349 lines
14 KiB
C++
349 lines
14 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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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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/*
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Added by Roman Ponomarev (rponom@gmail.com)
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April 04, 2008
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TODO:
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- add clamping od accumulated impulse to improve stability
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- add conversion for ODE constraint solver
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*/
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#ifndef BT_SLIDER_CONSTRAINT_H
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#define BT_SLIDER_CONSTRAINT_H
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#include "LinearMath/btScalar.h" //for BT_USE_DOUBLE_PRECISION
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#ifdef BT_USE_DOUBLE_PRECISION
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#define btSliderConstraintData2 btSliderConstraintDoubleData
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#define btSliderConstraintDataName "btSliderConstraintDoubleData"
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#else
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#define btSliderConstraintData2 btSliderConstraintData
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#define btSliderConstraintDataName "btSliderConstraintData"
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#endif //BT_USE_DOUBLE_PRECISION
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#include "LinearMath/btVector3.h"
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#include "btJacobianEntry.h"
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#include "btTypedConstraint.h"
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class btRigidBody;
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#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0))
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#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0))
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#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7))
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#define SLIDER_CONSTRAINT_DEF_CFM (btScalar(0.f))
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enum btSliderFlags
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{
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BT_SLIDER_FLAGS_CFM_DIRLIN = (1 << 0),
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BT_SLIDER_FLAGS_ERP_DIRLIN = (1 << 1),
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BT_SLIDER_FLAGS_CFM_DIRANG = (1 << 2),
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BT_SLIDER_FLAGS_ERP_DIRANG = (1 << 3),
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BT_SLIDER_FLAGS_CFM_ORTLIN = (1 << 4),
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BT_SLIDER_FLAGS_ERP_ORTLIN = (1 << 5),
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BT_SLIDER_FLAGS_CFM_ORTANG = (1 << 6),
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BT_SLIDER_FLAGS_ERP_ORTANG = (1 << 7),
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BT_SLIDER_FLAGS_CFM_LIMLIN = (1 << 8),
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BT_SLIDER_FLAGS_ERP_LIMLIN = (1 << 9),
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BT_SLIDER_FLAGS_CFM_LIMANG = (1 << 10),
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BT_SLIDER_FLAGS_ERP_LIMANG = (1 << 11)
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};
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ATTRIBUTE_ALIGNED16(class)
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btSliderConstraint : public btTypedConstraint
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{
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protected:
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///for backwards compatibility during the transition to 'getInfo/getInfo2'
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bool m_useSolveConstraintObsolete;
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bool m_useOffsetForConstraintFrame;
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btTransform m_frameInA;
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btTransform m_frameInB;
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// use frameA fo define limits, if true
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bool m_useLinearReferenceFrameA;
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// linear limits
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btScalar m_lowerLinLimit;
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btScalar m_upperLinLimit;
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// angular limits
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btScalar m_lowerAngLimit;
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btScalar m_upperAngLimit;
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// softness, restitution and damping for different cases
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// DirLin - moving inside linear limits
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// LimLin - hitting linear limit
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// DirAng - moving inside angular limits
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// LimAng - hitting angular limit
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// OrthoLin, OrthoAng - against constraint axis
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btScalar m_softnessDirLin;
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btScalar m_restitutionDirLin;
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btScalar m_dampingDirLin;
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btScalar m_cfmDirLin;
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btScalar m_softnessDirAng;
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btScalar m_restitutionDirAng;
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btScalar m_dampingDirAng;
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btScalar m_cfmDirAng;
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btScalar m_softnessLimLin;
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btScalar m_restitutionLimLin;
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btScalar m_dampingLimLin;
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btScalar m_cfmLimLin;
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btScalar m_softnessLimAng;
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btScalar m_restitutionLimAng;
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btScalar m_dampingLimAng;
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btScalar m_cfmLimAng;
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btScalar m_softnessOrthoLin;
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btScalar m_restitutionOrthoLin;
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btScalar m_dampingOrthoLin;
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btScalar m_cfmOrthoLin;
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btScalar m_softnessOrthoAng;
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btScalar m_restitutionOrthoAng;
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btScalar m_dampingOrthoAng;
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btScalar m_cfmOrthoAng;
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// for interlal use
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bool m_solveLinLim;
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bool m_solveAngLim;
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int m_flags;
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btJacobianEntry m_jacLin[3];
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btScalar m_jacLinDiagABInv[3];
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btJacobianEntry m_jacAng[3];
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btScalar m_timeStep;
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btTransform m_calculatedTransformA;
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btTransform m_calculatedTransformB;
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btVector3 m_sliderAxis;
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btVector3 m_realPivotAInW;
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btVector3 m_realPivotBInW;
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btVector3 m_projPivotInW;
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btVector3 m_delta;
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btVector3 m_depth;
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btVector3 m_relPosA;
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btVector3 m_relPosB;
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btScalar m_linPos;
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btScalar m_angPos;
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btScalar m_angDepth;
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btScalar m_kAngle;
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bool m_poweredLinMotor;
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btScalar m_targetLinMotorVelocity;
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btScalar m_maxLinMotorForce;
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btScalar m_accumulatedLinMotorImpulse;
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bool m_poweredAngMotor;
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btScalar m_targetAngMotorVelocity;
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btScalar m_maxAngMotorForce;
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btScalar m_accumulatedAngMotorImpulse;
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//------------------------
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void initParams();
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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// constructors
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btSliderConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
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btSliderConstraint(btRigidBody & rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
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// overrides
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virtual void getInfo1(btConstraintInfo1 * info);
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void getInfo1NonVirtual(btConstraintInfo1 * info);
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virtual void getInfo2(btConstraintInfo2 * info);
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void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, btScalar rbAinvMass, btScalar rbBinvMass);
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// access
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const btRigidBody& getRigidBodyA() const { return m_rbA; }
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const btRigidBody& getRigidBodyB() const { return m_rbB; }
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const btTransform& getCalculatedTransformA() const { return m_calculatedTransformA; }
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const btTransform& getCalculatedTransformB() const { return m_calculatedTransformB; }
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const btTransform& getFrameOffsetA() const { return m_frameInA; }
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const btTransform& getFrameOffsetB() const { return m_frameInB; }
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btTransform& getFrameOffsetA() { return m_frameInA; }
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btTransform& getFrameOffsetB() { return m_frameInB; }
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btScalar getLowerLinLimit() { return m_lowerLinLimit; }
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void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; }
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btScalar getUpperLinLimit() { return m_upperLinLimit; }
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void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
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btScalar getLowerAngLimit() { return m_lowerAngLimit; }
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void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); }
