path: root/tests/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
/*
2007-09-09
Refactored by Francisco Le?n
email: projectileman@yahoo.com
http://gimpact.sf.net
*/

#include "btGeneric6DofConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btTransformUtil.h"
#include "LinearMath/btTransformUtil.h"
#include <new>



#define D6_USE_OBSOLETE_METHOD false
#define D6_USE_FRAME_OFFSET true






btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
: btTypedConstraint(D6_CONSTRAINT_TYPE, rbA, rbB)
, m_frameInA(frameInA)
, m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameA),
m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
m_flags(0),
m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
{
	calculateTransforms();
}



btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
        : btTypedConstraint(D6_CONSTRAINT_TYPE, getFixedBody(), rbB),
		m_frameInB(frameInB),
		m_useLinearReferenceFrameA(useLinearReferenceFrameB),
		m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
		m_flags(0),
		m_useSolveConstraintObsolete(false)
{
	///not providing rigidbody A means implicitly using worldspace for body A
	m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
	calculateTransforms();
}




#define GENERIC_D6_DISABLE_WARMSTARTING 1



btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
btScalar btGetMatrixElem(const btMatrix3x3& mat, int index)
{
	int i = index%3;
	int j = index/3;
	return mat[i][j];
}



///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
bool	matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz);
bool	matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz)
{
	//	// rot =  cy*cz          -cy*sz           sy
	//	//        cz*sx*sy+cx*sz  cx*cz-sx*sy*sz -cy*sx
	//	//       -cx*cz*sy+sx*sz  cz*sx+cx*sy*sz  cx*cy
	//

	btScalar fi = btGetMatrixElem(mat,2);
	if (fi < btScalar(1.0f))
	{
		if (fi > btScalar(-1.0f))
		{
			xyz[0] = btAtan2(-btGetMatrixElem(mat,5),btGetMatrixElem(mat,8));
			xyz[1] = btAsin(btGetMatrixElem(mat,2));
			xyz[2] = btAtan2(-btGetMatrixElem(mat,1),btGetMatrixElem(mat,0));
			return true;
		}
		else
		{
			// WARNING.  Not unique.  XA - ZA = -atan2(r10,r11)
			xyz[0] = -btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
			xyz[1] = -SIMD_HALF_PI;
			xyz[2] = btScalar(0.0);
			return false;
		}
	}
	else
	{
		// WARNING.  Not unique.  XAngle + ZAngle = atan2(r10,r11)
		xyz[0] = btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
		xyz[1] = SIMD_HALF_PI;
		xyz[2] = 0.0;
	}
	return false;
}

//////////////////////////// btRotationalLimitMotor ////////////////////////////////////

int btRotationalLimitMotor::testLimitValue(btScalar test_value)
{
	if(m_loLimit>m_hiLimit)
	{
		m_currentLimit = 0;//Free from violation
		return 0;
	}
	if (test_value < m_loLimit)
	{
		m_currentLimit = 1;//low limit violation
		m_currentLimitError =  test_value - m_loLimit;
		return 1;
	}
	else if (test_value> m_hiLimit)
	{
		m_currentLimit = 2;//High limit violation
		m_currentLimitError = test_value - m_hiLimit;
		return 2;
	};

	m_currentLimit = 0;//Free from violation
	return