Bullet Collision Detection & Physics Library: btGeneric6DofSpringConstraint.h Source File

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btGeneric6DofSpringConstraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
3 Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #ifndef BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
17 #define BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
18
19
20 #include "LinearMath/btVector3.h"
21 #include "btTypedConstraint.h"
22 #include "btGeneric6DofConstraint.h"
23
24 #ifdef BT_USE_DOUBLE_PRECISION
25 #define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintDoubleData2
26 #define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintDoubleData2"
27 #else
28 #define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintData
29 #define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintData"
30 #endif //BT_USE_DOUBLE_PRECISION
31
32
33
35
43
44 ATTRIBUTE_ALIGNED16(class) btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
45 {
46 protected:
47 bool m_springEnabled[6];
48 btScalar m_equilibriumPoint[6];
49 btScalar m_springStiffness[6];
50 btScalar m_springDamping[6]; // between 0 and 1 (1 == no damping)
51 void init();
52 void internalUpdateSprings(btConstraintInfo2* info);
53 public:
54
55 BT_DECLARE_ALIGNED_ALLOCATOR();
56
57 btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
58 btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
59 void enableSpring(int index, bool onOff);
60 void setStiffness(int index, btScalar stiffness);
61 void setDamping(int index, btScalar damping);
62 void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
63 void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF
64 void setEquilibriumPoint(int index, btScalar val);
65
66 virtual void setAxis( const btVector3& axis1, const btVector3& axis2);
67
68 virtual void getInfo2 (btConstraintInfo2* info);
69
70 virtual int calculateSerializeBufferSize() const;
72 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
73
74 };
75
76
77 struct btGeneric6DofSpringConstraintData
78 {
79 btGeneric6DofConstraintData m_6dofData;
80
81 int m_springEnabled[6];
82 float m_equilibriumPoint[6];
83 float m_springStiffness[6];
84 float m_springDamping[6];
85 };
86
87 struct btGeneric6DofSpringConstraintDoubleData2
88 {
89 btGeneric6DofConstraintDoubleData2 m_6dofData;
90
91 int m_springEnabled[6];
92 double m_equilibriumPoint[6];
93 double m_springStiffness[6];
94 double m_springDamping[6];
95 };
96
97
98 SIMD_FORCE_INLINE int btGeneric6DofSpringConstraint::calculateSerializeBufferSize() const
99 {
100 return sizeof(btGeneric6DofSpringConstraintData2);
101 }
102
104 SIMD_FORCE_INLINE const char* btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
105 {
106 btGeneric6DofSpringConstraintData2* dof = (btGeneric6DofSpringConstraintData2*)dataBuffer;
107 btGeneric6DofConstraint::serialize(&dof->m_6dofData,serializer);
108
109 int i;
110 for (i=0;i<6;i++)
111 {
112 dof->m_equilibriumPoint[i] = m_equilibriumPoint[i];
113 dof->m_springDamping[i] = m_springDamping[i];
114 dof->m_springEnabled[i] = m_springEnabled[i]? 1 : 0;
115 dof->m_springStiffness[i] = m_springStiffness[i];
116 }
117 return btGeneric6DofSpringConstraintDataName;
118 }
119
120 #endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
121
btGeneric6DofSpringConstraintDoubleData2::m_springStiffness
double m_springStiffness[6]
Definition: btGeneric6DofSpringConstraint.h:93
btGeneric6DofSpringConstraintData
Definition: btGeneric6DofSpringConstraint.h:77
btGeneric6DofSpringConstraintDoubleData2::m_6dofData
btGeneric6DofConstraintDoubleData2 m_6dofData
Definition: btGeneric6DofSpringConstraint.h:89
btTypedConstraint::btConstraintInfo2
Definition: btTypedConstraint.h:125
btVector3.h
btGeneric6DofSpringConstraintDoubleData2::m_springEnabled
int m_springEnabled[6]
Definition: btGeneric6DofSpringConstraint.h:91
btGeneric6DofConstraintDoubleData2
Definition: btGeneric6DofConstraint.h:589
btGeneric6DofConstraintData
Definition: btGeneric6DofConstraint.h:573
btGeneric6DofConstraint
btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis locatio...
Definition: btGeneric6DofConstraint.h:279
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:63
btGeneric6DofSpringConstraintData2
#define btGeneric6DofSpringConstraintData2
Definition: btGeneric6DofSpringConstraint.h:28
btGeneric6DofSpringConstraint::m_springDamping
btScalar m_springDamping[6]
Definition: btGeneric6DofSpringConstraint.h:50
btSerializer
Definition: btSerializer.h:68
btGeneric6DofSpringConstraint::m_equilibriumPoint
btScalar m_equilibriumPoint[6]
Definition: btGeneric6DofSpringConstraint.h:48
btGeneric6DofSpringConstraintData::m_6dofData
btGeneric6DofConstraintData m_6dofData
Definition: btGeneric6DofSpringConstraint.h:79
btGeneric6DofConstraint::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btGeneric6DofConstraint.h:611
btTypedConstraint.h
btGeneric6DofSpringConstraint::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btGeneric6DofSpringConstraint.h:104
btGeneric6DofSpringConstraint::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btGeneric6DofSpringConstraint.h:98
btGeneric6DofSpringConstraint::m_springStiffness
btScalar m_springStiffness[6]
Definition: btGeneric6DofSpringConstraint.h:49
btGeneric6DofSpringConstraintData::m_springEnabled
int m_springEnabled[6]
Definition: btGeneric6DofSpringConstraint.h:81
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:62
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:64
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btGeneric6DofSpringConstraintDataName
#define btGeneric6DofSpringConstraintDataName
Definition: btGeneric6DofSpringConstraint.h:29
btGeneric6DofSpringConstraintData::m_equilibriumPoint
float m_equilibriumPoint[6]
Definition: btGeneric6DofSpringConstraint.h:82
btGeneric6DofSpringConstraintDoubleData2
Definition: btGeneric6DofSpringConstraint.h:87
btGeneric6DofSpringConstraintDoubleData2::m_equilibriumPoint
double m_equilibriumPoint[6]
Definition: btGeneric6DofSpringConstraint.h:92
btGeneric6DofSpringConstraint::m_springEnabled
bool m_springEnabled[6]
Definition: btGeneric6DofSpringConstraint.h:47
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:388
btGeneric6DofSpringConstraintData::m_springStiffness
float m_springStiffness[6]
Definition: btGeneric6DofSpringConstraint.h:83
btGeneric6DofSpringConstraintDoubleData2::m_springDamping
double m_springDamping[6]
Definition: btGeneric6DofSpringConstraint.h:94
btGeneric6DofSpringConstraintData::m_springDamping
float m_springDamping[6]
Definition: btGeneric6DofSpringConstraint.h:84
btGeneric6DofConstraint.h
btGeneric6DofSpringConstraint
Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF...
Definition: btGeneric6DofSpringConstraint.h:44
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278