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-rw-r--r--thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h277
1 files changed, 134 insertions, 143 deletions
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
index 571ad2c5f7..6d21f66202 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
@@ -20,161 +20,152 @@ subject to the following restrictions:
#include "LinearMath/btTransformUtil.h"
#ifdef PFX_USE_FREE_VECTORMATH
- #include "physics_effects/base_level/solver/pfx_constraint_row.h"
+#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
+// 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_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)
{
- 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;
- }
-
-
+ }
+
+ 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;
};
-#endif //BT_MANIFOLD_CONTACT_POINT_H
+ 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
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-16 12:58:05 +0000