74 lines
2.3 KiB
C++
74 lines
2.3 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2013 Erwin Coumans http://github.com/erwincoumans/bullet3
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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 B3_GPU_SOLVER_CONSTRAINT_H
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#define B3_GPU_SOLVER_CONSTRAINT_H
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3Common/b3Matrix3x3.h"
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//#include "b3JacobianEntry.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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//#define NO_FRICTION_TANGENTIALS 1
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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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B3_ATTRIBUTE_ALIGNED16(struct)
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b3GpuSolverConstraint
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{
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B3_DECLARE_ALIGNED_ALLOCATOR();
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b3Vector3 m_relpos1CrossNormal;
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b3Vector3 m_contactNormal;
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b3Vector3 m_relpos2CrossNormal;
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//b3Vector3 m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
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b3Vector3 m_angularComponentA;
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b3Vector3 m_angularComponentB;
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mutable b3Scalar m_appliedPushImpulse;
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mutable b3Scalar m_appliedImpulse;
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int m_padding1;
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int m_padding2;
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b3Scalar m_friction;
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b3Scalar m_jacDiagABInv;
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b3Scalar m_rhs;
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b3Scalar m_cfm;
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b3Scalar m_lowerLimit;
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b3Scalar m_upperLimit;
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b3Scalar m_rhsPenetration;
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union {
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void* m_originalContactPoint;
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int m_originalConstraintIndex;
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b3Scalar m_unusedPadding4;
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};
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int m_overrideNumSolverIterations;
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int m_frictionIndex;
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int m_solverBodyIdA;
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int m_solverBodyIdB;
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enum b3SolverConstraintType
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{
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B3_SOLVER_CONTACT_1D = 0,
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B3_SOLVER_FRICTION_1D
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};
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};
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typedef b3AlignedObjectArray<b3GpuSolverConstraint> b3GpuConstraintArray;
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#endif //B3_GPU_SOLVER_CONSTRAINT_H
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