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[blok] / Box2D / Source / Dynamics / Contacts / b2ContactSolver.h

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+/*
+* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 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.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef CONTACT_SOLVER_H
+#define CONTACT_SOLVER_H
+
+#include "../../Common/b2Math.h"
+#include "../../Collision/b2Collision.h"
+#include "../b2World.h"
+
+class b2Contact;
+class b2Body;
+class b2Island;
+class b2StackAllocator;
+
+struct b2ContactConstraintPoint
+{
+       b2Vec2 localAnchor1;
+       b2Vec2 localAnchor2;
+       b2Vec2 r1;
+       b2Vec2 r2;
+       float32 normalImpulse;
+       float32 tangentImpulse;
+       float32 positionImpulse;
+       float32 normalMass;
+       float32 tangentMass;
+       float32 equalizedMass;
+       float32 separation;
+       float32 velocityBias;
+};
+
+struct b2ContactConstraint
+{
+       b2ContactConstraintPoint points[b2_maxManifoldPoints];
+       b2Vec2 normal;
+       b2Manifold* manifold;
+       b2Body* body1;
+       b2Body* body2;
+       float32 friction;
+       float32 restitution;
+       int32 pointCount;
+};
+
+class b2ContactSolver
+{
+public:
+       b2ContactSolver(const b2TimeStep& step, b2Contact** contacts, int32 contactCount, b2StackAllocator* allocator);
+       ~b2ContactSolver();
+
+       void InitVelocityConstraints(const b2TimeStep& step);
+       void SolveVelocityConstraints();
+       void FinalizeVelocityConstraints();
+
+       bool SolvePositionConstraints(float32 baumgarte);
+
+       b2TimeStep m_step;
+       b2StackAllocator* m_allocator;
+       b2ContactConstraint* m_constraints;
+       int m_constraintCount;
+};
+
+#endif