| 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 BT_SOLVER_CONSTRAINT_H |
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| 17 | #define BT_SOLVER_CONSTRAINT_H |
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| 18 | |
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| 19 | class btRigidBody; |
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| 20 | #include "LinearMath/btVector3.h" |
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| 21 | #include "LinearMath/btMatrix3x3.h" |
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| 22 | #include "btJacobianEntry.h" |
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| 23 | |
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| 24 | //#define NO_FRICTION_TANGENTIALS 1 |
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| 25 | #include "btSolverBody.h" |
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| 26 | |
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| 27 | |
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| 28 | ///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints. |
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| 29 | ATTRIBUTE_ALIGNED64 (struct) btSolverConstraint |
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| 30 | { |
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| 31 | BT_DECLARE_ALIGNED_ALLOCATOR(); |
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| 32 | |
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| 33 | btVector3 m_relpos1CrossNormal; |
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| 34 | btVector3 m_contactNormal; |
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| 35 | |
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| 36 | btVector3 m_relpos2CrossNormal; |
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| 37 | //btVector3 m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal |
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| 38 | |
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| 39 | btVector3 m_angularComponentA; |
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| 40 | btVector3 m_angularComponentB; |
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| 41 | |
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| 42 | mutable btSimdScalar m_appliedPushImpulse; |
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| 43 | mutable btSimdScalar m_appliedImpulse; |
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| 44 | |
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| 45 | |
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| 46 | btScalar m_friction; |
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| 47 | btScalar m_jacDiagABInv; |
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| 48 | union |
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| 49 | { |
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| 50 | int m_numConsecutiveRowsPerKernel; |
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| 51 | btScalar m_unusedPadding0; |
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| 52 | }; |
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| 53 | |
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| 54 | union |
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| 55 | { |
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| 56 | int m_frictionIndex; |
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| 57 | btScalar m_unusedPadding1; |
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| 58 | }; |
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| 59 | union |
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| 60 | { |
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| 61 | btRigidBody* m_solverBodyA; |
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| 62 | int m_companionIdA; |
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| 63 | }; |
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| 64 | union |
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| 65 | { |
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| 66 | btRigidBody* m_solverBodyB; |
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| 67 | int m_companionIdB; |
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| 68 | }; |
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| 69 | |
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| 70 | union |
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| 71 | { |
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| 72 | void* m_originalContactPoint; |
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| 73 | btScalar m_unusedPadding4; |
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| 74 | }; |
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| 75 | |
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| 76 | btScalar m_rhs; |
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| 77 | btScalar m_cfm; |
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| 78 | btScalar m_lowerLimit; |
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| 79 | btScalar m_upperLimit; |
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| 80 | |
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| 81 | btScalar m_rhsPenetration; |
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| 82 | |
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| 83 | enum btSolverConstraintType |
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| 84 | { |
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| 85 | BT_SOLVER_CONTACT_1D = 0, |
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| 86 | BT_SOLVER_FRICTION_1D |
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| 87 | }; |
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| 88 | }; |
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| 89 | |
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| 90 | typedef btAlignedObjectArray<btSolverConstraint> btConstraintArray; |
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| 91 | |
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| 92 | |
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| 93 | #endif //BT_SOLVER_CONSTRAINT_H |
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| 94 | |
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| 95 | |
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| 96 | |
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