b2ContactSolver.h
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1 /*
2 * Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
3 *
4 * This software is provided 'as-is', without any express or implied
5 * warranty. In no event will the authors be held liable for any damages
6 * arising from the use of this software.
7 * Permission is granted to anyone to use this software for any purpose,
8 * including commercial applications, and to alter it and redistribute it
9 * freely, subject to the following restrictions:
10 * 1. The origin of this software must not be misrepresented; you must not
11 * claim that you wrote the original software. If you use this software
12 * in a product, an acknowledgment in the product documentation would be
13 * appreciated but is not required.
14 * 2. Altered source versions must be plainly marked as such, and must not be
15 * misrepresented as being the original software.
16 * 3. This notice may not be removed or altered from any source distribution.
17 */
18 
19 #ifndef B2_CONTACT_SOLVER_H
20 #define B2_CONTACT_SOLVER_H
21 
22 #include <Box2D/Common/b2Math.h>
25 
26 class b2Contact;
27 class b2Body;
28 class b2StackAllocator;
30 
32 {
40 };
41 
43 {
50  float32 invMassA, invMassB;
51  float32 invIA, invIB;
57 };
58 
60 {
67 };
68 
70 {
71 public:
73  ~b2ContactSolver();
74 
75  void InitializeVelocityConstraints();
76 
77  void WarmStart();
78  void SolveVelocityConstraints();
79  void StoreImpulses();
80 
81  bool SolvePositionConstraints();
82  bool SolveTOIPositionConstraints(int32 toiIndexA, int32 toiIndexB);
83 
91  int m_count;
92 };
93 
94 #endif
95 
This is an internal structure.
Definition: b2TimeStep.h:56
b2ContactPositionConstraint * m_positionConstraints
b2Velocity * m_velocities
b2TimeStep m_step
#define b2_maxManifoldPoints
Definition: b2Settings.h:50
This is an internal structure.
Definition: b2TimeStep.h:38
b2Contact ** m_contacts
A 2D column vector.
Definition: b2Math.h:52
b2Position * m_positions
GLuint GLenum GLsizei GLsizei GLboolean void * points
signed int int32
Definition: b2Settings.h:31
A rigid body. These are created via b2World::CreateBody.
Definition: b2Body.h:126
b2Position * positions
b2Contact ** contacts
b2ContactVelocityConstraint * m_velocityConstraints
A 2-by-2 matrix. Stored in column-major order.
Definition: b2Math.h:182
This is an internal structure.
Definition: b2TimeStep.h:49
b2StackAllocator * allocator
b2StackAllocator * m_allocator
b2Velocity * velocities
float float32
Definition: b2Settings.h:35


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autogenerated on Fri May 7 2021 03:05:51