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"
24 
25 //#define NO_FRICTION_TANGENTIALS 1
26 #include "btSolverBody.h"
27 
31 {
33 
36 
38  btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always
39 
42 
45 
50 
54  union {
58  };
59 
64 
66  {
67  BT_SOLVER_CONTACT_1D = 0,
68  BT_SOLVER_FRICTION_1D
69  };
70 };
71 
73 
74 #endif //BT_SOLVER_CONSTRAINT_H
btSolverConstraint::m_lowerLimit
btScalar m_lowerLimit
Definition: btSolverConstraint.h:51
btSolverConstraint::m_relpos2CrossNormal
btVector3 m_relpos2CrossNormal
Definition: btSolverConstraint.h:37
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
btSolverConstraint::m_friction
btScalar m_friction
Definition: btSolverConstraint.h:46
btSolverConstraint::m_appliedPushImpulse
btSimdScalar m_appliedPushImpulse
Definition: btSolverConstraint.h:43
btSolverConstraint
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
Definition: btSolverConstraint.h:29
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btSolverConstraint::m_contactNormal2
btVector3 m_contactNormal2
Definition: btSolverConstraint.h:38
btSolverConstraint::m_cfm
btScalar m_cfm
Definition: btSolverConstraint.h:49
btMatrix3x3.h
btSolverConstraint::m_numRowsForNonContactConstraint
int m_numRowsForNonContactConstraint
Definition: btSolverConstraint.h:57
btSolverConstraint::m_rhsPenetration
btScalar m_rhsPenetration
Definition: btSolverConstraint.h:53
btSolverConstraint::m_originalContactPoint
void * m_originalContactPoint
Definition: btSolverConstraint.h:55
btSolverConstraint::m_angularComponentB
btVector3 m_angularComponentB
Definition: btSolverConstraint.h:41
btSolverConstraint::m_contactNormal1
btVector3 m_contactNormal1
Definition: btSolverConstraint.h:35
btJacobianEntry.h
btSolverBody.h
btVector3.h
btSimdScalar
#define btSimdScalar
Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later,...
Definition: btSolverBody.h:99
btSolverConstraint::btSolverConstraintType
btSolverConstraintType
Definition: btSolverConstraint.h:65
btSolverConstraint::m_rhs
btScalar m_rhs
Definition: btSolverConstraint.h:48
btSolverConstraint::m_jacDiagABInv
btScalar m_jacDiagABInv
Definition: btSolverConstraint.h:47
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:425
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btSolverConstraint::m_upperLimit
btScalar m_upperLimit
Definition: btSolverConstraint.h:52
btSolverConstraint::m_overrideNumSolverIterations
int m_overrideNumSolverIterations
Definition: btSolverConstraint.h:60
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btAlignedObjectArray< btSolverConstraint >
btSolverConstraint::m_solverBodyIdA
int m_solverBodyIdA
Definition: btSolverConstraint.h:62
btConstraintArray
btAlignedObjectArray< btSolverConstraint > btConstraintArray
Definition: btSolverConstraint.h:72
btSolverConstraint::m_solverBodyIdB
int m_solverBodyIdB
Definition: btSolverConstraint.h:63
btSolverConstraint::m_relpos1CrossNormal
btVector3 m_relpos1CrossNormal
Definition: btSolverConstraint.h:34
btAlignedObjectArray.h
btSolverConstraint::m_unusedPadding4
btScalar m_unusedPadding4
Definition: btSolverConstraint.h:56
btSolverConstraint::m_appliedImpulse
btSimdScalar m_appliedImpulse
Definition: btSolverConstraint.h:44
btSolverConstraint::m_frictionIndex
int m_frictionIndex
Definition: btSolverConstraint.h:61
btSolverConstraint::m_angularComponentA
btVector3 m_angularComponentA
Definition: btSolverConstraint.h:40