void btFixedConstraint::getInfo2 (btConstraintInfo2* info) { //fix the 3 linear degrees of freedom const btTransform& transA = m_rbA.getCenterOfMassTransform(); const btTransform& transB = m_rbB.getCenterOfMassTransform(); const btVector3& worldPosA = m_rbA.getCenterOfMassTransform().getOrigin(); const btMatrix3x3& worldOrnA = m_rbA.getCenterOfMassTransform().getBasis(); const btVector3& worldPosB= m_rbB.getCenterOfMassTransform().getOrigin(); const btMatrix3x3& worldOrnB = m_rbB.getCenterOfMassTransform().getBasis(); info->m_J1linearAxis[0] = 1; info->m_J1linearAxis[info->rowskip+1] = 1; info->m_J1linearAxis[2*info->rowskip+2] = 1; btVector3 a1 = worldOrnA * m_frameInA.getOrigin(); { btVector3* angular0 = (btVector3*)(info->m_J1angularAxis); btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip); btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip); btVector3 a1neg = -a1; a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2); } if (info->m_J2linearAxis) { info->m_J2linearAxis[0] = -1; info->m_J2linearAxis[info->rowskip+1] = -1; info->m_J2linearAxis[2*info->rowskip+2] = -1; } btVector3 a2 = worldOrnB*m_frameInB.getOrigin(); { btVector3* angular0 = (btVector3*)(info->m_J2angularAxis); btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip); btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip); a2.getSkewSymmetricMatrix(angular0,angular1,angular2); } // set right hand side for the linear dofs btScalar k = info->fps * info->erp; btVector3 linearError = k*(a2+worldPosB-a1-worldPosA); int j; for (j=0; j<3; j++) { info->m_constraintError[j*info->rowskip] = linearError[j]; //printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]); } btVector3 ivA = transA.getBasis() * m_frameInA.getBasis().getColumn(0); btVector3 jvA = transA.getBasis() * m_frameInA.getBasis().getColumn(1); btVector3 kvA = transA.getBasis() * m_frameInA.getBasis().getColumn(2); btVector3 ivB = transB.getBasis() * m_frameInB.getBasis().getColumn(0); btVector3 target; btScalar x = ivB.dot(ivA); btScalar y = ivB.dot(jvA); btScalar z = ivB.dot(kvA); btVector3 swingAxis(0,0,0); { if((!btFuzzyZero(y)) || (!(btFuzzyZero(z)))) { swingAxis = -ivB.cross(ivA); } } btVector3 vTwist(1,0,0); // compute rotation of A wrt B (in constraint space) btQuaternion qA = transA.getRotation() * m_frameInA.getRotation(); btQuaternion qB = transB.getRotation() * m_frameInB.getRotation(); btQuaternion qAB = qB.inverse() * qA; // split rotation into cone and twist // (all this is done from B's perspective. Maybe I should be averaging axes...) btVector3 vConeNoTwist = quatRotate(qAB, vTwist); vConeNoTwist.normalize(); btQuaternion qABCone = shortestArcQuat(vTwist, vConeNoTwist); qABCone.normalize(); btQuaternion qABTwist = qABCone.inverse() * qAB; qABTwist.normalize(); int row = 3; int srow = row * info->rowskip; btVector3 ax1; // angular limits { btScalar *J1 = info->m_J1angularAxis; btScalar *J2 = info->m_J2angularAxis; btTransform trA = transA*m_frameInA; btVector3 twistAxis = trA.getBasis().getColumn(0); btVector3 p = trA.getBasis().getColumn(1); btVector3 q = trA.getBasis().getColumn(2); int srow1 = srow + info->rowskip; J1[srow+0] = p[0]; J1[srow+1] = p[1]; J1[srow+2] = p[2]; J1[srow1+0] = q[0]; J1[srow1+1] = q[1]; J1[srow1+2] = q[2]; J2[srow+0] = -p[0]; J2[srow+1] = -p[1]; J2[srow+2] = -p[2]; J2[srow1+0] = -q[0]; J2[srow1+1] = -q[1]; J2[srow1+2] = -q[2]; btScalar fact = info->fps; info->m_constraintError[srow] = fact * swingAxis.dot(p); info->m_constraintError[srow1] = fact * swingAxis.dot(q); info->m_lowerLimit[srow] = -SIMD_INFINITY; info->m_upperLimit[srow] = SIMD_INFINITY; info->m_lowerLimit[srow1] = -SIMD_INFINITY; info->m_upperLimit[srow1] = SIMD_INFINITY; srow = srow1 + info->rowskip; { btQuaternion qMinTwist = qABTwist; btScalar twistAngle = qABTwist.getAngle(); if (twistAngle > SIMD_PI) // long way around. flip quat and recalculate. { qMinTwist = -(qABTwist); twistAngle = qMinTwist.getAngle(); } if (twistAngle > SIMD_EPSILON) { twistAxis = btVector3(qMinTwist.x(), qMinTwist.y(), qMinTwist.z()); twistAxis.normalize(); twistAxis = quatRotate(qB, -twistAxis); } ax1 = twistAxis; btScalar *J1 = info->m_J1angularAxis; btScalar *J2 = info->m_J2angularAxis; J1[srow+0] = ax1[0]; J1[srow+1] = ax1[1]; J1[srow+2] = ax1[2]; J2[srow+0] = -ax1[0]; J2[srow+1] = -ax1[1]; J2[srow+2] = -ax1[2]; btScalar k = info->fps; info->m_constraintError[srow] = k * twistAngle; info->m_lowerLimit[srow] = -SIMD_INFINITY; info->m_upperLimit[srow] = SIMD_INFINITY; } } }
void C_SmokeStack::SimulateParticles( CParticleSimulateIterator *pIterator ) { bool bSortNow = true; // Change this to false if we see sorting issues. bool bQuickTest = false; bool bDrawn = m_ParticleEffect.WasDrawnPrevFrame(); if ( bDrawn == true && m_bInView == false ) { bSortNow = true; } if ( bDrawn == false && m_bInView == true ) { bQuickTest = true; } if( bQuickTest == false && m_bEmit && (!m_ParticleEffect.WasDrawnPrevFrame() && !m_ParticleEffect.GetAlwaysSimulate()) ) return; SmokeStackParticle *pParticle = (SmokeStackParticle*)pIterator->GetFirst(); while ( pParticle ) { // Should this particle die? pParticle->m_Lifetime += pIterator->GetTimeDelta(); float tLifetime = pParticle->m_Lifetime * m_InvLifetime; if( tLifetime >= 1 ) { pIterator->RemoveParticle( pParticle ); } else { // Transform. Vector tPos; if( m_bTwist ) { Vector vTwist( pParticle->m_Pos.x - GetAbsOrigin().x, pParticle->m_Pos.y - GetAbsOrigin().y, 0); pParticle->m_Pos.x = vTwist.x * m_TwistMat[0][0] + vTwist.y * m_TwistMat[0][1] + GetAbsOrigin().x; pParticle->m_Pos.y = vTwist.x * m_TwistMat[1][0] + vTwist.y * m_TwistMat[1][1] + GetAbsOrigin().y; } pParticle->m_Pos = pParticle->m_Pos + pParticle->m_Velocity * pIterator->GetTimeDelta() + pParticle->m_vAccel * pIterator->GetTimeDelta(); pParticle->m_flAngle += pParticle->m_flRollDelta * pIterator->GetTimeDelta(); if ( bSortNow == true ) { Vector tPos; TransformParticle( m_pParticleMgr->GetModelView(), pParticle->m_Pos, tPos ); pParticle->m_flSortPos = tPos.z; } } pParticle = (SmokeStackParticle*)pIterator->GetNext(); } m_bInView = bDrawn; }