135 lines
5.1 KiB
C++
135 lines
5.1 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2019 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef REACTPHYSICS3D_CONTACT_MANIFOLD_H
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#define REACTPHYSICS3D_CONTACT_MANIFOLD_H
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// Libraries
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#include "collision/ProxyShape.h"
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/// ReactPhysics3D namespace
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namespace reactphysics3d {
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// Class declarations
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class ContactManifold;
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class ContactManifoldInfo;
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struct ContactPointInfo;
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class CollisionBody;
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class ContactPoint;
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class DefaultPoolAllocator;
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// Class ContactManifold
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/**
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* This class represents a set of contact points between two bodies that
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* all have a similar contact normal direction. Usually, there is a single
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* contact manifold when two convex shapes are in contact. However, when
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* a convex shape collides with a concave shape, there might be several
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* contact manifolds with different normal directions.
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* The contact manifold is implemented in a way to cache the contact
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* points among the frames for better stability (warm starting of the
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* contact solver)
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*/
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class ContactManifold {
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public:
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// -------------------- Constants -------------------- //
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/// Maximum number of contact points in a reduced contact manifold
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const int MAX_CONTACT_POINTS_IN_MANIFOLD = 4;
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// -------------------- Attributes -------------------- //
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/// Index of the first contact point of the manifold in the list of contact points
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uint contactPointsIndex;
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/// Entity of the first body in contact
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Entity bodyEntity1;
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/// Entity of the second body in contact
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Entity bodyEntity2;
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/// Entity of the first proxy-shape in contact
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Entity proxyShapeEntity1;
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/// Entity of the second proxy-shape in contact
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Entity proxyShapeEntity2;
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/// Number of contacts in the cache
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int8 nbContactPoints;
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/// First friction vector of the contact manifold
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Vector3 frictionVector1;
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/// Second friction vector of the contact manifold
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Vector3 frictionVector2;
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/// First friction constraint accumulated impulse
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decimal frictionImpulse1;
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/// Second friction constraint accumulated impulse
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decimal frictionImpulse2;
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/// Twist friction constraint accumulated impulse
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decimal frictionTwistImpulse;
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/// Accumulated rolling resistance impulse
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Vector3 rollingResistanceImpulse;
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/// True if the contact manifold has already been added into an island
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bool isAlreadyInIsland;
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public:
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// -------------------- Methods -------------------- //
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/// Constructor
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ContactManifold(Entity bodyEntity1, Entity bodyEntity2, Entity proxyShapeEntity1, Entity proxyShapeEntity2,
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uint contactPointsIndex, int8 nbContactPoints);
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/// Destructor
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~ContactManifold();
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/// Copy-constructor
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ContactManifold(const ContactManifold& contactManifold) = default;
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/// Assignment operator
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ContactManifold& operator=(const ContactManifold& contactManifold) = default;
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// -------------------- Friendship -------------------- //
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friend class DynamicsWorld;
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friend class Island;
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friend class CollisionBody;
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friend class ContactManifoldSet;
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friend class ContactSolverSystem;
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friend class CollisionDetectionSystem;
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};
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}
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#endif
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