Blender  V3.3
btGeneric6DofSpring2Constraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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 /*
17 2014 May: btGeneric6DofSpring2Constraint is created from the original (2.82.2712) btGeneric6DofConstraint by Gabor Puhr and Tamas Umenhoffer
18 Pros:
19 - Much more accurate and stable in a lot of situation. (Especially when a sleeping chain of RBs connected with 6dof2 is pulled)
20 - Stable and accurate spring with minimal energy loss that works with all of the solvers. (latter is not true for the original 6dof spring)
21 - Servo motor functionality
22 - Much more accurate bouncing. 0 really means zero bouncing (not true for the original 6odf) and there is only a minimal energy loss when the value is 1 (because of the solvers' precision)
23 - Rotation order for the Euler system can be set. (One axis' freedom is still limited to pi/2)
24 
25 Cons:
26 - It is slower than the original 6dof. There is no exact ratio, but half speed is a good estimation.
27 - At bouncing the correct velocity is calculated, but not the correct position. (it is because of the solver can correct position or velocity, but not both.)
28 */
29 
32 
33 /*
34 2007-09-09
35 btGeneric6DofConstraint Refactored by Francisco Le?n
36 email: projectileman@yahoo.com
37 http://gimpact.sf.net
38 */
39 
40 #ifndef BT_GENERIC_6DOF_CONSTRAINT2_H
41 #define BT_GENERIC_6DOF_CONSTRAINT2_H
42 
43 #include "LinearMath/btVector3.h"
44 #include "btJacobianEntry.h"
45 #include "btTypedConstraint.h"
46 
47 class btRigidBody;
48 
49 #ifdef BT_USE_DOUBLE_PRECISION
50 #define btGeneric6DofSpring2ConstraintData2 btGeneric6DofSpring2ConstraintDoubleData2
51 #define btGeneric6DofSpring2ConstraintDataName "btGeneric6DofSpring2ConstraintDoubleData2"
52 #else
53 #define btGeneric6DofSpring2ConstraintData2 btGeneric6DofSpring2ConstraintData
54 #define btGeneric6DofSpring2ConstraintDataName "btGeneric6DofSpring2ConstraintData"
55 #endif //BT_USE_DOUBLE_PRECISION
56 
58 {
59  RO_XYZ = 0,
64  RO_ZYX
65 };
66 
68 {
69 public:
70  // upper < lower means free
71  // upper == lower means locked
72  // upper > lower means limited
91 
96 
98  {
99  m_loLimit = 1.0f;
100  m_hiLimit = -1.0f;
101  m_bounce = 0.0f;
102  m_stopERP = 0.2f;
103  m_stopCFM = 0.f;
104  m_motorERP = 0.9f;
105  m_motorCFM = 0.f;
106  m_enableMotor = false;
107  m_targetVelocity = 0;
108  m_maxMotorForce = 6.0f;
109  m_servoMotor = false;
110  m_servoTarget = 0;
111  m_enableSpring = false;
112  m_springStiffness = 0;
113  m_springStiffnessLimited = false;
114  m_springDamping = 0;
115  m_springDampingLimited = false;
116  m_equilibriumPoint = 0;
117 
120  m_currentPosition = 0;
121  m_currentLimit = 0;
122  }
123 
125  {
126  m_loLimit = limot.m_loLimit;
127  m_hiLimit = limot.m_hiLimit;
128  m_bounce = limot.m_bounce;
129  m_stopERP = limot.m_stopERP;
130  m_stopCFM = limot.m_stopCFM;
131  m_motorERP = limot.m_motorERP;
132  m_motorCFM = limot.m_motorCFM;
136  m_servoMotor = limot.m_servoMotor;
144 
149  }
150 
151  bool isLimited()
152  {
153  if (m_loLimit > m_hiLimit) return false;
154  return true;
155  }
156 
157  void testLimitValue(btScalar test_value);
158 };
159 
161 {
162 public:
163  // upper < lower means free
164  // upper == lower means locked
165  // upper > lower means limited
173  bool m_enableMotor[3];
174  bool m_servoMotor[3];
