28 #define CONETWIST_USE_OBSOLETE_SOLVER false    29 #define CONETWIST_DEF_FIX_THRESH btScalar(.05f)   165     int srow = row * info->
rowskip;
   177                         int srow1 = srow + info->
rowskip;
   205                         J2[srow+0] = -ax1[0];
   206                         J2[srow+1] = -ax1[1];
   207                         J2[srow+2] = -ax1[2];
   229                 J2[srow+0] = -ax1[0];
   230                 J2[srow+1] = -ax1[1];
   231                 J2[srow+2] = -ax1[2];
   241                         if(m_twistCorrection > 0.0f)
   276                         btVector3 relPos = pivotBInW - pivotAInW;
   290                         for (
int i=0;i<3;i++)
   333                         for (
int i=0;i<3;i++)
   339                                 rel_vel = normal.
dot(vel);
   341                                 btScalar depth = -(pivotAInW - pivotBInW).
dot(normal); 
   342                                 btScalar impulse = depth*tau/timeStep  * jacDiagABInv -  rel_vel * jacDiagABInv;
   364                                 trACur, zerovec, omegaA, timeStep, trAPred);
   367                                 trBCur, zerovec, omegaB, timeStep, trBPred);
   387                         btScalar kAxisAInv = 0, kAxisBInv = 0;
   401                         btVector3 avgAxis = kAxisAInv * axisA + kAxisBInv * axisB;
   403                         static bool bDoTorque = 
true;
   409                                 btScalar kInvCombined = kAxisAInv + kAxisBInv;
   411                                 btVector3 impulse = (kAxisAInv * dOmegaA - kAxisBInv * dOmegaB) /
   412                                                                         (kInvCombined * kInvCombined);
   418                                                 fMaxImpulse = fMaxImpulse/kAxisAInv;
   422                                         if (newUnclampedMag > fMaxImpulse)
   425                                                 newUnclampedAccImpulse *= fMaxImpulse;
   432                                 btVector3 impulseAxis =  impulse / impulseMag;
   453                                 btVector3 impulseAxis = impulse / impulseMag;
   487                                         btVector3 impulseNoTwistCouple = impulse - impulseTwistCouple;
   488                                         impulse = impulseNoTwistCouple;
   491                                 impulseMag = impulse.
length();
   492                                 btVector3 noTwistSwingAxis = impulse / impulseMag;
   543         btVector3 b1Axis1(0,0,0),b1Axis2(0,0,0),b1Axis3(0,0,0);
   559                 swx = b2Axis1.
dot(b1Axis1);
   560                 swy = b2Axis1.dot(b1Axis2);
   562                 fact = (swy*swy + swx*swx) * thresh * thresh;
   563                 fact = fact / (fact + 
btScalar(1.0));
   570                 swx = b2Axis1.
dot(b1Axis1);
   571                 swy = b2Axis1.dot(b1Axis3);
   573                 fact = (swy*swy + swx*swx) * thresh * thresh;
   574                 fact = fact / (fact + 
btScalar(1.0));
   580         btScalar EllipseAngle = 
btFabs(swing1*swing1)* RMaxAngle1Sq + 
btFabs(swing2*swing2) * RMaxAngle2Sq;
   582         if (EllipseAngle > 1.0f)
   587                 m_swingAxis = b2Axis1.
cross(b1Axis2* b2Axis1.dot(b1Axis2) + b1Axis3* b2Axis1.
dot(b1Axis3));
   589                 btScalar swingAxisSign = (b2Axis1.dot(b1Axis1) >= 0.0f) ? 1.0f : -1.0f;
   645                 float swingAxisLen2 = swingAxis.
length2();
   685                                 if (swingAngle < swingLimit && m_limitSoftness < 1.f - 
SIMD_EPSILON)
   688                                                                                 (swingLimit - swingLimit * m_limitSoftness);
   776                                 target[0] = x * ivA[0] + y * jvA[0] + z * kvA[0];
   777                                 target[1] = x * ivA[1] + y * jvA[1] + z * kvA[1];
   778                                 target[2] = x * ivA[2] + y * jvA[2] + z * kvA[2];
   837                 vSwingAxis = 
btVector3(qCone.
x(), qCone.
y(), qCone.
z());
   864                         btScalar surfaceSlope2 = (yEllipse*yEllipse)/(xEllipse*xEllipse);
   867                         btScalar swingLimit2 = (1 + surfaceSlope2) / norm;
   868                         swingLimit = sqrt(swingLimit2);
   884         else if (swingAngle < 0)
   909                 btScalar surfaceSlope2 = (yEllipse*yEllipse)/(xEllipse*xEllipse);
   912                 btScalar swingLimit2 = (1 + surfaceSlope2) / norm;
   913                 swingLimit = sqrt(swingLimit2);
   918         btVector3 vSwingAxis(0, xEllipse, -yEllipse);
   920         btVector3 vPointInConstraintSpace(fLength,0,0);
   921         return quatRotate(qSwing, vPointInConstraintSpace);
   935                 qMinTwist = -(qTwist);
   946         vTwistAxis = 
btVector3(qMinTwist.
x(), qMinTwist.
y(), qMinTwist.
z());
  1021                                 if (swingAngle > swingLimit*softness)
  1022                                         swingAngle = swingLimit*softness;
  1023                                 else if (swingAngle < -swingLimit*softness)
  1024                                         swingAngle = -swingLimit*softness;
  1058                         if((axis >= 0) && (axis < 3)) 
  1070                         if((axis >= 0) && (axis < 3)) 
  1095                         if((axis >= 0) && (axis < 3)) 
  1100                         else if((axis >= 3) && (axis < 6)) 
  1111                         if((axis >= 0) && (axis < 3)) 
  1116                         else if((axis >= 3) && (axis < 6)) 
 
btScalar * m_constraintError
const btScalar & x() const
Return the x value. 
