btMultiBodySolverConstraint.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#ifndef BT_MULTIBODY_SOLVER_CONSTRAINT_H
#define BT_MULTIBODY_SOLVER_CONSTRAINT_H

#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedObjectArray.h"

class btMultiBody;
#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"

ATTRIBUTE_ALIGNED16 (struct)    btMultiBodySolverConstraint
{
        BT_DECLARE_ALIGNED_ALLOCATOR();


        int                             m_deltaVelAindex;//more generic version of m_relpos1CrossNormal/m_contactNormal1
        btVector3               m_relpos1CrossNormal;
        btVector3               m_contactNormal1;
        int                             m_jacAindex;

        int                             m_deltaVelBindex;
        btVector3               m_relpos2CrossNormal;
        btVector3               m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always
        int                             m_jacBindex;

        btVector3               m_angularComponentA;
        btVector3               m_angularComponentB;
        
        mutable btSimdScalar    m_appliedPushImpulse;
        mutable btSimdScalar    m_appliedImpulse;

        btScalar        m_friction;
        btScalar        m_jacDiagABInv;
        btScalar                m_rhs;
        btScalar                m_cfm;
        
    btScalar            m_lowerLimit;
        btScalar                m_upperLimit;
        btScalar                m_rhsPenetration;
    union
        {
                void*           m_originalContactPoint;
                btScalar        m_unusedPadding4;
        };

        int     m_overrideNumSolverIterations;
    int                 m_frictionIndex;

        int m_solverBodyIdA;
        btMultiBody* m_multiBodyA;
        int                     m_linkA;
        
        int m_solverBodyIdB;
        btMultiBody* m_multiBodyB;
        int                     m_linkB;

        enum            btSolverConstraintType
        {
                BT_SOLVER_CONTACT_1D = 0,
                BT_SOLVER_FRICTION_1D
        };
};

typedef btAlignedObjectArray<btMultiBodySolverConstraint>       btMultiBodyConstraintArray;

#endif //BT_MULTIBODY_SOLVER_CONSTRAINT_H