Merge pull request #12641 from AndreaCatania/bullet

Bullet physics wrapper

1 files changed, 73 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btContactConstraint.h b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btContactConstraint.h
new file mode 100644
index 0000000000..adb2268353
--- /dev/null
+++ b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btContactConstraint.h
@@ -0,0 +1,73 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_CONTACT_CONSTRAINT_H
+#define BT_CONTACT_CONSTRAINT_H
+
+#include "LinearMath/btVector3.h"
+#include "btJacobianEntry.h"
+#include "btTypedConstraint.h"
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+
+///btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface
+ATTRIBUTE_ALIGNED16(class) btContactConstraint : public btTypedConstraint
+{
+protected:
+
+	btPersistentManifold m_contactManifold;
+
+protected:
+
+
+	btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB);
+
+public:
+
+	void	setContactManifold(btPersistentManifold* contactManifold);
+
+	btPersistentManifold* getContactManifold()
+	{
+		return &m_contactManifold;
+	}
+
+	const btPersistentManifold* getContactManifold() const
+	{
+		return &m_contactManifold;
+	}
+
+	virtual ~btContactConstraint();
+
+	virtual void getInfo1 (btConstraintInfo1* info);
+
+	virtual void getInfo2 (btConstraintInfo2* info);
+
+	///obsolete methods
+	virtual void	buildJacobian();
+
+
+};
+
+///very basic collision resolution without friction
+btScalar resolveSingleCollision(btRigidBody* body1, class btCollisionObject* colObj2, const btVector3& contactPositionWorld,const btVector3& contactNormalOnB, const struct btContactSolverInfo& solverInfo,btScalar distance);
+
+
+///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects
+void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
+                      btRigidBody& body2, const btVector3& pos2,
+                      btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep);
+
+
+
+#endif //BT_CONTACT_CONSTRAINT_H