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authordan miller2007-10-19 05:20:07 +0000
committerdan miller2007-10-19 05:20:07 +0000
commitfca74b0bf0a0833f5701e9c0de7b3bc15b2233dd (patch)
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1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5 * *
6 * This library is free software; you can redistribute it and/or *
7 * modify it under the terms of EITHER: *
8 * (1) The GNU Lesser General Public License as published by the Free *
9 * Software Foundation; either version 2.1 of the License, or (at *
10 * your option) any later version. The text of the GNU Lesser *
11 * General Public License is included with this library in the *
12 * file LICENSE.TXT. *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20 * *
21 *************************************************************************/
22
23#ifndef _ODE_CONTACT_H_
24#define _ODE_CONTACT_H_
25
26#include <ode/common.h>
27
28#ifdef __cplusplus
29extern "C" {
30#endif
31
32
33enum {
34 dContactMu2 = 0x001,
35 dContactFDir1 = 0x002,
36 dContactBounce = 0x004,
37 dContactSoftERP = 0x008,
38 dContactSoftCFM = 0x010,
39 dContactMotion1 = 0x020,
40 dContactMotion2 = 0x040,
41 dContactSlip1 = 0x080,
42 dContactSlip2 = 0x100,
43
44 dContactApprox0 = 0x0000,
45 dContactApprox1_1 = 0x1000,
46 dContactApprox1_2 = 0x2000,
47 dContactApprox1 = 0x3000
48};
49
50
51typedef struct dSurfaceParameters {
52 /* must always be defined */
53 int mode;
54 dReal mu;
55
56 /* only defined if the corresponding flag is set in mode */
57 dReal mu2;
58 dReal bounce;
59 dReal bounce_vel;
60 dReal soft_erp;
61 dReal soft_cfm;
62 dReal motion1,motion2;
63 dReal slip1,slip2;
64} dSurfaceParameters;
65
66
67/**
68 * @brief Describe the contact point between two geoms.
69 *
70 * If two bodies touch, or if a body touches a static feature in its
71 * environment, the contact is represented by one or more "contact
72 * points", described by dContactGeom.
73 *
74 * The convention is that if body 1 is moved along the normal vector by
75 * a distance depth (or equivalently if body 2 is moved the same distance
76 * in the opposite direction) then the contact depth will be reduced to
77 * zero. This means that the normal vector points "in" to body 1.
78 *
79 * @ingroup collide
80 */
81typedef struct dContactGeom {
82 dVector3 pos; ///< contact position
83 dVector3 normal; ///< normal vector
84 dReal depth; ///< penetration depth
85 dGeomID g1,g2; ///< the colliding geoms
86 int side1,side2; ///< (to be documented)
87} dContactGeom;
88
89
90/* contact info used by contact joint */
91
92typedef struct dContact {
93 dSurfaceParameters surface;
94 dContactGeom geom;
95 dVector3 fdir1;
96} dContact;
97
98
99#ifdef __cplusplus
100}
101#endif
102
103#endif