/*************************************************************************

 *                                                                       *

 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *

 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *

 *                                                                       *

 * This library is free software; you can redistribute it and/or         *

 * modify it under the terms of EITHER:                                  *

 *   (1) The GNU Lesser General Public License as published by the Free  *

 *       Software Foundation; either version 2.1 of the License, or (at  *

 *       your option) any later version. The text of the GNU Lesser      *

 *       General Public License is included with this library in the     *

 *       file LICENSE.TXT.                                               *

 *   (2) The BSD-style license that is included with this library in     *

 *       the file LICENSE-BSD.TXT.                                       *

 *                                                                       *

 * This library is distributed in the hope that it will be useful,       *

 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *

 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *

 *                                                                       *

 *************************************************************************/

#ifndef _ODE_CONTACT_H_

#define _ODE_CONTACT_H_

#include <ode/common.h>

#ifdef __cplusplus

extern "C" {

#endif

enum {

  dContactMu2		= 0x001,

  dContactFDir1		= 0x002,

  dContactBounce	= 0x004,

  dContactSoftERP	= 0x008,

  dContactSoftCFM	= 0x010,

  dContactMotion1	= 0x020,

  dContactMotion2	= 0x040,

  dContactSlip1		= 0x080,

  dContactSlip2		= 0x100,

  dContactApprox0	= 0x0000,

  dContactApprox1_1	= 0x1000,

  dContactApprox1_2	= 0x2000,

  dContactApprox1	= 0x3000

};

typedef struct dSurfaceParameters {

  /* must always be defined */

  int mode;

  dReal mu;

  /* only defined if the corresponding flag is set in mode */

  dReal mu2;

  dReal bounce;

  dReal bounce_vel;

  dReal soft_erp;

  dReal soft_cfm;

  dReal motion1,motion2;

  dReal slip1,slip2;

} dSurfaceParameters;

/**

 * @brief Describe the contact point between two geoms.

 *

 * If two bodies touch, or if a body touches a static feature in its 

 * environment, the contact is represented by one or more "contact 

 * points", described by dContactGeom.

 *

 * The convention is that if body 1 is moved along the normal vector by 

 * a distance depth (or equivalently if body 2 is moved the same distance 

 * in the opposite direction) then the contact depth will be reduced to 

 * zero. This means that the normal vector points "in" to body 1.

 *

 * @ingroup collide

 */

typedef struct dContactGeom {

  dVector3 pos;          ///< contact position

  dVector3 normal;       ///< normal vector

  dReal depth;           ///< penetration depth

  dGeomID g1,g2;         ///< the colliding geoms

  int side1,side2;       ///< (to be documented)

} dContactGeom;

/* contact info used by contact joint */

typedef struct dContact {

  dSurfaceParameters surface;

  dContactGeom geom;

  dVector3 fdir1;

} dContact;

#ifdef __cplusplus

}

#endif

#endif