diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h | 230 |
1 files changed, 108 insertions, 122 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h index b55db0c1bfb..d30f3dee5c5 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h @@ -16,26 +16,24 @@ subject to the following restrictions: #ifndef BT_TYPED_CONSTRAINT_H #define BT_TYPED_CONSTRAINT_H - #include "LinearMath/btScalar.h" #include "btSolverConstraint.h" #include "BulletDynamics/Dynamics/btRigidBody.h" #ifdef BT_USE_DOUBLE_PRECISION -#define btTypedConstraintData2 btTypedConstraintDoubleData -#define btTypedConstraintDataName "btTypedConstraintDoubleData" +#define btTypedConstraintData2 btTypedConstraintDoubleData +#define btTypedConstraintDataName "btTypedConstraintDoubleData" #else -#define btTypedConstraintData2 btTypedConstraintFloatData -#define btTypedConstraintDataName "btTypedConstraintFloatData" -#endif //BT_USE_DOUBLE_PRECISION - +#define btTypedConstraintData2 btTypedConstraintFloatData +#define btTypedConstraintDataName "btTypedConstraintFloatData" +#endif //BT_USE_DOUBLE_PRECISION class btSerializer; //Don't change any of the existing enum values, so add enum types at the end for serialization compatibility enum btTypedConstraintType { - POINT2POINT_CONSTRAINT_TYPE=3, + POINT2POINT_CONSTRAINT_TYPE = 3, HINGE_CONSTRAINT_TYPE, CONETWIST_CONSTRAINT_TYPE, D6_CONSTRAINT_TYPE, @@ -48,91 +46,88 @@ enum btTypedConstraintType MAX_CONSTRAINT_TYPE }; - enum btConstraintParams { - BT_CONSTRAINT_ERP=1, + BT_CONSTRAINT_ERP = 1, BT_CONSTRAINT_STOP_ERP, BT_CONSTRAINT_CFM, BT_CONSTRAINT_STOP_CFM }; #if 1 - #define btAssertConstrParams(_par) btAssert(_par) +#define btAssertConstrParams(_par) btAssert(_par) #else - #define btAssertConstrParams(_par) +#define btAssertConstrParams(_par) #endif - -ATTRIBUTE_ALIGNED16(struct) btJointFeedback +ATTRIBUTE_ALIGNED16(struct) +btJointFeedback { BT_DECLARE_ALIGNED_ALLOCATOR(); - btVector3 m_appliedForceBodyA; - btVector3 m_appliedTorqueBodyA; - btVector3 m_appliedForceBodyB; - btVector3 m_appliedTorqueBodyB; + btVector3 m_appliedForceBodyA; + btVector3 m_appliedTorqueBodyA; + btVector3 m_appliedForceBodyB; + btVector3 m_appliedTorqueBodyB; }; - ///TypedConstraint is the baseclass for Bullet constraints and vehicles -ATTRIBUTE_ALIGNED16(class) btTypedConstraint : public btTypedObject +ATTRIBUTE_ALIGNED16(class) +btTypedConstraint : public btTypedObject { - int m_userConstraintType; + int m_userConstraintType; - union - { - int m_userConstraintId; + union { + int m_userConstraintId; void* m_userConstraintPtr; }; - btScalar m_breakingImpulseThreshold; - bool m_isEnabled; - bool m_needsFeedback; - int m_overrideNumSolverIterations; + btScalar m_breakingImpulseThreshold; + bool m_isEnabled; + bool m_needsFeedback; + int m_overrideNumSolverIterations; - - btTypedConstraint& operator=(btTypedConstraint& other) + btTypedConstraint& operator=(btTypedConstraint& other) { btAssert(0); - (void) other; + (void)other; return *this; } protected: - btRigidBody& m_rbA; - btRigidBody& m_rbB; - btScalar m_appliedImpulse; - btScalar m_dbgDrawSize; - btJointFeedback* m_jointFeedback; + btRigidBody& m_rbA; + btRigidBody& m_rbB; + btScalar m_appliedImpulse; + btScalar m_dbgDrawSize; + btJointFeedback* m_jointFeedback; ///internal method used by the constraint solver, don't use them directly btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact); - public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - virtual ~btTypedConstraint() {}; - btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA); - btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB); + virtual ~btTypedConstraint(){}; + btTypedConstraint(btTypedConstraintType type, btRigidBody & rbA); + btTypedConstraint(btTypedConstraintType type, btRigidBody & rbA, btRigidBody & rbB); - struct btConstraintInfo1 { - int m_numConstraintRows,nub; + struct btConstraintInfo1 + { + int m_numConstraintRows, nub; }; static btRigidBody& getFixedBody(); - struct btConstraintInfo2 { + struct btConstraintInfo2 + { // integrator parameters: frames per second (1/stepsize), default error // reduction parameter (0..1). - btScalar fps,erp; + btScalar fps, erp; // for the first and second body, pointers to two (linear and angular) // n*3 jacobian sub matrices, stored by rows. these matrices will have // been initialized to 0 on entry. if the second body is zero then the // J2xx pointers may be 0. - btScalar *m_J1linearAxis,*m_J1angularAxis,*m_J2linearAxis,*m_J2angularAxis; + btScalar *m_J1linearAxis, *m_J1angularAxis, *m_J2linearAxis, *m_J2angularAxis; // elements to jump from one row to the next in J's int rowskip; @@ -140,24 +135,19 @@ public: // right hand sides of the equation J*v = c + cfm * lambda. cfm is the // "constraint force mixing" vector. c is set to zero on entry, cfm is // set to a constant value (typically very small or zero) value on entry. - btScalar *m_constraintError,*cfm; + btScalar *m_constraintError, *cfm; // lo and hi limits for variables (set to -/+ infinity on entry). - btScalar *m_lowerLimit,*m_upperLimit; + btScalar *m_lowerLimit, *m_upperLimit; - // findex vector for variables. see the LCP solver interface for a - // description of what this does. this is set to -1 on entry. - // note that the returned indexes are relative to the first index of - // the constraint. - int *findex; // number of solver iterations int m_numIterations; //damping of the velocity - btScalar m_damping; + btScalar m_damping; }; - int getOverrideNumSolverIterations() const + int getOverrideNumSolverIterations() const { return m_overrideNumSolverIterations; } @@ -170,60 +160,57 @@ public: } ///internal method used by the constraint solver, don't use them directly - virtual void buildJacobian() {}; + virtual void buildJacobian(){}; ///internal method used by the constraint solver, don't use them directly - virtual void setupSolverConstraint(btConstraintArray& ca, int solverBodyA,int solverBodyB, btScalar timeStep) + virtual void setupSolverConstraint(btConstraintArray & ca, int solverBodyA, int solverBodyB, btScalar timeStep) { - (void)ca; - (void)solverBodyA; - (void)solverBodyB; - (void)timeStep; + (void)ca; + (void)solverBodyA; + (void)solverBodyB; + (void)timeStep; } - + ///internal method used by the constraint solver, don't use them directly - virtual void getInfo1 (btConstraintInfo1* info)=0; + virtual void getInfo1(btConstraintInfo1 * info) = 0; ///internal method used by the constraint solver, don't use them directly - virtual void getInfo2 (btConstraintInfo2* info)=0; + virtual void getInfo2(btConstraintInfo2 * info) = 0; ///internal method used by the constraint solver, don't use them directly - void internalSetAppliedImpulse(btScalar appliedImpulse) + void internalSetAppliedImpulse(btScalar appliedImpulse) { m_appliedImpulse = appliedImpulse; } ///internal method used by the constraint solver, don't use them directly - btScalar internalGetAppliedImpulse() + btScalar internalGetAppliedImpulse() { return m_appliedImpulse; } - - btScalar getBreakingImpulseThreshold() const + btScalar getBreakingImpulseThreshold() const { - return m_breakingImpulseThreshold; + return m_breakingImpulseThreshold; } - void setBreakingImpulseThreshold(btScalar threshold) + void setBreakingImpulseThreshold(btScalar threshold) { m_breakingImpulseThreshold = threshold; } - bool isEnabled() const + bool isEnabled() const { return m_isEnabled; } - void setEnabled(bool enabled) + void setEnabled(bool enabled) { - m_isEnabled=enabled; + m_isEnabled = enabled; } - ///internal method used by the constraint solver, don't use them directly - virtual void solveConstraintObsolete(btSolverBody& /*bodyA*/,btSolverBody& /*bodyB*/,btScalar /*timeStep*/) {}; + virtual void solveConstraintObsolete(btSolverBody& /*bodyA*/, btSolverBody& /*bodyB*/, btScalar /*timeStep*/){}; - const btRigidBody& getRigidBodyA() const { return m_rbA; @@ -233,7 +220,7 @@ public: return m_rbB; } - btRigidBody& getRigidBodyA() + btRigidBody& getRigidBodyA() { return m_rbA; } @@ -244,15 +231,15 @@ public: int getUserConstraintType() const { - return m_userConstraintType ; + return m_userConstraintType; } - void setUserConstraintType(int userConstraintType) + void setUserConstraintType(int userConstraintType) { m_userConstraintType = userConstraintType; }; - void setUserConstraintId(int uid) + void setUserConstraintId(int uid) { m_userConstraintId = uid; } @@ -262,17 +249,17 @@ public: return m_userConstraintId; } - void setUserConstraintPtr(void* ptr) + void setUserConstraintPtr(void* ptr) { m_userConstraintPtr = ptr; } - void* getUserConstraintPtr() + void* getUserConstraintPtr() { return m_userConstraintPtr; } - void setJointFeedback(btJointFeedback* jointFeedback) + void setJointFeedback(btJointFeedback * jointFeedback) { m_jointFeedback = jointFeedback; } @@ -287,37 +274,36 @@ public: return m_jointFeedback; } - int getUid() const { - return m_userConstraintId; - } + return m_userConstraintId; + } - bool needsFeedback() const + bool needsFeedback() const { return m_needsFeedback; } ///enableFeedback