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

Bullet Collision Detection & Physics Library

btSliderConstraint.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 Added by Roman Ponomarev (rponom@gmail.com)
18 April 04, 2008
19
20 TODO:
21 - add clamping od accumulated impulse to improve stability
22 - add conversion for ODE constraint solver
23 */
24
25 #ifndef BT_SLIDER_CONSTRAINT_H
26 #define BT_SLIDER_CONSTRAINT_H
27
28 #include "LinearMath/btScalar.h" //for BT_USE_DOUBLE_PRECISION
29
30 #ifdef BT_USE_DOUBLE_PRECISION
31 #define btSliderConstraintData2 btSliderConstraintDoubleData
32 #define btSliderConstraintDataName "btSliderConstraintDoubleData"
33 #else
34 #define btSliderConstraintData2 btSliderConstraintData
35 #define btSliderConstraintDataName "btSliderConstraintData"
36 #endif //BT_USE_DOUBLE_PRECISION
37
38 #include "LinearMath/btVector3.h"
39 #include "btJacobianEntry.h"
40 #include "btTypedConstraint.h"
41
42 class btRigidBody;
43
44 #define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0))
45 #define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0))
46 #define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7))
47 #define SLIDER_CONSTRAINT_DEF_CFM (btScalar(0.f))
48
49 enum btSliderFlags
50 {
51 BT_SLIDER_FLAGS_CFM_DIRLIN = (1 << 0),
52 BT_SLIDER_FLAGS_ERP_DIRLIN = (1 << 1),
53 BT_SLIDER_FLAGS_CFM_DIRANG = (1 << 2),
54 BT_SLIDER_FLAGS_ERP_DIRANG = (1 << 3),
55 BT_SLIDER_FLAGS_CFM_ORTLIN = (1 << 4),
56 BT_SLIDER_FLAGS_ERP_ORTLIN = (1 << 5),
57 BT_SLIDER_FLAGS_CFM_ORTANG = (1 << 6),
58 BT_SLIDER_FLAGS_ERP_ORTANG = (1 << 7),
59 BT_SLIDER_FLAGS_CFM_LIMLIN = (1 << 8),
60 BT_SLIDER_FLAGS_ERP_LIMLIN = (1 << 9),
61 BT_SLIDER_FLAGS_CFM_LIMANG = (1 << 10),
62 BT_SLIDER_FLAGS_ERP_LIMANG = (1 << 11)
63 };
64
65 ATTRIBUTE_ALIGNED16(class)
66 btSliderConstraint : public btTypedConstraint
67 {
68 protected:
70 bool m_useSolveConstraintObsolete;
71 bool m_useOffsetForConstraintFrame;
72 btTransform m_frameInA;
73 btTransform m_frameInB;
74 // use frameA fo define limits, if true
75 bool m_useLinearReferenceFrameA;
76 // linear limits
77 btScalar m_lowerLinLimit;
78 btScalar m_upperLinLimit;
79 // angular limits
80 btScalar m_lowerAngLimit;
81 btScalar m_upperAngLimit;
82 // softness, restitution and damping for different cases
83 // DirLin - moving inside linear limits
84 // LimLin - hitting linear limit
85 // DirAng - moving inside angular limits
86 // LimAng - hitting angular limit
87 // OrthoLin, OrthoAng - against constraint axis
88 btScalar m_softnessDirLin;
89 btScalar m_restitutionDirLin;
90 btScalar m_dampingDirLin;
91 btScalar m_cfmDirLin;
92
93 btScalar m_softnessDirAng;
94 btScalar m_restitutionDirAng;
95 btScalar m_dampingDirAng;
96 btScalar m_cfmDirAng;
97
98 btScalar m_softnessLimLin;
99 btScalar m_restitutionLimLin;
100 btScalar m_dampingLimLin;
101 btScalar m_cfmLimLin;
102
103 btScalar m_softnessLimAng;
104 btScalar m_restitutionLimAng;
105 btScalar m_dampingLimAng;
106 btScalar m_cfmLimAng;
107
108 btScalar m_softnessOrthoLin;
109 btScalar m_restitutionOrthoLin;
110 btScalar m_dampingOrthoLin;
111 btScalar m_cfmOrthoLin;
112
113 btScalar m_softnessOrthoAng;
114 btScalar m_restitutionOrthoAng;
115 btScalar m_dampingOrthoAng;
116 btScalar m_cfmOrthoAng;
117
118 // for interlal use
119 bool m_solveLinLim;
120 bool m_solveAngLim;
121
122 int m_flags;
123
124 btJacobianEntry m_jacLin[3];
125 btScalar m_jacLinDiagABInv[3];
126
127 btJacobianEntry m_jacAng[3];
128
129 btScalar m_timeStep;
130 btTransform m_calculatedTransformA;
131 btTransform m_calculatedTransformB;
132
133 btVector3 m_sliderAxis;
134 btVector3 m_realPivotAInW;
135 btVector3 m_realPivotBInW;
136 btVector3 m_projPivotInW;
137 btVector3 m_delta;
138 btVector3 m_depth;
139 btVector3 m_relPosA;
140 btVector3 m_relPosB;
141
142 btScalar m_linPos;
143 btScalar m_angPos;
144
145 btScalar m_angDepth;
146 btScalar m_kAngle;
147
148 bool m_poweredLinMotor;
149 btScalar m_targetLinMotorVelocity;
150 btScalar m_maxLinMotorForce;
151 btScalar m_accumulatedLinMotorImpulse;
152
153 bool m_poweredAngMotor;
154 btScalar m_targetAngMotorVelocity;
155 btScalar m_maxAngMotorForce;
156 btScalar m_accumulatedAngMotorImpulse;
157
158 //------------------------
159 void initParams();
160
161 public:
162 BT_DECLARE_ALIGNED_ALLOCATOR();
163
164 // constructors
165 btSliderConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
