btSolverConstraint.h

Go to the documentation of this file.
00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #ifndef BT_SOLVER_CONSTRAINT_H
00017 #define BT_SOLVER_CONSTRAINT_H
00018 
00019 class   btRigidBody;
00020 #include "LinearMath/btVector3.h"
00021 #include "LinearMath/btMatrix3x3.h"
00022 #include "btJacobianEntry.h"
00023 #include "LinearMath/btAlignedObjectArray.h"
00024 
00025 //#define NO_FRICTION_TANGENTIALS 1
00026 #include "btSolverBody.h"
00027 
00028 
00030 ATTRIBUTE_ALIGNED16 (struct)    btSolverConstraint
00031 {
00032         BT_DECLARE_ALIGNED_ALLOCATOR();
00033 
00034         btVector3               m_relpos1CrossNormal;
00035         btVector3               m_contactNormal;
00036 
00037         btVector3               m_relpos2CrossNormal;
00038         //btVector3             m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
00039 
00040         btVector3               m_angularComponentA;
00041         btVector3               m_angularComponentB;
00042         
00043         mutable btSimdScalar    m_appliedPushImpulse;
00044         mutable btSimdScalar    m_appliedImpulse;
00045 
00046         btScalar        m_friction;
00047         btScalar        m_jacDiagABInv;
00048         btScalar                m_rhs;
00049         btScalar                m_cfm;
00050         
00051     btScalar            m_lowerLimit;
00052         btScalar                m_upperLimit;
00053         btScalar                m_rhsPenetration;
00054     union
00055         {
00056                 void*           m_originalContactPoint;
00057                 btScalar        m_unusedPadding4;
00058         };
00059 
00060         int     m_overrideNumSolverIterations;
00061     int                 m_frictionIndex;
00062         int m_solverBodyIdA;
00063         int m_solverBodyIdB;
00064 
00065     
00066         enum            btSolverConstraintType
00067         {
00068                 BT_SOLVER_CONTACT_1D = 0,
00069                 BT_SOLVER_FRICTION_1D
00070         };
00071 };
00072 
00073 typedef btAlignedObjectArray<btSolverConstraint>        btConstraintArray;
00074 
00075 
00076 #endif //BT_SOLVER_CONSTRAINT_H
00077 
00078 
00079