Bullet Collision Detection & Physics Library: btContactConstraint.h Source File

Bullet Collision Detection & Physics Library

btContactConstraint.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_CONTACT_CONSTRAINT_H
17#define BT_CONTACT_CONSTRAINT_H
18
19#include "LinearMath/btVector3.h"
20#include "btJacobianEntry.h"
21#include "btTypedConstraint.h"
22#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
23
25 ATTRIBUTE_ALIGNED16(class)
26 btContactConstraint : public btTypedConstraint
27{
28protected:
29 btPersistentManifold m_contactManifold;
30
31protected:
32 btContactConstraint(btPersistentManifold * contactManifold, btRigidBody & rbA, btRigidBody & rbB);
33
34public:
35 void setContactManifold(btPersistentManifold * contactManifold);
36
37 btPersistentManifold* getContactManifold()
38 {
39 return &m_contactManifold;
40 }
41
42 const btPersistentManifold* getContactManifold() const
43 {
44 return &m_contactManifold;
45 }
46
47 virtual ~btContactConstraint();
48
49 virtual void getInfo1(btConstraintInfo1 * info);
50
51 virtual void getInfo2(btConstraintInfo2 * info);
52
54 virtual void buildJacobian();
55};
56
58 btScalar resolveSingleCollision(btRigidBody* body1, class btCollisionObject* colObj2, const btVector3& contactPositionWorld, const btVector3& contactNormalOnB, const struct btContactSolverInfo& solverInfo, btScalar distance);
59
61void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
62 btRigidBody& body2, const btVector3& pos2,
63 btScalar distance, const btVector3& normal, btScalar& impulse, btScalar timeStep);
64
65#endif //BT_CONTACT_CONSTRAINT_H
resolveSingleCollision
btScalar resolveSingleCollision(btRigidBody *body1, class btCollisionObject *colObj2, const btVector3 &contactPositionWorld, const btVector3 &contactNormalOnB, const struct btContactSolverInfo &solverInfo, btScalar distance)
very basic collision resolution without friction
resolveSingleBilateral
void resolveSingleBilateral(btRigidBody &body1, const btVector3 &pos1, btRigidBody &body2, const btVector3 &pos2, btScalar distance, const btVector3 &normal, btScalar &impulse, btScalar timeStep)
resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects
Definition btContactConstraint.cpp:105
btJacobianEntry.h
btPersistentManifold.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition btScalar.h:99
btTypedConstraint.h
btVector3.h
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition btCollisionObject.h:51
btContactConstraint
btContactConstraint can be automatically created to solve contact constraints using the unified btTyp...
Definition btContactConstraint.h:27
btContactConstraint::getContactManifold
btPersistentManifold * getContactManifold()
Definition btContactConstraint.h:37
btContactConstraint::m_contactManifold
btPersistentManifold m_contactManifold
Definition btContactConstraint.h:29
btContactConstraint::getContactManifold
const btPersistentManifold * getContactManifold() const
Definition btContactConstraint.h:42
btContactConstraint::btContactConstraint
btContactConstraint(btPersistentManifold *contactManifold, btRigidBody &rbA, btRigidBody &rbB)
Definition btContactConstraint.cpp:24
btContactConstraint::setContactManifold
void setContactManifold(btPersistentManifold *contactManifold)
Definition btContactConstraint.cpp:34
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition btPersistentManifold.h:65
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition btRigidBody.h:60
btTypedConstraint::btTypedConstraint
btTypedConstraint(btTypedConstraintType type, btRigidBody &rbA)
Definition btTypedConstraint.cpp:22
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btContactSolverInfo
Definition btContactSolverInfo.h:76