bullet: Update to current svn, r2636
[blender.git] / extern / bullet2 / 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_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;
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
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                         
146                         ///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
147                         btScalar        getAppliedImpulse() const
148                         {
149                                 return m_appliedImpulse;
150                         }
151
152                         
153
154         };
155
156 #endif //BT_MANIFOLD_CONTACT_POINT_H