Changeset 8284 for code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h

Timestamp:

Apr 21, 2011, 6:58:23 PM (13 years ago)

Author:

rgrieder

Message:

Merged revisions 7978 - 8096 from kicklib to kicklib2.

Location:

code/branches/kicklib2

Files:

• . (modified) (1 prop)
• src/external/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h (modified) (2 diffs)

code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h

@@ -17 +17 @@
 #define CONTACT_CONSTRAINT_H
 
-///@todo: make into a proper class working with the iterative constraint solver
+#include "LinearMath/btVector3.h"
+#include "btJacobianEntry.h"
+#include "btTypedConstraint.h"
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
 
-class btRigidBody;
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btScalar.h"
-struct btContactSolverInfo;
-class btManifoldPoint;
+///btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface
+ATTRIBUTE_ALIGNED16(class) btContactConstraint : public btTypedConstraint
+{
+protected:
 
-enum {
-        DEFAULT_CONTACT_SOLVER_TYPE=0,
-        CONTACT_SOLVER_TYPE1,
-        CONTACT_SOLVER_TYPE2,
-        USER_CONTACT_SOLVER_TYPE1,
-        MAX_CONTACT_SOLVER_TYPES
+        btPersistentManifold m_contactManifold;
+
+public:
+
+
+        btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB);
+
+        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();
+
+
 };
 
 
-typedef btScalar (*ContactSolverFunc)(btRigidBody& body1,
-                                                                         btRigidBody& body2,
-                                                                         class btManifoldPoint& contactPoint,
-                                                                         const btContactSolverInfo& info);
-
-///stores some extra information to each contact point. It is not in the contact point, because that want to keep the collision detection independent from the constraint solver.
-struct btConstraintPersistentData
-{
-        inline btConstraintPersistentData()
-        :m_appliedImpulse(btScalar(0.)),
-        m_prevAppliedImpulse(btScalar(0.)),
-        m_accumulatedTangentImpulse0(btScalar(0.)),
-        m_accumulatedTangentImpulse1(btScalar(0.)),
-        m_jacDiagABInv(btScalar(0.)),
-        m_persistentLifeTime(0),
-        m_restitution(btScalar(0.)),
-        m_friction(btScalar(0.)),
-        m_penetration(btScalar(0.)),
-        m_contactSolverFunc(0),
-        m_frictionSolverFunc(0)
-        {
-        }
-        
-                                        
-                                /// total applied impulse during most recent frame
-                        btScalar        m_appliedImpulse;
-                        btScalar        m_prevAppliedImpulse;
-                        btScalar        m_accumulatedTangentImpulse0;
-                        btScalar        m_accumulatedTangentImpulse1;
-                        
-                        btScalar        m_jacDiagABInv;
-                        btScalar        m_jacDiagABInvTangent0;
-                        btScalar        m_jacDiagABInvTangent1;
-                        int             m_persistentLifeTime;
-                        btScalar        m_restitution;
-                        btScalar        m_friction;
-                        btScalar        m_penetration;
-                        btVector3       m_frictionWorldTangential0;
-                        btVector3       m_frictionWorldTangential1;
-
-                        btVector3       m_frictionAngularComponent0A;
-                        btVector3       m_frictionAngularComponent0B;
-                        btVector3       m_frictionAngularComponent1A;
-                        btVector3       m_frictionAngularComponent1B;
-
-                        //some data doesn't need to be persistent over frames: todo: clean/reuse this
-                        btVector3       m_angularComponentA;
-                        btVector3       m_angularComponentB;
-                
-                        ContactSolverFunc       m_contactSolverFunc;
-                        ContactSolverFunc       m_frictionSolverFunc;
-
-};
-
-///bilateral constraint between two dynamic objects
-///positive distance = separation, negative distance = penetration
+///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,
@@ -95 +65 @@
 
 
-///contact constraint resolution:
-///calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
-///positive distance = separation, negative distance = penetration
-btScalar resolveSingleCollision(
-        btRigidBody& body1,
-        btRigidBody& body2,
-                btManifoldPoint& contactPoint,
-                 const btContactSolverInfo& info);
-
-btScalar resolveSingleFriction(
-        btRigidBody& body1,
-        btRigidBody& body2,
-        btManifoldPoint& contactPoint,
-        const btContactSolverInfo& solverInfo
-                );
-
-
-
-btScalar resolveSingleCollisionCombined(
-        btRigidBody& body1,
-        btRigidBody& body2,
-        btManifoldPoint& contactPoint,
-        const btContactSolverInfo& solverInfo
-                );
 
 #endif //CONTACT_CONSTRAINT_H