Blender  V3.3
btContactConstraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_CONTACT_CONSTRAINT_H
17 #define BT_CONTACT_CONSTRAINT_H
18 
19 #include "LinearMath/btVector3.h"
20 #include "btJacobianEntry.h"
21 #include "btTypedConstraint.h"
23 
27 {
28 protected:
29  btPersistentManifold m_contactManifold;
30 
31 protected:
33 
34 public:
35  void setContactManifold(btPersistentManifold * contactManifold);
36 
38  {
39  return &m_contactManifold;
40  }
41 
43  {
44  return &m_contactManifold;
45  }
46 
47  virtual ~btContactConstraint();
48 
49  virtual void getInfo1(btConstraintInfo1 * info);
50 
51  virtual void getInfo2(btConstraintInfo2 * info);
52 
54  virtual void buildJacobian();
55 };
56 
58 btScalar resolveSingleCollision(btRigidBody* body1, class btCollisionObject* colObj2, const btVector3& contactPositionWorld, const btVector3& contactNormalOnB, const struct btContactSolverInfo& solverInfo, btScalar distance);
59 
61 void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
62  btRigidBody& body2, const btVector3& pos2,
63  btScalar distance, const btVector3& normal, btScalar& impulse, btScalar timeStep);
64 
65 #endif //BT_CONTACT_CONSTRAINT_H
btCollisionObject
btScalar resolveSingleCollision(btRigidBody *body1, class btCollisionObject *colObj2, const btVector3 &contactPositionWorld, const btVector3 &contactNormalOnB, const struct btContactSolverInfo &solverInfo, btScalar distance)
very basic collision resolution without friction
virtual void getInfo2(btConstraintInfo2 *info)
void resolveSingleBilateral(btRigidBody &body1, const btVector3 &pos1, btRigidBody &body2, const btVector3 &pos2, btScalar distance, const btVector3 &normal, btScalar &impulse, btScalar timeStep)
resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects
virtual ~btContactConstraint()
btPersistentManifold * getContactManifold()
virtual void buildJacobian()
obsolete methods
virtual void getInfo1(btConstraintInfo1 *info)
btContactConstraint(btPersistentManifold *contactManifold, btRigidBody &rbA, btRigidBody &rbB)
void setContactManifold(btPersistentManifold *contactManifold)
btFixedConstraint btRigidBody & rbB
btPersistentManifold()
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:285
btTypedConstraint(btTypedConstraintType type, btRigidBody &rbA)
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
IconTextureDrawCall normal
T distance(const T &a, const T &b)