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"
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 
42 class btManifoldPoint
43  {
44  public:
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 
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;
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 
122  btScalar getDistance() const
123  {
124  return m_distance1;
125  }
126  int getLifeTime() const
127  {
128  return m_lifeTime;
129  }
130 
131  const btVector3& getPositionWorldOnA() const {
132  return m_positionWorldOnA;
133 // return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
134  }
135 
136  const btVector3& getPositionWorldOnB() const
137  {
138  return m_positionWorldOnB;
139  }
140 
141  void setDistance(btScalar dist)
142  {
143  m_distance1 = dist;
144  }
145 
147  btScalar getAppliedImpulse() const
148  {
149  return m_appliedImpulse;
150  }
151 
152 
153 
154  };
155 
156 #endif //BT_MANIFOLD_CONTACT_POINT_H
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