Bullet Collision Detection & Physics Library
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18 #ifndef BT_HINGECONSTRAINT_H
19 #define BT_HINGECONSTRAINT_H
21 #define _BT_USE_CENTER_LIMIT_ 1
29 #ifdef BT_USE_DOUBLE_PRECISION
30 #define btHingeConstraintData btHingeConstraintDoubleData2 //rename to 2 for backwards compatibility, so we can still load the 'btHingeConstraintDoubleData' version
31 #define btHingeConstraintDataName "btHingeConstraintDoubleData2"
33 #define btHingeConstraintData btHingeConstraintFloatData
34 #define btHingeConstraintDataName "btHingeConstraintFloatData"
35 #endif //BT_USE_DOUBLE_PRECISION
50 #ifdef IN_PARALLELL_SOLVER
62 #ifdef _BT_USE_CENTER_LIMIT_
108 virtual void buildJacobian();
156 m_angularOnly = angularOnly;
161 m_enableAngularMotor = enableMotor;
162 m_motorTargetVelocity = targetVelocity;
163 m_maxMotorImpulse = maxMotorImpulse;
177 #ifdef _BT_USE_CENTER_LIMIT_
178 m_limit.
set(low, high, _softness, _biasFactor, _relaxationFactor);
182 m_limitSoftness = _softness;
183 m_biasFactor = _biasFactor;
184 m_relaxationFactor = _relaxationFactor;
190 #ifdef _BT_USE_CENTER_LIMIT_
193 return m_limitSoftness;
199 #ifdef _BT_USE_CENTER_LIMIT_
208 #ifdef _BT_USE_CENTER_LIMIT_
211 return m_relaxationFactor;
225 btVector3 axisInB = m_rbA.getCenterOfMassTransform().getBasis() * axisInA;
231 m_rbBFrame.
getOrigin() = m_rbB.getCenterOfMassTransform().inverse()(m_rbA.getCenterOfMassTransform()(pivotInA));
241 #ifdef _BT_USE_CENTER_LIMIT_
244 return m_lowerLimit <= m_upperLimit;
250 #ifdef _BT_USE_CENTER_LIMIT_
259 #ifdef _BT_USE_CENTER_LIMIT_
281 #ifdef _BT_USE_CENTER_LIMIT_
290 #ifdef _BT_USE_CENTER_LIMIT_
299 return m_angularOnly;
303 return m_enableAngularMotor;
307 return m_motorTargetVelocity;
311 return m_maxMotorImpulse;
315 void setUseFrameOffset(
bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
322 virtual void setParam(
int num,
btScalar value,
int axis = -1);
324 virtual btScalar getParam(
int num,
int axis = -1)
const;
338 #ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
357 #endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
370 :
btHingeConstraint(rbA, rbB, pivotInA, pivotInB, axisInA, axisInB, useReferenceFrameA)
372 m_accumulatedAngle = getHingeAngle();
378 m_accumulatedAngle = getHingeAngle();
384 m_accumulatedAngle = getHingeAngle();
390 m_accumulatedAngle = getHingeAngle();
392 btScalar getAccumulatedHingeAngle();
393 void setAccumulatedHingeAngle(
btScalar accAngle);
394 virtual void getInfo1(btConstraintInfo1 * info);
455 #ifdef _BT_USE_CENTER_LIMIT_
462 hingeData->m_lowerLimit = float(m_lowerLimit);
463 hingeData->m_upperLimit = float(m_upperLimit);
464 hingeData->m_limitSoftness = float(m_limitSoftness);
465 hingeData->m_biasFactor = float(m_biasFactor);
466 hingeData->m_relaxationFactor = float(m_relaxationFactor);
470 #ifdef BT_USE_DOUBLE_PRECISION
471 hingeData->m_padding1[0] = 0;
472 hingeData->m_padding1[1] = 0;
473 hingeData->m_padding1[2] = 0;
474 hingeData->m_padding1[3] = 0;
480 #endif //BT_HINGECONSTRAINT_H
hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in lo...
TypedConstraint is the baseclass for Bullet constraints and vehicles.
btHingeAccumulatedAngleConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btVector3 &axisInA, const btVector3 &axisInB, bool useReferenceFrameA=false)
The btRigidBody is the main class for rigid body objects.
btScalar getMotorTargetVelocity()
btScalar getLimitBiasFactor() const
btScalar getLowerLimit() const
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
void btPlaneSpace1(const T &n, T &p, T &q)
btScalar getHalfRange() const
Gives half of the distance between min and max limit angle.
btTransformFloatData m_rbAFrame
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
btTypedConstraintDoubleData m_typeConstraintData
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btMatrix3x3 inverse() const
Return the inverse of the matrix.
