btAnimatGeneric6DofConstraint.cpp

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#include "StdAfx.h"
#include "btAnimatGeneric6DofConstraint.h"

namespace BulletAnimatSim
{
        namespace Environment
        {
                namespace Joints
                {

btAnimatGeneric6DofConstraint::btAnimatGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA) : 
        btGeneric6DofSpringConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA)
{
}

btAnimatGeneric6DofConstraint::btAnimatGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB) : 
        btGeneric6DofSpringConstraint(rbB, frameInB, useLinearReferenceFrameB)
{
}

btVector3 btAnimatGeneric6DofConstraint::GetLinearForceAxis(int iAxis)
{
        btVector3 linear_axis;

        if (m_useLinearReferenceFrameA)
            linear_axis = m_calculatedTransformA.getBasis().getColumn(iAxis);
        else
            linear_axis = m_calculatedTransformB.getBasis().getColumn(iAxis);

    return linear_axis;
}

btVector3 btAnimatGeneric6DofConstraint::GetAngularForceAxis(int iAxis)
{
    return m_calculatedAxis[iAxis];
}

void btAnimatGeneric6DofConstraint::ApplyMotorForces(btScalar   timeStep)
{
    // angular
    btVector3 angular_axis;
    btScalar angularJacDiagABInv;
    int i=0;
    //for (int i=0;i<3;i++)
    //{
        if (m_angularLimits[i].needApplyTorques())
        {

                        // get axis
                        angular_axis = getAxis(i);

                        angularJacDiagABInv = btScalar(1.) / m_jacAng[i].getDiagonal();

                        m_angularLimits[i].solveAngularLimits(timeStep,angular_axis,angularJacDiagABInv, &m_rbA,&m_rbB);
        }
    //}
}


                }               //Joints
        }                       // Environment
}                               //BulletAnimatSim