btContactConstraint.h File Reference

#include "LinearMath/btVector3.h"
#include "btJacobianEntry.h"
#include "btTypedConstraint.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"

Go to the source code of this file.

Functions
	btContactConstraint (btPersistentManifold *contactManifold, btRigidBody &rbA, btRigidBody &rbB)
void	setContactManifold (btPersistentManifold *contactManifold)
btPersistentManifold *	getContactManifold ()
virtual	~btContactConstraint ()
virtual void	getInfo1 (btConstraintInfo1 *info)
virtual void	getInfo2 (btConstraintInfo2 *info)
virtual void	buildJacobian ()
	obsolete methods
btScalar	resolveSingleCollision (btRigidBody *body1, class btCollisionObject *colObj2, const btVector3 &contactPositionWorld, const btVector3 &contactNormalOnB, const struct btContactSolverInfo &solverInfo, btScalar distance)
	very basic collision resolution without friction
void	resolveSingleBilateral (btRigidBody &body1, const btVector3 &pos1, btRigidBody &body2, const btVector3 &pos2, btScalar distance, const btVector3 &normal, btScalar &impulse, btScalar timeStep)
	resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects

Variables
btContactConstraint	__pad0__
	btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface

Function Documentation

btContactConstraint()

btContactConstraint::btContactConstraint ( btPersistentManifold * contactManifold, btRigidBody & rbA, btRigidBody & rbB )

protected

Definition at line 24 of file btContactConstraint.cpp.

buildJacobian()

virtual void buildJacobian ( )

virtual

obsolete methods

obsolete methods

we need it for both methods

we need it for both methods

Definition at line 322 of file btGeneric6DofSpring2Constraint.h.

getContactManifold()

const btPersistentManifold * getContactManifold

(

)

Definition at line 37 of file btContactConstraint.h.

getInfo1()

virtual void getInfo1 ( btConstraintInfo1 * info )

virtual

getInfo2()

virtual void getInfo2 ( btConstraintInfo2 * info )

virtual

resolveSingleBilateral()

void resolveSingleBilateral	(	btRigidBody &	body1,
		const btVector3 &	pos1,
		btRigidBody &	body2,
		const btVector3 &	pos2,
		btScalar	distance,
		const btVector3 &	normal,
		btScalar &	impulse,
		btScalar	timeStep )

resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects

Definition at line 105 of file btContactConstraint.cpp.

References btAssert, btFabs(), btJacobianEntry, btRigidBody::getAngularVelocity(), btRigidBody::getCenterOfMassPosition(), btRigidBody::getCenterOfMassTransform(), btRigidBody::getInvInertiaDiagLocal(), btRigidBody::getInvMass(), btRigidBody::getLinearVelocity(), and btRigidBody::getVelocityInLocalPoint().

Referenced by btRaycastVehicle::updateFriction().

resolveSingleCollision()

btScalar resolveSingleCollision	(	btRigidBody *	body1,
		class btCollisionObject *	colObj2,
		const btVector3 &	contactPositionWorld,
		const btVector3 &	contactNormalOnB,
		const struct btContactSolverInfo &	solverInfo,
		btScalar	distance )

very basic collision resolution without friction

setContactManifold()

void btContactConstraint::setContactManifold

(

btPersistentManifold *

contactManifold

)

Definition at line 34 of file btContactConstraint.cpp.

~btContactConstraint()

btContactConstraint::~btContactConstraint ( )

virtual

Definition at line 30 of file btContactConstraint.cpp.

Variable Documentation

__pad0__

btContactConstraint __pad0__

btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface

Definition at line 26 of file btContactConstraint.h.