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

Bullet Collision Detection & Physics Library

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"
20 #include "LinearMath/btTransformUtil.h"
21
22 #ifdef PFX_USE_FREE_VECTORMATH
23 #include "physics_effects/base_level/solver/pfx_constraint_row.h"
24 typedef sce::PhysicsEffects::PfxConstraintRow btConstraintRow;
25 #else
26 // Don't change following order of parameters
27 ATTRIBUTE_ALIGNED16(struct)
28 btConstraintRow
29 {
30 btScalar m_normal[3];
31 btScalar m_rhs;
32 btScalar m_jacDiagInv;
33 btScalar m_lowerLimit;
34 btScalar m_upperLimit;
35 btScalar m_accumImpulse;
36 };
37 typedef btConstraintRow PfxConstraintRow;
38 #endif //PFX_USE_FREE_VECTORMATH
39
40 enum btContactPointFlags
41 {
42 BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED = 1,
43 BT_CONTACT_FLAG_HAS_CONTACT_CFM = 2,
44 BT_CONTACT_FLAG_HAS_CONTACT_ERP = 4,
45 BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING = 8,
46 BT_CONTACT_FLAG_FRICTION_ANCHOR = 16,
47 };
48
51 class btManifoldPoint
52 {
53 public:
54 btManifoldPoint()
55 : m_userPersistentData(0),
56 m_contactPointFlags(0),
57 m_appliedImpulse(0.f),
58 m_appliedImpulseLateral1(0.f),
59 m_appliedImpulseLateral2(0.f),
60 m_contactMotion1(0.f),
61 m_contactMotion2(0.f),
62 m_contactCFM(0.f),
63 m_contactERP(0.f),
64 m_frictionCFM(0.f),
65 m_lifeTime(0)
66 {
67 }
68
69 btManifoldPoint(const btVector3& pointA, const btVector3& pointB,
70 const btVector3& normal,
71 btScalar distance) : m_localPointA(pointA),
72 m_localPointB(pointB),
73 m_normalWorldOnB(normal),
74 m_distance1(distance),
75 m_combinedFriction(btScalar(0.)),
76 m_combinedRollingFriction(btScalar(0.)),
77 m_combinedSpinningFriction(btScalar(0.)),
78 m_combinedRestitution(btScalar(0.)),
79 m_userPersistentData(0),
80 m_contactPointFlags(0),
81 m_appliedImpulse(0.f),
82 m_appliedImpulseLateral1(0.f),
83 m_appliedImpulseLateral2(0.f),
84 m_contactMotion1(0.f),
85 m_contactMotion2(0.f),
86 m_contactCFM(0.f),
87 m_contactERP(0.f),
88 m_frictionCFM(0.f),
89 m_lifeTime(0)
90 {
91 }
92
93 btVector3 m_localPointA;
94 btVector3 m_localPointB;
95 btVector3 m_positionWorldOnB;
97 btVector3 m_positionWorldOnA;
98 btVector3 m_normalWorldOnB;
99
100 btScalar m_distance1;
101 btScalar m_combinedFriction;
102 btScalar m_combinedRollingFriction; //torsional friction orthogonal to contact normal, useful to make spheres stop rolling forever
103 btScalar m_combinedSpinningFriction; //torsional friction around contact normal, useful for grasping objects
104 btScalar m_combinedRestitution;
105
106 //BP mod, store contact triangles.
107 int m_partId0;
108 int m_partId1;
109 int m_index0;
110 int m_index1;
111
112 mutable void* m_userPersistentData;
113 //bool m_lateralFrictionInitialized;
114 int m_contactPointFlags;
115
116 btScalar m_appliedImpulse;
117 btScalar m_appliedImpulseLateral1;
118 btScalar m_appliedImpulseLateral2;
119 btScalar m_contactMotion1;
120 btScalar m_contactMotion2;
121
122 union {
123 btScalar m_contactCFM;
124 btScalar m_combinedContactStiffness1;
125 };
126
127 union {
128 btScalar m_contactERP;
129 btScalar m_combinedContactDamping1;
130 };
131
132 btScalar m_frictionCFM;
133
134 int m_lifeTime; //lifetime of the contactpoint in frames
135
136 btVector3 m_lateralFrictionDir1;
137 btVector3 m_lateralFrictionDir2;
138
139 btScalar getDistance() const
140 {
141 return m_distance1;
142 }
143 int getLifeTime() const
144 {
145 return m_lifeTime;
146 }
147
148 const btVector3& getPositionWorldOnA() const
149 {
150 return m_positionWorldOnA;
151 // return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
152 }
153
154 const btVector3& getPositionWorldOnB() const
155 {
156 return m_positionWorldOnB;
157 }
158
159 void setDistance(btScalar dist)
160 {
161 m_distance1 = dist;
162 }
163
165 btScalar getAppliedImpulse() const
166 {
167 return m_appliedImpulse;
168 }
169 };
170
171 #endif //BT_MANIFOLD_CONTACT_POINT_H
btManifoldPoint::m_contactPointFlags
int m_contactPointFlags
Definition: btManifoldPoint.h:114
btTransformUtil.h
btManifoldPoint::getPositionWorldOnA
const btVector3 & getPositionWorldOnA() const
Definition: btManifoldPoint.h:148
btManifoldPoint::m_combinedContactStiffness1
btScalar m_combinedContactStiffness1
Definition: btManifoldPoint.h:124
btManifoldPoint::m_partId1
int m_partId1
Definition: btManifoldPoint.h:108
btManifoldPoint::m_lateralFrictionDir1
btVector3 m_lateralFrictionDir1
Definition: btManifoldPoint.h:136
btVector3.h
btConstraintRow
Definition: btManifoldPoint.h:27
btManifoldPoint::m_appliedImpulseLateral1
btScalar m_appliedImpulseLateral1
Definition: btManifoldPoint.h:117
BT_CONTACT_FLAG_HAS_CONTACT_ERP
Definition: btManifoldPoint.h:44
btManifoldPoint::m_combinedRestitution
btScalar m_combinedRestitution
Definition: btManifoldPoint.h:104
btManifoldPoint::m_contactERP
btScalar m_contactERP
Definition: btManifoldPoint.h:128
BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING
Definition: btManifoldPoint.h:45
btManifoldPoint::m_appliedImpulse
btScalar m_appliedImpulse
Definition: btManifoldPoint.h:116
PfxConstraintRow
btConstraintRow PfxConstraintRow
Definition: btManifoldPoint.h:37
btManifoldPoint::m_frictionCFM
btScalar m_frictionCFM
Definition: btManifoldPoint.h:132
btManifoldPoint
ManifoldContactPoint collects and maintains persistent contactpoints.
