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Diffstat (limited to 'thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h | 180 |
1 files changed, 180 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h new file mode 100644 index 0000000000..571ad2c5f7 --- /dev/null +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h @@ -0,0 +1,180 @@ +/* +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 |