Bullet Collision Detection & Physics Library: btGeneric6DofSpring2Constraint.h Source File

Bullet Collision Detection & Physics Library

btGeneric6DofSpring2Constraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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 /*
17 2014 May: btGeneric6DofSpring2Constraint is created from the original (2.82.2712) btGeneric6DofConstraint by Gabor Puhr and Tamas Umenhoffer
18 Pros:
19 - Much more accurate and stable in a lot of situation. (Especially when a sleeping chain of RBs connected with 6dof2 is pulled)
20 - Stable and accurate spring with minimal energy loss that works with all of the solvers. (latter is not true for the original 6dof spring)
21 - Servo motor functionality
22 - Much more accurate bouncing. 0 really means zero bouncing (not true for the original 6odf) and there is only a minimal energy loss when the value is 1 (because of the solvers' precision)
23 - Rotation order for the Euler system can be set. (One axis' freedom is still limited to pi/2)
24
25 Cons:
26 - It is slower than the original 6dof. There is no exact ratio, but half speed is a good estimation.
27 - At bouncing the correct velocity is calculated, but not the correct position. (it is because of the solver can correct position or velocity, but not both.)
28 */
29
32
33 /*
34 2007-09-09
35 btGeneric6DofConstraint Refactored by Francisco Le?n
36 email: projectileman@yahoo.com
37 http://gimpact.sf.net
38 */
39
40 #ifndef BT_GENERIC_6DOF_CONSTRAINT2_H
41 #define BT_GENERIC_6DOF_CONSTRAINT2_H
42
43 #include "LinearMath/btVector3.h"
44 #include "btJacobianEntry.h"
45 #include "btTypedConstraint.h"
46
47 class btRigidBody;
48
49 #ifdef BT_USE_DOUBLE_PRECISION
50 #define btGeneric6DofSpring2ConstraintData2 btGeneric6DofSpring2ConstraintDoubleData2
51 #define btGeneric6DofSpring2ConstraintDataName "btGeneric6DofSpring2ConstraintDoubleData2"
52 #else
53 #define btGeneric6DofSpring2ConstraintData2 btGeneric6DofSpring2ConstraintData
54 #define btGeneric6DofSpring2ConstraintDataName "btGeneric6DofSpring2ConstraintData"
55 #endif //BT_USE_DOUBLE_PRECISION
56
57 enum RotateOrder
58 {
59 RO_XYZ = 0,
60 RO_XZY,
61 RO_YXZ,
62 RO_YZX,
63 RO_ZXY,
64 RO_ZYX
65 };
66
67 class btRotationalLimitMotor2
68 {
69 public:
70 // upper < lower means free
71 // upper == lower means locked
72 // upper > lower means limited
73 btScalar m_loLimit;
74 btScalar m_hiLimit;
75 btScalar m_bounce;
76 btScalar m_stopERP;
77 btScalar m_stopCFM;
78 btScalar m_motorERP;
79 btScalar m_motorCFM;
80 bool m_enableMotor;
81 btScalar m_targetVelocity;
82 btScalar m_maxMotorForce;
83 bool m_servoMotor;
84 btScalar m_servoTarget;
85 bool m_enableSpring;
86 btScalar m_springStiffness;
87 bool m_springStiffnessLimited;
88 btScalar m_springDamping;
89 bool m_springDampingLimited;
90 btScalar m_equilibriumPoint;
91
92 btScalar m_currentLimitError;
93 btScalar m_currentLimitErrorHi;
94 btScalar m_currentPosition;
95 int m_currentLimit;
96
97 btRotationalLimitMotor2()
98 {
99 m_loLimit = 1.0f;
100 m_hiLimit = -1.0f;
101 m_bounce = 0.0f;
102 m_stopERP = 0.2f;
103 m_stopCFM = 0.f;
104 m_motorERP = 0.9f;
105 m_motorCFM = 0.f;
106 m_enableMotor = false;
107 m_targetVelocity = 0;
108 m_maxMotorForce = 6.0f;
109 m_servoMotor = false;
110 m_servoTarget = 0;
111 m_enableSpring = false;
112 m_springStiffness = 0;
113 m_springStiffnessLimited = false;
114 m_springDamping = 0;
115 m_springDampingLimited = false;
116 m_equilibriumPoint = 0;
117
118 m_currentLimitError = 0;
119 m_currentLimitErrorHi = 0;
120 m_currentPosition = 0;
121 m_currentLimit = 0;
122 }
123
124 btRotationalLimitMotor2(const btRotationalLimitMotor2& limot)
125 {
126 m_loLimit = limot.m_loLimit;
127 m_hiLimit = limot.m_hiLimit;
128 m_bounce = limot.m_bounce;
129 m_stopERP = limot.m_stopERP;
130 m_stopCFM = limot.m_stopCFM;
131 m_motorERP = limot.m_motorERP;
132 m_motorCFM = limot.m_motorCFM;
133 m_enableMotor = limot.m_enableMotor;
134 m_targetVelocity = limot.m_targetVelocity;
135 m_maxMotorForce = limot.m_maxMotorForce;
136 m_servoMotor = limot.m_servoMotor;
137 m_servoTarget = limot.m_servoTarget;
138 m_enableSpring = limot.m_enableSpring;
139 m_springStiffness = limot.m_springStiffness;
140 m_springStiffnessLimited = limot.m_springStiffnessLimited;
141 m_springDamping = limot.m_springDamping;
142 m_springDampingLimited = limot.m_springDampingLimited;
143 m_equilibriumPoint = limot.m_equilibriumPoint;
144
145 m_currentLimitError = limot.m_currentLimitError;
146 m_currentLimitErrorHi = limot.m_currentLimitErrorHi;
147 m_currentPosition = limot.m_currentPosition;
148 m_currentLimit = limot.m_currentLimit;
149 }
150
151 bool isLimited()
152 {
153 if (m_loLimit > m_hiLimit) return false;
154 return true;
155 }
156
157 void testLimitValue(btScalar test_value);
158 };
159
160 class btTranslationalLimitMotor2
161 {
162 public:
163 // upper < lower means free
164 // upper == lower means locked
165 // upper > lower means limited
166 btVector3 m_lowerLimit;
167 btVector3 m_upperLimit;
168 btVector3 m_bounce;
169 btVector3 m_stopERP;
170 btVector3 m_stopCFM;
171 btVector3 m_motorERP;
172 btVector3 m_motorCFM;
173 bool m_enableMotor[3];
174 bool m_servoMotor[3];
175 bool m_enableSpring[3];
176 btVector3 m_servoTarget;
177 btVector3 m_springStiffness;
178 bool m_springStiffnessLimited[3];
179 btVector3 m_springDamping;
