1 files changed, 0 insertions, 189 deletions
diff --git a/Client/Source/Phy2D/Dynamic/Arbiter.cpp b/Client/Source/Phy2D/Dynamic/Arbiter.cpp
deleted file mode 100644
index 4163154..0000000
--- a/Client/Source/Phy2D/Dynamic/Arbiter.cpp
+++ /dev/null
@@ -1,189 +0,0 @@
-#include "Arbiter.h"
-#include "World.h"
-#include "Body.h"
-#include "Joint.h"
-
-using namespace Phy2D;
-
-Arbiter::Arbiter(Body* b1, Body* b2)
-{
-    if (b1 < b2)
-    {
-        body1 = b1;
-        body2 = b2;
-    }
-    else
-    {
-        body1 = b2;
-        body2 = b1;
-    }
-
-    numContacts = Collide(contacts, body1, body2);
-
-    friction = SQRT(body1->friction * body2->friction);
-}
-
-void Arbiter::Update(Contact* newContacts, int numNewContacts)
-{
-    Contact mergedContacts[2];
-
-    for (int i = 0; i < numNewContacts; ++i)
-    {
-        Contact* cNew = newContacts + i;
-        int k = -1;
-        for (int j = 0; j < numContacts; ++j)
-        {
-            Contact* cOld = contacts + j;
-            if (cNew->feature.value == cOld->feature.value)
-            {
-                k = j;
-                break;
-            }
-        }
-
-        if (k > -1)
-        {
-            Contact* c = mergedContacts + i;
-            Contact* cOld = contacts + k;
-            *c = *cNew;
-            if (World::warmStarting)
-            {
-                c->Pn = cOld->Pn;
-                c->Pt = cOld->Pt;
-                c->Pnb = cOld->Pnb;
-            }
-            else
-            {
-                c->Pn = 0.0f;
-                c->Pt = 0.0f;
-                c->Pnb = 0.0f;
-            }
-        }
-        else
-        {
-            mergedContacts[i] = newContacts[i];
-        }
-    }
-
-    for (int i = 0; i < numNewContacts; ++i)
-        contacts[i] = mergedContacts[i];
-
-    numContacts = numNewContacts;
-}
-
-
-void Arbiter::PreStep(number inv_dt)
-{
-    const number k_allowedPenetration = 0.01f;
-    number k_biasFactor = World::positionCorrection ? 0.2f : 0.0f;
-
-    for (int i = 0; i < numContacts; ++i)
-    {
-        Contact* c = contacts + i;
-
-        Vec2 r1 = c->position - body1->position;
-        Vec2 r2 = c->position - body2->position;
-
-        // Precompute normal mass, tangent mass, and bias.
-        number rn1 = Dot(r1, c->normal);
-        number rn2 = Dot(r2, c->normal);
-        number kNormal = body1->invMass + body2->invMass;
-        kNormal += body1->invI * (Dot(r1, r1) - rn1 * rn1) + body2->invI * (Dot(r2, r2) - rn2 * rn2);
-        c->massNormal = (number) 1.0f / kNormal;
-
-        Vec2 tangent = Cross(c->normal, 1.0f);
-        number rt1 = Dot(r1, tangent);
-        number rt2 = Dot(r2, tangent);
-        number kTangent = body1->invMass + body2->invMass;
-        kTangent += body1->invI * (Dot(r1, r1) - rt1 * rt1) + body2->invI * (Dot(r2, r2) - rt2 * rt2);
-        c->massTangent = (number) 1.0f / kTangent;
-
-        c->bias = -k_biasFactor * inv_dt * Min(0.0f, c->separation + k_allowedPenetration);
-
-        if (World::accumulateImpulses)
-        {
-            // Apply normal + friction impulse
-            Vec2 P = c->Pn * c->normal + c->Pt * tangent;
-
-            body1->velocity -= body1->invMass * P;
-            body1->angularVelocity -= body1->invI * Cross(r1, P);
-
-            body2->velocity += body2->invMass * P;
-            body2->angularVelocity += body2->invI * Cross(r2, P);
-        }
-    }
-}
-
-void Arbiter::ApplyImpulse()
-{
-    Body* b1 = body1;
-    Body* b2 = body2;
-
-    for (int i = 0; i < numContacts; ++i)
-    {
-        Contact* c = contacts + i;
-        c->r1 = c->position - b1->position;
-        c->r2 = c->position - b2->position;
-
-        // Relative velocity at contact
-        Vec2 dv = b2->velocity + Cross(b2->angularVelocity, c->r2) - b1->velocity - Cross(b1->angularVelocity, c->r1);
-
-        // Compute normal impulse
-        number vn = Dot(dv, c->normal);
-
-        number dPn = c->massNormal * (-vn + c->bias);
-
-        if (World::accumulateImpulses)
-        {
-            // Clamp the accumulated impulse
-            number Pn0 = c->Pn;
-            c->Pn = Max(Pn0 + dPn, 0.0f);
-            dPn = c->Pn - Pn0;
-        }
-        else
-        {
-            dPn = Max(dPn, 0.0f);
-        }
-
-        // Apply contact impulse
-        Vec2 Pn = dPn * c->normal;
-
-        b1->velocity -= b1->invMass * Pn;
-        b1->angularVelocity -= b1->invI * Cross(c->r1, Pn);
-
-        b2->velocity += b2->invMass * Pn;
-        b2->angularVelocity += b2->invI * Cross(c->r2, Pn);
-
-        // Relative velocity at contact
-        dv = b2->velocity + Cross(b2->angularVelocity, c->r2) - b1->velocity - Cross(b1->angularVelocity, c->r1);
-
-        Vec2 tangent = Cross(c->normal, 1.0f);
-        number vt = Dot(dv, tangent);
-        number dPt = c->massTangent * (-vt);
-
-        if (World::accumulateImpulses)
-        {
-            // Compute friction impulse
-            number maxPt = friction * c->Pn;
-
-            // Clamp friction
-            number oldTangentImpulse = c->Pt;
-            c->Pt = Clamp(oldTangentImpulse + dPt, -maxPt, maxPt);
-            dPt = c->Pt - oldTangentImpulse;
-        }
-        else
-        {
-            number maxPt = friction * dPn;
-            dPt = Clamp(dPt, -maxPt, maxPt);
-        }
-
-        // Apply contact impulse
-        Vec2 Pt = dPt * tangent;
-
-        b1->velocity -= b1->invMass * Pt;
-        b1->angularVelocity -= b1->invI * Cross(c->r1, Pt);
-
-        b2->velocity += b2->invMass * Pt;
-        b2->angularVelocity += b2->invI * Cross(c->r2, Pt);
-    }
-}