Bullet Collision Detection & Physics Library: btGeneric6DofSpringConstraint.h Source File

Bullet Collision Detection & Physics Library

btGeneric6DofSpringConstraint.h
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1/*
2Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
3Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
17#define BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
18
19#include "LinearMath/btVector3.h"
20#include "btTypedConstraint.h"
21#include "btGeneric6DofConstraint.h"
22
23#ifdef BT_USE_DOUBLE_PRECISION
24#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintDoubleData2
25#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintDoubleData2"
26#else
27#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintData
28#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintData"
29#endif //BT_USE_DOUBLE_PRECISION
30
32
40
41 ATTRIBUTE_ALIGNED16(class)
42 btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
43{
44protected:
45 bool m_springEnabled[6];
46 btScalar m_equilibriumPoint[6];
47 btScalar m_springStiffness[6];
48 btScalar m_springDamping[6]; // between 0 and 1 (1 == no damping)
49 void init();
50 void internalUpdateSprings(btConstraintInfo2 * info);
51
52public:
53 BT_DECLARE_ALIGNED_ALLOCATOR();
54
55 btGeneric6DofSpringConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
56 btGeneric6DofSpringConstraint(btRigidBody & rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
57 void enableSpring(int index, bool onOff);
58 void setStiffness(int index, btScalar stiffness);
59 void setDamping(int index, btScalar damping);
60 void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
61 void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF
62 void setEquilibriumPoint(int index, btScalar val);
63
64 bool isSpringEnabled(int index) const
65 {
66 return m_springEnabled[index];
67 }
68
69 btScalar getStiffness(int index) const
70 {
71 return m_springStiffness[index];
72 }
73
74 btScalar getDamping(int index) const
75 {
76 return m_springDamping[index];
77 }
78
79 btScalar getEquilibriumPoint(int index) const
80 {
81 return m_equilibriumPoint[index];
82 }
83
84 virtual void setAxis(const btVector3& axis1, const btVector3& axis2);
85
86 virtual void getInfo2(btConstraintInfo2 * info);
87
88 virtual int calculateSerializeBufferSize() const;
90 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
91};
92
93 struct btGeneric6DofSpringConstraintData
94{
95 btGeneric6DofConstraintData m_6dofData;
96
97 int m_springEnabled[6];
98 float m_equilibriumPoint[6];
99 float m_springStiffness[6];
100 float m_springDamping[6];
101};
102
103 struct btGeneric6DofSpringConstraintDoubleData2
104{
105 btGeneric6DofConstraintDoubleData2 m_6dofData;
106
107 int m_springEnabled[6];
108 double m_equilibriumPoint[6];
109 double m_springStiffness[6];
110 double m_springDamping[6];
111};
112
113 SIMD_FORCE_INLINE int btGeneric6DofSpringConstraint::calculateSerializeBufferSize() const
114{
115 return sizeof(btGeneric6DofSpringConstraintData2);
116}
117
119 SIMD_FORCE_INLINE const char* btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
120{
121 btGeneric6DofSpringConstraintData2* dof = (btGeneric6DofSpringConstraintData2*)dataBuffer;
122 btGeneric6DofConstraint::serialize(&dof->m_6dofData, serializer);
123
124 int i;
125 for (i = 0; i < 6; i++)
126 {
127 dof->m_equilibriumPoint[i] = m_equilibriumPoint[i];
128 dof->m_springDamping[i] = m_springDamping[i];
129 dof->m_springEnabled[i] = m_springEnabled[i] ? 1 : 0;
130 dof->m_springStiffness[i] = m_springStiffness[i];
131 }
132 return btGeneric6DofSpringConstraintDataName;
133}
134
135#endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
btGeneric6DofConstraint.h
btGeneric6DofSpringConstraintDataName
#define btGeneric6DofSpringConstraintDataName
Definition btGeneric6DofSpringConstraint.h:28
btGeneric6DofSpringConstraintData2
#define btGeneric6DofSpringConstraintData2
Definition btGeneric6DofSpringConstraint.h:27
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
btGeneric6DofConstraint::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition btGeneric6DofConstraint.h:592
btGeneric6DofConstraint::btGeneric6DofConstraint
