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btSolverConstraint.h

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

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_SOLVER_CONSTRAINT_H
#define BT_SOLVER_CONSTRAINT_H

class btRigidBody;
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "btJacobianEntry.h"

//#define NO_FRICTION_TANGENTIALS 1
#include "btSolverBody.h"


///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
ATTRIBUTE_ALIGNED16 (struct)  btSolverConstraint
{
      BT_DECLARE_ALIGNED_ALLOCATOR();

      btVector3         m_relpos1CrossNormal;
      btVector3         m_contactNormal;

      btVector3         m_relpos2CrossNormal;
      //btVector3       m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal

      btVector3         m_angularComponentA;
      btVector3         m_angularComponentB;
      
      mutable btSimdScalar    m_appliedPushImpulse;
      mutable btSimdScalar    m_appliedImpulse;
      
      
      btScalar    m_friction;
      btScalar    m_jacDiagABInv;
      union
      {
            int   m_numConsecutiveRowsPerKernel;
            btScalar    m_unusedPadding0;
      };

      union
      {
            int               m_frictionIndex;
            btScalar    m_unusedPadding1;
      };
      union
      {
            int               m_solverBodyIdA;
            btScalar    m_unusedPadding2;
      };
      union
      {
            int               m_solverBodyIdB;
            btScalar    m_unusedPadding3;
      };
      
      union
      {
            void*       m_originalContactPoint;
            btScalar    m_unusedPadding4;
      };

      btScalar          m_rhs;
      btScalar          m_cfm;
      btScalar          m_lowerLimit;
      btScalar          m_upperLimit;

      enum        btSolverConstraintType
      {
            BT_SOLVER_CONTACT_1D = 0,
            BT_SOLVER_FRICTION_1D
      };
};

typedef btAlignedObjectArray<btSolverConstraint>      btConstraintArray;


#endif //BT_SOLVER_CONSTRAINT_H




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