154 lines
4.3 KiB
C
154 lines
4.3 KiB
C
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/*
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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 MANIFOLD_CONTACT_POINT_H
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#define MANIFOLD_CONTACT_POINT_H
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btTransformUtil.h"
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// Don't change following order of parameters
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ATTRIBUTE_ALIGNED16(struct) PfxConstraintRow {
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btScalar mNormal[3];
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btScalar mRhs;
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btScalar mJacDiagInv;
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btScalar mLowerLimit;
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btScalar mUpperLimit;
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btScalar mAccumImpulse;
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};
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/// ManifoldContactPoint collects and maintains persistent contactpoints.
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/// used to improve stability and performance of rigidbody dynamics response.
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class btManifoldPoint
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{
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public:
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btManifoldPoint()
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:m_userPersistentData(0),
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m_appliedImpulse(0.f),
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m_lateralFrictionInitialized(false),
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m_appliedImpulseLateral1(0.f),
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m_appliedImpulseLateral2(0.f),
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m_contactMotion1(0.f),
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m_contactMotion2(0.f),
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m_contactCFM1(0.f),
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m_contactCFM2(0.f),
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m_lifeTime(0)
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{
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}
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btManifoldPoint( const btVector3 &pointA, const btVector3 &pointB,
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const btVector3 &normal,
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btScalar distance ) :
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m_localPointA( pointA ),
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m_localPointB( pointB ),
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m_normalWorldOnB( normal ),
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m_distance1( distance ),
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m_combinedFriction(btScalar(0.)),
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m_combinedRestitution(btScalar(0.)),
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m_userPersistentData(0),
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m_appliedImpulse(0.f),
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m_lateralFrictionInitialized(false),
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m_appliedImpulseLateral1(0.f),
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m_appliedImpulseLateral2(0.f),
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m_contactMotion1(0.f),
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m_contactMotion2(0.f),
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m_contactCFM1(0.f),
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m_contactCFM2(0.f),
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m_lifeTime(0)
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{
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mConstraintRow[0].mAccumImpulse = 0.f;
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mConstraintRow[1].mAccumImpulse = 0.f;
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mConstraintRow[2].mAccumImpulse = 0.f;
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}
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btVector3 m_localPointA;
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btVector3 m_localPointB;
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btVector3 m_positionWorldOnB;
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///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
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btVector3 m_positionWorldOnA;
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btVector3 m_normalWorldOnB;
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btScalar m_distance1;
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btScalar m_combinedFriction;
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btScalar m_combinedRestitution;
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//BP mod, store contact triangles.
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int m_partId0;
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int m_partId1;
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int m_index0;
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int m_index1;
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mutable void* m_userPersistentData;
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btScalar m_appliedImpulse;
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bool m_lateralFrictionInitialized;
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btScalar m_appliedImpulseLateral1;
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btScalar m_appliedImpulseLateral2;
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btScalar m_contactMotion1;
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btScalar m_contactMotion2;
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btScalar m_contactCFM1;
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btScalar m_contactCFM2;
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int m_lifeTime;//lifetime of the contactpoint in frames
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btVector3 m_lateralFrictionDir1;
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btVector3 m_lateralFrictionDir2;
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PfxConstraintRow mConstraintRow[3];
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btScalar getDistance() const
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{
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return m_distance1;
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}
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int getLifeTime() const
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{
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return m_lifeTime;
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}
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const btVector3& getPositionWorldOnA() const {
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return m_positionWorldOnA;
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// return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
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}
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const btVector3& getPositionWorldOnB() const
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{
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return m_positionWorldOnB;
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}
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void setDistance(btScalar dist)
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{
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m_distance1 = dist;
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}
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///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
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btScalar getAppliedImpulse() const
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{
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return m_appliedImpulse;
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}
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};
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#endif //MANIFOLD_CONTACT_POINT_H
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