reactphysics3d/src/engine/ContactManifold.h

/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
* Copyright (c) 2010-2012 Daniel Chappuis                                       *
*********************************************************************************
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* This software is provided 'as-is', without any express or implied warranty.   *
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#ifndef CONTACT_MANIFOLD_H
#define CONTACT_MANIFOLD_H

// Libraries
#include "../constraint/Contact.h"
#include "../configuration.h"

namespace reactphysics3d {

// Class ContactManifold
// This class contains several contact points between two bodies
struct ContactManifold {

        // -------------------- Attributes -------------------- //

        // Contact for each contact point
        Contact* contacts[4];         // TODO : Use a constant here for the nb of contacts

        // Number of contacts in the manifold
        uint nbContacts;

        // First friction vector of the contact manifold
        Vector3 frictionVector1;

        // Second friction vector of the contact manifold
        Vector3 frictionVector2;

        // First friction constraint accumulated impulse
        decimal friction1Impulse;

        // Second friction constraint accumulated impulse
        decimal friction2Impulse;

        // Twist friction constraint accumulated impulse
        decimal frictionTwistImpulse;

        // -------------------- Methods -------------------- //

        // Constructor
        ContactManifold() : nbContacts(0), friction1Impulse(0.0), friction2Impulse(0.0),
                            frictionTwistImpulse(0.0) {}
};

}

#endif