166 btSliderConstraint(btRigidBody & rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
167
168 // overrides
169
170 virtual void getInfo1(btConstraintInfo1 * info);
171
172 void getInfo1NonVirtual(btConstraintInfo1 * info);
173
174 virtual void getInfo2(btConstraintInfo2 * info);
175
176 void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, btScalar rbAinvMass, btScalar rbBinvMass);
177
178 // access
179 const btRigidBody& getRigidBodyA() const { return m_rbA; }
180 const btRigidBody& getRigidBodyB() const { return m_rbB; }
181 const btTransform& getCalculatedTransformA() const { return m_calculatedTransformA; }
182 const btTransform& getCalculatedTransformB() const { return m_calculatedTransformB; }
183 const btTransform& getFrameOffsetA() const { return m_frameInA; }
184 const btTransform& getFrameOffsetB() const { return m_frameInB; }
185 btTransform& getFrameOffsetA() { return m_frameInA; }
186 btTransform& getFrameOffsetB() { return m_frameInB; }
187 btScalar getLowerLinLimit() { return m_lowerLinLimit; }
188 void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; }
189 btScalar getUpperLinLimit() { return m_upperLinLimit; }
190 void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
191 btScalar getLowerAngLimit() { return m_lowerAngLimit; }
192 void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); }
193 btScalar getUpperAngLimit() { return m_upperAngLimit; }
194 void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); }
195 bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; }
196 btScalar getSoftnessDirLin() { return m_softnessDirLin; }
197 btScalar getRestitutionDirLin() { return m_restitutionDirLin; }
198 btScalar getDampingDirLin() { return m_dampingDirLin; }
199 btScalar getSoftnessDirAng() { return m_softnessDirAng; }
200 btScalar getRestitutionDirAng() { return m_restitutionDirAng; }
201 btScalar getDampingDirAng() { return m_dampingDirAng; }
202 btScalar getSoftnessLimLin() { return m_softnessLimLin; }
203 btScalar getRestitutionLimLin() { return m_restitutionLimLin; }
204 btScalar getDampingLimLin() { return m_dampingLimLin; }
205 btScalar getSoftnessLimAng() { return m_softnessLimAng; }
206 btScalar getRestitutionLimAng() { return m_restitutionLimAng; }
207 btScalar getDampingLimAng() { return m_dampingLimAng; }
208 btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; }
209 btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; }
210 btScalar getDampingOrthoLin() { return m_dampingOrthoLin; }
211 btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; }
212 btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; }
213 btScalar getDampingOrthoAng() { return m_dampingOrthoAng; }
214 void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; }
215 void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; }
216 void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; }
217 void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; }
218 void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; }
219 void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; }
220 void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; }
221 void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; }
222 void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; }
223 void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; }
224 void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; }
225 void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; }
226 void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; }
227 void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; }
228 void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; }
229 void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; }
230 void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; }
231 void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; }
232 void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; }
233 bool getPoweredLinMotor() { return m_poweredLinMotor; }
234 void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; }
235 btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; }
236 void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; }
237 btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; }
238 void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; }
239 bool getPoweredAngMotor() { return m_poweredAngMotor; }
240 void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; }
