Bullet Collision Detection & Physics Library: btPoint2PointConstraint.h Source File

Bullet Collision Detection & Physics Library

btPoint2PointConstraint.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 #ifndef BT_POINT2POINTCONSTRAINT_H
17 #define BT_POINT2POINTCONSTRAINT_H
18
19 #include "LinearMath/btVector3.h"
20 #include "btJacobianEntry.h"
21 #include "btTypedConstraint.h"
22
23 class btRigidBody;
24
25 #ifdef BT_USE_DOUBLE_PRECISION
26 #define btPoint2PointConstraintData2 btPoint2PointConstraintDoubleData2
27 #define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData2"
28 #else
29 #define btPoint2PointConstraintData2 btPoint2PointConstraintFloatData
30 #define btPoint2PointConstraintDataName "btPoint2PointConstraintFloatData"
31 #endif //BT_USE_DOUBLE_PRECISION
32
33 struct btConstraintSetting
34 {
35 btConstraintSetting() : m_tau(btScalar(0.3)),
36 m_damping(btScalar(1.)),
37 m_impulseClamp(btScalar(0.))
38 {
39 }
40 btScalar m_tau;
41 btScalar m_damping;
42 btScalar m_impulseClamp;
43 };
44
45 enum btPoint2PointFlags
46 {
47 BT_P2P_FLAGS_ERP = 1,
48 BT_P2P_FLAGS_CFM = 2
49 };
50
52 ATTRIBUTE_ALIGNED16(class)
53 btPoint2PointConstraint : public btTypedConstraint
54 {
55 #ifdef IN_PARALLELL_SOLVER
56 public:
57 #endif
58 btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
59
60 btVector3 m_pivotInA;
61 btVector3 m_pivotInB;
62
63 int m_flags;
64 btScalar m_erp;
65 btScalar m_cfm;
66
67 public:
68 BT_DECLARE_ALIGNED_ALLOCATOR();
69
71 bool m_useSolveConstraintObsolete;
72
73 btConstraintSetting m_setting;
74
75 btPoint2PointConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& pivotInA, const btVector3& pivotInB);
76
77 btPoint2PointConstraint(btRigidBody & rbA, const btVector3& pivotInA);
78
79 virtual void buildJacobian();
80
81 virtual void getInfo1(btConstraintInfo1 * info);
82
83 void getInfo1NonVirtual(btConstraintInfo1 * info);
84
85 virtual void getInfo2(btConstraintInfo2 * info);
86
87 void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& body0_trans, const btTransform& body1_trans);
88
89 void updateRHS(btScalar timeStep);
90
91 void setPivotA(const btVector3& pivotA)
92 {
93 m_pivotInA = pivotA;
94 }
95
96 void setPivotB(const btVector3& pivotB)
97 {
98 m_pivotInB = pivotB;
99 }
100
101 const btVector3& getPivotInA() const
102 {
103 return m_pivotInA;
104 }
105
106 const btVector3& getPivotInB() const
107 {
108 return m_pivotInB;
109 }
110
113 virtual void setParam(int num, btScalar value, int axis = -1);
115 virtual btScalar getParam(int num, int axis = -1) const;
116
117 virtual int getFlags() const
118 {
119 return m_flags;
120 }
121
122 virtual int calculateSerializeBufferSize() const;
123
125 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
126 };
127
129 struct btPoint2PointConstraintFloatData
130 {
131 btTypedConstraintData m_typeConstraintData;
132 btVector3FloatData m_pivotInA;
133 btVector3FloatData m_pivotInB;
134 };
135
137 struct btPoint2PointConstraintDoubleData2
138 {
139 btTypedConstraintDoubleData m_typeConstraintData;
140 btVector3DoubleData m_pivotInA;
141 btVector3DoubleData m_pivotInB;
142 };
143
144 #ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
148 struct btPoint2PointConstraintDoubleData
149 {
150 btTypedConstraintData m_typeConstraintData;
151 btVector3DoubleData m_pivotInA;
152 btVector3DoubleData m_pivotInB;
153 };
154 #endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
155
156 SIMD_FORCE_INLINE int btPoint2PointConstraint::calculateSerializeBufferSize() const
157 {
158 return sizeof(btPoint2PointConstraintData2);
159 }
160
162 SIMD_FORCE_INLINE const char* btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
163 {
164 btPoint2PointConstraintData2* p2pData = (btPoint2PointConstraintData2*)dataBuffer;
165
166 btTypedConstraint::serialize(&p2pData->m_typeConstraintData, serializer);
167 m_pivotInA.serialize(p2pData->m_pivotInA);
168 m_pivotInB.serialize(p2pData->m_pivotInB);
169
170 return btPoint2PointConstraintDataName;
171 }
172
173 #endif //BT_POINT2POINTCONSTRAINT_H
btJacobianEntry.h
btPoint2PointConstraintData2
#define btPoint2PointConstraintData2
Definition: btPoint2PointConstraint.h:29
btPoint2PointFlags
btPoint2PointFlags
Definition: btPoint2PointConstraint.h:46
BT_P2P_FLAGS_CFM
@ BT_P2P_FLAGS_CFM
Definition: btPoint2PointConstraint.h:48
BT_P2P_FLAGS_ERP
@ BT_P2P_FLAGS_ERP
Definition: btPoint2PointConstraint.h:47
btPoint2PointConstraintDataName
#define btPoint2PointConstraintDataName
Definition: btPoint2PointConstraint.h:30
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btTypedConstraint.h
btVector3.h
btJacobianEntry
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
Definition: btJacobianEntry.h:31
btPoint2PointConstraint
point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocke...
