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

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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
26 #ifdef BT_USE_DOUBLE_PRECISION
27 #define btPoint2PointConstraintData2 btPoint2PointConstraintDoubleData2
28 #define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData2"
29 #else
30 #define btPoint2PointConstraintData2 btPoint2PointConstraintFloatData
31 #define btPoint2PointConstraintDataName "btPoint2PointConstraintFloatData"
32 #endif //BT_USE_DOUBLE_PRECISION
33
34 struct btConstraintSetting
35 {
36 btConstraintSetting() :
37 m_tau(btScalar(0.3)),
38 m_damping(btScalar(1.)),
39 m_impulseClamp(btScalar(0.))
40 {
41 }
42 btScalar m_tau;
43 btScalar m_damping;
44 btScalar m_impulseClamp;
45 };
46
47 enum btPoint2PointFlags
48 {
49 BT_P2P_FLAGS_ERP = 1,
50 BT_P2P_FLAGS_CFM = 2
51 };
52
54 ATTRIBUTE_ALIGNED16(class) btPoint2PointConstraint : public btTypedConstraint
55 {
56 #ifdef IN_PARALLELL_SOLVER
57 public:
58 #endif
59 btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
60
61 btVector3 m_pivotInA;
62 btVector3 m_pivotInB;
63
64 int m_flags;
65 btScalar m_erp;
66 btScalar m_cfm;
67
68 public:
69
70 BT_DECLARE_ALIGNED_ALLOCATOR();
71
73 bool m_useSolveConstraintObsolete;
74
75 btConstraintSetting m_setting;
76
77 btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB);
78
79 btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
80
81
82 virtual void buildJacobian();
83
84 virtual void getInfo1 (btConstraintInfo1* info);
85
86 void getInfo1NonVirtual (btConstraintInfo1* info);
87
88 virtual void getInfo2 (btConstraintInfo2* info);
89
90 void getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans);
91
92 void updateRHS(btScalar timeStep);
93
94 void setPivotA(const btVector3& pivotA)
95 {
96 m_pivotInA = pivotA;
97 }
98
99 void setPivotB(const btVector3& pivotB)
100 {
101 m_pivotInB = pivotB;
102 }
103
104 const btVector3& getPivotInA() const
105 {
106 return m_pivotInA;
107 }
108
109 const btVector3& getPivotInB() const
110 {
111 return m_pivotInB;
112 }
113
116 virtual void setParam(int num, btScalar value, int axis = -1);
118 virtual btScalar getParam(int num, int axis = -1) const;
119
120 virtual int calculateSerializeBufferSize() const;
121
123 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
124
125
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
145 struct btPoint2PointConstraintDoubleData
149 {
150 btTypedConstraintData m_typeConstraintData;
151 btVector3DoubleData m_pivotInA;
152 btVector3DoubleData m_pivotInB;
153 };
154 #endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
155
156
157 SIMD_FORCE_INLINE int btPoint2PointConstraint::calculateSerializeBufferSize() const
158 {
159 return sizeof(btPoint2PointConstraintData2);
160
161 }
162
164 SIMD_FORCE_INLINE const char* btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
165 {
166 btPoint2PointConstraintData2* p2pData = (btPoint2PointConstraintData2*)dataBuffer;
167
168 btTypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer);
169 m_pivotInA.serialize(p2pData->m_pivotInA);
170 m_pivotInB.serialize(p2pData->m_pivotInB);
171
172 return btPoint2PointConstraintDataName;
173 }
174
175 #endif //BT_POINT2POINTCONSTRAINT_H
btPoint2PointConstraint::m_pivotInB
btVector3 m_pivotInB
Definition: btPoint2PointConstraint.h:62
btPoint2PointConstraintDoubleData::m_pivotInA
btVector3DoubleData m_pivotInA
Definition: btPoint2PointConstraint.h:151
btPoint2PointFlags
btPoint2PointFlags
Definition: btPoint2PointConstraint.h:47
btPoint2PointConstraint::m_setting
btConstraintSetting m_setting
Definition: btPoint2PointConstraint.h:75
btPoint2PointConstraint
point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocke...
