/************************************************************************* *                                                                       * * 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 __cplusplusextern "C" {#endifenum {  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;/* contact info set by collision functions */typedef struct dContactGeom {  dVector3 pos;  dVector3 normal;  dReal depth;  dGeomID g1,g2;} dContactGeom;/* contact info used by contact joint */typedef struct dContact {  dSurfaceParameters surface;  dContactGeom geom;  dVector3 fdir1;} dContact;#ifdef __cplusplus}#endif#endif