Merge pull request #398 from MakoEnergy/master

Constraint Accessibility.

src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h

@@ -171,6 +171,11 @@ public:
 		m_angularOnly = angularOnly;
 	}
 	
+	bool    getAngularOnly() const
+	{
+	    return m_angularOnly;
+	}
+
 	void	setLimit(int limitIndex,btScalar limitValue)
 	{
 		switch (limitIndex)
@@ -196,6 +201,33 @@ public:
 		};
 	}
 
+    btScalar getLimit(int limitIndex) const
+	{
+		switch (limitIndex)
+		{
+		case 3:
+			{
+				return m_twistSpan;
+				break;
+			}
+		case 4:
+			{
+				return m_swingSpan2;
+				break;
+			}
+		case 5:
+			{
+				return m_swingSpan1;
+				break;
+			}
+		default:
+			{
+			    btAssert(0 && "Invalid limitIndex specified for btConeTwistConstraint");
+			    return 0.0;
+			}
+		};
+	}
+
 	// setLimit(), a few notes:
 	// _softness:
 	//		0->1, recommend ~0.8->1.
@@ -218,8 +250,8 @@ public:
 		m_relaxationFactor = _relaxationFactor;
 	}
 
-	const btTransform& getAFrame() { return m_rbAFrame; };	
+	const btTransform& getAFrame() const { return m_rbAFrame; };	
-	const btTransform& getBFrame() { return m_rbBFrame; };
+	const btTransform& getBFrame() const { return m_rbBFrame; };
 
 	inline int getSolveTwistLimit()
 	{
@@ -239,27 +271,43 @@ public:
 	void calcAngleInfo();
 	void calcAngleInfo2(const btTransform& transA, const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
 
-	inline btScalar getSwingSpan1()
+	inline btScalar getSwingSpan1() const
 	{
 		return m_swingSpan1;
 	}
-	inline btScalar getSwingSpan2()
+	inline btScalar getSwingSpan2() const
 	{
 		return m_swingSpan2;
 	}
-	inline btScalar getTwistSpan()
+	inline btScalar getTwistSpan() const
 	{
 		return m_twistSpan;
 	}
-	inline btScalar getTwistAngle()
+	inline btScalar getLimitSoftness() const
+	{
+		return m_limitSoftness;
+	}
+	inline btScalar getBiasFactor() const
+	{
+		return m_biasFactor;
+	}
+	inline btScalar getRelaxationFactor() const
+	{
+		return m_relaxationFactor;
+	}
+	inline btScalar getTwistAngle() const
 	{
 		return m_twistAngle;
 	}
 	bool isPastSwingLimit() { return m_solveSwingLimit; }
 
+	btScalar getDamping() const { return m_damping; }
 	void setDamping(btScalar damping) { m_damping = damping; }
 
 	void enableMotor(bool b) { m_bMotorEnabled = b; }
+	bool isMotorEnabled() const { return m_bMotorEnabled; }
+	btScalar getMaxMotorImpulse() const { return m_maxMotorImpulse; }
+	bool isMaxMotorImpulseNormalized() const { return m_bNormalizedMotorStrength; }
 	void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; }
 	void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; }
 
@@ -271,6 +319,7 @@ public:
 	// note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability)
 	// note: don't forget to enableMotor()
 	void setMotorTarget(const btQuaternion &q);
+	const btQuaternion& getMotorTarget() const { return m_qTarget; }
 
 	// same as above, but q is the desired rotation of frameA wrt frameB in constraint space
 	void setMotorTargetInConstraintSpace(const btQuaternion &q);
@@ -297,6 +346,11 @@ public:
 	///return the local value of parameter
 	virtual	btScalar getParam(int num, int axis = -1) const;
 
+	int getFlags() const
+	{
+		return m_flags;
+	}
+
 	virtual	int	calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)

src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h

@@ -111,14 +111,14 @@ public:
 
 
 	//! Is limited
-    bool isLimited()
+    bool isLimited() const
     {
     	if(m_loLimit > m_hiLimit) return false;
     	return true;
     }
 
 	//! Need apply correction
-    bool needApplyTorques()
+    bool needApplyTorques() const
     {
     	if(m_currentLimit == 0 && m_enableMotor == false) return false;
     	return true;
@@ -207,11 +207,11 @@ public:
     - limited means upper > lower
     - limitIndex: first 3 are linear, next 3 are angular
     */
-    inline bool	isLimited(int limitIndex)
+    inline bool	isLimited(int limitIndex) const
     {
        return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
     }
-    inline bool needApplyForce(int limitIndex)
+    inline bool needApplyForce(int limitIndex) const
     {
     	if(m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false;
     	return true;
@@ -457,7 +457,7 @@ public:
     	m_linearLimits.m_lowerLimit = linearLower;
     }
 
-	void	getLinearLowerLimit(btVector3& linearLower)
+	void	getLinearLowerLimit(btVector3& linearLower) const
 	{
 		linearLower = m_linearLimits.m_lowerLimit;
 	}
@@ -467,7 +467,7 @@ public:
 		m_linearLimits.m_upperLimit = linearUpper;
 	}
 
-	void	getLinearUpperLimit(btVector3& linearUpper)
+	void	getLinearUpperLimit(btVector3& linearUpper) const
 	{
 		linearUpper = m_linearLimits.m_upperLimit;
 	}
@@ -478,7 +478,7 @@ public:
 			m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
     }
 
