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source: code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h @ 10986

Last change on this file since 10986 was 10726, checked in by landauf, 9 years ago

fixed alignment warnings in MSVC14 (caused by SSE instructions in bullet)

  • Property svn:eol-style set to native
File size: 2.6 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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"
22#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
23
24///btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface
25ATTRIBUTE_ALIGNED128(class) btContactConstraint : public btTypedConstraint
26{
27protected:
28
29        btPersistentManifold m_contactManifold;
30
31public:
32
33
34        btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB);
35
36        void    setContactManifold(btPersistentManifold* contactManifold);
37
38        btPersistentManifold* getContactManifold()
39        {
40                return &m_contactManifold;
41        }
42
43        const btPersistentManifold* getContactManifold() const
44        {
45                return &m_contactManifold;
46        }
47
48        virtual ~btContactConstraint();
49
50        virtual void getInfo1 (btConstraintInfo1* info);
51
52        virtual void getInfo2 (btConstraintInfo2* info);
53
54        ///obsolete methods
55        virtual void    buildJacobian();
56
57
58};
59
60///very basic collision resolution without friction
61btScalar resolveSingleCollision(btRigidBody* body1, class btCollisionObject* colObj2, const btVector3& contactPositionWorld,const btVector3& contactNormalOnB, const struct btContactSolverInfo& solverInfo,btScalar distance);
62
63
64///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects
65void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
66                      btRigidBody& body2, const btVector3& pos2,
67                      btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep);
68
69
70
71#endif //BT_CONTACT_CONSTRAINT_H
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