Definition: btPoint2PointConstraint.h:54
btPoint2PointConstraint::setPivotB
void setPivotB(const btVector3 &pivotB)
Definition: btPoint2PointConstraint.h:96
btPoint2PointConstraint::m_flags
int m_flags
Definition: btPoint2PointConstraint.h:63
btPoint2PointConstraint::m_cfm
btScalar m_cfm
Definition: btPoint2PointConstraint.h:65
btPoint2PointConstraint::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btPoint2PointConstraint.h:156
btPoint2PointConstraint::getFlags
virtual int getFlags() const
Definition: btPoint2PointConstraint.h:117
btPoint2PointConstraint::getPivotInB
const btVector3 & getPivotInB() const
Definition: btPoint2PointConstraint.h:106
btPoint2PointConstraint::setPivotA
void setPivotA(const btVector3 &pivotA)
Definition: btPoint2PointConstraint.h:91
btPoint2PointConstraint::getPivotInA
const btVector3 & getPivotInA() const
Definition: btPoint2PointConstraint.h:101
btPoint2PointConstraint::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btPoint2PointConstraint::m_pivotInA
btVector3 m_pivotInA
Definition: btPoint2PointConstraint.h:60
btPoint2PointConstraint::m_pivotInB
btVector3 m_pivotInB
Definition: btPoint2PointConstraint.h:61
btPoint2PointConstraint::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btPoint2PointConstraint.h:162
btPoint2PointConstraint::m_useSolveConstraintObsolete
bool m_useSolveConstraintObsolete
for backwards compatibility during the transition to 'getInfo/getInfo2'
Definition: btPoint2PointConstraint.h:71
btPoint2PointConstraint::m_setting
btConstraintSetting m_setting
Definition: btPoint2PointConstraint.h:73
btPoint2PointConstraint::m_erp
btScalar m_erp
Definition: btPoint2PointConstraint.h:64
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:60
btSerializer
Definition: btSerializer.h:66
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
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
btConstraintSetting
Definition: btPoint2PointConstraint.h:34
btConstraintSetting::m_impulseClamp
btScalar m_impulseClamp
Definition: btPoint2PointConstraint.h:42
btConstraintSetting::m_tau
btScalar m_tau
Definition: btPoint2PointConstraint.h:40
btConstraintSetting::btConstraintSetting
btConstraintSetting()
Definition: btPoint2PointConstraint.h:35
btConstraintSetting::m_damping
btScalar m_damping
Definition: btPoint2PointConstraint.h:41
btPoint2PointConstraintDoubleData2
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btPoint2PointConstraint.h:138
btPoint2PointConstraintDoubleData2::m_pivotInB
btVector3DoubleData m_pivotInB
Definition: btPoint2PointConstraint.h:141
btPoint2PointConstraintDoubleData2::m_typeConstraintData
btTypedConstraintDoubleData m_typeConstraintData
Definition: btPoint2PointConstraint.h:139
btPoint2PointConstraintDoubleData2::m_pivotInA
btVector3DoubleData m_pivotInA
Definition: btPoint2PointConstraint.h:140
btPoint2PointConstraintDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 th...
Definition: btPoint2PointConstraint.h:149
btPoint2PointConstraintDoubleData::m_typeConstraintData
btTypedConstraintData m_typeConstraintData
Definition: btPoint2PointConstraint.h:150
btPoint2PointConstraintDoubleData::m_pivotInA
btVector3DoubleData m_pivotInA
Definition: btPoint2PointConstraint.h:151
btPoint2PointConstraintDoubleData::m_pivotInB
btVector3DoubleData m_pivotInB
Definition: btPoint2PointConstraint.h:152
btPoint2PointConstraintFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btPoint2PointConstraint.h:130
btPoint2PointConstraintFloatData::m_typeConstraintData
btTypedConstraintData m_typeConstraintData
Definition: btPoint2PointConstraint.h:131
btPoint2PointConstraintFloatData::m_pivotInB
btVector3FloatData m_pivotInB
Definition: btPoint2PointConstraint.h:133
btPoint2PointConstraintFloatData::m_pivotInA
btVector3FloatData m_pivotInA
Definition: btPoint2PointConstraint.h:132
btTypedConstraintData
this structure is not used, except for loading pre-2.82 .bullet files
Definition: btTypedConstraint.h:388
btTypedConstraintDoubleData
Definition: btTypedConstraint.h:411
btTypedConstraint::btConstraintInfo1
Definition: btTypedConstraint.h:114
btTypedConstraint::btConstraintInfo2
Definition: btTypedConstraint.h:121
btVector3DoubleData
Definition: btVector3.h:1287
btVector3FloatData
Definition: btVector3.h:1282