b2ContactSolver.h
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00001 /*
00002 * Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
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/b2TimeStep.h>
00025 
00026 class b2Contact;
00027 class b2Body;
00028 class b2StackAllocator;
00029 struct b2ContactPositionConstraint;
00030 
00031 struct b2VelocityConstraintPoint
00032 {
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 b2ContactVelocityConstraint
00043 {
00044         b2VelocityConstraintPoint points[b2_maxManifoldPoints];
00045         b2Vec2 normal;
00046         b2Mat22 normalMass;
00047         b2Mat22 K;
00048         int32 indexA;
00049         int32 indexB;
00050         float32 invMassA, invMassB;
00051         float32 invIA, invIB;
00052         float32 friction;
00053         float32 restitution;
00054         float32 tangentSpeed;
00055         int32 pointCount;
00056         int32 contactIndex;
00057 };
00058 
00059 struct b2ContactSolverDef
00060 {
00061         b2TimeStep step;
00062         b2Contact** contacts;
00063         int32 count;
00064         b2Position* positions;
00065         b2Velocity* velocities;
00066         b2StackAllocator* allocator;
00067 };
00068 
00069 class b2ContactSolver
00070 {
00071 public:
00072         b2ContactSolver(b2ContactSolverDef* def);
00073         ~b2ContactSolver();
00074 
00075         void InitializeVelocityConstraints();
00076 
00077         void WarmStart();
00078         void SolveVelocityConstraints();
00079         void StoreImpulses();
00080 
00081         bool SolvePositionConstraints();
00082         bool SolveTOIPositionConstraints(int32 toiIndexA, int32 toiIndexB);
00083 
00084         b2TimeStep m_step;
00085         b2Position* m_positions;
00086         b2Velocity* m_velocities;
00087         b2StackAllocator* m_allocator;
00088         b2ContactPositionConstraint* m_positionConstraints;
00089         b2ContactVelocityConstraint* m_velocityConstraints;
00090         b2Contact** m_contacts;
00091         int m_count;
00092 };
00093 
00094 #endif
00095 


mvsim
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autogenerated on Thu Sep 7 2017 09:27:47