reactphysics3d/src/collision/ContactManifold.h
2019-11-27 22:14:29 +01:00

135 lines
5.1 KiB
C++

/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
* Copyright (c) 2010-2019 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 REACTPHYSICS3D_CONTACT_MANIFOLD_H
#define REACTPHYSICS3D_CONTACT_MANIFOLD_H
// Libraries
#include "collision/ProxyShape.h"
/// ReactPhysics3D namespace
namespace reactphysics3d {
// Class declarations
class ContactManifold;
class ContactManifoldInfo;
struct ContactPointInfo;
class CollisionBody;
class ContactPoint;
class DefaultPoolAllocator;
// Class ContactManifold
/**
* This class represents a set of contact points between two bodies that
* all have a similar contact normal direction. Usually, there is a single
* contact manifold when two convex shapes are in contact. However, when
* a convex shape collides with a concave shape, there might be several
* contact manifolds with different normal directions.
* The contact manifold is implemented in a way to cache the contact
* points among the frames for better stability (warm starting of the
* contact solver)
*/
class ContactManifold {
public:
// -------------------- Constants -------------------- //
/// Maximum number of contact points in a reduced contact manifold
const int MAX_CONTACT_POINTS_IN_MANIFOLD = 4;
// -------------------- Attributes -------------------- //
/// Index of the first contact point of the manifold in the list of contact points
uint contactPointsIndex;
/// Entity of the first body in contact
Entity bodyEntity1;
/// Entity of the second body in contact
Entity bodyEntity2;
/// Entity of the first proxy-shape in contact
Entity proxyShapeEntity1;
/// Entity of the second proxy-shape in contact
Entity proxyShapeEntity2;
/// Number of contacts in the cache
int8 nbContactPoints;
/// First friction vector of the contact manifold
Vector3 frictionVector1;
/// Second friction vector of the contact manifold
Vector3 frictionVector2;
/// First friction constraint accumulated impulse
decimal frictionImpulse1;
/// Second friction constraint accumulated impulse
decimal frictionImpulse2;
/// Twist friction constraint accumulated impulse
decimal frictionTwistImpulse;
/// Accumulated rolling resistance impulse
Vector3 rollingResistanceImpulse;
/// True if the contact manifold has already been added into an island
bool isAlreadyInIsland;
public:
// -------------------- Methods -------------------- //
/// Constructor
ContactManifold(Entity bodyEntity1, Entity bodyEntity2, Entity proxyShapeEntity1, Entity proxyShapeEntity2,
uint contactPointsIndex, int8 nbContactPoints);
/// Destructor
~ContactManifold();
/// Copy-constructor
ContactManifold(const ContactManifold& contactManifold) = default;
/// Assignment operator
ContactManifold& operator=(const ContactManifold& contactManifold) = default;
// -------------------- Friendship -------------------- //
friend class DynamicsWorld;
friend class Island;
friend class CollisionBody;
friend class ContactManifoldSet;
friend class ContactSolverSystem;
friend class CollisionDetectionSystem;
};
}
#endif