forked from bartvdbraak/blender
60 lines
1.3 KiB
C++
60 lines
1.3 KiB
C++
#ifndef MANIFOLD_CONTACT_POINT_H
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#define MANIFOLD_CONTACT_POINT_H
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#include "SimdVector3.h"
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/// ManifoldContactPoint collects and maintains persistent contactpoints.
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/// used to improve stability and performance of rigidbody dynamics response.
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class ManifoldPoint
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{
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public:
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ManifoldPoint()
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{
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}
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ManifoldPoint( const SimdVector3 &pointA, const SimdVector3 &pointB,
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const SimdVector3 &normal,
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SimdScalar distance ) :
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m_localPointA( pointA ),
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m_localPointB( pointB ),
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m_normalWorldOnB( normal ),
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m_distance1( distance )
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,m_appliedImpulse(0.f)
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{}
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SimdVector3 m_localPointA;
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SimdVector3 m_localPointB;
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SimdVector3 m_positionWorldOnB;
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///m_positionWorldOnA is redundant information, see GetPositionWorldOnA(), but for clarity
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SimdVector3 m_positionWorldOnA;
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SimdVector3 m_normalWorldOnB;
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float m_distance1;
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/// total applied impulse during most recent frame
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float m_appliedImpulse;
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float GetDistance() const
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{
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return m_distance1;
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}
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SimdVector3 GetPositionWorldOnA() {
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return m_positionWorldOnA;
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// return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
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}
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const SimdVector3& GetPositionWorldOnB()
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{
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return m_positionWorldOnB;
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}
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void SetDistance(float dist)
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{
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m_distance1 = dist;
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}
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};
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#endif //MANIFOLD_CONTACT_POINT_H
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