55 lines
2.0 KiB
C++
55 lines
2.0 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2012 Advanced Micro Devices, Inc. http://bulletphysics.org
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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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/// Implemented by Erwin Coumans. The idea for the constraint comes from Dimitris Papavasiliou.
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#include "btGearConstraint.h"
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btGearConstraint::btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio)
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:btTypedConstraint(GEAR_CONSTRAINT_TYPE,rbA,rbB),
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m_axisInA(axisInA),
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m_axisInB(axisInB),
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m_ratio(ratio)
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{
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}
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btGearConstraint::~btGearConstraint ()
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{
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}
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void btGearConstraint::getInfo1 (btConstraintInfo1* info)
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{
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info->m_numConstraintRows = 1;
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info->nub = 1;
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}
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void btGearConstraint::getInfo2 (btConstraintInfo2* info)
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{
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btVector3 globalAxisA, globalAxisB;
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globalAxisA = m_rbA.getWorldTransform().getBasis()*this->m_axisInA;
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globalAxisB = m_rbB.getWorldTransform().getBasis()*this->m_axisInB;
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info->m_J1angularAxis[0] = globalAxisA[0];
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info->m_J1angularAxis[1] = globalAxisA[1];
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info->m_J1angularAxis[2] = globalAxisA[2];
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info->m_J2angularAxis[0] = m_ratio*globalAxisB[0];
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info->m_J2angularAxis[1] = m_ratio*globalAxisB[1];
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info->m_J2angularAxis[2] = m_ratio*globalAxisB[2];
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}
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