41 #ifndef BT_GENERIC_6DOF_CONSTRAINT2_H 42 #define BT_GENERIC_6DOF_CONSTRAINT2_H 51 #ifdef BT_USE_DOUBLE_PRECISION 52 #define btGeneric6DofSpring2ConstraintData2 btGeneric6DofSpring2ConstraintDoubleData2 53 #define btGeneric6DofSpring2ConstraintDataName "btGeneric6DofSpring2ConstraintDoubleData2" 55 #define btGeneric6DofSpring2ConstraintData2 btGeneric6DofSpring2ConstraintData 56 #define btGeneric6DofSpring2ConstraintDataName "btGeneric6DofSpring2ConstraintData" 57 #endif //BT_USE_DOUBLE_PRECISION 106 m_enableMotor =
false;
107 m_targetVelocity = 0;
108 m_maxMotorForce = 0.1f;
109 m_servoMotor =
false;
111 m_enableSpring =
false;
112 m_springStiffness = 0;
114 m_equilibriumPoint = 0;
116 m_currentLimitError = 0;
117 m_currentLimitErrorHi = 0;
118 m_currentPosition = 0;
150 if(m_loLimit > m_hiLimit)
return false;
189 m_lowerLimit .
setValue(0.f , 0.f , 0.f );
190 m_upperLimit .
setValue(0.f , 0.f , 0.f );
191 m_bounce .
setValue(0.f , 0.f , 0.f );
192 m_stopERP .
setValue(0.2f, 0.2f, 0.2f);
193 m_stopCFM .
setValue(0.f , 0.f , 0.f );
194 m_motorERP .
setValue(0.9f, 0.9f, 0.9f);
195 m_motorCFM .
setValue(0.f , 0.f , 0.f );
197 m_currentLimitError .
setValue(0.f , 0.f , 0.f );
198 m_currentLimitErrorHi.
setValue(0.f , 0.f , 0.f );
199 m_currentLinearDiff .
setValue(0.f , 0.f , 0.f );
201 for(
int i=0; i < 3; i++)
203 m_enableMotor[i] =
false;
204 m_servoMotor[i] =
false;
205 m_enableSpring[i] =
false;
207 m_springStiffness[i] =
btScalar(0.f);
209 m_equilibriumPoint[i] =
btScalar(0.f);
210 m_targetVelocity[i] =
btScalar(0.f);
213 m_currentLimit[i] = 0;
231 for(
int i=0; i < 3; i++)
249 return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
262 #define BT_6DOF_FLAGS_AXIS_SHIFT2 4 // bits per axis 301 void calculateLinearInfo();
302 void calculateAngleInfo();
303 void testAngularLimitMotor(
int axis_index);
328 virtual int calculateSerializeBufferSize()
const;
329 virtual const char* serialize(
void* dataBuffer,
btSerializer* serializer)
const;
336 void calculateTransforms();
367 for(
int i = 0; i < 3; i++)
373 for(
int i = 0; i < 3; i++)
379 for(
int i = 0; i < 3; i++)
380 angularLower[i] = m_angularLimits[i].
m_loLimit;
385 for(
int i = 0; i < 3; i++)
386 angularLower[i] = -m_angularLimits[i].
m_hiLimit;
391 for(
int i = 0; i < 3; i++)
397 for(
int i = 0; i < 3; i++)
403 for(
int i = 0; i < 3; i++)
404 angularUpper[i] = m_angularLimits[i].
m_hiLimit;
409 for(
int i = 0; i < 3; i++)
410 angularUpper[i] = -m_angularLimits[i].
m_loLimit;
451 return m_linearLimits.
isLimited(limitIndex);
453 return m_angularLimits[limitIndex-3].
