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Viewing changes to extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h

  • Committer: Bazaar Package Importer
  • Author(s): Cyril Brulebois
  • Date: 2008-08-08 02:45:40 UTC
  • mfrom: (12.1.14 intrepid)
  • Revision ID: james.westby@ubuntu.com-20080808024540-kkjp7ekfivzhuw3l
Tags: 2.46+dfsg-4
http://bugs.debian.org/492280
* Fix python syntax warning in import_dxf.py, which led to nasty output
  in installation/upgrade logs during byte-compilation, using a patch
  provided by the script author (Closes: #492280):
   - debian/patches/45_fix_python_syntax_warning

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extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
 
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/*
 
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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/
 
4
 
 
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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 SOLVE_2LINEAR_CONSTRAINT_H
 
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#define SOLVE_2LINEAR_CONSTRAINT_H
 
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#include "../../LinearMath/btMatrix3x3.h"
 
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#include "../../LinearMath/btVector3.h"
 
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class btRigidBody;
 
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/// constraint class used for lateral tyre friction.
 
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class   btSolve2LinearConstraint
 
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{
 
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        btScalar        m_tau;
 
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        btScalar        m_damping;
 
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public:
 
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        btSolve2LinearConstraint(btScalar tau,btScalar damping)
 
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        {
 
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                m_tau = tau;
 
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                m_damping = damping;
 
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        }
 
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        //
 
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        // solve unilateral constraint (equality, direct method)
 
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        //
 
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        void resolveUnilateralPairConstraint(           
 
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                                                                                                                   btRigidBody* body0,
 
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                btRigidBody* body1,
 
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                const btMatrix3x3& world2A,
 
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                                                const btMatrix3x3& world2B,
 
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                                                const btVector3& invInertiaADiag,
 
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                                                const btScalar invMassA,
 
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                                                const btVector3& linvelA,const btVector3& angvelA,
 
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                                                const btVector3& rel_posA1,
 
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                                                const btVector3& invInertiaBDiag,
 
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                                                const btScalar invMassB,
 
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                                                const btVector3& linvelB,const btVector3& angvelB,
 
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                                                const btVector3& rel_posA2,
 
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                                          btScalar depthA, const btVector3& normalA, 
 
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                                          const btVector3& rel_posB1,const btVector3& rel_posB2,
 
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                                          btScalar depthB, const btVector3& normalB, 
 
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                                          btScalar& imp0,btScalar& imp1);
 
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        //
 
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        // solving 2x2 lcp problem (inequality, direct solution )
 
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        //
 
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        void resolveBilateralPairConstraint(
 
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                        btRigidBody* body0,
 
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                                                btRigidBody* body1,
 
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                const btMatrix3x3& world2A,
 
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                                                const btMatrix3x3& world2B,
 
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                                                const btVector3& invInertiaADiag,
 
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                                                const btScalar invMassA,
 
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                                                const btVector3& linvelA,const btVector3& angvelA,
 
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                                                const btVector3& rel_posA1,
 
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                                                const btVector3& invInertiaBDiag,
 
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                                                const btScalar invMassB,
 
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                                                const btVector3& linvelB,const btVector3& angvelB,
 
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                                                const btVector3& rel_posA2,
 
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                                          btScalar depthA, const btVector3& normalA, 
 
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                                          const btVector3& rel_posB1,const btVector3& rel_posB2,
 
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                                          btScalar depthB, const btVector3& normalB, 
 
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                                          btScalar& imp0,btScalar& imp1);
 
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/*
 
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        void resolveAngularConstraint(  const btMatrix3x3& invInertiaAWS,
 
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                                                const btScalar invMassA,
 
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                                                const btVector3& linvelA,const btVector3& angvelA,
 
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                                                const btVector3& rel_posA1,
 
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                                                const btMatrix3x3& invInertiaBWS,
 
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                                                const btScalar invMassB,
 
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                                                const btVector3& linvelB,const btVector3& angvelB,
 
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                                                const btVector3& rel_posA2,
 
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                                          btScalar depthA, const btVector3& normalA, 
 
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                                          const btVector3& rel_posB1,const btVector3& rel_posB2,
 
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                                          btScalar depthB, const btVector3& normalB, 
 
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                                          btScalar& imp0,btScalar& imp1);
 
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*/
 
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};
 
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#endif //SOLVE_2LINEAR_CONSTRAINT_H