git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@161 92aac97c-a6ce-11dd-a772-7fcde58d38e6

sources/reactphysics3d/constraint/Constraint.cpp

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+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+// Libraries
+#include "Constraint.h"
+
+// We want ot use the ReactPhysics3D namespace
+using namespace reactphysics3d;
+
+// Constructor
+Constraint::Constraint(Body& body1, Body& body2)
+           :body1(body1), body2(body2) {
+
+}
+
+// Destructor
+Constraint::~Constraint() {
+
+}

sources/reactphysics3d/constraint/Constraint.h

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+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+#ifndef CONSTRAINT_H
+#define CONSTRAINT_H
+
+// Libraries
+#include "../body/Body.h"
+
+// ReactPhysics3D namespace
+namespace reactphysics3d {
+
+/*  -------------------------------------------------------------------
+    Class Constraint :
+        This class represents a constraint in the physics engine.
+        A constraint can be a collision contact or a joint for
+        instance.
+    -------------------------------------------------------------------
+*/
+class Constraint {
+    private :
+        Body& body1;            // Reference to the first body of the constraint
+        Body& body2;            // Reference to the second body of the constraint
+
+    public :
+        Constraint(Body& body1, Body& body2);   // Constructor
+        virtual ~Constraint();                  // Destructor
+
+        Body& getBody1() const;                 // Return the reference to the body 1
+        Body& getBody2() const;                 // Return the reference to the body 2
+};
+
+// Return the reference to the body 1
+inline Body& Constraint::getBody1() const {
+    return body1;
+}
+
+// Return the reference to the body 2
+inline Body& Constraint::getBody2() const {
+    return body2;
+}
+
+} // End of the ReactPhysics3D namespace
+
+#endif

sources/reactphysics3d/constraint/Contact.cpp

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+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+// Libraries
+#include "Contact.h"
+
+// We want to use the ReactPhysics3D namespace
+using namespace reactphysics3d;
+
+// Constructor
+Contact::Contact(Body& body1, Body& body2, const Vector3D& normalVector)
+        :Constraint(body1, body2), normalVector(normalVector) {
+
+}
+
+// Destructor
+Contact::~Contact() {
+
+}

sources/reactphysics3d/constraint/Contact.h

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+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+#ifndef CONTACT_H
+#define CONTACT_H
+
+// Libraries
+#include "Constraint.h"
+#include "../mathematics/mathematics.h"
+
+// ReactPhysics3D namespace
+namespace reactphysics3d {
+
+/*  -------------------------------------------------------------------
+    Class Contact :
+        This class represents a collision contact between two bodies in
+        the physics engine. The contact class inherits from the
+        Constraint class. The collision detection systems compute
+        contact informations that will be used to perform the collision
+        response.
+    -------------------------------------------------------------------
+*/
+class Contact : public Constraint {
+    private :
+        Vector3D normalVector;          // Normal vector of the contact
+
+    public :
+        Contact(Body& body1, Body& body2, const Vector3D& normalVector);    // Constructor
+        virtual ~Contact();                                                 // Destructor
+
+        Vector3D getNormalVector() const;           // Return the normal vector of the contact
+
+};
+
+// Return the normal vector of the contact
+inline Vector3D Contact::getNormalVector() const {
+    return normalVector;
+}
+
+} // End of the ReactPhysics3D namespace
+
+#endif