dgBilateralConstraint.h

/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
*
* 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.
*/

#if !defined(AFX_DGBILATERALCONSTRAINT_H__7C9E1F9A_5EC6_48BE_8C9F_FB90132C6619__INCLUDED_)
#define AFX_DGBILATERALCONSTRAINT_H__7C9E1F9A_5EC6_48BE_8C9F_FB90132C6619__INCLUDED_

#include "dgConstraint.h"


class dgBilateralConstraint: public dgConstraint {

public:
    virtual void SetDestructorCallback(OnConstraintDestroy destructor);

protected:
    dgBilateralConstraint();
    virtual ~dgBilateralConstraint();

    virtual void Init() {
        NEWTON_ASSERT(0);
    }
    virtual void Remove(dgWorld *world) {
        NEWTON_ASSERT(0);
    }
    virtual bool IsBilateral() const;

    virtual dgFloat32 GetStiffness() const;
    virtual void SetStiffness(dgFloat32 stiffness);

    void SetPivotAndPinDir(const dgVector &pivot, const dgVector &pinDirection);
    void SetPivotAndPinDir(const dgVector &pivot, const dgVector &pinDirection0, const dgVector &pinDirection1);
    dgVector CalculateGlobalMatrixAndAngle(dgMatrix &globalMatrix0, dgMatrix &globalMatrix1) const;
    void CalculateMatrixOffset(const dgVector &pivot, const dgVector &dir, dgMatrix &matrix0, dgMatrix &matrix1);


    virtual void JointAccelerations(const dgJointAccelerationDecriptor &params);
    virtual void JointAccelerationsSimd(const dgJointAccelerationDecriptor &params);
    virtual void JointVelocityCorrection(const dgJointAccelerationDecriptor &params);


    void SetMotorAcceleration(dgInt32 index, dgFloat32 accelration, dgContraintDescritor &desc);
    void SetJacobianDerivative(dgInt32 index, dgContraintDescritor &desc, const dgFloat32 *jacobianA, const dgFloat32 *jacobianB, dgFloat32 *jointForce);
    void CalculatePointDerivative(dgInt32 index, dgContraintDescritor &desc, const dgVector &normalGlobal, const dgPointParam &param, dgFloat32 *jointForce);
    void CalculateAngularDerivative(dgInt32 index, dgContraintDescritor &desc, const dgVector &normalGlobal, dgFloat32 stiffness, dgFloat32 jointAngle, dgFloat32 *jointForce);
    dgFloat32 CalculateSpringDamperAcceleration(dgInt32 index, const dgContraintDescritor &desc, dgFloat32 jointAngle, const dgVector &p0Global, const dgVector &p1Global, dgFloat32 springK, dgFloat32 springD);


    dgMatrix m_localMatrix0;
    dgMatrix m_localMatrix1;
    dgFloat32 m_stiffness;
    dgFloat32 m_jointForce[32];
    dgInt32   m_rowIsMotor[32];
    dgFloat32 m_motorAcceleration[32];


    OnConstraintDestroy m_destructor;
};

#endif // !defined(AFX_DGBILATERALCONSTRAINT_H__7C9E1F9A_5EC6_48BE_8C9F_FB90132C6619__INCLUDED_)