diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h | 423 |
1 files changed, 204 insertions, 219 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h index f26e72105ba..c7509e30afb 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h @@ -20,7 +20,6 @@ subject to the following restrictions: #define _BT_USE_CENTER_LIMIT_ 1 - #include "LinearMath/btVector3.h" #include "btJacobianEntry.h" #include "btTypedConstraint.h" @@ -28,14 +27,12 @@ subject to the following restrictions: class btRigidBody; #ifdef BT_USE_DOUBLE_PRECISION -#define btHingeConstraintData btHingeConstraintDoubleData2 //rename to 2 for backwards compatibility, so we can still load the 'btHingeConstraintDoubleData' version -#define btHingeConstraintDataName "btHingeConstraintDoubleData2" +#define btHingeConstraintData btHingeConstraintDoubleData2 //rename to 2 for backwards compatibility, so we can still load the 'btHingeConstraintDoubleData' version +#define btHingeConstraintDataName "btHingeConstraintDoubleData2" #else -#define btHingeConstraintData btHingeConstraintFloatData -#define btHingeConstraintDataName "btHingeConstraintFloatData" -#endif //BT_USE_DOUBLE_PRECISION - - +#define btHingeConstraintData btHingeConstraintFloatData +#define btHingeConstraintDataName "btHingeConstraintFloatData" +#endif //BT_USE_DOUBLE_PRECISION enum btHingeFlags { @@ -45,89 +42,83 @@ enum btHingeFlags BT_HINGE_FLAGS_ERP_NORM = 8 }; - /// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space /// axis defines the orientation of the hinge axis -ATTRIBUTE_ALIGNED16(class) btHingeConstraint : public btTypedConstraint +ATTRIBUTE_ALIGNED16(class) +btHingeConstraint : public btTypedConstraint { #ifdef IN_PARALLELL_SOLVER public: #endif - btJacobianEntry m_jac[3]; //3 orthogonal linear constraints - btJacobianEntry m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor + btJacobianEntry m_jac[3]; //3 orthogonal linear constraints + btJacobianEntry m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor - btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis. btTransform m_rbBFrame; - btScalar m_motorTargetVelocity; - btScalar m_maxMotorImpulse; - + btScalar m_motorTargetVelocity; + btScalar m_maxMotorImpulse; -#ifdef _BT_USE_CENTER_LIMIT_ - btAngularLimit m_limit; +#ifdef _BT_USE_CENTER_LIMIT_ + btAngularLimit m_limit; #else - btScalar m_lowerLimit; - btScalar m_upperLimit; - btScalar m_limitSign; - btScalar m_correction; + btScalar m_lowerLimit; + btScalar m_upperLimit; + btScalar m_limitSign; + btScalar m_correction; - btScalar m_limitSoftness; - btScalar m_biasFactor; - btScalar m_relaxationFactor; + btScalar m_limitSoftness; + btScalar m_biasFactor; + btScalar m_relaxationFactor; - bool m_solveLimit; + bool m_solveLimit; #endif - btScalar m_kHinge; - + btScalar m_kHinge; - btScalar m_accLimitImpulse; - btScalar m_hingeAngle; - btScalar m_referenceSign; + btScalar m_accLimitImpulse; + btScalar m_hingeAngle; + btScalar m_referenceSign; - bool m_angularOnly; - bool m_enableAngularMotor; - bool m_useSolveConstraintObsolete; - bool m_useOffsetForConstraintFrame; - bool m_useReferenceFrameA; + bool m_angularOnly; + bool m_enableAngularMotor; + bool m_useSolveConstraintObsolete; + bool m_useOffsetForConstraintFrame; + bool m_useReferenceFrameA; - btScalar m_accMotorImpulse; + btScalar m_accMotorImpulse; - int m_flags; - btScalar m_normalCFM; - btScalar m_normalERP; - btScalar m_stopCFM; - btScalar m_stopERP; + int m_flags; + btScalar m_normalCFM; + btScalar m_normalERP; + btScalar m_stopCFM; + btScalar m_stopERP; - public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - - btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA = false); - btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA = false); - - btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false); + btHingeConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& pivotInA, const btVector3& pivotInB, const btVector3& axisInA, const btVector3& axisInB, bool useReferenceFrameA = false); + + btHingeConstraint(btRigidBody & rbA, const btVector3& pivotInA, const btVector3& axisInA, bool useReferenceFrameA = false); - btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false); + btHingeConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false); + btHingeConstraint(btRigidBody & rbA, const btTransform& rbAFrame, bool useReferenceFrameA = false); - virtual void buildJacobian(); + virtual void buildJacobian(); - virtual void getInfo1 (btConstraintInfo1* info); + virtual void getInfo1(btConstraintInfo1 * info); - void getInfo1NonVirtual(btConstraintInfo1* info); + void getInfo1NonVirtual(btConstraintInfo1 * info); - virtual void getInfo2 (btConstraintInfo2* info); + virtual void getInfo2(btConstraintInfo2 * info); - void getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB); + void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB); - void getInfo2Internal(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB); - void getInfo2InternalUsingFrameOffset(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB); - + void getInfo2Internal(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB); + void getInfo2InternalUsingFrameOffset(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB); - void updateRHS(btScalar timeStep); + void updateRHS(btScalar timeStep); const btRigidBody& getRigidBodyA() const { @@ -138,19 +129,19 @@ public: return m_rbB; } - btRigidBody& getRigidBodyA() - { - return m_rbA; - } + btRigidBody& getRigidBodyA() + { + return m_rbA; + } - btRigidBody& getRigidBodyB() - { - return m_rbB; + btRigidBody& getRigidBodyB() + { + return m_rbB; } btTransform& getFrameOffsetA() { - return m_rbAFrame; + return m_rbAFrame; } btTransform& getFrameOffsetB() @@ -159,15 +150,15 @@ public: } void setFrames(const btTransform& frameA, const btTransform& frameB); - - void setAngularOnly(bool angularOnly) + + void setAngularOnly(bool angularOnly) { m_angularOnly = angularOnly; } - void enableAngularMotor(bool enableMotor,btScalar targetVelocity,btScalar maxMotorImpulse) + void enableAngularMotor(bool enableMotor, btScalar targetVelocity, btScalar maxMotorImpulse) { - m_enableAngularMotor = enableMotor; + m_enableAngularMotor = enableMotor; m_motorTargetVelocity = targetVelocity; m_maxMotorImpulse = maxMotorImpulse; } @@ -175,29 +166,28 @@ public: // extra motor API, including ability to set a target rotation (as opposed to angular velocity) // note: setMotorTarget sets angular velocity under the hood, so you must call it every tick to // maintain a given angular target. - void enableMotor(bool enableMotor) { m_enableAngularMotor = enableMotor; } + void enableMotor(bool enableMotor) { m_enableAngularMotor = enableMotor; } void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; } void setMotorTargetVelocity(btScalar motorTargetVelocity) { m_motorTargetVelocity = motorTargetVelocity; } - void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B. + void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B. void setMotorTarget(btScalar targetAngle, btScalar dt); - - void setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f) + void setLimit(btScalar low, btScalar high, btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f) { -#ifdef _BT_USE_CENTER_LIMIT_ +#ifdef _BT_USE_CENTER_LIMIT_ m_limit.set(low, high, _softness, _biasFactor, _relaxationFactor); #else m_lowerLimit = btNormalizeAngle(low); m_upperLimit = btNormalizeAngle(high); - m_limitSoftness = _softness; + m_limitSoftness = _softness; m_biasFactor = _biasFactor; m_relaxationFactor = _relaxationFactor; #endif } - + btScalar getLimitSoftness() const { -#ifdef _BT_USE_CENTER_LIMIT_ +#ifdef _BT_USE_CENTER_LIMIT_ return m_limit.getSoftness(); #else return m_limitSoftness; @@ -206,7 +196,7 @@ public: btScalar getLimitBiasFactor() const { -#ifdef _BT_USE_CENTER_LIMIT_ +#ifdef _BT_USE_CENTER_LIMIT_ return m_limit.getBiasFactor(); #else return m_biasFactor; @@ -215,112 +205,110 @@ public: btScalar getLimitRelaxationFactor() const { -#ifdef _BT_USE_CENTER_LIMIT_ +#ifdef _BT_USE_CENTER_LIMIT_ return m_limit.getRelaxationFactor(); #else return m_relaxationFactor; #endif } - void setAxis(btVector3& axisInA) + void setAxis(btVector3 & axisInA) { btVector3 rbAxisA1, rbAxisA2; btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2); btVector3 pivotInA = m_rbAFrame.getOrigin(); -// m_rbAFrame.getOrigin() = pivotInA; - m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(), - rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(), - rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() ); + // m_rbAFrame.getOrigin() = pivotInA; + m_rbAFrame.getBasis().setValue(rbAxisA1.getX(), rbAxisA2.getX(), axisInA.getX(), + rbAxisA1.getY(), rbAxisA2.getY(), axisInA.getY(), + rbAxisA1.getZ(), rbAxisA2.getZ(), axisInA.getZ()); btVector3 axisInB = m_rbA.getCenterOfMassTransform().getBasis() * axisInA; - btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB); - btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1); + btQuaternion rotationArc = shortestArcQuat(axisInA, axisInB); + btVector3 rbAxisB1 = quatRotate(rotationArc, rbAxisA1); btVector3 rbAxisB2 = axisInB.cross(rbAxisB1); m_rbBFrame.getOrigin() = m_rbB.getCenterOfMassTransform().inverse()(m_rbA.getCenterOfMassTransform()(pivotInA)); - m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(), - rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(), - rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() ); + m_rbBFrame.getBasis().setValue(rbAxisB1.getX(), rbAxisB2.getX(), axisInB.getX(), + rbAxisB1.getY(), rbAxisB2.getY(), axisInB.getY(), + rbAxisB1.getZ(), rbAxisB2.getZ(), axisInB.getZ()); m_rbBFrame.getBasis() = m_rbB.getCenterOfMassTransform().getBasis().inverse() * m_rbBFrame.getBasis(); - } - bool hasLimit() const { -#ifdef _BT_USE_CENTER_LIMIT_ - return m_limit.getHalfRange() > 0; + bool hasLimit() const + { +#ifdef _BT_USE_CENTER_LIMIT_ + return m_limit.getHalfRange() > 0; #else - return m_lowerLimit <= m_upperLimit; + return m_lowerLimit <= m_upperLimit; #endif - } + } - btScalar getLowerLimit() const + btScalar getLowerLimit() const { -#ifdef _BT_USE_CENTER_LIMIT_ - return m_limit.getLow(); +#ifdef _BT_USE_CENTER_LIMIT_ + return m_limit.getLow(); #else - return m_lowerLimit; + return m_lowerLimit; #endif } - btScalar getUpperLimit() const + btScalar getUpperLimit() const { -#ifdef _BT_USE_CENTER_LIMIT_ - return m_limit.getHigh(); -#else - return m_upperLimit; +#ifdef _BT_USE_CENTER_LIMIT_ + return m_limit.getHigh(); +#else + return m_upperLimit; #endif } - ///The getHingeAngle gives the hinge angle in range [-PI,PI] btScalar getHingeAngle(); - btScalar getHingeAngle(const btTransform& transA,const btTransform& transB); + btScalar getHingeAngle(const btTransform& transA, const btTransform& transB); - void testLimit(const btTransform& transA,const btTransform& transB); + void testLimit(const btTransform& transA, const btTransform& transB); - - const btTransform& getAFrame() const { return m_rbAFrame; }; + const btTransform& getAFrame() const { return m_rbAFrame; }; const btTransform& getBFrame() const { return m_rbBFrame; }; - btTransform& getAFrame() { return m_rbAFrame; }; + btTransform& getAFrame() { return m_rbAFrame; }; btTransform& getBFrame() { return m_rbBFrame; }; inline int getSolveLimit() { -#ifdef _BT_USE_CENTER_LIMIT_ - return m_limit.isLimit(); +#ifdef _BT_USE_CENTER_LIMIT_ + return m_limit.isLimit(); #else - return m_solveLimit; + return m_solveLimit; #endif } inline btScalar getLimitSign() { -#ifdef _BT_USE_CENTER_LIMIT_ - return m_limit.getSign(); +#ifdef _BT_USE_CENTER_LIMIT_ + return m_limit.getSign(); #else return m_limitSign; #endif } - inline bool getAngularOnly() - { - return m_angularOnly; + inline bool getAngularOnly() + { + return m_angularOnly; } - inline bool getEnableAngularMotor() - { - return m_enableAngularMotor; + inline bool getEnableAngularMotor() + { + return m_enableAngularMotor; } - inline btScalar getMotorTargetVelosity() - { - return m_motorTargetVelocity; + inline btScalar getMotorTargetVelocity() + { + return