/*
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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.dynamics.constraintsolver;
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import javax.vecmath.Vector3f;
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/**
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* Stores some extra information to each contact point. It is not in the contact
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* point, because that want to keep the collision detection independent from the
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* constraint solver.
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*
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* @author jezek2
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*/
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public class ConstraintPersistentData {
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/** total applied impulse during most recent frame */
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public float appliedImpulse = 0f;
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public float prevAppliedImpulse = 0f;
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public float accumulatedTangentImpulse0 = 0f;
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public float accumulatedTangentImpulse1 = 0f;
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public float jacDiagABInv = 0f;
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public float jacDiagABInvTangent0;
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public float jacDiagABInvTangent1;
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public int persistentLifeTime = 0;
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public float restitution = 0f;
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public float friction = 0f;
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public float penetration = 0f;
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public final Vector3f frictionWorldTangential0 = new Vector3f();
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public final Vector3f frictionWorldTangential1 = new Vector3f();
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public final Vector3f frictionAngularComponent0A = new Vector3f();
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public final Vector3f frictionAngularComponent0B = new Vector3f();
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public final Vector3f frictionAngularComponent1A = new Vector3f();
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public final Vector3f frictionAngularComponent1B = new Vector3f();
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//some data doesn't need to be persistent over frames: todo: clean/reuse this
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public final Vector3f angularComponentA = new Vector3f();
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public final Vector3f angularComponentB = new Vector3f();
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public ContactSolverFunc contactSolverFunc = null;
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public ContactSolverFunc frictionSolverFunc = null;
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public void reset() {
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appliedImpulse = 0f;
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prevAppliedImpulse = 0f;
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accumulatedTangentImpulse0 = 0f;
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accumulatedTangentImpulse1 = 0f;
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jacDiagABInv = 0f;
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jacDiagABInvTangent0 = 0f;
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jacDiagABInvTangent1 = 0f;
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persistentLifeTime = 0;
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restitution = 0f;
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friction = 0f;
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penetration = 0f;
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frictionWorldTangential0.set(0f, 0f, 0f);
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frictionWorldTangential1.set(0f, 0f, 0f);
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frictionAngularComponent0A.set(0f, 0f, 0f);
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frictionAngularComponent0B.set(0f, 0f, 0f);
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frictionAngularComponent1A.set(0f, 0f, 0f);
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frictionAngularComponent1B.set(0f, 0f, 0f);
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angularComponentA.set(0f, 0f, 0f);
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angularComponentB.set(0f, 0f, 0f);
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contactSolverFunc = null;
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frictionSolverFunc = null;
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}
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}
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