47 lines
1.6 KiB
C++
47 lines
1.6 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef ODE_SOLVER_BODY_H
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#define ODE_SOLVER_BODY_H
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class btRigidBody;
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#include "LinearMath/btVector3.h"
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typedef btScalar dMatrix3[4*3];
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///ODE's quickstep needs just a subset of the rigidbody data in its own layout, so make a temp copy
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struct OdeSolverBody
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{
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btRigidBody* m_originalBody;
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btVector3 m_centerOfMassPosition;
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/// for ode solver-binding
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dMatrix3 m_R;//temp
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dMatrix3 m_I;
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dMatrix3 m_invI;
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int m_odeTag;
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float m_invMass;
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float m_friction;
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btVector3 m_tacc;//temp
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btVector3 m_facc;
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btVector3 m_linearVelocity;
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btVector3 m_angularVelocity;
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};
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#endif //#ifndef ODE_SOLVER_BODY_H
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