
const btVector3& angVelB = m_rbB.getAngularVelocity();
if (m_useOffsetForConstraintFrame)
{ // for stability better to solve angular limits first
int row = setAngularLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
setLinearLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
}
else
{ // leave old version for compatibility
int row = setLinearLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
setAngularLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
}
}
void b3Generic6DofConstraint::getInfo2NonVirtual (b3ConstraintInfo2* info, const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB,const b3RigidBodyData* bodies)
{
//prepare constraint
calculateTransforms(transA,transB,bodies);
int i;
for (i=0;i<3 ;i++ )
{
testAngularLimitMotor(i);
}
if(m_useOffsetForConstraintFrame)
{ // for stability better to solve angular limits first
int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
}
else
{ // leave old version for compatibility
int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB);
setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
}
}
void btGeneric6DofConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB)
{
btAssert(!m_useSolveConstraintObsolete);
//prepare constraint
calculateTransforms(transA, transB);
int i;
for (i = 0; i < 3; i++)
{
testAngularLimitMotor(i);
}
if (m_useOffsetForConstraintFrame)
{ // for stability better to solve angular limits first
int row = setAngularLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
setLinearLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
}
else
{ // leave old version for compatibility
int row = setLinearLimits(info, 0, transA, transB, linVelA, linVelB, angVelA, angVelB);
setAngularLimits(info, row, transA, transB, linVelA, linVelB, angVelA, angVelB);
}
}
void setAngularLimits(const Ogre::Vector3 angularLowerLimit,
const Ogre::Vector3 angularUpperLimit) {
setAngularLimits(OgreBulletUtils::convert(angularLowerLimit),
OgreBulletUtils::convert(angularUpperLimit));
}
void btGeneric6DofConstraint::getInfo2 (btConstraintInfo2* info)
{
btAssert(!m_useSolveConstraintObsolete);
int row = setLinearLimits(info);
setAngularLimits(info, row);
}
