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source: code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h @ 7287

Last change on this file since 7287 was 5781, checked in by rgrieder, 15 years ago

Reverted trunk again. We might want to find a way to delete these revisions again (x3n's changes are still available as diff in the commit mails).

  • Property svn:eol-style set to native
File size: 2.4 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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
19class   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.
29ATTRIBUTE_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
88typedef btAlignedObjectArray<btSolverConstraint>        btConstraintArray;
89
90
91#endif //BT_SOLVER_CONSTRAINT_H
92
93
94
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