175  bool m_enableSpring[3];
184 
189 
191  {
192  m_lowerLimit.setValue(0.f, 0.f, 0.f);
193  m_upperLimit.setValue(0.f, 0.f, 0.f);
194  m_bounce.setValue(0.f, 0.f, 0.f);
195  m_stopERP.setValue(0.2f, 0.2f, 0.2f);
196  m_stopCFM.setValue(0.f, 0.f, 0.f);
197  m_motorERP.setValue(0.9f, 0.9f, 0.9f);
198  m_motorCFM.setValue(0.f, 0.f, 0.f);
199 
200  m_currentLimitError.setValue(0.f, 0.f, 0.f);
201  m_currentLimitErrorHi.setValue(0.f, 0.f, 0.f);
202  m_currentLinearDiff.setValue(0.f, 0.f, 0.f);
203 
204  for (int i = 0; i < 3; i++)
205  {
206  m_enableMotor[i] = false;
207  m_servoMotor[i] = false;
208  m_enableSpring[i] = false;
209  m_servoTarget[i] = btScalar(0.f);
210  m_springStiffness[i] = btScalar(0.f);
211  m_springStiffnessLimited[i] = false;
212  m_springDamping[i] = btScalar(0.f);
213  m_springDampingLimited[i] = false;
214  m_equilibriumPoint[i] = btScalar(0.f);
215  m_targetVelocity[i] = btScalar(0.f);
216  m_maxMotorForce[i] = btScalar(0.f);
217 
218  m_currentLimit[i] = 0;
219  }
220  }
221 
223  {
224  m_lowerLimit = other.m_lowerLimit;
225  m_upperLimit = other.m_upperLimit;
226  m_bounce = other.m_bounce;
227  m_stopERP = other.m_stopERP;
228  m_stopCFM = other.m_stopCFM;
229  m_motorERP = other.m_motorERP;
230  m_motorCFM = other.m_motorCFM;
231 
235 
236  for (int i = 0; i < 3; i++)
237  {
238  m_enableMotor[i] = other.m_enableMotor[i];
239  m_servoMotor[i] = other.m_servoMotor[i];
240  m_enableSpring[i] = other.m_enableSpring[i];
241  m_servoTarget[i] = other.m_servoTarget[i];
242  m_springStiffness[i] = other.m_springStiffness[i];
244  m_springDamping[i] = other.m_springDamping[i];
247  m_targetVelocity[i] = other.m_targetVelocity[i];
248  m_maxMotorForce[i] = other.m_maxMotorForce[i];
249 
250  m_currentLimit[i] = other.m_currentLimit[i];
251  }
252  }
253 
254  inline bool isLimited(int limitIndex)
255  {
256  return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
257  }
258 
259  void testLimitValue(int limitIndex, btScalar test_value);
260 };
261 
263 {
269 };
270 #define BT_6DOF_FLAGS_AXIS_SHIFT2 4 // bits per axis
271 
272 ATTRIBUTE_ALIGNED16(class)
274 {
275 protected:
278 
281 
284 
286 
287 protected:
296  int m_flags;
297 
299  {
300  btAssert(0);
301  return *this;
302  }
303 
304  int setAngularLimits(btConstraintInfo2 * info, int row_offset, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB);
305  int setLinearLimits(btConstraintInfo2 * info, int row, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB);
306 
309  void testAngularLimitMotor(int axis_index);
310 
311  void calculateJacobi(btRotationalLimitMotor2 * limot, const btTransform& transA, const btTransform& transB, btConstraintInfo2* info, int srow, btVector3& ax1, int rotational, int rotAllowed);
313  const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, const btVector3& angVelA, const btVector3& angVelB,
314  btConstraintInfo2* info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
315 
316 public:
318 
321 
322  virtual void buildJacobian() {}
323  virtual void getInfo1(btConstraintInfo1 * info);
324  virtual void getInfo2(btConstraintInfo2 * info);
325  virtual int calculateSerializeBufferSize() const;
326  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
327 
330 
331  // Calculates the global transform for the joint offset for body A an B, and also calculates the angle differences between the bodies.