isLimited();
461 void setBounce(
int index,
btScalar bounce);
463 void enableMotor(
int index,
bool onOff);
464 void setServo(
int index,
bool onOff);
465 void setTargetVelocity(
int index,
btScalar velocity);
466 void setServoTarget(
int index,
btScalar target);
467 void setMaxMotorForce(
int index,
btScalar force);
469 void enableSpring(
int index,
bool onOff);
470 void setStiffness(
int index,
btScalar stiffness);
471 void setDamping(
int index,
btScalar damping);
472 void setEquilibriumPoint();
473 void setEquilibriumPoint(
int index);
474 void setEquilibriumPoint(
int index,
btScalar val);
478 virtual void setParam(
int num,
btScalar value,
int axis = -1);
479 virtual btScalar getParam(
int num,
int axis = -1)
const;
502 char m_linearEnableMotor[4];
503 char m_linearServoMotor[4];
504 char m_linearEnableSpring[4];
520 char m_angularEnableMotor[4];
521 char m_angularServoMotor[4];
522 char m_angularEnableSpring[4];
548 char m_linearEnableMotor[4];
549 char m_linearServoMotor[4];
550 char m_linearEnableSpring[4];
566 char m_angularEnableMotor[4];
567 char m_angularServoMotor[4];
568 char m_angularEnableSpring[4];
585 m_frameInA.serialize(dof->m_rbAFrame);
586 m_frameInB.serialize(dof->m_rbBFrame);
591 dof->m_angularLowerLimit.m_floats[i] = m_angularLimits[i].m_loLimit;
592 dof->m_angularUpperLimit.m_floats[i] = m_angularLimits[i].m_hiLimit;
593 dof->m_angularBounce.m_floats[i] = m_angularLimits[i].m_bounce;
594 dof->m_angularStopERP.m_floats[i] = m_angularLimits[i].m_stopERP;
595 dof->m_angularStopCFM.m_floats[i] = m_angularLimits[i].m_stopCFM;
596 dof->m_angularMotorERP.m_floats[i] = m_angularLimits[i].m_motorERP;
597 dof->m_angularMotorCFM.m_floats[i] = m_angularLimits[i].m_motorCFM;
598 dof->m_angularTargetVelocity.m_floats[i] = m_angularLimits[i].m_targetVelocity;
599 dof->m_angularMaxMotorForce.m_floats[i] = m_angularLimits[i].m_maxMotorForce;
600 dof->m_angularServoTarget.m_floats[i] = m_angularLimits[i].m_servoTarget;
601 dof->m_angularSpringStiffness.m_floats[i] = m_angularLimits[i].m_springStiffness;
602 dof->m_angularSpringDamping.m_floats[i] = m_angularLimits[i].m_springDamping;
603 dof->m_angularEquilibriumPoint.m_floats[i] = m_angularLimits[i].m_equilibriumPoint;
605 dof->m_angularLowerLimit.m_floats[3] = 0;
606 dof->m_angularUpperLimit.m_floats[3] = 0;
607 dof->m_angularBounce.m_floats[3] = 0;
608 dof->m_angularStopERP.m_floats[3] = 0;
609 dof->m_angularStopCFM.m_floats[3] = 0;
610 dof->m_angularMotorERP.m_floats[3] = 0;
611 dof->m_angularMotorCFM.m_floats[3] = 0;
612 dof->m_angularTargetVelocity.m_floats[3] = 0;
613 dof->m_angularMaxMotorForce.m_floats[3] = 0;
614 dof->m_angularServoTarget.m_floats[3] = 0;
615 dof->m_angularSpringStiffness.m_floats[3] = 0;
616 dof->m_angularSpringDamping.m_floats[3] = 0;
617 dof->m_angularEquilibriumPoint.m_floats[3] = 0;
620 dof->m_angularEnableMotor[i] = i < 3 ? ( m_angularLimits[i].m_enableMotor ? 1 : 0 ) : 0;
621 dof->m_angularServoMotor[i] = i < 3 ? ( m_angularLimits[i].m_servoMotor ? 1 : 0 ) : 0;
622 dof->m_angularEnableSpring[i] = i < 3 ? ( m_angularLimits[i].m_enableSpring ? 1 : 0 ) : 0;
625 m_linearLimits.m_lowerLimit.serialize( dof->m_linearLowerLimit );
626 m_linearLimits.m_upperLimit.serialize( dof->m_linearUpperLimit );
627 m_linearLimits.m_bounce.serialize( dof->m_linearBounce );
628 m_linearLimits.m_stopERP.serialize( dof->m_linearStopERP );
629 m_linearLimits.m_stopCFM.serialize( dof->m_linearStopCFM );
630 m_linearLimits.m_motorERP.serialize( dof->m_linearMotorERP );
631 m_linearLimits.m_motorCFM.serialize( dof->m_linearMotorCFM );
