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Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.h | 160 |
1 files changed, 160 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.h b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.h new file mode 100644 index 0000000000..e4613455a2 --- /dev/null +++ b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.h @@ -0,0 +1,160 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2012 Advanced Micro Devices, Inc. http://bulletphysics.org + +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 BT_GEAR_CONSTRAINT_H +#define BT_GEAR_CONSTRAINT_H + +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" + + +#ifdef BT_USE_DOUBLE_PRECISION +#define btGearConstraintData btGearConstraintDoubleData +#define btGearConstraintDataName "btGearConstraintDoubleData" +#else +#define btGearConstraintData btGearConstraintFloatData +#define btGearConstraintDataName "btGearConstraintFloatData" +#endif //BT_USE_DOUBLE_PRECISION + + + +///The btGeatConstraint will couple the angular velocity for two bodies around given local axis and ratio. +///See Bullet/Demos/ConstraintDemo for an example use. +class btGearConstraint : public btTypedConstraint +{ +protected: + btVector3 m_axisInA; + btVector3 m_axisInB; + bool m_useFrameA; + btScalar m_ratio; + +public: + btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio=1.f); + virtual ~btGearConstraint (); + + ///internal method used by the constraint solver, don't use them directly + virtual void getInfo1 (btConstraintInfo1* info); + + ///internal method used by the constraint solver, don't use them directly + virtual void getInfo2 (btConstraintInfo2* info); + + void setAxisA(btVector3& axisA) + { + m_axisInA = axisA; + } + void setAxisB(btVector3& axisB) + { + m_axisInB = axisB; + } + void setRatio(btScalar ratio) + { + m_ratio = ratio; + } + const btVector3& getAxisA() const + { + return m_axisInA; + } + const btVector3& getAxisB() const + { + return m_axisInB; + } + btScalar getRatio() const + { + return m_ratio; + } + + + virtual void setParam(int num, btScalar value, int axis = -1) + { + (void) num; + (void) value; + (void) axis; + btAssert(0); + } + + ///return the local value of parameter + virtual btScalar getParam(int num, int axis = -1) const + { + (void) num; + (void) axis; + btAssert(0); + return 0.f; + } + + 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 btGearConstraintFloatData +{ + btTypedConstraintFloatData m_typeConstraintData; + + btVector3FloatData m_axisInA; + btVector3FloatData m_axisInB; + + float m_ratio; + char m_padding[4]; +}; + +struct btGearConstraintDoubleData +{ + btTypedConstraintDoubleData m_typeConstraintData; + + btVector3DoubleData m_axisInA; + btVector3DoubleData m_axisInB; + + double m_ratio; +}; + +SIMD_FORCE_INLINE int btGearConstraint::calculateSerializeBufferSize() const +{ + return sizeof(btGearConstraintData); +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btGearConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btGearConstraintData* gear = (btGearConstraintData*)dataBuffer; + btTypedConstraint::serialize(&gear->m_typeConstraintData,serializer); + + m_axisInA.serialize( gear->m_axisInA ); + m_axisInB.serialize( gear->m_axisInB ); + + gear->m_ratio = m_ratio; + + // Fill padding with zeros to appease msan. +#ifndef BT_USE_DOUBLE_PRECISION + gear->m_padding[0] = 0; + gear->m_padding[1] = 0; + gear->m_padding[2] = 0; + gear->m_padding[3] = 0; +#endif + + return btGearConstraintDataName; +} + + + + + + +#endif //BT_GEAR_CONSTRAINT_H |