Bullet Collision Detection & Physics Library: btSolverConstraint.h Source File

Bullet Collision Detection & Physics Library

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"
23 #include "LinearMath/btAlignedObjectArray.h"
24
25 //#define NO_FRICTION_TANGENTIALS 1
26 #include "btSolverBody.h"
27
28
30 ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
31 {
32 BT_DECLARE_ALIGNED_ALLOCATOR();
33
34 btVector3 m_relpos1CrossNormal;
35 btVector3 m_contactNormal1;
36
37 btVector3 m_relpos2CrossNormal;
38 btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always
39
40 btVector3 m_angularComponentA;
41 btVector3 m_angularComponentB;
42
43 mutable btSimdScalar m_appliedPushImpulse;
44 mutable btSimdScalar m_appliedImpulse;
45
46 btScalar m_friction;
47 btScalar m_jacDiagABInv;
48 btScalar m_rhs;
49 btScalar m_cfm;
50
51 btScalar m_lowerLimit;
52 btScalar m_upperLimit;
53 btScalar m_rhsPenetration;
54 union
55 {
56 void* m_originalContactPoint;
57 btScalar m_unusedPadding4;
58 int m_numRowsForNonContactConstraint;
59 };
60
61 int m_overrideNumSolverIterations;
62 int m_frictionIndex;
63 int m_solverBodyIdA;
64 int m_solverBodyIdB;
65
66
67 enum btSolverConstraintType
68 {
69 BT_SOLVER_CONTACT_1D = 0,
70 BT_SOLVER_FRICTION_1D
71 };
72 };
73
74 typedef btAlignedObjectArray<btSolverConstraint> btConstraintArray;
75
76
77 #endif //BT_SOLVER_CONSTRAINT_H
78
79
80
btSolverConstraint::m_overrideNumSolverIterations
int m_overrideNumSolverIterations
Definition: btSolverConstraint.h:61
btSolverConstraint::m_relpos1CrossNormal
btVector3 m_relpos1CrossNormal
Definition: btSolverConstraint.h:34
btAlignedObjectArray< btSolverConstraint >
btVector3.h
btSolverConstraint::m_friction
btScalar m_friction
Definition: btSolverConstraint.h:46
btSolverConstraint::m_rhsPenetration
btScalar m_rhsPenetration
Definition: btSolverConstraint.h:53
btSolverConstraint::m_jacDiagABInv
btScalar m_jacDiagABInv
Definition: btSolverConstraint.h:47
btConstraintArray
btAlignedObjectArray< btSolverConstraint > btConstraintArray
Definition: btSolverConstraint.h:74
btSolverConstraint::m_unusedPadding4
btScalar m_unusedPadding4
Definition: btSolverConstraint.h:57
btSolverConstraint
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
Definition: btSolverConstraint.h:30
btSolverConstraint::m_relpos2CrossNormal
btVector3 m_relpos2CrossNormal
Definition: btSolverConstraint.h:37
btMatrix3x3.h
btSimdScalar
#define btSimdScalar
Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later...
Definition: btSolverBody.h:104
btSolverConstraint::m_angularComponentA
btVector3 m_angularComponentA
Definition: btSolverConstraint.h:40
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:62
btSolverConstraint::m_angularComponentB
btVector3 m_angularComponentB
Definition: btSolverConstraint.h:41
btSolverConstraint::m_solverBodyIdB
int m_solverBodyIdB
Definition: btSolverConstraint.h:64
btSolverConstraint::m_upperLimit
btScalar m_upperLimit
Definition: btSolverConstraint.h:52
btJacobianEntry.h
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:65
btSolverConstraint::m_rhs
btScalar m_rhs
Definition: btSolverConstraint.h:48
btSolverConstraint::m_appliedPushImpulse
btSimdScalar m_appliedPushImpulse
Definition: btSolverConstraint.h:43
btSolverConstraint::m_originalContactPoint
void * m_originalContactPoint
Definition: btSolverConstraint.h:56
btSolverConstraint::m_cfm
btScalar m_cfm
Definition: btSolverConstraint.h:49
btSolverConstraint::m_solverBodyIdA
int m_solverBodyIdA
Definition: btSolverConstraint.h:63
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:389
btAlignedObjectArray.h
btSolverConstraint::m_contactNormal1
btVector3 m_contactNormal1
Definition: btSolverConstraint.h:35
btSolverConstraint::m_numRowsForNonContactConstraint
int m_numRowsForNonContactConstraint
Definition: btSolverConstraint.h:58
btSolverConstraint::btSolverConstraintType
btSolverConstraintType
Definition: btSolverConstraint.h:67
btSolverConstraint::m_lowerLimit
btScalar m_lowerLimit
Definition: btSolverConstraint.h:51
btSolverConstraint::m_appliedImpulse
btSimdScalar m_appliedImpulse
Definition: btSolverConstraint.h:44
btSolverBody.h
btSolverConstraint::m_frictionIndex
int m_frictionIndex
Definition: btSolverConstraint.h:62
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279
btSolverConstraint::m_contactNormal2
btVector3 m_contactNormal2
Definition: btSolverConstraint.h:38