Bullet Collision Detection & Physics Library
btGearConstraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2012 Advanced Micro Devices, Inc. http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
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11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_GEAR_CONSTRAINT_H
17 #define BT_GEAR_CONSTRAINT_H
18 
20 
21 #ifdef BT_USE_DOUBLE_PRECISION
22 #define btGearConstraintData btGearConstraintDoubleData
23 #define btGearConstraintDataName "btGearConstraintDoubleData"
24 #else
25 #define btGearConstraintData btGearConstraintFloatData
26 #define btGearConstraintDataName "btGearConstraintFloatData"
27 #endif //BT_USE_DOUBLE_PRECISION
28 
32 {
33 protected:
38 
39 public:
40  btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA, const btVector3& axisInB, btScalar ratio = 1.f);
41  virtual ~btGearConstraint();
42 
44  virtual void getInfo1(btConstraintInfo1* info);
45 
47  virtual void getInfo2(btConstraintInfo2* info);
48 
49  void setAxisA(btVector3& axisA)
50  {
51  m_axisInA = axisA;
52  }
53  void setAxisB(btVector3& axisB)
54  {
55  m_axisInB = axisB;
56  }
57  void setRatio(btScalar ratio)
58  {
59  m_ratio = ratio;
60  }
61  const btVector3& getAxisA() const
62  {
63  return m_axisInA;
64  }
65  const btVector3& getAxisB() const
66  {
67  return m_axisInB;
68  }
70  {
71  return m_ratio;
72  }
73 
74  virtual void setParam(int num, btScalar value, int axis = -1)
75  {
76  (void)num;
77  (void)value;
78  (void)axis;
79  btAssert(0);
80  }
81 
83  virtual btScalar getParam(int num, int axis = -1) const
84  {
85  (void)num;
86  (void)axis;
87  btAssert(0);
88  return 0.f;
89  }
90 
91  virtual int calculateSerializeBufferSize() const;
92 
94  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
95 };
96 
99 {
101 
104 
105  float m_ratio;
106  char m_padding[4];
107 };
108 
110 {
112 
115 
116  double m_ratio;
117 };
118 
120 {
121  return sizeof(btGearConstraintData);
122 }
123 
125 SIMD_FORCE_INLINE const char* btGearConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
126 {
127  btGearConstraintData* gear = (btGearConstraintData*)dataBuffer;
128  btTypedConstraint::serialize(&gear->m_typeConstraintData, serializer);
129 
130  m_axisInA.serialize(gear->m_axisInA);
131  m_axisInB.serialize(gear->m_axisInB);
132 
133  gear->m_ratio = m_ratio;
134 
135  // Fill padding with zeros to appease msan.
136 #ifndef BT_USE_DOUBLE_PRECISION
137  gear->m_padding[0] = 0;
138  gear->m_padding[1] = 0;
139  gear->m_padding[2] = 0;
140  gear->m_padding[3] = 0;
141 #endif
142 
144 }
145 
146 #endif //BT_GEAR_CONSTRAINT_H
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:74
btGearConstraint::setParam
virtual void setParam(int num, btScalar value, int axis=-1)
override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0...
Definition: btGearConstraint.h:74
btVector3::serialize
void serialize(struct btVector3Data &dataOut) const
Definition: btVector3.h:1317
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
btGearConstraintFloatData::m_padding
char m_padding[4]
Definition: btGearConstraint.h:106
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btGearConstraintDoubleData::m_typeConstraintData
btTypedConstraintDoubleData m_typeConstraintData
Definition: btGearConstraint.h:111
btGearConstraint::setRatio
void setRatio(btScalar ratio)
Definition: btGearConstraint.h:57
btGearConstraint::setAxisA
void setAxisA(btVector3 &axisA)
Definition: btGearConstraint.h:49
btGearConstraint::m_axisInB
btVector3 m_axisInB
Definition: btGearConstraint.h:35
btGearConstraint::getInfo2
virtual void getInfo2(btConstraintInfo2 *info)
internal method used by the constraint solver, don't use them directly
Definition: btGearConstraint.cpp:38
btGearConstraintFloatData::m_typeConstraintData
btTypedConstraintFloatData m_typeConstraintData
Definition: btGearConstraint.h:100
btGearConstraint::btGearConstraint
btGearConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &axisInA, const btVector3 &axisInB, btScalar ratio=1.f)
Implemented by Erwin Coumans. The idea for the constraint comes from Dimitris Papavasiliou.
Definition: btGearConstraint.cpp:20
btGearConstraint::getAxisA
const btVector3 & getAxisA() const
Definition: btGearConstraint.h:61
btGearConstraintFloatData::m_axisInA
btVector3FloatData m_axisInA
Definition: btGearConstraint.h:102
btVector3FloatData
Definition: btVector3.h:1281
btGearConstraint::setAxisB
void setAxisB(btVector3 &axisB)
Definition: btGearConstraint.h:53
btGearConstraint::~btGearConstraint
virtual ~btGearConstraint()
Definition: btGearConstraint.cpp:28
btGearConstraintFloatData::m_axisInB
btVector3FloatData m_axisInB
Definition: btGearConstraint.h:103
btAssert
#define btAssert(x)
Definition: btScalar.h:133
btVector3DoubleData
Definition: btVector3.h:1286
btTypedConstraint.h
btGearConstraint::getRatio
btScalar getRatio() const
Definition: btGearConstraint.h:69
btGearConstraintDoubleData::m_ratio
double m_ratio
Definition: btGearConstraint.h:116
btGearConstraint
The btGeatConstraint will couple the angular velocity for two bodies around given local axis and rati...
Definition: btGearConstraint.h:31
btGearConstraintDoubleData
Definition: btGearConstraint.h:109
btGearConstraint::m_axisInA
btVector3 m_axisInA
Definition: btGearConstraint.h:34
btGearConstraint::getAxisB
const btVector3 & getAxisB() const
Definition: btGearConstraint.h:65
btGearConstraint::m_ratio
btScalar m_ratio
Definition: btGearConstraint.h:37
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btTypedConstraint::btConstraintInfo1
Definition: btTypedConstraint.h:113
btGearConstraint::getInfo1
virtual void getInfo1(btConstraintInfo1 *info)
internal method used by the constraint solver, don't use them directly
Definition: btGearConstraint.cpp:32
btGearConstraint::getParam
virtual btScalar getParam(int num, int axis=-1) const
return the local value of parameter
Definition: btGearConstraint.h:83
btGearConstraintDataName
#define btGearConstraintDataName
Definition: btGearConstraint.h:26
btGearConstraint::m_useFrameA
bool m_useFrameA
Definition: btGearConstraint.h:36
btGearConstraint::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btGearConstraint.h:119
btGearConstraintFloatData::m_ratio
float m_ratio
Definition: btGearConstraint.h:105
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:83
btSerializer
Definition: btSerializer.h:65
btTypedConstraint::btConstraintInfo2
Definition: btTypedConstraint.h:120
btTypedConstraintFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btTypedConstraint.h:358
btGearConstraintFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btGearConstraint.h:98
btGearConstraintDoubleData::m_axisInB
btVector3DoubleData m_axisInB
Definition: btGearConstraint.h:114
btTypedConstraint::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btTypedConstraint.cpp:104
btGearConstraintDoubleData::m_axisInA
btVector3DoubleData m_axisInA
Definition: btGearConstraint.h:113
btGearConstraintData
#define btGearConstraintData
Definition: btGearConstraint.h:25
btGearConstraint::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btGearConstraint.h:125
btTypedConstraintDoubleData
Definition: btTypedConstraint.h:410