diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h | 26 |
1 files changed, 22 insertions, 4 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h index f6a893151da..e75fc1bee96 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h @@ -16,8 +16,8 @@ subject to the following restrictions: #ifndef MANIFOLD_CONTACT_POINT_H #define MANIFOLD_CONTACT_POINT_H -#include "../../LinearMath/btVector3.h" -#include "../../LinearMath/btTransformUtil.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransformUtil.h" @@ -30,6 +30,8 @@ class btManifoldPoint public: btManifoldPoint() :m_userPersistentData(0), + m_appliedImpulse(0.f), + m_lateralFrictionInitialized(false), m_lifeTime(0) { } @@ -43,7 +45,11 @@ class btManifoldPoint m_distance1( distance ), m_combinedFriction(btScalar(0.)), m_combinedRestitution(btScalar(0.)), - m_userPersistentData(0), + m_userPersistentData(0), + m_appliedImpulse(0.f), + m_lateralFrictionInitialized(false), + m_appliedImpulseLateral1(0.f), + m_appliedImpulseLateral2(0.f), m_lifeTime(0) { @@ -63,11 +69,23 @@ class btManifoldPoint btScalar m_combinedFriction; btScalar m_combinedRestitution; + //BP mod, store contact triangles. + int m_partId0; + int m_partId1; + int m_index0; + int m_index1; mutable void* m_userPersistentData; + btScalar m_appliedImpulse; - int m_lifeTime;//lifetime of the contactpoint in frames + bool m_lateralFrictionInitialized; + btScalar m_appliedImpulseLateral1; + btScalar m_appliedImpulseLateral2; + int m_lifeTime;//lifetime of the contactpoint in frames + btVector3 m_lateralFrictionDir1; + btVector3 m_lateralFrictionDir2; + btScalar getDistance() const { return m_distance1; |