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// MIT License
// Copyright (c) 2019 Erin Catto
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
#ifndef B2_CONTACT_SOLVER_H
#define B2_CONTACT_SOLVER_H
#include "box2d/b2_collision.h"
#include "box2d/b2_math.h"
#include "box2d/b2_time_step.h"
class b2Contact;
class b2Body;
class b2StackAllocator;
struct b2ContactPositionConstraint;
struct b2VelocityConstraintPoint
{
b2Vec2 rA;
b2Vec2 rB;
float normalImpulse;
float tangentImpulse;
float normalMass;
float tangentMass;
float velocityBias;
};
struct b2ContactVelocityConstraint
{
b2VelocityConstraintPoint points[b2_maxManifoldPoints];
b2Vec2 normal;
b2Mat22 normalMass;
b2Mat22 K;
int32 indexA;
int32 indexB;
float invMassA, invMassB;
float invIA, invIB;
float friction;
float restitution;
float threshold;
float tangentSpeed;
int32 pointCount;
int32 contactIndex;
};
struct b2ContactSolverDef
{
b2TimeStep step;
b2Contact** contacts;
int32 count;
b2Position* positions;
b2Velocity* velocities;
b2StackAllocator* allocator;
};
class b2ContactSolver
{
public:
b2ContactSolver(b2ContactSolverDef* def);
~b2ContactSolver();
void InitializeVelocityConstraints();
void WarmStart();
void SolveVelocityConstraints();
void StoreImpulses();
bool SolvePositionConstraints();
bool SolveTOIPositionConstraints(int32 toiIndexA, int32 toiIndexB);
b2TimeStep m_step;
b2Position* m_positions;
b2Velocity* m_velocities;
b2StackAllocator* m_allocator;
b2ContactPositionConstraint* m_positionConstraints;
b2ContactVelocityConstraint* m_velocityConstraints;
b2Contact** m_contacts;
int m_count;
};
#endif
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