btPoint2PointConstraint.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#ifndef POINT2POINTCONSTRAINT_H
#define POINT2POINTCONSTRAINT_H

#include "LinearMath/btVector3.h"
#include "btJacobianEntry.h"
#include "btTypedConstraint.h"

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
{
    btConstraintSetting()   :
        m_tau(btScalar(0.3)),
        m_damping(btScalar(1.)),
        m_impulseClamp(btScalar(0.))
    {
    }
    btScalar        m_tau;
    btScalar        m_damping;
    btScalar        m_impulseClamp;
};

enum btPoint2PointFlags
{
    BT_P2P_FLAGS_ERP = 1,
    BT_P2P_FLAGS_CFM = 2
};

ATTRIBUTE_ALIGNED16(class) btPoint2PointConstraint : public btTypedConstraint
{
#ifdef IN_PARALLELL_SOLVER
public:
#endif
    btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
    
    btVector3   m_pivotInA;
    btVector3   m_pivotInB;
    
    int         m_flags;
    btScalar    m_erp;
    btScalar    m_cfm;
    
public:

    bool        m_useSolveConstraintObsolete;

    btConstraintSetting m_setting;

    btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB);

    btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);


    virtual void    buildJacobian();

    virtual void getInfo1 (btConstraintInfo1* info);

    void getInfo1NonVirtual (btConstraintInfo1* info);

    virtual void getInfo2 (btConstraintInfo2* info);

    void getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans);

    void    updateRHS(btScalar  timeStep);

    void    setPivotA(const btVector3& pivotA)
    {
        m_pivotInA = pivotA;
    }

    void    setPivotB(const btVector3& pivotB)
    {
        m_pivotInB = pivotB;
    }

    const btVector3& getPivotInA() const
    {
        return m_pivotInA;
    }

    const btVector3& getPivotInB() const
    {
        return m_pivotInB;
    }

    virtual void    setParam(int num, btScalar value, int axis = -1);
    virtual btScalar getParam(int num, int axis = -1) const;

    virtual int calculateSerializeBufferSize() const;

    virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;


};

struct  btPoint2PointConstraintFloatData
{
    btTypedConstraintData   m_typeConstraintData;
    btVector3FloatData  m_pivotInA;
    btVector3FloatData  m_pivotInB;
};

struct  btPoint2PointConstraintDoubleData
{
    btTypedConstraintData   m_typeConstraintData;
    btVector3DoubleData m_pivotInA;
    btVector3DoubleData m_pivotInB;
};


SIMD_FORCE_INLINE   int btPoint2PointConstraint::calculateSerializeBufferSize() const
{
    return sizeof(btPoint2PointConstraintData);

}

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