00001 /* 00002 * Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com 00003 * 00004 * This software is provided 'as-is', without any express or implied 00005 * warranty. In no event will the authors be held liable for any damages 00006 * arising from the use of this software. 00007 * Permission is granted to anyone to use this software for any purpose, 00008 * including commercial applications, and to alter it and redistribute it 00009 * freely, subject to the following restrictions: 00010 * 1. The origin of this software must not be misrepresented; you must not 00011 * claim that you wrote the original software. If you use this software 00012 * in a product, an acknowledgment in the product documentation would be 00013 * appreciated but is not required. 00014 * 2. Altered source versions must be plainly marked as such, and must not be 00015 * misrepresented as being the original software. 00016 * 3. This notice may not be removed or altered from any source distribution. 00017 */ 00018 00019 #ifndef B2_CONTACT_SOLVER_H 00020 #define B2_CONTACT_SOLVER_H 00021 00022 #include <Box2D/Common/b2Math.h> 00023 #include <Box2D/Collision/b2Collision.h> 00024 #include <Box2D/Dynamics/b2Island.h> 00025 00026 class b2Contact; 00027 class b2Body; 00028 class b2StackAllocator; 00029 00030 struct b2ContactConstraintPoint 00031 { 00032 b2Vec2 localPoint; 00033 b2Vec2 rA; 00034 b2Vec2 rB; 00035 float32 normalImpulse; 00036 float32 tangentImpulse; 00037 float32 normalMass; 00038 float32 tangentMass; 00039 float32 velocityBias; 00040 }; 00041 00042 struct b2ContactConstraint 00043 { 00044 b2ContactConstraintPoint points[b2_maxManifoldPoints]; 00045 b2Vec2 localNormal; 00046 b2Vec2 localPoint; 00047 b2Vec2 normal; 00048 b2Mat22 normalMass; 00049 b2Mat22 K; 00050 b2Body* bodyA; 00051 b2Body* bodyB; 00052 b2Manifold::Type type; 00053 float32 radius; 00054 float32 friction; 00055 int32 pointCount; 00056 b2Manifold* manifold; 00057 }; 00058 00059 class b2ContactSolver 00060 { 00061 public: 00062 b2ContactSolver(b2Contact** contacts, int32 contactCount, 00063 b2StackAllocator* allocator, float32 impulseRatio); 00064 00065 ~b2ContactSolver(); 00066 00067 void WarmStart(); 00068 void SolveVelocityConstraints(); 00069 void StoreImpulses(); 00070 00071 bool SolvePositionConstraints(float32 baumgarte); 00072 00073 b2StackAllocator* m_allocator; 00074 b2ContactConstraint* m_constraints; 00075 int m_constraintCount; 00076 }; 00077 00078 #endif