btManifoldPoint.h

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/*
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 MANIFOLD_CONTACT_POINT_H
#define 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



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;
            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;
            }
            
            btScalar    getAppliedImpulse() const
            {
                return m_appliedImpulse;
            }

            

    };

#endif //MANIFOLD_CONTACT_POINT_H