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btScalar getUpperAngLimit() { return m_upperAngLimit; }
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void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); }
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bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; }
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btScalar getSoftnessDirLin() { return m_softnessDirLin; }
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btScalar getRestitutionDirLin() { return m_restitutionDirLin; }
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btScalar getDampingDirLin() { return m_dampingDirLin; }
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btScalar getSoftnessDirAng() { return m_softnessDirAng; }
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btScalar getRestitutionDirAng() { return m_restitutionDirAng; }
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btScalar getDampingDirAng() { return m_dampingDirAng; }
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btScalar getSoftnessLimLin() { return m_softnessLimLin; }
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btScalar getRestitutionLimLin() { return m_restitutionLimLin; }
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btScalar getDampingLimLin() { return m_dampingLimLin; }
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btScalar getSoftnessLimAng() { return m_softnessLimAng; }
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btScalar getRestitutionLimAng() { return m_restitutionLimAng; }
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btScalar getDampingLimAng() { return m_dampingLimAng; }
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btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; }
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btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; }
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btScalar getDampingOrthoLin() { return m_dampingOrthoLin; }
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btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; }
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btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; }
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btScalar getDampingOrthoAng() { return m_dampingOrthoAng; }
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void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; }
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void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; }
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void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; }
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void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; }
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void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; }
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void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; }
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void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; }
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void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; }
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void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; }
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void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; }
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void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; }
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void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; }
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void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; }
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void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; }
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void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; }
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void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; }
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void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; }
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void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; }
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void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; }
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bool getPoweredLinMotor() { return m_poweredLinMotor; }
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void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; }
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btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; }
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void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; }
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btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; }
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void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; }
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bool getPoweredAngMotor() { return m_poweredAngMotor; }
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void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; }
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btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
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void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
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btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; }
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btScalar getLinearPos() const { return m_linPos; }
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btScalar getAngularPos() const { return m_angPos; }
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// access for ODE solver
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bool getSolveLinLimit() { return m_solveLinLim; }
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btScalar getLinDepth() { return m_depth[0]; }
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bool getSolveAngLimit() { return m_solveAngLim; }
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btScalar getAngDepth() { return m_angDepth; }
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// shared code used by ODE solver
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void calculateTransforms(const btTransform& transA, const btTransform& transB);
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void testLinLimits();
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void testAngLimits();
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// access for PE Solver
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btVector3 getAncorInA();
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btVector3 getAncorInB();
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// access for UseFrameOffset
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bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
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void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
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void setFrames(const btTransform& frameA, const btTransform& frameB)
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{
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m_frameInA = frameA;
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m_frameInB = frameB;
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calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
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buildJacobian();
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}
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///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
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///If no axis is provided, it uses the default axis for this constraint.
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virtual void setParam(int num, btScalar value, int axis = -1);
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///return the local value of parameter
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virtual btScalar getParam(int num, int axis = -1) const;
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virtual int getFlags() const
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{
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return m_flags;
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}
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virtual int calculateSerializeBufferSize() const;
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
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};
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///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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struct btSliderConstraintData
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{
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btTypedConstraintData m_typeConstraintData;
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btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
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btTransformFloatData m_rbBFrame;
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float m_linearUpperLimit;
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float m_linearLowerLimit;
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float m_angularUpperLimit;
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float m_angularLowerLimit;
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int m_useLinearReferenceFrameA;
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int m_useOffsetForConstraintFrame;
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};
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struct btSliderConstraintDoubleData
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{
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btTypedConstraintDoubleData m_typeConstraintData;
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btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
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btTransformDoubleData m_rbBFrame;
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double m_linearUpperLimit;
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double m_linearLowerLimit;
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double m_angularUpperLimit;
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double m_angularLowerLimit;
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int m_useLinearReferenceFrameA;
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int m_useOffsetForConstraintFrame;
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};
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SIMD_FORCE_INLINE int btSliderConstraint::calculateSerializeBufferSize() const
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{
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return sizeof(btSliderConstraintData2);
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}
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
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{
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btSliderConstraintData2* sliderData = (btSliderConstraintData2*)dataBuffer;
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btTypedConstraint::serialize(&sliderData->m_typeConstraintData, serializer);
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m_frameInA.serialize(sliderData->m_rbAFrame);
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m_frameInB.serialize(sliderData->m_rbBFrame);
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sliderData->m_linearUpperLimit = m_upperLinLimit;
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sliderData->m_linearLowerLimit = m_lowerLinLimit;
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sliderData->m_angularUpperLimit = m_upperAngLimit;
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sliderData->m_angularLowerLimit = m_lowerAngLimit;
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sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA;
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sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame;
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return btSliderConstraintDataName;
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}
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#endif //BT_SLIDER_CONSTRAINT_H
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