btManifoldPoint Class Reference

#include <btManifoldPoint.h>

List of all members.

Public Member Functions
	btManifoldPoint ()
	btManifoldPoint (const btVector3 &pointA, const btVector3 &pointB, const btVector3 &normal, btScalar distance)
btScalar	getDistance () const
int	getLifeTime () const
const btVector3 &	getPositionWorldOnA () const
const btVector3 &	getPositionWorldOnB () const
void	setDistance (btScalar dist)
btScalar	getAppliedImpulse () const
	this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
Public Attributes
btVector3	m_localPointA
btVector3	m_localPointB
btVector3	m_positionWorldOnB
btVector3	m_positionWorldOnA
	m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
btVector3	m_normalWorldOnB
btScalar	m_distance1
btScalar	m_combinedFriction
btScalar	m_combinedRestitution
int	m_partId0
int	m_partId1
int	m_index0
int	m_index1
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
btVector3	m_lateralFrictionDir1
btVector3	m_lateralFrictionDir2
btConstraintRow	mConstraintRow [3]

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Detailed Description

ManifoldContactPoint collects and maintains persistent contactpoints. used to improve stability and performance of rigidbody dynamics response.

Definition at line 42 of file btManifoldPoint.h.

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Constructor & Destructor Documentation

btManifoldPoint::btManifoldPoint

(

)

[inline]

Definition at line 45 of file btManifoldPoint.h.

btManifoldPoint::btManifoldPoint	(	const btVector3 &	pointA,
		const btVector3 &	pointB,
		const btVector3 &	normal,
		btScalar	distance
	)		[inline]

Definition at line 59 of file btManifoldPoint.h.

References mConstraintRow.

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Member Function Documentation

btScalar btManifoldPoint::getAppliedImpulse

(

)

const [inline]

this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver

Definition at line 149 of file btManifoldPoint.h.

References m_appliedImpulse.

btScalar btManifoldPoint::getDistance

(

)

const [inline]

Definition at line 124 of file btManifoldPoint.h.

References m_distance1.

Referenced by CcdPhysicsEnvironment::CallbackTriggers(), btSequentialImpulseConstraintSolver::convertContact(), btCollisionWorld::debugDrawWorld(), btKinematicCharacterController::recoverFromPenetration(), and btSequentialImpulseConstraintSolver::setupContactConstraint().

int btManifoldPoint::getLifeTime

(

)

const [inline]

Definition at line 128 of file btManifoldPoint.h.

References m_lifeTime.

Referenced by ATTRIBUTE_ALIGNED128(), CcdPhysicsEnvironment::CallbackTriggers(), and btCollisionWorld::debugDrawWorld().

const btVector3& btManifoldPoint::getPositionWorldOnA

(

)

const [inline]

Definition at line 133 of file btManifoldPoint.h.

References m_positionWorldOnA.

Referenced by btSequentialImpulseConstraintSolver::setupContactConstraint().

const btVector3& btManifoldPoint::getPositionWorldOnB

(

)

const [inline]

Definition at line 138 of file btManifoldPoint.h.

References m_positionWorldOnB.

Referenced by btAdjustInternalEdgeContacts(), and btSequentialImpulseConstraintSolver::setupContactConstraint().

void btManifoldPoint::setDistance

(

btScalar

dist

)

[inline]

Definition at line 143 of file btManifoldPoint.h.

References m_distance1.

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Member Data Documentation

btScalar btManifoldPoint::m_appliedImpulse

Definition at line 104 of file btManifoldPoint.h.

Referenced by ATTRIBUTE_ALIGNED128(), getAppliedImpulse(), btSequentialImpulseConstraintSolver::setupContactConstraint(), and btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish().

btScalar btManifoldPoint::m_appliedImpulseLateral1

Definition at line 107 of file btManifoldPoint.h.

Referenced by ATTRIBUTE_ALIGNED128(), btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(), and btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish().

btScalar btManifoldPoint::m_appliedImpulseLateral2

Definition at line 108 of file btManifoldPoint.h.

Referenced by ATTRIBUTE_ALIGNED128(), btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(), and btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish().

btScalar btManifoldPoint::m_combinedFriction

Definition at line 94 of file btManifoldPoint.h.

Referenced by btManifoldResult::addContactPoint(), btSequentialImpulseConstraintSolver::setupContactConstraint(), and btSequentialImpulseConstraintSolver::setupFrictionConstraint().

btScalar btManifoldPoint::m_combinedRestitution

Definition at line 95 of file btManifoldPoint.h.

