Differential D8762 Diff 28333 extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h

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extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h

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	#include "LinearMath/btAlignedObjectArray.h"			#include "LinearMath/btAlignedObjectArray.h"

	class btMultiBody;			class btMultiBody;
	class btMultiBodyConstraint;			class btMultiBodyConstraint;
	#include "BulletDynamics/ConstraintSolver/btSolverBody.h"			#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
	#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"			#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"

	///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.			///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
	ATTRIBUTE_ALIGNED16 (struct) btMultiBodySolverConstraint			ATTRIBUTE_ALIGNED16(struct)
				btMultiBodySolverConstraint
	{			{
	BT_DECLARE_ALIGNED_ALLOCATOR();			BT_DECLARE_ALIGNED_ALLOCATOR();

	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)			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)
	{}			{
				}

	int m_deltaVelAindex;//more generic version of m_relpos1CrossNormal/m_contactNormal1			int m_deltaVelAindex; //more generic version of m_relpos1CrossNormal/m_contactNormal1
	int m_jacAindex;			int m_jacAindex;
	int m_deltaVelBindex;			int m_deltaVelBindex;
	int m_jacBindex;			int m_jacBindex;

	btVector3 m_relpos1CrossNormal;			btVector3 m_relpos1CrossNormal;
	btVector3 m_contactNormal1;			btVector3 m_contactNormal1;
	btVector3 m_relpos2CrossNormal;			btVector3 m_relpos2CrossNormal;
	btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always			btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always


	btVector3 m_angularComponentA;			btVector3 m_angularComponentA;
	btVector3 m_angularComponentB;			btVector3 m_angularComponentB;

	mutable btSimdScalar m_appliedPushImpulse;			mutable btSimdScalar m_appliedPushImpulse;
	mutable btSimdScalar m_appliedImpulse;			mutable btSimdScalar m_appliedImpulse;

	btScalar m_friction;			btScalar m_friction;
	btScalar m_jacDiagABInv;			btScalar m_jacDiagABInv;
	btScalar m_rhs;			btScalar m_rhs;
	btScalar m_cfm;			btScalar m_cfm;

	btScalar m_lowerLimit;			btScalar m_lowerLimit;
	btScalar m_upperLimit;			btScalar m_upperLimit;
	btScalar m_rhsPenetration;			btScalar m_rhsPenetration;
	union			union {
	{
	void* m_originalContactPoint;			void* m_originalContactPoint;
	btScalar m_unusedPadding4;			btScalar m_unusedPadding4;
	};			};

	int m_overrideNumSolverIterations;			int m_overrideNumSolverIterations;
	int m_frictionIndex;			int m_frictionIndex;

	int m_solverBodyIdA;			int m_solverBodyIdA;
	btMultiBody* m_multiBodyA;			btMultiBody* m_multiBodyA;
	int m_linkA;			int m_linkA;

	int m_solverBodyIdB;			int m_solverBodyIdB;
	btMultiBody* m_multiBodyB;			btMultiBody* m_multiBodyB;
	int m_linkB;			int m_linkB;

	//for writing back applied impulses			//for writing back applied impulses
	btMultiBodyConstraint* m_orgConstraint;			btMultiBodyConstraint* m_orgConstraint;
	int m_orgDofIndex;			int m_orgDofIndex;

	enum btSolverConstraintType			enum btSolverConstraintType
	{			{
	BT_SOLVER_CONTACT_1D = 0,			BT_SOLVER_CONTACT_1D = 0,
	BT_SOLVER_FRICTION_1D			BT_SOLVER_FRICTION_1D
	};			};
	};			};

	typedef btAlignedObjectArray<btMultiBodySolverConstraint> btMultiBodyConstraintArray;			typedef btAlignedObjectArray<btMultiBodySolverConstraint> btMultiBodyConstraintArray;

	#endif //BT_MULTIBODY_SOLVER_CONSTRAINT_H			#endif //BT_MULTIBODY_SOLVER_CONSTRAINT_H