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 {
btConstraintSettingbtConstraintSetting36 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
53 /// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
ATTRIBUTE_ALIGNED16(class)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
72 ///for backwards compatibility during the transition to 'getInfo/getInfo2'
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
114 ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
115 ///If no axis is provided, it uses the default axis for this constraint.
116 virtual void setParam(int num, btScalar value, int axis = -1);
117 ///return the local value of parameter
118 virtual btScalar getParam(int num, int axis = -1) const;
119
120 virtual int calculateSerializeBufferSize() const;
121
122 ///fills the dataBuffer and returns the struct name (and 0 on failure)
123 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
124
125
126 };
127
128 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
129 struct btPoint2PointConstraintFloatData
130 {
131 btTypedConstraintData m_typeConstraintData;
132 btVector3FloatData m_pivotInA;
133 btVector3FloatData m_pivotInB;
134 };
135
136 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
146 ///this structure is not used, except for loading pre-2.82 .bullet files
147 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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
calculateSerializeBufferSize()157 SIMD_FORCE_INLINE int btPoint2PointConstraint::calculateSerializeBufferSize() const
158 {
159 return sizeof(btPoint2PointConstraintData2);
160
161 }
162
163 ///fills the dataBuffer and returns the struct name (and 0 on failure)
serialize(void * dataBuffer,btSerializer * serializer)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
176