Referenced by btManifoldResult::addContactPoint(), and btSequentialImpulseConstraintSolver::setupContactConstraint().

btScalar btManifoldPoint::m_contactCFM1

Definition at line 111 of file btManifoldPoint.h.

Referenced by btSequentialImpulseConstraintSolver::convertContact().

btScalar btManifoldPoint::m_contactCFM2

Definition at line 112 of file btManifoldPoint.h.

Referenced by btSequentialImpulseConstraintSolver::convertContact().

btScalar btManifoldPoint::m_contactMotion1

Definition at line 109 of file btManifoldPoint.h.

Referenced by btSequentialImpulseConstraintSolver::convertContact().

btScalar btManifoldPoint::m_contactMotion2

Definition at line 110 of file btManifoldPoint.h.

Referenced by btSequentialImpulseConstraintSolver::convertContact().

btScalar btManifoldPoint::m_distance1

Definition at line 93 of file btManifoldPoint.h.

Referenced by ATTRIBUTE_ALIGNED128(), btAdjustInternalEdgeContacts(), getDistance(), and setDistance().

int btManifoldPoint::m_index0

Definition at line 100 of file btManifoldPoint.h.

Referenced by btBridgedManifoldResult::addContactPoint(), and btManifoldResult::addContactPoint().

int btManifoldPoint::m_index1

Definition at line 101 of file btManifoldPoint.h.

Referenced by btBridgedManifoldResult::addContactPoint(), and btManifoldResult::addContactPoint().

btVector3 btManifoldPoint::m_lateralFrictionDir1

Definition at line 116 of file btManifoldPoint.h.

Referenced by btSequentialImpulseConstraintSolver::convertContact().

btVector3 btManifoldPoint::m_lateralFrictionDir2

Definition at line 117 of file btManifoldPoint.h.

Referenced by btSequentialImpulseConstraintSolver::convertContact().

bool btManifoldPoint::m_lateralFrictionInitialized

Definition at line 106 of file btManifoldPoint.h.

Referenced by ATTRIBUTE_ALIGNED128(), and btSequentialImpulseConstraintSolver::convertContact().

int btManifoldPoint::m_lifeTime

Definition at line 114 of file btManifoldPoint.h.

Referenced by ATTRIBUTE_ALIGNED128(), getLifeTime(), and btSequentialImpulseConstraintSolver::setupContactConstraint().

btVector3 btManifoldPoint::m_localPointA

Definition at line 86 of file btManifoldPoint.h.

btVector3 btManifoldPoint::m_localPointB

Definition at line 87 of file btManifoldPoint.h.

Referenced by btAdjustInternalEdgeContacts().

btVector3 btManifoldPoint::m_normalWorldOnB

Definition at line 91 of file btManifoldPoint.h.

Referenced by btAdjustInternalEdgeContacts(), CcdPhysicsEnvironment::CallbackTriggers(), btSequentialImpulseConstraintSolver::convertContact(), btCollisionWorld::debugDrawWorld(), btKinematicCharacterController::recoverFromPenetration(), and btSequentialImpulseConstraintSolver::setupContactConstraint().

int btManifoldPoint::m_partId0

Definition at line 98 of file btManifoldPoint.h.

Referenced by btBridgedManifoldResult::addContactPoint(), and btManifoldResult::addContactPoint().

int btManifoldPoint::m_partId1

Definition at line 99 of file btManifoldPoint.h.

Referenced by btBridgedManifoldResult::addContactPoint(), and btManifoldResult::addContactPoint().

btVector3 btManifoldPoint::m_positionWorldOnA

m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity

Definition at line 90 of file btManifoldPoint.h.

Referenced by btBridgedManifoldResult::addContactPoint(), btManifoldResult::addContactPoint(), btAdjustInternalEdgeContacts(), and getPositionWorldOnA().

btVector3 btManifoldPoint::m_positionWorldOnB

Definition at line 88 of file btManifoldPoint.h.

Referenced by btBridgedManifoldResult::addContactPoint(), btManifoldResult::addContactPoint(), btAdjustInternalEdgeContacts(), CcdPhysicsEnvironment::CallbackTriggers(), btCollisionWorld::debugDrawWorld(), and getPositionWorldOnB().

void* btManifoldPoint::m_userPersistentData [mutable]

Definition at line 103 of file btManifoldPoint.h.

Referenced by ATTRIBUTE_ALIGNED128().

btConstraintRow btManifoldPoint::mConstraintRow[3]

Definition at line 121 of file btManifoldPoint.h.

Referenced by ATTRIBUTE_ALIGNED128(), and btManifoldPoint().

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The documentation for this class was generated from the following file:

• btManifoldPoint.h