btGeneric6DofConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
Definition btGeneric6DofConstraint.cpp:31
btGeneric6DofSpringConstraint::init
void init()
Definition btGeneric6DofSpringConstraint.cpp:32
btGeneric6DofSpringConstraint::m_springDamping
btScalar m_springDamping[6]
Definition btGeneric6DofSpringConstraint.h:48
btGeneric6DofSpringConstraint::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btGeneric6DofSpringConstraint::internalUpdateSprings
void internalUpdateSprings(btConstraintInfo2 *info)
Definition btGeneric6DofSpringConstraint.cpp:106
btGeneric6DofSpringConstraint::setDamping
void setDamping(int index, btScalar damping)
Definition btGeneric6DofSpringConstraint.cpp:65
btGeneric6DofSpringConstraint::enableSpring
void enableSpring(int index, bool onOff)
Definition btGeneric6DofSpringConstraint.cpp:45
btGeneric6DofSpringConstraint::getEquilibriumPoint
btScalar getEquilibriumPoint(int index) const
Definition btGeneric6DofSpringConstraint.h:79
btGeneric6DofSpringConstraint::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition btGeneric6DofSpringConstraint.h:119
btGeneric6DofSpringConstraint::setStiffness
void setStiffness(int index, btScalar stiffness)
Definition btGeneric6DofSpringConstraint.cpp:59
btGeneric6DofSpringConstraint::m_equilibriumPoint
btScalar m_equilibriumPoint[6]
Definition btGeneric6DofSpringConstraint.h:46
btGeneric6DofSpringConstraint::m_springEnabled
bool m_springEnabled[6]
Definition btGeneric6DofSpringConstraint.h:45
btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint
btGeneric6DofSpringConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
Definition btGeneric6DofSpringConstraint.cpp:20
btGeneric6DofSpringConstraint::getStiffness
btScalar getStiffness(int index) const
Definition btGeneric6DofSpringConstraint.h:69
btGeneric6DofSpringConstraint::getDamping
btScalar getDamping(int index) const
Definition btGeneric6DofSpringConstraint.h:74
btGeneric6DofSpringConstraint::setEquilibriumPoint
void setEquilibriumPoint()
Definition btGeneric6DofSpringConstraint.cpp:71
btGeneric6DofSpringConstraint::m_springStiffness
btScalar m_springStiffness[6]
Definition btGeneric6DofSpringConstraint.h:47
btGeneric6DofSpringConstraint::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition btGeneric6DofSpringConstraint.h:113
btGeneric6DofSpringConstraint::isSpringEnabled
bool isSpringEnabled(int index) const
Definition btGeneric6DofSpringConstraint.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
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btGeneric6DofConstraintData
Definition btGeneric6DofConstraint.h:555
btGeneric6DofConstraintDoubleData2
Definition btGeneric6DofConstraint.h:571
btGeneric6DofSpringConstraintData
Definition btGeneric6DofSpringConstraint.h:94
btGeneric6DofSpringConstraintData::m_6dofData
btGeneric6DofConstraintData m_6dofData
Definition btGeneric6DofSpringConstraint.h:95
btGeneric6DofSpringConstraintData::m_springEnabled
int m_springEnabled[6]
Definition btGeneric6DofSpringConstraint.h:97
btGeneric6DofSpringConstraintData::m_springStiffness
float m_springStiffness[6]
Definition btGeneric6DofSpringConstraint.h:99
btGeneric6DofSpringConstraintData::m_equilibriumPoint
float m_equilibriumPoint[6]
Definition btGeneric6DofSpringConstraint.h:98
btGeneric6DofSpringConstraintData::m_springDamping
float m_springDamping[6]
Definition btGeneric6DofSpringConstraint.h:100
btGeneric6DofSpringConstraintDoubleData2
Definition btGeneric6DofSpringConstraint.h:104
btGeneric6DofSpringConstraintDoubleData2::m_equilibriumPoint
double m_equilibriumPoint[6]
Definition btGeneric6DofSpringConstraint.h:108
btGeneric6DofSpringConstraintDoubleData2::m_springEnabled
int m_springEnabled[6]
Definition btGeneric6DofSpringConstraint.h:107
btGeneric6DofSpringConstraintDoubleData2::m_springDamping
double m_springDamping[6]
Definition btGeneric6DofSpringConstraint.h:110
btGeneric6DofSpringConstraintDoubleData2::m_springStiffness
double m_springStiffness[6]
Definition btGeneric6DofSpringConstraint.h:109
btGeneric6DofSpringConstraintDoubleData2::m_6dofData
btGeneric6DofConstraintDoubleData2 m_6dofData
Definition btGeneric6DofSpringConstraint.h:105
btTypedConstraint::btConstraintInfo2
Definition btTypedConstraint.h:121