/* * Copyright (c) 2006-2009 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 B2_CONTACT_SOLVER_H #define B2_CONTACT_SOLVER_H #include <Box2D/Common/b2Math.h> #include <Box2D/Collision/b2Collision.h> #include <Box2D/Dynamics/b2Island.h> class b2Contact; class b2Body; class b2StackAllocator; struct b2ContactConstraintPoint { b2Vec2 localPoint; b2Vec2 rA; b2Vec2 rB; float32 normalImpulse; float32 tangentImpulse; float32 normalMass; float32 tangentMass; float32 velocityBias; }; struct b2ContactConstraint { b2ContactConstraintPoint points[b2_maxManifoldPoints]; b2Vec2 localNormal; b2Vec2 localPoint; b2Vec2 normal; b2Mat22 normalMass; b2Mat22 K; b2Body* bodyA; b2Body* bodyB; b2Manifold::Type type; float32 radius; float32 friction; int32 pointCount; b2Manifold* manifold; }; class b2ContactSolver { public: b2ContactSolver(b2Contact** contacts, int32 contactCount, b2StackAllocator* allocator, float32 impulseRatio); ~b2ContactSolver(); void WarmStart(); void SolveVelocityConstraints(); void StoreImpulses(); bool SolvePositionConstraints(float32 baumgarte); b2StackAllocator* m_allocator; b2ContactConstraint* m_constraints; int m_constraintCount; }; #endif