123 lines
4.2 KiB
C++
123 lines
4.2 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef CONTACT_CONSTRAINT_H
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#define CONTACT_CONSTRAINT_H
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//todo: make into a proper class working with the iterative constraint solver
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class btRigidBody;
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btScalar.h"
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struct btContactSolverInfo;
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class btManifoldPoint;
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enum {
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DEFAULT_CONTACT_SOLVER_TYPE=0,
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CONTACT_SOLVER_TYPE1,
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CONTACT_SOLVER_TYPE2,
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USER_CONTACT_SOLVER_TYPE1,
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MAX_CONTACT_SOLVER_TYPES
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};
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typedef btScalar (*ContactSolverFunc)(btRigidBody& body1,
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btRigidBody& body2,
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class btManifoldPoint& contactPoint,
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const btContactSolverInfo& info);
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///stores some extra information to each contact point. It is not in the contact point, because that want to keep the collision detection independent from the constraint solver.
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struct btConstraintPersistentData
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{
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inline btConstraintPersistentData()
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:m_appliedImpulse(btScalar(0.)),
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m_prevAppliedImpulse(btScalar(0.)),
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m_accumulatedTangentImpulse0(btScalar(0.)),
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m_accumulatedTangentImpulse1(btScalar(0.)),
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m_jacDiagABInv(btScalar(0.)),
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m_persistentLifeTime(0),
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m_restitution(btScalar(0.)),
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m_friction(btScalar(0.)),
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m_penetration(btScalar(0.)),
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m_contactSolverFunc(0),
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m_frictionSolverFunc(0)
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{
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}
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/// total applied impulse during most recent frame
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btScalar m_appliedImpulse;
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btScalar m_prevAppliedImpulse;
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btScalar m_accumulatedTangentImpulse0;
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btScalar m_accumulatedTangentImpulse1;
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btScalar m_jacDiagABInv;
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btScalar m_jacDiagABInvTangent0;
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btScalar m_jacDiagABInvTangent1;
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int m_persistentLifeTime;
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btScalar m_restitution;
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btScalar m_friction;
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btScalar m_penetration;
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btVector3 m_frictionWorldTangential0;
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btVector3 m_frictionWorldTangential1;
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btVector3 m_frictionAngularComponent0A;
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btVector3 m_frictionAngularComponent0B;
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btVector3 m_frictionAngularComponent1A;
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btVector3 m_frictionAngularComponent1B;
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//some data doesn't need to be persistent over frames: todo: clean/reuse this
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btVector3 m_angularComponentA;
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btVector3 m_angularComponentB;
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ContactSolverFunc m_contactSolverFunc;
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ContactSolverFunc m_frictionSolverFunc;
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};
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///bilateral constraint between two dynamic objects
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///positive distance = separation, negative distance = penetration
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void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
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btRigidBody& body2, const btVector3& pos2,
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btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep);
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///contact constraint resolution:
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///calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
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///positive distance = separation, negative distance = penetration
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btScalar resolveSingleCollision(
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btRigidBody& body1,
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btRigidBody& body2,
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btManifoldPoint& contactPoint,
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const btContactSolverInfo& info);
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btScalar resolveSingleFriction(
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btRigidBody& body1,
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btRigidBody& body2,
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btManifoldPoint& contactPoint,
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const btContactSolverInfo& solverInfo
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);
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btScalar resolveSingleCollisionCombined(
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btRigidBody& body1,
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btRigidBody& body2,
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btManifoldPoint& contactPoint,
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const btContactSolverInfo& solverInfo
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);
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#endif //CONTACT_CONSTRAINT_H
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