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#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;
};
}
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