diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h | 122 |
1 files changed, 34 insertions, 88 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h index e8871f3860b..63c1a417bc1 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h @@ -16,107 +16,53 @@ subject to the following restrictions: #ifndef CONTACT_CONSTRAINT_H #define CONTACT_CONSTRAINT_H -///@todo: make into a proper class working with the iterative constraint solver - -class btRigidBody; #include "LinearMath/btVector3.h" -#include "LinearMath/btScalar.h" -struct btContactSolverInfo; -class btManifoldPoint; - -enum { - DEFAULT_CONTACT_SOLVER_TYPE=0, - CONTACT_SOLVER_TYPE1, - CONTACT_SOLVER_TYPE2, - USER_CONTACT_SOLVER_TYPE1, - MAX_CONTACT_SOLVER_TYPES -}; +#include "btJacobianEntry.h" +#include "btTypedConstraint.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" + +///btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface +ATTRIBUTE_ALIGNED16(class) btContactConstraint : public btTypedConstraint +{ +protected: + btPersistentManifold m_contactManifold; -typedef btScalar (*ContactSolverFunc)(btRigidBody& body1, - btRigidBody& body2, - class btManifoldPoint& contactPoint, - const btContactSolverInfo& info); +public: -///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) + + btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB); + + void setContactManifold(btPersistentManifold* contactManifold); + + btPersistentManifold* getContactManifold() { + return &m_contactManifold; } - - - /// 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; -}; + const btPersistentManifold* getContactManifold() const + { + return &m_contactManifold; + } -///bilateral constraint between two dynamic objects -///positive distance = separation, negative distance = penetration -void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1, - btRigidBody& body2, const btVector3& pos2, - btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep); + virtual ~btContactConstraint(); + + virtual void getInfo1 (btConstraintInfo1* info); + + virtual void getInfo2 (btConstraintInfo2* info); + ///obsolete methods + virtual void buildJacobian(); -///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 - ); +}; + +///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, + btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep); -btScalar resolveSingleCollisionCombined( - btRigidBody& body1, - btRigidBody& body2, - btManifoldPoint& contactPoint, - const btContactSolverInfo& solverInfo - ); #endif //CONTACT_CONSTRAINT_H |