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Diffstat (limited to 'extern/bullet2/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h')
| -rw-r--r-- | extern/bullet2/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h | 161 |
1 files changed, 161 insertions, 0 deletions
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h new file mode 100644 index 00000000000..b589ee68254 --- /dev/null +++ b/extern/bullet2/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h @@ -0,0 +1,161 @@ +/* +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. +*/ + +#ifndef POINT2POINTCONSTRAINT_H +#define POINT2POINTCONSTRAINT_H + +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btTypedConstraint.h" + +class btRigidBody; + + +#ifdef BT_USE_DOUBLE_PRECISION +#define btPoint2PointConstraintData btPoint2PointConstraintDoubleData +#define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData" +#else +#define btPoint2PointConstraintData btPoint2PointConstraintFloatData +#define btPoint2PointConstraintDataName "btPoint2PointConstraintFloatData" +#endif //BT_USE_DOUBLE_PRECISION + +struct btConstraintSetting +{ + btConstraintSetting() : + m_tau(btScalar(0.3)), + m_damping(btScalar(1.)), + m_impulseClamp(btScalar(0.)) + { + } + btScalar m_tau; + btScalar m_damping; + btScalar m_impulseClamp; +}; + +enum btPoint2PointFlags +{ + BT_P2P_FLAGS_ERP = 1, + BT_P2P_FLAGS_CFM = 2 +}; + +/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space +ATTRIBUTE_ALIGNED16(class) btPoint2PointConstraint : public btTypedConstraint +{ +#ifdef IN_PARALLELL_SOLVER +public: +#endif + btJacobianEntry m_jac[3]; //3 orthogonal linear constraints + + btVector3 m_pivotInA; + btVector3 m_pivotInB; + + int m_flags; + btScalar m_erp; + btScalar m_cfm; + +public: + + ///for backwards compatibility during the transition to 'getInfo/getInfo2' + bool m_useSolveConstraintObsolete; + + btConstraintSetting m_setting; + + btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB); + + btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA); + + + virtual void buildJacobian(); + + virtual void getInfo1 (btConstraintInfo1* info); + + void getInfo1NonVirtual (btConstraintInfo1* info); + + virtual void getInfo2 (btConstraintInfo2* info); + + void getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans); + + void updateRHS(btScalar timeStep); + + void setPivotA(const btVector3& pivotA) + { + m_pivotInA = pivotA; + } + + void setPivotB(const btVector3& pivotB) + { + m_pivotInB = pivotB; + } + + const btVector3& getPivotInA() const + { + return m_pivotInA; + } + + const btVector3& getPivotInB() const + { + return m_pivotInB; + } + + ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). + ///If no axis is provided, it uses the default axis for this constraint. + virtual void setParam(int num, btScalar value, int axis = -1); + ///return the local value of parameter + virtual btScalar getParam(int num, int axis = -1) const; + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btPoint2PointConstraintFloatData +{ + btTypedConstraintData m_typeConstraintData; + btVector3FloatData m_pivotInA; + btVector3FloatData m_pivotInB; +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btPoint2PointConstraintDoubleData +{ + btTypedConstraintData m_typeConstraintData; + btVector3DoubleData m_pivotInA; + btVector3DoubleData m_pivotInB; +}; + + +SIMD_FORCE_INLINE int btPoint2PointConstraint::calculateSerializeBufferSize() const +{ + return sizeof(btPoint2PointConstraintData); + +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btPoint2PointConstraintData* p2pData = (btPoint2PointConstraintData*)dataBuffer; + + btTypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer); + m_pivotInA.serialize(p2pData->m_pivotInA); + m_pivotInB.serialize(p2pData->m_pivotInB); + + return btPoint2PointConstraintDataName; +} + +#endif //POINT2POINTCONSTRAINT_H |