include/ode/contact.h

   1 /*************************************************************************
   2  *                                                                       *
   3  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
   4  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
   5  *                                                                       *
   6  * This library is free software; you can redistribute it and/or         *
   7  * modify it under the terms of EITHER:                                  *
   8  *   (1) The GNU Lesser General Public License as published by the Free  *
   9  *       Software Foundation; either version 2.1 of the License, or (at  *
  10  *       your option) any later version. The text of the GNU Lesser      *
  11  *       General Public License is included with this library in the     *
  12  *       file LICENSE.TXT.                                               *
  13  *   (2) The BSD-style license that is included with this library in     *
  14  *       the file LICENSE-BSD.TXT.                                       *
  15  *                                                                       *
  16  * This library is distributed in the hope that it will be useful,       *
  17  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
  19  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
  20  *                                                                       *
  21  *************************************************************************/
  22
  23 #ifndef _ODE_CONTACT_H_
  24 #define _ODE_CONTACT_H_
  25
  26 #include <ode/common.h>
  27
  28 #ifdef __cplusplus
  29 extern "C" {
  30 #endif
  31
  32
  33 enum {
  34   dContactMu2     = 0x001,      /**< Use axis dependent friction */
  35   dContactAxisDep = 0x001,      /**< Same as above */
  36   dContactFDir1   = 0x002,      /**< Use FDir for the first friction value */
  37   dContactBounce  = 0x004,      /**< Restore collision energy anti-parallel to the normal */
  38   dContactSoftERP = 0x008,      /**< Don't use global erp for penetration reduction */
  39   dContactSoftCFM = 0x010,      /**< Don't use global cfm for penetration constraint */
  40   dContactMotion1 = 0x020,      /**< Use a non-zero target velocity for the constraint */
  41   dContactMotion2 = 0x040,
  42   dContactMotionN = 0x080,
  43   dContactSlip1   = 0x100,      /**< Force-dependent slip. */
  44   dContactSlip2   = 0x200,
  45   dContactRolling = 0x400,      /**< Rolling/Angular friction */
  46
  47   dContactApprox0   = 0x0000,
  48   dContactApprox1_1 = 0x1000,
  49   dContactApprox1_2 = 0x2000,
  50   dContactApprox1_N = 0x4000,   /**< For rolling friction */
  51   dContactApprox1   = 0x7000
  52 };
  53
  54
  55 typedef struct dSurfaceParameters {
  56   /* must always be defined */
  57   int   mode;
  58   dReal mu;
  59
  60   /* only defined if the corresponding flag is set in mode */
  61   dReal mu2;
  62   dReal rho;                    /**< Rolling friction */
  63   dReal rho2;
  64   dReal rhoN;                   /**< Spinning friction */
  65   dReal bounce;                 /**< Coefficient of restitution */
  66   dReal bounce_vel;             /**< Bouncing threshold */
  67   dReal soft_erp;
  68   dReal soft_cfm;
  69   dReal motion1,motion2,motionN;
  70   dReal slip1,slip2;
  71 } dSurfaceParameters;
  72
  73
  74 /**
  75  * @brief Describe the contact point between two geoms.
  76  *
  77  * If two bodies touch, or if a body touches a static feature in its
  78  * environment, the contact is represented by one or more "contact
  79  * points", described by dContactGeom.
  80  *
  81  * The convention is that if body 1 is moved along the normal vector by
  82  * a distance depth (or equivalently if body 2 is moved the same distance
  83  * in the opposite direction) then the contact depth will be reduced to
  84  * zero. This means that the normal vector points "in" to body 1.
  85  *
  86  * @ingroup collide
  87  */
  88 typedef struct dContactGeom {
  89     dVector3 pos;          /*< contact position*/
  90     dVector3 normal;       /*< normal vector*/
  91     dReal depth;           /*< penetration depth*/
  92     dGeomID g1,g2;         /*< the colliding geoms*/
  93     int side1,side2;       /*< (to be documented)*/
  94 } dContactGeom;
  95
  96
  97 /* contact info used by contact joint */
  98
  99 typedef struct dContact {
 100   dSurfaceParameters surface;
 101   dContactGeom geom;
 102   dVector3 fdir1;
 103 } dContact;
 104
 105
 106 #ifdef __cplusplus
 107 }
 108 #endif
 109
 110 #endif