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#pragma once
#include "Math.h"
#include "Constants.h"
namespace Phy2D
{
struct Body;
union FeaturePair
{
struct Edges
{
char inEdge1;
char outEdge1;
char inEdge2;
char outEdge2;
} e;
int value;
};
struct Contact
{
Contact() : Pn(_0), Pt(_0), Pnb(_0) {}
Vec2 position;
Vec2 normal;
Vec2 r1, r2;
fixed separation;
fixed Pn; // accumulated normal impulse
fixed Pt; // accumulated tangent impulse
fixed Pnb; // accumulated normal impulse for position bias
fixed massNormal, massTangent;
fixed bias;
FeaturePair feature;
};
struct ArbiterKey
{
ArbiterKey(Body* b1, Body* b2)
{
if (b1 < b2)
{
body1 = b1; body2 = b2;
}
else
{
body1 = b2; body2 = b1;
}
}
Body* body1;
Body* body2;
};
struct Arbiter
{
enum { MAX_POINTS = 2 };
Arbiter(Body* b1, Body* b2);
void Update(Contact* contacts, int numContacts);
void PreStep(fixed inv_dt);
void ApplyImpulse();
Contact contacts[MAX_POINTS];
int numContacts;
Body* body1;
Body* body2;
// Combined friction
fixed friction;
};
// This is used by std::set
inline bool operator < (const ArbiterKey& a1, const ArbiterKey& a2)
{
if (a1.body1 < a2.body1)
return true;
if (a1.body1 == a2.body1 && a1.body2 < a2.body2)
return true;
return false;
}
int Collide(Contact* contacts, Body* body1, Body* body2);
}
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