| 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_SOLVE_2LINEAR_CONSTRAINT_H |
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| 17 | #define BT_SOLVE_2LINEAR_CONSTRAINT_H |
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| 18 | |
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| 19 | #include "LinearMath/btMatrix3x3.h" |
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| 20 | #include "LinearMath/btVector3.h" |
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| 21 | |
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| 22 | |
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| 23 | class btRigidBody; |
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| 24 | |
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| 25 | |
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| 26 | |
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| 27 | /// constraint class used for lateral tyre friction. |
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| 28 | class btSolve2LinearConstraint |
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| 29 | { |
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| 30 | btScalar m_tau; |
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| 31 | btScalar m_damping; |
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| 32 | |
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| 33 | public: |
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| 34 | |
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| 35 | btSolve2LinearConstraint(btScalar tau,btScalar damping) |
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| 36 | { |
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| 37 | m_tau = tau; |
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| 38 | m_damping = damping; |
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| 39 | } |
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| 40 | // |
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| 41 | // solve unilateral constraint (equality, direct method) |
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| 42 | // |
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| 43 | void resolveUnilateralPairConstraint( |
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| 44 | btRigidBody* body0, |
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| 45 | btRigidBody* body1, |
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| 46 | |
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| 47 | const btMatrix3x3& world2A, |
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| 48 | const btMatrix3x3& world2B, |
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| 49 | |
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| 50 | const btVector3& invInertiaADiag, |
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| 51 | const btScalar invMassA, |
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| 52 | const btVector3& linvelA,const btVector3& angvelA, |
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| 53 | const btVector3& rel_posA1, |
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| 54 | const btVector3& invInertiaBDiag, |
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| 55 | const btScalar invMassB, |
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| 56 | const btVector3& linvelB,const btVector3& angvelB, |
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| 57 | const btVector3& rel_posA2, |
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| 58 | |
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| 59 | btScalar depthA, const btVector3& normalA, |
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| 60 | const btVector3& rel_posB1,const btVector3& rel_posB2, |
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| 61 | btScalar depthB, const btVector3& normalB, |
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| 62 | btScalar& imp0,btScalar& imp1); |
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| 63 | |
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| 64 | |
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| 65 | // |
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| 66 | // solving 2x2 lcp problem (inequality, direct solution ) |
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| 67 | // |
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| 68 | void resolveBilateralPairConstraint( |
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| 69 | btRigidBody* body0, |
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| 70 | btRigidBody* body1, |
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| 71 | const btMatrix3x3& world2A, |
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| 72 | const btMatrix3x3& world2B, |
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| 73 | |
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| 74 | const btVector3& invInertiaADiag, |
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| 75 | const btScalar invMassA, |
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| 76 | const btVector3& linvelA,const btVector3& angvelA, |
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| 77 | const btVector3& rel_posA1, |
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| 78 | const btVector3& invInertiaBDiag, |
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| 79 | const btScalar invMassB, |
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| 80 | const btVector3& linvelB,const btVector3& angvelB, |
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| 81 | const btVector3& rel_posA2, |
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| 82 | |
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| 83 | btScalar depthA, const btVector3& normalA, |
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| 84 | const btVector3& rel_posB1,const btVector3& rel_posB2, |
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| 85 | btScalar depthB, const btVector3& normalB, |
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| 86 | btScalar& imp0,btScalar& imp1); |
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| 87 | |
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| 88 | /* |
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| 89 | void resolveAngularConstraint( const btMatrix3x3& invInertiaAWS, |
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| 90 | const btScalar invMassA, |
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| 91 | const btVector3& linvelA,const btVector3& angvelA, |
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| 92 | const btVector3& rel_posA1, |
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| 93 | const btMatrix3x3& invInertiaBWS, |
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| 94 | const btScalar invMassB, |
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| 95 | const btVector3& linvelB,const btVector3& angvelB, |
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| 96 | const btVector3& rel_posA2, |
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| 97 | |
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| 98 | btScalar depthA, const btVector3& normalA, |
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| 99 | const btVector3& rel_posB1,const btVector3& rel_posB2, |
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| 100 | btScalar depthB, const btVector3& normalB, |
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| 101 | btScalar& imp0,btScalar& imp1); |
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| 102 | |
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| 103 | */ |
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| 104 | |
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| 105 | }; |
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| 106 | |
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| 107 | #endif //BT_SOLVE_2LINEAR_CONSTRAINT_H |
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