Bullet Collision Detection & Physics Library
btPoint2PointConstraint.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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_POINT2POINTCONSTRAINT_H
17#define BT_POINT2POINTCONSTRAINT_H
18
20#include "btJacobianEntry.h"
21#include "btTypedConstraint.h"
22
23class 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
35{
37 m_tau(btScalar(0.3)),
40 {
41 }
45};
46
48{
51};
52
55{
56#ifdef IN_PARALLELL_SOLVER
57public:
58#endif
59 btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
60
63
67
68public:
69
71
74
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
116 virtual void setParam(int num, btScalar value, int axis = -1);
118 virtual btScalar getParam(int num, int axis = -1) const;
119
120 virtual int getFlags() const
121 {
122 return m_flags;
123 }
124
125 virtual int calculateSerializeBufferSize() const;
126
128 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
129
130
131};
132
135{
139};
140
143{
147};
148
149#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
154{
158};
159#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
160
161
163{
164 return sizeof(btPoint2PointConstraintData2);
165
166}
167
169SIMD_FORCE_INLINE const char* btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
170{
172
173 btTypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer);
174 m_pivotInA.serialize(p2pData->m_pivotInA);
175 m_pivotInB.serialize(p2pData->m_pivotInB);
176
178}
179
180#endif //BT_POINT2POINTCONSTRAINT_H
#define btPoint2PointConstraintData2
@ BT_P2P_FLAGS_CFM
@ BT_P2P_FLAGS_ERP
#define btPoint2PointConstraintDataName
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocke...
void setPivotB(const btVector3 &pivotB)
virtual int calculateSerializeBufferSize() const
const btVector3 & getPivotInB() const
void setPivotA(const btVector3 &pivotA)
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
bool m_useSolveConstraintObsolete
for backwards compatibility during the transition to 'getInfo/getInfo2'
const btVector3 & getPivotInA() const
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:63
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
TypedConstraint is the baseclass for Bullet constraints and vehicles.
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
void serialize(struct btVector3Data &dataOut) const
Definition: btVector3.h:1351
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
btTypedConstraintDoubleData m_typeConstraintData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 th...
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
this structure is not used, except for loading pre-2.82 .bullet files