Vendor thirdparty Bullet source for upcoming physics server backend

1 files changed, 180 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
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+++ b/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_MANIFOLD_CONTACT_POINT_H
+#define BT_MANIFOLD_CONTACT_POINT_H
+
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btTransformUtil.h"
+
+#ifdef PFX_USE_FREE_VECTORMATH
+	#include "physics_effects/base_level/solver/pfx_constraint_row.h"
+typedef sce::PhysicsEffects::PfxConstraintRow btConstraintRow;
+#else
+	// Don't change following order of parameters
+	ATTRIBUTE_ALIGNED16(struct) btConstraintRow {
+		btScalar m_normal[3];
+		btScalar m_rhs;
+		btScalar m_jacDiagInv;
+		btScalar m_lowerLimit;
+		btScalar m_upperLimit;
+		btScalar m_accumImpulse;
+	};
+	typedef btConstraintRow PfxConstraintRow;
+#endif //PFX_USE_FREE_VECTORMATH
+
+enum btContactPointFlags
+{
+	BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED=1,
+	BT_CONTACT_FLAG_HAS_CONTACT_CFM=2,
+	BT_CONTACT_FLAG_HAS_CONTACT_ERP=4,
+    BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING = 8,
+	BT_CONTACT_FLAG_FRICTION_ANCHOR = 16,
+};
+
+/// ManifoldContactPoint collects and maintains persistent contactpoints.
+/// used to improve stability and performance of rigidbody dynamics response.
+class btManifoldPoint
+	{
+		public:
+			btManifoldPoint()
+				:m_userPersistentData(0),
+				m_contactPointFlags(0),
+				m_appliedImpulse(0.f),
+                m_appliedImpulseLateral1(0.f),
+				m_appliedImpulseLateral2(0.f),
+				m_contactMotion1(0.f),
+				m_contactMotion2(0.f),
+				m_contactCFM(0.f),
+				m_contactERP(0.f),
+				m_frictionCFM(0.f),
+				m_lifeTime(0)
+			{
+			}
+
+			btManifoldPoint( const btVector3 &pointA, const btVector3 &pointB, 
+					const btVector3 &normal, 
+					btScalar distance ) :
+					m_localPointA( pointA ), 
+					m_localPointB( pointB ), 
+					m_normalWorldOnB( normal ), 
+					m_distance1( distance ),
+					m_combinedFriction(btScalar(0.)),
+					m_combinedRollingFriction(btScalar(0.)),
+                    m_combinedSpinningFriction(btScalar(0.)),
+                    m_combinedRestitution(btScalar(0.)),
+					m_userPersistentData(0),
+					m_contactPointFlags(0),
+					m_appliedImpulse(0.f),
+                    m_appliedImpulseLateral1(0.f),
+					m_appliedImpulseLateral2(0.f),
+					m_contactMotion1(0.f),
+					m_contactMotion2(0.f),
+					m_contactCFM(0.f),
+					m_contactERP(0.f),
+					m_frictionCFM(0.f),
+					m_lifeTime(0)
+			{
+				
+			}
+
+			
+
+			btVector3 m_localPointA;			
+			btVector3 m_localPointB;			
+			btVector3	m_positionWorldOnB;
+			///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
+			btVector3	m_positionWorldOnA;
+			btVector3 m_normalWorldOnB;
+		
+			btScalar	m_distance1;
+			btScalar	m_combinedFriction;
+			btScalar	m_combinedRollingFriction;//torsional friction orthogonal to contact normal, useful to make spheres stop rolling forever
+            btScalar	m_combinedSpinningFriction;//torsional friction around contact normal, useful for grasping objects
+            btScalar	m_combinedRestitution;
+
+			//BP mod, store contact triangles.
+			int			m_partId0;
+			int			m_partId1;
+			int			m_index0;
+			int			m_index1;
+				
+			mutable void*	m_userPersistentData;
+			//bool			m_lateralFrictionInitialized;
+			int				m_contactPointFlags;
+			
+			btScalar		m_appliedImpulse;
+			btScalar		m_appliedImpulseLateral1;
+			btScalar		m_appliedImpulseLateral2;
+			btScalar		m_contactMotion1;
+			btScalar		m_contactMotion2;
+			
+			union
+			{
+                btScalar		m_contactCFM;
+                btScalar        m_combinedContactStiffness1;
+			};
+			
+			union
+			{
+                btScalar		m_contactERP;
+                btScalar        m_combinedContactDamping1;
+			};
+
+			btScalar		m_frictionCFM;
+
+			int				m_lifeTime;//lifetime of the contactpoint in frames
+			
+			btVector3		m_lateralFrictionDir1;
+			btVector3		m_lateralFrictionDir2;
+
+
+
+
+			btScalar getDistance() const
+			{
+				return m_distance1;
+			}
+			int	getLifeTime() const
+			{
+				return m_lifeTime;
+			}
+
+			const btVector3& getPositionWorldOnA() const {
+				return m_positionWorldOnA;
+//				return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
+			}
+
+			const btVector3& getPositionWorldOnB() const
+			{
+				return m_positionWorldOnB;
+			}
+
+			void	setDistance(btScalar dist)
+			{
+				m_distance1 = dist;
+			}
+			
+			///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
+			btScalar	getAppliedImpulse() const
+			{
+				return m_appliedImpulse;
+			}
+
+			
+
+	};
+
+#endif //BT_MANIFOLD_CONTACT_POINT_H