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153 lines
4.7 KiB
C++
153 lines
4.7 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef B3_POINT2POINTCONSTRAINT_H
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#define B3_POINT2POINTCONSTRAINT_H
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#include "Bullet3Common/b3Vector3.h"
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//#include "b3JacobianEntry.h"
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#include "b3TypedConstraint.h"
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class b3RigidBody;
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#ifdef B3_USE_DOUBLE_PRECISION
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#define b3Point2PointConstraintData b3Point2PointConstraintDoubleData
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#define b3Point2PointConstraintDataName "b3Point2PointConstraintDoubleData"
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#else
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#define b3Point2PointConstraintData b3Point2PointConstraintFloatData
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#define b3Point2PointConstraintDataName "b3Point2PointConstraintFloatData"
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#endif //B3_USE_DOUBLE_PRECISION
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struct b3ConstraintSetting
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{
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b3ConstraintSetting() : m_tau(b3Scalar(0.3)),
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m_damping(b3Scalar(1.)),
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m_impulseClamp(b3Scalar(0.))
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{
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}
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b3Scalar m_tau;
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b3Scalar m_damping;
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b3Scalar m_impulseClamp;
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};
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enum b3Point2PointFlags
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{
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B3_P2P_FLAGS_ERP = 1,
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B3_P2P_FLAGS_CFM = 2
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};
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/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
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B3_ATTRIBUTE_ALIGNED16(class)
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b3Point2PointConstraint : public b3TypedConstraint
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{
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#ifdef IN_PARALLELL_SOLVER
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public:
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#endif
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b3Vector3 m_pivotInA;
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b3Vector3 m_pivotInB;
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int m_flags;
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b3Scalar m_erp;
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b3Scalar m_cfm;
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public:
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B3_DECLARE_ALIGNED_ALLOCATOR();
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b3ConstraintSetting m_setting;
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b3Point2PointConstraint(int rbA, int rbB, const b3Vector3& pivotInA, const b3Vector3& pivotInB);
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//b3Point2PointConstraint(int rbA,const b3Vector3& pivotInA);
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virtual void getInfo1(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies);
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void getInfo1NonVirtual(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies);
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virtual void getInfo2(b3ConstraintInfo2 * info, const b3RigidBodyData* bodies);
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void getInfo2NonVirtual(b3ConstraintInfo2 * info, const b3Transform& body0_trans, const b3Transform& body1_trans);
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void updateRHS(b3Scalar timeStep);
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void setPivotA(const b3Vector3& pivotA)
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{
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m_pivotInA = pivotA;
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}
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void setPivotB(const b3Vector3& pivotB)
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{
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m_pivotInB = pivotB;
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}
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const b3Vector3& getPivotInA() const
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{
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return m_pivotInA;
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}
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const b3Vector3& getPivotInB() const
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{
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return m_pivotInB;
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}
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///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
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///If no axis is provided, it uses the default axis for this constraint.
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virtual void setParam(int num, b3Scalar value, int axis = -1);
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///return the local value of parameter
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virtual b3Scalar getParam(int num, int axis = -1) const;
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// virtual int calculateSerializeBufferSize() const;
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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// virtual const char* serialize(void* dataBuffer, b3Serializer* serializer) const;
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};
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///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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struct b3Point2PointConstraintFloatData
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{
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b3TypedConstraintData m_typeConstraintData;
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b3Vector3FloatData m_pivotInA;
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b3Vector3FloatData m_pivotInB;
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};
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///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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struct b3Point2PointConstraintDoubleData
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{
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b3TypedConstraintData m_typeConstraintData;
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b3Vector3DoubleData m_pivotInA;
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b3Vector3DoubleData m_pivotInB;
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};
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/*
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B3_FORCE_INLINE int b3Point2PointConstraint::calculateSerializeBufferSize() const
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{
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return sizeof(b3Point2PointConstraintData);
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}
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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B3_FORCE_INLINE const char* b3Point2PointConstraint::serialize(void* dataBuffer, b3Serializer* serializer) const
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{
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b3Point2PointConstraintData* p2pData = (b3Point2PointConstraintData*)dataBuffer;
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b3TypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer);
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m_pivotInA.serialize(p2pData->m_pivotInA);
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m_pivotInB.serialize(p2pData->m_pivotInB);
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return b3Point2PointConstraintDataName;
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}
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*/
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#endif //B3_POINT2POINTCONSTRAINT_H
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