1 /* 2 Bullet Continuous Collision Detection and Physics Library 3 Copyright (c) 2018 Erwin Coumans http://bulletphysics.org 4 5 This software is provided 'as-is', without any express or implied warranty. 6 In no event will the authors be held liable for any damages arising from the use of this software. 7 Permission is granted to anyone to use this software for any purpose, 8 including commercial applications, and to alter it and redistribute it freely, 9 subject to the following restrictions: 10 11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 13 3. This notice may not be removed or altered from any source distribution. 14 */ 15 16 ///This file was written by Erwin Coumans 17 18 #ifndef BT_MULTIBODY_SPHERICAL_JOINT_MOTOR_H 19 #define BT_MULTIBODY_SPHERICAL_JOINT_MOTOR_H 20 21 #include "btMultiBodyConstraint.h" 22 struct btSolverInfo; 23 24 class btMultiBodySphericalJointMotor : public btMultiBodyConstraint 25 { 26 protected: 27 btVector3 m_desiredVelocity; 28 btQuaternion m_desiredPosition; 29 bool m_use_multi_dof_params; 30 btVector3 m_kd; 31 btVector3 m_kp; 32 btScalar m_erp; 33 btScalar m_rhsClamp; //maximum error 34 btVector3 m_maxAppliedImpulseMultiDof; 35 btVector3 m_damping; 36 37 public: 38 btMultiBodySphericalJointMotor(btMultiBody* body, int link, btScalar maxMotorImpulse); 39 40 virtual ~btMultiBodySphericalJointMotor(); 41 virtual void finalizeMultiDof(); 42 43 virtual int getIslandIdA() const; 44 virtual int getIslandIdB() const; 45 46 virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows, 47 btMultiBodyJacobianData& data, 48 const btContactSolverInfo& infoGlobal); 49 50 virtual void setVelocityTarget(const btVector3& velTarget, btScalar kd = 1.0) 51 { 52 m_desiredVelocity = velTarget; 53 m_kd = btVector3(kd, kd, kd); 54 m_use_multi_dof_params = false; 55 } 56 57 virtual void setVelocityTargetMultiDof(const btVector3& velTarget, const btVector3& kd = btVector3(1.0, 1.0, 1.0)) 58 { 59 m_desiredVelocity = velTarget; 60 m_kd = kd; 61 m_use_multi_dof_params = true; 62 } 63 64 virtual void setPositionTarget(const btQuaternion& posTarget, btScalar kp =1.f) 65 { 66 m_desiredPosition = posTarget; 67 m_kp = btVector3(kp, kp, kp); 68 m_use_multi_dof_params = false; 69 } 70 71 virtual void setPositionTargetMultiDof(const btQuaternion& posTarget, const btVector3& kp = btVector3(1.f, 1.f, 1.f)) 72 { 73 m_desiredPosition = posTarget; 74 m_kp = kp; 75 m_use_multi_dof_params = true; 76 } 77 setErp(btScalar erp)78 virtual void setErp(btScalar erp) 79 { 80 m_erp = erp; 81 } getErp()82 virtual btScalar getErp() const 83 { 84 return m_erp; 85 } setRhsClamp(btScalar rhsClamp)86 virtual void setRhsClamp(btScalar rhsClamp) 87 { 88 m_rhsClamp = rhsClamp; 89 } 90 getMaxAppliedImpulseMultiDof(int i)91 btScalar getMaxAppliedImpulseMultiDof(int i) const 92 { 93 return m_maxAppliedImpulseMultiDof[i]; 94 } 95 setMaxAppliedImpulseMultiDof(const btVector3 & maxImp)96 void setMaxAppliedImpulseMultiDof(const btVector3& maxImp) 97 { 98 m_maxAppliedImpulseMultiDof = maxImp; 99 m_use_multi_dof_params = true; 100 } 101 getDamping(int i)102 btScalar getDamping(int i) const 103 { 104 return m_damping[i]; 105 } 106 setDamping(const btVector3 & damping)107 void setDamping(const btVector3& damping) 108 { 109 m_damping = damping; 110 } 111 debugDraw(class btIDebugDraw * drawer)112 virtual void debugDraw(class btIDebugDraw* drawer) 113 { 114 //todo(erwincoumans) 115 } 116 }; 117 118 #endif //BT_MULTIBODY_SPHERICAL_JOINT_MOTOR_H 119