m_motorTargetVelocity; } - inline btScalar getMaxMotorImpulse() - { - return m_maxMotorImpulse; + inline btScalar getMaxMotorImpulse() + { + return m_maxMotorImpulse; } // access for UseFrameOffset bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; } @@ -329,143 +317,132 @@ public: bool getUseReferenceFrameA() const { return m_useReferenceFrameA; } void setUseReferenceFrameA(bool useReferenceFrameA) { m_useReferenceFrameA = useReferenceFrameA; } - ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). + ///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); + 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 getFlags() const + virtual btScalar getParam(int num, int axis = -1) const; + + virtual int getFlags() const { - return m_flags; + return m_flags; } - virtual int calculateSerializeBufferSize() 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; - - + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; }; - //only for backward compatibility #ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION ///this structure is not used, except for loading pre-2.82 .bullet files -struct btHingeConstraintDoubleData +struct btHingeConstraintDoubleData { - btTypedConstraintData m_typeConstraintData; - btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTypedConstraintData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis. btTransformDoubleData m_rbBFrame; - int m_useReferenceFrameA; - int m_angularOnly; - int m_enableAngularMotor; - float m_motorTargetVelocity; - float m_maxMotorImpulse; - - float m_lowerLimit; - float m_upperLimit; - float m_limitSoftness; - float m_biasFactor; - float m_relaxationFactor; - + int m_useReferenceFrameA; + int m_angularOnly; + int m_enableAngularMotor; + float m_motorTargetVelocity; + float m_maxMotorImpulse; + + float m_lowerLimit; + float m_upperLimit; + float m_limitSoftness; + float m_biasFactor; + float m_relaxationFactor; }; -#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION +#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION ///The getAccumulatedHingeAngle returns the accumulated hinge angle, taking rotation across the -PI/PI boundary into account -ATTRIBUTE_ALIGNED16(class) btHingeAccumulatedAngleConstraint : public btHingeConstraint +ATTRIBUTE_ALIGNED16(class) +btHingeAccumulatedAngleConstraint : public btHingeConstraint { protected: - btScalar m_accumulatedAngle; -public: + btScalar m_accumulatedAngle; +public: BT_DECLARE_ALIGNED_ALLOCATOR(); - - btHingeAccumulatedAngleConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA = false) - :btHingeConstraint(rbA,rbB,pivotInA,pivotInB, axisInA,axisInB, useReferenceFrameA ) + + btHingeAccumulatedAngleConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& pivotInA, const btVector3& pivotInB, const btVector3& axisInA, const btVector3& axisInB, bool useReferenceFrameA = false) + : btHingeConstraint(rbA, rbB, pivotInA, pivotInB, axisInA, axisInB, useReferenceFrameA) { - m_accumulatedAngle=getHingeAngle(); + m_accumulatedAngle = getHingeAngle(); } - btHingeAccumulatedAngleConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA = false) - :btHingeConstraint(rbA,pivotInA,axisInA, useReferenceFrameA) + btHingeAccumulatedAngleConstraint(btRigidBody & rbA, const btVector3& pivotInA, const btVector3& axisInA, bool useReferenceFrameA = false) + : btHingeConstraint(rbA, pivotInA, axisInA, useReferenceFrameA) { - m_accumulatedAngle=getHingeAngle(); + m_accumulatedAngle = getHingeAngle(); } - - btHingeAccumulatedAngleConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false) - :btHingeConstraint(rbA,rbB, rbAFrame, rbBFrame, useReferenceFrameA ) + + btHingeAccumulatedAngleConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false) + : btHingeConstraint(rbA, rbB, rbAFrame, rbBFrame, useReferenceFrameA) { - m_accumulatedAngle=getHingeAngle(); + m_accumulatedAngle = getHingeAngle(); } - btHingeAccumulatedAngleConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false) - :btHingeConstraint(rbA,rbAFrame, useReferenceFrameA ) + btHingeAccumulatedAngleConstraint(btRigidBody & rbA, const btTransform& rbAFrame, bool useReferenceFrameA = false) + : btHingeConstraint(rbA, rbAFrame, useReferenceFrameA) { - m_accumulatedAngle=getHingeAngle(); + m_accumulatedAngle = getHingeAngle(); } btScalar getAccumulatedHingeAngle(); - void setAccumulatedHingeAngle(btScalar accAngle); - virtual void getInfo1 (btConstraintInfo1* info); - + void setAccumulatedHingeAngle(btScalar accAngle); + virtual void getInfo1(btConstraintInfo1 * info); }; -struct btHingeConstraintFloatData +struct btHingeConstraintFloatData { - btTypedConstraintData m_typeConstraintData; - btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTypedConstraintData m_typeConstraintData; + btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis. btTransformFloatData m_rbBFrame; - int m_useReferenceFrameA; - int m_angularOnly; - - int m_enableAngularMotor; - float m_motorTargetVelocity; - float m_maxMotorImpulse; - - float m_lowerLimit; - float m_upperLimit; - float m_limitSoftness; - float m_biasFactor; - float m_relaxationFactor; - + int m_useReferenceFrameA; + int m_angularOnly; + + int m_enableAngularMotor; + float m_motorTargetVelocity; + float m_maxMotorImpulse; + + float m_lowerLimit; + float m_upperLimit; + float m_limitSoftness; + float m_biasFactor; + float m_relaxationFactor; }; - - ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct btHingeConstraintDoubleData2 +struct btHingeConstraintDoubleData2 { - btTypedConstraintDoubleData m_typeConstraintData; - btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTypedConstraintDoubleData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis. btTransformDoubleData m_rbBFrame; - int m_useReferenceFrameA; - int m_angularOnly; - int m_enableAngularMotor; - double m_motorTargetVelocity; - double m_maxMotorImpulse; - - double m_lowerLimit; - double m_upperLimit; - double m_limitSoftness; - double m_biasFactor; - double m_relaxationFactor; - char m_padding1[4]; - + int m_useReferenceFrameA; + int m_angularOnly; + int m_enableAngularMotor; + double m_motorTargetVelocity; + double m_maxMotorImpulse; + + double m_lowerLimit; + double m_upperLimit; + double m_limitSoftness; + double m_biasFactor; + double m_relaxationFactor; + char m_padding1[4]; }; - - - -SIMD_FORCE_INLINE int btHingeConstraint::calculateSerializeBufferSize() const +SIMD_FORCE_INLINE int btHingeConstraint::calculateSerializeBufferSize() const { return sizeof(btHingeConstraintData); } - ///fills the dataBuffer and returns the struct name (and 0 on failure) -SIMD_FORCE_INLINE const char* btHingeConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btHingeConstraint::serialize(void* dataBuffer, btSerializer* serializer) const { btHingeConstraintData* hingeData = (btHingeConstraintData*)dataBuffer; - btTypedConstraint::serialize(&hingeData->m_typeConstraintData,serializer); + btTypedConstraint::serialize(&hingeData->m_typeConstraintData, serializer); m_rbAFrame.serialize(hingeData->m_rbAFrame); m_rbBFrame.serialize(hingeData->m_rbBFrame); @@ -475,7 +452,7 @@ SIMD_FORCE_INLINE const char* btHingeConstraint::serialize(void* dataBuffer, btS hingeData->m_maxMotorImpulse = float(m_maxMotorImpulse); hingeData->m_motorTargetVelocity = float(m_motorTargetVelocity); hingeData->m_useReferenceFrameA = m_useReferenceFrameA; -#ifdef _BT_USE_CENTER_LIMIT_ +#ifdef _BT_USE_CENTER_LIMIT_ hingeData->m_lowerLimit = float(m_limit.getLow()); hingeData->m_upperLimit = float(m_limit.getHigh()); hingeData->m_limitSoftness = float(m_limit.getSoftness()); @@ -489,7 +466,15 @@ SIMD_FORCE_INLINE const char* btHingeConstraint::serialize(void* dataBuffer, btS hingeData->m_relaxationFactor = float(m_relaxationFactor); #endif + // Fill padding with zeros to appease msan. +#ifdef BT_USE_DOUBLE_PRECISION + hingeData->m_padding1[0] = 0; + hingeData->m_padding1[1] = 0; + hingeData->m_padding1[2] = 0; + hingeData->m_padding1[3] = 0; +#endif + return btHingeConstraintDataName; } -#endif //BT_HINGECONSTRAINT_H +#endif //BT_HINGECONSTRAINT_H |