diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h | 96 |
1 files changed, 45 insertions, 51 deletions
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h index 681b487334..14762a3e35 100644 --- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h +++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h @@ -22,26 +22,24 @@ subject to the following restrictions: class b3RigidBody; - #ifdef B3_USE_DOUBLE_PRECISION -#define b3Point2PointConstraintData b3Point2PointConstraintDoubleData -#define b3Point2PointConstraintDataName "b3Point2PointConstraintDoubleData" +#define b3Point2PointConstraintData b3Point2PointConstraintDoubleData +#define b3Point2PointConstraintDataName "b3Point2PointConstraintDoubleData" #else -#define b3Point2PointConstraintData b3Point2PointConstraintFloatData -#define b3Point2PointConstraintDataName "b3Point2PointConstraintFloatData" -#endif //B3_USE_DOUBLE_PRECISION +#define b3Point2PointConstraintData b3Point2PointConstraintFloatData +#define b3Point2PointConstraintDataName "b3Point2PointConstraintFloatData" +#endif //B3_USE_DOUBLE_PRECISION -struct b3ConstraintSetting +struct b3ConstraintSetting { - b3ConstraintSetting() : - m_tau(b3Scalar(0.3)), - m_damping(b3Scalar(1.)), - m_impulseClamp(b3Scalar(0.)) + b3ConstraintSetting() : m_tau(b3Scalar(0.3)), + m_damping(b3Scalar(1.)), + m_impulseClamp(b3Scalar(0.)) { } - b3Scalar m_tau; - b3Scalar m_damping; - b3Scalar m_impulseClamp; + b3Scalar m_tau; + b3Scalar m_damping; + b3Scalar m_impulseClamp; }; enum b3Point2PointFlags @@ -51,47 +49,45 @@ enum b3Point2PointFlags }; /// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space -B3_ATTRIBUTE_ALIGNED16(class) b3Point2PointConstraint : public b3TypedConstraint +B3_ATTRIBUTE_ALIGNED16(class) +b3Point2PointConstraint : public b3TypedConstraint { #ifdef IN_PARALLELL_SOLVER public: #endif - - b3Vector3 m_pivotInA; - b3Vector3 m_pivotInB; - - int m_flags; - b3Scalar m_erp; - b3Scalar m_cfm; - -public: - B3_DECLARE_ALIGNED_ALLOCATOR(); + b3Vector3 m_pivotInA; + b3Vector3 m_pivotInB; - b3ConstraintSetting m_setting; + int m_flags; + b3Scalar m_erp; + b3Scalar m_cfm; - b3Point2PointConstraint(int rbA,int rbB, const b3Vector3& pivotInA,const b3Vector3& pivotInB); +public: + B3_DECLARE_ALIGNED_ALLOCATOR(); - //b3Point2PointConstraint(int rbA,const b3Vector3& pivotInA); + b3ConstraintSetting m_setting; + b3Point2PointConstraint(int rbA, int rbB, const b3Vector3& pivotInA, const b3Vector3& pivotInB); + //b3Point2PointConstraint(int rbA,const b3Vector3& pivotInA); - virtual void getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies); + virtual void getInfo1(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies); - void getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyData* bodies); + void getInfo1NonVirtual(b3ConstraintInfo1 * info, const b3RigidBodyData* bodies); - virtual void getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyData* bodies); + virtual void getInfo2(b3ConstraintInfo2 * info, const b3RigidBodyData* bodies); - void getInfo2NonVirtual (b3ConstraintInfo2* info, const b3Transform& body0_trans, const b3Transform& body1_trans); + void getInfo2NonVirtual(b3ConstraintInfo2 * info, const b3Transform& body0_trans, const b3Transform& body1_trans); - void updateRHS(b3Scalar timeStep); + void updateRHS(b3Scalar timeStep); - void setPivotA(const b3Vector3& pivotA) + void setPivotA(const b3Vector3& pivotA) { m_pivotInA = pivotA; } - void setPivotB(const b3Vector3& pivotB) + void setPivotB(const b3Vector3& pivotB) { m_pivotInB = pivotB; } @@ -106,34 +102,32 @@ public: return m_pivotInB; } - ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). + ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). ///If no axis is provided, it uses the default axis for this constraint. - virtual void setParam(int num, b3Scalar value, int axis = -1); + virtual void setParam(int num, b3Scalar value, int axis = -1); ///return the local value of parameter - virtual b3Scalar getParam(int num, int axis = -1) const; + virtual b3Scalar getParam(int num, int axis = -1) const; -// virtual int calculateSerializeBufferSize() const; + // virtual int calculateSerializeBufferSize() const; ///fills the dataBuffer and returns the struct name (and 0 on failure) -// virtual const char* serialize(void* dataBuffer, b3Serializer* serializer) const; - - + // virtual const char* serialize(void* dataBuffer, b3Serializer* serializer) const; }; ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct b3Point2PointConstraintFloatData +struct b3Point2PointConstraintFloatData { - b3TypedConstraintData m_typeConstraintData; - b3Vector3FloatData m_pivotInA; - b3Vector3FloatData m_pivotInB; + b3TypedConstraintData m_typeConstraintData; + b3Vector3FloatData m_pivotInA; + b3Vector3FloatData m_pivotInB; }; ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct b3Point2PointConstraintDoubleData +struct b3Point2PointConstraintDoubleData { - b3TypedConstraintData m_typeConstraintData; - b3Vector3DoubleData m_pivotInA; - b3Vector3DoubleData m_pivotInB; + b3TypedConstraintData m_typeConstraintData; + b3Vector3DoubleData m_pivotInA; + b3Vector3DoubleData m_pivotInB; }; /* @@ -156,4 +150,4 @@ B3_FORCE_INLINE const char* b3Point2PointConstraint::serialize(void* dataBuffer, } */ -#endif //B3_POINT2POINTCONSTRAINT_H +#endif //B3_POINT2POINTCONSTRAINT_H |