| 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 MANIFOLD_CONTACT_POINT_H |
|---|
| 17 | #define MANIFOLD_CONTACT_POINT_H |
|---|
| 18 | |
|---|
| 19 | #include "LinearMath/btVector3.h" |
|---|
| 20 | #include "LinearMath/btTransformUtil.h" |
|---|
| 21 | |
|---|
| 22 | |
|---|
| 23 | |
|---|
| 24 | |
|---|
| 25 | |
|---|
| 26 | /// ManifoldContactPoint collects and maintains persistent contactpoints. |
|---|
| 27 | /// used to improve stability and performance of rigidbody dynamics response. |
|---|
| 28 | class btManifoldPoint |
|---|
| 29 | { |
|---|
| 30 | public: |
|---|
| 31 | btManifoldPoint() |
|---|
| 32 | :m_userPersistentData(0), |
|---|
| 33 | m_appliedImpulse(0.f), |
|---|
| 34 | m_lateralFrictionInitialized(false), |
|---|
| 35 | m_appliedImpulseLateral1(0.f), |
|---|
| 36 | m_appliedImpulseLateral2(0.f), |
|---|
| 37 | m_lifeTime(0) |
|---|
| 38 | { |
|---|
| 39 | } |
|---|
| 40 | |
|---|
| 41 | btManifoldPoint( const btVector3 &pointA, const btVector3 &pointB, |
|---|
| 42 | const btVector3 &normal, |
|---|
| 43 | btScalar distance ) : |
|---|
| 44 | m_localPointA( pointA ), |
|---|
| 45 | m_localPointB( pointB ), |
|---|
| 46 | m_normalWorldOnB( normal ), |
|---|
| 47 | m_distance1( distance ), |
|---|
| 48 | m_combinedFriction(btScalar(0.)), |
|---|
| 49 | m_combinedRestitution(btScalar(0.)), |
|---|
| 50 | m_userPersistentData(0), |
|---|
| 51 | m_appliedImpulse(0.f), |
|---|
| 52 | m_lateralFrictionInitialized(false), |
|---|
| 53 | m_appliedImpulseLateral1(0.f), |
|---|
| 54 | m_appliedImpulseLateral2(0.f), |
|---|
| 55 | m_lifeTime(0) |
|---|
| 56 | { |
|---|
| 57 | |
|---|
| 58 | |
|---|
| 59 | } |
|---|
| 60 | |
|---|
| 61 | |
|---|
| 62 | |
|---|
| 63 | btVector3 m_localPointA; |
|---|
| 64 | btVector3 m_localPointB; |
|---|
| 65 | btVector3 m_positionWorldOnB; |
|---|
| 66 | ///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity |
|---|
| 67 | btVector3 m_positionWorldOnA; |
|---|
| 68 | btVector3 m_normalWorldOnB; |
|---|
| 69 | |
|---|
| 70 | btScalar m_distance1; |
|---|
| 71 | btScalar m_combinedFriction; |
|---|
| 72 | btScalar m_combinedRestitution; |
|---|
| 73 | |
|---|
| 74 | //BP mod, store contact triangles. |
|---|
| 75 | int m_partId0; |
|---|
| 76 | int m_partId1; |
|---|
| 77 | int m_index0; |
|---|
| 78 | int m_index1; |
|---|
| 79 | |
|---|
| 80 | mutable void* m_userPersistentData; |
|---|
| 81 | btScalar m_appliedImpulse; |
|---|
| 82 | |
|---|
| 83 | bool m_lateralFrictionInitialized; |
|---|
| 84 | btScalar m_appliedImpulseLateral1; |
|---|
| 85 | btScalar m_appliedImpulseLateral2; |
|---|
| 86 | int m_lifeTime;//lifetime of the contactpoint in frames |
|---|
| 87 | |
|---|
| 88 | btVector3 m_lateralFrictionDir1; |
|---|
| 89 | btVector3 m_lateralFrictionDir2; |
|---|
| 90 | |
|---|
| 91 | btScalar getDistance() const |
|---|
| 92 | { |
|---|
| 93 | return m_distance1; |
|---|
| 94 | } |
|---|
| 95 | int getLifeTime() const |
|---|
| 96 | { |
|---|
| 97 | return m_lifeTime; |
|---|
| 98 | } |
|---|
| 99 | |
|---|
| 100 | const btVector3& getPositionWorldOnA() const { |
|---|
| 101 | return m_positionWorldOnA; |
|---|
| 102 | // return m_positionWorldOnB + m_normalWorldOnB * m_distance1; |
|---|
| 103 | } |
|---|
| 104 | |
|---|
| 105 | const btVector3& getPositionWorldOnB() const |
|---|
| 106 | { |
|---|
| 107 | return m_positionWorldOnB; |
|---|
| 108 | } |
|---|
| 109 | |
|---|
| 110 | void setDistance(btScalar dist) |
|---|
| 111 | { |
|---|
| 112 | m_distance1 = dist; |
|---|
| 113 | } |
|---|
| 114 | |
|---|
| 115 | ///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver |
|---|
| 116 | btScalar getAppliedImpulse() const |
|---|
| 117 | { |
|---|
| 118 | return m_appliedImpulse; |
|---|
| 119 | } |
|---|
| 120 | |
|---|
| 121 | |
|---|
| 122 | |
|---|
| 123 | }; |
|---|
| 124 | |
|---|
| 125 | #endif //MANIFOLD_CONTACT_POINT_H |
|---|
