source: code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h @ 12047

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#ifndef BT_MANIFOLD_CONTACT_POINT_H
#define BT_MANIFOLD_CONTACT_POINT_H

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

#ifdef PFX_USE_FREE_VECTORMATH
        #include "physics_effects/base_level/solver/pfx_constraint_row.h"
typedef sce::PhysicsEffects::PfxConstraintRow btConstraintRow;
#else
        // Don't change following order of parameters
        ATTRIBUTE_ALIGNED16(struct) btConstraintRow {
                btScalar m_normal[3];
                btScalar m_rhs;
                btScalar m_jacDiagInv;
                btScalar m_lowerLimit;
                btScalar m_upperLimit;
                btScalar m_accumImpulse;
        };
        typedef btConstraintRow PfxConstraintRow;
#endif //PFX_USE_FREE_VECTORMATH



/// ManifoldContactPoint collects and maintains persistent contactpoints.
/// used to improve stability and performance of rigidbody dynamics response.
class btManifoldPoint
        {
                public:
                        btManifoldPoint()
                                :m_userPersistentData(0),
                                m_appliedImpulse(0.f),
                                m_lateralFrictionInitialized(false),
                                m_appliedImpulseLateral1(0.f),
                                m_appliedImpulseLateral2(0.f),
                                m_contactMotion1(0.f),
                                m_contactMotion2(0.f),
                                m_contactCFM1(0.f),
                                m_contactCFM2(0.f),
                                m_lifeTime(0)
                        {
                        }

                        btManifoldPoint( const btVector3 &pointA, const btVector3 &pointB, 
                                        const btVector3 &normal, 
                                        btScalar distance ) :
                                        m_localPointA( pointA ), 
                                        m_localPointB( pointB ), 
                                        m_normalWorldOnB( normal ), 
                                        m_distance1( distance ),
                                        m_combinedFriction(btScalar(0.)),
                                        m_combinedRestitution(btScalar(0.)),
                                        m_userPersistentData(0),
                                        m_appliedImpulse(0.f),
                                        m_lateralFrictionInitialized(false),
                                        m_appliedImpulseLateral1(0.f),
                                        m_appliedImpulseLateral2(0.f),
                                        m_contactMotion1(0.f),
                                        m_contactMotion2(0.f),
                                        m_contactCFM1(0.f),
                                        m_contactCFM2(0.f),
                                        m_lifeTime(0)
                        {
                                mConstraintRow[0].m_accumImpulse = 0.f;
                                mConstraintRow[1].m_accumImpulse = 0.f;
                                mConstraintRow[2].m_accumImpulse = 0.f;
                        }

                        

                        btVector3 m_localPointA;                        
                        btVector3 m_localPointB;                        
                        btVector3       m_positionWorldOnB;
                        ///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
                        btVector3       m_positionWorldOnA;
                        btVector3 m_normalWorldOnB;
                
                        btScalar        m_distance1;
                        btScalar        m_combinedFriction;
                        btScalar        m_combinedRestitution;

         //BP mod, store contact triangles.
         int       m_partId0;
         int      m_partId1;
         int      m_index0;
         int      m_index1;
                                
                        mutable void*   m_userPersistentData;
                        btScalar                m_appliedImpulse;

                        bool                    m_lateralFrictionInitialized;
                        btScalar                m_appliedImpulseLateral1;
                        btScalar                m_appliedImpulseLateral2;
                        btScalar                m_contactMotion1;
                        btScalar                m_contactMotion2;
                        btScalar                m_contactCFM1;
                        btScalar                m_contactCFM2;

                        int                             m_lifeTime;//lifetime of the contactpoint in frames
                        
                        btVector3               m_lateralFrictionDir1;
                        btVector3               m_lateralFrictionDir2;



                        btConstraintRow mConstraintRow[3];


                        btScalar getDistance() const
                        {
                                return m_distance1;
                        }
                        int     getLifeTime() const
                        {
                                return m_lifeTime;
                        }

                        const btVector3& getPositionWorldOnA() const {
                                return m_positionWorldOnA;
//                              return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
                        }

                        const btVector3& getPositionWorldOnB() const
                        {
                                return m_positionWorldOnB;
                        }

                        void    setDistance(btScalar dist)
                        {
                                m_distance1 = dist;
                        }
                        
                        ///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
                        btScalar        getAppliedImpulse() const
                        {
                                return m_appliedImpulse;
                        }

                        

        };

#endif //BT_MANIFOLD_CONTACT_POINT_H