632 m_linearLimits.m_targetVelocity.serialize( dof->m_linearTargetVelocity );
633 m_linearLimits.m_maxMotorForce.serialize( dof->m_linearMaxMotorForce );
634 m_linearLimits.m_servoTarget.serialize( dof->m_linearServoTarget );
635 m_linearLimits.m_springStiffness.serialize( dof->m_linearSpringStiffness );
636 m_linearLimits.m_springDamping.serialize( dof->m_linearSpringDamping );
637 m_linearLimits.m_equilibriumPoint.serialize( dof->m_linearEquilibriumPoint );
640 dof->m_linearEnableMotor[i] = i < 3 ? ( m_linearLimits.m_enableMotor[i] ? 1 : 0 ) : 0;
641 dof->m_linearServoMotor[i] = i < 3 ? ( m_linearLimits.m_servoMotor[i] ? 1 : 0 ) : 0;
642 dof->m_linearEnableSpring[i] = i < 3 ? ( m_linearLimits.m_enableSpring[i] ? 1 : 0 ) : 0;
645 dof->m_rotateOrder = m_rotateOrder;
654 #endif //BT_GENERIC_6DOF_CONSTRAINT_H
btVector3FloatData m_angularUpperLimit
void getAngularUpperLimitReversed(btVector3 &angularUpper)
btTransformDoubleData m_rbBFrame
void getAngularLowerLimitReversed(btVector3 &angularLower)
btVector3 m_maxMotorForce
btVector3FloatData m_linearBounce
btVector3DoubleData m_linearEquilibriumPoint
btVector3 m_springStiffness
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
btTypedConstraintData m_typeConstraintData
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
btVector3DoubleData m_linearMotorCFM
btVector3FloatData m_linearSpringStiffness
btVector3FloatData m_linearEquilibriumPoint
btVector3DoubleData m_linearSpringDamping
btVector3FloatData m_linearLowerLimit
void setLimit(int axis, btScalar lo, btScalar hi)
btTransform & getFrameOffsetB()
btTransformFloatData m_rbBFrame
btVector3DoubleData m_linearUpperLimit
btVector3FloatData m_linearTargetVelocity
btGeneric6DofSpring2Constraint & operator=(btGeneric6DofSpring2Constraint &)
btTransformDoubleData m_rbAFrame
const btTransform & getFrameOffsetA() const
btVector3DoubleData m_angularMotorERP
btScalar btGetMatrixElem(const btMatrix3x3 &mat, int index)
void setAngularLowerLimitReversed(const btVector3 &angularLower)
btVector3FloatData m_angularLowerLimit
btVector3 m_springDamping
btTypedConstraintDoubleData m_typeConstraintData
const btTransform & getFrameOffsetB() const
btVector3DoubleData m_angularEquilibriumPoint
btVector3FloatData m_angularServoTarget
void getLinearLowerLimit(btVector3 &linearLower)
#define SIMD_FORCE_INLINE
btVector3DoubleData m_angularServoTarget
btVector3 getAxis(int axis_index) const
btVector3FloatData m_angularMaxMotorForce
btVector3FloatData m_angularBounce
btVector3DoubleData m_linearTargetVelocity
btVector3DoubleData m_angularStopCFM
btVector3FloatData m_angularMotorCFM
btTranslationalLimitMotor2 m_linearLimits
btVector3DoubleData m_linearBounce
btRotationalLimitMotor2(const btRotationalLimitMotor2 &limot)
RotateOrder getRotationOrder()
btTransform & getFrameOffsetA()
btVector3DoubleData m_linearMotorERP
btVector3 m_currentLinearDiff
void getAngularUpperLimit(btVector3 &angularUpper)
void getLinearUpperLimit(btVector3 &linearUpper)
btVector3 m_calculatedLinearDiff
btVector3FloatData m_linearMaxMotorForce
btVector3FloatData m_linearMotorCFM
btVector3DoubleData m_angularLowerLimit
btScalar m_currentLimitError
btTranslationalLimitMotor2 * getTranslationalLimitMotor()
btVector3FloatData m_linearUpperLimit
btVector3FloatData m_angularStopCFM
bool isLimited(int limitIndex)
btVector3DoubleData m_linearMaxMotorForce
btVector3 m_currentLimitErrorHi
btTransform m_calculatedTransformB
btScalar m_currentLimitErrorHi
The btRigidBody is the main class for rigid body objects.
