1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
|
/*
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 MANIFOLD_CONTACT_POINT_H
#define MANIFOLD_CONTACT_POINT_H
#include "SimdVector3.h"
#include "SimdTransformUtil.h"
/// ManifoldContactPoint collects and maintains persistent contactpoints.
/// used to improve stability and performance of rigidbody dynamics response.
class ManifoldPoint
{
public:
ManifoldPoint()
{
}
ManifoldPoint( const SimdVector3 &pointA, const SimdVector3 &pointB,
const SimdVector3 &normal,
SimdScalar distance ) :
m_localPointA( pointA ),
m_localPointB( pointB ),
m_normalWorldOnB( normal ),
m_distance1( distance ),
m_appliedImpulse(0.f),
m_prevAppliedImpulse(0.f),
m_accumulatedTangentImpulse0(0.f),
m_accumulatedTangentImpulse1(0.f),
m_jacDiagABInv(0.f),
m_lifeTime(0)
{
SimdPlaneSpace1(m_normalWorldOnB,m_frictionWorldTangential0,m_frictionWorldTangential1);
}
SimdVector3 m_localPointA;
SimdVector3 m_localPointB;
SimdVector3 m_positionWorldOnB;
///m_positionWorldOnA is redundant information, see GetPositionWorldOnA(), but for clarity
SimdVector3 m_positionWorldOnA;
SimdVector3 m_normalWorldOnB;
SimdVector3 m_frictionWorldTangential0;
SimdVector3 m_frictionWorldTangential1;
float m_distance1;
/// total applied impulse during most recent frame
float m_appliedImpulse;
float m_prevAppliedImpulse;
float m_accumulatedTangentImpulse0;
float m_accumulatedTangentImpulse1;
float m_jacDiagABInv;
float m_jacDiagABInvTangent0;
float m_jacDiagABInvTangent1;
void CopyPersistentInformation(const ManifoldPoint& otherPoint)
{
m_appliedImpulse = otherPoint.m_appliedImpulse;
m_accumulatedTangentImpulse0 = otherPoint.m_accumulatedTangentImpulse0;
m_accumulatedTangentImpulse1 = otherPoint.m_accumulatedTangentImpulse1;
m_prevAppliedImpulse = otherPoint.m_prevAppliedImpulse;
m_lifeTime = otherPoint.m_lifeTime;
}
int m_lifeTime;//lifetime of the contactpoint in frames
float GetDistance() const
{
return m_distance1;
}
int GetLifeTime() const
{
return m_lifeTime;
}
SimdVector3 GetPositionWorldOnA() {
return m_positionWorldOnA;
// return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
}
const SimdVector3& GetPositionWorldOnB()
{
return m_positionWorldOnB;
}
void SetDistance(float dist)
{
m_distance1 = dist;
}
};
#endif //MANIFOLD_CONTACT_POINT_H
|
