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

Bullet Collision Detection & Physics Library

btGearConstraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2012 Advanced Micro Devices, Inc. http://bulletphysics.org
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_GEAR_CONSTRAINT_H
17 #define BT_GEAR_CONSTRAINT_H
18
19 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
20
21 #ifdef BT_USE_DOUBLE_PRECISION
22 #define btGearConstraintData btGearConstraintDoubleData
23 #define btGearConstraintDataName "btGearConstraintDoubleData"
24 #else
25 #define btGearConstraintData btGearConstraintFloatData
26 #define btGearConstraintDataName "btGearConstraintFloatData"
27 #endif //BT_USE_DOUBLE_PRECISION
28
31 class btGearConstraint : public btTypedConstraint
32 {
33 protected:
34 btVector3 m_axisInA;
35 btVector3 m_axisInB;
36 bool m_useFrameA;
37 btScalar m_ratio;
38
39 public:
40 btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA, const btVector3& axisInB, btScalar ratio = 1.f);
41 virtual ~btGearConstraint();
42
44 virtual void getInfo1(btConstraintInfo1* info);
45
47 virtual void getInfo2(btConstraintInfo2* info);
48
49 void setAxisA(btVector3& axisA)
50 {
51 m_axisInA = axisA;
52 }
53 void setAxisB(btVector3& axisB)
54 {
55 m_axisInB = axisB;
56 }
57 void setRatio(btScalar ratio)
58 {
59 m_ratio = ratio;
60 }
61 const btVector3& getAxisA() const
62 {
63 return m_axisInA;
64 }
65 const btVector3& getAxisB() const
66 {
67 return m_axisInB;
68 }
69 btScalar getRatio() const
70 {
71 return m_ratio;
72 }
73
74 virtual void setParam(int num, btScalar value, int axis = -1)
75 {
76 (void)num;
77 (void)value;
78 (void)axis;
79 btAssert(0);
80 }
81
83 virtual btScalar getParam(int num, int axis = -1) const
84 {
85 (void)num;
86 (void)axis;
87 btAssert(0);
88 return 0.f;
89 }
90
91 virtual int calculateSerializeBufferSize() const;
92
94 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
95 };
96
98 struct btGearConstraintFloatData
99 {
100 btTypedConstraintFloatData m_typeConstraintData;
101
102 btVector3FloatData m_axisInA;
103 btVector3FloatData m_axisInB;
104
105 float m_ratio;
106 char m_padding[4];
107 };
108
109 struct btGearConstraintDoubleData
110 {
111 btTypedConstraintDoubleData m_typeConstraintData;
112
113 btVector3DoubleData m_axisInA;
114 btVector3DoubleData m_axisInB;
115
116 double m_ratio;
117 };
118
119 SIMD_FORCE_INLINE int btGearConstraint::calculateSerializeBufferSize() const
120 {
121 return sizeof(btGearConstraintData);
122 }
123
125 SIMD_FORCE_INLINE const char* btGearConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
126 {
127 btGearConstraintData* gear = (btGearConstraintData*)dataBuffer;
128 btTypedConstraint::serialize(&gear->m_typeConstraintData, serializer);
129
130 m_axisInA.serialize(gear->m_axisInA);
131 m_axisInB.serialize(gear->m_axisInB);
132
133 gear->m_ratio = m_ratio;
134
135 // Fill padding with zeros to appease msan.
136 #ifndef BT_USE_DOUBLE_PRECISION
137 gear->m_padding[0] = 0;
138 gear->m_padding[1] = 0;
139 gear->m_padding[2] = 0;
140 gear->m_padding[3] = 0;
141 #endif
142
143 return btGearConstraintDataName;
144 }
145
146 #endif //BT_GEAR_CONSTRAINT_H
btGearConstraintData
#define btGearConstraintData
Definition: btGearConstraint.h:25
btGearConstraintDataName
#define btGearConstraintDataName
Definition: btGearConstraint.h:26
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btTypedConstraint.h
btGearConstraint
The btGeatConstraint will couple the angular velocity for two bodies around given local axis and rati...
