Changeset 8284 for code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h

Timestamp:

Apr 21, 2011, 6:58:23 PM (13 years ago)

Author:

rgrieder

Message:

Merged revisions 7978 - 8096 from kicklib to kicklib2.

Location:

code/branches/kicklib2

Files:

• . (modified) (1 prop)
• src/external/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h (modified) (6 diffs)

code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h

@@ -23 +23 @@
 class btRigidBody;
 
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btPoint2PointConstraintData     btPoint2PointConstraintDoubleData
+#define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData"
+#else
+#define btPoint2PointConstraintData     btPoint2PointConstraintFloatData
+#define btPoint2PointConstraintDataName "btPoint2PointConstraintFloatData"
+#endif //BT_USE_DOUBLE_PRECISION
+
 struct  btConstraintSetting
 {
@@ -36 +45 @@
 };
 
+enum btPoint2PointFlags
+{
+        BT_P2P_FLAGS_ERP = 1,
+        BT_P2P_FLAGS_CFM = 2
+};
+
 /// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
-class btPoint2PointConstraint : public btTypedConstraint
+ATTRIBUTE_ALIGNED16(class) btPoint2PointConstraint : public btTypedConstraint
 {
 #ifdef IN_PARALLELL_SOLVER
@@ -47 +62 @@
         btVector3       m_pivotInB;
         
-        
+        int                     m_flags;
+        btScalar        m_erp;
+        btScalar        m_cfm;
         
 public:
@@ -60 +77 @@
         btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
 
-        btPoint2PointConstraint();
 
         virtual void    buildJacobian();
@@ -66 +82 @@
         virtual void getInfo1 (btConstraintInfo1* info);
 
+        void getInfo1NonVirtual (btConstraintInfo1* info);
+
         virtual void getInfo2 (btConstraintInfo2* info);
 
-
-        virtual void    solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar        timeStep);
+        void getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans);
 
         void    updateRHS(btScalar      timeStep);
@@ -93 +110 @@
         }
 
+        ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+        ///If no axis is provided, it uses the default axis for this constraint.
+        virtual void    setParam(int num, btScalar value, int axis = -1);
+        ///return the local value of parameter
+        virtual btScalar getParam(int num, int axis = -1) const;
+
+        virtual int     calculateSerializeBufferSize() const;
+
+        ///fills the dataBuffer and returns the struct name (and 0 on failure)
+        virtual const char*     serialize(void* dataBuffer, btSerializer* serializer) const;
+
 
 };
 
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct  btPoint2PointConstraintFloatData
+{
+        btTypedConstraintData   m_typeConstraintData;
+        btVector3FloatData      m_pivotInA;
+        btVector3FloatData      m_pivotInB;
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct  btPoint2PointConstraintDoubleData
+{
+        btTypedConstraintData   m_typeConstraintData;
+        btVector3DoubleData     m_pivotInA;
+        btVector3DoubleData     m_pivotInB;
+};
+
+
+SIMD_FORCE_INLINE       int     btPoint2PointConstraint::calculateSerializeBufferSize() const
+{
+        return sizeof(btPoint2PointConstraintData);
+
+}
+
+        ///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE       const char*     btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+        btPoint2PointConstraintData* p2pData = (btPoint2PointConstraintData*)dataBuffer;
+
+        btTypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer);
+        m_pivotInA.serialize(p2pData->m_pivotInA);
+        m_pivotInB.serialize(p2pData->m_pivotInB);
+
+        return btPoint2PointConstraintDataName;
+}
+
 #endif //POINT2POINTCONSTRAINT_H