Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

added basic serialization for several constraints including btPoint2PointConstraint, btHingeConstraint, btSliderConstraint, btConeTwistConstraint, btGeneric6DofConstraint

Browse Source 
(no motor support or advanced settings yet)
added btStaticPlaneShape serialization
Added toggle in cmake for BenchmarksDemo to enable/disable graphics rendering
This commit is contained in:
erwin.coumans
2010-01-27 02:13:56 +00:00
parent 7003823bed
commit 00f58e5a91
38 changed files with 1873 additions and 342 deletions
Download Patch File Download Diff File Expand all files Collapse all files

76
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
View File

@@ -99,6 +99,20 @@ public:
btScalar m_maxMotorImpulse;
btVector3 m_accMotorImpulse;
protected:
void init();
void computeConeLimitInfo(const btQuaternion& qCone, // in
btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs
void computeTwistLimitInfo(const btQuaternion& qTwist, // in
btScalar& twistAngle, btVector3& vTwistAxis); // all outs
void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const;
public:
btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
@@ -243,17 +257,61 @@ public:
btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const;
virtual int calculateSerializeBufferSize() const;
protected:
void init();
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
void computeConeLimitInfo(const btQuaternion& qCone, // in
btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs
void computeTwistLimitInfo(const btQuaternion& qTwist, // in
btScalar& twistAngle, btVector3& vTwistAxis); // all outs
void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const;
};
struct btConeTwistConstraintData
{
btTypedConstraintData m_typeConstraintData;
btTransformFloatData m_rbAFrame;
btTransformFloatData m_rbBFrame;
//limits
float m_swingSpan1;
float m_swingSpan2;
float m_twistSpan;
float m_limitSoftness;
float m_biasFactor;
float m_relaxationFactor;
float m_damping;
char m_pad[4];
};
SIMD_FORCE_INLINE int btConeTwistConstraint::calculateSerializeBufferSize() const
{
return sizeof(btConeTwistConstraintData);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btConeTwistConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
{
btConeTwistConstraintData* cone = (btConeTwistConstraintData*) dataBuffer;
btTypedConstraint::serialize(&cone->m_typeConstraintData,serializer);
m_rbAFrame.serializeFloat(cone->m_rbAFrame);
m_rbBFrame.serializeFloat(cone->m_rbBFrame);
cone->m_swingSpan1 = float(m_swingSpan1);
cone->m_swingSpan2 = float(m_swingSpan2);
cone->m_twistSpan = float(m_twistSpan);
cone->m_limitSoftness = float(m_limitSoftness);
cone->m_biasFactor = float(m_biasFactor);
cone->m_relaxationFactor = float(m_relaxationFactor);
cone->m_damping = float(m_damping);
return "btConeTwistConstraintData";
}
#endif //CONETWISTCONSTRAINT_H