241 btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
242 void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
243 btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; }
244
245 btScalar getLinearPos() const { return m_linPos; }
246 btScalar getAngularPos() const { return m_angPos; }
247
248 // access for ODE solver
249 bool getSolveLinLimit() { return m_solveLinLim; }
250 btScalar getLinDepth() { return m_depth[0]; }
251 bool getSolveAngLimit() { return m_solveAngLim; }
252 btScalar getAngDepth() { return m_angDepth; }
253 // shared code used by ODE solver
254 void calculateTransforms(const btTransform& transA, const btTransform& transB);
255 void testLinLimits();
256 void testAngLimits();
257 // access for PE Solver
258 btVector3 getAncorInA();
259 btVector3 getAncorInB();
260 // access for UseFrameOffset
261 bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
262 void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
263
264 void setFrames(const btTransform& frameA, const btTransform& frameB)
265 {
266 m_frameInA = frameA;
267 m_frameInB = frameB;
268 calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
269 buildJacobian();
270 }
271
274 virtual void setParam(int num, btScalar value, int axis = -1);
276 virtual btScalar getParam(int num, int axis = -1) const;
277
278 virtual int getFlags() const
279 {
280 return m_flags;
281 }
282
283 virtual int calculateSerializeBufferSize() const;
284
286 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
287 };
288
290
291 struct btSliderConstraintData
292 {
293 btTypedConstraintData m_typeConstraintData;
294 btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
295 btTransformFloatData m_rbBFrame;
296
297 float m_linearUpperLimit;
298 float m_linearLowerLimit;
299
300 float m_angularUpperLimit;
301 float m_angularLowerLimit;
302
303 int m_useLinearReferenceFrameA;
304 int m_useOffsetForConstraintFrame;
305 };
306
307 struct btSliderConstraintDoubleData
308 {
309 btTypedConstraintDoubleData m_typeConstraintData;
310 btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
311 btTransformDoubleData m_rbBFrame;
312
313 double m_linearUpperLimit;
314 double m_linearLowerLimit;
315
316 double m_angularUpperLimit;
317 double m_angularLowerLimit;
318
319 int m_useLinearReferenceFrameA;
320 int m_useOffsetForConstraintFrame;
321 };
322
323 SIMD_FORCE_INLINE int btSliderConstraint::calculateSerializeBufferSize() const
324 {
325 return sizeof(btSliderConstraintData2);
326 }
327
329 SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
330 {
331 btSliderConstraintData2* sliderData = (btSliderConstraintData2*)dataBuffer;
332 btTypedConstraint::serialize(&sliderData->m_typeConstraintData, serializer);
333
334 m_frameInA.serialize(sliderData->m_rbAFrame);
335 m_frameInB.serialize(sliderData->m_rbBFrame);
336
337 sliderData->m_linearUpperLimit = m_upperLinLimit;
338 sliderData->m_linearLowerLimit = m_lowerLinLimit;
339
340 sliderData->m_angularUpperLimit = m_upperAngLimit;
341 sliderData->m_angularLowerLimit = m_lowerAngLimit;
342
343 sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA;
344 sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame;
345
346 return btSliderConstraintDataName;
347 }
348
349 #endif //BT_SLIDER_CONSTRAINT_H
btSliderConstraintData::m_angularLowerLimit
float m_angularLowerLimit
Definition: btSliderConstraint.h:301
btSliderConstraint::getSoftnessDirAng
btScalar getSoftnessDirAng()
Definition: btSliderConstraint.h:199
btSliderConstraint::m_timeStep
btScalar m_timeStep
Definition: btSliderConstraint.h:129
btSliderConstraintData::m_typeConstraintData
btTypedConstraintData m_typeConstraintData
Definition: btSliderConstraint.h:293
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:76
BT_SLIDER_FLAGS_CFM_LIMLIN
@ BT_SLIDER_FLAGS_CFM_LIMLIN
Definition: btSliderConstraint.h:59
btTransformDoubleData
Definition: btTransform.h:251
btSliderConstraint::getLowerLinLimit
btScalar getLowerLinLimit()
Definition: btSliderConstraint.h:187
btSliderConstraint::setMaxAngMotorForce
void setMaxAngMotorForce(btScalar maxAngMotorForce)
Definition: btSliderConstraint.h:242
btSliderConstraint::setRestitutionOrthoAng
void setRestitutionOrthoAng(btScalar restitutionOrthoAng)
Definition: btSliderConstraint.h:230
btSliderConstraint::getUseFrameOffset
bool getUseFrameOffset()
Definition: btSliderConstraint.h:261
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:60
