148 lines
5.9 KiB
C++
148 lines
5.9 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2013 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef REACTPHYSICS3D_BALL_AND_SOCKET_JOINT_H
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#define REACTPHYSICS3D_BALL_AND_SOCKET_JOINT_H
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// Libraries
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#include "Joint.h"
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#include "mathematics/mathematics.h"
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namespace reactphysics3d {
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// Structure BallAndSocketJointInfo
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/**
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* This structure is used to gather the information needed to create a ball-and-socket
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* joint. This structure will be used to create the actual ball-and-socket joint.
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*/
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struct BallAndSocketJointInfo : public JointInfo {
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public :
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// -------------------- Attributes -------------------- //
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/// Anchor point (in world-space coordinates)
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Vector3 anchorPointWorldSpace;
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/// Constructor
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/**
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* @param rigidBody1 Pointer to the first body of the joint
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* @param rigidBody2 Pointer to the second body of the joint
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* @param initAnchorPointWorldSpace The anchor point in world-space
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* coordinates
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*/
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BallAndSocketJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2,
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const Vector3& initAnchorPointWorldSpace)
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: JointInfo(rigidBody1, rigidBody2, BALLSOCKETJOINT),
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anchorPointWorldSpace(initAnchorPointWorldSpace) {}
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};
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// Class BallAndSocketJoint
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/**
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* This class represents a ball-and-socket joint that allows arbitrary rotation
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* between two bodies. This joint has three degrees of freedom. It can be used to
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* create a chain of bodies for instance.
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*/
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class BallAndSocketJoint : public Joint {
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private :
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// -------------------- Constants -------------------- //
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// Beta value for the bias factor of position correction
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static const decimal BETA;
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// -------------------- Attributes -------------------- //
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/// Anchor point of body 1 (in local-space coordinates of body 1)
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Vector3 mLocalAnchorPointBody1;
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/// Anchor point of body 2 (in local-space coordinates of body 2)
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Vector3 mLocalAnchorPointBody2;
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/// Vector from center of body 2 to anchor point in world-space
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Vector3 mR1World;
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/// Vector from center of body 2 to anchor point in world-space
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Vector3 mR2World;
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/// Inertia tensor of body 1 (in world-space coordinates)
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Matrix3x3 mI1;
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/// Inertia tensor of body 2 (in world-space coordinates)
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Matrix3x3 mI2;
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/// Bias vector for the constraint
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Vector3 mBiasVector;
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/// Inverse mass matrix K=JM^-1J^-t of the constraint
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Matrix3x3 mInverseMassMatrix;
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/// Accumulated impulse
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Vector3 mImpulse;
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// -------------------- Methods -------------------- //
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/// Private copy-constructor
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BallAndSocketJoint(const BallAndSocketJoint& constraint);
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/// Private assignment operator
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BallAndSocketJoint& operator=(const BallAndSocketJoint& constraint);
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/// Return the number of bytes used by the joint
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virtual size_t getSizeInBytes() const;
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/// Initialize before solving the constraint
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virtual void initBeforeSolve(const ConstraintSolverData& constraintSolverData);
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/// Warm start the constraint (apply the previous impulse at the beginning of the step)
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virtual void warmstart(const ConstraintSolverData& constraintSolverData);
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/// Solve the velocity constraint
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virtual void solveVelocityConstraint(const ConstraintSolverData& constraintSolverData);
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/// Solve the position constraint (for position error correction)
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virtual void solvePositionConstraint(const ConstraintSolverData& constraintSolverData);
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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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BallAndSocketJoint(const BallAndSocketJointInfo& jointInfo);
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/// Destructor
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virtual ~BallAndSocketJoint();
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};
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// Return the number of bytes used by the joint
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inline size_t BallAndSocketJoint::getSizeInBytes() const {
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return sizeof(BallAndSocketJoint);
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}
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}
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#endif
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