Differential D1739 Diff 5899 extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h

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

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#ifndef BT_MULTIBODY_SOLVER_CONSTRAINT_H		#ifndef BT_MULTIBODY_SOLVER_CONSTRAINT_H
#define BT_MULTIBODY_SOLVER_CONSTRAINT_H		#define BT_MULTIBODY_SOLVER_CONSTRAINT_H

#include "LinearMath/btVector3.h"		#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedObjectArray.h"		#include "LinearMath/btAlignedObjectArray.h"

class btMultiBody;		class btMultiBody;
		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)
		{}

int m_deltaVelAindex;//more generic version of m_relpos1CrossNormal/m_contactNormal1		int m_deltaVelAindex;//more generic version of m_relpos1CrossNormal/m_contactNormal1
btVector3 m_relpos1CrossNormal;
btVector3 m_contactNormal1;
int m_jacAindex;		int m_jacAindex;

int m_deltaVelBindex;		int m_deltaVelBindex;
		int m_jacBindex;

		btVector3 m_relpos1CrossNormal;
		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
int m_jacBindex;

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;
Show All 16 Lines	ATTRIBUTE_ALIGNED16 (struct) btMultiBodySolverConstraint
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
		btMultiBodyConstraint* m_orgConstraint;
		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