| 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 MANIFOLD_CONTACT_POINT_H |
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| 17 | #define MANIFOLD_CONTACT_POINT_H |
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| 18 | |
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| 19 | #include "LinearMath/btVector3.h" |
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| 20 | #include "LinearMath/btTransformUtil.h" |
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| 21 | |
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| 22 | // Don't change following order of parameters |
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| 23 | ATTRIBUTE_ALIGNED16(struct) PfxConstraintRow { |
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| 24 | btScalar mNormal[3]; |
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| 25 | btScalar mRhs; |
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| 26 | btScalar mJacDiagInv; |
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| 27 | btScalar mLowerLimit; |
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| 28 | btScalar mUpperLimit; |
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| 29 | btScalar mAccumImpulse; |
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| 30 | }; |
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| 31 | |
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| 32 | |
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| 33 | |
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| 34 | |
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| 35 | /// ManifoldContactPoint collects and maintains persistent contactpoints. |
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| 36 | /// used to improve stability and performance of rigidbody dynamics response. |
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| 37 | class btManifoldPoint |
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| 38 | { |
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| 39 | public: |
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| 40 | btManifoldPoint() |
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| 41 | :m_userPersistentData(0), |
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| 42 | m_appliedImpulse(0.f), |
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| 43 | m_lateralFrictionInitialized(false), |
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| 44 | m_appliedImpulseLateral1(0.f), |
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| 45 | m_appliedImpulseLateral2(0.f), |
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| 46 | m_contactMotion1(0.f), |
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| 47 | m_contactMotion2(0.f), |
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| 48 | m_contactCFM1(0.f), |
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| 49 | m_contactCFM2(0.f), |
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| 50 | m_lifeTime(0) |
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| 51 | { |
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| 52 | } |
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| 53 | |
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| 54 | btManifoldPoint( const btVector3 &pointA, const btVector3 &pointB, |
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| 55 | const btVector3 &normal, |
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| 56 | btScalar distance ) : |
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| 57 | m_localPointA( pointA ), |
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| 58 | m_localPointB( pointB ), |
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| 59 | m_normalWorldOnB( normal ), |
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| 60 | m_distance1( distance ), |
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| 61 | m_combinedFriction(btScalar(0.)), |
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| 62 | m_combinedRestitution(btScalar(0.)), |
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| 63 | m_userPersistentData(0), |
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| 64 | m_appliedImpulse(0.f), |
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| 65 | m_lateralFrictionInitialized(false), |
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| 66 | m_appliedImpulseLateral1(0.f), |
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| 67 | m_appliedImpulseLateral2(0.f), |
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| 68 | m_contactMotion1(0.f), |
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| 69 | m_contactMotion2(0.f), |
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| 70 | m_contactCFM1(0.f), |
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| 71 | m_contactCFM2(0.f), |
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| 72 | m_lifeTime(0) |
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| 73 | { |
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| 74 | mConstraintRow[0].mAccumImpulse = 0.f; |
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| 75 | mConstraintRow[1].mAccumImpulse = 0.f; |
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| 76 | mConstraintRow[2].mAccumImpulse = 0.f; |
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| 77 | } |
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| 78 | |
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| 79 | |
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| 80 | |
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| 81 | btVector3 m_localPointA; |
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| 82 | btVector3 m_localPointB; |
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| 83 | btVector3 m_positionWorldOnB; |
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| 84 | ///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity |
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| 85 | btVector3 m_positionWorldOnA; |
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| 86 | btVector3 m_normalWorldOnB; |
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| 87 | |
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| 88 | btScalar m_distance1; |
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| 89 | btScalar m_combinedFriction; |
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| 90 | btScalar m_combinedRestitution; |
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| 91 | |
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| 92 | //BP mod, store contact triangles. |
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| 93 | int m_partId0; |
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| 94 | int m_partId1; |
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| 95 | int m_index0; |
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| 96 | int m_index1; |
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| 97 | |
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| 98 | mutable void* m_userPersistentData; |
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| 99 | btScalar m_appliedImpulse; |
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| 100 | |
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| 101 | bool m_lateralFrictionInitialized; |
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| 102 | btScalar m_appliedImpulseLateral1; |
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| 103 | btScalar m_appliedImpulseLateral2; |
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| 104 | btScalar m_contactMotion1; |
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| 105 | btScalar m_contactMotion2; |
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| 106 | btScalar m_contactCFM1; |
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| 107 | btScalar m_contactCFM2; |
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| 108 | |
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| 109 | int m_lifeTime;//lifetime of the contactpoint in frames |
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| 110 | |
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| 111 | btVector3 m_lateralFrictionDir1; |
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| 112 | btVector3 m_lateralFrictionDir2; |
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| 113 | |
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| 114 | |
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| 115 | |
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| 116 | PfxConstraintRow mConstraintRow[3]; |
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| 117 | |
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| 118 | |
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| 119 | btScalar getDistance() const |
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| 120 | { |
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| 121 | return m_distance1; |
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| 122 | } |
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| 123 | int getLifeTime() const |
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| 124 | { |
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| 125 | return m_lifeTime; |
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| 126 | } |
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| 127 | |
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| 128 | const btVector3& getPositionWorldOnA() const { |
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| 129 | return m_positionWorldOnA; |
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| 130 | // return m_positionWorldOnB + m_normalWorldOnB * m_distance1; |
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| 131 | } |
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| 132 | |
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| 133 | const btVector3& getPositionWorldOnB() const |
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| 134 | { |
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| 135 | return m_positionWorldOnB; |
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| 136 | } |
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| 137 | |
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| 138 | void setDistance(btScalar dist) |
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| 139 | { |
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| 140 | m_distance1 = dist; |
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| 141 | } |
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| 142 | |
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| 143 | ///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver |
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| 144 | btScalar getAppliedImpulse() const |
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| 145 | { |
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| 146 | return m_appliedImpulse; |
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| 147 | } |
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| 148 | |
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| 149 | |
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| 150 | |
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| 151 | }; |
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| 152 | |
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| 153 | #endif //MANIFOLD_CONTACT_POINT_H |
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