1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2012 Advanced Micro Devices, Inc. http://bulletphysics.org
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
17
18 #ifndef BT_GEAR_CONSTRAINT_H
19 #define BT_GEAR_CONSTRAINT_H
20
21 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
22
23
24 #ifdef BT_USE_DOUBLE_PRECISION
25 #define btGearConstraintData btGearConstraintDoubleData
26 #define btGearConstraintDataName "btGearConstraintDoubleData"
27 #else
28 #define btGearConstraintData btGearConstraintFloatData
29 #define btGearConstraintDataName "btGearConstraintFloatData"
30 #endif //BT_USE_DOUBLE_PRECISION
31
32
33
34 ///The btGeatConstraint will couple the angular velocity for two bodies around given local axis and ratio.
35 ///See Bullet/Demos/ConstraintDemo for an example use.
36 class btGearConstraint : public btTypedConstraint
37 {
38 protected:
39 btVector3 m_axisInA;
40 btVector3 m_axisInB;
41 bool m_useFrameA;
42 btScalar m_ratio;
43
44 public:
45 btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio=1.f);
46 virtual ~btGearConstraint ();
47
48 ///internal method used by the constraint solver, don't use them directly
49 virtual void getInfo1 (btConstraintInfo1* info);
50
51 ///internal method used by the constraint solver, don't use them directly
52 virtual void getInfo2 (btConstraintInfo2* info);
53
setAxisA(btVector3 & axisA)54 void setAxisA(btVector3& axisA)
55 {
56 m_axisInA = axisA;
57 }
setAxisB(btVector3 & axisB)58 void setAxisB(btVector3& axisB)
59 {
60 m_axisInB = axisB;
61 }
setRatio(btScalar ratio)62 void setRatio(btScalar ratio)
63 {
64 m_ratio = ratio;
65 }
getAxisA()66 const btVector3& getAxisA() const
67 {
68 return m_axisInA;
69 }
getAxisB()70 const btVector3& getAxisB() const
71 {
72 return m_axisInB;
73 }
getRatio()74 btScalar getRatio() const
75 {
76 return m_ratio;
77 }
78
79
80 virtual void setParam(int num, btScalar value, int axis = -1)
81 {
82 (void) num;
83 (void) value;
84 (void) axis;
85 btAssert(0);
86 }
87
88 ///return the local value of parameter
89 virtual btScalar getParam(int num, int axis = -1) const
90 {
91 (void) num;
92 (void) axis;
93 btAssert(0);
94 return 0.f;
95 }
96
97 virtual int calculateSerializeBufferSize() const;
98
99 ///fills the dataBuffer and returns the struct name (and 0 on failure)
100 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
101 };
102
103
104
105
106 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
107 struct btGearConstraintFloatData
108 {
109 btTypedConstraintFloatData m_typeConstraintData;
110
111 btVector3FloatData m_axisInA;
112 btVector3FloatData m_axisInB;
113
114 float m_ratio;
115 char m_padding[4];
116 };
117
118 struct btGearConstraintDoubleData
119 {
120 btTypedConstraintDoubleData m_typeConstraintData;
121
122 btVector3DoubleData m_axisInA;
123 btVector3DoubleData m_axisInB;
124
125 double m_ratio;
126 };
127
calculateSerializeBufferSize()128 SIMD_FORCE_INLINE int btGearConstraint::calculateSerializeBufferSize() const
129 {
130 return sizeof(btGearConstraintData);
131 }
132
133 ///fills the dataBuffer and returns the struct name (and 0 on failure)
serialize(void * dataBuffer,btSerializer * serializer)134 SIMD_FORCE_INLINE const char* btGearConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
135 {
136 btGearConstraintData* gear = (btGearConstraintData*)dataBuffer;
137 btTypedConstraint::serialize(&gear->m_typeConstraintData,serializer);
138
139 m_axisInA.serialize( gear->m_axisInA );
140 m_axisInB.serialize( gear->m_axisInB );
141
142 gear->m_ratio = m_ratio;
143
144 return btGearConstraintDataName;
145 }
146
147
148
149
150
151
152 #endif //BT_GEAR_CONSTRAINT_H
153