moved files around

2006-05-25 19:18:29 +00:00
commit e061ec1ebf
1024 changed files with 349445 additions and 0 deletions
--- a/BulletDynamics/ConstraintSolver/Solve2LinearConstraint.h
+++ b/BulletDynamics/ConstraintSolver/Solve2LinearConstraint.h
@@ -0,0 +1,106 @@
+/*
+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 SOLVE_2LINEAR_CONSTRAINT_H
+#define SOLVE_2LINEAR_CONSTRAINT_H
+
+#include "SimdMatrix3x3.h"
+#include "SimdVector3.h"
+
+
+class RigidBody;
+
+
+
+/// constraint class used for lateral tyre friction.
+class	Solve2LinearConstraint
+{
+	SimdScalar	m_tau;
+	SimdScalar	m_damping;
+
+public:
+
+	Solve2LinearConstraint(SimdScalar tau,SimdScalar damping)
+	{
+		m_tau = tau;
+		m_damping = damping;
+	}
+	//
+	// solve unilateral constraint (equality, direct method)
+	//
+	void resolveUnilateralPairConstraint(		
+														   RigidBody* body0,
+		RigidBody* body1,
+
+		const SimdMatrix3x3& world2A,
+						const SimdMatrix3x3& world2B,
+						
+						const SimdVector3& invInertiaADiag,
+						const SimdScalar invMassA,
+						const SimdVector3& linvelA,const SimdVector3& angvelA,
+						const SimdVector3& rel_posA1,
+						const SimdVector3& invInertiaBDiag,
+						const SimdScalar invMassB,
+						const SimdVector3& linvelB,const SimdVector3& angvelB,
+						const SimdVector3& rel_posA2,
+
+					  SimdScalar depthA, const SimdVector3& normalA, 
+					  const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
+					  SimdScalar depthB, const SimdVector3& normalB, 
+					  SimdScalar& imp0,SimdScalar& imp1);
+
+
+	//
+	// solving 2x2 lcp problem (inequality, direct solution )
+	//
+	void resolveBilateralPairConstraint(
+			RigidBody* body0,
+						RigidBody* body1,
+		const SimdMatrix3x3& world2A,
+						const SimdMatrix3x3& world2B,
+						
+						const SimdVector3& invInertiaADiag,
+						const SimdScalar invMassA,
+						const SimdVector3& linvelA,const SimdVector3& angvelA,
+						const SimdVector3& rel_posA1,
+						const SimdVector3& invInertiaBDiag,
+						const SimdScalar invMassB,
+						const SimdVector3& linvelB,const SimdVector3& angvelB,
+						const SimdVector3& rel_posA2,
+
+					  SimdScalar depthA, const SimdVector3& normalA, 
+					  const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
+					  SimdScalar depthB, const SimdVector3& normalB, 
+					  SimdScalar& imp0,SimdScalar& imp1);
+
+
+	void resolveAngularConstraint(	const SimdMatrix3x3& invInertiaAWS,
+						const SimdScalar invMassA,
+						const SimdVector3& linvelA,const SimdVector3& angvelA,
+						const SimdVector3& rel_posA1,
+						const SimdMatrix3x3& invInertiaBWS,
+						const SimdScalar invMassB,
+						const SimdVector3& linvelB,const SimdVector3& angvelB,
+						const SimdVector3& rel_posA2,
+
+					  SimdScalar depthA, const SimdVector3& normalA, 
+					  const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
+					  SimdScalar depthB, const SimdVector3& normalB, 
+					  SimdScalar& imp0,SimdScalar& imp1);
+
+
+};
+
+#endif //SOLVE_2LINEAR_CONSTRAINT_H