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- #ifndef BT_MANIFOLD_CONTACT_POINT_H
- #define BT_MANIFOLD_CONTACT_POINT_H
- #include "bullet/LinearMath/btVector3.h"
- #include "bullet/LinearMath/btTransformUtil.h"
- #ifdef PFX_USE_FREE_VECTORMATH
- #include "physics_effects/base_level/solver/pfx_constraint_row.h"
- typedef sce::PhysicsEffects::PfxConstraintRow btConstraintRow;
- #else
-
- 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
- class btManifoldPoint
- {
- public:
- btManifoldPoint()
- :m_userPersistentData(0),
- m_lateralFrictionInitialized(false),
- m_appliedImpulse(0.f),
- 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_combinedRollingFriction(btScalar(0.)),
- m_combinedRestitution(btScalar(0.)),
- m_userPersistentData(0),
- m_lateralFrictionInitialized(false),
- m_appliedImpulse(0.f),
- 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)
- {
-
- }
-
- btVector3 m_localPointA;
- btVector3 m_localPointB;
- btVector3 m_positionWorldOnB;
-
- btVector3 m_positionWorldOnA;
- btVector3 m_normalWorldOnB;
-
- btScalar m_distance1;
- btScalar m_combinedFriction;
- btScalar m_combinedRollingFriction;
- btScalar m_combinedRestitution;
-
- int m_partId0;
- int m_partId1;
- int m_index0;
- int m_index1;
-
- mutable void* m_userPersistentData;
- bool m_lateralFrictionInitialized;
- btScalar m_appliedImpulse;
- btScalar m_appliedImpulseLateral1;
- btScalar m_appliedImpulseLateral2;
- btScalar m_contactMotion1;
- btScalar m_contactMotion2;
- btScalar m_contactCFM1;
- btScalar m_contactCFM2;
- int m_lifeTime;
-
- btVector3 m_lateralFrictionDir1;
- btVector3 m_lateralFrictionDir2;
- btScalar getDistance() const
- {
- return m_distance1;
- }
- int getLifeTime() const
- {
- return m_lifeTime;
- }
- const btVector3& getPositionWorldOnA() const {
- return m_positionWorldOnA;
- }
- const btVector3& getPositionWorldOnB() const
- {
- return m_positionWorldOnB;
- }
- void setDistance(btScalar dist)
- {
- m_distance1 = dist;
- }
-
-
- btScalar getAppliedImpulse() const
- {
- return m_appliedImpulse;
- }
-
- };
- #endif
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