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lib/haxebullet/bullet/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h

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