--- /dev/null
+/*************************************************************************
+ * *
+ * 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,
+ dContactMotionN = 0x080,
+ dContactSlip1 = 0x100,
+ dContactSlip2 = 0x200,
+
+ 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,motionN;
+ 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