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