Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h

Timestamp:

Feb 27, 2011, 7:43:24 AM (14 years ago)

Author:

rgrieder

Message:

Updated Bullet Physics Engine from v2.74 to v2.77

File:

• code/branches/kicklib/src/external/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h (modified) (4 diffs)

code/branches/kicklib/src/external/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h

@@ -20 +20 @@
 #include "LinearMath/btTransformUtil.h"
 
+// Don't change following order of parameters
+ATTRIBUTE_ALIGNED16(struct) PfxConstraintRow {
+        btScalar mNormal[3];
+        btScalar mRhs;
+        btScalar mJacDiagInv;
+        btScalar mLowerLimit;
+        btScalar mUpperLimit;
+        btScalar mAccumImpulse;
+};
 
 
@@ -35 +44 @@
                                 m_appliedImpulseLateral1(0.f),
                                 m_appliedImpulseLateral2(0.f),
+                                m_contactMotion1(0.f),
+                                m_contactMotion2(0.f),
+                                m_contactCFM1(0.f),
+                                m_contactCFM2(0.f),
                                 m_lifeTime(0)
                         {
@@ -53 +66 @@
                                         m_appliedImpulseLateral1(0.f),
                                         m_appliedImpulseLateral2(0.f),
+                                        m_contactMotion1(0.f),
+                                        m_contactMotion2(0.f),
+                                        m_contactCFM1(0.f),
+                                        m_contactCFM2(0.f),
                                         m_lifeTime(0)
                         {
-                                
-                                        
+                                mConstraintRow[0].mAccumImpulse = 0.f;
+                                mConstraintRow[1].mAccumImpulse = 0.f;
+                                mConstraintRow[2].mAccumImpulse = 0.f;
                         }
 
@@ -84 +102 @@
                         btScalar                m_appliedImpulseLateral1;
                         btScalar                m_appliedImpulseLateral2;
+                        btScalar                m_contactMotion1;
+                        btScalar                m_contactMotion2;
+                        btScalar                m_contactCFM1;
+                        btScalar                m_contactCFM2;
+
                         int                             m_lifeTime;//lifetime of the contactpoint in frames
                         
                         btVector3               m_lateralFrictionDir1;
                         btVector3               m_lateralFrictionDir2;
+
+
+
+                        PfxConstraintRow mConstraintRow[3];
+
 
                         btScalar getDistance() const