180 bool m_springDampingLimited[3];
181 btVector3 m_equilibriumPoint;
182 btVector3 m_targetVelocity;
183 btVector3 m_maxMotorForce;
184
185 btVector3 m_currentLimitError;
186 btVector3 m_currentLimitErrorHi;
187 btVector3 m_currentLinearDiff;
188 int m_currentLimit[3];
189
190 btTranslationalLimitMotor2()
191 {
192 m_lowerLimit.setValue(0.f, 0.f, 0.f);
193 m_upperLimit.setValue(0.f, 0.f, 0.f);
194 m_bounce.setValue(0.f, 0.f, 0.f);
195 m_stopERP.setValue(0.2f, 0.2f, 0.2f);
196 m_stopCFM.setValue(0.f, 0.f, 0.f);
197 m_motorERP.setValue(0.9f, 0.9f, 0.9f);
198 m_motorCFM.setValue(0.f, 0.f, 0.f);
199
200 m_currentLimitError.setValue(0.f, 0.f, 0.f);
201 m_currentLimitErrorHi.setValue(0.f, 0.f, 0.f);
202 m_currentLinearDiff.setValue(0.f, 0.f, 0.f);
203
204 for (int i = 0; i < 3; i++)
205 {
206 m_enableMotor[i] = false;
207 m_servoMotor[i] = false;
208 m_enableSpring[i] = false;
209 m_servoTarget[i] = btScalar(0.f);
210 m_springStiffness[i] = btScalar(0.f);
211 m_springStiffnessLimited[i] = false;
212 m_springDamping[i] = btScalar(0.f);
213 m_springDampingLimited[i] = false;
214 m_equilibriumPoint[i] = btScalar(0.f);
215 m_targetVelocity[i] = btScalar(0.f);
216 m_maxMotorForce[i] = btScalar(0.f);
217
218 m_currentLimit[i] = 0;
219 }
220 }
221
222 btTranslationalLimitMotor2(const btTranslationalLimitMotor2& other)
223 {
224 m_lowerLimit = other.m_lowerLimit;
225 m_upperLimit = other.m_upperLimit;
226 m_bounce = other.m_bounce;
227 m_stopERP = other.m_stopERP;
228 m_stopCFM = other.m_stopCFM;
229 m_motorERP = other.m_motorERP;
230 m_motorCFM = other.m_motorCFM;
231
232 m_currentLimitError = other.m_currentLimitError;
233 m_currentLimitErrorHi = other.m_currentLimitErrorHi;
234 m_currentLinearDiff = other.m_currentLinearDiff;
235
236 for (int i = 0; i < 3; i++)
237 {
238 m_enableMotor[i] = other.m_enableMotor[i];
239 m_servoMotor[i] = other.m_servoMotor[i];
240 m_enableSpring[i] = other.m_enableSpring[i];
241 m_servoTarget[i] = other.m_servoTarget[i];
242 m_springStiffness[i] = other.m_springStiffness[i];
243 m_springStiffnessLimited[i] = other.m_springStiffnessLimited[i];
244 m_springDamping[i] = other.m_springDamping[i];
245 m_springDampingLimited[i] = other.m_springDampingLimited[i];
246 m_equilibriumPoint[i] = other.m_equilibriumPoint[i];
247 m_targetVelocity[i] = other.m_targetVelocity[i];
248 m_maxMotorForce[i] = other.m_maxMotorForce[i];
249
250 m_currentLimit[i] = other.m_currentLimit[i];
251 }
252 }
253
254 inline bool isLimited(int limitIndex)
255 {
256 return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
257 }
258
259 void testLimitValue(int limitIndex, btScalar test_value);
260 };
261
262 enum bt6DofFlags2
263 {
264 BT_6DOF_FLAGS_CFM_STOP2 = 1,
265 BT_6DOF_FLAGS_ERP_STOP2 = 2,
266 BT_6DOF_FLAGS_CFM_MOTO2 = 4,
267 BT_6DOF_FLAGS_ERP_MOTO2 = 8,
268 };
269 #define BT_6DOF_FLAGS_AXIS_SHIFT2 4 // bits per axis
270
271 ATTRIBUTE_ALIGNED16(class)
272 btGeneric6DofSpring2Constraint : public btTypedConstraint
273 {
274 protected:
275 btTransform m_frameInA;
276 btTransform m_frameInB;
277
278 btJacobianEntry m_jacLinear[3];
279 btJacobianEntry m_jacAng[3];
280
281 btTranslationalLimitMotor2 m_linearLimits;
282 btRotationalLimitMotor2 m_angularLimits[3];
283
284 RotateOrder m_rotateOrder;
285
286 protected:
287 btTransform m_calculatedTransformA;
288 btTransform m_calculatedTransformB;
289 btVector3 m_calculatedAxisAngleDiff;
290 btVector3 m_calculatedAxis[3];
291 btVector3 m_calculatedLinearDiff;
292 btScalar m_factA;
293 btScalar m_factB;
294 bool m_hasStaticBody;
295 int m_flags;
296
297 btGeneric6DofSpring2Constraint& operator=(const btGeneric6DofSpring2Constraint&)
298 {
299 btAssert(0);
300 return *this;
301 }
302
303 int setAngularLimits(btConstraintInfo2 * info, int row_offset, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB);
304 int setLinearLimits(btConstraintInfo2 * info, int row, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB);
305
306 void calculateLinearInfo();
307 void calculateAngleInfo();
308 void testAngularLimitMotor(int axis_index);
309
310 void calculateJacobi(btRotationalLimitMotor2 * limot, const btTransform& transA, const btTransform& transB, btConstraintInfo2* info, int srow, btVector3& ax1, int rotational, int rotAllowed);
311 int get_limit_motor_info2(btRotationalLimitMotor2 * limot,
312 const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB,
313 btConstraintInfo2* info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
314
315 public:
316 BT_DECLARE_ALIGNED_ALLOCATOR();
317
318 btGeneric6DofSpring2Constraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB, RotateOrder rotOrder = RO_XYZ);
319 btGeneric6DofSpring2Constraint(btRigidBody & rbB, const btTransform& frameInB, RotateOrder rotOrder = RO_XYZ);
320
321 virtual void buildJacobian() {}
322 virtual void getInfo1(btConstraintInfo1 * info);
323 virtual void getInfo2(btConstraintInfo2 * info);
324 virtual int calculateSerializeBufferSize() const;
325 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
326
327 btRotationalLimitMotor2* getRotationalLimitMotor(int index) { return &m_angularLimits[index]; }
328 btTranslationalLimitMotor2* getTranslationalLimitMotor() { return &m_linearLimits; }
329
330 // Calculates the global transform for the joint offset for body A an B, and also calculates the angle differences between the bodies.
