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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, 0 insertions, 161 deletions
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h deleted file mode 100644 index b589ee68254..00000000000 --- a/extern/bullet2/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h +++ /dev/null @@ -1,161 +0,0 @@ -/* -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 |