Tribes2/T2-CPP
1
0
Fork 0
mirror of https://github.com/Ragora/T2-CPP.git synced 2026-07-15 15:24:33 +00:00
Code Issues Projects Releases Packages Wiki Activity Actions

Ported Bullet to the mod loader system; needs further work

Browse source
This commit is contained in:
Robert MacGregor 2015-06-27 14:01:25 -04:00
parent 527474ff24
commit 06810b6cca
353 changed files with 80265 additions and 0 deletions
Download patch file Download diff file Expand all files Collapse all files

153
Mod Sources/Bullet/include/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h Normal file
View file

@ -0,0 +1,153 @@
/*
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"
// Don't change following order of parameters
ATTRIBUTE_ALIGNED16(struct) PfxConstraintRow {
btScalar mNormal[3];
btScalar mRhs;
btScalar mJacDiagInv;
btScalar mLowerLimit;
btScalar mUpperLimit;
btScalar mAccumImpulse;
};
/// 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].mAccumImpulse = 0.f;
mConstraintRow[1].mAccumImpulse = 0.f;
mConstraintRow[2].mAccumImpulse = 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;
PfxConstraintRow 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 //MANIFOLD_CONTACT_POINT_H