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 ATTRIBUTE_ALIGNED16(struct)27 ATTRIBUTE_ALIGNED16(struct) btConstraintRow { 28 btScalar m_normal[3]; 29 btScalar m_rhs; 30 btScalar m_jacDiagInv; 31 btScalar m_lowerLimit; 32 btScalar m_upperLimit; 33 btScalar m_accumImpulse; 34 }; 35 typedef btConstraintRow PfxConstraintRow; 36 #endif //PFX_USE_FREE_VECTORMATH 37 38 39 40 /// ManifoldContactPoint collects and maintains persistent contactpoints. 41 /// used to improve stability and performance of rigidbody dynamics response. 42 class btManifoldPoint 43 { 44 public: btManifoldPoint()45 btManifoldPoint() 46 :m_userPersistentData(0), 47 m_lateralFrictionInitialized(false), 48 m_appliedImpulse(0.f), 49 m_appliedImpulseLateral1(0.f), 50 m_appliedImpulseLateral2(0.f), 51 m_contactMotion1(0.f), 52 m_contactMotion2(0.f), 53 m_contactCFM1(0.f), 54 m_contactCFM2(0.f), 55 m_lifeTime(0) 56 { 57 } 58 btManifoldPoint(const btVector3 & pointA,const btVector3 & pointB,const btVector3 & normal,btScalar distance)59 btManifoldPoint( const btVector3 &pointA, const btVector3 &pointB, 60 const btVector3 &normal, 61 btScalar distance ) : 62 m_localPointA( pointA ), 63 m_localPointB( pointB ), 64 m_normalWorldOnB( normal ), 65 m_distance1( distance ), 66 m_combinedFriction(btScalar(0.)), 67 m_combinedRollingFriction(btScalar(0.)), 68 m_combinedRestitution(btScalar(0.)), 69 m_userPersistentData(0), 70 m_lateralFrictionInitialized(false), 71 m_appliedImpulse(0.f), 72 m_appliedImpulseLateral1(0.f), 73 m_appliedImpulseLateral2(0.f), 74 m_contactMotion1(0.f), 75 m_contactMotion2(0.f), 76 m_contactCFM1(0.f), 77 m_contactCFM2(0.f), 78 m_lifeTime(0) 79 { 80 81 } 82 83 84 85 btVector3 m_localPointA; 86 btVector3 m_localPointB; 87 btVector3 m_positionWorldOnB; 88 ///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity 89 btVector3 m_positionWorldOnA; 90 btVector3 m_normalWorldOnB; 91 92 btScalar m_distance1; 93 btScalar m_combinedFriction; 94 btScalar m_combinedRollingFriction; 95 btScalar m_combinedRestitution; 96 97 //BP mod, store contact triangles. 98 int m_partId0; 99 int m_partId1; 100 int m_index0; 101 int m_index1; 102 103 mutable void* m_userPersistentData; 104 bool m_lateralFrictionInitialized; 105 106 btScalar m_appliedImpulse; 107 btScalar m_appliedImpulseLateral1; 108 btScalar m_appliedImpulseLateral2; 109 btScalar m_contactMotion1; 110 btScalar m_contactMotion2; 111 btScalar m_contactCFM1; 112 btScalar m_contactCFM2; 113 114 int m_lifeTime;//lifetime of the contactpoint in frames 115 116 btVector3 m_lateralFrictionDir1; 117 btVector3 m_lateralFrictionDir2; 118 119 120 121 getDistance()122 btScalar getDistance() const 123 { 124 return m_distance1; 125 } getLifeTime()126 int getLifeTime() const 127 { 128 return m_lifeTime; 129 } 130 getPositionWorldOnA()131 const btVector3& getPositionWorldOnA() const { 132 return m_positionWorldOnA; 133 // return m_positionWorldOnB + m_normalWorldOnB * m_distance1; 134 } 135 getPositionWorldOnB()136 const btVector3& getPositionWorldOnB() const 137 { 138 return m_positionWorldOnB; 139 } 140 setDistance(btScalar dist)141 void setDistance(btScalar dist) 142 { 143 m_distance1 = dist; 144 } 145 146 ///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver getAppliedImpulse()147 btScalar getAppliedImpulse() const 148 { 149 return m_appliedImpulse; 150 } 151 152 153 154 }; 155 156 #endif //BT_MANIFOLD_CONTACT_POINT_H 157