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_prevRHS(0.f),
59 m_appliedImpulseLateral1(0.f),
60 m_appliedImpulseLateral2(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),
74 m_normalWorldOnB(normal),
75 m_distance1(distance),
76 m_combinedFriction(btScalar(0.)),
77 m_combinedRollingFriction(btScalar(0.)),
78 m_combinedSpinningFriction(btScalar(0.)),
79 m_combinedRestitution(btScalar(0.)),
80 m_userPersistentData(0),
81 m_contactPointFlags(0),
82 m_appliedImpulse(0.f),
83 m_prevRHS(0.f),
84 m_appliedImpulseLateral1(0.f),
85 m_appliedImpulseLateral2(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
95 btVector3 m_localPointA;
96 btVector3 m_localPointB;
97 btVector3 m_positionWorldOnB;
99 btVector3 m_positionWorldOnA;
100 btVector3 m_normalWorldOnB;
101
102 btScalar m_distance1;
103 btScalar m_combinedFriction;
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
106 btScalar m_combinedRestitution;
107
108 //BP mod, store contact triangles.
109 int m_partId0;
110 int m_partId1;
111 int m_index0;
112 int m_index1;
113
114 mutable void* m_userPersistentData;
115 //bool m_lateralFrictionInitialized;
116 int m_contactPointFlags;
117
118 btScalar m_appliedImpulse;
119 btScalar m_prevRHS;
120 btScalar m_appliedImpulseLateral1;
121 btScalar m_appliedImpulseLateral2;
122 btScalar m_contactMotion1;
123 btScalar m_contactMotion2;
124
125 union {
126 btScalar m_contactCFM;
127 btScalar m_combinedContactStiffness1;
128 };
129
130 union {
131 btScalar m_contactERP;
132 btScalar m_combinedContactDamping1;
133 };
134
135 btScalar m_frictionCFM;
136
137 int m_lifeTime; //lifetime of the contactpoint in frames
138
139 btVector3 m_lateralFrictionDir1;
140 btVector3 m_lateralFrictionDir2;
141
142 btScalar getDistance() const
143 {
144 return m_distance1;
145 }
146 int getLifeTime() const
147 {
148 return m_lifeTime;
149 }
150
151 const btVector3& getPositionWorldOnA() const
152 {
153 return m_positionWorldOnA;
154 // return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
155 }
156
157 const btVector3& getPositionWorldOnB() const
158 {
159 return m_positionWorldOnB;
160 }
161
162 void setDistance(btScalar dist)
163 {
164 m_distance1 = dist;
165 }
166
168 btScalar getAppliedImpulse() const
169 {
170 return m_appliedImpulse;
171 }
172 };
173
174 #endif //BT_MANIFOLD_CONTACT_POINT_H
btContactPointFlags
btContactPointFlags
Definition: btManifoldPoint.h:41
BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED
@ BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED
Definition: btManifoldPoint.h:42
BT_CONTACT_FLAG_HAS_CONTACT_ERP
@ BT_CONTACT_FLAG_HAS_CONTACT_ERP
Definition: btManifoldPoint.h:44
BT_CONTACT_FLAG_HAS_CONTACT_CFM
@ BT_CONTACT_FLAG_HAS_CONTACT_CFM
Definition: btManifoldPoint.h:43
BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING
@ BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING
Definition: btManifoldPoint.h:45
BT_CONTACT_FLAG_FRICTION_ANCHOR
@ BT_CONTACT_FLAG_FRICTION_ANCHOR
Definition: btManifoldPoint.h:46
PfxConstraintRow
btConstraintRow PfxConstraintRow
Definition: btManifoldPoint.h:37
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btTransformUtil.h
btVector3.h
btManifoldPoint
ManifoldContactPoint collects and maintains persistent contactpoints.
