3e2529fcb5
Also comment-out some code for __SPU__ to reduce code size Added btContactConstraint (only used on PS3 SPU right now, better to use btPersistentManifold directly for contact constraints) Improved readblend utility library (see also usage in http://gamekit.googlecode.com with Irrlicht) Fix for btConvexConvexAlgorithm, potential division by zero Thanks linzner http://code.google.com/p/bullet/issues/detail?id=260
72 lines
2.4 KiB
C++
72 lines
2.4 KiB
C++
/*
|
|
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
|
|
|
|
#include "LinearMath/btVector3.h"
|
|
#include "btJacobianEntry.h"
|
|
#include "btTypedConstraint.h"
|
|
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
|
|
|
|
///btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface
|
|
ATTRIBUTE_ALIGNED16(class) btContactConstraint : public btTypedConstraint
|
|
{
|
|
protected:
|
|
|
|
btPersistentManifold m_contactManifold;
|
|
|
|
public:
|
|
|
|
btContactConstraint();
|
|
|
|
btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB);
|
|
|
|
void setContactManifold(btPersistentManifold* contactManifold);
|
|
|
|
btPersistentManifold* getContactManifold()
|
|
{
|
|
return &m_contactManifold;
|
|
}
|
|
|
|
const btPersistentManifold* getContactManifold() const
|
|
{
|
|
return &m_contactManifold;
|
|
}
|
|
|
|
virtual ~btContactConstraint();
|
|
|
|
virtual void getInfo1 (btConstraintInfo1* info);
|
|
|
|
virtual void getInfo2 (btConstraintInfo2* info);
|
|
|
|
///obsolete methods
|
|
virtual void buildJacobian();
|
|
|
|
///obsolete methods
|
|
virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep);
|
|
|
|
};
|
|
|
|
|
|
///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects
|
|
void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
|
|
btRigidBody& body2, const btVector3& pos2,
|
|
btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep);
|
|
|
|
|
|
|
|
#endif //CONTACT_CONSTRAINT_H
|