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btOdeContactJoint.h
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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #ifndef CONTACT_JOINT_H
00017 #define CONTACT_JOINT_H
00018 
00019 #include "btOdeJoint.h"
00020 struct btOdeSolverBody;
00021 class btPersistentManifold;
00022 
00023 class btOdeContactJoint : public btOdeJoint
00024 {
00025        btPersistentManifold* m_manifold;
00026        int           m_index;
00027        bool   m_swapBodies;
00028        btOdeSolverBody* m_body0;
00029        btOdeSolverBody* m_body1;
00030 
00031 
00032 public:
00033 
00034        btOdeContactJoint() {};
00035 
00036        btOdeContactJoint(btPersistentManifold* manifold,int index,bool swap,btOdeSolverBody* body0,btOdeSolverBody* body1);
00037 
00038        //btOdeJoint interface for solver
00039 
00040        virtual void GetInfo1(Info1 *info);
00041 
00042        virtual void GetInfo2(Info2 *info);
00043 
00044 
00045        
00046 
00047 };
00048 
00049 #endif //CONTACT_JOINT_H
00050