332  void calculateTransforms(const btTransform& transA, const btTransform& transB);
334 
335  // Gets the global transform of the offset for body A
337  // Gets the global transform of the offset for body B
339 
340  const btTransform& getFrameOffsetA() const { return m_frameInA; }
341  const btTransform& getFrameOffsetB() const { return m_frameInB; }
342 
343  btTransform& getFrameOffsetA() { return m_frameInA; }
344  btTransform& getFrameOffsetB() { return m_frameInB; }
345 
346  // Get the rotation axis in global coordinates ( btGeneric6DofSpring2Constraint::calculateTransforms() must be called previously )
347  btVector3 getAxis(int axis_index) const { return m_calculatedAxis[axis_index]; }
348 
349  // Get the relative Euler angle ( btGeneric6DofSpring2Constraint::calculateTransforms() must be called previously )
350  btScalar getAngle(int axis_index) const { return m_calculatedAxisAngleDiff[axis_index]; }
351 
352  // Get the relative position of the constraint pivot ( btGeneric6DofSpring2Constraint::calculateTransforms() must be called previously )
353  btScalar getRelativePivotPosition(int axis_index) const { return m_calculatedLinearDiff[axis_index]; }
354 
355  void setFrames(const btTransform& frameA, const btTransform& frameB);
356 
357  void setLinearLowerLimit(const btVector3& linearLower) { m_linearLimits.m_lowerLimit = linearLower; }
358  void getLinearLowerLimit(btVector3 & linearLower) { linearLower = m_linearLimits.m_lowerLimit; }
359  void setLinearUpperLimit(const btVector3& linearUpper) { m_linearLimits.m_upperLimit = linearUpper; }
360  void getLinearUpperLimit(btVector3 & linearUpper) { linearUpper = m_linearLimits.m_upperLimit; }
361 
362  void setAngularLowerLimit(const btVector3& angularLower)
363  {
364  for (int i = 0; i < 3; i++)
365  m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
366  }
367 
368  void setAngularLowerLimitReversed(const btVector3& angularLower)
369  {
370  for (int i = 0; i < 3; i++)
371  m_angularLimits[i].m_hiLimit = btNormalizeAngle(-angularLower[i]);
372  }
373 
374  void getAngularLowerLimit(btVector3 & angularLower)
375  {
376  for (int i = 0; i < 3; i++)
377  angularLower[i] = m_angularLimits[i].m_loLimit;
378  }
379 
381  {
382  for (int i = 0; i < 3; i++)
383  angularLower[i] = -m_angularLimits[i].m_hiLimit;
384  }
385 
386  void setAngularUpperLimit(const btVector3& angularUpper)
387  {
388  for (int i = 0; i < 3; i++)
389  m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
390  }
391 
392  void setAngularUpperLimitReversed(const btVector3& angularUpper)
393  {
394  for (int i = 0; i < 3; i++)
395  m_angularLimits[i].m_loLimit = btNormalizeAngle(-angularUpper[i]);
396  }
397 
398  void getAngularUpperLimit(btVector3 & angularUpper)
399  {
400  for (int i = 0; i < 3; i++)
401  angularUpper[i] = m_angularLimits[i].m_hiLimit;
402  }
403 
405  {
406  for (int i = 0; i < 3; i++)
407  angularUpper[i] = -m_angularLimits[i].m_loLimit;
408  }
409 
410  //first 3 are linear, next 3 are angular
411 
412  void setLimit(int axis, btScalar lo, btScalar hi)
413  {
414  if (axis < 3)
415  {
