hkpStiffSpringChainData.h
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- /*
- *
- * Confidential Information of Telekinesys Research Limited (t/a Havok). Not for disclosure or distribution without Havok's
- * prior written consent. This software contains code, techniques and know-how which is confidential and proprietary to Havok.
- * Level 2 and Level 3 source code contains trade secrets of Havok. Havok Software (C) Copyright 1999-2009 Telekinesys Research Limited t/a Havok. All Rights Reserved. Use of this software is subject to the terms of an end user license agreement.
- *
- */
- #ifndef HK_DYNAMICS2_STIFF_SPRING_CHAIN_H
- #define HK_DYNAMICS2_STIFF_SPRING_CHAIN_H
- #include <Physics/ConstraintSolver/Solve/hkpSolverResults.h>
- #include <Physics/ConstraintSolver/Constraint/Atom/hkpConstraintAtom.h>
- #include <Physics/Dynamics/Constraint/Chain/hkpConstraintChainData.h>
- #include <Physics/Dynamics/Action/hkpArrayAction.h>
- /// A chain of stiff springs
- class hkpStiffSpringChainData : public hkpConstraintChainData
- {
- public:
- HK_DECLARE_REFLECTION();
- HK_DECLARE_CLASS_ALLOCATOR( HK_MEMORY_CLASS_CONSTRAINT ); // and action too
- hkpStiffSpringChainData();
- ~hkpStiffSpringChainData();
- /// Not implemented. Returns always true.
- hkBool isValid() const { return true; }
- /// Get type from this constraint
- virtual int getType() const;
- /// Returns the number of stored constraint infos.
- virtual int getNumConstraintInfos() { return m_infos.getSize(); }
- /// Adds a constraint info to the chain.
- /// Pivot points are specified in the local space of the bodies.
- /// Spring length must be supplied.
- void addConstraintInfoInBodySpace(const hkVector4& pivotInA, const hkVector4& pivotInB, hkReal springLength);
- public:
- struct Runtime
- {
- /// Runtime only stores solver results. The number of solver results is (hkpStiffSpringConstraintData::SOLVER_RESULT_MAX * getNumConstraintInfos()
- /// == 1 * getNumConstraintInfos()).
- /// Note: when the instance uses less constraints than there are constraintInfos, then the hkpSolverResults at the end of the array are uninitialized.
- inline const hkpSolverResults* getSolverResults() { return reinterpret_cast<hkpSolverResults*>(this); }
- };
- inline const Runtime* getRuntime( hkpConstraintRuntime* runtime )
- {
- return reinterpret_cast<Runtime*>(runtime);
- }
- public:
- //
- // Internal functions
- //
- /// Interface implementation.
- virtual void buildJacobian( const hkpConstraintQueryIn &in, hkpConstraintQueryOut &out );
- /// Interface implementation.
- virtual void getConstraintInfo( hkpConstraintData::ConstraintInfo& info ) const;
- /// Interface implementation.
- virtual void getRuntimeInfo( hkBool wantRuntime, hkpConstraintData::RuntimeInfo& infoOut ) const;
- public:
- /// Serialization ctor.
- hkpStiffSpringChainData(hkFinishLoadedObjectFlag f);
- public:
- struct hkpBridgeAtoms m_atoms;
- /// This structure holds information needed for an individual constraint in the chain.
- struct ConstraintInfo
- {
- HK_DECLARE_NONVIRTUAL_CLASS_ALLOCATOR( HK_MEMORY_CLASS_DYNAMICS, hkpStiffSpringChainData::ConstraintInfo );
- HK_DECLARE_REFLECTION();
- /// Constraint's pivot point in bodyA's space.
- hkVector4 m_pivotInA;
- /// Constraint's pivot point in bodyB's space.
- hkVector4 m_pivotInB;
- /// Requested distance between the pivot points of the two bodies. It is advised to specify a non-zero value, otherwise the constraint is instable.
- hkReal m_springLength;
- };
- /// Constraint infos for the chain's constraints.
- hkArray<struct ConstraintInfo> m_infos;
- /// Solver tau, this overrides the global value from hkpSolverInfo when processing the chained constraints.
- hkReal m_tau;
- /// Solver damping, this overrides the global value from hkpSolverInfo when processing the chained constraints.
- hkReal m_damping;
- /// Constraint force mixing parameter. Value added to the diagonal of the constraint matrix.
- /// Should be zero or tiny, e.g. a fraction of HK_REAL_EPSILON. When this value is zero, then some chain configurations
- /// may result in a division by zero when solving.
- hkReal m_cfm;
- };
- #endif // HK_DYNAMICS2_STIFF_SPRING_CHAIN_H
- /*
- * Havok SDK - NO SOURCE PC DOWNLOAD, BUILD(#20090216)
- *
- * Confidential Information of Havok. (C) Copyright 1999-2009
- * Telekinesys Research Limited t/a Havok. All Rights Reserved. The Havok
- * Logo, and the Havok buzzsaw logo are trademarks of Havok. Title, ownership
- * rights, and intellectual property rights in the Havok software remain in
- * Havok and/or its suppliers.
- *
- * Use of this software for evaluation purposes is subject to and indicates
- * acceptance of the End User licence Agreement for this product. A copy of
- * the license is included with this software and is also available at www.havok.com/tryhavok.
- *
- */