Merge pull request #12641 from AndreaCatania/bullet

Bullet physics wrapper

1 files changed, 80 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h b/thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h
new file mode 100644
index 0000000000..bce83d4608
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h
@@ -0,0 +1,80 @@
+/*
+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 B3_SOLVER_CONSTRAINT_H
+#define B3_SOLVER_CONSTRAINT_H
+
+
+#include "Bullet3Common/b3Vector3.h"
+#include "Bullet3Common/b3Matrix3x3.h"
+//#include "b3JacobianEntry.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+
+//#define NO_FRICTION_TANGENTIALS 1
+#include "b3SolverBody.h"
+
+
+///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
+B3_ATTRIBUTE_ALIGNED16 (struct)	b3SolverConstraint
+{
+	B3_DECLARE_ALIGNED_ALLOCATOR();
+
+	b3Vector3		m_relpos1CrossNormal;
+	b3Vector3		m_contactNormal;
+
+	b3Vector3		m_relpos2CrossNormal;
+	//b3Vector3		m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
+
+	b3Vector3		m_angularComponentA;
+	b3Vector3		m_angularComponentB;
+	
+	mutable b3SimdScalar	m_appliedPushImpulse;
+	mutable b3SimdScalar	m_appliedImpulse;
+	int m_padding1;
+	int m_padding2;
+	b3Scalar	m_friction;
+	b3Scalar	m_jacDiagABInv;
+	b3Scalar		m_rhs;
+	b3Scalar		m_cfm;
+	
+    b3Scalar		m_lowerLimit;
+	b3Scalar		m_upperLimit;
+	b3Scalar		m_rhsPenetration;
+    union
+	{
+		void*		m_originalContactPoint;
+		b3Scalar	m_unusedPadding4;
+	};
+
+	int	m_overrideNumSolverIterations;
+    int			m_frictionIndex;
+	int m_solverBodyIdA;
+	int m_solverBodyIdB;
+
+    
+	enum		b3SolverConstraintType
+	{
+		B3_SOLVER_CONTACT_1D = 0,
+		B3_SOLVER_FRICTION_1D
+	};
+};
+
+typedef b3AlignedObjectArray<b3SolverConstraint>	b3ConstraintArray;
+
+
+#endif //B3_SOLVER_CONSTRAINT_H
+
+
+