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b2ContactSolver.h

    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         int32 pointCount;
    00055         int32 contactIndex;
    00056 };
    00057
    00058 struct b2ContactSolverDef
    00059 {
    00060         b2TimeStep step;
    00061         b2Contact** contacts;
    00062         int32 count;
    00063         b2Position* positions;
    00064         b2Velocity* velocities;
    00065         b2StackAllocator* allocator;
    00066 };
    00067
    00068 class b2ContactSolver
    00069 {
    00070 public:
    00071         b2ContactSolver(b2ContactSolverDef* def);
    00072         ~b2ContactSolver();
    00073
    00074         void InitializeVelocityConstraints();
    00075
    00076         void WarmStart();
    00077         void SolveVelocityConstraints();
    00078         void StoreImpulses();
    00079
    00080         bool SolvePositionConstraints();
    00081         bool SolveTOIPositionConstraints(int32 toiIndexA, int32 toiIndexB);
    00082
    00083         b2TimeStep m_step;
    00084         b2Position* m_positions;
    00085         b2Velocity* m_velocities;
    00086         b2StackAllocator* m_allocator;
    00087         b2ContactPositionConstraint* m_positionConstraints;
    00088         b2ContactVelocityConstraint* m_velocityConstraints;
    00089         b2Contact** m_contacts;
    00090         int m_count;
    00091 };
    00092
    00093 #endif
    00094

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