diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverConstraint.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverConstraint.h | 63 |
1 files changed, 27 insertions, 36 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverConstraint.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverConstraint.h index 60d235baab..7d9eea243a 100644 --- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverConstraint.h +++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuSolverConstraint.h @@ -13,11 +13,9 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ - #ifndef B3_GPU_SOLVER_CONSTRAINT_H #define B3_GPU_SOLVER_CONSTRAINT_H - #include "Bullet3Common/b3Vector3.h" #include "Bullet3Common/b3Matrix3x3.h" //#include "b3JacobianEntry.h" @@ -25,58 +23,51 @@ subject to the following restrictions: //#define NO_FRICTION_TANGENTIALS 1 - - ///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints. -B3_ATTRIBUTE_ALIGNED16 (struct) b3GpuSolverConstraint +B3_ATTRIBUTE_ALIGNED16(struct) +b3GpuSolverConstraint { 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 b3Scalar m_appliedPushImpulse; - mutable b3Scalar m_appliedImpulse; + b3Vector3 m_angularComponentA; + b3Vector3 m_angularComponentB; + + mutable b3Scalar m_appliedPushImpulse; + mutable b3Scalar 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; - int m_originalConstraintIndex; - 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; + int m_originalConstraintIndex; + 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<b3GpuSolverConstraint> b3GpuConstraintArray; - - -#endif //B3_GPU_SOLVER_CONSTRAINT_H - - +typedef b3AlignedObjectArray<b3GpuSolverConstraint> b3GpuConstraintArray; +#endif //B3_GPU_SOLVER_CONSTRAINT_H |