94 lines
2.4 KiB
C
94 lines
2.4 KiB
C
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/*
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* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef B2_CONTACT_SOLVER_H
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#define B2_CONTACT_SOLVER_H
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#include "../../Common/b2Math.h"
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#include "../../Collision/b2Collision.h"
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#include "../b2TimeStep.h"
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class b2Contact;
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class b2Body;
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class b2StackAllocator;
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struct b2ContactPositionConstraint;
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struct b2VelocityConstraintPoint
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{
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b2Vec2 rA;
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b2Vec2 rB;
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float32 normalImpulse;
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float32 tangentImpulse;
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float32 normalMass;
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float32 tangentMass;
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float32 velocityBias;
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};
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struct b2ContactVelocityConstraint
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{
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b2VelocityConstraintPoint points[b2_maxManifoldPoints];
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b2Vec2 normal;
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b2Mat22 normalMass;
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b2Mat22 K;
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int32 indexA;
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int32 indexB;
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float32 invMassA, invMassB;
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float32 invIA, invIB;
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float32 friction;
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float32 restitution;
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int32 pointCount;
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int32 contactIndex;
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};
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struct b2ContactSolverDef
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{
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b2TimeStep step;
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b2Contact** contacts;
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int32 count;
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b2Position* positions;
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b2Velocity* velocities;
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b2StackAllocator* allocator;
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};
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class b2ContactSolver
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{
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public:
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b2ContactSolver(b2ContactSolverDef* def);
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~b2ContactSolver();
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void InitializeVelocityConstraints();
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void WarmStart();
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void SolveVelocityConstraints();
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void StoreImpulses();
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bool SolvePositionConstraints();
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bool SolveTOIPositionConstraints(int32 toiIndexA, int32 toiIndexB);
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b2TimeStep m_step;
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b2Position* m_positions;
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b2Velocity* m_velocities;
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b2StackAllocator* m_allocator;
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b2ContactPositionConstraint* m_positionConstraints;
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b2ContactVelocityConstraint* m_velocityConstraints;
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b2Contact** m_contacts;
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int m_count;
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};
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#endif
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