174 lines
5 KiB
C++
174 lines
5 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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_MANIFOLD_CONTACT_POINT_H
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#define BT_MANIFOLD_CONTACT_POINT_H
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btTransformUtil.h"
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#ifdef PFX_USE_FREE_VECTORMATH
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#include "physics_effects/base_level/solver/pfx_constraint_row.h"
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typedef sce::PhysicsEffects::PfxConstraintRow btConstraintRow;
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#else
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// Don't change following order of parameters
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ATTRIBUTE_ALIGNED16(struct)
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btConstraintRow
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{
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btScalar m_normal[3];
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btScalar m_rhs;
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btScalar m_jacDiagInv;
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btScalar m_lowerLimit;
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btScalar m_upperLimit;
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btScalar m_accumImpulse;
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};
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typedef btConstraintRow PfxConstraintRow;
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#endif //PFX_USE_FREE_VECTORMATH
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enum btContactPointFlags
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{
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BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED = 1,
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BT_CONTACT_FLAG_HAS_CONTACT_CFM = 2,
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BT_CONTACT_FLAG_HAS_CONTACT_ERP = 4,
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BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING = 8,
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BT_CONTACT_FLAG_FRICTION_ANCHOR = 16,
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};
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/// ManifoldContactPoint collects and maintains persistent contactpoints.
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/// used to improve stability and performance of rigidbody dynamics response.
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class btManifoldPoint
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{
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public:
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btManifoldPoint()
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: m_userPersistentData(0),
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m_contactPointFlags(0),
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m_appliedImpulse(0.f),
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m_prevRHS(0.f),
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m_appliedImpulseLateral1(0.f),
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m_appliedImpulseLateral2(0.f),
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m_contactMotion1(0.f),
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m_contactMotion2(0.f),
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m_contactCFM(0.f),
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m_contactERP(0.f),
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m_frictionCFM(0.f),
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m_lifeTime(0)
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{
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}
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btManifoldPoint(const btVector3& pointA, const btVector3& pointB,
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const btVector3& normal,
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btScalar distance) : m_localPointA(pointA),
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m_localPointB(pointB),
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m_normalWorldOnB(normal),
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m_distance1(distance),
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m_combinedFriction(btScalar(0.)),
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m_combinedRollingFriction(btScalar(0.)),
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m_combinedSpinningFriction(btScalar(0.)),
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m_combinedRestitution(btScalar(0.)),
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m_userPersistentData(0),
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m_contactPointFlags(0),
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m_appliedImpulse(0.f),
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m_prevRHS(0.f),
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m_appliedImpulseLateral1(0.f),
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m_appliedImpulseLateral2(0.f),
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m_contactMotion1(0.f),
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m_contactMotion2(0.f),
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m_contactCFM(0.f),
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m_contactERP(0.f),
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m_frictionCFM(0.f),
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m_lifeTime(0)
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{
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}
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btVector3 m_localPointA;
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btVector3 m_localPointB;
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btVector3 m_positionWorldOnB;
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///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
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btVector3 m_positionWorldOnA;
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btVector3 m_normalWorldOnB;
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btScalar m_distance1;
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btScalar m_combinedFriction;
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btScalar m_combinedRollingFriction; //torsional friction orthogonal to contact normal, useful to make spheres stop rolling forever
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btScalar m_combinedSpinningFriction; //torsional friction around contact normal, useful for grasping objects
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btScalar m_combinedRestitution;
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//BP mod, store contact triangles.
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int m_partId0;
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int m_partId1;
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int m_index0;
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int m_index1;
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mutable void* m_userPersistentData;
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//bool m_lateralFrictionInitialized;
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int m_contactPointFlags;
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btScalar m_appliedImpulse;
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btScalar m_prevRHS;
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btScalar m_appliedImpulseLateral1;
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btScalar m_appliedImpulseLateral2;
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btScalar m_contactMotion1;
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btScalar m_contactMotion2;
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union {
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btScalar m_contactCFM;
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btScalar m_combinedContactStiffness1;
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};
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union {
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btScalar m_contactERP;
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btScalar m_combinedContactDamping1;
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};
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btScalar m_frictionCFM;
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int m_lifeTime; //lifetime of the contactpoint in frames
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btVector3 m_lateralFrictionDir1;
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btVector3 m_lateralFrictionDir2;
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btScalar getDistance() const
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{
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return m_distance1;
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}
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int getLifeTime() const
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{
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return m_lifeTime;
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}
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const btVector3& getPositionWorldOnA() const
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{
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return m_positionWorldOnA;
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// return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
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}
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const btVector3& getPositionWorldOnB() const
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{
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return m_positionWorldOnB;
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}
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void setDistance(btScalar dist)
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{
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m_distance1 = dist;
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}
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///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
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btScalar getAppliedImpulse() const
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{
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return m_appliedImpulse;
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}
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};
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#endif //BT_MANIFOLD_CONTACT_POINT_H
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