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00016 #ifndef BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
00017 #define BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
00018
00019
00020 #include "LinearMath/btVector3.h"
00021 #include "btTypedConstraint.h"
00022 #include "btGeneric6DofConstraint.h"
00023
00024
00026
00034
00035 ATTRIBUTE_ALIGNED16(class) btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
00036 {
00037 protected:
00038 bool m_springEnabled[6];
00039 btScalar m_equilibriumPoint[6];
00040 btScalar m_springStiffness[6];
00041 btScalar m_springDamping[6];
00042 void init();
00043 void internalUpdateSprings(btConstraintInfo2* info);
00044 public:
00045
00046 BT_DECLARE_ALIGNED_ALLOCATOR();
00047
00048 btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
00049 btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
00050 void enableSpring(int index, bool onOff);
00051 void setStiffness(int index, btScalar stiffness);
00052 void setDamping(int index, btScalar damping);
00053 void setEquilibriumPoint();
00054 void setEquilibriumPoint(int index);
00055 void setEquilibriumPoint(int index, btScalar val);
00056
00057 virtual void setAxis( const btVector3& axis1, const btVector3& axis2);
00058
00059 virtual void getInfo2 (btConstraintInfo2* info);
00060
00061 virtual int calculateSerializeBufferSize() const;
00063 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
00064
00065 };
00066
00067
00069 struct btGeneric6DofSpringConstraintData
00070 {
00071 btGeneric6DofConstraintData m_6dofData;
00072
00073 int m_springEnabled[6];
00074 float m_equilibriumPoint[6];
00075 float m_springStiffness[6];
00076 float m_springDamping[6];
00077 };
00078
00079 SIMD_FORCE_INLINE int btGeneric6DofSpringConstraint::calculateSerializeBufferSize() const
00080 {
00081 return sizeof(btGeneric6DofSpringConstraintData);
00082 }
00083
00085 SIMD_FORCE_INLINE const char* btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
00086 {
00087 btGeneric6DofSpringConstraintData* dof = (btGeneric6DofSpringConstraintData*)dataBuffer;
00088 btGeneric6DofConstraint::serialize(&dof->m_6dofData,serializer);
00089
00090 int i;
00091 for (i=0;i<6;i++)
00092 {
00093 dof->m_equilibriumPoint[i] = (float)m_equilibriumPoint[i];
00094 dof->m_springDamping[i] = (float)m_springDamping[i];
00095 dof->m_springEnabled[i] = m_springEnabled[i]? 1 : 0;
00096 dof->m_springStiffness[i] = (float)m_springStiffness[i];
00097 }
00098 return "btGeneric6DofSpringConstraintData";
00099 }
00100
00101 #endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
00102