btContactConstraint.cpp File Reference

#include "btContactConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btVector3.h"
#include "btJacobianEntry.h"
#include "btContactSolverInfo.h"
#include "LinearMath/btMinMax.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"

Go to the source code of this file.

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

Function Documentation

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,
		btCollisionObject *	colObj2,
		const btVector3 &	contactPositionWorld,
		const btVector3 &	contactNormalOnB,
		const btContactSolverInfo &	solverInfo,
		btScalar	distance )

Definition at line 60 of file btContactConstraint.cpp.

References btRigidBody::applyImpulse(), btVector3, btRigidBody::computeImpulseDenominator(), btRigidBody::getVelocityInLocalPoint(), btContactSolverInfoData::m_erp, btContactSolverInfoData::m_timeStep, and btRigidBody::upcast().