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Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btContactConstraint.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btContactConstraint.h | 73 |
1 files changed, 0 insertions, 73 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btContactConstraint.h b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btContactConstraint.h deleted file mode 100644 index adb2268353..0000000000 --- a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btContactConstraint.h +++ /dev/null @@ -1,73 +0,0 @@ -/* -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 |