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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h | 349 |
1 files changed, 0 insertions, 349 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h deleted file mode 100644 index 75ca34e978..0000000000 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h +++ /dev/null @@ -1,349 +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. -*/ - -/* -Added by Roman Ponomarev (rponom@gmail.com) -April 04, 2008 - -TODO: - - add clamping od accumulated impulse to improve stability - - add conversion for ODE constraint solver -*/ - -#ifndef BT_SLIDER_CONSTRAINT_H -#define BT_SLIDER_CONSTRAINT_H - -#include "LinearMath/btScalar.h" //for BT_USE_DOUBLE_PRECISION - -#ifdef BT_USE_DOUBLE_PRECISION -#define btSliderConstraintData2 btSliderConstraintDoubleData -#define btSliderConstraintDataName "btSliderConstraintDoubleData" -#else -#define btSliderConstraintData2 btSliderConstraintData -#define btSliderConstraintDataName "btSliderConstraintData" -#endif //BT_USE_DOUBLE_PRECISION - -#include "LinearMath/btVector3.h" -#include "btJacobianEntry.h" -#include "btTypedConstraint.h" - -class btRigidBody; - -#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0)) -#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0)) -#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7)) -#define SLIDER_CONSTRAINT_DEF_CFM (btScalar(0.f)) - -enum btSliderFlags -{ - BT_SLIDER_FLAGS_CFM_DIRLIN = (1 << 0), - BT_SLIDER_FLAGS_ERP_DIRLIN = (1 << 1), - BT_SLIDER_FLAGS_CFM_DIRANG = (1 << 2), - BT_SLIDER_FLAGS_ERP_DIRANG = (1 << 3), - BT_SLIDER_FLAGS_CFM_ORTLIN = (1 << 4), - BT_SLIDER_FLAGS_ERP_ORTLIN = (1 << 5), - BT_SLIDER_FLAGS_CFM_ORTANG = (1 << 6), - BT_SLIDER_FLAGS_ERP_ORTANG = (1 << 7), - BT_SLIDER_FLAGS_CFM_LIMLIN = (1 << 8), - BT_SLIDER_FLAGS_ERP_LIMLIN = (1 << 9), - BT_SLIDER_FLAGS_CFM_LIMANG = (1 << 10), - BT_SLIDER_FLAGS_ERP_LIMANG = (1 << 11) -}; - -ATTRIBUTE_ALIGNED16(class) -btSliderConstraint : public btTypedConstraint -{ -protected: - ///for backwards compatibility during the transition to 'getInfo/getInfo2' - bool m_useSolveConstraintObsolete; - bool m_useOffsetForConstraintFrame; - btTransform m_frameInA; - btTransform m_frameInB; - // use frameA fo define limits, if true - bool m_useLinearReferenceFrameA; - // linear limits - btScalar m_lowerLinLimit; - btScalar m_upperLinLimit; - // angular limits - btScalar m_lowerAngLimit; - btScalar m_upperAngLimit; - // softness, restitution and damping for different cases - // DirLin - moving inside linear limits - // LimLin - hitting linear limit - // DirAng - moving inside angular limits - // LimAng - hitting angular limit - // OrthoLin, OrthoAng - against constraint axis - btScalar m_softnessDirLin; - btScalar m_restitutionDirLin; - btScalar m_dampingDirLin; - btScalar m_cfmDirLin; - - btScalar m_softnessDirAng; - btScalar m_restitutionDirAng; - btScalar m_dampingDirAng; - btScalar m_cfmDirAng; - - btScalar m_softnessLimLin; - btScalar m_restitutionLimLin; - btScalar m_dampingLimLin; - btScalar m_cfmLimLin; - - btScalar m_softnessLimAng; - btScalar m_restitutionLimAng; - btScalar m_dampingLimAng; - btScalar m_cfmLimAng; - - btScalar m_softnessOrthoLin; - btScalar m_restitutionOrthoLin; - btScalar m_dampingOrthoLin; - btScalar m_cfmOrthoLin; - - btScalar m_softnessOrthoAng; - btScalar m_restitutionOrthoAng; - btScalar m_dampingOrthoAng; - btScalar m_cfmOrthoAng; - - // for interlal use - bool m_solveLinLim; - bool m_solveAngLim; - - int m_flags; - - btJacobianEntry m_jacLin[3]; - btScalar m_jacLinDiagABInv[3]; - - btJacobianEntry m_jacAng[3]; - - btScalar m_timeStep; - btTransform m_calculatedTransformA; - btTransform m_calculatedTransformB; - - btVector3 m_sliderAxis; - btVector3 m_realPivotAInW; - btVector3 m_realPivotBInW; - btVector3 m_projPivotInW; - btVector3 m_delta; - btVector3 m_depth; - btVector3 m_relPosA; - btVector3 m_relPosB; - - btScalar m_linPos; - btScalar m_angPos; - - btScalar m_angDepth; - btScalar m_kAngle; - - bool m_poweredLinMotor; - btScalar m_targetLinMotorVelocity; - btScalar m_maxLinMotorForce; - btScalar m_accumulatedLinMotorImpulse; - - bool m_poweredAngMotor; - btScalar m_targetAngMotorVelocity; - btScalar m_maxAngMotorForce; - btScalar m_accumulatedAngMotorImpulse; - - //------------------------ - void initParams(); - -public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - - // constructors - btSliderConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA); - btSliderConstraint(btRigidBody & rbB, const btTransform& frameInB, bool useLinearReferenceFrameA); - - // overrides - - 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& linVelA, const btVector3& linVelB, btScalar rbAinvMass, btScalar rbBinvMass); - - // access - const btRigidBody& getRigidBodyA() const { return m_rbA; } - const btRigidBody& getRigidBodyB() const { return m_rbB; } - const btTransform& getCalculatedTransformA() const { return m_calculatedTransformA; } - const btTransform& getCalculatedTransformB() const { return m_calculatedTransformB; } - const btTransform& getFrameOffsetA() const { return m_frameInA; } - const btTransform& getFrameOffsetB() const { return m_frameInB; } - btTransform& getFrameOffsetA() { return m_frameInA; } - btTransform& getFrameOffsetB() { return m_frameInB; } - btScalar getLowerLinLimit() { return m_lowerLinLimit; } - void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; } - btScalar getUpperLinLimit() { return m_upperLinLimit; } - void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; } - btScalar getLowerAngLimit() { return m_lowerAngLimit; } - void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); } - btScalar getUpperAngLimit() { return m_upperAngLimit; } - void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); } - bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; } - btScalar