Changeset 8284 for code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.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/btSliderConstraint.h (modified) (7 diffs)

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

@@ -26 +26 @@
 #define SLIDER_CONSTRAINT_H
 
-//-----------------------------------------------------------------------------
+
 
 #include "LinearMath/btVector3.h"
@@ -32 +32 @@
 #include "btTypedConstraint.h"
 
-//-----------------------------------------------------------------------------
+
 
 class btRigidBody;
 
-//-----------------------------------------------------------------------------
+
 
 #define SLIDER_CONSTRAINT_DEF_SOFTNESS          (btScalar(1.0))
 #define SLIDER_CONSTRAINT_DEF_DAMPING           (btScalar(1.0))
 #define SLIDER_CONSTRAINT_DEF_RESTITUTION       (btScalar(0.7))
-
-//-----------------------------------------------------------------------------
+#define SLIDER_CONSTRAINT_DEF_CFM                       (btScalar(0.f))
+
+
+enum btSliderFlags
+{
+        BT_SLIDER_FLAGS_CFM_DIRLIN = (1 << 0),
+        BT_SLIDER_FLAGS_ERP_DIRLIN = (1 << 1),
+        BT_SLIDER_FLAGS_CFM_DIRANG = (1 << 2),
+        BT_SLIDER_FLAGS_ERP_DIRANG = (1 << 3),
+        BT_SLIDER_FLAGS_CFM_ORTLIN = (1 << 4),
+        BT_SLIDER_FLAGS_ERP_ORTLIN = (1 << 5),
+        BT_SLIDER_FLAGS_CFM_ORTANG = (1 << 6),
+        BT_SLIDER_FLAGS_ERP_ORTANG = (1 << 7),
+        BT_SLIDER_FLAGS_CFM_LIMLIN = (1 << 8),
+        BT_SLIDER_FLAGS_ERP_LIMLIN = (1 << 9),
+        BT_SLIDER_FLAGS_CFM_LIMANG = (1 << 10),
+        BT_SLIDER_FLAGS_ERP_LIMANG = (1 << 11)
+};
+
 
 class btSliderConstraint : public btTypedConstraint
@@ -49 +66 @@
         ///for backwards compatibility during the transition to 'getInfo/getInfo2'
         bool            m_useSolveConstraintObsolete;
+        bool            m_useOffsetForConstraintFrame;
         btTransform     m_frameInA;
     btTransform m_frameInB;
@@ -68 +86 @@
         btScalar m_restitutionDirLin;
         btScalar m_dampingDirLin;
+        btScalar m_cfmDirLin;
+
         btScalar m_softnessDirAng;
         btScalar m_restitutionDirAng;
         btScalar m_dampingDirAng;
+        btScalar m_cfmDirAng;
+
         btScalar m_softnessLimLin;
         btScalar m_restitutionLimLin;
         btScalar m_dampingLimLin;
+        btScalar m_cfmLimLin;
+
         btScalar m_softnessLimAng;
         btScalar m_restitutionLimAng;
         btScalar m_dampingLimAng;
+        btScalar m_cfmLimAng;
+
         btScalar m_softnessOrthoLin;
         btScalar m_restitutionOrthoLin;
         btScalar m_dampingOrthoLin;
+        btScalar m_cfmOrthoLin;
+
         btScalar m_softnessOrthoAng;
         btScalar m_restitutionOrthoAng;
         btScalar m_dampingOrthoAng;
+        btScalar m_cfmOrthoAng;
         
         // for interlal use
         bool m_solveLinLim;
         bool m_solveAngLim;
+
+        int m_flags;
 
         btJacobianEntry m_jacLin[3];
@@ -127 +158 @@
         // constructors
     btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
-    btSliderConstraint();
+    btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
+
         // overrides
-    virtual void        buildJacobian();
+
     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& transA, const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass);
+
 
         // access
@@ -151 +185 @@
     void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
     btScalar getLowerAngLimit() { return m_lowerAngLimit; }
-    void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = lowerLimit; }
+    void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); }
     btScalar getUpperAngLimit() { return m_upperAngLimit; }
-    void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = upperLimit; }
+    void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); }
         bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; }
         btScalar getSoftnessDirLin() { return m_softnessDirLin; }
@@ -211 +245 @@
         bool getSolveAngLimit() { return m_solveAngLim; }
         btScalar getAngDepth() { return m_angDepth; }
-        // internal
-    void        buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB);
-    void        solveConstraintInt(btRigidBody& rbA, btSolverBody& bodyA,btRigidBody& rbB, btSolverBody& bodyB);
         // shared code used by ODE solver
-        void    calculateTransforms(void);
-        void    testLinLimits(void);
-        void    testLinLimits2(btConstraintInfo2* info);
-        void    testAngLimits(void);
+        void    calculateTransforms(const btTransform& transA,const btTransform& transB);
+        void    testLinLimits();
+        void    testAngLimits();
         // access for PE Solver
-        btVector3 getAncorInA(void);
-        btVector3 getAncorInB(void);
+        btVector3 getAncorInA();
+        btVector3 getAncorInB();
+        // access for UseFrameOffset
+        bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
+        void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
+
+        ///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 btSliderConstraintData
+{
+        btTypedConstraintData   m_typeConstraintData;
+        btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+        btTransformFloatData m_rbBFrame;
+        
+        float   m_linearUpperLimit;
+        float   m_linearLowerLimit;
+
+        float   m_angularUpperLimit;
+        float   m_angularLowerLimit;
+
+        int     m_useLinearReferenceFrameA;
+        int m_useOffsetForConstraintFrame;
+
+};
+
+
+SIMD_FORCE_INLINE               int     btSliderConstraint::calculateSerializeBufferSize() const
+{
+        return sizeof(btSliderConstraintData);
+}
+
+        ///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE       const char*     btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+
+        btSliderConstraintData* sliderData = (btSliderConstraintData*) dataBuffer;
+        btTypedConstraint::serialize(&sliderData->m_typeConstraintData,serializer);
+
+        m_frameInA.serializeFloat(sliderData->m_rbAFrame);
+        m_frameInB.serializeFloat(sliderData->m_rbBFrame);
+
+        sliderData->m_linearUpperLimit = float(m_upperLinLimit);
+        sliderData->m_linearLowerLimit = float(m_lowerLinLimit);
+
+        sliderData->m_angularUpperLimit = float(m_upperAngLimit);
+        sliderData->m_angularLowerLimit = float(m_lowerAngLimit);
+
+        sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA;
+        sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame;
+
+        return "btSliderConstraintData";
+}
+
+
 
 #endif //SLIDER_CONSTRAINT_H