416  m_linearLimits.m_lowerLimit[axis] = lo;
417  m_linearLimits.m_upperLimit[axis] = hi;
418  }
419  else
420  {
421  lo = btNormalizeAngle(lo);
422  hi = btNormalizeAngle(hi);
423  m_angularLimits[axis - 3].m_loLimit = lo;
424  m_angularLimits[axis - 3].m_hiLimit = hi;
425  }
426  }
427 
428  void setLimitReversed(int axis, btScalar lo, btScalar hi)
429  {
430  if (axis < 3)
431  {
432  m_linearLimits.m_lowerLimit[axis] = lo;
433  m_linearLimits.m_upperLimit[axis] = hi;
434  }
435  else
436  {
437  lo = btNormalizeAngle(lo);
438  hi = btNormalizeAngle(hi);
439  m_angularLimits[axis - 3].m_hiLimit = -lo;
440  m_angularLimits[axis - 3].m_loLimit = -hi;
441  }
442  }
443 
444  bool isLimited(int limitIndex)
445  {
446  if (limitIndex < 3)
447  {
448  return m_linearLimits.isLimited(limitIndex);
449  }
450  return m_angularLimits[limitIndex - 3].isLimited();
451  }
452 
455 
456  void setAxis(const btVector3& axis1, const btVector3& axis2);
457 
458  void setBounce(int index, btScalar bounce);
459 
460  void enableMotor(int index, bool onOff);
461  void setServo(int index, bool onOff); // set the type of the motor (servo or not) (the motor has to be turned on for servo also)
462  void setTargetVelocity(int index, btScalar velocity);
463  void setServoTarget(int index, btScalar target);
464  void setMaxMotorForce(int index, btScalar force);
465 
466  void enableSpring(int index, bool onOff);
467  void setStiffness(int index, btScalar stiffness, bool limitIfNeeded = true); // if limitIfNeeded is true the system will automatically limit the stiffness in necessary situations where otherwise the spring would move unrealistically too widely
468  void setDamping(int index, btScalar damping, bool limitIfNeeded = true); // if limitIfNeeded is true the system will automatically limit the damping in necessary situations where otherwise the spring would blow up
469  void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
470  void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF
471  void setEquilibriumPoint(int index, btScalar val);
472 
473  //override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
474  //If no axis is provided, it uses the default axis for this constraint.
475  virtual void setParam(int num, btScalar value, int axis = -1);
476  virtual btScalar getParam(int num, int axis = -1) const;
477 
478  static btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
479  static bool matrixToEulerXYZ(const btMatrix3x3& mat, btVector3& xyz);
480  static bool matrixToEulerXZY(const btMatrix3x3& mat, btVector3& xyz);
481  static bool matrixToEulerYXZ(const btMatrix3x3& mat, btVector3& xyz);
482  static bool matrixToEulerYZX(const btMatrix3x3& mat, btVector3& xyz);
483  static bool matrixToEulerZXY(const btMatrix3x3& mat, btVector3& xyz);
484  static bool matrixToEulerZYX(const btMatrix3x3& mat, btVector3& xyz);
485 };
486 
488 {
492 
511  char m_padding1[4];
512 
531 
533 };
534 
536 {
540 
559  char m_padding1[4];
560 
579 
581 };
582 
584 {
586 }
587 
588 SIMD_FORCE_INLINE const char* btGeneric6DofSpring2Constraint::serialize(void* dataBuffer, btSerializer* serializer) const
