74 lines
2.6 KiB
C++
74 lines
2.6 KiB
C++
/*
|
|
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
|