108 lines
3.4 KiB
C++
108 lines
3.4 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_SOLVE_2LINEAR_CONSTRAINT_H
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#define BT_SOLVE_2LINEAR_CONSTRAINT_H
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#include "LinearMath/btMatrix3x3.h"
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#include "LinearMath/btVector3.h"
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class btRigidBody;
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/// constraint class used for lateral tyre friction.
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class btSolve2LinearConstraint
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{
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btScalar m_tau;
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btScalar m_damping;
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public:
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btSolve2LinearConstraint(btScalar tau,btScalar damping)
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{
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m_tau = tau;
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m_damping = damping;
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}
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//
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// solve unilateral constraint (equality, direct method)
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//
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void resolveUnilateralPairConstraint(
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btRigidBody* body0,
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btRigidBody* body1,
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const btMatrix3x3& world2A,
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const btMatrix3x3& world2B,
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const btVector3& invInertiaADiag,
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const btScalar invMassA,
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const btVector3& linvelA,const btVector3& angvelA,
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const btVector3& rel_posA1,
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const btVector3& invInertiaBDiag,
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const btScalar invMassB,
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const btVector3& linvelB,const btVector3& angvelB,
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const btVector3& rel_posA2,
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btScalar depthA, const btVector3& normalA,
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const btVector3& rel_posB1,const btVector3& rel_posB2,
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btScalar depthB, const btVector3& normalB,
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btScalar& imp0,btScalar& imp1);
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//
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// solving 2x2 lcp problem (inequality, direct solution )
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//
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void resolveBilateralPairConstraint(
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btRigidBody* body0,
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btRigidBody* body1,
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const btMatrix3x3& world2A,
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const btMatrix3x3& world2B,
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const btVector3& invInertiaADiag,
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const btScalar invMassA,
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const btVector3& linvelA,const btVector3& angvelA,
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const btVector3& rel_posA1,
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const btVector3& invInertiaBDiag,
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const btScalar invMassB,
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const btVector3& linvelB,const btVector3& angvelB,
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const btVector3& rel_posA2,
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btScalar depthA, const btVector3& normalA,
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const btVector3& rel_posB1,const btVector3& rel_posB2,
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btScalar depthB, const btVector3& normalB,
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btScalar& imp0,btScalar& imp1);
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/*
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void resolveAngularConstraint( const btMatrix3x3& invInertiaAWS,
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const btScalar invMassA,
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const btVector3& linvelA,const btVector3& angvelA,
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const btVector3& rel_posA1,
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const btMatrix3x3& invInertiaBWS,
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const btScalar invMassB,
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const btVector3& linvelB,const btVector3& angvelB,
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const btVector3& rel_posA2,
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btScalar depthA, const btVector3& normalA,
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const btVector3& rel_posB1,const btVector3& rel_posB2,
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btScalar depthB, const btVector3& normalB,
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btScalar& imp0,btScalar& imp1);
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*/
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};
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#endif //BT_SOLVE_2LINEAR_CONSTRAINT_H
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