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rename gpu_sat -> gpu_narrowphase

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This commit is contained in:
erwin coumans
2013-04-15 12:43:46 -07:00
parent ecf1752d68
commit 76e74523f6
38 changed files with 25 additions and 25 deletions
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42
opencl/gpu_narrowphase/host/btContact4.h Normal file
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#ifndef BT_CONTACT4_H
#define BT_CONTACT4_H
#include "BulletCommon/btVector3.h"
ATTRIBUTE_ALIGNED16(struct) btContact4
{
BT_DECLARE_ALIGNED_ALLOCATOR();
btVector3 m_worldPos[4];
btVector3 m_worldNormal;
// float m_restituitionCoeff;
// float m_frictionCoeff;
unsigned short m_restituitionCoeffCmp;
unsigned short m_frictionCoeffCmp;
int m_batchIdx;
int m_bodyAPtrAndSignBit;
int m_bodyBPtrAndSignBit;
int getBodyA()const {return abs(m_bodyAPtrAndSignBit);}
int getBodyB()const {return abs(m_bodyBPtrAndSignBit);}
bool isBodyAFixed()const { return m_bodyAPtrAndSignBit<0;}
bool isBodyBFixed()const { return m_bodyBPtrAndSignBit<0;}
// todo. make it safer
int& getBatchIdx() { return m_batchIdx; }
const int& getBatchIdx() const { return m_batchIdx; }
float getRestituitionCoeff() const { return ((float)m_restituitionCoeffCmp/(float)0xffff); }
void setRestituitionCoeff( float c ) { btAssert( c >= 0.f && c <= 1.f ); m_restituitionCoeffCmp = (unsigned short)(c*0xffff); }
float getFrictionCoeff() const { return ((float)m_frictionCoeffCmp/(float)0xffff); }
void setFrictionCoeff( float c ) { btAssert( c >= 0.f && c <= 1.f ); m_frictionCoeffCmp = (unsigned short)(c*0xffff); }
float& getNPoints() { return m_worldNormal[3]; }
float getNPoints() const { return m_worldNormal[3]; }
float getPenetration(int idx) const { return m_worldPos[idx][3]; }
bool isInvalid() const { return (getBodyA()==0 || getBodyB()==0); }
};
#endif //BT_CONTACT4_H