/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
* Copyright (c) 2010-2012 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.    *
*                                                                               *
********************************************************************************/

#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