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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h | 480 |
1 files changed, 0 insertions, 480 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h deleted file mode 100644 index c7509e30af..0000000000 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h +++ /dev/null @@ -1,480 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -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. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */ - -#ifndef BT_HINGECONSTRAINT_H -#define BT_HINGECONSTRAINT_H - -#define _BT_USE_CENTER_LIMIT_ 1 - -#include "LinearMath/btVector3.h" -#include "btJacobianEntry.h" -#include "btTypedConstraint.h" - -class btRigidBody; - -#ifdef BT_USE_DOUBLE_PRECISION -#define btHingeConstraintData btHingeConstraintDoubleData2 //rename to 2 for backwards compatibility, so we can still load the 'btHingeConstraintDoubleData' version -#define btHingeConstraintDataName "btHingeConstraintDoubleData2" -#else -#define btHingeConstraintData btHingeConstraintFloatData -#define btHingeConstraintDataName "btHingeConstraintFloatData" -#endif //BT_USE_DOUBLE_PRECISION - -enum btHingeFlags -{ - BT_HINGE_FLAGS_CFM_STOP = 1, - BT_HINGE_FLAGS_ERP_STOP = 2, - BT_HINGE_FLAGS_CFM_NORM = 4, - BT_HINGE_FLAGS_ERP_NORM = 8 -}; - -/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space -/// axis defines the orientation of the hinge axis -ATTRIBUTE_ALIGNED16(class) -btHingeConstraint : public btTypedConstraint -{ -#ifdef IN_PARALLELL_SOLVER -public: -#endif - btJacobianEntry m_jac[3]; //3 orthogonal linear constraints - btJacobianEntry m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor - - btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis. - btTransform m_rbBFrame; - - btScalar m_motorTargetVelocity; - btScalar m_maxMotorImpulse; - -#ifdef _BT_USE_CENTER_LIMIT_ - btAngularLimit m_limit; -#else - btScalar m_lowerLimit; - btScalar m_upperLimit; - btScalar m_limitSign; - btScalar m_correction; - - btScalar m_limitSoftness; - btScalar m_biasFactor; - btScalar m_relaxationFactor; - - bool m_solveLimit; -#endif - - btScalar m_kHinge; - - btScalar m_accLimitImpulse; - btScalar m_hingeAngle; - btScalar m_referenceSign; - - bool m_angularOnly; - bool m_enableAngularMotor; - bool m_useSolveConstraintObsolete; - bool m_useOffsetForConstraintFrame; - bool m_useReferenceFrameA; - - btScalar m_accMotorImpulse; - - int m_flags; - btScalar m_normalCFM; - btScalar m_normalERP; - btScalar m_stopCFM; - btScalar m_stopERP; - -public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - - btHingeConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& pivotInA, const btVector3& pivotInB, const btVector3& axisInA, const btVector3& axisInB, bool useReferenceFrameA = false); - - btHingeConstraint(btRigidBody & rbA, const btVector3& pivotInA, const btVector3& axisInA, bool useReferenceFrameA = false); - - btHingeConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false); - - btHingeConstraint(btRigidBody & rbA, const btTransform& rbAFrame, bool useReferenceFrameA = false); - - virtual void buildJacobian(); - - virtual void getInfo1(btConstraintInfo1 * info); - - void getInfo1NonVirtual(btConstraintInfo1 * info); - - virtual void getInfo2(btConstraintInfo2 * info); - - void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB); - - void getInfo2Internal(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB); - void getInfo2InternalUsingFrameOffset(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB); - - void updateRHS(btScalar timeStep); - - const btRigidBody& getRigidBodyA() const - { - return m_rbA; - } - const btRigidBody& getRigidBodyB() const - { - return m_rbB; - } - - btRigidBody& getRigidBodyA() - { - return m_rbA; - } - - btRigidBody& getRigidBodyB() - { - return m_rbB; - } - - btTransform& getFrameOffsetA() - { - return m_rbAFrame; - } - - btTransform& getFrameOffsetB() - { - return m_rbBFrame; - } - - void setFrames(const btTransform& frameA, const btTransform& frameB); - - void setAngularOnly(bool angularOnly) - { - m_angularOnly = angularOnly; - } - - void enableAngularMotor(bool enableMotor, btScalar targetVelocity, btScalar maxMotorImpulse) - { - m_enableAngularMotor = enableMotor; - m_motorTargetVelocity = targetVelocity; - m_maxMotorImpulse = maxMotorImpulse; - } - - // extra motor API, including ability to set a target rotation (as opposed to angular velocity) - // note: setMotorTarget sets angular velocity under the hood, so you must call it every tick to - // maintain a given angular target. - void enableMotor(bool enableMotor) { m_enableAngularMotor = enableMotor; } - void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; } - void setMotorTargetVelocity(btScalar motorTargetVelocity) { m_motorTargetVelocity = motorTargetVelocity; } - void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B. - void setMotorTarget(btScalar targetAngle, btScalar dt); - - void setLimit(btScalar low, btScalar high, btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f) - { -#ifdef _BT_USE_CENTER_LIMIT_ - m_limit.set(low, high, _softness, _biasFactor, _relaxationFactor); -#else - m_lowerLimit = btNormalizeAngle(low); - m_upperLimit = btNormalizeAngle(high); - m_limitSoftness = _softness; - m_biasFactor = _biasFactor; - m_relaxationFactor = _relaxationFactor; -#endif - } - - btScalar getLimitSoftness() const - { -#ifdef _BT_USE_CENTER_LIMIT_ - return m_limit.getSoftness(); -#else - return m_limitSoftness; -#endif - } - - btScalar getLimitBiasFactor() const - { -#ifdef _BT_USE_CENTER_LIMIT_ - return m_limit.getBiasFactor(); -#else - return m_biasFactor; -#endif - } - - btScalar getLimitRelaxationFactor() const - { -#ifdef _BT_USE_CENTER_LIMIT_ - return m_limit.getRelaxationFactor(); -#else - return m_relaxationFactor; -#endif - } - - void setAxis(btVector3 & axisInA) - { - btVector3 rbAxisA1, rbAxisA2; - btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2); - btVector3 pivotInA = m_rbAFrame.getOrigin(); - // m_rbAFrame.getOrigin() = pivotInA; - m_rbAFrame.getBasis().setValue(rbAxisA1.getX(), rbAxisA2.getX(), axisInA.getX(), - rbAxisA1.getY(), rbAxisA2.getY(), axisInA.getY(), - rbAxisA1.getZ(), rbAxisA2.getZ(), axisInA.getZ()); - - btVector3 axisInB = m_rbA.getCenterOfMassTransform().getBasis() * axisInA; - - btQuaternion rotationArc = shortestArcQuat(axisInA, axisInB); - btVector3 rbAxisB1 = quatRotate(rotationArc, rbAxisA1); - btVector3 rbAxisB2 = axisInB.cross(rbAxisB1); - - m_rbBFrame.getOrigin() = m_rbB.getCenterOfMassTransform().inverse()(m_rbA.getCenterOfMassTransform()(pivotInA)); - - m_rbBFrame.getBasis().setValue(rbAxisB1.getX(), rbAxisB2.getX(), axisInB.getX(), - rbAxisB1.getY(), rbAxisB2.getY(), axisInB.getY(), - rbAxisB1.getZ(), rbAxisB2.getZ(), axisInB.getZ()); - m_rbBFrame.getBasis() = m_rbB.getCenterOfMassTransform().getBasis().inverse() * m_rbBFrame.getBasis(); - } - - bool hasLimit() const - { -#ifdef _BT_USE_CENTER_LIMIT_ - return m_limit.getHalfRange() > 0; -#else - return m_lowerLimit <= m_upperLimit; -#endif - } - - btScalar getLowerLimit() const - { -#ifdef _BT_USE_CENTER_LIMIT_ - return m_limit.getLow(); -#else - return m_lowerLimit; -#endif - } - - btScalar getUpperLimit() const - { -#ifdef _BT_USE_CENTER_LIMIT_ - return m_limit.getHigh(); -#else - return m_upperLimit; -#endif - } - - ///The getHingeAngle gives the hinge angle in range [-PI,PI] - btScalar getHingeAngle(); - - btScalar getHingeAngle(const btTransform& transA, const btTransform& transB); - - void testLimit(const btTransform& transA, const btTransform& transB); - - const btTransform& getAFrame() const { return m_rbAFrame; }; - const btTransform& getBFrame() const { return m_rbBFrame; }; - - btTransform& getAFrame() { return m_rbAFrame; }; - btTransform& getBFrame() { return m_rbBFrame; }; - - inline int getSolveLimit() - { -#ifdef _BT_USE_CENTER_LIMIT_ - return m_limit.isLimit(); -#else - return m_solveLimit; -#endif - } - - inline btScalar getLimitSign() - { -#ifdef _BT_USE_CENTER_LIMIT_ - return m_limit.getSign(); -#else - return m_limitSign; -#endif - } - - inline bool getAngularOnly() - { - return m_angularOnly; - } - inline bool getEnableAngularMotor() - { - return m_enableAngularMotor; - } - inline btScalar getMotorTargetVelocity() - { - return m_motorTargetVelocity; - } - inline btScalar getMaxMotorImpulse() - { - return m_maxMotorImpulse; - } - // access for UseFrameOffset - bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; } - void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; } - // access for UseReferenceFrameA - bool getUseReferenceFrameA() const { return m_useReferenceFrameA; } - void setUseReferenceFrameA(bool useReferenceFrameA) { m_useReferenceFrameA = useReferenceFrameA; } - - ///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, btScalar value, int axis = -1); - ///return the local value of parameter - virtual btScalar getParam(int num, int axis = -1) const; - - virtual int getFlags() const - { - return m_flags; - } - - 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; -}; - -//only for backward compatibility -#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION -///this structure is not used, except for loading pre-2.82 .bullet files -struct btHingeConstraintDoubleData -{ - btTypedConstraintData