1 /* 2 Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org 3 Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 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_GENERIC_6DOF_SPRING_CONSTRAINT_H 17 #define BT_GENERIC_6DOF_SPRING_CONSTRAINT_H 18 19 20 #include "LinearMath/btVector3.h" 21 #include "btTypedConstraint.h" 22 #include "btGeneric6DofConstraint.h" 23 24 #ifdef BT_USE_DOUBLE_PRECISION 25 #define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintDoubleData2 26 #define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintDoubleData2" 27 #else 28 #define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintData 29 #define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintData" 30 #endif //BT_USE_DOUBLE_PRECISION 31 32 33 34 /// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF 35 36 /// DOF index used in enableSpring() and setStiffness() means: 37 /// 0 : translation X 38 /// 1 : translation Y 39 /// 2 : translation Z 40 /// 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] ) 41 /// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] ) 42 /// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] ) 43 44 ATTRIBUTE_ALIGNED16(class) btGeneric6DofSpringConstraint : public btGeneric6DofConstraint 45 { 46 protected: 47 bool m_springEnabled[6]; 48 btScalar m_equilibriumPoint[6]; 49 btScalar m_springStiffness[6]; 50 btScalar m_springDamping[6]; // between 0 and 1 (1 == no damping) 51 void init(); 52 void internalUpdateSprings(btConstraintInfo2* info); 53 public: 54 55 BT_DECLARE_ALIGNED_ALLOCATOR(); 56 57 btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA); 58 btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB); 59 void enableSpring(int index, bool onOff); 60 void setStiffness(int index, btScalar stiffness); 61 void setDamping(int index, btScalar damping); 62 void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF 63 void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF 64 void setEquilibriumPoint(int index, btScalar val); 65 66 virtual void setAxis( const btVector3& axis1, const btVector3& axis2); 67 68 virtual void getInfo2 (btConstraintInfo2* info); 69 70 virtual int calculateSerializeBufferSize() const; 71 ///fills the dataBuffer and returns the struct name (and 0 on failure) 72 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; 73 74 }; 75 76 77 struct btGeneric6DofSpringConstraintData 78 { 79 btGeneric6DofConstraintData m_6dofData; 80 81 int m_springEnabled[6]; 82 float m_equilibriumPoint[6]; 83 float m_springStiffness[6]; 84 float m_springDamping[6]; 85 }; 86 87 struct btGeneric6DofSpringConstraintDoubleData2 88 { 89 btGeneric6DofConstraintDoubleData2 m_6dofData; 90 91 int m_springEnabled[6]; 92 double m_equilibriumPoint[6]; 93 double m_springStiffness[6]; 94 double m_springDamping[6]; 95 }; 96 97 98 SIMD_FORCE_INLINE int btGeneric6DofSpringConstraint::calculateSerializeBufferSize() const 99 { 100 return sizeof(btGeneric6DofSpringConstraintData2); 101 } 102 103 ///fills the dataBuffer and returns the struct name (and 0 on failure) 104 SIMD_FORCE_INLINE const char* btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const 105 { 106 btGeneric6DofSpringConstraintData2* dof = (btGeneric6DofSpringConstraintData2*)dataBuffer; 107 btGeneric6DofConstraint::serialize(&dof->m_6dofData,serializer); 108 109 int i; 110 for (i=0;i<6;i++) 111 { 112 dof->m_equilibriumPoint[i] = m_equilibriumPoint[i]; 113 dof->m_springDamping[i] = m_springDamping[i]; 114 dof->m_springEnabled[i] = m_springEnabled[i]? 1 : 0; 115 dof->m_springStiffness[i] = m_springStiffness[i]; 116 } 117 return btGeneric6DofSpringConstraintDataName; 118 } 119 120 #endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H 121 122
