| 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 SOLVE_2LINEAR_CONSTRAINT_H |
|---|
| 17 | #define SOLVE_2LINEAR_CONSTRAINT_H |
|---|
| 18 | |
|---|
| 19 | #include "LinearMath/btMatrix3x3.h" |
|---|
| 20 | #include "LinearMath/btVector3.h" |
|---|
| 21 | |
|---|
| 22 | |
|---|
| 23 | class btRigidBody; |
|---|
| 24 | |
|---|
| 25 | |
|---|
| 26 | |
|---|
| 27 | /// constraint class used for lateral tyre friction. |
|---|
| 28 | class btSolve2LinearConstraint |
|---|
| 29 | { |
|---|
| 30 | btScalar m_tau; |
|---|
| 31 | btScalar m_damping; |
|---|
| 32 | |
|---|
| 33 | public: |
|---|
| 34 | |
|---|
| 35 | btSolve2LinearConstraint(btScalar tau,btScalar damping) |
|---|
| 36 | { |
|---|
| 37 | m_tau = tau; |
|---|
| 38 | m_damping = damping; |
|---|
| 39 | } |
|---|
| 40 | // |
|---|
| 41 | // solve unilateral constraint (equality, direct method) |
|---|
| 42 | // |
|---|
| 43 | void resolveUnilateralPairConstraint( |
|---|
| 44 | btRigidBody* body0, |
|---|
| 45 | btRigidBody* body1, |
|---|
| 46 | |
|---|
| 47 | const btMatrix3x3& world2A, |
|---|
| 48 | const btMatrix3x3& world2B, |
|---|
| 49 | |
|---|
| 50 | const btVector3& invInertiaADiag, |
|---|
| 51 | const btScalar invMassA, |
|---|
| 52 | const btVector3& linvelA,const btVector3& angvelA, |
|---|
| 53 | const btVector3& rel_posA1, |
|---|
| 54 | const btVector3& invInertiaBDiag, |
|---|
| 55 | const btScalar invMassB, |
|---|
| 56 | const btVector3& linvelB,const btVector3& angvelB, |
|---|
| 57 | const btVector3& rel_posA2, |
|---|
| 58 | |
|---|
| 59 | btScalar depthA, const btVector3& normalA, |
|---|
| 60 | const btVector3& rel_posB1,const btVector3& rel_posB2, |
|---|
| 61 | btScalar depthB, const btVector3& normalB, |
|---|
| 62 | btScalar& imp0,btScalar& imp1); |
|---|
| 63 | |
|---|
| 64 | |
|---|
| 65 | // |
|---|
| 66 | // solving 2x2 lcp problem (inequality, direct solution ) |
|---|
| 67 | // |
|---|
| 68 | void resolveBilateralPairConstraint( |
|---|
| 69 | btRigidBody* body0, |
|---|
| 70 | btRigidBody* body1, |
|---|
| 71 | const btMatrix3x3& world2A, |
|---|
| 72 | const btMatrix3x3& world2B, |
|---|
| 73 | |
|---|
| 74 | const btVector3& invInertiaADiag, |
|---|
| 75 | const btScalar invMassA, |
|---|
| 76 | const btVector3& linvelA,const btVector3& angvelA, |
|---|
| 77 | const btVector3& rel_posA1, |
|---|
| 78 | const btVector3& invInertiaBDiag, |
|---|
| 79 | const btScalar invMassB, |
|---|
| 80 | const btVector3& linvelB,const btVector3& angvelB, |
|---|
| 81 | const btVector3& rel_posA2, |
|---|
| 82 | |
|---|
| 83 | btScalar depthA, const btVector3& normalA, |
|---|
| 84 | const btVector3& rel_posB1,const btVector3& rel_posB2, |
|---|
| 85 | btScalar depthB, const btVector3& normalB, |
|---|
| 86 | btScalar& imp0,btScalar& imp1); |
|---|
| 87 | |
|---|
| 88 | /* |
|---|
| 89 | void resolveAngularConstraint( const btMatrix3x3& invInertiaAWS, |
|---|
| 90 | const btScalar invMassA, |
|---|
| 91 | const btVector3& linvelA,const btVector3& angvelA, |
|---|
| 92 | const btVector3& rel_posA1, |
|---|
| 93 | const btMatrix3x3& invInertiaBWS, |
|---|
| 94 | const btScalar invMassB, |
|---|
| 95 | const btVector3& linvelB,const btVector3& angvelB, |
|---|
| 96 | const btVector3& rel_posA2, |
|---|
| 97 | |
|---|
| 98 | btScalar depthA, const btVector3& normalA, |
|---|
| 99 | const btVector3& rel_posB1,const btVector3& rel_posB2, |
|---|
| 100 | btScalar depthB, const btVector3& normalB, |
|---|
| 101 | btScalar& imp0,btScalar& imp1); |
|---|
| 102 | |
|---|
| 103 | */ |
|---|
| 104 | |
|---|
| 105 | }; |
|---|
| 106 | |
|---|
| 107 | #endif //SOLVE_2LINEAR_CONSTRAINT_H |
|---|
