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Diffstat (limited to 'libs/ode-0.16.1/include/ode/contact.h')
| -rw-r--r-- | libs/ode-0.16.1/include/ode/contact.h | 110 |
1 files changed, 110 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/include/ode/contact.h b/libs/ode-0.16.1/include/ode/contact.h new file mode 100644 index 0000000..9756f26 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/contact.h @@ -0,0 +1,110 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * + * All rights reserved. Email: russ@q12.org Web: www.q12.org * + * * + * This library is free software; you can redistribute it and/or * + * modify it under the terms of EITHER: * + * (1) The GNU Lesser General Public License as published by the Free * + * Software Foundation; either version 2.1 of the License, or (at * + * your option) any later version. The text of the GNU Lesser * + * General Public License is included with this library in the * + * file LICENSE.TXT. * + * (2) The BSD-style license that is included with this library in * + * the file LICENSE-BSD.TXT. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * + * LICENSE.TXT and LICENSE-BSD.TXT for more details. * + * * + *************************************************************************/ + +#ifndef _ODE_CONTACT_H_ +#define _ODE_CONTACT_H_ + +#include <ode/common.h> + +#ifdef __cplusplus +extern "C" { +#endif + + +enum { + dContactMu2 = 0x001, /**< Use axis dependent friction */ + dContactAxisDep = 0x001, /**< Same as above */ + dContactFDir1 = 0x002, /**< Use FDir for the first friction value */ + dContactBounce = 0x004, /**< Restore collision energy anti-parallel to the normal */ + dContactSoftERP = 0x008, /**< Don't use global erp for penetration reduction */ + dContactSoftCFM = 0x010, /**< Don't use global cfm for penetration constraint */ + dContactMotion1 = 0x020, /**< Use a non-zero target velocity for the constraint */ + dContactMotion2 = 0x040, + dContactMotionN = 0x080, + dContactSlip1 = 0x100, /**< Force-dependent slip. */ + dContactSlip2 = 0x200, + dContactRolling = 0x400, /**< Rolling/Angular friction */ + + dContactApprox0 = 0x0000, + dContactApprox1_1 = 0x1000, + dContactApprox1_2 = 0x2000, + dContactApprox1_N = 0x4000, /**< For rolling friction */ + dContactApprox1 = 0x7000 +}; + + +typedef struct dSurfaceParameters { + /* must always be defined */ + int mode; + dReal mu; + + /* only defined if the corresponding flag is set in mode */ + dReal mu2; + dReal rho; /**< Rolling friction */ + dReal rho2; + dReal rhoN; /**< Spinning friction */ + dReal bounce; /**< Coefficient of restitution */ + dReal bounce_vel; /**< Bouncing threshold */ + dReal soft_erp; + dReal soft_cfm; + dReal motion1,motion2,motionN; + dReal slip1,slip2; +} dSurfaceParameters; + + +/** + * @brief Describe the contact point between two geoms. + * + * If two bodies touch, or if a body touches a static feature in its + * environment, the contact is represented by one or more "contact + * points", described by dContactGeom. + * + * The convention is that if body 1 is moved along the normal vector by + * a distance depth (or equivalently if body 2 is moved the same distance + * in the opposite direction) then the contact depth will be reduced to + * zero. This means that the normal vector points "in" to body 1. + * + * @ingroup collide + */ +typedef struct dContactGeom { + dVector3 pos; /*< contact position*/ + dVector3 normal; /*< normal vector*/ + dReal depth; /*< penetration depth*/ + dGeomID g1,g2; /*< the colliding geoms*/ + int side1,side2; /*< (to be documented)*/ +} dContactGeom; + + +/* contact info used by contact joint */ + +typedef struct dContact { + dSurfaceParameters surface; + dContactGeom geom; + dVector3 fdir1; +} dContact; + + +#ifdef __cplusplus +} +#endif + +#endif |