btSliderConstraint::getRestitutionOrthoLin
btScalar getRestitutionOrthoLin()
Definition: btSliderConstraint.h:209
btSliderConstraint::getRestitutionOrthoAng
btScalar getRestitutionOrthoAng()
Definition: btSliderConstraint.h:212
btSliderConstraint::setUseFrameOffset
void setUseFrameOffset(bool frameOffsetOnOff)
Definition: btSliderConstraint.h:262
btSliderConstraint::m_targetLinMotorVelocity
btScalar m_targetLinMotorVelocity
Definition: btSliderConstraint.h:149
btSliderConstraint::setTargetAngMotorVelocity
void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity)
Definition: btSliderConstraint.h:240
btSliderConstraint::m_softnessOrthoLin
btScalar m_softnessOrthoLin
Definition: btSliderConstraint.h:108
btSliderConstraint::setDampingOrthoAng
void setDampingOrthoAng(btScalar dampingOrthoAng)
Definition: btSliderConstraint.h:231
BT_SLIDER_FLAGS_CFM_ORTLIN
@ BT_SLIDER_FLAGS_CFM_ORTLIN
Definition: btSliderConstraint.h:55
btRigidBody::serialize
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btRigidBody.cpp:458
btSliderConstraint::m_depth
btVector3 m_depth
Definition: btSliderConstraint.h:138
btSliderConstraint::setRestitutionDirLin
void setRestitutionDirLin(btScalar restitutionDirLin)
Definition: btSliderConstraint.h:215
btSliderConstraint::getTargetAngMotorVelocity
btScalar getTargetAngMotorVelocity()
Definition: btSliderConstraint.h:241
btSliderConstraintDoubleData::m_angularLowerLimit
double m_angularLowerLimit
Definition: btSliderConstraint.h:317
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
BT_SLIDER_FLAGS_CFM_LIMANG
@ BT_SLIDER_FLAGS_CFM_LIMANG
Definition: btSliderConstraint.h:61
btSliderConstraint::getUseLinearReferenceFrameA
bool getUseLinearReferenceFrameA()
Definition: btSliderConstraint.h:195
btSliderConstraint::m_relPosA
btVector3 m_relPosA
Definition: btSliderConstraint.h:139
btSliderConstraint::getSoftnessLimAng
btScalar getSoftnessLimAng()
Definition: btSliderConstraint.h:205
btSliderConstraint::m_flags
int m_flags
Definition: btSliderConstraint.h:122
btSliderConstraintDoubleData::m_linearLowerLimit
double m_linearLowerLimit
Definition: btSliderConstraint.h:314
btSliderConstraint::m_poweredLinMotor
bool m_poweredLinMotor
Definition: btSliderConstraint.h:148
btSliderConstraint::getRigidBodyB
const btRigidBody & getRigidBodyB() const
Definition: btSliderConstraint.h:180
btSliderConstraint::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btSliderConstraintDoubleData::m_angularUpperLimit
double m_angularUpperLimit
Definition: btSliderConstraint.h:316
btJacobianEntry
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
Definition: btJacobianEntry.h:31
btSliderConstraint::setMaxLinMotorForce
void setMaxLinMotorForce(btScalar maxLinMotorForce)
Definition: btSliderConstraint.h:236
BT_SLIDER_FLAGS_ERP_ORTANG
@ BT_SLIDER_FLAGS_ERP_ORTANG
Definition: btSliderConstraint.h:58
btSliderConstraint::setSoftnessDirLin
void setSoftnessDirLin(btScalar softnessDirLin)
Definition: btSliderConstraint.h:214
btSliderConstraint::m_cfmOrthoAng
btScalar m_cfmOrthoAng
Definition: btSliderConstraint.h:116
btSliderConstraint::m_cfmLimAng
btScalar m_cfmLimAng
Definition: btSliderConstraint.h:106
btSliderConstraint::m_cfmDirAng
btScalar m_cfmDirAng
Definition: btSliderConstraint.h:96
btSliderConstraint::getSoftnessLimLin
btScalar getSoftnessLimLin()
Definition: btSliderConstraint.h:202
btSliderConstraint::m_kAngle
btScalar m_kAngle
Definition: btSliderConstraint.h:146
btSliderConstraint::m_useLinearReferenceFrameA
bool m_useLinearReferenceFrameA
Definition: btSliderConstraint.h:75
btSliderConstraint::setRestitutionLimAng
void setRestitutionLimAng(btScalar restitutionLimAng)
Definition: btSliderConstraint.h:224
btSliderConstraintData::m_linearLowerLimit
float m_linearLowerLimit
Definition: btSliderConstraint.h:298
btSliderConstraint::m_projPivotInW
btVector3 m_projPivotInW
Definition: btSliderConstraint.h:136
btSliderConstraint::setLowerAngLimit
void setLowerAngLimit(btScalar lowerLimit)
Definition: btSliderConstraint.h:192
btSliderConstraint::getUpperAngLimit
btScalar getUpperAngLimit()
Definition: btSliderConstraint.h:193
btSliderConstraint::m_softnessDirAng
btScalar m_softnessDirAng
Definition: btSliderConstraint.h:93
btSliderConstraint::m_solveLinLim
bool m_solveLinLim
Definition: btSliderConstraint.h:119
btSliderConstraintData::m_linearUpperLimit
float m_linearUpperLimit
Definition: btSliderConstraint.h:297
