forked from bartvdbraak/blender
af9573e9ea
- Changed license from MIT to ZLib. - Added 3D Sweep and Prune contribution - More stable native constraint solver Sorry for any inconvenience caused by this checkin. All Blender buildsystems require update: added files and moved files.
51 lines
2.0 KiB
C++
51 lines
2.0 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 CONTACT_CONSTRAINT_H
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#define CONTACT_CONSTRAINT_H
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//todo: make into a proper class working with the iterative constraint solver
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class RigidBody;
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#include "SimdVector3.h"
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#include "SimdScalar.h"
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struct ContactSolverInfo;
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class ManifoldPoint;
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///bilateral constraint between two dynamic objects
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///positive distance = separation, negative distance = penetration
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void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
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RigidBody& body2, const SimdVector3& pos2,
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SimdScalar distance, const SimdVector3& normal,SimdScalar& impulse ,float timeStep);
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///contact constraint resolution:
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///calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
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///positive distance = separation, negative distance = penetration
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float resolveSingleCollision(
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RigidBody& body1,
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RigidBody& body2,
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ManifoldPoint& contactPoint,
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const ContactSolverInfo& info);
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float resolveSingleFriction(
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RigidBody& body1,
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RigidBody& body2,
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ManifoldPoint& contactPoint,
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const ContactSolverInfo& solverInfo
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);
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#endif //CONTACT_CONSTRAINT_H
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