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
void setUseFrameOffset(bool frameOffsetOnOff)
btVector3 cross(const btVector3 &v) const
Return the cross product between this and another vector.
btTypedConstraintData m_typeConstraintData
btScalar getSoftness() const
Returns limit's softness.
btTransform & getBFrame()
double m_motorTargetVelocity
const btRigidBody & getRigidBodyB() const
btScalar m_motorTargetVelocity
btHingeAccumulatedAngleConstraint(btRigidBody &rbA, const btVector3 &pivotInA, const btVector3 &axisInA, bool useReferenceFrameA=false)
btScalar m_accMotorImpulse
btScalar getRelaxationFactor() const
Returns limit's relaxation factor.
const btTransform & getBFrame() const
btScalar getBiasFactor() const
Returns limit's bias factor.
void setAxis(btVector3 &axisInA)
bool m_useSolveConstraintObsolete
btTypedConstraintData m_typeConstraintData
this structure is not used, except for loading pre-2.82 .bullet files
virtual int calculateSerializeBufferSize() const
const btScalar & getX() const
Return the x value.
btScalar m_accumulatedAngle
bool m_enableAngularMotor
btScalar getLimitRelaxationFactor() const
btQuaternion shortestArcQuat(const btVector3 &v0, const btVector3 &v1)
void set(btScalar low, btScalar high, btScalar _softness=0.9f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)
Sets all limit's parameters.
btScalar getSign() const
Returns sign value evaluated when test() was invoked.
btScalar btNormalizeAngle(btScalar angleInRadians)
const btTransform & getAFrame() const
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
void setUseReferenceFrameA(bool useReferenceFrameA)
void setAngularOnly(bool angularOnly)
bool isLimit() const
Returns true when the last test() invocation recognized limit violation.
btScalar getMaxMotorImpulse()
#define btHingeConstraintData
virtual int getFlags() const
#define BT_DECLARE_ALIGNED_ALLOCATOR()
float m_motorTargetVelocity
btVector3 can be used to represent 3D points and vectors.
#define btHingeConstraintDataName
The getAccumulatedHingeAngle returns the accumulated hinge angle, taking rotation across the -PI/PI b...
btTransformFloatData m_rbBFrame
btScalar m_accLimitImpulse
double m_relaxationFactor
btScalar getLimitSoftness() const
virtual int calculateSerializeBufferSize() const
#define ATTRIBUTE_ALIGNED16(a)
const btScalar & getZ() const
Return the z value.
btRigidBody & getRigidBodyA()
btRigidBody & getRigidBodyB()
btTransformDoubleData m_rbBFrame
const btScalar & getY() const
Return the y value.
void enableMotor(bool enableMotor)
btTransform & getAFrame()
#define SIMD_FORCE_INLINE
void setValue(const btScalar &xx, const btScalar &xy, const btScalar &xz, const btScalar &yx, const btScalar &yy, const btScalar &yz, const btScalar &zx, const btScalar &zy, const btScalar &zz)
Set the values of the matrix explicitly (row major)
btScalar m_maxMotorImpulse
bool m_useOffsetForConstraintFrame
float m_motorTargetVelocity
bool m_useReferenceFrameA
bool getEnableAngularMotor()
const btRigidBody & getRigidBodyA() const
this structure is not used, except for loading pre-2.82 .bullet files
void setMotorTargetVelocity(btScalar motorTargetVelocity)
bool getUseReferenceFrameA() const
btTransformDoubleData m_rbAFrame
void setMaxMotorImpulse(btScalar maxMotorImpulse)
btTransform & getFrameOffsetB()
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
btHingeAccumulatedAngleConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame, bool useReferenceFrameA=false)
btHingeAccumulatedAngleConstraint(btRigidBody &rbA, const btTransform &rbAFrame, bool useReferenceFrameA=false)
btTransformDoubleData m_rbBFrame
void setLimit(btScalar low, btScalar high, btScalar _softness=0.9f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)
void enableAngularMotor(bool enableMotor, btScalar targetVelocity, btScalar maxMotorImpulse)
btTransformDoubleData m_rbAFrame
btTransform & getFrameOffsetA()
btVector3 quatRotate(const btQuaternion &rotation, const btVector3 &v)
btScalar getUpperLimit() const