btSliderConstraint::m_cfmLimLin
btScalar m_cfmLimLin
Definition: btSliderConstraint.h:101
btSliderConstraintData::m_angularUpperLimit
float m_angularUpperLimit
Definition: btSliderConstraint.h:300
btScalar.h
btSliderConstraint::getFrameOffsetB
const btTransform & getFrameOffsetB() const
Definition: btSliderConstraint.h:184
btSliderConstraintDoubleData::m_useOffsetForConstraintFrame
int m_useOffsetForConstraintFrame
Definition: btSliderConstraint.h:320
btSliderConstraint::getFrameOffsetA
const btTransform & getFrameOffsetA() const
Definition: btSliderConstraint.h:183
btSliderConstraint::m_softnessDirLin
btScalar m_softnessDirLin
Definition: btSliderConstraint.h:88
btSliderConstraint::m_sliderAxis
btVector3 m_sliderAxis
Definition: btSliderConstraint.h:133
btSliderConstraint::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btSliderConstraint.h:329
btSliderConstraint::m_frameInA
btTransform m_frameInA
Definition: btSliderConstraint.h:72
btJacobianEntry.h
btSliderConstraint::getSoftnessOrthoAng
btScalar getSoftnessOrthoAng()
Definition: btSliderConstraint.h:211
btSliderConstraint::m_angPos
btScalar m_angPos
Definition: btSliderConstraint.h:143
btRigidBody::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btRigidBody.cpp:451
btSliderConstraint::setSoftnessLimLin
void setSoftnessLimLin(btScalar softnessLimLin)
Definition: btSliderConstraint.h:220
btSliderConstraint::getFrameOffsetA
btTransform & getFrameOffsetA()
Definition: btSliderConstraint.h:185
btSliderConstraintDoubleData
Definition: btSliderConstraint.h:308
btSliderConstraint::m_targetAngMotorVelocity
btScalar m_targetAngMotorVelocity
Definition: btSliderConstraint.h:154
btSliderConstraint::m_maxLinMotorForce
btScalar m_maxLinMotorForce
Definition: btSliderConstraint.h:150
btSliderConstraint::getRestitutionLimAng
btScalar getRestitutionLimAng()
Definition: btSliderConstraint.h:206
btVector3.h
btSliderConstraintData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btSliderConstraint.h:292
btSliderConstraintData::m_rbBFrame
btTransformFloatData m_rbBFrame
Definition: btSliderConstraint.h:295
btSliderConstraint::m_accumulatedAngMotorImpulse
btScalar m_accumulatedAngMotorImpulse
Definition: btSliderConstraint.h:156
btSliderConstraint::m_restitutionOrthoLin
btScalar m_restitutionOrthoLin
Definition: btSliderConstraint.h:109
btSliderConstraint::getDampingDirAng
btScalar getDampingDirAng()
Definition: btSliderConstraint.h:201
btSliderConstraint::m_dampingDirAng
btScalar m_dampingDirAng
Definition: btSliderConstraint.h:95
btSliderConstraint::m_relPosB
btVector3 m_relPosB
Definition: btSliderConstraint.h:140
BT_SLIDER_FLAGS_ERP_DIRLIN
@ BT_SLIDER_FLAGS_ERP_DIRLIN
Definition: btSliderConstraint.h:52
btSliderConstraint::m_softnessLimAng
btScalar m_softnessLimAng
Definition: btSliderConstraint.h:103
btSliderConstraint::getSolveAngLimit
bool getSolveAngLimit()
Definition: btSliderConstraint.h:251
btSliderConstraint::getSolveLinLimit
bool getSolveLinLimit()
Definition: btSliderConstraint.h:249
btSliderConstraint::getDampingLimLin
btScalar getDampingLimLin()
Definition: btSliderConstraint.h:204
btTypedConstraint.h
btSliderConstraint::setPoweredAngMotor
void setPoweredAngMotor(bool onOff)
Definition: btSliderConstraint.h:238
btSliderConstraint::m_maxAngMotorForce
btScalar m_maxAngMotorForce
Definition: btSliderConstraint.h:155
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Definition: btSliderConstraint.h:81
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Definition: btSliderConstraint.h:115
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Definition: btSliderConstraint.h:233
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Definition: btScalar.h:781
BT_SLIDER_FLAGS_ERP_ORTLIN
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Definition: btSliderConstraint.h:56
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Definition: btTransform.h:256
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Definition: btSliderConstraint.h:137
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Definition: btSliderConstraint.h:216
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Definition: btSliderConstraint.h:303
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Definition: btSliderConstraint.h:188
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Definition: btSliderConstraint.h:227
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Definition: btTransform.h:30