will allow to read the applied linear and angular impulse ///use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information - void enableFeedback(bool needsFeedback) + void enableFeedback(bool needsFeedback) { m_needsFeedback = needsFeedback; } - ///getAppliedImpulse is an estimated total applied impulse. + ///getAppliedImpulse is an estimated total applied impulse. ///This feedback could be used to determine breaking constraints or playing sounds. - btScalar getAppliedImpulse() const + btScalar getAppliedImpulse() const { btAssert(m_needsFeedback); return m_appliedImpulse; } - btTypedConstraintType getConstraintType () const + btTypedConstraintType getConstraintType() const { return btTypedConstraintType(m_objectType); } - + void setDbgDrawSize(btScalar dbgDrawSize) { m_dbgDrawSize = dbgDrawSize; @@ -327,35 +313,34 @@ public: return m_dbgDrawSize; } - ///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) = 0; + virtual void setParam(int num, btScalar value, int axis = -1) = 0; ///return the local value of parameter - virtual btScalar getParam(int num, int axis = -1) const = 0; - - virtual int calculateSerializeBufferSize() const; + virtual btScalar getParam(int num, int axis = -1) const = 0; - ///fills the dataBuffer and returns the struct name (and 0 on failure) - virtual const char* serialize(void* dataBuffer, btSerializer* serializer) 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; }; -// returns angle in range [-SIMD_2_PI, SIMD_2_PI], closest to one of the limits +// returns angle in range [-SIMD_2_PI, SIMD_2_PI], closest to one of the limits // all arguments should be normalized angles (i.e. in range [-SIMD_PI, SIMD_PI]) SIMD_FORCE_INLINE btScalar btAdjustAngleToLimits(btScalar angleInRadians, btScalar angleLowerLimitInRadians, btScalar angleUpperLimitInRadians) { - if(angleLowerLimitInRadians >= angleUpperLimitInRadians) + if (angleLowerLimitInRadians >= angleUpperLimitInRadians) { return angleInRadians; } - else if(angleInRadians < angleLowerLimitInRadians) + else if (angleInRadians < angleLowerLimitInRadians) { btScalar diffLo = btFabs(btNormalizeAngle(angleLowerLimitInRadians - angleInRadians)); btScalar diffHi = btFabs(btNormalizeAngle(angleUpperLimitInRadians - angleInRadians)); return (diffLo < diffHi) ? angleInRadians : (angleInRadians + SIMD_2_PI); } - else if(angleInRadians > angleUpperLimitInRadians) + else if (angleInRadians > angleUpperLimitInRadians) { btScalar diffHi = btFabs(btNormalizeAngle(angleInRadians - angleUpperLimitInRadians)); btScalar diffLo = btFabs(btNormalizeAngle(angleInRadians - angleLowerLimitInRadians)); @@ -367,6 +352,8 @@ SIMD_FORCE_INLINE btScalar btAdjustAngleToLimits(btScalar angleInRadians, btScal } } +// clang-format off + ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 struct btTypedConstraintFloatData { @@ -390,6 +377,8 @@ struct btTypedConstraintFloatData }; + + ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 #define BT_BACKWARDS_COMPATIBLE_SERIALIZATION @@ -441,18 +430,17 @@ struct btTypedConstraintDoubleData }; +// clang-format on -SIMD_FORCE_INLINE int btTypedConstraint::calculateSerializeBufferSize() const +SIMD_FORCE_INLINE int btTypedConstraint::calculateSerializeBufferSize() const { return sizeof(btTypedConstraintData2); } - - class btAngularLimit { private: - btScalar + btScalar m_center, m_halfRange, m_softness, @@ -467,15 +455,16 @@ private: public: /// Default constructor initializes limit as inactive, allowing free constraint movement btAngularLimit() - :m_center(0.0f), - m_halfRange(-1.0f), - m_softness(0.9f), - m_biasFactor(0.3f), - m_relaxationFactor(1.0f), - m_correction(0.0f), - m_sign(0.0f), - m_solveLimit(false) - {} + : m_center(0.0f), + m_halfRange(-1.0f), + m_softness(0.9f), + m_biasFactor(0.3f), + m_relaxationFactor(1.0f), + m_correction(0.0f), + m_sign(0.0f), + m_solveLimit(false) + { + } /// Sets all limit's parameters. /// When low > high limit becomes inactive. @@ -504,13 +493,13 @@ public: return m_relaxationFactor; } - /// Returns correction value evaluated when test() was invoked + /// Returns correction value evaluated when test() was invoked inline btScalar getCorrection() const { return m_correction; } - /// Returns sign value evaluated when test() was invoked + /// Returns sign value evaluated when test() was invoked inline btScalar getSign() const { return m_sign; @@ -538,9 +527,6 @@ public: btScalar getLow() const; btScalar getHigh() const; - }; - - -#endif //BT_TYPED_CONSTRAINT_H +#endif //BT_TYPED_CONSTRAINT_H |