| 1 | /************************************************************************* |
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| 2 | * * |
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| 3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * |
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| 4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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| 5 | * * |
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| 6 | * This library is free software; you can redistribute it and/or * |
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| 7 | * modify it under the terms of EITHER: * |
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| 8 | * (1) The GNU Lesser General Public License as published by the Free * |
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| 9 | * Software Foundation; either version 2.1 of the License, or (at * |
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| 10 | * your option) any later version. The text of the GNU Lesser * |
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| 11 | * General Public License is included with this library in the * |
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| 12 | * file LICENSE.TXT. * |
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| 13 | * (2) The BSD-style license that is included with this library in * |
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| 14 | * the file LICENSE-BSD.TXT. * |
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| 15 | * * |
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| 16 | * This library is distributed in the hope that it will be useful, * |
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| 17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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| 19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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| 20 | * * |
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| 21 | *************************************************************************/ |
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| 22 | |
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| 23 | #ifndef _ODE_CONTACT_H_ |
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| 24 | #define _ODE_CONTACT_H_ |
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| 25 | |
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| 26 | #include <ode/common.h> |
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| 27 | |
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| 28 | #ifdef __cplusplus |
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| 29 | extern "C" { |
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| 30 | #endif |
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| 31 | |
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| 32 | |
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| 33 | enum { |
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| 34 | dContactMu2 = 0x001, |
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| 35 | dContactFDir1 = 0x002, |
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| 36 | dContactBounce = 0x004, |
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| 37 | dContactSoftERP = 0x008, |
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| 38 | dContactSoftCFM = 0x010, |
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| 39 | dContactMotion1 = 0x020, |
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| 40 | dContactMotion2 = 0x040, |
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| 41 | dContactSlip1 = 0x080, |
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| 42 | dContactSlip2 = 0x100, |
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| 43 | |
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| 44 | dContactApprox0 = 0x0000, |
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| 45 | dContactApprox1_1 = 0x1000, |
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| 46 | dContactApprox1_2 = 0x2000, |
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| 47 | dContactApprox1 = 0x3000 |
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| 48 | }; |
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| 49 | |
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| 50 | |
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| 51 | typedef struct dSurfaceParameters { |
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| 52 | /* must always be defined */ |
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| 53 | int mode; |
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| 54 | dReal mu; |
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| 55 | |
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| 56 | /* only defined if the corresponding flag is set in mode */ |
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| 57 | dReal mu2; |
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| 58 | dReal bounce; |
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| 59 | dReal bounce_vel; |
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| 60 | dReal soft_erp; |
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| 61 | dReal soft_cfm; |
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| 62 | dReal motion1,motion2; |
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| 63 | dReal slip1,slip2; |
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| 64 | } dSurfaceParameters; |
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| 65 | |
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| 66 | |
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| 67 | /** |
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| 68 | * @brief Describe the contact point between two geoms. |
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| 69 | * |
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| 70 | * If two bodies touch, or if a body touches a static feature in its |
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| 71 | * environment, the contact is represented by one or more "contact |
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| 72 | * points", described by dContactGeom. |
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| 73 | * |
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| 74 | * The convention is that if body 1 is moved along the normal vector by |
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| 75 | * a distance depth (or equivalently if body 2 is moved the same distance |
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| 76 | * in the opposite direction) then the contact depth will be reduced to |
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| 77 | * zero. This means that the normal vector points "in" to body 1. |
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| 78 | * |
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| 79 | * @ingroup collide |
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| 80 | */ |
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| 81 | typedef struct dContactGeom { |
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| 82 | dVector3 pos; ///< contact position |
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| 83 | dVector3 normal; ///< normal vector |
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| 84 | dReal depth; ///< penetration depth |
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| 85 | dGeomID g1,g2; ///< the colliding geoms |
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| 86 | int side1,side2; ///< (to be documented) |
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| 87 | } dContactGeom; |
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| 88 | |
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| 89 | |
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| 90 | /* contact info used by contact joint */ |
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| 91 | |
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| 92 | typedef struct dContact { |
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| 93 | dSurfaceParameters surface; |
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| 94 | dContactGeom geom; |
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| 95 | dVector3 fdir1; |
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| 96 | } dContact; |
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| 97 | |
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| 98 | |
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| 99 | #ifdef __cplusplus |
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| 100 | } |
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| 101 | #endif |
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| 102 | |
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| 103 | #endif |
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