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Definition: btSliderConstraint.h:110
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Definition: btSliderConstraint.h:111
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Definition: btSliderConstraint.h:130
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Definition: btSliderConstraint.h:217
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Definition: btVector3.h:82
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Definition: btTypedConstraint.h:114
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for backwards compatibility during the transition to 'getInfo/getInfo2'
Definition: btSliderConstraint.h:70
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Definition: btSliderConstraint.h:319
BT_SLIDER_FLAGS_CFM_DIRLIN
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Definition: btSliderConstraint.h:51
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Definition: btSliderConstraint.h:222
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Definition: btSliderConstraint.h:134
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Definition: btSliderConstraint.h:182
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Definition: btSliderConstraint.h:91
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Definition: btSliderConstraint.h:200
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Definition: btSliderConstraint.h:243
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Definition: btSliderConstraint.h:105
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btSliderConstraint::setDampingLimAng
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Definition: btSliderConstraint.h:225
BT_SLIDER_FLAGS_ERP_DIRANG
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Definition: btSliderConstraint.h:54
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Definition: btSliderConstraint.h:151
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Definition: btTransform.h:245
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Definition: btSliderConstraint.h:90
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Definition: btSliderConstraint.h:35
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Definition: btSliderConstraint.h:194
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Definition: btSliderConstraint.h:294
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Definition: btSliderConstraint.h:181
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Definition: btSliderConstraint.h:221
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Definition: btSliderConstraint.h:104
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Definition: btScalar.h:98
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Definition: btSliderConstraint.h:313
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Definition: btSerializer.h:66
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Definition: btSliderConstraint.h:94
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Definition: btSliderConstraint.h:186
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Definition: btSliderConstraint.h:34
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Definition: btSliderConstraint.h:135
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Definition: btSliderConstraint.h:113
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Definition: btSliderConstraint.h:203
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Definition: btSliderConstraint.h:89
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Definition: btSliderConstraint.h:120
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Definition: btSliderConstraint.h:114
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Definition: btSliderConstraint.h:309
btTypedConstraintData
this structure is not used, except for loading pre-2.82 .bullet files
Definition: btTypedConstraint.h:388
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Definition: btSliderConstraint.h:77
BT_SLIDER_FLAGS_CFM_ORTANG
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Definition: btSliderConstraint.h:57
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Definition: btSliderConstraint.h:189
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Definition: btSliderConstraint.h:235
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Definition: btSliderConstraint.h:131
