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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.

3. This notice may not be removed or altered from any source distribution.

#ifndef BT_MANIFOLD_CONTACT_POINT_H

#define BT_MANIFOLD_CONTACT_POINT_H

#include "LinearMath/btVector3.h"

#include "LinearMath/btTransformUtil.h"

#ifdef PFX_USE_FREE_VECTORMATH

#include "physics_effects/base_level/solver/pfx_constraint_row.h"

typedef sce::PhysicsEffects::PfxConstraintRow btConstraintRow;

#else

// Don't change following order of parameters

ATTRIBUTE_ALIGNED16(struct) btConstraintRow {

btScalar m_normal[3];

btScalar m_rhs;

btScalar m_jacDiagInv;

btScalar m_lowerLimit;

btScalar m_upperLimit;

btScalar m_accumImpulse;

};

typedef btConstraintRow PfxConstraintRow;

#endif //PFX_USE_FREE_VECTORMATH

/// ManifoldContactPoint collects and maintains persistent contactpoints.

/// used to improve stability and performance of rigidbody dynamics response.

class btManifoldPoint

{

public:

btManifoldPoint()

:m_userPersistentData(0),

m_appliedImpulse(0.f),

m_lateralFrictionInitialized(false),

m_appliedImpulseLateral1(0.f),

m_appliedImpulseLateral2(0.f),

m_contactMotion1(0.f),

m_contactMotion2(0.f),

m_contactCFM1(0.f),

m_contactCFM2(0.f),

m_lifeTime(0)

{

}

btManifoldPoint( const btVector3 &pointA, const btVector3 &pointB,

const btVector3 &normal,

btScalar distance ) :

m_localPointA( pointA ),

m_localPointB( pointB ),

m_normalWorldOnB( normal ),

m_distance1( distance ),

m_combinedFriction(btScalar(0.)),

m_combinedRestitution(btScalar(0.)),

m_userPersistentData(0),

m_appliedImpulse(0.f),

m_lateralFrictionInitialized(false),

m_appliedImpulseLateral1(0.f),

m_appliedImpulseLateral2(0.f),

m_contactMotion1(0.f),

m_contactMotion2(0.f),

m_contactCFM1(0.f),

m_contactCFM2(0.f),

m_lifeTime(0)

{

mConstraintRow[0].m_accumImpulse = 0.f;

mConstraintRow[1].m_accumImpulse = 0.f;

mConstraintRow[2].m_accumImpulse = 0.f;

}

btVector3 m_localPointA;

btVector3 m_localPointB;

btVector3 m_positionWorldOnB;

///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity

btVector3 m_positionWorldOnA;

btVector3 m_normalWorldOnB;

btScalar m_distance1;

btScalar m_combinedFriction;

btScalar m_combinedRestitution;

//BP mod, store contact triangles.

int m_partId0;

int m_partId1;

100

int m_index0;

101

int m_index1;

102

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mutable void* m_userPersistentData;

104

btScalar m_appliedImpulse;

105

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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

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int m_lifeTime;//lifetime of the contactpoint in frames

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btVector3 m_lateralFrictionDir1;

117

btVector3 m_lateralFrictionDir2;

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btConstraintRow mConstraintRow[3];

122

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btScalar getDistance() const

125

{

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return m_distance1;

127

}

128

int getLifeTime() const

129

{

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return m_lifeTime;

131

}

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const btVector3& getPositionWorldOnA() const {

134

return m_positionWorldOnA;

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// return m_positionWorldOnB + m_normalWorldOnB * m_distance1;

136

}

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const btVector3& getPositionWorldOnB() const

139

{

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return m_positionWorldOnB;

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}

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void setDistance(btScalar dist)

144

{

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m_distance1 = dist;

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}

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///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver

149

btScalar getAppliedImpulse() const

150

{

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return m_appliedImpulse;

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}

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};

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#endif //BT_MANIFOLD_CONTACT_POINT_H

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