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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h')
-rw-r--r-- | thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h | 73 |
1 files changed, 73 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h new file mode 100644 index 0000000000..adb2268353 --- /dev/null +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h @@ -0,0 +1,73 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef BT_CONTACT_CONSTRAINT_H +#define BT_CONTACT_CONSTRAINT_H + +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btTypedConstraint.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" + +///btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface +ATTRIBUTE_ALIGNED16(class) btContactConstraint : public btTypedConstraint +{ +protected: + + btPersistentManifold m_contactManifold; + +protected: + + + btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB); + +public: + + void setContactManifold(btPersistentManifold* contactManifold); + + btPersistentManifold* getContactManifold() + { + return &m_contactManifold; + } + + const btPersistentManifold* getContactManifold() const + { + return &m_contactManifold; + } + + virtual ~btContactConstraint(); + + virtual void getInfo1 (btConstraintInfo1* info); + + virtual void getInfo2 (btConstraintInfo2* info); + + ///obsolete methods + virtual void buildJacobian(); + + +}; + +///very basic collision resolution without friction +btScalar resolveSingleCollision(btRigidBody* body1, class btCollisionObject* colObj2, const btVector3& contactPositionWorld,const btVector3& contactNormalOnB, const struct btContactSolverInfo& solverInfo,btScalar distance); + + +///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects +void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1, + btRigidBody& body2, const btVector3& pos2, + btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep); + + + +#endif //BT_CONTACT_CONSTRAINT_H |