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Diffstat (limited to 'extern/bullet2/BulletDynamics/ConstraintSolver/btSolverConstraint.h')
-rw-r--r-- | extern/bullet2/BulletDynamics/ConstraintSolver/btSolverConstraint.h | 96 |
1 files changed, 96 insertions, 0 deletions
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btSolverConstraint.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btSolverConstraint.h new file mode 100644 index 00000000000..929cf6d3ee3 --- /dev/null +++ b/extern/bullet2/BulletDynamics/ConstraintSolver/btSolverConstraint.h @@ -0,0 +1,96 @@ +/* +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_ALIGNED64 (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 + { + btRigidBody* m_solverBodyA; + btScalar m_unusedPadding2; + }; + union + { + btRigidBody* m_solverBodyB; + btScalar m_unusedPadding3; + }; + + union + { + void* m_originalContactPoint; + btScalar m_unusedPadding4; + }; + + btScalar m_rhs; + btScalar m_cfm; + btScalar m_lowerLimit; + btScalar m_upperLimit; + + btScalar m_rhsPenetration; + + enum btSolverConstraintType + { + BT_SOLVER_CONTACT_1D = 0, + BT_SOLVER_FRICTION_1D + }; +}; + +typedef btAlignedObjectArray<btSolverConstraint> btConstraintArray; + + +#endif //BT_SOLVER_CONSTRAINT_H + + + |