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/*************************************************************************
* *
* 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
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