331 void calculateTransforms(const btTransform& transA, const btTransform& transB);
332 void calculateTransforms();
333
334 // Gets the global transform of the offset for body A
335 const btTransform& getCalculatedTransformA() const { return m_calculatedTransformA; }
336 // Gets the global transform of the offset for body B
337 const btTransform& getCalculatedTransformB() const { return m_calculatedTransformB; }
338
339 const btTransform& getFrameOffsetA() const { return m_frameInA; }
340 const btTransform& getFrameOffsetB() const { return m_frameInB; }
341
342 btTransform& getFrameOffsetA() { return m_frameInA; }
343 btTransform& getFrameOffsetB() { return m_frameInB; }
344
345 // Get the rotation axis in global coordinates ( btGeneric6DofSpring2Constraint::calculateTransforms() must be called previously )
346 btVector3 getAxis(int axis_index) const { return m_calculatedAxis[axis_index]; }
347
348 // Get the relative Euler angle ( btGeneric6DofSpring2Constraint::calculateTransforms() must be called previously )
349 btScalar getAngle(int axis_index) const { return m_calculatedAxisAngleDiff[axis_index]; }
350
351 // Get the relative position of the constraint pivot ( btGeneric6DofSpring2Constraint::calculateTransforms() must be called previously )
352 btScalar getRelativePivotPosition(int axis_index) const { return m_calculatedLinearDiff[axis_index]; }
353
354 void setFrames(const btTransform& frameA, const btTransform& frameB);
355
356 void setLinearLowerLimit(const btVector3& linearLower) { m_linearLimits.m_lowerLimit = linearLower; }
357 void getLinearLowerLimit(btVector3 & linearLower) { linearLower = m_linearLimits.m_lowerLimit; }
358 void setLinearUpperLimit(const btVector3& linearUpper) { m_linearLimits.m_upperLimit = linearUpper; }
359 void getLinearUpperLimit(btVector3 & linearUpper) { linearUpper = m_linearLimits.m_upperLimit; }
360
361 void setAngularLowerLimit(const btVector3& angularLower)
362 {
363 for (int i = 0; i < 3; i++)
364 m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
365 }
366
367 void setAngularLowerLimitReversed(const btVector3& angularLower)
368 {
369 for (int i = 0; i < 3; i++)
370 m_angularLimits[i].m_hiLimit = btNormalizeAngle(-angularLower[i]);
371 }
372
373 void getAngularLowerLimit(btVector3 & angularLower)
374 {
375 for (int i = 0; i < 3; i++)
376 angularLower[i] = m_angularLimits[i].m_loLimit;
377 }
378
379 void getAngularLowerLimitReversed(btVector3 & angularLower)
380 {
381 for (int i = 0; i < 3; i++)
382 angularLower[i] = -m_angularLimits[i].m_hiLimit;
383 }
384
385 void setAngularUpperLimit(const btVector3& angularUpper)
386 {
387 for (int i = 0; i < 3; i++)
388 m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
389 }
390
391 void setAngularUpperLimitReversed(const btVector3& angularUpper)
392 {
393 for (int i = 0; i < 3; i++)
394 m_angularLimits[i].m_loLimit = btNormalizeAngle(-angularUpper[i]);
395 }
396
397 void getAngularUpperLimit(btVector3 & angularUpper)
398 {
399 for (int i = 0; i < 3; i++)
400 angularUpper[i] = m_angularLimits[i].m_hiLimit;
401 }
402
403 void getAngularUpperLimitReversed(btVector3 & angularUpper)
404 {
405 for (int i = 0; i < 3; i++)
406 angularUpper[i] = -m_angularLimits[i].m_loLimit;
407 }
408
409 //first 3 are linear, next 3 are angular
410
411 void setLimit(int axis, btScalar lo, btScalar hi)
412 {
413 if (axis < 3)
414 {
415 m_linearLimits.m_lowerLimit[axis] = lo;
416 m_linearLimits.m_upperLimit[axis] = hi;
417 }
418 else
419 {
420 lo = btNormalizeAngle(lo);
421 hi = btNormalizeAngle(hi);
422 m_angularLimits[axis - 3].m_loLimit = lo;
423 m_angularLimits[axis - 3].m_hiLimit = hi;
424 }
425 }
426
427 void setLimitReversed(int axis, btScalar lo, btScalar hi)
428 {
429 if (axis < 3)
430 {
431 m_linearLimits.m_lowerLimit[axis] = lo;
432 m_linearLimits.m_upperLimit[axis] = hi;
433 }
434 else
435 {
436 lo = btNormalizeAngle(lo);
437 hi = btNormalizeAngle(hi);
438 m_angularLimits[axis - 3].m_hiLimit = -lo;
439 m_angularLimits[axis - 3].m_loLimit = -hi;
440 }
441 }
442
443 bool isLimited(int limitIndex)
444 {
445 if (limitIndex < 3)
446 {
447 return m_linearLimits.isLimited(limitIndex);
448 }
449 return m_angularLimits[limitIndex - 3].isLimited();
450 }
451
452 void setRotationOrder(RotateOrder order) { m_rotateOrder = order; }
453 RotateOrder getRotationOrder() { return m_rotateOrder; }
454
455 void setAxis(const btVector3& axis1, const btVector3& axis2);
456
457 void setBounce(int index, btScalar bounce);
458
459 void enableMotor(int index, bool onOff);
460 void setServo(int index, bool onOff); // set the type of the motor (servo or not) (the motor has to be turned on for servo also)
461 void setTargetVelocity(int index, btScalar velocity);
462 void setServoTarget(int index, btScalar target);
463 void setMaxMotorForce(int index, btScalar force);
464
465 void enableSpring(int index, bool onOff);
466 void setStiffness(int index, btScalar stiffness, bool limitIfNeeded = true); // if limitIfNeeded is true the system will automatically limit the stiffness in necessary situations where otherwise the spring would move unrealistically too widely
467 void setDamping(int index, btScalar damping, bool limitIfNeeded = true); // if limitIfNeeded is true the system will automatically limit the damping in necessary situations where otherwise the spring would blow up
468 void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
469 void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF
470 void setEquilibriumPoint(int index, btScalar val);
471
472 //override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
473 //If no axis is provided, it uses the default axis for this constraint.
474 virtual void setParam(int num, btScalar value, int axis = -1);
475 virtual btScalar getParam(int num, int axis = -1) const;
476
477 static btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
478 static bool matrixToEulerXYZ(const btMatrix3x3& mat, btVector3& xyz);
479 static bool matrixToEulerXZY(const btMatrix3x3& mat, btVector3& xyz);
480 static bool matrixToEulerYXZ(const btMatrix3x3& mat, btVector3& xyz);
481 static bool matrixToEulerYZX(const btMatrix3x3& mat, btVector3& xyz);
482 static bool matrixToEulerZXY(const btMatrix3x3& mat, btVector3& xyz);
483 static bool matrixToEulerZYX(const btMatrix3x3& mat, btVector3& xyz);
484 };
485
486 struct btGeneric6DofSpring2ConstraintData
487 {
488 btTypedConstraintData m_typeConstraintData;
489 btTransformFloatData m_rbAFrame;
490 btTransformFloatData m_rbBFrame;
491
492 btVector3FloatData m_linearUpperLimit;
493 btVector3FloatData m_linearLowerLimit;
494 btVector3FloatData m_linearBounce;
495 btVector3FloatData m_linearStopERP;
496 btVector3FloatData m_linearStopCFM;
