/******************************************************************************** * ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ * * Copyright (c) 2010-2013 Daniel Chappuis * ********************************************************************************* * * * 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. * * * ********************************************************************************/ // Libraries #include "ContactPoint.h" using namespace reactphysics3d; using namespace std; // Constructor ContactPoint::ContactPoint(const ContactPointInfo& contactInfo) : Constraint(contactInfo), mNormal(contactInfo.normal), mPenetrationDepth(contactInfo.penetrationDepth), mLocalPointOnBody1(contactInfo.localPoint1), mLocalPointOnBody2(contactInfo.localPoint2), mWorldPointOnBody1(contactInfo.body1->getTransform() * contactInfo.localPoint1), mWorldPointOnBody2(contactInfo.body2->getTransform() * contactInfo.localPoint2), mIsRestingContact(false) { mFrictionVectors[0] = Vector3(0, 0, 0); mFrictionVectors[1] = Vector3(0, 0, 0); assert(mPenetrationDepth > 0.0); } // Destructor ContactPoint::~ContactPoint() { } // Initialize before solving the constraint void ContactPoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { } // Warm start the constraint (apply the previous impulse at the beginning of the step) void ContactPoint::warmstart(const ConstraintSolverData& constraintSolverData) { } // Solve the velocity constraint void ContactPoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { } // Solve the position constraint void ContactPoint::solvePositionConstraint(const ConstraintSolverData& constraintSolverData) { }