diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h | 96 |
1 files changed, 45 insertions, 51 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h index dac59c6889..02b9d4d05d 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h @@ -16,20 +16,17 @@ subject to the following restrictions: #ifndef BT_GENERIC_6DOF_SPRING_CONSTRAINT_H #define BT_GENERIC_6DOF_SPRING_CONSTRAINT_H - #include "LinearMath/btVector3.h" #include "btTypedConstraint.h" #include "btGeneric6DofConstraint.h" #ifdef BT_USE_DOUBLE_PRECISION -#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintDoubleData2 -#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintDoubleData2" +#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintDoubleData2 +#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintDoubleData2" #else -#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintData -#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintData" -#endif //BT_USE_DOUBLE_PRECISION - - +#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintData +#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintData" +#endif //BT_USE_DOUBLE_PRECISION /// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF @@ -41,101 +38,98 @@ subject to the following restrictions: /// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] ) /// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] ) -ATTRIBUTE_ALIGNED16(class) btGeneric6DofSpringConstraint : public btGeneric6DofConstraint +ATTRIBUTE_ALIGNED16(class) +btGeneric6DofSpringConstraint : public btGeneric6DofConstraint { protected: - bool m_springEnabled[6]; - btScalar m_equilibriumPoint[6]; - btScalar m_springStiffness[6]; - btScalar m_springDamping[6]; // between 0 and 1 (1 == no damping) + bool m_springEnabled[6]; + btScalar m_equilibriumPoint[6]; + btScalar m_springStiffness[6]; + btScalar m_springDamping[6]; // between 0 and 1 (1 == no damping) void init(); - void internalUpdateSprings(btConstraintInfo2* info); -public: - + void internalUpdateSprings(btConstraintInfo2 * info); + +public: BT_DECLARE_ALIGNED_ALLOCATOR(); - - btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA); - btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB); + + btGeneric6DofSpringConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA); + btGeneric6DofSpringConstraint(btRigidBody & rbB, const btTransform& frameInB, bool useLinearReferenceFrameB); void enableSpring(int index, bool onOff); void setStiffness(int index, btScalar stiffness); void setDamping(int index, btScalar damping); - void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF + void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF void setEquilibriumPoint(int index, btScalar val); bool isSpringEnabled(int index) const { - return m_springEnabled[index]; + return m_springEnabled[index]; } btScalar getStiffness(int index) const { - return m_springStiffness[index]; + return m_springStiffness[index]; } btScalar getDamping(int index) const { - return m_springDamping[index]; + return m_springDamping[index]; } btScalar getEquilibriumPoint(int index) const { - return m_equilibriumPoint[index]; + return m_equilibriumPoint[index]; } - virtual void setAxis( const btVector3& axis1, const btVector3& axis2); + virtual void setAxis(const btVector3& axis1, const btVector3& axis2); - virtual void getInfo2 (btConstraintInfo2* info); + virtual void getInfo2(btConstraintInfo2 * info); - 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, btSerializer* serializer) const; - + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; }; - struct btGeneric6DofSpringConstraintData { - btGeneric6DofConstraintData m_6dofData; - - int m_springEnabled[6]; - float m_equilibriumPoint[6]; - float m_springStiffness[6]; - float m_springDamping[6]; + btGeneric6DofConstraintData m_6dofData; + + int m_springEnabled[6]; + float m_equilibriumPoint[6]; + float m_springStiffness[6]; + float m_springDamping[6]; }; struct btGeneric6DofSpringConstraintDoubleData2 { - btGeneric6DofConstraintDoubleData2 m_6dofData; - - int m_springEnabled[6]; - double m_equilibriumPoint[6]; - double m_springStiffness[6]; - double m_springDamping[6]; -}; + btGeneric6DofConstraintDoubleData2 m_6dofData; + int m_springEnabled[6]; + double m_equilibriumPoint[6]; + double m_springStiffness[6]; + double m_springDamping[6]; +}; -SIMD_FORCE_INLINE int btGeneric6DofSpringConstraint::calculateSerializeBufferSize() const +SIMD_FORCE_INLINE int btGeneric6DofSpringConstraint::calculateSerializeBufferSize() const { return sizeof(btGeneric6DofSpringConstraintData2); } - ///fills the dataBuffer and returns the struct name (and 0 on failure) -SIMD_FORCE_INLINE const char* btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const { btGeneric6DofSpringConstraintData2* dof = (btGeneric6DofSpringConstraintData2*)dataBuffer; - btGeneric6DofConstraint::serialize(&dof->m_6dofData,serializer); + btGeneric6DofConstraint::serialize(&dof->m_6dofData, serializer); int i; - for (i=0;i<6;i++) + for (i = 0; i < 6; i++) { dof->m_equilibriumPoint[i] = m_equilibriumPoint[i]; dof->m_springDamping[i] = m_springDamping[i]; - dof->m_springEnabled[i] = m_springEnabled[i]? 1 : 0; + dof->m_springEnabled[i] = m_springEnabled[i] ? 1 : 0; dof->m_springStiffness[i] = m_springStiffness[i]; } return btGeneric6DofSpringConstraintDataName; } -#endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H - +#endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H |