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https://github.com/bulletphysics/bullet3
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68 lines
2.5 KiB
C++
68 lines
2.5 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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 use of this software.
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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 freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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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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#ifndef ODE_CONSTRAINT_SOLVER_H
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#define ODE_CONSTRAINT_SOLVER_H
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#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
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class btRigidBody;
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struct OdeSolverBody;
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class BU_Joint;
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/// OdeConstraintSolver is one of the available solvers for Bullet dynamics framework
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/// It uses the the unmodified version of quickstep solver from the open dynamics project
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class OdeConstraintSolver : public btConstraintSolver
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{
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private:
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int m_CurBody;
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int m_CurJoint;
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float m_cfm;
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float m_erp;
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int ConvertBody(btRigidBody* body,OdeSolverBody** bodies,int& numBodies);
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void ConvertConstraint(btPersistentManifold* manifold,BU_Joint** joints,int& numJoints,
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OdeSolverBody** bodies,int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer);
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public:
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OdeConstraintSolver();
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virtual ~OdeConstraintSolver() {}
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virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
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///setConstraintForceMixing, the cfm adds some positive value to the main diagonal
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///This can improve convergence (make matrix positive semidefinite), but it can make the simulation look more 'springy'
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void setConstraintForceMixing(float cfm) {
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m_cfm = cfm;
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}
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///setErrorReductionParamter sets the maximum amount of error reduction
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///which limits energy addition during penetration depth recovery
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void setErrorReductionParamter(float erp)
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{
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m_erp = erp;
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}
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};
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#endif //ODE_CONSTRAINT_SOLVER_H
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