+++ /dev/null
-/*************************************************************************
- * *
- * 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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