-	void	getAngularLowerLimit(btVector3& angularLower)
+	void	getAngularLowerLimit(btVector3& angularLower) const
 	{
 		for(int i = 0; i < 3; i++) 
 			angularLower[i] = m_angularLimits[i].m_loLimit;
@@ -490,7 +490,7 @@ public:
 			m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
     }
 
-	void	getAngularUpperLimit(btVector3& angularUpper)
+	void	getAngularUpperLimit(btVector3& angularUpper) const
 	{
 		for(int i = 0; i < 3; i++)
 			angularUpper[i] = m_angularLimits[i].m_hiLimit;
@@ -532,7 +532,7 @@ public:
     - limited means upper > lower
     - limitIndex: first 3 are linear, next 3 are angular
     */
-    bool	isLimited(int limitIndex)
+    bool	isLimited(int limitIndex) const
     {
     	if(limitIndex<3)
     	{
@@ -549,9 +549,12 @@ public:
 								btConstraintInfo2 *info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
 
 	// access for UseFrameOffset
-	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
+	bool getUseFrameOffset() const { return m_useOffsetForConstraintFrame; }
 	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
 	
+	bool getUseLinearReferenceFrameA() const { return m_useLinearReferenceFrameA; }
+	void setUseLinearReferenceFrameA(bool linearReferenceFrameA) { m_useLinearReferenceFrameA = linearReferenceFrameA; }
+
 	///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);
@@ -560,6 +563,10 @@ public:
 
 	void setAxis( const btVector3& axis1, const btVector3& axis2);
 
+    	virtual	int getFlags() const
+    	{
+        	return m_flags;
+	}
 
 	virtual	int	calculateSerializeBufferSize() const;
 

src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h

@@ -63,6 +63,26 @@ public:
 	void setEquilibriumPoint(int index);  // set the current constraint position/orientation as an equilibrium point for given DOF
 	void setEquilibriumPoint(int index, btScalar val);
 
+	bool isSpringEnabled(int index) const
+	{
+	    return m_springEnabled[index];
+	}
+
+	btScalar getStiffness(int index) const
+	{
+	    return m_springStiffness[index];
+	}
+
+	btScalar getDamping(int index) const
+	{
+	    return m_springDamping[index];
+	}
+
+	btScalar getEquilibriumPoint(int index) const
+	{
+	    return m_equilibriumPoint[index];
+	}
+
 	virtual void setAxis( const btVector3& axis1, const btVector3& axis2);
 
 	virtual void getInfo2 (btConstraintInfo2* info);

src/BulletDynamics/ConstraintSolver/btHingeConstraint.h

@@ -177,6 +177,7 @@ public:
 	//       maintain a given angular target.
 	void enableMotor(bool enableMotor) 	{ m_enableAngularMotor = enableMotor; }
 	void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; }
+	void setMotorTargetVelocity(btScalar motorTargetVelocity) { m_motorTargetVelocity = motorTargetVelocity; }
 	void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B.
 	void setMotorTarget(btScalar targetAngle, btScalar dt);
 
@@ -194,6 +195,33 @@ public:
 #endif
 	}
 	
+	btScalar getLimitSoftness() const
+	{
+#ifdef	_BT_USE_CENTER_LIMIT_
+		return m_limit.getSoftness();
+#else
+		return m_limitSoftness;
+#endif
+	}
+
+	btScalar getLimitBiasFactor() const
+	{
+#ifdef	_BT_USE_CENTER_LIMIT_
+		return m_limit.getBiasFactor();
+#else
+		return m_biasFactor;
+#endif
+	}
+
+	btScalar getLimitRelaxationFactor() const
+	{
+#ifdef	_BT_USE_CENTER_LIMIT_
+		return m_limit.getRelaxationFactor();
+#else
+		return m_relaxationFactor;
+#endif
+	}
+
 	void	setAxis(btVector3& axisInA)
 	{
 		btVector3 rbAxisA1, rbAxisA2;
@@ -297,7 +325,9 @@ public:
 	// access for UseFrameOffset
 	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
 	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
-
+	// access for UseReferenceFrameA
+	bool getUseReferenceFrameA() const { return m_useReferenceFrameA; }
+	void setUseReferenceFrameA(bool useReferenceFrameA) { m_useReferenceFrameA = useReferenceFrameA; }
 
 	///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.
@@ -305,6 +335,11 @@ public:
 	///return the local value of parameter
 	virtual	btScalar getParam(int num, int axis = -1) const;
 	
+	virtual	int getFlags() const
+	{
+  	    return m_flags;
+	}
+
 	virtual	int	calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)

src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h

@@ -117,6 +117,11 @@ public:
 	///return the local value of parameter
 	virtual	btScalar getParam(int num, int axis = -1) const;
 	
+	virtual	int getFlags() const
+	{
+        	return m_flags;
+    	}
+
 	virtual	int	calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)

src/BulletDynamics/ConstraintSolver/btSliderConstraint.h

@@ -281,6 +281,11 @@ public:
 	///return the local value of parameter
 	virtual	btScalar getParam(int num, int axis = -1) const;
 	
+	virtual	int getFlags() const
+    	{
+		return m_flags;
+	}
+
 	virtual	int	calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)