Blender  V3.3
btMultiBodySolverConstraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
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_MULTIBODY_SOLVER_CONSTRAINT_H
17 #define BT_MULTIBODY_SOLVER_CONSTRAINT_H
18 
19 #include "LinearMath/btVector3.h"
21 
22 class btMultiBody;
26 
28 ATTRIBUTE_ALIGNED16(struct)
30 {
32 
34  {
35  }
36 
37  int m_deltaVelAindex; //more generic version of m_relpos1CrossNormal/m_contactNormal1
41 
45  btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always
46 
49 
52 
57 
61  union {
64  };
65 
68 
71  int m_linkA;
72 
75  int m_linkB;
76 
77  //for writing back applied impulses
80 
82  {
85  };
86 };
87 
89 
90 #endif //BT_MULTIBODY_SOLVER_CONSTRAINT_H
btMultiBodyConstraint
btVector3 m_relpos2CrossNormal
btSimdScalar m_appliedImpulse
btSimdScalar m_appliedPushImpulse
btAlignedObjectArray< btMultiBodySolverConstraint > btMultiBodyConstraintArray
btMultiBody * m_multiBodyB
btScalar m_unusedPadding4
btVector3 m_contactNormal1
btMultiBodySolverConstraint
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
int m_deltaVelBindex
btScalar m_rhsPenetration
btScalar m_friction
int m_deltaVelAindex
int m_overrideNumSolverIterations
btMultiBody * m_multiBodyA
btScalar m_lowerLimit
void * m_originalContactPoint
btScalar m_upperLimit
btVector3 m_relpos1CrossNormal
btMultiBodyConstraint * m_orgConstraint
btScalar m_jacDiagABInv
btVector3 m_angularComponentA
btScalar m_rhs
btVector3 m_angularComponentB
btVector3 m_contactNormal2
btScalar m_cfm
btMultiBody
Definition: btMultiBody.h:51
#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
btSolverConstraintType
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