diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h | 62 |
1 files changed, 42 insertions, 20 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h index 2c71360c5b9..867d62a301d 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h @@ -19,40 +19,64 @@ subject to the following restrictions: 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_angularComponentA; + btVector3 m_relpos1CrossNormal; + btVector3 m_contactNormal; - btVector3 m_angularComponentB; + btVector3 m_relpos2CrossNormal; + //btVector3 m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal - mutable btScalar m_appliedPushImpulse; + btVector3 m_angularComponentA; + btVector3 m_angularComponentB; + + mutable btSimdScalar m_appliedPushImpulse; + mutable btSimdScalar m_appliedImpulse; - mutable btScalar m_appliedImpulse; - int m_solverBodyIdA; - int m_solverBodyIdB; btScalar m_friction; - btScalar m_restitution; btScalar m_jacDiagABInv; - btScalar m_penetration; - + 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; + }; - int m_constraintType; - int m_frictionIndex; - void* m_originalContactPoint; - int m_unusedPadding[1]; + union + { + void* m_originalContactPoint; + btScalar m_unusedPadding4; + }; + btScalar m_rhs; + btScalar m_cfm; + btScalar m_lowerLimit; + btScalar m_upperLimit; enum btSolverConstraintType { @@ -61,9 +85,7 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint }; }; - - - +typedef btAlignedObjectArray<btSolverConstraint> btConstraintArray; #endif //BT_SOLVER_CONSTRAINT_H |