File indexing completed on 2025-08-03 03:49:57

 /*
 * Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
 * arising from the use of this software.
 * Permission is granted to anyone to use this software for any purpose,
 * including commercial applications, and to alter it and redistribute it
 * freely, subject to the following restrictions:
 * 1. The origin of this software must not be misrepresented; you must not
 * claim that you wrote the original software. If you use this software
 * in a product, an acknowledgment in the product documentation would be
 * appreciated but is not required.
 * 2. Altered source versions must be plainly marked as such, and must not be
 * misrepresented as being the original software.
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
 #ifndef B2_CONTACT_SOLVER_H
 #define B2_CONTACT_SOLVER_H
 
 #include <Box2D/Common/b2Math.h>
 #include <Box2D/Collision/b2Collision.h>
 #include <Box2D/Dynamics/b2Island.h>
 
 class b2Contact;
 class b2Body;
 class b2StackAllocator;
 
 struct b2ContactConstraintPoint
 {
     b2Vec2 localPoint;
     b2Vec2 rA;
     b2Vec2 rB;
     qreal normalImpulse;
     qreal tangentImpulse;
     qreal normalMass;
     qreal tangentMass;
     qreal velocityBias;
 };
 
 struct b2ContactConstraint
 {
     b2ContactConstraintPoint points[b2_maxManifoldPoints];
     b2Vec2 localNormal;
     b2Vec2 localPoint;
     b2Vec2 normal;
     b2Mat22 normalMass;
     b2Mat22 K;
     b2Body* bodyA;
     b2Body* bodyB;
     b2Manifold::Type type;
     qreal radiusA, radiusB;
     qreal friction;
     qreal restitution;
     int32 pointCount;
     b2Manifold* manifold;
 };
 
 struct b2ContactSolverDef
 {
     b2Contact** contacts;
     int32 count;
     b2StackAllocator* allocator;
     qreal impulseRatio;
     bool warmStarting;
 };
 
 class b2ContactSolver
 {
 public:
     b2ContactSolver(b2ContactSolverDef* def);
     ~b2ContactSolver();
 
     void InitializeVelocityConstraints();
 
     void WarmStart();
     void SolveVelocityConstraints();
     void StoreImpulses();
 
     bool SolvePositionConstraints(qreal baumgarte);
     bool SolveTOIPositionConstraints(qreal baumgarte, const b2Body* toiBodyA, const b2Body* toiBodyB);
 
     b2StackAllocator* m_allocator;
     b2ContactConstraint* m_constraints;
     int m_count;
 };
 
 #endif