2020-11-16 14:47:43 +08:00
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/*
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Bullet Continuous Collision Detection and Physics Library
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2021-12-20 18:52:45 +08:00
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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2020-11-16 14:47:43 +08:00
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_CONTACT_CONSTRAINT_H
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#define BT_CONTACT_CONSTRAINT_H
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#include "LinearMath/btVector3.h"
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#include "btJacobianEntry.h"
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#include "btTypedConstraint.h"
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#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
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///btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface
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ATTRIBUTE_ALIGNED16(class)
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btContactConstraint : public btTypedConstraint
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{
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protected:
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btPersistentManifold m_contactManifold;
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protected:
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btContactConstraint(btPersistentManifold * contactManifold, btRigidBody & rbA, btRigidBody & rbB);
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public:
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void setContactManifold(btPersistentManifold * contactManifold);
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btPersistentManifold* getContactManifold()
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{
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return &m_contactManifold;
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}
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const btPersistentManifold* getContactManifold() const
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{
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return &m_contactManifold;
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}
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virtual ~btContactConstraint();
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virtual void getInfo1(btConstraintInfo1 * info);
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virtual void getInfo2(btConstraintInfo2 * info);
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///obsolete methods
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virtual void buildJacobian();
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};
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///very basic collision resolution without friction
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btScalar resolveSingleCollision(btRigidBody* body1, class btCollisionObject* colObj2, const btVector3& contactPositionWorld, const btVector3& contactNormalOnB, const struct btContactSolverInfo& solverInfo, btScalar distance);
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///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects
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void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
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btRigidBody& body2, const btVector3& pos2,
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btScalar distance, const btVector3& normal, btScalar& impulse, btScalar timeStep);
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#endif //BT_CONTACT_CONSTRAINT_H
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