589 {
591  btTypedConstraint::serialize(&dof->m_typeConstraintData, serializer);
592 
593  m_frameInA.serialize(dof->m_rbAFrame);
594  m_frameInB.serialize(dof->m_rbBFrame);
595 
596  int i;
597  for (i = 0; i < 3; i++)
598  {
599  dof->m_angularLowerLimit.m_floats[i] = m_angularLimits[i].m_loLimit;
600  dof->m_angularUpperLimit.m_floats[i] = m_angularLimits[i].m_hiLimit;
601  dof->m_angularBounce.m_floats[i] = m_angularLimits[i].m_bounce;
602  dof->m_angularStopERP.m_floats[i] = m_angularLimits[i].m_stopERP;
603  dof->m_angularStopCFM.m_floats[i] = m_angularLimits[i].m_stopCFM;
604  dof->m_angularMotorERP.m_floats[i] = m_angularLimits[i].m_motorERP;
605  dof->m_angularMotorCFM.m_floats[i] = m_angularLimits[i].m_motorCFM;
606  dof->m_angularTargetVelocity.m_floats[i] = m_angularLimits[i].m_targetVelocity;
607  dof->m_angularMaxMotorForce.m_floats[i] = m_angularLimits[i].m_maxMotorForce;
608  dof->m_angularServoTarget.m_floats[i] = m_angularLimits[i].m_servoTarget;
609  dof->m_angularSpringStiffness.m_floats[i] = m_angularLimits[i].m_springStiffness;
610  dof->m_angularSpringDamping.m_floats[i] = m_angularLimits[i].m_springDamping;
611  dof->m_angularEquilibriumPoint.m_floats[i] = m_angularLimits[i].m_equilibriumPoint;
612  }
613  dof->m_angularLowerLimit.m_floats[3] = 0;
614  dof->m_angularUpperLimit.m_floats[3] = 0;
615  dof->m_angularBounce.m_floats[3] = 0;
616  dof->m_angularStopERP.m_floats[3] = 0;
617  dof->m_angularStopCFM.m_floats[3] = 0;
618  dof->m_angularMotorERP.m_floats[3] = 0;
619  dof->m_angularMotorCFM.m_floats[3] = 0;
620  dof->m_angularTargetVelocity.m_floats[3] = 0;
621  dof->m_angularMaxMotorForce.m_floats[3] = 0;
622  dof->m_angularServoTarget.m_floats[3] = 0;
623  dof->m_angularSpringStiffness.m_floats[3] = 0;
624  dof->m_angularSpringDamping.m_floats[3] = 0;
625  dof->m_angularEquilibriumPoint.m_floats[3] = 0;
626  for (i = 0; i < 4; i++)
627  {
628  dof->m_angularEnableMotor[i] = i < 3 ? (m_angularLimits[i].m_enableMotor ? 1 : 0) : 0;
629  dof->m_angularServoMotor[i] = i < 3 ? (m_angularLimits[i].m_servoMotor ? 1 : 0) : 0;
630  dof->m_angularEnableSpring[i] = i < 3 ? (m_angularLimits[i].m_enableSpring ? 1 : 0) : 0;
631  dof->m_angularSpringStiffnessLimited[i] = i < 3 ? (m_angularLimits[i].m_springStiffnessLimited ? 1 : 0) : 0;
632  dof->m_angularSpringDampingLimited[i] = i < 3 ? (m_angularLimits[i].m_springDampingLimited ? 1 : 0) : 0;
633  }
634 
635  m_linearLimits.m_lowerLimit.serialize(dof->m_linearLowerLimit);
636  m_linearLimits.m_upperLimit.serialize(dof->m_linearUpperLimit);
637  m_linearLimits.m_bounce.serialize(dof->m_linearBounce);
638  m_linearLimits.m_stopERP.serialize(dof->m_linearStopERP);
639  m_linearLimits.m_stopCFM.serialize(dof->m_linearStopCFM);
640  m_linearLimits.m_motorERP.serialize(dof->m_linearMotorERP);
641  m_linearLimits.m_motorCFM.serialize(dof->m_linearMotorCFM);
642  m_linearLimits.m_targetVelocity.serialize(dof->m_linearTargetVelocity);
643  m_linearLimits.m_maxMotorForce.serialize(dof->m_linearMaxMotorForce);
644  m_linearLimits.m_servoTarget.serialize(dof->m_linearServoTarget);
