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 btPoint2PointConstraintData btPoint2PointConstraintDoubleData
28 #define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData"
29 #else
30 #define btPoint2PointConstraintData 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 ///for backwards compatibility during the transition to 'getInfo/getInfo2'
71 bool m_useSolveConstraintObsolete;
72
73 btConstraintSetting m_setting;
74
75 btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB);
76
77 btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
78
79
80 virtual void buildJacobian();
81
82 virtual void getInfo1 (btConstraintInfo1* info);
83
84 void getInfo1NonVirtual (btConstraintInfo1* info);
85
86 virtual void getInfo2 (btConstraintInfo2* info);
87
88 void getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans);
89
90 void updateRHS(btScalar timeStep);
91
92 void setPivotA(const btVector3& pivotA)
93 {
94 m_pivotInA = pivotA;
95 }
96
97 void setPivotB(const btVector3& pivotB)
98 {
99 m_pivotInB = pivotB;
100 }
101
102 const btVector3& getPivotInA() const
103 {
104 return m_pivotInA;
105 }
106
107 const btVector3& getPivotInB() const
108 {
109 return m_pivotInB;
110 }
111
112 ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
113 ///If no axis is provided, it uses the default axis for this constraint.
114 virtual void setParam(int num, btScalar value, int axis = -1);
115 ///return the local value of parameter
116 virtual btScalar getParam(int num, int axis = -1) const;
117
118 virtual int calculateSerializeBufferSize() const;
119
120 ///fills the dataBuffer and returns the struct name (and 0 on failure)
121 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
122
123
124 };
125
126 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
127 struct btPoint2PointConstraintFloatData
128 {
129 btTypedConstraintData m_typeConstraintData;
130 btVector3FloatData m_pivotInA;
131 btVector3FloatData m_pivotInB;
132 };
133
134 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
135 struct btPoint2PointConstraintDoubleData
136 {
137 btTypedConstraintData m_typeConstraintData;
138 btVector3DoubleData m_pivotInA;
139 btVector3DoubleData m_pivotInB;
140 };
141
142
calculateSerializeBufferSize()143 SIMD_FORCE_INLINE int btPoint2PointConstraint::calculateSerializeBufferSize() const
144 {
145 return sizeof(btPoint2PointConstraintData);
146
147 }
148
149 ///fills the dataBuffer and returns the struct name (and 0 on failure)
serialize(void * dataBuffer,btSerializer * serializer)150 SIMD_FORCE_INLINE const char* btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
151 {
152 btPoint2PointConstraintData* p2pData = (btPoint2PointConstraintData*)dataBuffer;
153
154 btTypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer);
155 m_pivotInA.serialize(p2pData->m_pivotInA);
156 m_pivotInB.serialize(p2pData->m_pivotInB);
157
158 return btPoint2PointConstraintDataName;
159 }
160
161 #endif //BT_POINT2POINTCONSTRAINT_H
162