497 btVector3FloatData m_linearMotorERP;
498 btVector3FloatData m_linearMotorCFM;
499 btVector3FloatData m_linearTargetVelocity;
500 btVector3FloatData m_linearMaxMotorForce;
501 btVector3FloatData m_linearServoTarget;
502 btVector3FloatData m_linearSpringStiffness;
503 btVector3FloatData m_linearSpringDamping;
504 btVector3FloatData m_linearEquilibriumPoint;
505 char m_linearEnableMotor[4];
506 char m_linearServoMotor[4];
507 char m_linearEnableSpring[4];
508 char m_linearSpringStiffnessLimited[4];
509 char m_linearSpringDampingLimited[4];
510 char m_padding1[4];
511
512 btVector3FloatData m_angularUpperLimit;
513 btVector3FloatData m_angularLowerLimit;
514 btVector3FloatData m_angularBounce;
515 btVector3FloatData m_angularStopERP;
516 btVector3FloatData m_angularStopCFM;
517 btVector3FloatData m_angularMotorERP;
518 btVector3FloatData m_angularMotorCFM;
519 btVector3FloatData m_angularTargetVelocity;
520 btVector3FloatData m_angularMaxMotorForce;
521 btVector3FloatData m_angularServoTarget;
522 btVector3FloatData m_angularSpringStiffness;
523 btVector3FloatData m_angularSpringDamping;
524 btVector3FloatData m_angularEquilibriumPoint;
525 char m_angularEnableMotor[4];
526 char m_angularServoMotor[4];
527 char m_angularEnableSpring[4];
528 char m_angularSpringStiffnessLimited[4];
529 char m_angularSpringDampingLimited[4];
530
531 int m_rotateOrder;
532 };
533
534 struct btGeneric6DofSpring2ConstraintDoubleData2
535 {
536 btTypedConstraintDoubleData m_typeConstraintData;
537 btTransformDoubleData m_rbAFrame;
538 btTransformDoubleData m_rbBFrame;
539
540 btVector3DoubleData m_linearUpperLimit;
541 btVector3DoubleData m_linearLowerLimit;
542 btVector3DoubleData m_linearBounce;
543 btVector3DoubleData m_linearStopERP;
544 btVector3DoubleData m_linearStopCFM;
545 btVector3DoubleData m_linearMotorERP;
546 btVector3DoubleData m_linearMotorCFM;
547 btVector3DoubleData m_linearTargetVelocity;
548 btVector3DoubleData m_linearMaxMotorForce;
549 btVector3DoubleData m_linearServoTarget;
550 btVector3DoubleData m_linearSpringStiffness;
551 btVector3DoubleData m_linearSpringDamping;
552 btVector3DoubleData m_linearEquilibriumPoint;
553 char m_linearEnableMotor[4];
554 char m_linearServoMotor[4];
555 char m_linearEnableSpring[4];
556 char m_linearSpringStiffnessLimited[4];
557 char m_linearSpringDampingLimited[4];
558 char m_padding1[4];
559
560 btVector3DoubleData m_angularUpperLimit;
561 btVector3DoubleData m_angularLowerLimit;
562 btVector3DoubleData m_angularBounce;
563 btVector3DoubleData m_angularStopERP;
564 btVector3DoubleData m_angularStopCFM;
565 btVector3DoubleData m_angularMotorERP;
566 btVector3DoubleData m_angularMotorCFM;
567 btVector3DoubleData m_angularTargetVelocity;
568 btVector3DoubleData m_angularMaxMotorForce;
569 btVector3DoubleData m_angularServoTarget;
570 btVector3DoubleData m_angularSpringStiffness;
571 btVector3DoubleData m_angularSpringDamping;
572 btVector3DoubleData m_angularEquilibriumPoint;
573 char m_angularEnableMotor[4];
574 char m_angularServoMotor[4];
575 char m_angularEnableSpring[4];
576 char m_angularSpringStiffnessLimited[4];
577 char m_angularSpringDampingLimited[4];
578
579 int m_rotateOrder;
580 };
581
582 SIMD_FORCE_INLINE int btGeneric6DofSpring2Constraint::calculateSerializeBufferSize() const
583 {
584 return sizeof(btGeneric6DofSpring2ConstraintData2);
585 }
586
587 SIMD_FORCE_INLINE const char* btGeneric6DofSpring2Constraint::serialize(void* dataBuffer, btSerializer* serializer) const
588 {
589 btGeneric6DofSpring2ConstraintData2* dof = (btGeneric6DofSpring2ConstraintData2*)dataBuffer;
590 btTypedConstraint::serialize(&dof->m_typeConstraintData, serializer);
591
592 m_frameInA.serialize(dof->m_rbAFrame);
593 m_frameInB.serialize(dof->m_rbBFrame);
594
595 int i;
596 for (i = 0; i < 3; i++)
597 {
598 dof->m_angularLowerLimit.m_floats[i] = m_angularLimits[i].m_loLimit;
599 dof->m_angularUpperLimit.m_floats[i] = m_angularLimits[i].m_hiLimit;
600 dof->m_angularBounce.m_floats[i] = m_angularLimits[i].m_bounce;
601 dof->m_angularStopERP.m_floats[i] = m_angularLimits[i].m_stopERP;
602 dof->m_angularStopCFM.m_floats[i] = m_angularLimits[i].m_stopCFM;
603 dof->m_angularMotorERP.m_floats[i] = m_angularLimits[i].m_motorERP;
604 dof->m_angularMotorCFM.m_floats[i] = m_angularLimits[i].m_motorCFM;
605 dof->m_angularTargetVelocity.m_floats[i] = m_angularLimits[i].m_targetVelocity;
606 dof->m_angularMaxMotorForce.m_floats[i] = m_angularLimits[i].m_maxMotorForce;
607 dof->m_angularServoTarget.m_floats[i] = m_angularLimits[i].m_servoTarget;
608 dof->m_angularSpringStiffness.m_floats[i] = m_angularLimits[i].m_springStiffness;
609 dof->m_angularSpringDamping.m_floats[i] = m_angularLimits[i].m_springDamping;
610 dof->m_angularEquilibriumPoint.m_floats[i] = m_angularLimits[i].m_equilibriumPoint;
611 }
612 dof->m_angularLowerLimit.m_floats[3] = 0;
613 dof->m_angularUpperLimit.m_floats[3] = 0;
614 dof->m_angularBounce.m_floats[3] = 0;
615 dof->m_angularStopERP.m_floats[3] = 0;
616 dof->m_angularStopCFM.m_floats[3] = 0;
617 dof->m_angularMotorERP.m_floats[3] = 0;
618 dof->m_angularMotorCFM.m_floats[3] = 0;
619 dof->m_angularTargetVelocity.m_floats[3] = 0;
620 dof->m_angularMaxMotorForce.m_floats[3] = 0;
621 dof->m_angularServoTarget.m_floats[3] = 0;
622 dof->m_angularSpringStiffness.m_floats[3] = 0;
623 dof->m_angularSpringDamping.m_floats[3] = 0;
624 dof->m_angularEquilibriumPoint.m_floats[3] = 0;
625 for (i = 0; i < 4; i++)
626 {
627 dof->m_angularEnableMotor[i] = i < 3 ? (m_angularLimits[i].m_enableMotor ? 1 : 0) : 0;
628 dof->m_angularServoMotor[i] = i < 3 ? (m_angularLimits[i].m_servoMotor ? 1 : 0) : 0;
629 dof->m_angularEnableSpring[i] = i < 3 ? (m_angularLimits[i].m_enableSpring ? 1 : 0) : 0;
630 dof->m_angularSpringStiffnessLimited[i] = i < 3 ? (m_angularLimits[i].m_springStiffnessLimited ? 1 : 0) : 0;
631 dof->m_angularSpringDampingLimited[i] = i < 3 ? (m_angularLimits[i].m_springDampingLimited ? 1 : 0) : 0;
632 }
633
634 m_linearLimits.m_lowerLimit.serialize(dof->m_linearLowerLimit);
635 m_linearLimits.m_upperLimit.serialize(dof->m_linearUpperLimit);
636 m_linearLimits.m_bounce.serialize(dof->m_linearBounce);
637 m_linearLimits.m_stopERP.serialize(dof->m_linearStopERP);
638 m_linearLimits.m_stopCFM.serialize(dof->m_linearStopCFM);
639 m_linearLimits.m_motorERP.serialize(dof->m_linearMotorERP);
640 m_linearLimits.m_motorCFM.serialize(dof->m_linearMotorCFM);
641 m_linearLimits.m_targetVelocity.serialize(dof->m_linearTargetVelocity);
642 m_linearLimits.m_maxMotorForce.serialize(dof->m_linearMaxMotorForce);
643 m_linearLimits.m_servoTarget.serialize(dof->m_linearServoTarget);
644 m_linearLimits.m_springStiffness.serialize(dof->m_linearSpringStiffness);
