mirror of https://github.com/axmolengine/axmol.git
101 lines
2.6 KiB
C
101 lines
2.6 KiB
C
|
// MIT License
|
||
|
|
|
||
|
|
// Copyright (c) 2019 Erin Catto
|
||
|
|
|
||
|
|
// Permission is hereby granted, free of charge, to any person obtaining a copy
|
||
|
|
// of this software and associated documentation files (the "Software"), to deal
|
||
|
|
// in the Software without restriction, including without limitation the rights
|
||
|
|
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||
|
|
// copies of the Software, and to permit persons to whom the Software is
|
||
|
|
// furnished to do so, subject to the following conditions:
|
||
|
|
|
||
|
|
// The above copyright notice and this permission notice shall be included in all
|
||
|
|
// copies or substantial portions of the Software.
|
||
|
|
|
||
|
|
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||
|
|
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||
|
|
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||
|
|
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||
|
|
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||
|
|
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||
|
|
// SOFTWARE.
|
||
|
|
|
||
|
|
#ifndef B2_CONTACT_SOLVER_H
|
||
|
|
#define B2_CONTACT_SOLVER_H
|
||
|
|
|
||
|
|
#include "box2d/b2_collision.h"
|
||
|
|
#include "box2d/b2_math.h"
|
||
|
|
#include "box2d/b2_time_step.h"
|
||
|
|
|
||
|
|
class b2Contact;
|
||
|
|
class b2Body;
|
||
|
|
class b2StackAllocator;
|
||
|
|
struct b2ContactPositionConstraint;
|
||
|
|
|
||
|
|
struct b2VelocityConstraintPoint
|
||
|
|
{
|
||
|
|
b2Vec2 rA;
|
||
|
|
b2Vec2 rB;
|
||
|
|
float normalImpulse;
|
||
|
|
float tangentImpulse;
|
||
|
|
float normalMass;
|
||
|
|
float tangentMass;
|
||
|
|
float velocityBias;
|
||
|
|
};
|
||
|
|
|
||
|
|
struct b2ContactVelocityConstraint
|
||
|
|
{
|
||
|
|
b2VelocityConstraintPoint points[b2_maxManifoldPoints];
|
||
|
|
b2Vec2 normal;
|
||
|
|
b2Mat22 normalMass;
|
||
|
|
b2Mat22 K;
|
||
|
|
int32 indexA;
|
||
|
|
int32 indexB;
|
||
|
|
float invMassA, invMassB;
|
||
|
|
float invIA, invIB;
|
||
|
|
float friction;
|
||
|
|
float restitution;
|
||
|
|
float threshold;
|
||
|
|
float tangentSpeed;
|
||
|
|
int32 pointCount;
|
||
|
|
int32 contactIndex;
|
||
|
|
};
|
||
|
|
|
||
|
|
struct b2ContactSolverDef
|
||
|
|
{
|
||
|
|
b2TimeStep step;
|
||
|
|
b2Contact** contacts;
|
||
|
|
int32 count;
|
||
|
|
b2Position* positions;
|
||
|
|
b2Velocity* velocities;
|
||
|
|
b2StackAllocator* allocator;
|
||
|
|
};
|
||
|
|
|
||
|
|
class b2ContactSolver
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
b2ContactSolver(b2ContactSolverDef* def);
|
||
|
|
~b2ContactSolver();
|
||
|
|
|
||
|
|
void InitializeVelocityConstraints();
|
||
|
|
|
||
|
|
void WarmStart();
|
||
|
|
void SolveVelocityConstraints();
|
||
|
|
void StoreImpulses();
|
||
|
|
|
||
|
|
bool SolvePositionConstraints();
|
||
|
|
bool SolveTOIPositionConstraints(int32 toiIndexA, int32 toiIndexB);
|
||
|
|
|
||
|
|
b2TimeStep m_step;
|
||
|
|
b2Position* m_positions;
|
||
|
|
b2Velocity* m_velocities;
|
||
|
|
b2StackAllocator* m_allocator;
|
||
|
|
b2ContactPositionConstraint* m_positionConstraints;
|
||
|
|
b2ContactVelocityConstraint* m_velocityConstraints;
|
||
|
|
b2Contact** m_contacts;
|
||
|
|
int m_count;
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|