645  m_linearLimits.m_springStiffness.serialize(dof->m_linearSpringStiffness);
646  m_linearLimits.m_springDamping.serialize(dof->m_linearSpringDamping);
647  m_linearLimits.m_equilibriumPoint.serialize(dof->m_linearEquilibriumPoint);
648  for (i = 0; i < 4; i++)
649  {
650  dof->m_linearEnableMotor[i] = i < 3 ? (m_linearLimits.m_enableMotor[i] ? 1 : 0) : 0;
651  dof->m_linearServoMotor[i] = i < 3 ? (m_linearLimits.m_servoMotor[i] ? 1 : 0) : 0;
652  dof->m_linearEnableSpring[i] = i < 3 ? (m_linearLimits.m_enableSpring[i] ? 1 : 0) : 0;
653  dof->m_linearSpringStiffnessLimited[i] = i < 3 ? (m_linearLimits.m_springStiffnessLimited[i] ? 1 : 0) : 0;
654  dof->m_linearSpringDampingLimited[i] = i < 3 ? (m_linearLimits.m_springDampingLimited[i] ? 1 : 0) : 0;
655  }
656 
657  dof->m_rotateOrder = m_rotateOrder;
658 
659  dof->m_padding1[0] = 0;
660  dof->m_padding1[1] = 0;
661  dof->m_padding1[2] = 0;
662  dof->m_padding1[3] = 0;
663 
665 }
666 
667 #endif //BT_GENERIC_6DOF_CONSTRAINT_H
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint GLsizei GLsizei GLenum type _GL_VOID_RET _GL_VOID GLsizei GLenum GLenum const void *pixels _GL_VOID_RET _GL_VOID const void *pointer _GL_VOID_RET _GL_VOID GLdouble v _GL_VOID_RET _GL_VOID GLfloat v _GL_VOID_RET _GL_VOID GLint GLint i2 _GL_VOID_RET _GL_VOID GLint j _GL_VOID_RET _GL_VOID GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble GLdouble GLdouble zFar _GL_VOID_RET _GL_UINT GLdouble *equation _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLenum GLfloat *v _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLfloat *values _GL_VOID_RET _GL_VOID GLushort *values _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLenum GLdouble *params _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_BOOL GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLushort pattern _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint order
btFixedConstraint btRigidBody & rbB
btFixedConstraint btRigidBody const btTransform & frameInA
btFixedConstraint btRigidBody const btTransform const btTransform & frameInB
void getAngularLowerLimit(btVector3 &angularLower)
btScalar getAngle(int axis_index) const
Get the relative Euler angle.
void getAngularUpperLimitReversed(btVector3 &angularUpper)
const btTransform & getCalculatedTransformA() const
BT_DECLARE_ALIGNED_ALLOCATOR()
void setAngularUpperLimit(const btVector3 &angularUpper)
virtual void getInfo2(btConstraintInfo2 *info)
const btTransform & getFrameOffsetA() const
static bool matrixToEulerYZX(const btMatrix3x3 &mat, btVector3 &xyz)
void calculateTransforms(const btTransform &transA, const btTransform &transB)
btTransform m_calculatedTransformB
void setStiffness(int index, btScalar stiffness, bool limitIfNeeded=true)
btGeneric6DofSpring2Constraint & operator=(const btGeneric6DofSpring2Constraint &)
virtual void setParam(int num, btScalar value, int axis=-1)
void setDamping(int index, btScalar damping, bool limitIfNeeded=true)
static bool matrixToEulerXYZ(const btMatrix3x3 &mat, btVector3 &xyz)
MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3....
