forked from bartvdbraak/blender
92 lines
2.7 KiB
C
92 lines
2.7 KiB
C
/*************************************************************************
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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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dContactSlip1 = 0x080,
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dContactSlip2 = 0x100,
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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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};
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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;
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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;
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dReal slip1,slip2;
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} dSurfaceParameters;
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/* contact info set by collision functions */
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typedef struct dContactGeom {
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dVector3 pos;
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dVector3 normal;
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dReal depth;
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dGeomID g1,g2;
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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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