forked from bartvdbraak/blender
102 lines
3.0 KiB
C++
102 lines
3.0 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef SOLVE_2LINEAR_CONSTRAINT_H
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#define SOLVE_2LINEAR_CONSTRAINT_H
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#include "SimdMatrix3x3.h"
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#include "SimdVector3.h"
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class RigidBody;
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/// constraint class used for lateral tyre friction.
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class Solve2LinearConstraint
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{
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SimdScalar m_tau;
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SimdScalar m_damping;
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public:
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Solve2LinearConstraint(SimdScalar tau,SimdScalar damping)
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{
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m_tau = tau;
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m_damping = damping;
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}
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//
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// solve unilateral constraint (equality, direct method)
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//
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void resolveUnilateralPairConstraint(
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RigidBody* body0,
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RigidBody* body1,
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const SimdMatrix3x3& world2A,
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const SimdMatrix3x3& world2B,
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const SimdVector3& invInertiaADiag,
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const SimdScalar invMassA,
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const SimdVector3& linvelA,const SimdVector3& angvelA,
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const SimdVector3& rel_posA1,
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const SimdVector3& invInertiaBDiag,
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const SimdScalar invMassB,
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const SimdVector3& linvelB,const SimdVector3& angvelB,
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const SimdVector3& rel_posA2,
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SimdScalar depthA, const SimdVector3& normalA,
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const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
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SimdScalar depthB, const SimdVector3& normalB,
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SimdScalar& imp0,SimdScalar& imp1);
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//
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// solving 2x2 lcp problem (inequality, direct solution )
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//
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void resolveBilateralPairConstraint(
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RigidBody* body0,
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RigidBody* body1,
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const SimdMatrix3x3& world2A,
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const SimdMatrix3x3& world2B,
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const SimdVector3& invInertiaADiag,
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const SimdScalar invMassA,
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const SimdVector3& linvelA,const SimdVector3& angvelA,
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const SimdVector3& rel_posA1,
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const SimdVector3& invInertiaBDiag,
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const SimdScalar invMassB,
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const SimdVector3& linvelB,const SimdVector3& angvelB,
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const SimdVector3& rel_posA2,
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SimdScalar depthA, const SimdVector3& normalA,
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const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
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SimdScalar depthB, const SimdVector3& normalB,
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SimdScalar& imp0,SimdScalar& imp1);
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void resolveAngularConstraint( const SimdMatrix3x3& invInertiaAWS,
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const SimdScalar invMassA,
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const SimdVector3& linvelA,const SimdVector3& angvelA,
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const SimdVector3& rel_posA1,
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const SimdMatrix3x3& invInertiaBWS,
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const SimdScalar invMassB,
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const SimdVector3& linvelB,const SimdVector3& angvelB,
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const SimdVector3& rel_posA2,
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SimdScalar depthA, const SimdVector3& normalA,
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const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
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SimdScalar depthB, const SimdVector3& normalB,
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SimdScalar& imp0,SimdScalar& imp1);
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};
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#endif //SOLVE_2LINEAR_CONSTRAINT_H
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