2 Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
3 Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
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.
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8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
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.
16 #ifndef BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
17 #define BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
19 #include "LinearMath/btVector3.h"
20 #include "btTypedConstraint.h"
21 #include "btGeneric6DofConstraint.h"
23 #ifdef BT_USE_DOUBLE_PRECISION
24 #define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintDoubleData2
25 #define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintDoubleData2"
27 #define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintData
28 #define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintData"
29 #endif //BT_USE_DOUBLE_PRECISION
31 /// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF
33 /// DOF index used in enableSpring() and setStiffness() means:
37 /// 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] )
38 /// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] )
39 /// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )
41 ATTRIBUTE_ALIGNED16(class)
42 btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
45 bool m_springEnabled[6];
46 btScalar m_equilibriumPoint[6];
47 btScalar m_springStiffness[6];
48 btScalar m_springDamping[6]; // between 0 and 1 (1 == no damping)
50 void internalUpdateSprings(btConstraintInfo2 * info);
53 BT_DECLARE_ALIGNED_ALLOCATOR();
55 btGeneric6DofSpringConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
56 btGeneric6DofSpringConstraint(btRigidBody & rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
57 void enableSpring(int index, bool onOff);
58 void setStiffness(int index, btScalar stiffness);
59 void setDamping(int index, btScalar damping);
60 void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
61 void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF
62 void setEquilibriumPoint(int index, btScalar val);
64 bool isSpringEnabled(int index) const
66 return m_springEnabled[index];
69 btScalar getStiffness(int index) const
71 return m_springStiffness[index];
74 btScalar getDamping(int index) const
76 return m_springDamping[index];
79 btScalar getEquilibriumPoint(int index) const
81 return m_equilibriumPoint[index];
84 virtual void setAxis(const btVector3& axis1, const btVector3& axis2);
86 virtual void getInfo2(btConstraintInfo2 * info);
88 virtual int calculateSerializeBufferSize() const;
89 ///fills the dataBuffer and returns the struct name (and 0 on failure)
90 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
93 struct btGeneric6DofSpringConstraintData
95 btGeneric6DofConstraintData m_6dofData;
97 int m_springEnabled[6];
98 float m_equilibriumPoint[6];
99 float m_springStiffness[6];
100 float m_springDamping[6];
103 struct btGeneric6DofSpringConstraintDoubleData2
105 btGeneric6DofConstraintDoubleData2 m_6dofData;
107 int m_springEnabled[6];
108 double m_equilibriumPoint[6];
109 double m_springStiffness[6];
110 double m_springDamping[6];
113 SIMD_FORCE_INLINE int btGeneric6DofSpringConstraint::calculateSerializeBufferSize() const
115 return sizeof(btGeneric6DofSpringConstraintData2);
118 ///fills the dataBuffer and returns the struct name (and 0 on failure)
119 SIMD_FORCE_INLINE const char* btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
121 btGeneric6DofSpringConstraintData2* dof = (btGeneric6DofSpringConstraintData2*)dataBuffer;
122 btGeneric6DofConstraint::serialize(&dof->m_6dofData, serializer);
125 for (i = 0; i < 6; i++)
127 dof->m_equilibriumPoint[i] = m_equilibriumPoint[i];
128 dof->m_springDamping[i] = m_springDamping[i];
129 dof->m_springEnabled[i] = m_springEnabled[i] ? 1 : 0;
130 dof->m_springStiffness[i] = m_springStiffness[i];
132 return btGeneric6DofSpringConstraintDataName;
135 #endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H