91 lines
2.9 KiB
C
91 lines
2.9 KiB
C
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_MULTIBODY_SOLVER_CONSTRAINT_H
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#define BT_MULTIBODY_SOLVER_CONSTRAINT_H
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btAlignedObjectArray.h"
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class btMultiBody;
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class btMultiBodyConstraint;
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#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
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#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
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///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
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ATTRIBUTE_ALIGNED16 (struct) btMultiBodySolverConstraint
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{
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_multiBodyA(0), m_linkA(-1), m_solverBodyIdB(-1), m_multiBodyB(0), m_linkB(-1),m_orgConstraint(0), m_orgDofIndex(-1)
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{}
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int m_deltaVelAindex;//more generic version of m_relpos1CrossNormal/m_contactNormal1
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int m_jacAindex;
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int m_deltaVelBindex;
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int m_jacBindex;
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btVector3 m_relpos1CrossNormal;
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btVector3 m_contactNormal1;
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btVector3 m_relpos2CrossNormal;
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btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always
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btVector3 m_angularComponentA;
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btVector3 m_angularComponentB;
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mutable btSimdScalar m_appliedPushImpulse;
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mutable btSimdScalar m_appliedImpulse;
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btScalar m_friction;
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btScalar m_jacDiagABInv;
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btScalar m_rhs;
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btScalar m_cfm;
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btScalar m_lowerLimit;
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btScalar m_upperLimit;
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btScalar m_rhsPenetration;
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union
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{
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void* m_originalContactPoint;
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btScalar m_unusedPadding4;
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};
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int m_overrideNumSolverIterations;
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int m_frictionIndex;
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int m_solverBodyIdA;
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btMultiBody* m_multiBodyA;
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int m_linkA;
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int m_solverBodyIdB;
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btMultiBody* m_multiBodyB;
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int m_linkB;
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//for writing back applied impulses
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btMultiBodyConstraint* m_orgConstraint;
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int m_orgDofIndex;
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enum btSolverConstraintType
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{
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BT_SOLVER_CONTACT_1D = 0,
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BT_SOLVER_FRICTION_1D
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};
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};
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typedef btAlignedObjectArray<btMultiBodySolverConstraint> btMultiBodyConstraintArray;
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#endif //BT_MULTIBODY_SOLVER_CONSTRAINT_H
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