51 lines
2.8 KiB
C++
51 lines
2.8 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2013 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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// Libraries
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#include "ContactPoint.h"
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using namespace reactphysics3d;
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using namespace std;
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// Constructor
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ContactPoint::ContactPoint(RigidBody* const body1, RigidBody* const body2,
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const ContactInfo* contactInfo)
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: Constraint(body1, body2, 3, true, CONTACT), mNormal(contactInfo->normal),
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mPenetrationDepth(contactInfo->penetrationDepth),
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mLocalPointOnBody1(contactInfo->localPoint1),
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mLocalPointOnBody2(contactInfo->localPoint2),
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mWorldPointOnBody1(body1->getTransform() * contactInfo->localPoint1),
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mWorldPointOnBody2(body2->getTransform() * contactInfo->localPoint2),
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mIsRestingContact(false), mFrictionVectors(2, Vector3(0, 0, 0)) {
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assert(mPenetrationDepth > 0.0);
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}
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// Destructor
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ContactPoint::~ContactPoint() {
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}
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