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"
21 
22 #ifdef PFX_USE_FREE_VECTORMATH
23 #include "physics_effects/base_level/solver/pfx_constraint_row.h"
25 #else
26 // Don't change following order of parameters
29 {
30  btScalar m_normal[3];
36 };
38 #endif //PFX_USE_FREE_VECTORMATH
39 
41 {
47 };
48 
52 {
53 public:
57  m_appliedImpulse(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),
81  m_appliedImpulse(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 
99 
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
105 
106  //BP mod, store contact triangles.
109  int m_index0;
110  int m_index1;
111 
112  mutable void* m_userPersistentData;
113  //bool m_lateralFrictionInitialized;
115 
121 
122  union {
125  };
126 
127  union {
130  };
131 
133 
134  int m_lifeTime; //lifetime of the contactpoint in frames
135 
138 
140  {
141  return m_distance1;
142  }
143  int getLifeTime() const
144  {
145  return m_lifeTime;
146  }
147 
149  {
150  return m_positionWorldOnA;
151  // return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
152  }
153 
155  {
156  return m_positionWorldOnB;
157  }
158 
160  {
161  m_distance1 = dist;
162  }
163 
166  {
167  return m_appliedImpulse;
168  }
169 };
170 
171 #endif //BT_MANIFOLD_CONTACT_POINT_H
const btVector3 & getPositionWorldOnA() const
btScalar m_combinedContactStiffness1
btVector3 m_lateralFrictionDir1
btScalar m_appliedImpulseLateral1
btScalar m_combinedRestitution
btScalar m_appliedImpulse
btConstraintRow PfxConstraintRow
btScalar m_frictionCFM
ManifoldContactPoint collects and maintains persistent contactpoints.
btScalar m_contactMotion1
btManifoldPoint(const btVector3 &pointA, const btVector3 &pointB, const btVector3 &normal, btScalar distance)
btScalar m_combinedRollingFriction
btVector3 m_normalWorldOnB
void * m_userPersistentData
btVector3 m_positionWorldOnB
btVector3 m_localPointA
const btVector3 & getPositionWorldOnB() const
btScalar m_appliedImpulseLateral2
btContactPointFlags
btScalar getAppliedImpulse() const
this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver...
btScalar m_accumImpulse
btVector3 m_positionWorldOnA
m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity ...
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
btScalar m_lowerLimit
btScalar m_combinedContactDamping1
btVector3 m_localPointB
void setDistance(btScalar dist)
btScalar m_contactMotion2
btScalar m_upperLimit
btScalar m_combinedFriction
btScalar m_jacDiagInv
btVector3 m_lateralFrictionDir2
int getLifeTime() const
btScalar getDistance() const
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btScalar m_combinedSpinningFriction