diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h | 16 |
1 files changed, 12 insertions, 4 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h index cf06dfb9ebf..6fa1550e9e6 100644 --- a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h +++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h @@ -20,6 +20,7 @@ subject to the following restrictions: #include "LinearMath/btAlignedObjectArray.h" class btMultiBody; +class btMultiBodyConstraint; #include "BulletDynamics/ConstraintSolver/btSolverBody.h" #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" @@ -28,16 +29,19 @@ ATTRIBUTE_ALIGNED16 (struct) btMultiBodySolverConstraint { BT_DECLARE_ALIGNED_ALLOCATOR(); + btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_multiBodyA(0), m_linkA(-1), m_solverBodyIdB(-1), m_multiBodyB(0), m_linkB(-1),m_orgConstraint(0), m_orgDofIndex(-1) + {} int m_deltaVelAindex;//more generic version of m_relpos1CrossNormal/m_contactNormal1 - btVector3 m_relpos1CrossNormal; - btVector3 m_contactNormal1; int m_jacAindex; - int m_deltaVelBindex; + int m_jacBindex; + + btVector3 m_relpos1CrossNormal; + btVector3 m_contactNormal1; btVector3 m_relpos2CrossNormal; btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always - int m_jacBindex; + btVector3 m_angularComponentA; btVector3 m_angularComponentB; @@ -70,6 +74,10 @@ ATTRIBUTE_ALIGNED16 (struct) btMultiBodySolverConstraint btMultiBody* m_multiBodyB; int m_linkB; + //for writing back applied impulses + btMultiBodyConstraint* m_orgConstraint; + int m_orgDofIndex; + enum btSolverConstraintType { BT_SOLVER_CONTACT_1D = 0, |