Definition: btGearConstraint.h:32
btGearConstraint::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btGearConstraint.h:125
btGearConstraint::~btGearConstraint
virtual ~btGearConstraint()
Definition: btGearConstraint.cpp:28
btGearConstraint::m_useFrameA
bool m_useFrameA
Definition: btGearConstraint.h:36
btGearConstraint::m_ratio
btScalar m_ratio
Definition: btGearConstraint.h:37
btGearConstraint::getParam
virtual btScalar getParam(int num, int axis=-1) const
return the local value of parameter
Definition: btGearConstraint.h:83
btGearConstraint::setParam
virtual void setParam(int num, btScalar value, int axis=-1)
override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0...
Definition: btGearConstraint.h:74
btGearConstraint::m_axisInB
btVector3 m_axisInB
Definition: btGearConstraint.h:35
btGearConstraint::getAxisA
const btVector3 & getAxisA() const
Definition: btGearConstraint.h:61
btGearConstraint::setRatio
void setRatio(btScalar ratio)
Definition: btGearConstraint.h:57
btGearConstraint::setAxisA
void setAxisA(btVector3 &axisA)
Definition: btGearConstraint.h:49
btGearConstraint::setAxisB
void setAxisB(btVector3 &axisB)
Definition: btGearConstraint.h:53
btGearConstraint::getAxisB
const btVector3 & getAxisB() const
Definition: btGearConstraint.h:65
btGearConstraint::m_axisInA
btVector3 m_axisInA
Definition: btGearConstraint.h:34
btGearConstraint::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btGearConstraint.h:119
btGearConstraint::getInfo2
virtual void getInfo2(btConstraintInfo2 *info)
internal method used by the constraint solver, don't use them directly
Definition: btGearConstraint.cpp:38
btGearConstraint::getInfo1
virtual void getInfo1(btConstraintInfo1 *info)
internal method used by the constraint solver, don't use them directly
Definition: btGearConstraint.cpp:32
btGearConstraint::btGearConstraint
btGearConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &axisInA, const btVector3 &axisInB, btScalar ratio=1.f)
Implemented by Erwin Coumans. The idea for the constraint comes from Dimitris Papavasiliou.
Definition: btGearConstraint.cpp:20
btGearConstraint::getRatio
btScalar getRatio() const
Definition: btGearConstraint.h:69
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:60
btSerializer
Definition: btSerializer.h:66
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:76
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
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btVector3::serialize
void serialize(struct btVector3Data &dataOut) const
Definition: btVector3.h:1317
btGearConstraintDoubleData
Definition: btGearConstraint.h:110
btGearConstraintDoubleData::m_ratio
double m_ratio
Definition: btGearConstraint.h:116
btGearConstraintDoubleData::m_axisInA
btVector3DoubleData m_axisInA
Definition: btGearConstraint.h:113
btGearConstraintDoubleData::m_typeConstraintData
btTypedConstraintDoubleData m_typeConstraintData
Definition: btGearConstraint.h:111
btGearConstraintDoubleData::m_axisInB
btVector3DoubleData m_axisInB
Definition: btGearConstraint.h:114
btGearConstraintFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btGearConstraint.h:99
btGearConstraintFloatData::m_typeConstraintData
btTypedConstraintFloatData m_typeConstraintData
Definition: btGearConstraint.h:100
btGearConstraintFloatData::m_axisInB
btVector3FloatData m_axisInB
Definition: btGearConstraint.h:103
btGearConstraintFloatData::m_ratio
float m_ratio
Definition: btGearConstraint.h:105
btGearConstraintFloatData::m_padding
char m_padding[4]
Definition: btGearConstraint.h:106
btGearConstraintFloatData::m_axisInA
btVector3FloatData m_axisInA
Definition: btGearConstraint.h:102
btTypedConstraintDoubleData
Definition: btTypedConstraint.h:411
btTypedConstraintFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btTypedConstraint.h:359
btTypedConstraint::btConstraintInfo1
Definition: btTypedConstraint.h:114
btTypedConstraint::btConstraintInfo2
Definition: btTypedConstraint.h:121
btVector3DoubleData
Definition: btVector3.h:1287
btVector3FloatData
Definition: btVector3.h:1282