diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h | 59 |
1 files changed, 26 insertions, 33 deletions
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h index bce83d4608..4927ae4288 100644 --- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h +++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h @@ -16,7 +16,6 @@ subject to the following restrictions: #ifndef B3_SOLVER_CONSTRAINT_H #define B3_SOLVER_CONSTRAINT_H - #include "Bullet3Common/b3Vector3.h" #include "Bullet3Common/b3Matrix3x3.h" //#include "b3JacobianEntry.h" @@ -25,56 +24,50 @@ subject to the following restrictions: //#define NO_FRICTION_TANGENTIALS 1 #include "b3SolverBody.h" - ///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints. -B3_ATTRIBUTE_ALIGNED16 (struct) b3SolverConstraint +B3_ATTRIBUTE_ALIGNED16(struct) +b3SolverConstraint { B3_DECLARE_ALIGNED_ALLOCATOR(); - b3Vector3 m_relpos1CrossNormal; - b3Vector3 m_contactNormal; + b3Vector3 m_relpos1CrossNormal; + b3Vector3 m_contactNormal; - b3Vector3 m_relpos2CrossNormal; + b3Vector3 m_relpos2CrossNormal; //b3Vector3 m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal - b3Vector3 m_angularComponentA; - b3Vector3 m_angularComponentB; - - mutable b3SimdScalar m_appliedPushImpulse; - mutable b3SimdScalar m_appliedImpulse; + b3Vector3 m_angularComponentA; + b3Vector3 m_angularComponentB; + + mutable b3SimdScalar m_appliedPushImpulse; + mutable b3SimdScalar m_appliedImpulse; int m_padding1; int m_padding2; - b3Scalar m_friction; - b3Scalar m_jacDiagABInv; - b3Scalar m_rhs; - b3Scalar m_cfm; - - b3Scalar m_lowerLimit; - b3Scalar m_upperLimit; - b3Scalar m_rhsPenetration; - union - { - void* m_originalContactPoint; - b3Scalar m_unusedPadding4; + b3Scalar m_friction; + b3Scalar m_jacDiagABInv; + b3Scalar m_rhs; + b3Scalar m_cfm; + + b3Scalar m_lowerLimit; + b3Scalar m_upperLimit; + b3Scalar m_rhsPenetration; + union { + void* m_originalContactPoint; + b3Scalar m_unusedPadding4; }; - int m_overrideNumSolverIterations; - int m_frictionIndex; + int m_overrideNumSolverIterations; + int m_frictionIndex; int m_solverBodyIdA; int m_solverBodyIdB; - - enum b3SolverConstraintType + enum b3SolverConstraintType { B3_SOLVER_CONTACT_1D = 0, B3_SOLVER_FRICTION_1D }; }; -typedef b3AlignedObjectArray<b3SolverConstraint> b3ConstraintArray; - - -#endif //B3_SOLVER_CONSTRAINT_H - - +typedef b3AlignedObjectArray<b3SolverConstraint> b3ConstraintArray; +#endif //B3_SOLVER_CONSTRAINT_H |