161 lines
4.2 KiB
C++
161 lines
4.2 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2012 Advanced Micro Devices, Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_GEAR_CONSTRAINT_H
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#define BT_GEAR_CONSTRAINT_H
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#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
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#ifdef BT_USE_DOUBLE_PRECISION
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#define btGearConstraintData btGearConstraintDoubleData
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#define btGearConstraintDataName "btGearConstraintDoubleData"
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#else
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#define btGearConstraintData btGearConstraintFloatData
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#define btGearConstraintDataName "btGearConstraintFloatData"
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#endif //BT_USE_DOUBLE_PRECISION
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///The btGeatConstraint will couple the angular velocity for two bodies around given local axis and ratio.
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///See Bullet/Demos/ConstraintDemo for an example use.
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class btGearConstraint : public btTypedConstraint
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{
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protected:
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btVector3 m_axisInA;
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btVector3 m_axisInB;
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bool m_useFrameA;
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btScalar m_ratio;
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public:
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btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio=1.f);
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virtual ~btGearConstraint ();
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///internal method used by the constraint solver, don't use them directly
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virtual void getInfo1 (btConstraintInfo1* info);
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///internal method used by the constraint solver, don't use them directly
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virtual void getInfo2 (btConstraintInfo2* info);
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void setAxisA(btVector3& axisA)
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{
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m_axisInA = axisA;
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}
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void setAxisB(btVector3& axisB)
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{
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m_axisInB = axisB;
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}
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void setRatio(btScalar ratio)
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{
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m_ratio = ratio;
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}
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const btVector3& getAxisA() const
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{
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return m_axisInA;
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}
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const btVector3& getAxisB() const
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{
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return m_axisInB;
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}
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btScalar getRatio() const
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{
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return m_ratio;
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}
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virtual void setParam(int num, btScalar value, int axis = -1)
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{
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(void) num;
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(void) value;
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(void) axis;
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btAssert(0);
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}
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///return the local value of parameter
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virtual btScalar getParam(int num, int axis = -1) const
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{
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(void) num;
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(void) axis;
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btAssert(0);
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return 0.f;
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}
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virtual int calculateSerializeBufferSize() const;
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
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};
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///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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struct btGearConstraintFloatData
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{
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btTypedConstraintFloatData m_typeConstraintData;
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btVector3FloatData m_axisInA;
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btVector3FloatData m_axisInB;
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float m_ratio;
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char m_padding[4];
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};
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struct btGearConstraintDoubleData
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{
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btTypedConstraintDoubleData m_typeConstraintData;
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btVector3DoubleData m_axisInA;
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btVector3DoubleData m_axisInB;
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double m_ratio;
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};
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SIMD_FORCE_INLINE int btGearConstraint::calculateSerializeBufferSize() const
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{
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return sizeof(btGearConstraintData);
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}
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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SIMD_FORCE_INLINE const char* btGearConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
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{
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btGearConstraintData* gear = (btGearConstraintData*)dataBuffer;
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btTypedConstraint::serialize(&gear->m_typeConstraintData,serializer);
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m_axisInA.serialize( gear->m_axisInA );
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m_axisInB.serialize( gear->m_axisInB );
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gear->m_ratio = m_ratio;
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// Fill padding with zeros to appease msan.
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#ifndef BT_USE_DOUBLE_PRECISION
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gear->m_padding[0] = 0;
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gear->m_padding[1] = 0;
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gear->m_padding[2] = 0;
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gear->m_padding[3] = 0;
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#endif
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return btGearConstraintDataName;
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}
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#endif //BT_GEAR_CONSTRAINT_H
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