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Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h')
-rwxr-xr-x[-rw-r--r--]extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h213
1 files changed, 98 insertions, 115 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
index 628ada4cfb1..75ca34e978f 100644..100755
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
@@ -25,29 +25,26 @@ TODO:
#ifndef BT_SLIDER_CONSTRAINT_H
#define BT_SLIDER_CONSTRAINT_H
+#include "LinearMath/btScalar.h" //for BT_USE_DOUBLE_PRECISION
+
#ifdef BT_USE_DOUBLE_PRECISION
-#define btSliderConstraintData2 btSliderConstraintDoubleData
-#define btSliderConstraintDataName "btSliderConstraintDoubleData"
+#define btSliderConstraintData2 btSliderConstraintDoubleData
+#define btSliderConstraintDataName "btSliderConstraintDoubleData"
#else
-#define btSliderConstraintData2 btSliderConstraintData
-#define btSliderConstraintDataName "btSliderConstraintData"
-#endif //BT_USE_DOUBLE_PRECISION
+#define btSliderConstraintData2 btSliderConstraintData
+#define btSliderConstraintDataName "btSliderConstraintData"
+#endif //BT_USE_DOUBLE_PRECISION
#include "LinearMath/btVector3.h"
#include "btJacobianEntry.h"
#include "btTypedConstraint.h"
-
-
class btRigidBody;
-
-
-#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0))
-#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0))
-#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7))
-#define SLIDER_CONSTRAINT_DEF_CFM (btScalar(0.f))
-
+#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0))
+#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0))
+#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7))
+#define SLIDER_CONSTRAINT_DEF_CFM (btScalar(0.f))
enum btSliderFlags
{
@@ -65,15 +62,15 @@ enum btSliderFlags
BT_SLIDER_FLAGS_ERP_LIMANG = (1 << 11)
};
-
-ATTRIBUTE_ALIGNED16(class) btSliderConstraint : public btTypedConstraint
+ATTRIBUTE_ALIGNED16(class)
+btSliderConstraint : public btTypedConstraint
{
protected:
///for backwards compatibility during the transition to 'getInfo/getInfo2'
- bool m_useSolveConstraintObsolete;
- bool m_useOffsetForConstraintFrame;
- btTransform m_frameInA;
- btTransform m_frameInB;
+ bool m_useSolveConstraintObsolete;
+ bool m_useOffsetForConstraintFrame;
+ btTransform m_frameInA;
+ btTransform m_frameInB;
// use frameA fo define limits, if true
bool m_useLinearReferenceFrameA;
// linear limits
@@ -117,21 +114,21 @@ protected:
btScalar m_restitutionOrthoAng;
btScalar m_dampingOrthoAng;
btScalar m_cfmOrthoAng;
-
+
// for interlal use
bool m_solveLinLim;
bool m_solveAngLim;
int m_flags;
- btJacobianEntry m_jacLin[3];
- btScalar m_jacLinDiagABInv[3];
+ btJacobianEntry m_jacLin[3];
+ btScalar m_jacLinDiagABInv[3];
- btJacobianEntry m_jacAng[3];
+ btJacobianEntry m_jacAng[3];
btScalar m_timeStep;
- btTransform m_calculatedTransformA;
- btTransform m_calculatedTransformB;
+ btTransform m_calculatedTransformA;
+ btTransform m_calculatedTransformB;
btVector3 m_sliderAxis;
btVector3 m_realPivotAInW;
@@ -148,57 +145,57 @@ protected:
btScalar m_angDepth;
btScalar m_kAngle;
- bool m_poweredLinMotor;
- btScalar m_targetLinMotorVelocity;
- btScalar m_maxLinMotorForce;
- btScalar m_accumulatedLinMotorImpulse;
-
- bool m_poweredAngMotor;
- btScalar m_targetAngMotorVelocity;
- btScalar m_maxAngMotorForce;
- btScalar m_accumulatedAngMotorImpulse;
-
- //------------------------
+ bool m_poweredLinMotor;
+ btScalar m_targetLinMotorVelocity;
+ btScalar m_maxLinMotorForce;
+ btScalar m_accumulatedLinMotorImpulse;
+
+ bool m_poweredAngMotor;
+ btScalar m_targetAngMotorVelocity;
+ btScalar m_maxAngMotorForce;
+ btScalar m_accumulatedAngMotorImpulse;
+
+ //------------------------
void initParams();
+
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
-
+
// constructors
- btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
- btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
+ btSliderConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
+ btSliderConstraint(btRigidBody & rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
// overrides
- virtual void getInfo1 (btConstraintInfo1* info);
+ virtual void getInfo1(btConstraintInfo1 * info);
- void getInfo1NonVirtual(btConstraintInfo1* info);
-
- virtual void getInfo2 (btConstraintInfo2* info);
+ void getInfo1NonVirtual(btConstraintInfo1 * info);
- void getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass);
+ virtual void getInfo2(btConstraintInfo2 * info);
+ void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, btScalar rbAinvMass, btScalar rbBinvMass);
// access
- const btRigidBody& getRigidBodyA() const { return m_rbA; }
- const btRigidBody& getRigidBodyB() const { return m_rbB; }
- const btTransform & getCalculatedTransformA() const { return m_calculatedTransformA; }
- const btTransform & getCalculatedTransformB() const { return m_calculatedTransformB; }
- const btTransform & getFrameOffsetA() const { return m_frameInA; }
- const btTransform & getFrameOffsetB() const { return m_frameInB; }
- btTransform & getFrameOffsetA() { return m_frameInA; }
- btTransform & getFrameOffsetB() { return m_frameInB; }
- btScalar getLowerLinLimit() { return m_lowerLinLimit; }
