Bullet Collision Detection & Physics Library
btPoint2PointConstraint.h
Go to the documentation of this file.
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 #ifndef BT_POINT2POINTCONSTRAINT_H
17 #define BT_POINT2POINTCONSTRAINT_H
18 
19 #include "LinearMath/btVector3.h"
20 #include "btJacobianEntry.h"
21 #include "btTypedConstraint.h"
22 
23 class btRigidBody;
24 
25 #ifdef BT_USE_DOUBLE_PRECISION
26 #define btPoint2PointConstraintData2 btPoint2PointConstraintDoubleData2
27 #define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData2"
28 #else
29 #define btPoint2PointConstraintData2 btPoint2PointConstraintFloatData
30 #define btPoint2PointConstraintDataName "btPoint2PointConstraintFloatData"
31 #endif //BT_USE_DOUBLE_PRECISION
32 
34 {
36  m_damping(btScalar(1.)),
38  {
39  }
43 };
44 
46 {
49 };
50 
54 {
55 #ifdef IN_PARALLELL_SOLVER
56 public:
57 #endif
58  btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
59 
62 
63  int m_flags;
66 
67 public:
69 
72 
74 
75  btPoint2PointConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& pivotInA, const btVector3& pivotInB);
76 
77  btPoint2PointConstraint(btRigidBody & rbA, const btVector3& pivotInA);
78 
79  virtual void buildJacobian();
80 
81  virtual void getInfo1(btConstraintInfo1 * info);
82 
83  void getInfo1NonVirtual(btConstraintInfo1 * info);
84 
85  virtual void getInfo2(btConstraintInfo2 * info);
86 
87  void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& body0_trans, const btTransform& body1_trans);
88 
89  void updateRHS(btScalar timeStep);
90 
91  void setPivotA(const btVector3& pivotA)
92  {
93  m_pivotInA = pivotA;
94  }
95 
96  void setPivotB(const btVector3& pivotB)
97  {
98  m_pivotInB = pivotB;
99  }
100 
101  const btVector3& getPivotInA() const
102  {
103  return m_pivotInA;
104  }
105 
106  const btVector3& getPivotInB() const
107  {
108  return m_pivotInB;
109  }
110 
113  virtual void setParam(int num, btScalar value, int axis = -1);
115  virtual btScalar getParam(int num, int axis = -1) const;
116 
117  virtual int getFlags() const
118  {
119  return m_flags;
120  }
121 
122  virtual int calculateSerializeBufferSize() const;
123 
125  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
126 };
127 
130 {
134 };
135 
138 {
142 };
143 
144 #ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
149 {
153 };
154 #endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
155 
157 {
158  return sizeof(btPoint2PointConstraintData2);
159 }
160 
162 SIMD_FORCE_INLINE const char* btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
163 {
165 
166  btTypedConstraint::serialize(&p2pData->m_typeConstraintData, serializer);
167  m_pivotInA.serialize(p2pData->m_pivotInA);
168  m_pivotInB.serialize(p2pData->m_pivotInB);
169 
171 }
172 
173 #endif //BT_POINT2POINTCONSTRAINT_H
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:74
btPoint2PointConstraint::getPivotInA
const btVector3 & getPivotInA() const
Definition: btPoint2PointConstraint.h:101
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
btPoint2PointConstraintFloatData::m_pivotInB
btVector3FloatData m_pivotInB
Definition: btPoint2PointConstraint.h:133
BT_P2P_FLAGS_ERP
Definition: btPoint2PointConstraint.h:47
btPoint2PointConstraintFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btPoint2PointConstraint.h:129
btPoint2PointConstraint::m_setting
btConstraintSetting m_setting
Definition: btPoint2PointConstraint.h:73
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btPoint2PointConstraintDoubleData::m_typeConstraintData
btTypedConstraintData m_typeConstraintData
Definition: btPoint2PointConstraint.h:150
btJacobianEntry
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
Definition: btJacobianEntry.h:29
btPoint2PointConstraintDoubleData2::m_pivotInB
btVector3DoubleData m_pivotInB
Definition: btPoint2PointConstraint.h:141
btPoint2PointConstraintDoubleData2::m_typeConstraintData
btTypedConstraintDoubleData m_typeConstraintData
Definition: btPoint2PointConstraint.h:139
btPoint2PointConstraintDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 th...
