Blender  V3.3
btManifoldPoint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_MANIFOLD_CONTACT_POINT_H
17 #define BT_MANIFOLD_CONTACT_POINT_H
18 
19 #include "LinearMath/btVector3.h"
21 
22 #ifdef PFX_USE_FREE_VECTORMATH
23 #include "physics_effects/base_level/solver/pfx_constraint_row.h"
25 #else
26 // Don't change following order of parameters
27 ATTRIBUTE_ALIGNED16(struct)
29 {
30  btScalar m_normal[3];
36 };
38 #endif //PFX_USE_FREE_VECTORMATH
39 
41 {
47 };
48 
52 {
53 public:
57  m_appliedImpulse(0.f),
58  m_prevRHS(0.f),
61  m_contactMotion1(0.f),
62  m_contactMotion2(0.f),
63  m_contactCFM(0.f),
64  m_contactERP(0.f),
65  m_frictionCFM(0.f),
66  m_lifeTime(0)
67  {
68  }
69 
70  btManifoldPoint(const btVector3& pointA, const btVector3& pointB,
71  const btVector3& normal,
72  btScalar distance) : m_localPointA(pointA),
73  m_localPointB(pointB),
82  m_appliedImpulse(0.f),
83  m_prevRHS(0.f),
86  m_contactMotion1(0.f),
87  m_contactMotion2(0.f),
88  m_contactCFM(0.f),
89  m_contactERP(0.f),
90  m_frictionCFM(0.f),
91  m_lifeTime(0)
92  {
93  }
94 
101 
104  btScalar m_combinedRollingFriction; //torsional friction orthogonal to contact normal, useful to make spheres stop rolling forever
105  btScalar m_combinedSpinningFriction; //torsional friction around contact normal, useful for grasping objects
107 
108  //BP mod, store contact triangles.
111  int m_index0;
112  int m_index1;
113 
114  mutable void* m_userPersistentData;
115  //bool m_lateralFrictionInitialized;
117 
124 
125  union {
128  };
129 
130  union {
133  };
134 
136 
137  int m_lifeTime; //lifetime of the contactpoint in frames
138 
141 
143  {
144  return m_distance1;
145  }
146  int getLifeTime() const
147  {
148  return m_lifeTime;
149  }
150 
152  {
153  return m_positionWorldOnA;
154  // return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
155  }
156 
158  {
159  return m_positionWorldOnB;
160  }
161 
163  {
164  m_distance1 = dist;
165  }
166 
169  {
170  return m_appliedImpulse;
171  }
172 };
173 
174 #endif //BT_MANIFOLD_CONTACT_POINT_H
btScalar m_accumImpulse
btScalar m_jacDiagInv
btContactPointFlags
@ BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED
@ BT_CONTACT_FLAG_HAS_CONTACT_ERP
@ BT_CONTACT_FLAG_HAS_CONTACT_CFM
@ BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING
@ BT_CONTACT_FLAG_FRICTION_ANCHOR
btScalar m_lowerLimit
btScalar m_upperLimit
btConstraintRow PfxConstraintRow
btScalar m_rhs
btConstraintRow
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:285
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
btScalar m_frictionCFM
btScalar m_combinedSpinningFriction
btScalar m_combinedRollingFriction
btScalar getDistance() const
btScalar m_combinedContactStiffness1
const btVector3 & getPositionWorldOnB() const
int getLifeTime() const
btScalar m_combinedRestitution
btVector3 m_localPointA
btVector3 m_lateralFrictionDir2
btVector3 m_positionWorldOnA
m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
btVector3 m_localPointB
btScalar m_combinedContactDamping1
btScalar m_appliedImpulseLateral2
btScalar m_appliedImpulse
void setDistance(btScalar dist)
void * m_userPersistentData
btScalar m_appliedImpulseLateral1
const btVector3 & getPositionWorldOnA() const
btVector3 m_normalWorldOnB
btScalar m_combinedFriction
btVector3 m_positionWorldOnB
btScalar m_contactMotion2
btScalar getAppliedImpulse() const
this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
btVector3 m_lateralFrictionDir1
btScalar m_contactMotion1
btManifoldPoint(const btVector3 &pointA, const btVector3 &pointB, const btVector3 &normal, btScalar distance)
IconTextureDrawCall normal
T distance(const T &a, const T &b)