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Diffstat (limited to 'thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h | 132 |
1 files changed, 0 insertions, 132 deletions
diff --git a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h deleted file mode 100644 index 14b3ba7fec..0000000000 --- a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h +++ /dev/null @@ -1,132 +0,0 @@ -/* -Copyright (c) 2013 Advanced Micro Devices, Inc. - -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. -*/ -//Originally written by Erwin Coumans - -#ifndef B3_GPU_GENERIC_CONSTRAINT_H -#define B3_GPU_GENERIC_CONSTRAINT_H - -#include "Bullet3Common/b3Quaternion.h" -struct b3RigidBodyData; -enum B3_CONSTRAINT_FLAGS -{ - B3_CONSTRAINT_FLAG_ENABLED=1, -}; - -enum b3GpuGenericConstraintType -{ - B3_GPU_POINT2POINT_CONSTRAINT_TYPE=3, - B3_GPU_FIXED_CONSTRAINT_TYPE=4, -// B3_HINGE_CONSTRAINT_TYPE, -// B3_CONETWIST_CONSTRAINT_TYPE, -// B3_D6_CONSTRAINT_TYPE, -// B3_SLIDER_CONSTRAINT_TYPE, -// B3_CONTACT_CONSTRAINT_TYPE, -// B3_D6_SPRING_CONSTRAINT_TYPE, -// B3_GEAR_CONSTRAINT_TYPE, - - B3_GPU_MAX_CONSTRAINT_TYPE -}; - - - -struct b3GpuConstraintInfo2 -{ - // integrator parameters: frames per second (1/stepsize), default error - // reduction parameter (0..1). - b3Scalar fps,erp; - - // for the first and second body, pointers to two (linear and angular) - // n*3 jacobian sub matrices, stored by rows. these matrices will have - // been initialized to 0 on entry. if the second body is zero then the - // J2xx pointers may be 0. - b3Scalar *m_J1linearAxis,*m_J1angularAxis,*m_J2linearAxis,*m_J2angularAxis; - - // elements to jump from one row to the next in J's - int rowskip; - - // right hand sides of the equation J*v = c + cfm * lambda. cfm is the - // "constraint force mixing" vector. c is set to zero on entry, cfm is - // set to a constant value (typically very small or zero) value on entry. - b3Scalar *m_constraintError,*cfm; - - // lo and hi limits for variables (set to -/+ infinity on entry). - b3Scalar *m_lowerLimit,*m_upperLimit; - - // findex vector for variables. see the LCP solver interface for a - // description of what this does. this is set to -1 on entry. - // note that the returned indexes are relative to the first index of - // the constraint. - int *findex; - // number of solver iterations - int m_numIterations; - - //damping of the velocity - b3Scalar m_damping; -}; - - -B3_ATTRIBUTE_ALIGNED16(struct) b3GpuGenericConstraint -{ - int m_constraintType; - int m_rbA; - int m_rbB; - float m_breakingImpulseThreshold; - - b3Vector3 m_pivotInA; - b3Vector3 m_pivotInB; - b3Quaternion m_relTargetAB; - - int m_flags; - int m_uid; - int m_padding[2]; - - int getRigidBodyA() const - { - return m_rbA; - } - int getRigidBodyB() const - { - return m_rbB; - } - - const b3Vector3& getPivotInA() const - { - return m_pivotInA; - } - - const b3Vector3& getPivotInB() const - { - return m_pivotInB; - } - - int isEnabled() const - { - return m_flags & B3_CONSTRAINT_FLAG_ENABLED; - } - - float getBreakingImpulseThreshold() const - { - return m_breakingImpulseThreshold; - } - - ///internal method used by the constraint solver, don't use them directly - void getInfo1 (unsigned int* info,const b3RigidBodyData* bodies); - - ///internal method used by the constraint solver, don't use them directly - void getInfo2 (b3GpuConstraintInfo2* info, const b3RigidBodyData* bodies); - - -}; - -#endif //B3_GPU_GENERIC_CONSTRAINT_H
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