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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@278 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2010-02-15 16:02:18 +00:00
parent 2d8eebfb1f
commit 4cd3fba1d8
1 changed files with 100 additions and 8 deletions
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96
sources/reactphysics3d/constraint/Constraint.h
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@ -22,21 +22,36 @@
// Libraries
#include "../body/Body.h"
#include "../mathematics/mathematics.h"
// ReactPhysics3D namespace
namespace reactphysics3d {
// Constants
const double kErp = 0.8; // Value between 0 and 1 used to compute the kCorrection value (kCorrection = kErp * kFps)
/* -------------------------------------------------------------------
Class Constraint :
This class represents a constraint in the physics engine.
This abstract class represents a constraint in the physics engine.
A constraint can be a collision contact or a joint for
instance.
-------------------------------------------------------------------
*/
class Constraint {
private :
protected :
Body* const body1; // Pointer to the first body of the constraint
Body* const body2; // Pointer to the second body of the constraint
bool active; // True if the constraint is active
Matrix body1LinearJacobian; // Linear jacobian matrix of the constraint for body1
Matrix body2LinearJacobian; // Linear jacobian matrix of the constraint for body2
Matrix body1AngularJacobian; // Angular jacobian matrix of the constraint for body1
Matrix body2AngularJacobian; // Angular jacobian matrix of the constraint for body2
Vector errorVector; // Error term vector of the constraint
Vector rightHandSideVector; // Right-hand-side vector
Matrix auxiliaryRows;
Matrix auxiliaryColumns;
unsigned int jacobianIndex; // Jacobian index
unsigned int auxiliaryIndex; // Auxiliary index
public :
Constraint(Body* const body1, Body* const body2); // Constructor
@ -44,6 +59,21 @@ class Constraint {
Body* const getBody1() const; // Return the reference to the body 1
Body* const getBody2() const; // Return the reference to the body 2
virtual void evaluate(double dt)=0; // Evaluate the constraint
bool isActive() const; // Return true if the constraint is active
virtual unsigned int getNbJacobianRows() const=0; // Return the number of rows of the Jacobian matrix
void setJacobianIndex(unsigned int index); // Set the jacobian index value
unsigned int getJacobianIndex() const; // Return the jacobian index
Matrix getBody1LinearJacobian() const; // Return the linear jacobian matrix of body 1
Matrix getBody2LinearJacobian() const; // Return the linear jacobian matrix of body 2
Matrix getBody1AngularJacobian() const; // Return the angular jacobian matrix of body 1
Matrix getBody2AngularJacobian() const; // Return the angular jacobian matrix of body 2
Vector getErrorVector() const; // Return the error vector of the constraint
virtual int getNbAuxiliaryVars() const=0; // Return the number of auxiliary variables
void setAuxiliaryIndex(unsigned int index); // Set the auxiliary index
unsigned int getAuxiliaryIndex() const; // Return the auxiliary index
void getAuxiliaryRowsAndCols(Matrix& rows, Matrix& columns) const; // Return the auxiliary rows and columns
Vector getRightHandSideVector() const; // Return the right-hand-side vector
};
// Return the reference to the body 1
@ -56,6 +86,68 @@ inline Body* const Constraint::getBody2() const {
return body2;
}
// Return true if the constraint is active
inline bool Constraint::isActive() const {
return active;
}
// Set the jacobian index value
inline void Constraint::setJacobianIndex(unsigned int index) {
this->jacobianIndex = index;
}
// Return the jacobian index
inline unsigned int Constraint::getJacobianIndex() const {
return jacobianIndex;
}
// Return the linear jacobian matrix of body 1
inline Matrix Constraint::getBody1LinearJacobian() const {
return body1LinearJacobian;
}
// Return the linear jacobian matrix of body 2
inline Matrix Constraint::getBody2LinearJacobian() const {
return body2LinearJacobian;
}
// Return the angular jacobian matrix of body 1
inline Matrix Constraint::getBody1AngularJacobian() const {
return body1AngularJacobian;
}
// Return the angular jacobian matrix of body 2
inline Matrix Constraint::getBody2AngularJacobian() const {
return body2AngularJacobian;
}
// Return the error vector of the constraint
inline Vector Constraint::getErrorVector() const {
return errorVector;
}
// Set the auxiliary index
inline void Constraint::setAuxiliaryIndex(unsigned int index) {
auxiliaryIndex = index;
}
// Return the auxiliary index
inline unsigned int Constraint::getAuxiliaryIndex() const {
return auxiliaryIndex;
}
// Return the auxiliary rows and columns
inline void Constraint::getAuxiliaryRowsAndCols(Matrix& rows, Matrix& columns) const {
rows = auxiliaryRows;
columns = auxiliaryColumns;
}
// Return the right-hand-side vector
inline Vector Constraint::getRightHandSideVector() const {
return rightHandSideVector;
}
} // End of the ReactPhysics3D namespace
#endif