reactphysics3d/sources/constraint/Contact.cpp

/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
* Copyright (c) 2010 Daniel Chappuis                                            *
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// Libraries
#include "Contact.h"

// We want to use the ReactPhysics3D namespace
using namespace reactphysics3d;

// Constructor
Contact::Contact(Body* const body1, Body* const body2, const Vector3D& normal, double penetrationDepth, const Vector3D& point)
                 :Constraint(body1, body2, 2, true), normal(normal), penetrationDepth(penetrationDepth), point(point) {

    // Compute the auxiliary lower and upper bounds
    // TODO : Now mC is only the mass of the first body but it is probably wrong
    // TODO : Now g is 9.81 but we should use the true gravity value of the physics world.
    mu_mc_g = FRICTION_COEFFICIENT * body1->getMass() * 9.81;

    // Compute the friction vectors that span the tangential friction plane
    computeFrictionVectors();
}

// Destructor
Contact::~Contact() {

}