112 lines
3.6 KiB
C
112 lines
3.6 KiB
C
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/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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#ifndef _ODE_CONTACT_H_
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#define _ODE_CONTACT_H_
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#include <ode/common.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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enum {
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dContactMu2 = 0x001,
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dContactFDir1 = 0x002,
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dContactBounce = 0x004,
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dContactSoftERP = 0x008,
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dContactSoftCFM = 0x010,
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dContactMotion1 = 0x020,
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dContactMotion2 = 0x040,
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dContactMotionN = 0x080,
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dContactSlip1 = 0x100,
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dContactSlip2 = 0x200,
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dContactSlip3 = 0x400,
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dContactMu3 = 0x800,
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dContactApprox0 = 0x0000,
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dContactApprox1_1 = 0x1000,
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dContactApprox1_2 = 0x2000,
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dContactApprox1 = 0x3000,
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dContactApprox3 = 0x4000,
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dContactEM = 0x8000
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};
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typedef struct dSurfaceParameters {
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/* must always be defined */
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int mode;
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dReal mu;
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/* only defined if the corresponding flag is set in mode */
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dReal mu2, mu3;
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dReal elastic_modulus;
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dReal bounce;
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dReal bounce_vel;
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dReal soft_erp;
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dReal soft_cfm;
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dReal motion1,motion2,motionN;
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dReal slip1,slip2,slip3;
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dReal patch_radius, surface_radius;
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bool use_patch_radius;
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} dSurfaceParameters;
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/**
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* @brief Describe the contact point between two geoms.
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*
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* If two bodies touch, or if a body touches a static feature in its
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* environment, the contact is represented by one or more "contact
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* points", described by dContactGeom.
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*
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* The convention is that if body 1 is moved along the normal vector by
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* a distance depth (or equivalently if body 2 is moved the same distance
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* in the opposite direction) then the contact depth will be reduced to
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* zero. This means that the normal vector points "in" to body 1.
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*
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* @ingroup collide
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*/
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typedef struct dContactGeom {
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dVector3 pos; ///< contact position
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dVector3 normal; ///< normal vector
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dReal depth; ///< penetration depth
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dGeomID g1,g2; ///< the colliding geoms
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int side1,side2; ///< (to be documented)
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} dContactGeom;
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/* contact info used by contact joint */
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typedef struct dContact {
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dSurfaceParameters surface;
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dContactGeom geom;
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dVector3 fdir1;
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} dContact;
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#ifdef __cplusplus
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}
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#endif
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#endif
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