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

Bullet Collision Detection & Physics Library

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 bool isSpringEnabled(int index) const
67 {
68 return m_springEnabled[index];
69 }
70
71 btScalar getStiffness(int index) const
72 {
73 return m_springStiffness[index];
74 }
75
76 btScalar getDamping(int index) const
77 {
78 return m_springDamping[index];
79 }
80
81 btScalar getEquilibriumPoint(int index) const
82 {
83 return m_equilibriumPoint[index];
84 }
85
86 virtual void setAxis( const btVector3& axis1, const btVector3& axis2);
87
88 virtual void getInfo2 (btConstraintInfo2* info);
89
90 virtual int calculateSerializeBufferSize() const;
92 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
93
94 };
95
96
97 struct btGeneric6DofSpringConstraintData
98 {
99 btGeneric6DofConstraintData m_6dofData;
100
101 int m_springEnabled[6];
102 float m_equilibriumPoint[6];
103 float m_springStiffness[6];
104 float m_springDamping[6];
105 };
106
107 struct btGeneric6DofSpringConstraintDoubleData2
108 {
109 btGeneric6DofConstraintDoubleData2 m_6dofData;
110
111 int m_springEnabled[6];
112 double m_equilibriumPoint[6];
113 double m_springStiffness[6];
114 double m_springDamping[6];
115 };
116
117
118 SIMD_FORCE_INLINE int btGeneric6DofSpringConstraint::calculateSerializeBufferSize() const
119 {
120 return sizeof(btGeneric6DofSpringConstraintData2);
121 }
122
124 SIMD_FORCE_INLINE const char* btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
125 {
126 btGeneric6DofSpringConstraintData2* dof = (btGeneric6DofSpringConstraintData2*)dataBuffer;
127 btGeneric6DofConstraint::serialize(&dof->m_6dofData,serializer);
128
129 int i;
130 for (i=0;i<6;i++)
131 {
132 dof->m_equilibriumPoint[i] = m_equilibriumPoint[i];
133 dof->m_springDamping[i] = m_springDamping[i];
134 dof->m_springEnabled[i] = m_springEnabled[i]? 1 : 0;
135 dof->m_springStiffness[i] = m_springStiffness[i];
136 }
137 return btGeneric6DofSpringConstraintDataName;
138 }
139
140 #endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
141
btGeneric6DofSpringConstraintData
Definition: btGeneric6DofSpringConstraint.h:97
btGeneric6DofSpringConstraintDoubleData2::m_6dofData
btGeneric6DofConstraintDoubleData2 m_6dofData
Definition: btGeneric6DofSpringConstraint.h:109
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:618
btTypedConstraint::btConstraintInfo2
Definition: btTypedConstraint.h:126
btGeneric6DofSpringConstraint::getEquilibriumPoint
btScalar getEquilibriumPoint(int index) const
Definition: btGeneric6DofSpringConstraint.h:81
btVector3.h
btGeneric6DofConstraintDoubleData2
Definition: btGeneric6DofConstraint.h:596
btGeneric6DofConstraintData
Definition: btGeneric6DofConstraint.h:580
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:64
btGeneric6DofSpringConstraintData2
#define btGeneric6DofSpringConstraintData2
Definition: btGeneric6DofSpringConstraint.h:28
btSerializer
Definition: btSerializer.h:68
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:124
btGeneric6DofSpringConstraintData::m_6dofData
btGeneric6DofConstraintData m_6dofData
Definition: btGeneric6DofSpringConstraint.h:99
btGeneric6DofSpringConstraint::getStiffness
btScalar getStiffness(int index) const
Definition: btGeneric6DofSpringConstraint.h:71
btGeneric6DofSpringConstraint::getDamping
btScalar getDamping(int index) const
Definition: btGeneric6DofSpringConstraint.h:76
btTypedConstraint.h
btGeneric6DofSpringConstraintData::m_springEnabled
int m_springEnabled[6]
Definition: btGeneric6DofSpringConstraint.h:101
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:65
btGeneric6DofSpringConstraint::isSpringEnabled
bool isSpringEnabled(int index) const
Definition: btGeneric6DofSpringConstraint.h:66
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:102
btGeneric6DofSpringConstraintDoubleData2
Definition: btGeneric6DofSpringConstraint.h:107
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:389
btGeneric6DofSpringConstraintData::m_springStiffness
float m_springStiffness[6]
Definition: btGeneric6DofSpringConstraint.h:103
btGeneric6DofSpringConstraint::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btGeneric6DofSpringConstraint.h:118
btGeneric6DofSpringConstraintData::m_springDamping
float m_springDamping[6]
Definition: btGeneric6DofSpringConstraint.h:104
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:279