Bullet Collision Detection & Physics Library
btSliderConstraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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:
10 
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 /*
17 Added by Roman Ponomarev (rponom@gmail.com)
18 April 04, 2008
19 
20 TODO:
21  - add clamping od accumulated impulse to improve stability
22  - add conversion for ODE constraint solver
23 */
24 
25 #ifndef BT_SLIDER_CONSTRAINT_H
26 #define BT_SLIDER_CONSTRAINT_H
27 
28 #include "LinearMath/btScalar.h" //for BT_USE_DOUBLE_PRECISION
29 
30 #ifdef BT_USE_DOUBLE_PRECISION
31 #define btSliderConstraintData2 btSliderConstraintDoubleData
32 #define btSliderConstraintDataName "btSliderConstraintDoubleData"
33 #else
34 #define btSliderConstraintData2 btSliderConstraintData
35 #define btSliderConstraintDataName "btSliderConstraintData"
36 #endif //BT_USE_DOUBLE_PRECISION
37 
38 #include "LinearMath/btVector3.h"
39 #include "btJacobianEntry.h"
40 #include "btTypedConstraint.h"
41 
42 class btRigidBody;
43 
44 #define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0))
45 #define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0))
46 #define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7))
47 #define SLIDER_CONSTRAINT_DEF_CFM (btScalar(0.f))
48 
50 {
63 };
64 
67 {
68 protected:
74  // use frameA fo define limits, if true
76  // linear limits
79  // angular limits
82  // softness, restitution and damping for different cases
83  // DirLin - moving inside linear limits
84  // LimLin - hitting linear limit
85  // DirAng - moving inside angular limits
86  // LimAng - hitting angular limit
87  // OrthoLin, OrthoAng - against constraint axis
92 
97 
102 
107 
112 
117 
118  // for interlal use
121 
122  int m_flags;
123 
124  btJacobianEntry m_jacLin[3];
125  btScalar m_jacLinDiagABInv[3];
126 
127  btJacobianEntry m_jacAng[3];
128 
132 
141 
144 
147 
152 
157 
158  //------------------------
159  void initParams();
160 
161 public:
163 
164  // constructors
165  btSliderConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
166  btSliderConstraint(btRigidBody & rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
167 
168  // overrides
169 
170  virtual void getInfo1(btConstraintInfo1 * info);
171 
172  void getInfo1NonVirtual(btConstraintInfo1 * info);
173 
174  virtual void getInfo2(btConstraintInfo2 * info);
175 
176  void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, btScalar rbAinvMass, btScalar rbBinvMass);
177 
178  // access
179  const btRigidBody& getRigidBodyA() const { return m_rbA; }
180  const btRigidBody& getRigidBodyB() const { return m_rbB; }
181  const btTransform& getCalculatedTransformA() const { return m_calculatedTransformA; }
182  const btTransform& getCalculatedTransformB() const { return m_calculatedTransformB; }
183  const btTransform& getFrameOffsetA() const { return m_frameInA; }
184  const btTransform& getFrameOffsetB() const { return m_frameInB; }
185  btTransform& getFrameOffsetA() { return m_frameInA; }
186  btTransform& getFrameOffsetB() { return m_frameInB; }
187  btScalar getLowerLinLimit() { return m_lowerLinLimit; }
188  void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; }
189  btScalar getUpperLinLimit() { return m_upperLinLimit; }
190  void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
191  btScalar getLowerAngLimit() { return m_lowerAngLimit; }
192  void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); }
193  btScalar getUpperAngLimit() { return m_upperAngLimit; }
194  void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); }
195  bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; }
196  btScalar getSoftnessDirLin() { return m_softnessDirLin; }
197  btScalar getRestitutionDirLin() { return m_restitutionDirLin; }
198  btScalar getDampingDirLin() { return m_dampingDirLin; }
199  btScalar getSoftnessDirAng() { return m_softnessDirAng; }
200  btScalar getRestitutionDirAng() { return m_restitutionDirAng; }
201  btScalar getDampingDirAng() { return m_dampingDirAng; }
202  btScalar getSoftnessLimLin() { return m_softnessLimLin; }
203  btScalar getRestitutionLimLin() { return m_restitutionLimLin; }
204  btScalar getDampingLimLin() { return m_dampingLimLin; }
205  btScalar getSoftnessLimAng() { return m_softnessLimAng; }
206  btScalar getRestitutionLimAng() { return m_restitutionLimAng; }
