moved files around

BulletDynamics/ConstraintSolver/ContactConstraint.h

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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef CONTACT_CONSTRAINT_H
+#define CONTACT_CONSTRAINT_H
+
+//todo: make into a proper class working with the iterative constraint solver
+
+class RigidBody;
+#include "SimdVector3.h"
+#include "SimdScalar.h"
+struct ContactSolverInfo;
+class ManifoldPoint;
+
+struct ConstraintPersistentData
+{
+	inline ConstraintPersistentData()
+	:m_appliedImpulse(0.f),
+	m_prevAppliedImpulse(0.f),
+	m_accumulatedTangentImpulse0(0.f),
+	m_accumulatedTangentImpulse1(0.f),
+	m_jacDiagABInv(0.f),
+	m_persistentLifeTime(0),
+	m_restitution(0.f),
+	m_penetration(0.f)
+	{
+	}
+	
+					
+				/// total applied impulse during most recent frame
+			float	m_appliedImpulse;
+			float	m_prevAppliedImpulse;
+			float	m_accumulatedTangentImpulse0;
+			float	m_accumulatedTangentImpulse1;
+			
+			float	m_jacDiagABInv;
+			float	m_jacDiagABInvTangent0;
+			float	m_jacDiagABInvTangent1;
+			int		m_persistentLifeTime;
+			float	m_restitution;
+			float	m_penetration;
+			SimdVector3	m_frictionWorldTangential0;
+			SimdVector3	m_frictionWorldTangential1;
+
+
+};
+
+///bilateral constraint between two dynamic objects
+///positive distance = separation, negative distance = penetration
+void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
+                      RigidBody& body2, const SimdVector3& pos2,
+                      SimdScalar distance, const SimdVector3& normal,SimdScalar& impulse ,float timeStep);
+
+
+///contact constraint resolution:
+///calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
+///positive distance = separation, negative distance = penetration
+float resolveSingleCollision(
+	RigidBody& body1,
+	RigidBody& body2,
+		ManifoldPoint& contactPoint,
+		 const ContactSolverInfo& info);
+
+float resolveSingleFriction(
+	RigidBody& body1,
+	RigidBody& body2,
+	ManifoldPoint& contactPoint,
+	const ContactSolverInfo& solverInfo
+		);
+
+#endif //CONTACT_CONSTRAINT_H