forked from bartvdbraak/blender
281f236e6e
- on Ton's request use double versions of cos,sin,tan, sqrt etc. just like Solid in MT_Scalar #if defined (__sun) || defined (__sun__) || defined (__sparc) || defined (__APPLE__) - updated an url in the header of files
37 lines
1.5 KiB
C++
37 lines
1.5 KiB
C++
/*
|
|
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
*
|
|
* Permission to use, copy, modify, distribute and sell this software
|
|
* and its documentation for any purpose is hereby granted without fee,
|
|
* provided that the above copyright notice appear in all copies.
|
|
* Erwin Coumans makes no representations about the suitability
|
|
* of this software for any purpose.
|
|
* It is provided "as is" without express or implied warranty.
|
|
*/
|
|
#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;
|
|
|
|
///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 resolveSingleCollisionWithFriction(RigidBody& body1, const SimdVector3& pos1,
|
|
RigidBody& body2, const SimdVector3& pos2,
|
|
SimdScalar distance, const SimdVector3& normal,
|
|
const ContactSolverInfo& info);
|
|
|
|
#endif //CONTACT_CONSTRAINT_H
|