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Differential D1739 Diff 5899 extern/bullet2/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp

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extern/bullet2/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp

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#include "LinearMath/btTransformUtil.h" #include "LinearMath/btTransformUtil.h"
// constructor // constructor
// anchor, axis1 and axis2 are in world coordinate system // anchor, axis1 and axis2 are in world coordinate system
// axis1 must be orthogonal to axis2 // axis1 must be orthogonal to axis2
btHinge2Constraint::btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2) btHinge2Constraint::btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
: btGeneric6DofSpringConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true), : btGeneric6DofSpring2Constraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(),RO_XYZ),
m_anchor(anchor), m_anchor(anchor),
m_axis1(axis1), m_axis1(axis1),
m_axis2(axis2) m_axis2(axis2)
{ {
// build frame basis // build frame basis
// 6DOF constraint uses Euler angles and to define limits // 6DOF constraint uses Euler angles and to define limits
// it is assumed that rotational order is : // it is assumed that rotational order is :
// Z - first, allowed limits are (-PI,PI); // Z - first, allowed limits are (-PI,PI);
Show All 17 Lines m_axis2(axis2)
// sei limits // sei limits
setLinearLowerLimit(btVector3(0.f, 0.f, -1.f)); setLinearLowerLimit(btVector3(0.f, 0.f, -1.f));
setLinearUpperLimit(btVector3(0.f, 0.f, 1.f)); setLinearUpperLimit(btVector3(0.f, 0.f, 1.f));
// like front wheels of a car // like front wheels of a car
setAngularLowerLimit(btVector3(1.f, 0.f, -SIMD_HALF_PI * 0.5f)); setAngularLowerLimit(btVector3(1.f, 0.f, -SIMD_HALF_PI * 0.5f));
setAngularUpperLimit(btVector3(-1.f, 0.f, SIMD_HALF_PI * 0.5f)); setAngularUpperLimit(btVector3(-1.f, 0.f, SIMD_HALF_PI * 0.5f));
// enable suspension // enable suspension
enableSpring(2, true); enableSpring(2, true);
setStiffness(2, SIMD_PI * SIMD_PI * 4.f); // period 1 sec for 1 kilogramm weel :-) setStiffness(2, SIMD_PI * SIMD_PI * 4.f);
setDamping(2, 0.01f); setDamping(2, 0.01f);
setEquilibriumPoint(); setEquilibriumPoint();
} }