1 files changed, 34 insertions, 0 deletions
diff --git a/Client/Source/Phy2D/Dynamic/Joint.h b/Client/Source/Phy2D/Dynamic/Joint.h
new file mode 100644
index 0000000..34d8d8d
--- /dev/null
+++ b/Client/Source/Phy2D/Dynamic/Joint.h
@@ -0,0 +1,34 @@
+#pragma once
+
+#include "../Common/Math.h"
+
+namespace Phy2D
+{
+
+    struct Body;
+
+    struct Joint
+    {
+        Joint() :
+            body1(0), body2(0),
+            P(0.0f, 0.0f),
+            biasFactor(0.2f), softness(0.0f)
+        {}
+
+        void Set(Body* body1, Body* body2, const Vec2& anchor);
+
+        void PreStep(number inv_dt);
+        void ApplyImpulse();
+
+        Mat22 M;
+        Vec2 localAnchor1, localAnchor2;
+        Vec2 r1, r2;
+        Vec2 bias;
+        Vec2 P;		// accumulated impulse
+        Body* body1;
+        Body* body2;
+        number biasFactor;
+        number softness;
+    };
+
+}