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| 3 | <title>Open Dynamics Engine: contact.h Source File</title> |
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| 16 | <h1>contact.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*************************************************************************</span> |
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| 17 | <a name="l00002"></a>00002 <span class="comment"> * *</span> |
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| 18 | <a name="l00003"></a>00003 <span class="comment"> * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *</span> |
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| 19 | <a name="l00004"></a>00004 <span class="comment"> * All rights reserved. Email: russ@q12.org Web: www.q12.org *</span> |
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| 20 | <a name="l00005"></a>00005 <span class="comment"> * *</span> |
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| 21 | <a name="l00006"></a>00006 <span class="comment"> * This library is free software; you can redistribute it and/or *</span> |
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| 22 | <a name="l00007"></a>00007 <span class="comment"> * modify it under the terms of EITHER: *</span> |
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| 23 | <a name="l00008"></a>00008 <span class="comment"> * (1) The GNU Lesser General Public License as published by the Free *</span> |
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| 24 | <a name="l00009"></a>00009 <span class="comment"> * Software Foundation; either version 2.1 of the License, or (at *</span> |
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| 25 | <a name="l00010"></a>00010 <span class="comment"> * your option) any later version. The text of the GNU Lesser *</span> |
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| 26 | <a name="l00011"></a>00011 <span class="comment"> * General Public License is included with this library in the *</span> |
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| 27 | <a name="l00012"></a>00012 <span class="comment"> * file LICENSE.TXT. *</span> |
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| 28 | <a name="l00013"></a>00013 <span class="comment"> * (2) The BSD-style license that is included with this library in *</span> |
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| 29 | <a name="l00014"></a>00014 <span class="comment"> * the file LICENSE-BSD.TXT. *</span> |
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| 30 | <a name="l00015"></a>00015 <span class="comment"> * *</span> |
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| 31 | <a name="l00016"></a>00016 <span class="comment"> * This library is distributed in the hope that it will be useful, *</span> |
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| 32 | <a name="l00017"></a>00017 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of *</span> |
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| 33 | <a name="l00018"></a>00018 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *</span> |
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| 34 | <a name="l00019"></a>00019 <span class="comment"> * LICENSE.TXT and LICENSE-BSD.TXT for more details. *</span> |
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| 35 | <a name="l00020"></a>00020 <span class="comment"> * *</span> |
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| 36 | <a name="l00021"></a>00021 <span class="comment"> *************************************************************************/</span> |
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| 37 | <a name="l00022"></a>00022 |
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| 38 | <a name="l00023"></a>00023 <span class="preprocessor">#ifndef _ODE_CONTACT_H_</span> |
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| 39 | <a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define _ODE_CONTACT_H_</span> |
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| 40 | <a name="l00025"></a>00025 <span class="preprocessor"></span> |
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| 41 | <a name="l00026"></a>00026 <span class="preprocessor">#include <ode/common.h></span> |
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| 42 | <a name="l00027"></a>00027 |
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| 43 | <a name="l00028"></a>00028 <span class="preprocessor">#ifdef __cplusplus</span> |
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| 44 | <a name="l00029"></a>00029 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> { |
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| 45 | <a name="l00030"></a>00030 <span class="preprocessor">#endif</span> |
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| 46 | <a name="l00031"></a>00031 <span class="preprocessor"></span> |
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| 47 | <a name="l00032"></a>00032 |
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| 48 | <a name="l00033"></a>00033 <span class="keyword">enum</span> { |
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| 49 | <a name="l00034"></a>00034 dContactMu2 = 0x001, |
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| 50 | <a name="l00035"></a>00035 dContactFDir1 = 0x002, |
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| 51 | <a name="l00036"></a>00036 dContactBounce = 0x004, |
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| 52 | <a name="l00037"></a>00037 dContactSoftERP = 0x008, |
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| 53 | <a name="l00038"></a>00038 dContactSoftCFM = 0x010, |
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| 54 | <a name="l00039"></a>00039 dContactMotion1 = 0x020, |
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| 55 | <a name="l00040"></a>00040 dContactMotion2 = 0x040, |
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| 56 | <a name="l00041"></a>00041 dContactSlip1 = 0x080, |
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| 57 | <a name="l00042"></a>00042 dContactSlip2 = 0x100, |
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| 58 | <a name="l00043"></a>00043 |
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| 59 | <a name="l00044"></a>00044 dContactApprox0 = 0x0000, |
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| 60 | <a name="l00045"></a>00045 dContactApprox1_1 = 0x1000, |
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| 61 | <a name="l00046"></a>00046 dContactApprox1_2 = 0x2000, |
