db5ff8ec4a
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@392 92aac97c-a6ce-11dd-a772-7fcde58d38e6
48 lines
2.6 KiB
C++
48 lines
2.6 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010 Daniel Chappuis *
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*********************************************************************************
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* *
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* Permission is hereby granted, free of charge, to any person obtaining a copy *
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* of this software and associated documentation files (the "Software"), to deal *
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* in the Software without restriction, including without limitation the rights *
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
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* copies of the Software, and to permit persons to whom the Software is *
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* furnished to do so, subject to the following conditions: *
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* *
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* The above copyright notice and this permission notice shall be included in *
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* all copies or substantial portions of the Software. *
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* *
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
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* THE SOFTWARE. *
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********************************************************************************/
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// Libraries
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#include "Contact.h"
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Constructor
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Contact::Contact(Body* const body1, Body* const body2, const Vector3D& normal, double penetrationDepth, const Vector3D& point)
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:Constraint(body1, body2, 2, true), normal(normal), penetrationDepth(penetrationDepth), point(point) {
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// Compute the auxiliary lower and upper bounds
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// TODO : Now mC is only the mass of the first body but it is probably wrong
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// TODO : Now g is 9.81 but we should use the true gravity value of the physics world.
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mu_mc_g = FRICTION_COEFFICIENT * body1->getMass() * 9.81;
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// Compute the friction vectors that span the tangential friction plane
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computeFrictionVectors();
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}
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// Destructor
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Contact::~Contact() {
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}
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