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source: code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h @ 8351

Last change on this file since 8351 was 8351, checked in by rgrieder, 13 years ago

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

  • *Support for Mac OS X*
  • Visual Studio 2010 support
  • Bullet library update to 2.77
  • OIS library update to 1.3
  • Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
  • Improved install target
  • Compiles now with GCC 4.6
  • Ogre Cg Shader plugin activated for Linux if available
  • And of course lots of bug fixes

There are also some regressions:

  • No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
  • In game console is not working in main menu for CEGUI 0.7
  • Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
  • And of course lots of new bugs we don't yet know about
  • Property svn:eol-style set to native
File size: 4.2 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef MANIFOLD_CONTACT_POINT_H
17#define MANIFOLD_CONTACT_POINT_H
18
19#include "LinearMath/btVector3.h"
20#include "LinearMath/btTransformUtil.h"
21
22// Don't change following order of parameters
23ATTRIBUTE_ALIGNED16(struct) PfxConstraintRow {
24        btScalar mNormal[3];
25        btScalar mRhs;
26        btScalar mJacDiagInv;
27        btScalar mLowerLimit;
28        btScalar mUpperLimit;
29        btScalar mAccumImpulse;
30};
31
32
33
34
35/// ManifoldContactPoint collects and maintains persistent contactpoints.
36/// used to improve stability and performance of rigidbody dynamics response.
37class btManifoldPoint
38        {
39                public:
40                        btManifoldPoint()
41                                :m_userPersistentData(0),
42                                m_appliedImpulse(0.f),
43                                m_lateralFrictionInitialized(false),
44                                m_appliedImpulseLateral1(0.f),
45                                m_appliedImpulseLateral2(0.f),
46                                m_contactMotion1(0.f),
47                                m_contactMotion2(0.f),
48                                m_contactCFM1(0.f),
49                                m_contactCFM2(0.f),
50                                m_lifeTime(0)
51                        {
52                        }
53
54                        btManifoldPoint( const btVector3 &pointA, const btVector3 &pointB, 
55                                        const btVector3 &normal, 
56                                        btScalar distance ) :
57                                        m_localPointA( pointA ), 
58                                        m_localPointB( pointB ), 
59                                        m_normalWorldOnB( normal ), 
60                                        m_distance1( distance ),
61                                        m_combinedFriction(btScalar(0.)),
62                                        m_combinedRestitution(btScalar(0.)),
63                                        m_userPersistentData(0),
64                                        m_appliedImpulse(0.f),
65                                        m_lateralFrictionInitialized(false),
66                                        m_appliedImpulseLateral1(0.f),
67                                        m_appliedImpulseLateral2(0.f),
68                                        m_contactMotion1(0.f),
69                                        m_contactMotion2(0.f),
70                                        m_contactCFM1(0.f),
71                                        m_contactCFM2(0.f),
72                                        m_lifeTime(0)
73                        {
74                                mConstraintRow[0].mAccumImpulse = 0.f;
75                                mConstraintRow[1].mAccumImpulse = 0.f;
76                                mConstraintRow[2].mAccumImpulse = 0.f;
77                        }
78
79                       
80
81                        btVector3 m_localPointA;                       
82                        btVector3 m_localPointB;                       
83                        btVector3       m_positionWorldOnB;
84                        ///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
85                        btVector3       m_positionWorldOnA;
86                        btVector3 m_normalWorldOnB;
87               
88                        btScalar        m_distance1;
89                        btScalar        m_combinedFriction;
90                        btScalar        m_combinedRestitution;
91
92         //BP mod, store contact triangles.
93         int       m_partId0;
94         int      m_partId1;
95         int      m_index0;
96         int      m_index1;
97                               
98                        mutable void*   m_userPersistentData;
99                        btScalar                m_appliedImpulse;
100
101                        bool                    m_lateralFrictionInitialized;
102                        btScalar                m_appliedImpulseLateral1;
103                        btScalar                m_appliedImpulseLateral2;
104                        btScalar                m_contactMotion1;
105                        btScalar                m_contactMotion2;
106                        btScalar                m_contactCFM1;
107                        btScalar                m_contactCFM2;
108
109                        int                             m_lifeTime;//lifetime of the contactpoint in frames
110                       
111                        btVector3               m_lateralFrictionDir1;
112                        btVector3               m_lateralFrictionDir2;
113
114
115
116                        PfxConstraintRow mConstraintRow[3];
117
118
119                        btScalar getDistance() const
120                        {
121                                return m_distance1;
122                        }
123                        int     getLifeTime() const
124                        {
125                                return m_lifeTime;
126                        }
127
128                        const btVector3& getPositionWorldOnA() const {
129                                return m_positionWorldOnA;
130//                              return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
131                        }
132
133                        const btVector3& getPositionWorldOnB() const
134                        {
135                                return m_positionWorldOnB;
136                        }
137
138                        void    setDistance(btScalar dist)
139                        {
140                                m_distance1 = dist;
141                        }
142                       
143                        ///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
144                        btScalar        getAppliedImpulse() const
145                        {
146                                return m_appliedImpulse;
147                        }
148
149                       
150
151        };
152
153#endif //MANIFOLD_CONTACT_POINT_H
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