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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 
     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
    157