| 1 | /* |
|---|
| 2 | Bullet Continuous Collision Detection and Physics Library |
|---|
| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
|---|
| 4 | |
|---|
| 5 | This software is provided 'as-is', without any express or implied warranty. |
|---|
| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
|---|
| 7 | Permission is granted to anyone to use this software for any purpose, |
|---|
| 8 | including commercial applications, and to alter it and redistribute it freely, |
|---|
| 9 | subject to the following restrictions: |
|---|
| 10 | |
|---|
| 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. |
|---|
| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
|---|
| 13 | 3. This notice may not be removed or altered from any source distribution. |
|---|
| 14 | */ |
|---|
| 15 | |
|---|
| 16 | #ifndef BT_SOLVER_CONSTRAINT_H |
|---|
| 17 | #define BT_SOLVER_CONSTRAINT_H |
|---|
| 18 | |
|---|
| 19 | class btRigidBody; |
|---|
| 20 | #include "LinearMath/btVector3.h" |
|---|
| 21 | #include "LinearMath/btMatrix3x3.h" |
|---|
| 22 | #include "btJacobianEntry.h" |
|---|
| 23 | |
|---|
| 24 | //#define NO_FRICTION_TANGENTIALS 1 |
|---|
| 25 | #include "btSolverBody.h" |
|---|
| 26 | |
|---|
| 27 | |
|---|
| 28 | ///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints. |
|---|
| 29 | ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint |
|---|
| 30 | { |
|---|
| 31 | BT_DECLARE_ALIGNED_ALLOCATOR(); |
|---|
| 32 | |
|---|
| 33 | btVector3 m_relpos1CrossNormal; |
|---|
| 34 | btVector3 m_contactNormal; |
|---|
| 35 | |
|---|
| 36 | btVector3 m_relpos2CrossNormal; |
|---|
| 37 | //btVector3 m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal |
|---|
| 38 | |
|---|
| 39 | btVector3 m_angularComponentA; |
|---|
| 40 | btVector3 m_angularComponentB; |
|---|
| 41 | |
|---|
| 42 | mutable btSimdScalar m_appliedPushImpulse; |
|---|
| 43 | mutable btSimdScalar m_appliedImpulse; |
|---|
| 44 | |
|---|
| 45 | |
|---|
| 46 | btScalar m_friction; |
|---|
| 47 | btScalar m_jacDiagABInv; |
|---|
| 48 | union |
|---|
| 49 | { |
|---|
| 50 | int m_numConsecutiveRowsPerKernel; |
|---|
| 51 | btScalar m_unusedPadding0; |
|---|
| 52 | }; |
|---|
| 53 | |
|---|
| 54 | union |
|---|
| 55 | { |
|---|
| 56 | int m_frictionIndex; |
|---|
| 57 | btScalar m_unusedPadding1; |
|---|
| 58 | }; |
|---|
| 59 | union |
|---|
| 60 | { |
|---|
| 61 | int m_solverBodyIdA; |
|---|
| 62 | btScalar m_unusedPadding2; |
|---|
| 63 | }; |
|---|
| 64 | union |
|---|
| 65 | { |
|---|
| 66 | int m_solverBodyIdB; |
|---|
| 67 | btScalar m_unusedPadding3; |
|---|
| 68 | }; |
|---|
| 69 | |
|---|
| 70 | union |
|---|
| 71 | { |
|---|
| 72 | void* m_originalContactPoint; |
|---|
| 73 | btScalar m_unusedPadding4; |
|---|
| 74 | }; |
|---|
| 75 | |
|---|
| 76 | btScalar m_rhs; |
|---|
| 77 | btScalar m_cfm; |
|---|
| 78 | btScalar m_lowerLimit; |
|---|
| 79 | btScalar m_upperLimit; |
|---|
| 80 | |
|---|
| 81 | enum btSolverConstraintType |
|---|
| 82 | { |
|---|
| 83 | BT_SOLVER_CONTACT_1D = 0, |
|---|
| 84 | BT_SOLVER_FRICTION_1D |
|---|
| 85 | }; |
|---|
| 86 | }; |
|---|
| 87 | |
|---|
| 88 | typedef btAlignedObjectArray<btSolverConstraint> btConstraintArray; |
|---|
| 89 | |
|---|
| 90 | |
|---|
| 91 | #endif //BT_SOLVER_CONSTRAINT_H |
|---|
| 92 | |
|---|
| 93 | |
|---|
| 94 | |
|---|