645 m_linearLimits.m_springDamping.serialize(dof->m_linearSpringDamping);
646 m_linearLimits.m_equilibriumPoint.serialize(dof->m_linearEquilibriumPoint);
647 for (i = 0; i < 4; i++)
648 {
649 dof->m_linearEnableMotor[i] = i < 3 ? (m_linearLimits.m_enableMotor[i] ? 1 : 0) : 0;
650 dof->m_linearServoMotor[i] = i < 3 ? (m_linearLimits.m_servoMotor[i] ? 1 : 0) : 0;
651 dof->m_linearEnableSpring[i] = i < 3 ? (m_linearLimits.m_enableSpring[i] ? 1 : 0) : 0;
652 dof->m_linearSpringStiffnessLimited[i] = i < 3 ? (m_linearLimits.m_springStiffnessLimited[i] ? 1 : 0) : 0;
653 dof->m_linearSpringDampingLimited[i] = i < 3 ? (m_linearLimits.m_springDampingLimited[i] ? 1 : 0) : 0;
654 }
655
656 dof->m_rotateOrder = m_rotateOrder;
657
658 dof->m_padding1[0] = 0;
659 dof->m_padding1[1] = 0;
660 dof->m_padding1[2] = 0;
661 dof->m_padding1[3] = 0;
662
663 return btGeneric6DofSpring2ConstraintDataName;
664 }
665
666 #endif //BT_GENERIC_6DOF_CONSTRAINT_H
btGeneric6DofSpring2ConstraintData::m_angularSpringDampingLimited
char m_angularSpringDampingLimited[4]
Definition: btGeneric6DofSpring2Constraint.h:529
btTranslationalLimitMotor2::m_springStiffnessLimited
bool m_springStiffnessLimited[3]
Definition: btGeneric6DofSpring2Constraint.h:178
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:76
btTransformDoubleData
Definition: btTransform.h:251
btTranslationalLimitMotor2::m_motorERP
btVector3 m_motorERP
Definition: btGeneric6DofSpring2Constraint.h:171
btRotationalLimitMotor2::m_servoMotor
bool m_servoMotor
Definition: btGeneric6DofSpring2Constraint.h:83
btGeneric6DofSpring2ConstraintData::m_linearEnableSpring
char m_linearEnableSpring[4]
Definition: btGeneric6DofSpring2Constraint.h:507
btVector3::serialize
void serialize(struct btVector3Data &dataOut) const
Definition: btVector3.h:1317
RO_XZY
@ RO_XZY
Definition: btGeneric6DofSpring2Constraint.h:60
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:60
RO_XYZ
@ RO_XYZ
Definition: btGeneric6DofSpring2Constraint.h:59
btRotationalLimitMotor2::isLimited
bool isLimited()
Definition: btGeneric6DofSpring2Constraint.h:151
btGeneric6DofSpring2Constraint::m_factB
btScalar m_factB
Definition: btGeneric6DofSpring2Constraint.h:293
btTranslationalLimitMotor2::isLimited
bool isLimited(int limitIndex)
Definition: btGeneric6DofSpring2Constraint.h:254
btGeneric6DofSpring2ConstraintData::m_rotateOrder
int m_rotateOrder
Definition: btGeneric6DofSpring2Constraint.h:531
btGeneric6DofSpring2ConstraintData::m_linearLowerLimit
btVector3FloatData m_linearLowerLimit
Definition: btGeneric6DofSpring2Constraint.h:493
btGeneric6DofSpring2Constraint::setLinearUpperLimit
void setLinearUpperLimit(const btVector3 &linearUpper)
Definition: btGeneric6DofSpring2Constraint.h:358
btGeneric6DofSpring2ConstraintDoubleData2::m_linearTargetVelocity
btVector3DoubleData m_linearTargetVelocity
Definition: btGeneric6DofSpring2Constraint.h:547
btGeneric6DofSpring2ConstraintData::m_rbBFrame
btTransformFloatData m_rbBFrame
Definition: btGeneric6DofSpring2Constraint.h:490
btGeneric6DofSpring2Constraint::getRelativePivotPosition
btScalar getRelativePivotPosition(int axis_index) const
Definition: btGeneric6DofSpring2Constraint.h:352
btGeneric6DofSpring2ConstraintData::m_angularSpringDamping
btVector3FloatData m_angularSpringDamping
Definition: btGeneric6DofSpring2Constraint.h:523
btGeneric6DofSpring2Constraint::getFrameOffsetB
btTransform & getFrameOffsetB()
Definition: btGeneric6DofSpring2Constraint.h:343
btGeneric6DofSpring2ConstraintDoubleData2::m_angularMaxMotorForce
btVector3DoubleData m_angularMaxMotorForce
Definition: btGeneric6DofSpring2Constraint.h:568
btTranslationalLimitMotor2::m_currentLimitError
btVector3 m_currentLimitError
Definition: btGeneric6DofSpring2Constraint.h:185
btGeneric6DofSpring2Constraint::getFrameOffsetA
const btTransform & getFrameOffsetA() const
Definition: btGeneric6DofSpring2Constraint.h:339
btGeneric6DofSpring2Constraint::getAngularUpperLimitReversed
void getAngularUpperLimitReversed(btVector3 &angularUpper)
Definition: btGeneric6DofSpring2Constraint.h:403
btTranslationalLimitMotor2::m_targetVelocity
btVector3 m_targetVelocity
Definition: btGeneric6DofSpring2Constraint.h:182
btGeneric6DofSpring2ConstraintDoubleData2::m_linearEnableMotor
char m_linearEnableMotor[4]
Definition: btGeneric6DofSpring2Constraint.h:553
RO_YZX
@ RO_YZX
Definition: btGeneric6DofSpring2Constraint.h:62
btRotationalLimitMotor2::m_equilibriumPoint
btScalar m_equilibriumPoint
Definition: btGeneric6DofSpring2Constraint.h:90
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btGeneric6DofSpring2ConstraintData::m_linearBounce
btVector3FloatData m_linearBounce
Definition: btGeneric6DofSpring2Constraint.h:494
RotateOrder
RotateOrder
Definition: btGeneric6DofSpring2Constraint.h:58
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btGeneric6DofSpring2ConstraintData::m_padding1
char m_padding1[4]
Definition: btGeneric6DofSpring2Constraint.h:510
btGeneric6DofSpring2Constraint::setAngularLowerLimitReversed
void setAngularLowerLimitReversed(const btVector3 &angularLower)
Definition: btGeneric6DofSpring2Constraint.h:367
btGeneric6DofSpring2ConstraintDoubleData2::m_rbBFrame
btTransformDoubleData m_rbBFrame
Definition: btGeneric6DofSpring2Constraint.h:538
btTranslationalLimitMotor2::m_enableSpring
bool m_enableSpring[3]
Definition: btGeneric6DofSpring2Constraint.h:175
btJacobianEntry
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
Definition: btJacobianEntry.h:31
btGeneric6DofSpring2ConstraintData::m_angularLowerLimit
btVector3FloatData m_angularLowerLimit
Definition: btGeneric6DofSpring2Constraint.h:513
btTranslationalLimitMotor2::m_currentLimit
int m_currentLimit[3]
Definition: btGeneric6DofSpring2Constraint.h:188
btTranslationalLimitMotor2::m_currentLimitErrorHi
btVector3 m_currentLimitErrorHi
Definition: btGeneric6DofSpring2Constraint.h:186
btGeneric6DofSpring2Constraint::setRotationOrder
void setRotationOrder(RotateOrder order)
Definition: btGeneric6DofSpring2Constraint.h:452
btTranslationalLimitMotor2::m_stopERP
btVector3 m_stopERP
Definition: btGeneric6DofSpring2Constraint.h:169
btGeneric6DofSpring2Constraint
Definition: btGeneric6DofSpring2Constraint.h:273
btRotationalLimitMotor2::m_currentPosition
btScalar m_currentPosition
Definition: btGeneric6DofSpring2Constraint.h:94
btGeneric6DofSpring2Constraint::getAngularLowerLimitReversed
void getAngularLowerLimitReversed(btVector3 &angularLower)
Definition: btGeneric6DofSpring2Constraint.h:379
btGeneric6DofSpring2ConstraintData::m_angularUpperLimit
btVector3FloatData m_angularUpperLimit
Definition: btGeneric6DofSpring2Constraint.h:512
btGeneric6DofSpring2ConstraintData::m_angularServoTarget