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Definition: btSliderConstraint.h:226
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Definition: btTypedConstraint.h:121
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Definition: btSliderConstraint.h:71
BT_SLIDER_FLAGS_ERP_LIMLIN
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Definition: btSliderConstraint.h:60
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Definition: btSliderConstraint.h:245
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Definition: btSliderConstraint.h:239
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Definition: btSliderConstraint.h:198
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Definition: btSliderConstraint.h:250
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Definition: btSliderConstraint.h:310
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Definition: btSliderConstraint.h:246
BT_SLIDER_FLAGS_ERP_LIMANG
@ BT_SLIDER_FLAGS_ERP_LIMANG
Definition: btSliderConstraint.h:62
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Definition: btSliderConstraint.h:208
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Definition: btSliderConstraint.h:73
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fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btTypedConstraint.cpp:104
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Definition: btSliderConstraint.h:252
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Definition: btSliderConstraint.h:232
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Definition: btSliderConstraint.h:145
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Definition: btSliderConstraint.h:98
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Definition: btSliderConstraint.h:218
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Definition: btSliderConstraint.h:264
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Definition: btSliderConstraint.h:210
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Definition: btSliderConstraint.h:213
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Definition: btSliderConstraint.h:190
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Definition: btSliderConstraint.h:50
BT_SLIDER_FLAGS_CFM_DIRANG
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Definition: btSliderConstraint.h:53
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Definition: btSliderConstraint.h:304
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Definition: btSliderConstraint.h:228
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Definition: btSliderConstraint.h:142
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Definition: btSliderConstraint.h:78
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Definition: btSliderConstraint.h:229
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Definition: btSliderConstraint.h:179
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Definition: btSliderConstraint.h:234
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Definition: btSliderConstraint.h:207
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Definition: btSliderConstraint.h:323
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Definition: btSliderConstraint.h:237
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Definition: btSliderConstraint.h:311
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Definition: btSliderConstraint.h:80
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Definition: btSliderConstraint.h:278
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Definition: btSliderConstraint.h:67
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Definition: btSliderConstraint.h:100
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Definition: btSliderConstraint.h:153
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Definition: btSliderConstraint.h:219
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Definition: btSliderConstraint.h:223
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Definition: btSliderConstraint.h:196
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Definition: btSliderConstraint.h:191
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Definition: btSliderConstraint.h:99
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Definition: btSliderConstraint.h:197
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Definition: btTypedConstraint.h:411