Bullet Collision Detection & Physics Library
btMultiBodySolverConstraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
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_MULTIBODY_SOLVER_CONSTRAINT_H
17 #define BT_MULTIBODY_SOLVER_CONSTRAINT_H
18 
19 #include "LinearMath/btVector3.h"
21 
22 class btMultiBody;
26 
29 {
31 
32  btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_multiBodyA(0), m_linkA(-1), m_solverBodyIdB(-1), m_multiBodyB(0), m_linkB(-1),m_orgConstraint(0), m_orgDofIndex(-1)
33  {}
34 
35  int m_deltaVelAindex;//more generic version of m_relpos1CrossNormal/m_contactNormal1
39 
43  btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always
44 
45 
48 
51 
56 
60  union
61  {
64  };
65 
68 
71  int m_linkA;
72 
75  int m_linkB;
76 
77  //for writing back applied impulses
80 
82  {
83  BT_SOLVER_CONTACT_1D = 0,
84  BT_SOLVER_FRICTION_1D
85  };
86 };
87 
89 
90 #endif //BT_MULTIBODY_SOLVER_CONSTRAINT_H
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
btMultiBodyConstraint * m_orgConstraint
btAlignedObjectArray< btMultiBodySolverConstraint > btMultiBodyConstraintArray
#define btSimdScalar
Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later...
Definition: btSolverBody.h:104
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:403
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292