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btSolve2LinearConstraint.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 SOLVE_2LINEAR_CONSTRAINT_H
00017 #define SOLVE_2LINEAR_CONSTRAINT_H
00018 
00019 #include "LinearMath/btMatrix3x3.h"
00020 #include "LinearMath/btVector3.h"
00021 
00022 
00023 class btRigidBody;
00024 
00025 
00026 
00028 class  btSolve2LinearConstraint
00029 {
00030        btScalar      m_tau;
00031        btScalar      m_damping;
00032 
00033 public:
00034 
00035        btSolve2LinearConstraint(btScalar tau,btScalar damping)
00036        {
00037               m_tau = tau;
00038               m_damping = damping;
00039        }
00040        //
00041        // solve unilateral constraint (equality, direct method)
00042        //
00043        void resolveUnilateralPairConstraint(            
00044                                                                                                      btRigidBody* body0,
00045               btRigidBody* body1,
00046 
00047               const btMatrix3x3& world2A,
00048                                           const btMatrix3x3& world2B,
00049                                           
00050                                           const btVector3& invInertiaADiag,
00051                                           const btScalar invMassA,
00052                                           const btVector3& linvelA,const btVector3& angvelA,
00053                                           const btVector3& rel_posA1,
00054                                           const btVector3& invInertiaBDiag,
00055                                           const btScalar invMassB,
00056                                           const btVector3& linvelB,const btVector3& angvelB,
00057                                           const btVector3& rel_posA2,
00058 
00059                                      btScalar depthA, const btVector3& normalA, 
00060                                      const btVector3& rel_posB1,const btVector3& rel_posB2,
00061                                      btScalar depthB, const btVector3& normalB, 
00062                                      btScalar& imp0,btScalar& imp1);
00063 
00064 
00065        //
00066        // solving 2x2 lcp problem (inequality, direct solution )
00067        //
00068        void resolveBilateralPairConstraint(
00069                      btRigidBody* body0,
00070                                           btRigidBody* body1,
00071               const btMatrix3x3& world2A,
00072                                           const btMatrix3x3& world2B,
00073                                           
00074                                           const btVector3& invInertiaADiag,
00075                                           const btScalar invMassA,
00076                                           const btVector3& linvelA,const btVector3& angvelA,
00077                                           const btVector3& rel_posA1,
00078                                           const btVector3& invInertiaBDiag,
00079                                           const btScalar invMassB,
00080                                           const btVector3& linvelB,const btVector3& angvelB,
00081                                           const btVector3& rel_posA2,
00082 
00083                                      btScalar depthA, const btVector3& normalA, 
00084                                      const btVector3& rel_posB1,const btVector3& rel_posB2,
00085                                      btScalar depthB, const btVector3& normalB, 
00086                                      btScalar& imp0,btScalar& imp1);
00087 
00088 /*
00089        void resolveAngularConstraint(     const btMatrix3x3& invInertiaAWS,
00090                                           const btScalar invMassA,
00091                                           const btVector3& linvelA,const btVector3& angvelA,
00092                                           const btVector3& rel_posA1,
00093                                           const btMatrix3x3& invInertiaBWS,
00094                                           const btScalar invMassB,
00095                                           const btVector3& linvelB,const btVector3& angvelB,
00096                                           const btVector3& rel_posA2,
00097 
00098                                      btScalar depthA, const btVector3& normalA, 
00099                                      const btVector3& rel_posB1,const btVector3& rel_posB2,
00100                                      btScalar depthB, const btVector3& normalB, 
00101                                      btScalar& imp0,btScalar& imp1);
00102 
00103 */
00104 
00105 };
00106 
00107 #endif //SOLVE_2LINEAR_CONSTRAINT_H