Definition: btPoint2PointConstraint.h:54
BT_P2P_FLAGS_ERP
Definition: btPoint2PointConstraint.h:49
btConstraintSetting::btConstraintSetting
btConstraintSetting()
Definition: btPoint2PointConstraint.h:36
btJacobianEntry
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
Definition: btJacobianEntry.h:30
btTypedConstraint::btConstraintInfo2
Definition: btTypedConstraint.h:125
btPoint2PointConstraintDoubleData2::m_typeConstraintData
btTypedConstraintDoubleData m_typeConstraintData
Definition: btPoint2PointConstraint.h:139
btVector3.h
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:164
btPoint2PointConstraintDoubleData::m_typeConstraintData
btTypedConstraintData m_typeConstraintData
Definition: btPoint2PointConstraint.h:150
btPoint2PointConstraint::m_useSolveConstraintObsolete
bool m_useSolveConstraintObsolete
for backwards compatibility during the transition to 'getInfo/getInfo2'
Definition: btPoint2PointConstraint.h:73
btConstraintSetting::m_impulseClamp
btScalar m_impulseClamp
Definition: btPoint2PointConstraint.h:44
btPoint2PointConstraint::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btPoint2PointConstraint.h:157
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:63
btPoint2PointConstraintFloatData::m_pivotInA
btVector3FloatData m_pivotInA
Definition: btPoint2PointConstraint.h:132
btPoint2PointConstraint::m_flags
int m_flags
Definition: btPoint2PointConstraint.h:64
btSerializer
Definition: btSerializer.h:68
btPoint2PointConstraint::setPivotB
void setPivotB(const btVector3 &pivotB)
Definition: btPoint2PointConstraint.h:99
btPoint2PointConstraintFloatData::m_typeConstraintData
btTypedConstraintData m_typeConstraintData
Definition: btPoint2PointConstraint.h:131
btPoint2PointConstraintDoubleData2
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btPoint2PointConstraint.h:137
btTypedConstraint.h
btPoint2PointConstraintDoubleData2::m_pivotInA
btVector3DoubleData m_pivotInA
Definition: btPoint2PointConstraint.h:140
btConstraintSetting
Definition: btPoint2PointConstraint.h:34
btPoint2PointConstraintFloatData::m_pivotInB
btVector3FloatData m_pivotInB
Definition: btPoint2PointConstraint.h:133
btPoint2PointConstraint::getPivotInA
const btVector3 & getPivotInA() const
Definition: btPoint2PointConstraint.h:104
btVector3::serialize
void serialize(struct btVector3Data &dataOut) const
Definition: btVector3.h:1340
btTypedConstraintDoubleData
Definition: btTypedConstraint.h:420
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:62
btTypedConstraintData
this structure is not used, except for loading pre-2.82 .bullet files
Definition: btTypedConstraint.h:397
btConstraintSetting::m_tau
btScalar m_tau
Definition: btPoint2PointConstraint.h:42
btJacobianEntry.h
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:64
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btPoint2PointConstraintData2
#define btPoint2PointConstraintData2
Definition: btPoint2PointConstraint.h:30
btPoint2PointConstraint::m_cfm
btScalar m_cfm
Definition: btPoint2PointConstraint.h:66
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:77
btPoint2PointConstraint::m_pivotInA
btVector3 m_pivotInA
Definition: btPoint2PointConstraint.h:61
btConstraintSetting::m_damping
btScalar m_damping
Definition: btPoint2PointConstraint.h:43
btPoint2PointConstraintDoubleData::m_pivotInB
btVector3DoubleData m_pivotInB
Definition: btPoint2PointConstraint.h:152
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:388
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:110
btPoint2PointConstraint::setPivotA
void setPivotA(const btVector3 &pivotA)
Definition: btPoint2PointConstraint.h:94
btVector3FloatData
Definition: btVector3.h:1301
btPoint2PointConstraint::getPivotInB
const btVector3 & getPivotInB() const
Definition: btPoint2PointConstraint.h:109
BT_P2P_FLAGS_CFM
Definition: btPoint2PointConstraint.h:50
btPoint2PointConstraintDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 th...
Definition: btPoint2PointConstraint.h:148
btTypedConstraint::btConstraintInfo1
Definition: btTypedConstraint.h:119
btPoint2PointConstraintFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btPoint2PointConstraint.h:129
btPoint2PointConstraintDataName
#define btPoint2PointConstraintDataName
Definition: btPoint2PointConstraint.h:31
btPoint2PointConstraint::m_erp
btScalar m_erp
Definition: btPoint2PointConstraint.h:65
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btVector3DoubleData
Definition: btVector3.h:1306
btPoint2PointConstraintDoubleData2::m_pivotInB
btVector3DoubleData m_pivotInB
Definition: btPoint2PointConstraint.h:141