btVector3FloatData m_angularServoTarget
Definition: btGeneric6DofSpring2Constraint.h:521
btRotationalLimitMotor2::m_currentLimitErrorHi
btScalar m_currentLimitErrorHi
Definition: btGeneric6DofSpring2Constraint.h:93
btGeneric6DofSpring2ConstraintDoubleData2::m_linearSpringDampingLimited
char m_linearSpringDampingLimited[4]
Definition: btGeneric6DofSpring2Constraint.h:557
btGeneric6DofSpring2ConstraintDoubleData2::m_angularEnableSpring
char m_angularEnableSpring[4]
Definition: btGeneric6DofSpring2Constraint.h:575
btGeneric6DofSpring2Constraint::getRotationOrder
RotateOrder getRotationOrder()
Definition: btGeneric6DofSpring2Constraint.h:453
btTranslationalLimitMotor2::m_bounce
btVector3 m_bounce
Definition: btGeneric6DofSpring2Constraint.h:168
btGeneric6DofSpring2ConstraintData::m_linearMaxMotorForce
btVector3FloatData m_linearMaxMotorForce
Definition: btGeneric6DofSpring2Constraint.h:500
btGeneric6DofSpring2Constraint::getCalculatedTransformA
const btTransform & getCalculatedTransformA() const
Definition: btGeneric6DofSpring2Constraint.h:335
bt6DofFlags2
bt6DofFlags2
Definition: btGeneric6DofSpring2Constraint.h:263
btGeneric6DofSpring2ConstraintData::m_angularBounce
btVector3FloatData m_angularBounce
Definition: btGeneric6DofSpring2Constraint.h:514
btGeneric6DofSpring2Constraint::isLimited
bool isLimited(int limitIndex)
Definition: btGeneric6DofSpring2Constraint.h:443
btGetMatrixElem
btScalar btGetMatrixElem(const btMatrix3x3 &mat, int index)
Definition: btGeneric6DofConstraint.cpp:53
btGeneric6DofSpring2ConstraintData::m_linearSpringStiffness
btVector3FloatData m_linearSpringStiffness
Definition: btGeneric6DofSpring2Constraint.h:502
btGeneric6DofSpring2ConstraintData::m_linearMotorCFM
btVector3FloatData m_linearMotorCFM
Definition: btGeneric6DofSpring2Constraint.h:498
btGeneric6DofSpring2Constraint::getAxis
btVector3 getAxis(int axis_index) const
Definition: btGeneric6DofSpring2Constraint.h:346
btTranslationalLimitMotor2::btTranslationalLimitMotor2
btTranslationalLimitMotor2(const btTranslationalLimitMotor2 &other)
Definition: btGeneric6DofSpring2Constraint.h:222
btTranslationalLimitMotor2::testLimitValue
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Definition: btGeneric6DofSpring2Constraint.cpp:1220
btGeneric6DofSpring2Constraint::m_factA
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Definition: btGeneric6DofSpring2Constraint.h:292
btTranslationalLimitMotor2::btTranslationalLimitMotor2
btTranslationalLimitMotor2()
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btTranslationalLimitMotor2::m_servoTarget
btVector3 m_servoTarget
Definition: btGeneric6DofSpring2Constraint.h:176
btGeneric6DofSpring2ConstraintDoubleData2::m_linearStopERP
btVector3DoubleData m_linearStopERP
Definition: btGeneric6DofSpring2Constraint.h:543
btGeneric6DofSpring2ConstraintDoubleData2::m_linearServoMotor
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Definition: btGeneric6DofSpring2Constraint.h:554
btRotationalLimitMotor2::m_targetVelocity
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btGeneric6DofSpring2Constraint::m_calculatedLinearDiff
btVector3 m_calculatedLinearDiff
Definition: btGeneric6DofSpring2Constraint.h:291
btGeneric6DofSpring2ConstraintData::m_linearTargetVelocity
btVector3FloatData m_linearTargetVelocity
Definition: btGeneric6DofSpring2Constraint.h:499
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Definition: btVector3.h:1282
btGeneric6DofSpring2ConstraintDoubleData2::m_linearEquilibriumPoint
btVector3DoubleData m_linearEquilibriumPoint
Definition: btGeneric6DofSpring2Constraint.h:552
btRotationalLimitMotor2::m_stopERP
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Definition: btGeneric6DofSpring2Constraint.h:76
btJacobianEntry.h
btGeneric6DofSpring2ConstraintData::m_angularMaxMotorForce
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Definition: btGeneric6DofSpring2Constraint.h:520
btGeneric6DofSpring2Constraint::m_frameInB
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Definition: btGeneric6DofSpring2Constraint.h:276
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Definition: btGeneric6DofSpring2Constraint.h:172
btGeneric6DofSpring2Constraint::getTranslationalLimitMotor
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Definition: btGeneric6DofSpring2Constraint.h:328
btRotationalLimitMotor2::m_currentLimitError
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Definition: btGeneric6DofSpring2Constraint.h:92
btGeneric6DofSpring2ConstraintDoubleData2::m_linearSpringStiffness
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Definition: btGeneric6DofSpring2Constraint.h:550
btVector3.h
btGeneric6DofSpring2ConstraintDoubleData2::m_linearBounce
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Definition: btGeneric6DofSpring2Constraint.h:542
btGeneric6DofSpring2ConstraintDoubleData2::m_angularSpringDamping
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Definition: btGeneric6DofSpring2Constraint.h:571
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btGeneric6DofSpring2Constraint::m_linearLimits
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Definition: btGeneric6DofSpring2Constraint.h:281
btGeneric6DofSpring2ConstraintDoubleData2::m_angularEnableMotor
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Definition: btGeneric6DofSpring2Constraint.h:573
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Definition: btVector3.h:1287
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Definition: btGeneric6DofSpring2Constraint.h:506
btTranslationalLimitMotor2::m_lowerLimit
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Definition: btGeneric6DofSpring2Constraint.h:166
btTypedConstraint.h
btGeneric6DofSpring2ConstraintDoubleData2::m_angularStopERP
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Definition: btGeneric6DofSpring2Constraint.h:563
btGeneric6DofSpring2Constraint::getCalculatedTransformB
const btTransform & getCalculatedTransformB() const
Definition: btGeneric6DofSpring2Constraint.h:337
btGeneric6DofSpring2Constraint::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btGeneric6DofSpring2Constraint::setAngularLowerLimit
void setAngularLowerLimit(const btVector3 &angularLower)
Definition: btGeneric6DofSpring2Constraint.h:361
btGeneric6DofSpring2ConstraintData::m_linearUpperLimit
btVector3FloatData m_linearUpperLimit
Definition: btGeneric6DofSpring2Constraint.h:492
btTranslationalLimitMotor2::m_currentLinearDiff
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Definition: btGeneric6DofSpring2Constraint.h:187
btNormalizeAngle
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Definition: btScalar.h:781
btRotationalLimitMotor2::m_servoTarget
btScalar m_servoTarget