void setLinearLowerLimit(const btVector3 &linearLower)
btVector3 m_calculatedAxis[3]
virtual int calculateSerializeBufferSize() const
btVector3 m_calculatedLinearDiff
btJacobianEntry m_jacAng[3]
static bool matrixToEulerYXZ(const btMatrix3x3 &mat, btVector3 &xyz)
void setLimit(int axis, btScalar lo, btScalar hi)
int get_limit_motor_info2(btRotationalLimitMotor2 *limot, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB, btConstraintInfo2 *info, int row, btVector3 &ax1, int rotational, int rotAllowed=false)
void setLimitReversed(int axis, btScalar lo, btScalar hi)
btJacobianEntry m_jacLinear[3]
void getAngularLowerLimitReversed(btVector3 &angularLower)
void calculateLinearInfo()
const btTransform & getFrameOffsetB() const
btTranslationalLimitMotor2 * getTranslationalLimitMotor()
void calculateAngleInfo()
void getLinearUpperLimit(btVector3 &linearUpper)
void enableSpring(int index, bool onOff)
virtual btScalar getParam(int num, int axis=-1) const
const btTransform & getCalculatedTransformB() const
void setBounce(int index, btScalar bounce)
btRotationalLimitMotor2 m_angularLimits[3]
static bool matrixToEulerZXY(const btMatrix3x3 &mat, btVector3 &xyz)
void testAngularLimitMotor(int axis_index)
void enableMotor(int index, bool onOff)
void setLinearUpperLimit(const btVector3 &linearUpper)
void setFrames(const btTransform &frameA, const btTransform &frameB)
void setAxis(const btVector3 &axis1, const btVector3 &axis2)
void setAngularLowerLimitReversed(const btVector3 &angularLower)
btTransform m_frameInB
#define btGeneric6DofSpring2ConstraintData2
void calculateJacobi(btRotationalLimitMotor2 *limot, const btTransform &transA, const btTransform &transB, btConstraintInfo2 *info, int srow, btVector3 &ax1, int rotational, int rotAllowed)
void getAngularUpperLimit(btVector3 &angularUpper)
btRotationalLimitMotor2 * getRotationalLimitMotor(int index)
virtual void buildJacobian()
obsolete methods
static btScalar btGetMatrixElem(const btMatrix3x3 &mat, int index)
RotateOrder getRotationOrder()
int setLinearLimits(btConstraintInfo2 *info, int row, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB)
btVector3 m_calculatedAxisAngleDiff
btVector3 getAxis(int axis_index) const
Get the rotation axis in global coordinates.
virtual void getInfo1(btConstraintInfo1 *info)
void setServoTarget(int index, btScalar target)
void setMaxMotorForce(int index, btScalar force)
void setAngularUpperLimitReversed(const btVector3 &angularUpper)
btScalar getRelativePivotPosition(int axis_index) const
Get the relative position of the constraint pivot.
static bool matrixToEulerZYX(const btMatrix3x3 &mat, btVector3 &xyz)
int setAngularLimits(btConstraintInfo2 *info, int row_offset, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB)
static bool matrixToEulerXZY(const btMatrix3x3 &mat, btVector3 &xyz)
void setTargetVelocity(int index, btScalar velocity)
void getLinearLowerLimit(btVector3 &linearLower)
void setServo(int index, bool onOff)
btGeneric6DofSpring2Constraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, RotateOrder rotOrder=RO_XYZ)
void setRotationOrder(RotateOrder order)
@ BT_6DOF_FLAGS_USE_INFINITE_ERROR
btTransform m_calculatedTransformA
#define btGeneric6DofSpring2ConstraintDataName
bool isLimited(int limitIndex)
void setAngularLowerLimit(const btVector3 &angularLower)
RotateOrder m_rotateOrder
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
btTranslationalLimitMotor2 m_linearLimits
btJacobianEntry
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:50
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:285
SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians)
Definition: btScalar.h:781
#define SIMD_FORCE_INLINE
Definition: btScalar.h:280
#define btAssert(x)
Definition: btScalar.h:295
btTransform m_frameInA
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btTypedConstraint(btTypedConstraintType type, btRigidBody &rbA)
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
void testLimitValue(btScalar test_value)
btRotationalLimitMotor2(const btRotationalLimitMotor2 &limot)
btTranslationalLimitMotor2(const btTranslationalLimitMotor2 &other)
void testLimitValue(int limitIndex, btScalar test_value)
for serialization
Definition: btTransform.h:245
this structure is not used, except for loading pre-2.82 .bullet files