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inc/Box2D/Dynamics/Contacts/b2ContactSolver.h

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+/*
+* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
+*
+* 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/b2TimeStep.h>
+
+class b2Contact;
+class b2Body;
+class b2StackAllocator;
+struct b2ContactPositionConstraint;
+
+struct b2VelocityConstraintPoint
+{
+	b2Vec2 rA;
+	b2Vec2 rB;
+	float32 normalImpulse;
+	float32 tangentImpulse;
+	float32 normalMass;
+	float32 tangentMass;
+	float32 velocityBias;
+};
+
+struct b2ContactVelocityConstraint
+{
+	b2VelocityConstraintPoint points[b2_maxManifoldPoints];
+	b2Vec2 normal;
+	b2Mat22 normalMass;
+	b2Mat22 K;
+	int32 indexA;
+	int32 indexB;
+	float32 invMassA, invMassB;
+	float32 invIA, invIB;
+	float32 friction;
+	float32 restitution;
+	float32 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
+