Definition: btGeneric6DofSpring2Constraint.h:84
btRotationalLimitMotor2::m_springStiffnessLimited
bool m_springStiffnessLimited
Definition: btGeneric6DofSpring2Constraint.h:87
btGeneric6DofSpring2Constraint::m_calculatedTransformB
btTransform m_calculatedTransformB
Definition: btGeneric6DofSpring2Constraint.h:288
btGeneric6DofSpring2Constraint::setLimitReversed
void setLimitReversed(int axis, btScalar lo, btScalar hi)
Definition: btGeneric6DofSpring2Constraint.h:427
btGeneric6DofSpring2ConstraintDoubleData2::m_linearEnableSpring
char m_linearEnableSpring[4]
Definition: btGeneric6DofSpring2Constraint.h:555
btGeneric6DofSpring2ConstraintData::m_angularMotorCFM
btVector3FloatData m_angularMotorCFM
Definition: btGeneric6DofSpring2Constraint.h:518
btGeneric6DofSpring2ConstraintData::m_angularServoMotor
char m_angularServoMotor[4]
Definition: btGeneric6DofSpring2Constraint.h:526
BT_6DOF_FLAGS_ERP_STOP2
@ BT_6DOF_FLAGS_ERP_STOP2
Definition: btGeneric6DofSpring2Constraint.h:265
btRotationalLimitMotor2::m_springDampingLimited
bool m_springDampingLimited
Definition: btGeneric6DofSpring2Constraint.h:89
btGeneric6DofSpring2ConstraintData::m_linearServoTarget
btVector3FloatData m_linearServoTarget
Definition: btGeneric6DofSpring2Constraint.h:501
btTransform::serialize
void serialize(struct btTransformData &dataOut) const
Definition: btTransform.h:256
BT_6DOF_FLAGS_ERP_MOTO2
@ BT_6DOF_FLAGS_ERP_MOTO2
Definition: btGeneric6DofSpring2Constraint.h:267
btGeneric6DofSpring2Constraint::buildJacobian
virtual void buildJacobian()
internal method used by the constraint solver, don't use them directly
Definition: btGeneric6DofSpring2Constraint.h:321
btTranslationalLimitMotor2::m_springDamping
btVector3 m_springDamping
Definition: btGeneric6DofSpring2Constraint.h:179
btGeneric6DofSpring2ConstraintData::m_linearSpringStiffnessLimited
char m_linearSpringStiffnessLimited[4]
Definition: btGeneric6DofSpring2Constraint.h:508
btRotationalLimitMotor2::m_enableSpring
bool m_enableSpring
Definition: btGeneric6DofSpring2Constraint.h:85
btGeneric6DofSpring2ConstraintData2
#define btGeneric6DofSpring2ConstraintData2
Definition: btGeneric6DofSpring2Constraint.h:53
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:48
btGeneric6DofSpring2Constraint::getFrameOffsetB
const btTransform & getFrameOffsetB() const
Definition: btGeneric6DofSpring2Constraint.h:340
btGeneric6DofSpring2ConstraintData::m_rbAFrame
btTransformFloatData m_rbAFrame
Definition: btGeneric6DofSpring2Constraint.h:489
btGeneric6DofSpring2ConstraintDoubleData2::m_angularSpringDampingLimited
char m_angularSpringDampingLimited[4]
Definition: btGeneric6DofSpring2Constraint.h:577
btGeneric6DofSpring2ConstraintDoubleData2::m_linearSpringStiffnessLimited
char m_linearSpringStiffnessLimited[4]
Definition: btGeneric6DofSpring2Constraint.h:556
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btGeneric6DofSpring2Constraint::m_hasStaticBody
bool m_hasStaticBody
Definition: btGeneric6DofSpring2Constraint.h:294
btGeneric6DofSpring2ConstraintData::m_linearMotorERP
btVector3FloatData m_linearMotorERP
Definition: btGeneric6DofSpring2Constraint.h:497
btGeneric6DofSpring2ConstraintData::m_angularEnableSpring
char m_angularEnableSpring[4]
Definition: btGeneric6DofSpring2Constraint.h:527
btGeneric6DofSpring2ConstraintData::m_angularEnableMotor
char m_angularEnableMotor[4]
Definition: btGeneric6DofSpring2Constraint.h:525
btGeneric6DofSpring2ConstraintDoubleData2::m_linearStopCFM
btVector3DoubleData m_linearStopCFM
Definition: btGeneric6DofSpring2Constraint.h:544
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btRotationalLimitMotor2::m_maxMotorForce
btScalar m_maxMotorForce
Definition: btGeneric6DofSpring2Constraint.h:82
btGeneric6DofSpring2Constraint::m_rotateOrder
RotateOrder m_rotateOrder
Definition: btGeneric6DofSpring2Constraint.h:284
btGeneric6DofSpring2ConstraintData::m_linearEnableMotor
char m_linearEnableMotor[4]
Definition: btGeneric6DofSpring2Constraint.h:505
btGeneric6DofSpring2Constraint::setLimit
void setLimit(int axis, btScalar lo, btScalar hi)
Definition: btGeneric6DofSpring2Constraint.h:411
btGeneric6DofSpring2ConstraintDoubleData2::m_angularServoTarget
btVector3DoubleData m_angularServoTarget
Definition: btGeneric6DofSpring2Constraint.h:569
btGeneric6DofSpring2Constraint::m_flags
int m_flags
Definition: btGeneric6DofSpring2Constraint.h:295
btGeneric6DofSpring2ConstraintData::m_angularStopCFM
btVector3FloatData m_angularStopCFM
Definition: btGeneric6DofSpring2Constraint.h:516
btGeneric6DofSpring2ConstraintDoubleData2::m_linearLowerLimit
btVector3DoubleData m_linearLowerLimit
Definition: btGeneric6DofSpring2Constraint.h:541
btGeneric6DofSpring2ConstraintDoubleData2::m_angularSpringStiffnessLimited
char m_angularSpringStiffnessLimited[4]
Definition: btGeneric6DofSpring2Constraint.h:576
btGeneric6DofSpring2ConstraintDoubleData2::m_angularSpringStiffness
btVector3DoubleData m_angularSpringStiffness
Definition: btGeneric6DofSpring2Constraint.h:570
btGeneric6DofSpring2Constraint::getAngle
btScalar getAngle(int axis_index) const
Definition: btGeneric6DofSpring2Constraint.h:349
btGeneric6DofSpring2ConstraintDoubleData2::m_angularBounce
btVector3DoubleData m_angularBounce
Definition: btGeneric6DofSpring2Constraint.h:562
btGeneric6DofSpring2ConstraintDoubleData2::m_angularStopCFM
btVector3DoubleData m_angularStopCFM
Definition: btGeneric6DofSpring2Constraint.h:564
btGeneric6DofSpring2ConstraintDoubleData2::m_linearUpperLimit
btVector3DoubleData m_linearUpperLimit
Definition: btGeneric6DofSpring2Constraint.h:540
btTranslationalLimitMotor2::m_upperLimit
btVector3 m_upperLimit
Definition: btGeneric6DofSpring2Constraint.h:167
btGeneric6DofSpring2Constraint::getRotationalLimitMotor
btRotationalLimitMotor2 * getRotationalLimitMotor(int index)
Definition: btGeneric6DofSpring2Constraint.h:327
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btGeneric6DofSpring2ConstraintDoubleData2::m_angularUpperLimit
btVector3DoubleData m_angularUpperLimit
Definition: btGeneric6DofSpring2Constraint.h:560
BT_6DOF_FLAGS_CFM_STOP2
@ BT_6DOF_FLAGS_CFM_STOP2
Definition: btGeneric6DofSpring2Constraint.h:264
btGeneric6DofSpring2ConstraintDoubleData2::m_angularEquilibriumPoint
btVector3DoubleData m_angularEquilibriumPoint
Definition: btGeneric6DofSpring2Constraint.h:572
btTranslationalLimitMotor2::m_enableMotor
bool m_enableMotor[3]
Definition: btGeneric6DofSpring2Constraint.h:173
btGeneric6DofSpring2ConstraintDoubleData2::m_rbAFrame
btTransformDoubleData m_rbAFrame
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btTranslationalLimitMotor2::m_maxMotorForce
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Definition: btGeneric6DofSpring2Constraint.h:183