getSoftnessDirLin() { return m_softnessDirLin; } - btScalar getRestitutionDirLin() { return m_restitutionDirLin; } - btScalar getDampingDirLin() { return m_dampingDirLin; } - btScalar getSoftnessDirAng() { return m_softnessDirAng; } - btScalar getRestitutionDirAng() { return m_restitutionDirAng; } - btScalar getDampingDirAng() { return m_dampingDirAng; } - btScalar getSoftnessLimLin() { return m_softnessLimLin; } - btScalar getRestitutionLimLin() { return m_restitutionLimLin; } - btScalar getDampingLimLin() { return m_dampingLimLin; } - btScalar getSoftnessLimAng() { return m_softnessLimAng; } - btScalar getRestitutionLimAng() { return m_restitutionLimAng; } - btScalar getDampingLimAng() { return m_dampingLimAng; } - btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; } - btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; } - btScalar getDampingOrthoLin() { return m_dampingOrthoLin; } - btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; } - btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; } - btScalar getDampingOrthoAng() { return m_dampingOrthoAng; } - void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; } - void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; } - void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; } - void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; } - void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; } - void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; } - void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; } - void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; } - void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; } - void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; } - void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; } - void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; } - void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; } - void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; } - void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; } - void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; } - void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; } - void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; } - void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; } - bool getPoweredLinMotor() { return m_poweredLinMotor; } - void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; } - btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; } - void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; } - btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; } - void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; } - bool getPoweredAngMotor() { return m_poweredAngMotor; } - void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; } - btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; } - void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; } - btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; } - - btScalar getLinearPos() const { return m_linPos; } - btScalar getAngularPos() const { return m_angPos; } - - // access for ODE solver - bool getSolveLinLimit() { return m_solveLinLim; } - btScalar getLinDepth() { return m_depth[0]; } - bool getSolveAngLimit() { return m_solveAngLim; } - btScalar getAngDepth() { return m_angDepth; } - // shared code used by ODE solver - void calculateTransforms(const btTransform& transA, const btTransform& transB); - void testLinLimits(); - void testAngLimits(); - // access for PE Solver - btVector3 getAncorInA(); - btVector3 getAncorInB(); - // access for UseFrameOffset - bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; } - void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; } - - void setFrames(const btTransform& frameA, const btTransform& frameB) - { - m_frameInA = frameA; - m_frameInB = frameB; - calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform()); - buildJacobian(); - } - - ///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; -}; - -///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 - -struct btSliderConstraintData -{ - btTypedConstraintData m_typeConstraintData; - btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis. - btTransformFloatData m_rbBFrame; - - float m_linearUpperLimit; - float m_linearLowerLimit; - - float m_angularUpperLimit; - float m_angularLowerLimit; - - int m_useLinearReferenceFrameA; - int m_useOffsetForConstraintFrame; -}; - -struct btSliderConstraintDoubleData -{ - btTypedConstraintDoubleData m_typeConstraintData; - btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis. - btTransformDoubleData m_rbBFrame; - - double m_linearUpperLimit; - double m_linearLowerLimit; - - double m_angularUpperLimit; - double m_angularLowerLimit; - - int m_useLinearReferenceFrameA; - int m_useOffsetForConstraintFrame; -}; - -SIMD_FORCE_INLINE int btSliderConstraint::calculateSerializeBufferSize() const -{ - return sizeof(btSliderConstraintData2); -} - -///fills the dataBuffer and returns the struct name (and 0 on failure) -SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const -{ - btSliderConstraintData2* sliderData = (btSliderConstraintData2*)dataBuffer; - btTypedConstraint::serialize(&sliderData->m_typeConstraintData, serializer); - - m_frameInA.serialize(sliderData->m_rbAFrame); - m_frameInB.serialize(sliderData->m_rbBFrame); - - sliderData->m_linearUpperLimit = m_upperLinLimit; - sliderData->m_linearLowerLimit = m_lowerLinLimit; - - sliderData->m_angularUpperLimit = m_upperAngLimit; - sliderData->m_angularLowerLimit = m_lowerAngLimit; - - sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA; - sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame; - - return btSliderConstraintDataName; -} - -#endif //BT_SLIDER_CONSTRAINT_H |