src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h

   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) 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:
  45                         btManifoldPoint()
  46                                 :m_userPersistentData(0),
  47                                 m_appliedImpulse(0.f),
  48                                 m_lateralFrictionInitialized(false),
  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
  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_combinedRestitution(btScalar(0.)),
  68                                         m_userPersistentData(0),
  69                                         m_appliedImpulse(0.f),
  70                                         m_lateralFrictionInitialized(false),
  71                                         m_appliedImpulseLateral1(0.f),
  72                                         m_appliedImpulseLateral2(0.f),
  73                                         m_contactMotion1(0.f),
  74                                         m_contactMotion2(0.f),
  75                                         m_contactCFM1(0.f),
  76                                         m_contactCFM2(0.f),
  77                                         m_lifeTime(0)
  78                         {
  79                                 mConstraintRow[0].m_accumImpulse = 0.f;
  80                                 mConstraintRow[1].m_accumImpulse = 0.f;
  81                                 mConstraintRow[2].m_accumImpulse = 0.f;
  82                         }
  83
  84
  85
  86                         btVector3 m_localPointA;
  87                         btVector3 m_localPointB;
  88                         btVector3       m_positionWorldOnB;
  89                         ///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
  90                         btVector3       m_positionWorldOnA;
  91                         btVector3 m_normalWorldOnB;
  92
  93                         btScalar        m_distance1;
  94                         btScalar        m_combinedFriction;
  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                         btScalar                m_appliedImpulse;
 105
 106                         bool                    m_lateralFrictionInitialized;
 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                         btConstraintRow mConstraintRow[3];
 122
 123
 124                         btScalar getDistance() const
 125                         {
 126                                 return m_distance1;
 127                         }
 128                         int     getLifeTime() const
 129                         {
 130                                 return m_lifeTime;
 131                         }
 132
 133                         const btVector3& getPositionWorldOnA() const {
 134                                 return m_positionWorldOnA;
 135 //                              return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
 136                         }
 137
 138                         const btVector3& getPositionWorldOnB() const
 139                         {
 140                                 return m_positionWorldOnB;
 141                         }
 142
 143                         void    setDistance(btScalar dist)
 144                         {
 145                                 m_distance1 = dist;
 146                         }
 147
 148                         ///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
 149                         btScalar        getAppliedImpulse() const
 150                         {
 151                                 return m_appliedImpulse;
 152                         }
 153
 154
 155
 156         };
 157
 158 #endif //BT_MANIFOLD_CONTACT_POINT_H