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130 lines
3.6 KiB
C++
130 lines
3.6 KiB
C++
#ifndef B3_GPU_GENERIC_CONSTRAINT_H
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#define B3_GPU_GENERIC_CONSTRAINT_H
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/*
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Copyright (c) 2013 Advanced Micro Devices, Inc.
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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//Originally written by Erwin Coumans
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#include "Bullet3Common/b3Quaternion.h"
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struct b3RigidBodyData;
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enum B3_CONSTRAINT_FLAGS
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{
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B3_CONSTRAINT_FLAG_ENABLED = 1,
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};
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enum b3GpuGenericConstraintType
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{
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B3_GPU_POINT2POINT_CONSTRAINT_TYPE = 3,
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B3_GPU_FIXED_CONSTRAINT_TYPE = 4,
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// B3_HINGE_CONSTRAINT_TYPE,
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// B3_CONETWIST_CONSTRAINT_TYPE,
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// B3_D6_CONSTRAINT_TYPE,
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// B3_SLIDER_CONSTRAINT_TYPE,
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// B3_CONTACT_CONSTRAINT_TYPE,
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// B3_D6_SPRING_CONSTRAINT_TYPE,
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// B3_GEAR_CONSTRAINT_TYPE,
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B3_GPU_MAX_CONSTRAINT_TYPE
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};
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struct b3GpuConstraintInfo2
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{
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// integrator parameters: frames per second (1/stepsize), default error
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// reduction parameter (0..1).
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b3Scalar fps, erp;
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// for the first and second body, pointers to two (linear and angular)
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// n*3 jacobian sub matrices, stored by rows. these matrices will have
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// been initialized to 0 on entry. if the second body is zero then the
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// J2xx pointers may be 0.
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b3Scalar *m_J1linearAxis, *m_J1angularAxis, *m_J2linearAxis, *m_J2angularAxis;
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// elements to jump from one row to the next in J's
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int rowskip;
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// right hand sides of the equation J*v = c + cfm * lambda. cfm is the
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// "constraint force mixing" vector. c is set to zero on entry, cfm is
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// set to a constant value (typically very small or zero) value on entry.
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b3Scalar *m_constraintError, *cfm;
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// lo and hi limits for variables (set to -/+ infinity on entry).
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b3Scalar *m_lowerLimit, *m_upperLimit;
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// findex vector for variables. see the LCP solver interface for a
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// description of what this does. this is set to -1 on entry.
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// note that the returned indexes are relative to the first index of
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// the constraint.
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int* findex;
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// number of solver iterations
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int m_numIterations;
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//damping of the velocity
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b3Scalar m_damping;
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};
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B3_ATTRIBUTE_ALIGNED16(struct)
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b3GpuGenericConstraint
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{
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int m_constraintType;
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int m_rbA;
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int m_rbB;
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float m_breakingImpulseThreshold;
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b3Vector3 m_pivotInA;
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b3Vector3 m_pivotInB;
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b3Quaternion m_relTargetAB;
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int m_flags;
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int m_uid;
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int m_padding[2];
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int getRigidBodyA() const
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{
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return m_rbA;
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}
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int getRigidBodyB() const
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{
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return m_rbB;
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}
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const b3Vector3& getPivotInA() const
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{
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return m_pivotInA;
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}
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const b3Vector3& getPivotInB() const
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{
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return m_pivotInB;
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}
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int isEnabled() const
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{
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return m_flags & B3_CONSTRAINT_FLAG_ENABLED;
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}
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float getBreakingImpulseThreshold() const
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{
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return m_breakingImpulseThreshold;
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}
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///internal method used by the constraint solver, don't use them directly
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void getInfo1(unsigned int* info, const b3RigidBodyData* bodies);
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///internal method used by the constraint solver, don't use them directly
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void getInfo2(b3GpuConstraintInfo2 * info, const b3RigidBodyData* bodies);
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};
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#endif //B3_GPU_GENERIC_CONSTRAINT_H
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