Bullet Collision Detection & Physics Library
btGeneric6DofSpringConstraint.h
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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:
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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 #include "LinearMath/btVector3.h"
20 #include "btTypedConstraint.h"
22 
23 #ifdef BT_USE_DOUBLE_PRECISION
24 #define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintDoubleData2
25 #define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintDoubleData2"
26 #else
27 #define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintData
28 #define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintData"
29 #endif //BT_USE_DOUBLE_PRECISION
30 
32 
40 
43 {
44 protected:
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)
49  void init();
50  void internalUpdateSprings(btConstraintInfo2 * info);
51 
52 public:
54 
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);
63 
64  bool isSpringEnabled(int index) const
65  {
66  return m_springEnabled[index];
67  }
68 
69  btScalar getStiffness(int index) const
70  {
71  return m_springStiffness[index];
72  }
73 
74  btScalar getDamping(int index) const
75  {
76  return m_springDamping[index];
77  }
78 
79  btScalar getEquilibriumPoint(int index) const
80  {
81  return m_equilibriumPoint[index];
82  }
83 
84  virtual void setAxis(const btVector3& axis1, const btVector3& axis2);
85 
86  virtual void getInfo2(btConstraintInfo2 * info);
87 
88  virtual int calculateSerializeBufferSize() const;
90  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
91 };
92 
94 {
96 
100  float m_springDamping[6];
101 };
102 
104 {
106 
109  double m_springStiffness[6];
110  double m_springDamping[6];
111 };
112 
114 {
115  return sizeof(btGeneric6DofSpringConstraintData2);
116 }
117 
119 SIMD_FORCE_INLINE const char* btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
120 {
122  btGeneric6DofConstraint::serialize(&dof->m_6dofData, serializer);
123 
124  int i;
125  for (i = 0; i < 6; i++)
126  {
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];
131  }
133 }
134 
135 #endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
#define btGeneric6DofSpringConstraintDataName
#define btGeneric6DofSpringConstraintData2
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis locatio...
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF.
btScalar getEquilibriumPoint(int index) const
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:60
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82