65 lines
3.0 KiB
C++
65 lines
3.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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 SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
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#define SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
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#include "ConstraintSolver.h"
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class IDebugDraw;
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#include "ContactConstraint.h"
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/// SequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
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/// The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
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/// Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
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/// Applies impulses for combined restitution and penetration recovery and to simulate friction
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class SequentialImpulseConstraintSolver : public ConstraintSolver
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{
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float Solve(PersistentManifold* manifold, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer);
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float SolveFriction(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer);
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void PrepareConstraints(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,IDebugDraw* debugDrawer);
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ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
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ContactSolverFunc m_frictionDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
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public:
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SequentialImpulseConstraintSolver();
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///Advanced: Override the default contact solving function for contacts, for certain types of rigidbody
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///See RigidBody::m_contactSolverType and RigidBody::m_frictionSolverType
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void SetContactSolverFunc(ContactSolverFunc func,int type0,int type1)
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{
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m_contactDispatch[type0][type1] = func;
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}
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///Advanced: Override the default friction solving function for contacts, for certain types of rigidbody
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///See RigidBody::m_contactSolverType and RigidBody::m_frictionSolverType
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void SetFrictionSolverFunc(ContactSolverFunc func,int type0,int type1)
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{
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m_frictionDispatch[type0][type1] = func;
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}
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virtual ~SequentialImpulseConstraintSolver() {}
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virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info, IDebugDraw* debugDrawer=0);
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};
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#endif //SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
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