| 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 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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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #ifndef BT_CONTACT_CONSTRAINT_H |
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| 17 | #define BT_CONTACT_CONSTRAINT_H |
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| 18 | |
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| 19 | #include "LinearMath/btVector3.h" |
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| 20 | #include "btJacobianEntry.h" |
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| 21 | #include "btTypedConstraint.h" |
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| 22 | #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" |
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| 23 | |
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| 24 | ///btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface |
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| 25 | ATTRIBUTE_ALIGNED128(class) btContactConstraint : public btTypedConstraint |
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| 26 | { |
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| 27 | protected: |
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| 28 | |
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| 29 | btPersistentManifold m_contactManifold; |
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| 30 | |
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| 31 | public: |
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| 32 | |
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| 33 | |
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| 34 | btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB); |
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| 35 | |
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| 36 | void setContactManifold(btPersistentManifold* contactManifold); |
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| 37 | |
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| 38 | btPersistentManifold* getContactManifold() |
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| 39 | { |
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| 40 | return &m_contactManifold; |
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| 41 | } |
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| 42 | |
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| 43 | const btPersistentManifold* getContactManifold() const |
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| 44 | { |
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| 45 | return &m_contactManifold; |
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| 46 | } |
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| 47 | |
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| 48 | virtual ~btContactConstraint(); |
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| 49 | |
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| 50 | virtual void getInfo1 (btConstraintInfo1* info); |
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| 51 | |
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| 52 | virtual void getInfo2 (btConstraintInfo2* info); |
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| 53 | |
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| 54 | ///obsolete methods |
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| 55 | virtual void buildJacobian(); |
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| 56 | |
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| 57 | |
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| 58 | }; |
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| 59 | |
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| 60 | ///very basic collision resolution without friction |
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| 61 | btScalar resolveSingleCollision(btRigidBody* body1, class btCollisionObject* colObj2, const btVector3& contactPositionWorld,const btVector3& contactNormalOnB, const struct btContactSolverInfo& solverInfo,btScalar distance); |
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| 62 | |
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| 63 | |
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| 64 | ///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects |
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| 65 | void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1, |
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| 66 | btRigidBody& body2, const btVector3& pos2, |
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| 67 | btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep); |
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| 68 | |
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| 69 | |
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| 70 | |
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| 71 | #endif //BT_CONTACT_CONSTRAINT_H |
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