Client/Source/Phy2DLite/Joint.h


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#pragma once

#include "Math.h"
#include "Constants.h"

namespace Phy2D
{

    struct Body;

    struct Joint
    {
        Joint() :
            body1(0), body2(0),
            P(_0, _0),
            biasFactor(_0_2), softness(_0)
        {}

        void Set(Body* body1, Body* body2, const Vec2& anchor);

        void PreStep(fixed inv_dt);
        void ApplyImpulse();

        Mat22 M;
        Vec2 localAnchor1, localAnchor2;
        Vec2 r1, r2;
        Vec2 bias;
        Vec2 P;		// accumulated impulse
        Body* body1;
        Body* body2;
        fixed biasFactor;
        fixed softness;
    };

}