DISTRHO
/
JUCE
mirror of https://github.com/DISTRHO/JUCE
1
0
Fork 0
Code Releases 1 Activity
The JUCE cross-platform C++ framework, with DISTRHO/KXStudio specific changes
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
5576 Commits
9 Branches
519MB
Tree: ddcd78eae8
Branches Tags
${ item.name }
Create branch ${ searchTerm }
from 'ddcd78eae8'
${ noResults }
JUCE/modules/juce_box2d/box2d/Dynamics/Contacts/b2ContactSolver.h

94 lines
2.4KB
Raw Blame History 

  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 "../../Common/b2Math.h"

  23. #include "../../Collision/b2Collision.h"

  24. #include "../b2TimeStep.h"

  25. 

  26. class b2Contact;

  27. class b2Body;

  28. class b2StackAllocator;

  29. struct b2ContactPositionConstraint;

  30. 

  31. struct b2VelocityConstraintPoint

  32. {

  33. 	b2Vec2 rA;

  34. 	b2Vec2 rB;

  35. 	float32 normalImpulse;

  36. 	float32 tangentImpulse;

  37. 	float32 normalMass;

  38. 	float32 tangentMass;

  39. 	float32 velocityBias;

  40. };

  41. 

  42. struct b2ContactVelocityConstraint

  43. {

  44. 	b2VelocityConstraintPoint points[b2_maxManifoldPoints];

  45. 	b2Vec2 normal;

  46. 	b2Mat22 normalMass;

  47. 	b2Mat22 K;

  48. 	int32 indexA;

  49. 	int32 indexB;

  50. 	float32 invMassA, invMassB;

  51. 	float32 invIA, invIB;

  52. 	float32 friction;

  53. 	float32 restitution;

  54. 	int32 pointCount;

  55. 	int32 contactIndex;

  56. };

  57. 

  58. struct b2ContactSolverDef

  59. {

  60. 	b2TimeStep step;

  61. 	b2Contact** contacts;

  62. 	int32 count;

  63. 	b2Position* positions;

  64. 	b2Velocity* velocities;

  65. 	b2StackAllocator* allocator;

  66. };

  67. 

  68. class b2ContactSolver

  69. {

  70. public:

  71. 	b2ContactSolver(b2ContactSolverDef* def);

  72. 	~b2ContactSolver();

  73. 

  74. 	void InitializeVelocityConstraints();

  75. 

  76. 	void WarmStart();

  77. 	void SolveVelocityConstraints();

  78. 	void StoreImpulses();

  79. 

  80. 	bool SolvePositionConstraints();

  81. 	bool SolveTOIPositionConstraints(int32 toiIndexA, int32 toiIndexB);

  82. 

  83. 	b2TimeStep m_step;

  84. 	b2Position* m_positions;

  85. 	b2Velocity* m_velocities;

  86. 	b2StackAllocator* m_allocator;

  87. 	b2ContactPositionConstraint* m_positionConstraints;

  88. 	b2ContactVelocityConstraint* m_velocityConstraints;

  89. 	b2Contact** m_contacts;

  90. 	int m_count;

  91. };

  92. 

  93. #endif