2010-09-09 19:41:14 +00:00
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/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010 Daniel Chappuis *
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*********************************************************************************
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* *
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* Permission is hereby granted, free of charge, to any person obtaining a copy *
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* of this software and associated documentation files (the "Software"), to deal *
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* in the Software without restriction, including without limitation the rights *
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
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* copies of the Software, and to permit persons to whom the Software is *
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* furnished to do so, subject to the following conditions: *
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* *
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* The above copyright notice and this permission notice shall be included in *
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* all copies or substantial portions of the Software. *
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* *
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
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* THE SOFTWARE. *
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********************************************************************************/
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2010-07-23 12:51:26 +00:00
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#ifndef CONTACTCACHINGINFO_H
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#define CONTACTCACHINGINFO_H
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// Libraries
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#include "../body/OBB.h"
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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/* -------------------------------------------------------------------
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Structure ContactCachingInfo :
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This structure contains informations used to cache the last lambda
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value of each contact constraint. The last lambda value is used
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as the init lambda value in the constraint solver in the next
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time step to improve the convergence rate of the constraint solver.
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-------------------------------------------------------------------
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*/
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struct ContactCachingInfo {
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public:
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// TODO : Use polymorphism here (change OBB into BoundingVolume to be more general)
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Body* body1; // Body pointer of the first bounding volume
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Body* body2; // Body pointer of the second bounding volume
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Vector3D position; // Contact point
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double lambda; // Last lambda value for the constraint
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ContactCachingInfo(Body* body1, Body* body2, const Vector3D& position, double lambda); // Constructor
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};
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} // End of the ReactPhysics3D namespace
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#endif
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