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lib/haxebullet/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h

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+/*
+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
+