207  btScalar getDampingLimAng() { return m_dampingLimAng; }
208  btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; }
209  btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; }
210  btScalar getDampingOrthoLin() { return m_dampingOrthoLin; }
211  btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; }
212  btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; }
213  btScalar getDampingOrthoAng() { return m_dampingOrthoAng; }
214  void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; }
215  void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; }
216  void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; }
217  void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; }
218  void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; }
219  void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; }
220  void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; }
221  void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; }
222  void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; }
223  void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; }
224  void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; }
225  void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; }
226  void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; }
227  void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; }
228  void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; }
229  void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; }
230  void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; }
231  void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; }
232  void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; }
233  bool getPoweredLinMotor() { return m_poweredLinMotor; }
234  void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; }
235  btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; }
236  void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; }
237  btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; }
238  void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; }
239  bool getPoweredAngMotor() { return m_poweredAngMotor; }
240  void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; }
241  btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
242  void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
243  btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; }
244 
245  btScalar getLinearPos() const { return m_linPos; }
246  btScalar getAngularPos() const { return m_angPos; }
247 
248  // access for ODE solver
249  bool getSolveLinLimit() { return m_solveLinLim; }
250  btScalar getLinDepth() { return m_depth[0]; }
251  bool getSolveAngLimit() { return m_solveAngLim; }
252  btScalar getAngDepth() { return m_angDepth; }
253  // shared code used by ODE solver
254  void calculateTransforms(const btTransform& transA, const btTransform& transB);
255  void testLinLimits();
256  void testAngLimits();
257  // access for PE Solver
258  btVector3 getAncorInA();
259  btVector3 getAncorInB();
260  // access for UseFrameOffset
261  bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
262  void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
263 
264  void setFrames(const btTransform& frameA, const btTransform& frameB)
265  {
266  m_frameInA = frameA;
267  m_frameInB = frameB;
268  calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
269  buildJacobian();
270  }
271 
274  virtual void setParam(int num, btScalar value, int axis = -1);
276  virtual btScalar getParam(int num, int axis = -1) const;
277 
278  virtual int getFlags() const
279  {
280  return m_flags;
281  }
282 
283  virtual int calculateSerializeBufferSize() const;
284 
286  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
287 };
288 
290 
292 {
294  btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
296 
299 
302 
305 };
306 
308 {
310  btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
312 
315 
318 
321 };
322 
324 {
325  return sizeof(btSliderConstraintData2);
326 }
327 
329 SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
330 {
331  btSliderConstraintData2* sliderData = (btSliderConstraintData2*)dataBuffer;
332  btTypedConstraint::serialize(&sliderData->m_typeConstraintData, serializer);
333 
334  m_frameInA.serialize(sliderData->m_rbAFrame);
