diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h | 88 |
1 files changed, 41 insertions, 47 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h index e8bfabf864..fca8ecec81 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h @@ -19,20 +19,16 @@ subject to the following restrictions: #include "LinearMath/btMatrix3x3.h" #include "LinearMath/btVector3.h" - class btRigidBody; - - /// constraint class used for lateral tyre friction. -class btSolve2LinearConstraint +class btSolve2LinearConstraint { - btScalar m_tau; - btScalar m_damping; + btScalar m_tau; + btScalar m_damping; public: - - btSolve2LinearConstraint(btScalar tau,btScalar damping) + btSolve2LinearConstraint(btScalar tau, btScalar damping) { m_tau = tau; m_damping = damping; @@ -40,52 +36,51 @@ public: // // solve unilateral constraint (equality, direct method) // - void resolveUnilateralPairConstraint( - btRigidBody* body0, + void resolveUnilateralPairConstraint( + btRigidBody* body0, btRigidBody* body1, const btMatrix3x3& world2A, - const btMatrix3x3& world2B, - - const btVector3& invInertiaADiag, - const btScalar invMassA, - const btVector3& linvelA,const btVector3& angvelA, - const btVector3& rel_posA1, - const btVector3& invInertiaBDiag, - const btScalar invMassB, - const btVector3& linvelB,const btVector3& angvelB, - const btVector3& rel_posA2, - - btScalar depthA, const btVector3& normalA, - const btVector3& rel_posB1,const btVector3& rel_posB2, - btScalar depthB, const btVector3& normalB, - btScalar& imp0,btScalar& imp1); - + const btMatrix3x3& world2B, + + const btVector3& invInertiaADiag, + const btScalar invMassA, + const btVector3& linvelA, const btVector3& angvelA, + const btVector3& rel_posA1, + const btVector3& invInertiaBDiag, + const btScalar invMassB, + const btVector3& linvelB, const btVector3& angvelB, + const btVector3& rel_posA2, + + btScalar depthA, const btVector3& normalA, + const btVector3& rel_posB1, const btVector3& rel_posB2, + btScalar depthB, const btVector3& normalB, + btScalar& imp0, btScalar& imp1); // // solving 2x2 lcp problem (inequality, direct solution ) // void resolveBilateralPairConstraint( - btRigidBody* body0, - btRigidBody* body1, + btRigidBody* body0, + btRigidBody* body1, const btMatrix3x3& world2A, - const btMatrix3x3& world2B, - - const btVector3& invInertiaADiag, - const btScalar invMassA, - const btVector3& linvelA,const btVector3& angvelA, - const btVector3& rel_posA1, - const btVector3& invInertiaBDiag, - const btScalar invMassB, - const btVector3& linvelB,const btVector3& angvelB, - const btVector3& rel_posA2, - - btScalar depthA, const btVector3& normalA, - const btVector3& rel_posB1,const btVector3& rel_posB2, - btScalar depthB, const btVector3& normalB, - btScalar& imp0,btScalar& imp1); - -/* + const btMatrix3x3& world2B, + + const btVector3& invInertiaADiag, + const btScalar invMassA, + const btVector3& linvelA, const btVector3& angvelA, + const btVector3& rel_posA1, + const btVector3& invInertiaBDiag, + const btScalar invMassB, + const btVector3& linvelB, const btVector3& angvelB, + const btVector3& rel_posA2, + + btScalar depthA, const btVector3& normalA, + const btVector3& rel_posB1, const btVector3& rel_posB2, + btScalar depthB, const btVector3& normalB, + btScalar& imp0, btScalar& imp1); + + /* void resolveAngularConstraint( const btMatrix3x3& invInertiaAWS, const btScalar invMassA, const btVector3& linvelA,const btVector3& angvelA, @@ -101,7 +96,6 @@ public: btScalar& imp0,btScalar& imp1); */ - }; -#endif //BT_SOLVE_2LINEAR_CONSTRAINT_H +#endif //BT_SOLVE_2LINEAR_CONSTRAINT_H |