m_typeConstraintData; - btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis. - btTransformDoubleData m_rbBFrame; - int m_useReferenceFrameA; - int m_angularOnly; - int m_enableAngularMotor; - float m_motorTargetVelocity; - float m_maxMotorImpulse; - - float m_lowerLimit; - float m_upperLimit; - float m_limitSoftness; - float m_biasFactor; - float m_relaxationFactor; -}; -#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION - -///The getAccumulatedHingeAngle returns the accumulated hinge angle, taking rotation across the -PI/PI boundary into account -ATTRIBUTE_ALIGNED16(class) -btHingeAccumulatedAngleConstraint : public btHingeConstraint -{ -protected: - btScalar m_accumulatedAngle; - -public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - - btHingeAccumulatedAngleConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& pivotInA, const btVector3& pivotInB, const btVector3& axisInA, const btVector3& axisInB, bool useReferenceFrameA = false) - : btHingeConstraint(rbA, rbB, pivotInA, pivotInB, axisInA, axisInB, useReferenceFrameA) - { - m_accumulatedAngle = getHingeAngle(); - } - - btHingeAccumulatedAngleConstraint(btRigidBody & rbA, const btVector3& pivotInA, const btVector3& axisInA, bool useReferenceFrameA = false) - : btHingeConstraint(rbA, pivotInA, axisInA, useReferenceFrameA) - { - m_accumulatedAngle = getHingeAngle(); - } - - btHingeAccumulatedAngleConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false) - : btHingeConstraint(rbA, rbB, rbAFrame, rbBFrame, useReferenceFrameA) - { - m_accumulatedAngle = getHingeAngle(); - } - - btHingeAccumulatedAngleConstraint(btRigidBody & rbA, const btTransform& rbAFrame, bool useReferenceFrameA = false) - : btHingeConstraint(rbA, rbAFrame, useReferenceFrameA) - { - m_accumulatedAngle = getHingeAngle(); - } - btScalar getAccumulatedHingeAngle(); - void setAccumulatedHingeAngle(btScalar accAngle); - virtual void getInfo1(btConstraintInfo1 * info); -}; - -struct btHingeConstraintFloatData -{ - btTypedConstraintData m_typeConstraintData; - btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis. - btTransformFloatData m_rbBFrame; - int m_useReferenceFrameA; - int m_angularOnly; - - int m_enableAngularMotor; - float m_motorTargetVelocity; - float m_maxMotorImpulse; - - float m_lowerLimit; - float m_upperLimit; - float m_limitSoftness; - float m_biasFactor; - float m_relaxationFactor; -}; - -///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct btHingeConstraintDoubleData2 -{ - btTypedConstraintDoubleData m_typeConstraintData; - btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis. - btTransformDoubleData m_rbBFrame; - int m_useReferenceFrameA; - int m_angularOnly; - int m_enableAngularMotor; - double m_motorTargetVelocity; - double m_maxMotorImpulse; - - double m_lowerLimit; - double m_upperLimit; - double m_limitSoftness; - double m_biasFactor; - double m_relaxationFactor; - char m_padding1[4]; -}; - -SIMD_FORCE_INLINE int btHingeConstraint::calculateSerializeBufferSize() const -{ - return sizeof(btHingeConstraintData); -} - -///fills the dataBuffer and returns the struct name (and 0 on failure) -SIMD_FORCE_INLINE const char* btHingeConstraint::serialize(void* dataBuffer, btSerializer* serializer) const -{ - btHingeConstraintData* hingeData = (btHingeConstraintData*)dataBuffer; - btTypedConstraint::serialize(&hingeData->m_typeConstraintData, serializer); - - m_rbAFrame.serialize(hingeData->m_rbAFrame); - m_rbBFrame.serialize(hingeData->m_rbBFrame); - - hingeData->m_angularOnly = m_angularOnly; - hingeData->m_enableAngularMotor = m_enableAngularMotor; - hingeData->m_maxMotorImpulse = float(m_maxMotorImpulse); - hingeData->m_motorTargetVelocity = float(m_motorTargetVelocity); - hingeData->m_useReferenceFrameA = m_useReferenceFrameA; -#ifdef _BT_USE_CENTER_LIMIT_ - hingeData->m_lowerLimit = float(m_limit.getLow()); - hingeData->m_upperLimit = float(m_limit.getHigh()); - hingeData->m_limitSoftness = float(m_limit.getSoftness()); - hingeData->m_biasFactor = float(m_limit.getBiasFactor()); - hingeData->m_relaxationFactor = float(m_limit.getRelaxationFactor()); -#else - hingeData->m_lowerLimit = float(m_lowerLimit); - hingeData->m_upperLimit = float(m_upperLimit); - hingeData->m_limitSoftness = float(m_limitSoftness); - hingeData->m_biasFactor = float(m_biasFactor); - hingeData->m_relaxationFactor = float(m_relaxationFactor); -#endif - - // Fill padding with zeros to appease msan. -#ifdef BT_USE_DOUBLE_PRECISION - hingeData->m_padding1[0] = 0; - hingeData->m_padding1[1] = 0; - hingeData->m_padding1[2] = 0; - hingeData->m_padding1[3] = 0; -#endif - - return btHingeConstraintDataName; -} - -#endif //BT_HINGECONSTRAINT_H |