Definition: btManifoldPoint.h:52
btManifoldPoint::m_partId0
int m_partId0
Definition: btManifoldPoint.h:109
btManifoldPoint::m_index1
int m_index1
Definition: btManifoldPoint.h:112
btManifoldPoint::btManifoldPoint
btManifoldPoint()
Definition: btManifoldPoint.h:54
btManifoldPoint::m_frictionCFM
btScalar m_frictionCFM
Definition: btManifoldPoint.h:135
btManifoldPoint::m_combinedSpinningFriction
btScalar m_combinedSpinningFriction
Definition: btManifoldPoint.h:105
btManifoldPoint::m_combinedRollingFriction
btScalar m_combinedRollingFriction
Definition: btManifoldPoint.h:104
btManifoldPoint::getDistance
btScalar getDistance() const
Definition: btManifoldPoint.h:142
btManifoldPoint::m_contactPointFlags
int m_contactPointFlags
Definition: btManifoldPoint.h:116
btManifoldPoint::m_combinedContactStiffness1
btScalar m_combinedContactStiffness1
Definition: btManifoldPoint.h:127
btManifoldPoint::getPositionWorldOnB
const btVector3 & getPositionWorldOnB() const
Definition: btManifoldPoint.h:157
btManifoldPoint::getLifeTime
int getLifeTime() const
Definition: btManifoldPoint.h:146
btManifoldPoint::m_combinedRestitution
btScalar m_combinedRestitution
Definition: btManifoldPoint.h:106
btManifoldPoint::m_localPointA
btVector3 m_localPointA
Definition: btManifoldPoint.h:95
btManifoldPoint::m_lateralFrictionDir2
btVector3 m_lateralFrictionDir2
Definition: btManifoldPoint.h:140
btManifoldPoint::m_positionWorldOnA
btVector3 m_positionWorldOnA
m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
Definition: btManifoldPoint.h:99
btManifoldPoint::m_index0
int m_index0
Definition: btManifoldPoint.h:111
btManifoldPoint::m_localPointB
btVector3 m_localPointB
Definition: btManifoldPoint.h:96
btManifoldPoint::m_combinedContactDamping1
btScalar m_combinedContactDamping1
Definition: btManifoldPoint.h:132
btManifoldPoint::m_appliedImpulseLateral2
btScalar m_appliedImpulseLateral2
Definition: btManifoldPoint.h:121
btManifoldPoint::m_appliedImpulse
btScalar m_appliedImpulse
Definition: btManifoldPoint.h:118
btManifoldPoint::m_distance1
btScalar m_distance1
Definition: btManifoldPoint.h:102
btManifoldPoint::setDistance
void setDistance(btScalar dist)
Definition: btManifoldPoint.h:162
btManifoldPoint::m_partId1
int m_partId1
Definition: btManifoldPoint.h:110
btManifoldPoint::m_userPersistentData
void * m_userPersistentData
Definition: btManifoldPoint.h:114
btManifoldPoint::m_appliedImpulseLateral1
btScalar m_appliedImpulseLateral1
Definition: btManifoldPoint.h:120
btManifoldPoint::m_prevRHS
btScalar m_prevRHS
Definition: btManifoldPoint.h:119
btManifoldPoint::m_contactCFM
btScalar m_contactCFM
Definition: btManifoldPoint.h:126
btManifoldPoint::getPositionWorldOnA
const btVector3 & getPositionWorldOnA() const
Definition: btManifoldPoint.h:151
btManifoldPoint::m_lifeTime
int m_lifeTime
Definition: btManifoldPoint.h:137
btManifoldPoint::m_normalWorldOnB
btVector3 m_normalWorldOnB
Definition: btManifoldPoint.h:100
btManifoldPoint::m_combinedFriction
btScalar m_combinedFriction
Definition: btManifoldPoint.h:103
btManifoldPoint::m_contactERP
btScalar m_contactERP
Definition: btManifoldPoint.h:131
btManifoldPoint::m_positionWorldOnB
btVector3 m_positionWorldOnB
Definition: btManifoldPoint.h:97
btManifoldPoint::m_contactMotion2
btScalar m_contactMotion2
Definition: btManifoldPoint.h:123
btManifoldPoint::getAppliedImpulse
btScalar getAppliedImpulse() const
this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
Definition: btManifoldPoint.h:168
btManifoldPoint::m_lateralFrictionDir1
btVector3 m_lateralFrictionDir1
Definition: btManifoldPoint.h:139
btManifoldPoint::m_contactMotion1
btScalar m_contactMotion1
Definition: btManifoldPoint.h:122
btManifoldPoint::btManifoldPoint
btManifoldPoint(const btVector3 &pointA, const btVector3 &pointB, const btVector3 &normal, btScalar distance)
Definition: btManifoldPoint.h:70
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btConstraintRow
Definition: btManifoldPoint.h:29
btConstraintRow::m_jacDiagInv
btScalar m_jacDiagInv
Definition: btManifoldPoint.h:32
btConstraintRow::m_upperLimit
btScalar m_upperLimit
Definition: btManifoldPoint.h:34
btConstraintRow::m_lowerLimit
btScalar m_lowerLimit
Definition: btManifoldPoint.h:33
btConstraintRow::m_accumImpulse
btScalar m_accumImpulse
Definition: btManifoldPoint.h:35
btConstraintRow::m_rhs
btScalar m_rhs
Definition: btManifoldPoint.h:31