Bullet Collision Detection & Physics Library: btSolve2LinearConstraint.h Source File

Bullet Collision Detection & Physics Library

btSolve2LinearConstraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #ifndef BT_SOLVE_2LINEAR_CONSTRAINT_H
17 #define BT_SOLVE_2LINEAR_CONSTRAINT_H
18
19 #include "LinearMath/btMatrix3x3.h"
20 #include "LinearMath/btVector3.h"
21
22 class btRigidBody;
23
25 class btSolve2LinearConstraint
26 {
27 btScalar m_tau;
28 btScalar m_damping;
29
30 public:
31 btSolve2LinearConstraint(btScalar tau, btScalar damping)
32 {
33 m_tau = tau;
34 m_damping = damping;
35 }
36 //
37 // solve unilateral constraint (equality, direct method)
38 //
39 void resolveUnilateralPairConstraint(
40 btRigidBody* body0,
41 btRigidBody* body1,
42
43 const btMatrix3x3& world2A,
44 const btMatrix3x3& world2B,
45
46 const btVector3& invInertiaADiag,
47 const btScalar invMassA,
48 const btVector3& linvelA, const btVector3& angvelA,
49 const btVector3& rel_posA1,
50 const btVector3& invInertiaBDiag,
51 const btScalar invMassB,
52 const btVector3& linvelB, const btVector3& angvelB,
53 const btVector3& rel_posA2,
54
55 btScalar depthA, const btVector3& normalA,
56 const btVector3& rel_posB1, const btVector3& rel_posB2,
57 btScalar depthB, const btVector3& normalB,
58 btScalar& imp0, btScalar& imp1);
59
60 //
61 // solving 2x2 lcp problem (inequality, direct solution )
62 //
63 void resolveBilateralPairConstraint(
64 btRigidBody* body0,
65 btRigidBody* body1,
66 const btMatrix3x3& world2A,
67 const btMatrix3x3& world2B,
68
69 const btVector3& invInertiaADiag,
70 const btScalar invMassA,
71 const btVector3& linvelA, const btVector3& angvelA,
72 const btVector3& rel_posA1,
73 const btVector3& invInertiaBDiag,
74 const btScalar invMassB,
75 const btVector3& linvelB, const btVector3& angvelB,
76 const btVector3& rel_posA2,
77
78 btScalar depthA, const btVector3& normalA,
79 const btVector3& rel_posB1, const btVector3& rel_posB2,
80 btScalar depthB, const btVector3& normalB,
81 btScalar& imp0, btScalar& imp1);
82
83 /*
84 void resolveAngularConstraint( const btMatrix3x3& invInertiaAWS,
85 const btScalar invMassA,
86 const btVector3& linvelA,const btVector3& angvelA,
87 const btVector3& rel_posA1,
88 const btMatrix3x3& invInertiaBWS,
89 const btScalar invMassB,
90 const btVector3& linvelB,const btVector3& angvelB,
91 const btVector3& rel_posA2,
92
93 btScalar depthA, const btVector3& normalA,
94 const btVector3& rel_posB1,const btVector3& rel_posB2,
95 btScalar depthB, const btVector3& normalB,
96 btScalar& imp0,btScalar& imp1);
97
98 */
99 };
100
101 #endif //BT_SOLVE_2LINEAR_CONSTRAINT_H
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:60
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btSolve2LinearConstraint::btSolve2LinearConstraint
btSolve2LinearConstraint(btScalar tau, btScalar damping)
Definition: btSolve2LinearConstraint.h:31
btMatrix3x3.h
btVector3.h
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:50
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btSolve2LinearConstraint
constraint class used for lateral tyre friction.
Definition: btSolve2LinearConstraint.h:26
btSolve2LinearConstraint::m_damping
btScalar m_damping
Definition: btSolve2LinearConstraint.h:28
btSolve2LinearConstraint::m_tau
btScalar m_tau
Definition: btSolve2LinearConstraint.h:27
btSolve2LinearConstraint::resolveBilateralPairConstraint
void resolveBilateralPairConstraint(btRigidBody *body0, btRigidBody *body1, const btMatrix3x3 &world2A, const btMatrix3x3 &world2B, const btVector3 &invInertiaADiag, const btScalar invMassA, const btVector3 &linvelA, const btVector3 &angvelA, const btVector3 &rel_posA1, const btVector3 &invInertiaBDiag, const btScalar invMassB, const btVector3 &linvelB, const btVector3 &angvelB, const btVector3 &rel_posA2, btScalar depthA, const btVector3 &normalA, const btVector3 &rel_posB1, const btVector3 &rel_posB2, btScalar depthB, const btVector3 &normalB, btScalar &imp0, btScalar &imp1)
Definition: btSolve2LinearConstraint.cpp:102
btSolve2LinearConstraint::resolveUnilateralPairConstraint
void resolveUnilateralPairConstraint(btRigidBody *body0, btRigidBody *body1, const btMatrix3x3 &world2A, const btMatrix3x3 &world2B, const btVector3 &invInertiaADiag, const btScalar invMassA, const btVector3 &linvelA, const btVector3 &angvelA, const btVector3 &rel_posA1, const btVector3 &invInertiaBDiag, const btScalar invMassB, const btVector3 &linvelB, const btVector3 &angvelB, const btVector3 &rel_posA2, btScalar depthA, const btVector3 &normalA, const btVector3 &rel_posB1, const btVector3 &rel_posB2, btScalar depthB, const btVector3 &normalB, btScalar &imp0, btScalar &imp1)
Definition: btSolve2LinearConstraint.cpp:22