Definition: btPoint2PointConstraint.h:148
btConstraintSetting::m_impulseClamp
btScalar m_impulseClamp
Definition: btPoint2PointConstraint.h:42
btPoint2PointConstraint::getPivotInB
const btVector3 & getPivotInB() const
Definition: btPoint2PointConstraint.h:106
btPoint2PointFlags
btPoint2PointFlags
Definition: btPoint2PointConstraint.h:45
btVector3FloatData
Definition: btVector3.h:1281
btPoint2PointConstraint::m_useSolveConstraintObsolete
bool m_useSolveConstraintObsolete
for backwards compatibility during the transition to 'getInfo/getInfo2'
Definition: btPoint2PointConstraint.h:71
btJacobianEntry.h
btPoint2PointConstraintDataName
#define btPoint2PointConstraintDataName
Definition: btPoint2PointConstraint.h:30
btPoint2PointConstraint
point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocke...
Definition: btPoint2PointConstraint.h:52
btVector3.h
btPoint2PointConstraint::m_flags
int m_flags
Definition: btPoint2PointConstraint.h:63
btVector3DoubleData
Definition: btVector3.h:1286
btPoint2PointConstraintDoubleData2
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btPoint2PointConstraint.h:137
btTypedConstraint.h
btPoint2PointConstraintDoubleData::m_pivotInB
btVector3DoubleData m_pivotInB
Definition: btPoint2PointConstraint.h:152
btPoint2PointConstraint::setPivotB
void setPivotB(const btVector3 &pivotB)
Definition: btPoint2PointConstraint.h:96
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btPoint2PointConstraintDoubleData2::m_pivotInA
btVector3DoubleData m_pivotInA
Definition: btPoint2PointConstraint.h:140
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:425
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btTypedConstraint::btConstraintInfo1
Definition: btTypedConstraint.h:113
btPoint2PointConstraintFloatData::m_typeConstraintData
btTypedConstraintData m_typeConstraintData
Definition: btPoint2PointConstraint.h:131
btPoint2PointConstraint::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btPoint2PointConstraint.h:162
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btSerializer
Definition: btSerializer.h:65
btConstraintSetting::m_damping
btScalar m_damping
Definition: btPoint2PointConstraint.h:41
btConstraintSetting
Definition: btPoint2PointConstraint.h:33
btPoint2PointConstraint::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btPoint2PointConstraint.h:156
btPoint2PointConstraint::setPivotA
void setPivotA(const btVector3 &pivotA)
Definition: btPoint2PointConstraint.h:91
btTypedConstraintData
this structure is not used, except for loading pre-2.82 .bullet files
Definition: btTypedConstraint.h:387
btPoint2PointConstraint::m_cfm
btScalar m_cfm
Definition: btPoint2PointConstraint.h:65
BT_P2P_FLAGS_CFM
Definition: btPoint2PointConstraint.h:48
btPoint2PointConstraintData2
#define btPoint2PointConstraintData2
Definition: btPoint2PointConstraint.h:29
btPoint2PointConstraint::m_pivotInA
btVector3 m_pivotInA
Definition: btPoint2PointConstraint.h:60
btTypedConstraint::btConstraintInfo2
Definition: btTypedConstraint.h:120
btConstraintSetting::m_tau
btScalar m_tau
Definition: btPoint2PointConstraint.h:40
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
btPoint2PointConstraintDoubleData::m_pivotInA
btVector3DoubleData m_pivotInA
Definition: btPoint2PointConstraint.h:151
btPoint2PointConstraint::m_pivotInB
btVector3 m_pivotInB
Definition: btPoint2PointConstraint.h:61
btPoint2PointConstraintFloatData::m_pivotInA
btVector3FloatData m_pivotInA
Definition: btPoint2PointConstraint.h:132
btPoint2PointConstraint::m_erp
btScalar m_erp
Definition: btPoint2PointConstraint.h:64
btConstraintSetting::btConstraintSetting
btConstraintSetting()
Definition: btPoint2PointConstraint.h:35
btPoint2PointConstraint::getFlags
virtual int getFlags() const
Definition: btPoint2PointConstraint.h:117
btTypedConstraintDoubleData
Definition: btTypedConstraint.h:410