/*
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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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* 1D constraint along a normal axis between bodyA and bodyB. It can be combined
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* to solve contact and friction constraints.
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*
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* @author jezek2
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*/
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public class SolverConstraint implements java.io.Serializable {
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public final Vector3f relpos1CrossNormal = new Vector3f();
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public final Vector3f contactNormal = new Vector3f();
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public final Vector3f relpos2CrossNormal = new Vector3f();
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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 float appliedPushImpulse;
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public float appliedImpulse;
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public int solverBodyIdA;
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public int solverBodyIdB;
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public float friction;
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public float restitution;
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public float jacDiagABInv;
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public float penetration;
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public SolverConstraintType constraintType;
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public int frictionIndex;
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public Object originalContactPoint;
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}
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