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Diffstat (limited to 'thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h | 159 |
1 files changed, 0 insertions, 159 deletions
diff --git a/thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h b/thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h deleted file mode 100644 index 681b487334..0000000000 --- a/thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h +++ /dev/null @@ -1,159 +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. -*/ - -#ifndef B3_POINT2POINTCONSTRAINT_H -#define B3_POINT2POINTCONSTRAINT_H - -#include "Bullet3Common/b3Vector3.h" -//#include "b3JacobianEntry.h" -#include "b3TypedConstraint.h" - -class b3RigidBody; - - -#ifdef B3_USE_DOUBLE_PRECISION -#define b3Point2PointConstraintData b3Point2PointConstraintDoubleData -#define b3Point2PointConstraintDataName "b3Point2PointConstraintDoubleData" -#else -#define b3Point2PointConstraintData b3Point2PointConstraintFloatData -#define b3Point2PointConstraintDataName "b3Point2PointConstraintFloatData" -#endif //B3_USE_DOUBLE_PRECISION - -struct b3ConstraintSetting -{ - b3ConstraintSetting() : - m_tau(b3Scalar(0.3)), - m_damping(b3Scalar(1.)), - m_impulseClamp(b3Scalar(0.)) - { - } - b3Scalar m_tau; - b3Scalar m_damping; - b3Scalar m_impulseClamp; -}; - -enum b3Point2PointFlags -{ - B3_P2P_FLAGS_ERP = 1, - B3_P2P_FLAGS_CFM = 2 -}; - -/// 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 -{ -#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(); - - 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); - - void getInfo1NonVirtual (b3ConstraintInfo1* 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 updateRHS(b3Scalar timeStep); - - void setPivotA(const b3Vector3& pivotA) - { - m_pivotInA = pivotA; - } - - void setPivotB(const b3Vector3& pivotB) - { - m_pivotInB = pivotB; - } - - const b3Vector3& getPivotInA() const - { - return m_pivotInA; - } - - const b3Vector3& getPivotInB() const - { - return m_pivotInB; - } - - ///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); - ///return the local value of parameter - virtual b3Scalar getParam(int num, int axis = -1) 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; - - -}; - -///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct b3Point2PointConstraintFloatData -{ - b3TypedConstraintData m_typeConstraintData; - b3Vector3FloatData m_pivotInA; - b3Vector3FloatData m_pivotInB; -}; - -///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct b3Point2PointConstraintDoubleData -{ - b3TypedConstraintData m_typeConstraintData; - b3Vector3DoubleData m_pivotInA; - b3Vector3DoubleData m_pivotInB; -}; - -/* -B3_FORCE_INLINE int b3Point2PointConstraint::calculateSerializeBufferSize() const -{ - return sizeof(b3Point2PointConstraintData); - -} - - ///fills the dataBuffer and returns the struct name (and 0 on failure) -B3_FORCE_INLINE const char* b3Point2PointConstraint::serialize(void* dataBuffer, b3Serializer* serializer) const -{ - b3Point2PointConstraintData* p2pData = (b3Point2PointConstraintData*)dataBuffer; - - b3TypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer); - m_pivotInA.serialize(p2pData->m_pivotInA); - m_pivotInB.serialize(p2pData->m_pivotInB); - - return b3Point2PointConstraintDataName; -} -*/ - -#endif //B3_POINT2POINTCONSTRAINT_H |