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Viewing changes to tests/bullet/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h

  • Committer: Package Import Robot
  • Author(s): Sylvestre Ledru
  • Date: 2013-05-02 13:11:51 UTC
  • Revision ID: package-import@ubuntu.com-20130502131151-q8dvteqr1ef2x7xz
Tags: upstream-1.4.1~20130504~adb56cb
Import upstream version 1.4.1~20130504~adb56cb

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tests/bullet/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
 
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/*
 
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Bullet Continuous Collision Detection and Physics Library
 
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Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
 
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This software is provided 'as-is', without any express or implied warranty.
 
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In no event will the authors be held liable for any damages arising from the use of this software.
 
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Permission is granted to anyone to use this software for any purpose, 
 
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including commercial applications, and to alter it and redistribute it freely, 
 
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subject to the following restrictions:
 
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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.
 
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 
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3. This notice may not be removed or altered from any source distribution.
 
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*/
 
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#ifndef BT_SOLVER_CONSTRAINT_H
 
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#define BT_SOLVER_CONSTRAINT_H
 
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class   btRigidBody;
 
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#include "LinearMath/btVector3.h"
 
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#include "LinearMath/btMatrix3x3.h"
 
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#include "btJacobianEntry.h"
 
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//#define NO_FRICTION_TANGENTIALS 1
 
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#include "btSolverBody.h"
 
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///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
 
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ATTRIBUTE_ALIGNED64 (struct)    btSolverConstraint
 
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{
 
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        BT_DECLARE_ALIGNED_ALLOCATOR();
 
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        btVector3               m_relpos1CrossNormal;
 
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        btVector3               m_contactNormal;
 
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        btVector3               m_relpos2CrossNormal;
 
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        //btVector3             m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
 
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        btVector3               m_angularComponentA;
 
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        btVector3               m_angularComponentB;
 
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        mutable btSimdScalar    m_appliedPushImpulse;
 
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        mutable btSimdScalar    m_appliedImpulse;
 
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        btScalar        m_friction;
 
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        btScalar        m_jacDiagABInv;
 
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        union
 
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        {
 
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                int     m_numConsecutiveRowsPerKernel;
 
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                btScalar        m_unusedPadding0;
 
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        };
 
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        union
 
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        {
 
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                int                     m_frictionIndex;
 
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                btScalar        m_unusedPadding1;
 
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        };
 
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        union
 
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        {
 
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                btRigidBody*    m_solverBodyA;
 
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                int                             m_companionIdA;
 
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        };
 
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        union
 
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        {
 
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                btRigidBody*    m_solverBodyB;
 
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                int                             m_companionIdB;
 
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        };
 
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        union
 
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        {
 
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                void*           m_originalContactPoint;
 
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                btScalar        m_unusedPadding4;
 
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        };
 
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        btScalar                m_rhs;
 
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        btScalar                m_cfm;
 
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        btScalar                m_lowerLimit;
 
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        btScalar                m_upperLimit;
 
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        btScalar                m_rhsPenetration;
 
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        enum            btSolverConstraintType
 
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        {
 
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                BT_SOLVER_CONTACT_1D = 0,
 
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                BT_SOLVER_FRICTION_1D
 
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        };
 
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};
 
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typedef btAlignedObjectArray<btSolverConstraint>        btConstraintArray;
 
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#endif //BT_SOLVER_CONSTRAINT_H
 
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