Definition: btManifoldPoint.h:51
btManifoldPoint::m_contactMotion1
btScalar m_contactMotion1
Definition: btManifoldPoint.h:119
btManifoldPoint::btManifoldPoint
btManifoldPoint(const btVector3 &pointA, const btVector3 &pointB, const btVector3 &normal, btScalar distance)
Definition: btManifoldPoint.h:69
btManifoldPoint::m_combinedRollingFriction
btScalar m_combinedRollingFriction
Definition: btManifoldPoint.h:102
btManifoldPoint::m_normalWorldOnB
btVector3 m_normalWorldOnB
Definition: btManifoldPoint.h:98
btManifoldPoint::m_userPersistentData
void * m_userPersistentData
Definition: btManifoldPoint.h:112
btManifoldPoint::m_positionWorldOnB
btVector3 m_positionWorldOnB
Definition: btManifoldPoint.h:95
btManifoldPoint::m_localPointA
btVector3 m_localPointA
Definition: btManifoldPoint.h:93
btManifoldPoint::getPositionWorldOnB
const btVector3 & getPositionWorldOnB() const
Definition: btManifoldPoint.h:154
btManifoldPoint::m_appliedImpulseLateral2
btScalar m_appliedImpulseLateral2
Definition: btManifoldPoint.h:118
btContactPointFlags
btContactPointFlags
Definition: btManifoldPoint.h:40
btManifoldPoint::getAppliedImpulse
btScalar getAppliedImpulse() const
this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver...
Definition: btManifoldPoint.h:165
btManifoldPoint::m_lifeTime
int m_lifeTime
Definition: btManifoldPoint.h:134
btConstraintRow::m_accumImpulse
btScalar m_accumImpulse
Definition: btManifoldPoint.h:35
btManifoldPoint::m_positionWorldOnA
btVector3 m_positionWorldOnA
m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity ...
Definition: btManifoldPoint.h:97
BT_CONTACT_FLAG_HAS_CONTACT_CFM
Definition: btManifoldPoint.h:43
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED
Definition: btManifoldPoint.h:42
btConstraintRow::m_lowerLimit
btScalar m_lowerLimit
Definition: btManifoldPoint.h:33
btManifoldPoint::m_contactCFM
btScalar m_contactCFM
Definition: btManifoldPoint.h:123
btManifoldPoint::m_index1
int m_index1
Definition: btManifoldPoint.h:110
btManifoldPoint::m_distance1
btScalar m_distance1
Definition: btManifoldPoint.h:100
btManifoldPoint::m_combinedContactDamping1
btScalar m_combinedContactDamping1
Definition: btManifoldPoint.h:129
btManifoldPoint::m_localPointB
btVector3 m_localPointB
Definition: btManifoldPoint.h:94
BT_CONTACT_FLAG_FRICTION_ANCHOR
Definition: btManifoldPoint.h:46
btManifoldPoint::setDistance
void setDistance(btScalar dist)
Definition: btManifoldPoint.h:159
btManifoldPoint::m_contactMotion2
btScalar m_contactMotion2
Definition: btManifoldPoint.h:120
btConstraintRow::m_upperLimit
btScalar m_upperLimit
Definition: btManifoldPoint.h:34
btManifoldPoint::m_combinedFriction
btScalar m_combinedFriction
Definition: btManifoldPoint.h:101
btManifoldPoint::btManifoldPoint
btManifoldPoint()
Definition: btManifoldPoint.h:54
btConstraintRow::m_rhs
btScalar m_rhs
Definition: btManifoldPoint.h:31
btConstraintRow::m_jacDiagInv
btScalar m_jacDiagInv
Definition: btManifoldPoint.h:32
btManifoldPoint::m_lateralFrictionDir2
btVector3 m_lateralFrictionDir2
Definition: btManifoldPoint.h:137
btManifoldPoint::getLifeTime
int getLifeTime() const
Definition: btManifoldPoint.h:143
btManifoldPoint::getDistance
btScalar getDistance() const
Definition: btManifoldPoint.h:139
btManifoldPoint::m_partId0
int m_partId0
Definition: btManifoldPoint.h:107
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btManifoldPoint::m_combinedSpinningFriction
btScalar m_combinedSpinningFriction
Definition: btManifoldPoint.h:103
btManifoldPoint::m_index0
int m_index0
Definition: btManifoldPoint.h:109