- void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; }
- btScalar getUpperLinLimit() { return m_upperLinLimit; }
- void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
- btScalar getLowerAngLimit() { return m_lowerAngLimit; }
- void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); }
- btScalar getUpperAngLimit() { return m_upperAngLimit; }
- void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); }
+ const btRigidBody& getRigidBodyA() const { return m_rbA; }
+ const btRigidBody& getRigidBodyB() const { return m_rbB; }
+ const btTransform& getCalculatedTransformA() const { return m_calculatedTransformA; }
+ const btTransform& getCalculatedTransformB() const { return m_calculatedTransformB; }
+ const btTransform& getFrameOffsetA() const { return m_frameInA; }
+ const btTransform& getFrameOffsetB() const { return m_frameInB; }
+ btTransform& getFrameOffsetA() { return m_frameInA; }
+ btTransform& getFrameOffsetB() { return m_frameInB; }
+ btScalar getLowerLinLimit() { return m_lowerLinLimit; }
+ void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; }
+ btScalar getUpperLinLimit() { return m_upperLinLimit; }
+ void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
+ btScalar getLowerAngLimit() { return m_lowerAngLimit; }
+ void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); }
+ btScalar getUpperAngLimit() { return m_upperAngLimit; }
+ void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); }
bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; }
btScalar getSoftnessDirLin() { return m_softnessDirLin; }
btScalar getRestitutionDirLin() { return m_restitutionDirLin; }
- btScalar getDampingDirLin() { return m_dampingDirLin ; }
+ btScalar getDampingDirLin() { return m_dampingDirLin; }
btScalar getSoftnessDirAng() { return m_softnessDirAng; }
btScalar getRestitutionDirAng() { return m_restitutionDirAng; }
btScalar getDampingDirAng() { return m_dampingDirAng; }
@@ -247,8 +244,6 @@ public:
btScalar getLinearPos() const { return m_linPos; }
btScalar getAngularPos() const { return m_angPos; }
-
-
// access for ODE solver
bool getSolveLinLimit() { return m_solveLinLim; }
@@ -256,9 +251,9 @@ public:
bool getSolveAngLimit() { return m_solveAngLim; }
btScalar getAngDepth() { return m_angDepth; }
// shared code used by ODE solver
- void calculateTransforms(const btTransform& transA,const btTransform& transB);
- void testLinLimits();
- void testAngLimits();
+ void calculateTransforms(const btTransform& transA, const btTransform& transB);
+ void testLinLimits();
+ void testAngLimits();
// access for PE Solver
btVector3 getAncorInA();
btVector3 getAncorInB();
@@ -266,84 +261,75 @@ public:
bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
- void setFrames(const btTransform& frameA, const btTransform& frameB)
- {
- m_frameInA=frameA;
- m_frameInB=frameB;
- calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+ void setFrames(const btTransform& frameA, const btTransform& frameB)
+ {
+ m_frameInA = frameA;
+ m_frameInB = frameB;
+ calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
buildJacobian();
- }
-
+ }
- ///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;
}
- 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;
};
-
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-
struct btSliderConstraintData
{
- 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;
-
- float m_linearUpperLimit;
- float m_linearLowerLimit;
- float m_angularUpperLimit;
- float m_angularLowerLimit;
+ float m_linearUpperLimit;
+ float m_linearLowerLimit;
- int m_useLinearReferenceFrameA;
- int m_useOffsetForConstraintFrame;
+ float m_angularUpperLimit;
+ float m_angularLowerLimit;
+ int m_useLinearReferenceFrameA;
+ int m_useOffsetForConstraintFrame;
};
-
struct btSliderConstraintDoubleData
{
- 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;
-
- double m_linearUpperLimit;
- double m_linearLowerLimit;
- double m_angularUpperLimit;
- double m_angularLowerLimit;
+ double m_linearUpperLimit;
+ double m_linearLowerLimit;
- int m_useLinearReferenceFrameA;
- int m_useOffsetForConstraintFrame;
+ double m_angularUpperLimit;
+ double m_angularLowerLimit;
+ int m_useLinearReferenceFrameA;
+ int m_useOffsetForConstraintFrame;
};
-SIMD_FORCE_INLINE int btSliderConstraint::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btSliderConstraint::calculateSerializeBufferSize() const
{
return sizeof(btSliderConstraintData2);
}
- ///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
{
-
- btSliderConstraintData2* sliderData = (btSliderConstraintData2*) dataBuffer;
- btTypedConstraint::serialize(&sliderData->m_typeConstraintData,serializer);
+ btSliderConstraintData2* sliderData = (btSliderConstraintData2*)dataBuffer;
+ btTypedConstraint::serialize(&sliderData->m_typeConstraintData, serializer);
m_frameInA.serialize(sliderData->m_rbAFrame);
m_frameInB.serialize(sliderData->m_rbBFrame);
@@ -360,7 +346,4 @@ SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, bt
return btSliderConstraintDataName;
}
-
-
-#endif //BT_SLIDER_CONSTRAINT_H
-
+#endif //BT_SLIDER_CONSTRAINT_H
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-11 13:32:07 +0300