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btOdeSolverBody.h
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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #ifndef ODE_SOLVER_BODY_H
00017 #define ODE_SOLVER_BODY_H
00018 
00019 class  btRigidBody;
00020 #include "LinearMath/btVector3.h"
00021 typedef btScalar dMatrix3[4*3];
00022 
00024 struct btOdeSolverBody 
00025 {
00026        btRigidBody*  m_originalBody;
00027 
00028        btVector3            m_centerOfMassPosition;
00030        dMatrix3             m_R;//temp
00031        dMatrix3             m_I;
00032        dMatrix3             m_invI;
00033 
00034        int                         m_odeTag;
00035        float                m_invMass;
00036        float                m_friction;
00037 
00038        btVector3            m_tacc;//temp
00039        btVector3            m_facc;
00040 
00041        btVector3            m_linearVelocity;
00042        btVector3            m_angularVelocity;
00043               
00044 };
00045 
00046 
00047 #endif //#ifndef ODE_SOLVER_BODY_H
00048