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