/*
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* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
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*
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* Bullet Continuous Collision Detection and Physics Library
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* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
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*
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* This software is provided 'as-is', without any express or implied warranty.
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* In no event will the authors be held liable for any damages arising from
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* the use of this software.
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*
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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package com.bulletphysics.collision.narrowphase;
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import javax.vecmath.Vector3f;
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/**
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* ManifoldPoint collects and maintains persistent contactpoints. Used to improve
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* stability and performance of rigidbody dynamics response.
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*
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* @author jezek2
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*/
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public class ManifoldPoint implements java.io.Serializable {
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public final Vector3f localPointA = new Vector3f();
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public final Vector3f localPointB = new Vector3f();
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public final Vector3f positionWorldOnB = new Vector3f();
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///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
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public final Vector3f positionWorldOnA = new Vector3f();
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public final Vector3f normalWorldOnB = new Vector3f();
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public float distance1;
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public float combinedFriction;
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public float combinedRestitution;
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// BP mod, store contact triangles.
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public int partId0;
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public int partId1;
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public int index0;
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public int index1;
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public Object userPersistentData;
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public float appliedImpulse;
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public boolean lateralFrictionInitialized;
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public float appliedImpulseLateral1;
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public float appliedImpulseLateral2;
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public int lifeTime; //lifetime of the contactpoint in frames
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public final Vector3f lateralFrictionDir1 = new Vector3f();
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public final Vector3f lateralFrictionDir2 = new Vector3f();
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public ManifoldPoint() {
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this.userPersistentData = null;
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this.appliedImpulse = 0f;
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this.lateralFrictionInitialized = false;
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this.lifeTime = 0;
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}
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public ManifoldPoint(Vector3f pointA, Vector3f pointB, Vector3f normal, float distance) {
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init(pointA, pointB, normal, distance);
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}
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public void init(Vector3f pointA, Vector3f pointB, Vector3f normal, float distance) {
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this.localPointA.set(pointA);
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this.localPointB.set(pointB);
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this.normalWorldOnB.set(normal);
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this.distance1 = distance;
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this.combinedFriction = 0f;
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this.combinedRestitution = 0f;
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this.userPersistentData = null;
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this.appliedImpulse = 0f;
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this.lateralFrictionInitialized = false;
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this.appliedImpulseLateral1 = 0f;
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this.appliedImpulseLateral2 = 0f;
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this.lifeTime = 0;
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}
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public float getDistance() {
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return distance1;
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}
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public int getLifeTime() {
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return lifeTime;
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}
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public void set(ManifoldPoint p) {
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localPointA.set(p.localPointA);
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localPointB.set(p.localPointB);
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positionWorldOnA.set(p.positionWorldOnA);
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positionWorldOnB.set(p.positionWorldOnB);
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normalWorldOnB.set(p.normalWorldOnB);
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distance1 = p.distance1;
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combinedFriction = p.combinedFriction;
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combinedRestitution = p.combinedRestitution;
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partId0 = p.partId0;
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partId1 = p.partId1;
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index0 = p.index0;
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index1 = p.index1;
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userPersistentData = p.userPersistentData;
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appliedImpulse = p.appliedImpulse;
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lateralFrictionInitialized = p.lateralFrictionInitialized;
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appliedImpulseLateral1 = p.appliedImpulseLateral1;
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appliedImpulseLateral2 = p.appliedImpulseLateral2;
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lifeTime = p.lifeTime;
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lateralFrictionDir1.set(p.lateralFrictionDir1);
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lateralFrictionDir2.set(p.lateralFrictionDir2);
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}
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public Vector3f getPositionWorldOnA(Vector3f out) {
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out.set(positionWorldOnA);
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return out;
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//return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
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}
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public Vector3f getPositionWorldOnB(Vector3f out) {
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out.set(positionWorldOnB);
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return out;
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}
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public void setDistance(float dist) {
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distance1 = dist;
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}
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}
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