Blender  V3.3
btSolverConstraint.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_SOLVER_CONSTRAINT_H
17 #define BT_SOLVER_CONSTRAINT_H
18 
19 class btRigidBody;
20 #include "LinearMath/btVector3.h"
21 #include "LinearMath/btMatrix3x3.h"
22 #include "btJacobianEntry.h"
24 
25 //#define NO_FRICTION_TANGENTIALS 1
26 #include "btSolverBody.h"
27 
29 ATTRIBUTE_ALIGNED16(struct)
31 {
33 
36 
38  btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always
39 
42 
45 
50 
54  union {
58  };
59 
64 
66  {
69  };
70 };
71 
73 
74 #endif //BT_SOLVER_CONSTRAINT_H
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:425
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
#define btSimdScalar
Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later,...
Definition: btSolverBody.h:99
btVector3 m_relpos2CrossNormal
int m_frictionIndex
int m_solverBodyIdA
btSimdScalar m_appliedImpulse
btSimdScalar m_appliedPushImpulse
btScalar m_unusedPadding4
btSolverConstraintType
@ BT_SOLVER_CONTACT_1D
@ BT_SOLVER_FRICTION_1D
btVector3 m_contactNormal1
btScalar m_rhsPenetration
int m_solverBodyIdB
btScalar m_friction
int m_overrideNumSolverIterations
btScalar m_lowerLimit
void * m_originalContactPoint
btScalar m_upperLimit
btVector3 m_relpos1CrossNormal
int m_numRowsForNonContactConstraint
btSolverConstraint
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
btScalar m_jacDiagABInv
btVector3 m_angularComponentA
btAlignedObjectArray< btSolverConstraint > btConstraintArray
btScalar m_rhs
btVector3 m_angularComponentB
btVector3 m_contactNormal2
btScalar m_cfm
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