btVector3DoubleData m_linearLowerLimit
btTransform m_calculatedTransformA
void setLinearUpperLimit(const btVector3 &linearUpper)
btVector3 m_equilibriumPoint
btRotationalLimitMotor2 * getRotationalLimitMotor(int index)
this structure is not used, except for loading pre-2.82 .bullet files
btScalar m_targetVelocity
void setLinearLowerLimit(const btVector3 &linearLower)
void setAngularLowerLimit(const btVector3 &angularLower)
btVector3DoubleData m_angularMaxMotorForce
void setRotationOrder(RotateOrder order)
const btTransform & getCalculatedTransformB() const
btVector3FloatData m_angularTargetVelocity
btVector3FloatData m_linearMotorERP
virtual void buildJacobian()
internal method used by the constraint solver, don't use them directly
btVector3 m_currentLimitError
btVector3 can be used to represent 3D points and vectors.
#define ATTRIBUTE_ALIGNED16(a)
btVector3FloatData m_linearSpringDamping
btVector3FloatData m_linearStopCFM
btScalar btNormalizeAngle(btScalar angleInRadians)
btVector3FloatData m_linearServoTarget
#define btGeneric6DofSpring2ConstraintDataName
RotateOrder m_rotateOrder
bool matrixToEulerXYZ(const btMatrix3x3 &mat, btVector3 &xyz)
MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html.
btVector3DoubleData m_linearServoTarget
btTransformFloatData m_rbAFrame
btVector3FloatData m_angularMotorERP
const btTransform & getCalculatedTransformA() const
btVector3FloatData m_angularEquilibriumPoint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
void getAngularLowerLimit(btVector3 &angularLower)
btVector3 m_targetVelocity
btVector3DoubleData m_angularUpperLimit
#define BT_DECLARE_ALIGNED_ALLOCATOR()
btScalar m_equilibriumPoint
btVector3DoubleData m_angularSpringStiffness
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
#define btGeneric6DofSpring2ConstraintData2
bool isLimited(int limitIndex)
btVector3DoubleData m_angularMotorCFM
void setAngularUpperLimitReversed(const btVector3 &angularUpper)
btVector3FloatData m_angularSpringStiffness
btVector3DoubleData m_linearSpringStiffness
btVector3DoubleData m_angularStopERP
btVector3DoubleData m_angularSpringDamping
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
btScalar getRelativePivotPosition(int axis_index) const
void testLimitValue(btScalar test_value)
btScalar m_currentPosition
void setAngularUpperLimit(const btVector3 &angularUpper)
btVector3DoubleData m_angularBounce
btVector3FloatData m_linearStopERP
btScalar m_springStiffness
btVector3FloatData m_angularStopERP
void setLimitReversed(int axis, btScalar lo, btScalar hi)
virtual int calculateSerializeBufferSize() const
btTranslationalLimitMotor2()
btVector3 m_calculatedAxisAngleDiff
btVector3DoubleData m_angularTargetVelocity
btVector3DoubleData m_linearStopERP
btRotationalLimitMotor2()
btVector3FloatData m_angularSpringDamping
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btTranslationalLimitMotor2(const btTranslationalLimitMotor2 &other)
btVector3DoubleData m_linearStopCFM
btScalar getAngle(int axis_index) const