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| 62 | <a name="l00047"></a>00047 dContactApprox1 = 0x3000 |
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| 63 | <a name="l00048"></a>00048 }; |
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| 64 | <a name="l00049"></a>00049 |
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| 65 | <a name="l00050"></a>00050 |
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| 66 | <a name="l00051"></a>00051 <span class="keyword">typedef</span> <span class="keyword">struct </span>dSurfaceParameters { |
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| 67 | <a name="l00052"></a>00052 <span class="comment">/* must always be defined */</span> |
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| 68 | <a name="l00053"></a>00053 <span class="keywordtype">int</span> mode; |
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| 69 | <a name="l00054"></a>00054 dReal mu; |
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| 70 | <a name="l00055"></a>00055 |
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| 71 | <a name="l00056"></a>00056 <span class="comment">/* only defined if the corresponding flag is set in mode */</span> |
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| 72 | <a name="l00057"></a>00057 dReal mu2; |
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| 73 | <a name="l00058"></a>00058 dReal bounce; |
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| 74 | <a name="l00059"></a>00059 dReal bounce_vel; |
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| 75 | <a name="l00060"></a>00060 dReal soft_erp; |
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| 76 | <a name="l00061"></a>00061 dReal soft_cfm; |
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| 77 | <a name="l00062"></a>00062 dReal motion1,motion2; |
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| 78 | <a name="l00063"></a>00063 dReal slip1,slip2; |
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| 79 | <a name="l00064"></a>00064 } dSurfaceParameters; |
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| 80 | <a name="l00065"></a>00065 |
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| 81 | <a name="l00066"></a>00066 |
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| 82 | <a name="l00081"></a><a class="code" href="structd_contact_geom.html">00081</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structd_contact_geom.html" title="Describe the contact point between two geoms.">dContactGeom</a> { |
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| 83 | <a name="l00082"></a><a class="code" href="structd_contact_geom.html#2fa7323ee3826d1f55c8cad6157e38a5">00082</a> dVector3 <a class="code" href="structd_contact_geom.html#2fa7323ee3826d1f55c8cad6157e38a5" title="contact position">pos</a>; |
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| 84 | <a name="l00083"></a><a class="code" href="structd_contact_geom.html#7665d3379904821bbdb7b7d1028fcda3">00083</a> dVector3 <a class="code" href="structd_contact_geom.html#7665d3379904821bbdb7b7d1028fcda3" title="normal vector">normal</a>; |
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| 85 | <a name="l00084"></a><a class="code" href="structd_contact_geom.html#29c32c1cb4355186d4110b7abeb58bf0">00084</a> dReal <a class="code" href="structd_contact_geom.html#29c32c1cb4355186d4110b7abeb58bf0" title="penetration depth">depth</a>; |
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| 86 | <a name="l00085"></a><a class="code" href="structd_contact_geom.html#7dd16e7bbc0c5b5e17116c1e5179281b">00085</a> dGeomID g1,<a class="code" href="structd_contact_geom.html#7dd16e7bbc0c5b5e17116c1e5179281b" title="the colliding geoms">g2</a>; |
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| 87 | <a name="l00086"></a><a class="code" href="structd_contact_geom.html#7a8a080b98c12e0d1f52c86d2738552e">00086</a> <span class="keywordtype">int</span> side1,<a class="code" href="structd_contact_geom.html#7a8a080b98c12e0d1f52c86d2738552e" title="(to be documented)">side2</a>; |
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| 88 | <a name="l00087"></a>00087 } <a class="code" href="structd_contact_geom.html" title="Describe the contact point between two geoms.">dContactGeom</a>; |
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| 89 | <a name="l00088"></a>00088 |
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| 90 | <a name="l00089"></a>00089 |
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| 91 | <a name="l00090"></a>00090 <span class="comment">/* contact info used by contact joint */</span> |
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| 92 | <a name="l00091"></a>00091 |
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| 93 | <a name="l00092"></a>00092 <span class="keyword">typedef</span> <span class="keyword">struct </span>dContact { |
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| 94 | <a name="l00093"></a>00093 dSurfaceParameters surface; |
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| 95 | <a name="l00094"></a>00094 <a class="code" href="structd_contact_geom.html" title="Describe the contact point between two geoms.">dContactGeom</a> geom; |
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| 96 | <a name="l00095"></a>00095 dVector3 fdir1; |
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| 97 | <a name="l00096"></a>00096 } dContact; |
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| 98 | <a name="l00097"></a>00097 |
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| 99 | <a name="l00098"></a>00098 |
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| 100 | <a name="l00099"></a>00099 <span class="preprocessor">#ifdef __cplusplus</span> |
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| 101 | <a name="l00100"></a>00100 <span class="preprocessor"></span>} |
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| 102 | <a name="l00101"></a>00101 <span class="preprocessor">#endif</span> |
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| 103 | <a name="l00102"></a>00102 <span class="preprocessor"></span> |
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| 104 | <a name="l00103"></a>00103 <span class="preprocessor">#endif</span> |
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| 105 | </pre></div><hr size="1"><address style="text-align: right;"><small>Generated on Fri Oct 12 08:36:51 2007 for Open Dynamics Engine by |
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| 107 | <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.3 </small></address> |
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