335  m_frameInB.serialize(sliderData->m_rbBFrame);
336 
337  sliderData->m_linearUpperLimit = m_upperLinLimit;
338  sliderData->m_linearLowerLimit = m_lowerLinLimit;
339 
340  sliderData->m_angularUpperLimit = m_upperAngLimit;
341  sliderData->m_angularLowerLimit = m_lowerAngLimit;
342 
343  sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA;
344  sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame;
345 
347 }
348 
349 #endif //BT_SLIDER_CONSTRAINT_H
void setMaxLinMotorForce(btScalar maxLinMotorForce)
btScalar getLinearPos() const
void setDampingDirLin(btScalar dampingDirLin)
void setUpperLinLimit(btScalar upperLimit)
void setRestitutionOrthoLin(btScalar restitutionOrthoLin)
btScalar getMaxAngMotorForce()
void setFrames(const btTransform &frameA, const btTransform &frameB)
void setLowerLinLimit(btScalar lowerLimit)
btTypedConstraintData m_typeConstraintData
btScalar getRestitutionDirAng()
void setRestitutionLimAng(btScalar restitutionLimAng)
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
const btTransform & getCalculatedTransformA() const
const btTransform & getCalculatedTransformB() const
void setLowerAngLimit(btScalar lowerLimit)
void setDampingLimAng(btScalar dampingLimAng)
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
const btTransform & getFrameOffsetA() const
btScalar getRestitutionLimAng()
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
btScalar m_accumulatedAngMotorImpulse
virtual int calculateSerializeBufferSize() const
void setSoftnessLimLin(btScalar softnessLimLin)
btScalar m_accumulatedLinMotorImpulse
void setPoweredAngMotor(bool onOff)
#define SIMD_FORCE_INLINE
Definition: btScalar.h:83
btTransform m_calculatedTransformB
void setRestitutionLimLin(btScalar restitutionLimLin)
btScalar getAngularPos() const
void setUseFrameOffset(bool frameOffsetOnOff)
void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity)
void setRestitutionDirLin(btScalar restitutionDirLin)
btTransformFloatData m_rbBFrame
void setPoweredLinMotor(bool onOff)
void setDampingLimLin(btScalar dampingLimLin)
btScalar getMaxLinMotorForce()
void setDampingDirAng(btScalar dampingDirAng)
void setSoftnessDirAng(btScalar softnessDirAng)
void setSoftnessOrthoAng(btScalar softnessOrthoAng)
void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity)
virtual int getFlags() const
void setSoftnessLimAng(btScalar softnessLimAng)
void setDampingOrthoLin(btScalar dampingOrthoLin)
#define btSliderConstraintData2
void setUpperAngLimit(btScalar upperLimit)
btScalar getRestitutionDirLin()
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
void serialize(struct btTransformData &dataOut) const
Definition: btTransform.h:256
this structure is not used, except for loading pre-2.82 .bullet files
btScalar getTargetLinMotorVelocity()
void setSoftnessOrthoLin(btScalar softnessOrthoLin)
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
btScalar getRestitutionOrthoAng()
btScalar getSoftnessOrthoLin()
btScalar btNormalizeAngle(btScalar angleInRadians)
Definition: btScalar.h:761
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
void setDampingOrthoAng(btScalar dampingOrthoAng)
#define btSliderConstraintDataName
btScalar getTargetAngMotorVelocity()
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
btTransform m_calculatedTransformA
TypedConstraint is the baseclass for Bullet constraints and vehicles.
void setRestitutionDirAng(btScalar restitutionDirAng)
btTransformFloatData m_rbAFrame
for serialization
Definition: btTransform.h:244
const btRigidBody & getRigidBodyA() const
void setSoftnessDirLin(btScalar softnessDirLin)
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:405
const btTransform & getFrameOffsetB() const
btTypedConstraintDoubleData m_typeConstraintData
bool m_useSolveConstraintObsolete
for backwards compatibility during the transition to 'getInfo/getInfo2'
virtual int calculateSerializeBufferSize() const
btTransformDoubleData m_rbBFrame
void setMaxAngMotorForce(btScalar maxAngMotorForce)
void setRestitutionOrthoAng(btScalar restitutionOrthoAng)
btScalar getRestitutionOrthoLin()
btScalar getSoftnessOrthoAng()
btTransformDoubleData m_rbAFrame
btTransform & getFrameOffsetB()
btScalar getRestitutionLimLin()
btTransform & getFrameOffsetA()
const btRigidBody & getRigidBodyB() const
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btSliderFlags