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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef POINT2POINTCONSTRAINT_H
#define POINT2POINTCONSTRAINT_H
#include "SimdVector3.h"
#include "ConstraintSolver/JacobianEntry.h"
class RigidBody;
/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
class Point2PointConstraint
{
JacobianEntry m_jac[3]; //3 orthogonal linear constraints
RigidBody& m_rbA;
RigidBody& m_rbB;
SimdVector3 m_pivotInA;
SimdVector3 m_pivotInB;
public:
Point2PointConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB);
Point2PointConstraint(RigidBody& rbA,const SimdVector3& pivotInA);
Point2PointConstraint();
void BuildJacobian();
void SolveConstraint(SimdScalar timeStep);
void UpdateRHS(SimdScalar timeStep);
const RigidBody& GetRigidBodyA() const
{
return m_rbA;
}
const RigidBody& GetRigidBodyB() const
{
return m_rbB;
}
};
#endif //POINT2POINTCONSTRAINT_H
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