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Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h | 141 |
1 files changed, 0 insertions, 141 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h deleted file mode 100644 index dac59c6889..0000000000 --- a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h +++ /dev/null @@ -1,141 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org -Copyright (C) 2006, 2007 Sony Computer Entertainment 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. -*/ - -#ifndef BT_GENERIC_6DOF_SPRING_CONSTRAINT_H -#define BT_GENERIC_6DOF_SPRING_CONSTRAINT_H - - -#include "LinearMath/btVector3.h" -#include "btTypedConstraint.h" -#include "btGeneric6DofConstraint.h" - -#ifdef BT_USE_DOUBLE_PRECISION -#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintDoubleData2 -#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintDoubleData2" -#else -#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintData -#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintData" -#endif //BT_USE_DOUBLE_PRECISION - - - -/// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF - -/// DOF index used in enableSpring() and setStiffness() means: -/// 0 : translation X -/// 1 : translation Y -/// 2 : translation Z -/// 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] ) -/// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] ) -/// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] ) - -ATTRIBUTE_ALIGNED16(class) btGeneric6DofSpringConstraint : public btGeneric6DofConstraint -{ -protected: - bool m_springEnabled[6]; - btScalar m_equilibriumPoint[6]; - btScalar m_springStiffness[6]; - btScalar m_springDamping[6]; // between 0 and 1 (1 == no damping) - void init(); - void internalUpdateSprings(btConstraintInfo2* info); -public: - - BT_DECLARE_ALIGNED_ALLOCATOR(); - - btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA); - btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB); - void enableSpring(int index, bool onOff); - void setStiffness(int index, btScalar stiffness); - void setDamping(int index, btScalar damping); - void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF - void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF - void setEquilibriumPoint(int index, btScalar val); - - bool isSpringEnabled(int index) const - { - return m_springEnabled[index]; - } - - btScalar getStiffness(int index) const - { - return m_springStiffness[index]; - } - - btScalar getDamping(int index) const - { - return m_springDamping[index]; - } - - btScalar getEquilibriumPoint(int index) const - { - return m_equilibriumPoint[index]; - } - - virtual void setAxis( const btVector3& axis1, const btVector3& axis2); - - virtual void getInfo2 (btConstraintInfo2* info); - - 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; - -}; - - -struct btGeneric6DofSpringConstraintData -{ - btGeneric6DofConstraintData m_6dofData; - - int m_springEnabled[6]; - float m_equilibriumPoint[6]; - float m_springStiffness[6]; - float m_springDamping[6]; -}; - -struct btGeneric6DofSpringConstraintDoubleData2 -{ - btGeneric6DofConstraintDoubleData2 m_6dofData; - - int m_springEnabled[6]; - double m_equilibriumPoint[6]; - double m_springStiffness[6]; - double m_springDamping[6]; -}; - - -SIMD_FORCE_INLINE int btGeneric6DofSpringConstraint::calculateSerializeBufferSize() const -{ - return sizeof(btGeneric6DofSpringConstraintData2); -} - - ///fills the dataBuffer and returns the struct name (and 0 on failure) -SIMD_FORCE_INLINE const char* btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const -{ - btGeneric6DofSpringConstraintData2* dof = (btGeneric6DofSpringConstraintData2*)dataBuffer; - btGeneric6DofConstraint::serialize(&dof->m_6dofData,serializer); - - int i; - for (i=0;i<6;i++) - { - dof->m_equilibriumPoint[i] = m_equilibriumPoint[i]; - dof->m_springDamping[i] = m_springDamping[i]; - dof->m_springEnabled[i] = m_springEnabled[i]? 1 : 0; - dof->m_springStiffness[i] = m_springStiffness[i]; - } - return btGeneric6DofSpringConstraintDataName; -} - -#endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H - |