dali-physics/third-party/bullet3/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
   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
  49 /// ManifoldContactPoint collects and maintains persistent contactpoints.
  50 /// used to improve stability and performance of rigidbody dynamics response.
  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_positionWorldOnB(0,0,0),
  75                                                                                  m_positionWorldOnA(0,0,0),
  76                                                                                  m_normalWorldOnB(normal),
  77                                                                                  m_distance1(distance),
  78                                                                                  m_combinedFriction(btScalar(0.)),
  79                                                                                  m_combinedRollingFriction(btScalar(0.)),
  80                                                                                  m_combinedSpinningFriction(btScalar(0.)),
  81                                                                                  m_combinedRestitution(btScalar(0.)),
  82                                                                                  m_partId0(-1),
  83                                                                                  m_partId1(-1),
  84                                                                                  m_index0(-1),
  85                                                                                  m_index1(-1),
  86                                                                                  m_userPersistentData(0),
  87                                                                                  m_contactPointFlags(0),
  88                                                                                  m_appliedImpulse(0.f),
  89                                                                                  m_prevRHS(0.f),
  90                                                                                  m_appliedImpulseLateral1(0.f),
  91                                                                                  m_appliedImpulseLateral2(0.f),
  92                                                                                  m_contactMotion1(0.f),
  93                                                                                  m_contactMotion2(0.f),
  94                                                                                  m_contactCFM(0.f),
  95                                                                                  m_contactERP(0.f),
  96                                                                                  m_frictionCFM(0.f),
  97                                                                                  m_lifeTime(0),
  98                                                                                  m_lateralFrictionDir1(0,0,0),
  99                                                                                  m_lateralFrictionDir2(0,0,0)
 100         {
 101         }
 102
 103         btVector3 m_localPointA;
 104         btVector3 m_localPointB;
 105         btVector3 m_positionWorldOnB;
 106         ///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
 107         btVector3 m_positionWorldOnA;
 108         btVector3 m_normalWorldOnB;
 109
 110         btScalar m_distance1;
 111         btScalar m_combinedFriction;
 112         btScalar m_combinedRollingFriction;   //torsional friction orthogonal to contact normal, useful to make spheres stop rolling forever
 113         btScalar m_combinedSpinningFriction;  //torsional friction around contact normal, useful for grasping objects
 114         btScalar m_combinedRestitution;
 115
 116         //BP mod, store contact triangles.
 117         int m_partId0;
 118         int m_partId1;
 119         int m_index0;
 120         int m_index1;
 121
 122         mutable void* m_userPersistentData;
 123         //bool                  m_lateralFrictionInitialized;
 124         int m_contactPointFlags;
 125
 126         btScalar m_appliedImpulse;
 127         btScalar m_prevRHS;
 128         btScalar m_appliedImpulseLateral1;
 129         btScalar m_appliedImpulseLateral2;
 130         btScalar m_contactMotion1;
 131         btScalar m_contactMotion2;
 132
 133         union {
 134                 btScalar m_contactCFM;
 135                 btScalar m_combinedContactStiffness1;
 136         };
 137
 138         union {
 139                 btScalar m_contactERP;
 140                 btScalar m_combinedContactDamping1;
 141         };
 142
 143         btScalar m_frictionCFM;
 144
 145         int m_lifeTime;  //lifetime of the contactpoint in frames
 146
 147         btVector3 m_lateralFrictionDir1;
 148         btVector3 m_lateralFrictionDir2;
 149
 150         btScalar getDistance() const
 151         {
 152                 return m_distance1;
 153         }
 154         int getLifeTime() const
 155         {
 156                 return m_lifeTime;
 157         }
 158
 159         const btVector3& getPositionWorldOnA() const
 160         {
 161                 return m_positionWorldOnA;
 162                 //                              return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
 163         }
 164
 165         const btVector3& getPositionWorldOnB() const
 166         {
 167                 return m_positionWorldOnB;
 168         }
 169
 170         void setDistance(btScalar dist)
 171         {
 172                 m_distance1 = dist;
 173         }
 174
 175         ///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
 176         btScalar getAppliedImpulse() const
 177         {
 178                 return m_appliedImpulse;
 179         }
 180 };
 181
 182 #endif  //BT_MANIFOLD_CONTACT_POINT_H