142 lines
5.0 KiB
C++
142 lines
5.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
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Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
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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_GENERIC_6DOF_SPRING_CONSTRAINT_H
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#define BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
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#include "LinearMath/btVector3.h"
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#include "btTypedConstraint.h"
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#include "btGeneric6DofConstraint.h"
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#ifdef BT_USE_DOUBLE_PRECISION
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#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintDoubleData2
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#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintDoubleData2"
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#else
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#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintData
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#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintData"
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#endif //BT_USE_DOUBLE_PRECISION
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/// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF
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/// DOF index used in enableSpring() and setStiffness() means:
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/// 0 : translation X
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/// 1 : translation Y
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/// 2 : translation Z
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/// 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] )
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/// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] )
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/// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )
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ATTRIBUTE_ALIGNED16(class) btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
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{
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protected:
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bool m_springEnabled[6];
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btScalar m_equilibriumPoint[6];
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btScalar m_springStiffness[6];
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btScalar m_springDamping[6]; // between 0 and 1 (1 == no damping)
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void init();
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void internalUpdateSprings(btConstraintInfo2* info);
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
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btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
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void enableSpring(int index, bool onOff);
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void setStiffness(int index, btScalar stiffness);
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void setDamping(int index, btScalar damping);
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void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
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void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF
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void setEquilibriumPoint(int index, btScalar val);
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bool isSpringEnabled(int index) const
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{
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return m_springEnabled[index];
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}
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btScalar getStiffness(int index) const
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{
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return m_springStiffness[index];
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}
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btScalar getDamping(int index) const
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{
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return m_springDamping[index];
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}
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btScalar getEquilibriumPoint(int index) const
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{
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return m_equilibriumPoint[index];
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}
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virtual void setAxis( const btVector3& axis1, const btVector3& axis2);
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virtual void getInfo2 (btConstraintInfo2* info);
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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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struct btGeneric6DofSpringConstraintData
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{
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btGeneric6DofConstraintData m_6dofData;
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int m_springEnabled[6];
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float m_equilibriumPoint[6];
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float m_springStiffness[6];
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float m_springDamping[6];
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};
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struct btGeneric6DofSpringConstraintDoubleData2
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{
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btGeneric6DofConstraintDoubleData2 m_6dofData;
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int m_springEnabled[6];
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double m_equilibriumPoint[6];
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double m_springStiffness[6];
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double m_springDamping[6];
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};
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SIMD_FORCE_INLINE int btGeneric6DofSpringConstraint::calculateSerializeBufferSize() const
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{
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return sizeof(btGeneric6DofSpringConstraintData2);
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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* btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
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{
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btGeneric6DofSpringConstraintData2* dof = (btGeneric6DofSpringConstraintData2*)dataBuffer;
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btGeneric6DofConstraint::serialize(&dof->m_6dofData,serializer);
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int i;
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for (i=0;i<6;i++)
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{
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dof->m_equilibriumPoint[i] = m_equilibriumPoint[i];
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dof->m_springDamping[i] = m_springDamping[i];
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dof->m_springEnabled[i] = m_springEnabled[i]? 1 : 0;
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dof->m_springStiffness[i] = m_springStiffness[i];
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}
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return btGeneric6DofSpringConstraintDataName;
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}
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#endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
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