| 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 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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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #ifndef CONTACT_CONSTRAINT_H |
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| 17 | #define CONTACT_CONSTRAINT_H |
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| 18 | |
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| 19 | ///@todo: make into a proper class working with the iterative constraint solver |
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| 20 | |
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| 21 | class btRigidBody; |
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| 22 | #include "LinearMath/btVector3.h" |
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| 23 | #include "LinearMath/btScalar.h" |
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| 24 | struct btContactSolverInfo; |
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| 25 | class btManifoldPoint; |
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| 26 | |
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| 27 | enum { |
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| 28 | DEFAULT_CONTACT_SOLVER_TYPE=0, |
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| 29 | CONTACT_SOLVER_TYPE1, |
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| 30 | CONTACT_SOLVER_TYPE2, |
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| 31 | USER_CONTACT_SOLVER_TYPE1, |
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| 32 | MAX_CONTACT_SOLVER_TYPES |
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| 33 | }; |
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| 34 | |
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| 35 | |
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| 36 | typedef btScalar (*ContactSolverFunc)(btRigidBody& body1, |
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| 37 | btRigidBody& body2, |
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| 38 | class btManifoldPoint& contactPoint, |
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| 39 | const btContactSolverInfo& info); |
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| 40 | |
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| 41 | ///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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| 42 | struct btConstraintPersistentData |
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| 43 | { |
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| 44 | inline btConstraintPersistentData() |
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| 45 | :m_appliedImpulse(btScalar(0.)), |
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| 46 | m_prevAppliedImpulse(btScalar(0.)), |
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| 47 | m_accumulatedTangentImpulse0(btScalar(0.)), |
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| 48 | m_accumulatedTangentImpulse1(btScalar(0.)), |
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| 49 | m_jacDiagABInv(btScalar(0.)), |
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| 50 | m_persistentLifeTime(0), |
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| 51 | m_restitution(btScalar(0.)), |
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| 52 | m_friction(btScalar(0.)), |
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| 53 | m_penetration(btScalar(0.)), |
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| 54 | m_contactSolverFunc(0), |
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| 55 | m_frictionSolverFunc(0) |
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| 56 | { |
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| 57 | } |
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| 58 | |
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| 59 | |
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| 60 | /// total applied impulse during most recent frame |
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| 61 | btScalar m_appliedImpulse; |
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| 62 | btScalar m_prevAppliedImpulse; |
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| 63 | btScalar m_accumulatedTangentImpulse0; |
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| 64 | btScalar m_accumulatedTangentImpulse1; |
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| 65 | |
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| 66 | btScalar m_jacDiagABInv; |
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| 67 | btScalar m_jacDiagABInvTangent0; |
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| 68 | btScalar m_jacDiagABInvTangent1; |
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| 69 | int m_persistentLifeTime; |
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| 70 | btScalar m_restitution; |
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| 71 | btScalar m_friction; |
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| 72 | btScalar m_penetration; |
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| 73 | btVector3 m_frictionWorldTangential0; |
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| 74 | btVector3 m_frictionWorldTangential1; |
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| 75 | |
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| 76 | btVector3 m_frictionAngularComponent0A; |
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| 77 | btVector3 m_frictionAngularComponent0B; |
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| 78 | btVector3 m_frictionAngularComponent1A; |
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| 79 | btVector3 m_frictionAngularComponent1B; |
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| 80 | |
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| 81 | //some data doesn't need to be persistent over frames: todo: clean/reuse this |
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| 82 | btVector3 m_angularComponentA; |
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| 83 | btVector3 m_angularComponentB; |
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| 84 | |
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| 85 | ContactSolverFunc m_contactSolverFunc; |
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| 86 | ContactSolverFunc m_frictionSolverFunc; |
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| 87 | |
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| 88 | }; |
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| 89 | |
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| 90 | ///bilateral constraint between two dynamic objects |
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| 91 | ///positive distance = separation, negative distance = penetration |
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| 92 | void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1, |
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| 93 | btRigidBody& body2, const btVector3& pos2, |
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| 94 | btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep); |
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| 95 | |
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| 96 | |
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| 97 | ///contact constraint resolution: |
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| 98 | ///calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint |
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| 99 | ///positive distance = separation, negative distance = penetration |
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| 100 | btScalar resolveSingleCollision( |
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| 101 | btRigidBody& body1, |
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| 102 | btRigidBody& body2, |
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| 103 | btManifoldPoint& contactPoint, |
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| 104 | const btContactSolverInfo& info); |
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| 105 | |
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| 106 | btScalar resolveSingleFriction( |
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| 107 | btRigidBody& body1, |
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| 108 | btRigidBody& body2, |
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| 109 | btManifoldPoint& contactPoint, |
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| 110 | const btContactSolverInfo& solverInfo |
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| 111 | ); |
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| 112 | |
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| 113 | |
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| 114 | |
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| 115 | btScalar resolveSingleCollisionCombined( |
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| 116 | btRigidBody& body1, |
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| 117 | btRigidBody& body2, |
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| 118 | btManifoldPoint& contactPoint, |
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| 119 | const btContactSolverInfo& solverInfo |
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| 120 | ); |
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| 121 | |
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| 122 | #endif //CONTACT_CONSTRAINT_H |
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