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for serialization
Definition: btTransform.h:245
btGeneric6DofSpring2ConstraintDoubleData2::m_linearSpringDamping
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Definition: btGeneric6DofSpring2Constraint.h:551
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btGeneric6DofSpring2ConstraintData::m_linearSpringDamping
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Definition: btGeneric6DofSpring2Constraint.h:503
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Definition: btGeneric6DofSpring2Constraint.h:495
btGeneric6DofSpring2Constraint::operator=
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Definition: btGeneric6DofSpring2Constraint.h:297
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
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btRotationalLimitMotor2::btRotationalLimitMotor2
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Definition: btGeneric6DofSpring2Constraint.h:124
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Definition: btSerializer.h:66
btGeneric6DofSpring2Constraint::setAngularUpperLimitReversed
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Definition: btGeneric6DofSpring2Constraint.h:566
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this structure is not used, except for loading pre-2.82 .bullet files
Definition: btTypedConstraint.h:388
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Definition: btGeneric6DofSpring2Constraint.h:180
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Definition: btGeneric6DofSpring2Constraint.h:546
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Definition: btGeneric6DofSpring2Constraint.h:561
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Definition: btGeneric6DofSpring2Constraint.h:524
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Definition: btGeneric6DofSpring2Constraint.h:528
RO_ZYX
@ RO_ZYX
Definition: btGeneric6DofSpring2Constraint.h:64
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Definition: btGeneric6DofSpring2Constraint.h:519
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Definition: btGeneric6DofSpring2Constraint.h:78
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Definition: btGeneric6DofSpring2Constraint.h:74
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Definition: btGeneric6DofSpring2Constraint.h:275
matrixToEulerXYZ
bool matrixToEulerXYZ(const btMatrix3x3 &mat, btVector3 &xyz)
MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3....
Definition: btGeneric6DofConstraint.cpp:62
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Definition: btGeneric6DofSpring2Constraint.h:397
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Definition: btGeneric6DofSpring2Constraint.h:357
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Definition: btGeneric6DofSpring2Constraint.h:77
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Definition: btGeneric6DofSpring2Constraint.h:509
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Definition: btGeneric6DofSpring2Constraint.h:487
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Definition: btGeneric6DofSpring2Constraint.h:170
btGeneric6DofSpring2Constraint::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btGeneric6DofSpring2Constraint.h:587
btGeneric6DofSpring2Constraint::getFrameOffsetA
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Definition: btGeneric6DofSpring2Constraint.h:342
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Definition: btGeneric6DofSpring2Constraint.h:68
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Definition: btGeneric6DofSpring2Constraint.h:373
btTypedConstraint::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btTypedConstraint.cpp:104
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Definition: btGeneric6DofSpring2Constraint.h:517
btGeneric6DofSpring2ConstraintDoubleData2::m_linearMotorERP
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Definition: btGeneric6DofSpring2Constraint.h:545
RO_YXZ
@ RO_YXZ
Definition: btGeneric6DofSpring2Constraint.h:61
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Definition: btGeneric6DofSpring2Constraint.h:177
RO_ZXY
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Definition: btGeneric6DofSpring2Constraint.h:63
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Definition: btGeneric6DofSpring2Constraint.h:174
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Definition: btGeneric6DofSpring2Constraint.h:282
btGeneric6DofSpring2Constraint::setAngularUpperLimit
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Definition: btGeneric6DofSpring2Constraint.h:385
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#define btGeneric6DofSpring2ConstraintDataName
Definition: btGeneric6DofSpring2Constraint.h:54
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Definition: btGeneric6DofSpring2Constraint.h:558
BT_6DOF_FLAGS_CFM_MOTO2
@ BT_6DOF_FLAGS_CFM_MOTO2
Definition: btGeneric6DofSpring2Constraint.h:266
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Definition: btGeneric6DofSpring2Constraint.h:548
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Definition: btGeneric6DofSpring2Constraint.h:574
btGeneric6DofSpring2ConstraintDoubleData2::m_typeConstraintData
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Definition: btGeneric6DofSpring2Constraint.h:536
btGeneric6DofSpring2ConstraintDoubleData2
Definition: btGeneric6DofSpring2Constraint.h:535
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Definition: btGeneric6DofSpring2Constraint.h:522
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Definition: btGeneric6DofSpring2Constraint.h:80
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Definition: btGeneric6DofSpring2Constraint.h:86
btRotationalLimitMotor2::m_loLimit
btScalar m_loLimit
Definition: btGeneric6DofSpring2Constraint.h:73
btGeneric6DofSpring2Constraint::getLinearUpperLimit
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Definition: btGeneric6DofSpring2Constraint.h:359
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Definition: btGeneric6DofSpring2Constraint.h:504
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Definition: btGeneric6DofSpring2Constraint.h:565
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btVector3 m_calculatedAxisAngleDiff
Definition: btGeneric6DofSpring2Constraint.h:289
btGeneric6DofSpring2Constraint::m_calculatedTransformA
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Definition: btGeneric6DofSpring2Constraint.h:287
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Definition: btGeneric6DofSpring2Constraint.h:161
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Definition: btTypedConstraint.h:411