source: code/branches/questsystem5/src/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h @ 2977

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#ifndef BT_SOLVER_CONSTRAINT_H
#define BT_SOLVER_CONSTRAINT_H

class   btRigidBody;
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"

//#define NO_FRICTION_TANGENTIALS 1

///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
ATTRIBUTE_ALIGNED16 (struct)    btSolverConstraint
{
        BT_DECLARE_ALIGNED_ALLOCATOR();

        btVector3       m_relpos1CrossNormal;
        btVector3       m_contactNormal;

        btVector3       m_relpos2CrossNormal;
        btVector3       m_angularComponentA;

        btVector3       m_angularComponentB;

        mutable btScalar        m_appliedPushImpulse;
        
        mutable btScalar        m_appliedImpulse;
        int                     m_solverBodyIdA;
        int                     m_solverBodyIdB;
        
        btScalar        m_friction;
        btScalar        m_restitution;
        btScalar        m_jacDiagABInv;
        btScalar        m_penetration;
        

        
        int                     m_constraintType;
        int                     m_frictionIndex;
        void*           m_originalContactPoint;
        int                     m_unusedPadding[1];


        enum            btSolverConstraintType
        {
                BT_SOLVER_CONTACT_1D = 0,
                BT_SOLVER_FRICTION_1D
        };
};






#endif //BT_SOLVER_CONSTRAINT_H