diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h | 30 |
1 files changed, 11 insertions, 19 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h index adb2268353..255489be99 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h @@ -22,20 +22,17 @@ subject to the following restrictions: #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 +ATTRIBUTE_ALIGNED16(class) +btContactConstraint : public btTypedConstraint { protected: - btPersistentManifold m_contactManifold; protected: - - - btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB); + btContactConstraint(btPersistentManifold * contactManifold, btRigidBody & rbA, btRigidBody & rbB); public: - - void setContactManifold(btPersistentManifold* contactManifold); + void setContactManifold(btPersistentManifold * contactManifold); btPersistentManifold* getContactManifold() { @@ -49,25 +46,20 @@ public: virtual ~btContactConstraint(); - virtual void getInfo1 (btConstraintInfo1* info); + virtual void getInfo1(btConstraintInfo1 * info); - virtual void getInfo2 (btConstraintInfo2* info); + virtual void getInfo2(btConstraintInfo2 * info); ///obsolete methods - virtual void buildJacobian(); - - + 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); - +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); - - + btRigidBody& body2, const btVector3& pos2, + btScalar distance, const btVector3& normal, btScalar& impulse, btScalar timeStep); -#endif //BT_CONTACT_CONSTRAINT_H +#endif //BT_CONTACT_CONSTRAINT_H |