const btRigidBody & getRigidBodyA() const
void setLimit(int limitIndex, btScalar limitValue)
btScalar computeAngularImpulseDenominator(const btVector3 &axis) const
btScalar m_maxMotorImpulse
btScalar computeAngularImpulseDenominator(const btVector3 &axis, const btMatrix3x3 &invInertiaWorld)
virtual void buildJacobian()
internal method used by the constraint solver, don't use them directly 
btScalar * m_J2angularAxis
void setMotorTarget(const btQuaternion &q)
btScalar m_swingCorrection
static btVector3 vTwist(1, 0, 0)
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
#define CONETWIST_DEF_FIX_THRESH
void internalApplyImpulse(const btVector3 &linearComponent, const btVector3 &angularComponent, const btScalar impulseMagnitude)
void internalGetAngularVelocity(btVector3 &angVel) const
btScalar btSin(btScalar x)
virtual void getInfo1(btConstraintInfo1 *info)
internal method used by the constraint solver, don't use them directly 
const btTransform & getCenterOfMassTransform() const
#define CONETWIST_USE_OBSOLETE_SOLVER
btScalar length2() const
Return the length of the vector squared. 
void setZ(btScalar _z)
Set the z value. 
const btRigidBody & getRigidBodyB() const
virtual void setParam(int num, btScalar value, int axis=-1)
override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0...
void btPlaneSpace1(const T &n, T &p, T &q)
virtual btScalar getParam(int num, int axis=-1) const
return the local value of parameter 
#define SIMD_FORCE_INLINE
btScalar * m_J1angularAxis
btScalar m_twistLimitRatio
btScalar m_relaxationFactor
btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const
void setMotorTargetInConstraintSpace(const btQuaternion &q)
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1. 
btVector3 quatRotate(const btQuaternion &rotation, const btVector3 &v)
btVector3 normalized() const
Return a normalized version of this vector. 
btMatrix3x3 transpose() const
Return the transpose of the matrix. 
void updateRHS(btScalar timeStep)
btQuaternion inverse() const
Return the inverse of this quaternion. 
btVector3 getColumn(int i) const
Get a column of the matrix as a vector. 
btScalar m_twistLimitSign
void adjustSwingAxisToUseEllipseNormal(btVector3 &vSwingAxis) const
btVector3 m_linearJointAxis
const btVector3 & getInvInertiaDiagLocal() const
btScalar * m_J1linearAxis
btQuaternion shortestArcQuat(const btVector3 &v0, const btVector3 &v1)
btConeTwistConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame)
const btScalar & x() const
Return the x value. 
virtual void solveConstraintObsolete(btSolverBody &bodyA, btSolverBody &bodyB, btScalar timeStep)
internal method used by the constraint solver, don't use them directly 
btQuaternion & normalize()
Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1. 
btScalar getInvMass() const
btVector3 cross(const btVector3 &v) const
Return the cross product between this and another vector. 
void getSkewSymmetricMatrix(btVector3 *v0, btVector3 *v1, btVector3 *v2) const
btScalar dot(const btVector3 &v) const
Return the dot product. 
btScalar btAtan2Fast(btScalar y, btScalar x)
btScalar btAtan2(btScalar x, btScalar y)
btVector3 m_accMotorImpulse
void internalGetVelocityInLocalPointObsolete(const btVector3 &rel_pos, btVector3 &velocity) const
void setY(btScalar _y)
Set the y value. 
const btScalar & y() const
Return the y value. 
const btScalar & z() const
Return the z value. 
The btRigidBody is the main class for rigid body objects. 
bool m_useSolveConstraintObsolete
void getInfo2NonVirtual(btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btMatrix3x3 &invInertiaWorldA, const btMatrix3x3 &invInertiaWorldB)
const btScalar & z() const
Return the z value. 
btScalar m_twistCorrection
btVector3 can be used to represent 3D points and vectors. 
btScalar getAngle() const
Return the angle [0, 2Pi] of rotation represented by this quaternion. 
const btVector3 & getCenterOfMassPosition() const
The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packe...
void computeConeLimitInfo(const btQuaternion &qCone, btScalar &swingAngle, btVector3 &vSwingAxis, btScalar &swingLimit)
btScalar * m_J2linearAxis
btScalar getDiagonal() const
TypedConstraint is the baseclass for Bullet constraints and vehicles. 
bool btFuzzyZero(btScalar x)
void calcAngleInfo2(const btTransform &transA, const btTransform &transB, const btMatrix3x3 &invInertiaWorldA, const btMatrix3x3 &invInertiaWorldB)
virtual void setFrames(const btTransform &frameA, const btTransform &frameB)
btScalar m_accSwingLimitImpulse
const T & btMax(const T &a, const T &b)
void getInfo1NonVirtual(btConstraintInfo1 *info)
btScalar m_appliedImpulse
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
const btScalar & y() const
Return the y value. 
btScalar dot(const btQuaternion &q1, const btQuaternion &q2)
Calculate the dot product between two quaternions. 
virtual void getInfo2(btConstraintInfo2 *info)
internal method used by the constraint solver, don't use them directly 
btScalar m_swingLimitRatio
const btMatrix3x3 & getInvInertiaTensorWorld() const
btScalar m_accTwistLimitImpulse
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
#define btAssertConstrParams(_par)
bool m_bNormalizedMotorStrength
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
void computeTwistLimitInfo(const btQuaternion &qTwist, btScalar &twistAngle, btVector3 &vTwistAxis)
btScalar btCos(btScalar x)
btScalar length() const
Return the length of the vector. 
btScalar btFabs(btScalar x)