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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, 132 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h new file mode 100644 index 0000000000..14b3ba7fec --- /dev/null +++ b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h @@ -0,0 +1,132 @@ +/* +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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