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 <span id="projectnumber">2.3.0</span>
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<div id="projectbrief">A 2D Physics Engine for Games</div>
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<li class="navelem"><a class="el" href="dir_a7f953fea4e008d17e00594b3bbaff29.html">Box2D</a></li><li class="navelem"><a class="el" href="dir_54cad791c4d2b04cb4a0ba0bba686f79.html">Dynamics</a></li><li class="navelem"><a class="el" href="dir_6d0481e1d3c0616ecae75ec35bddf767.html">Contacts</a></li> </ul>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* This software is provided 'as-is', without any express or implied</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* warranty. In no event will the authors be held liable for any damages</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">* arising from the use of this software.</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Permission is granted to anyone to use this software for any purpose,</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* including commercial applications, and to alter it and redistribute it</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* freely, subject to the following restrictions:</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">* 1. The origin of this software must not be misrepresented; you must not</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* claim that you wrote the original software. If you use this software</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* in a product, an acknowledgment in the product documentation would be</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* appreciated but is not required.</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* 2. Altered source versions must be plainly marked as such, and must not be</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* misrepresented as being the original software.</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* 3. This notice may not be removed or altered from any source distribution.</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">*/</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#ifndef B2_CONTACT_SOLVER_H</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#define B2_CONTACT_SOLVER_H</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> </div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include <Box2D/Common/b2Math.h></span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor">#include <<a class="code" href="b2_collision_8h.html">Box2D/Collision/b2Collision.h</a>></span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#include <Box2D/Dynamics/b2TimeStep.h></span></div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> </div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="keyword">class </span><a class="code" href="classb2_contact.html">b2Contact</a>;</div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="keyword">class </span><a class="code" href="classb2_body.html">b2Body</a>;</div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="keyword">class </span><a class="code" href="classb2_stack_allocator.html">b2StackAllocator</a>;</div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="keyword">struct </span><a class="code" href="structb2_contact_position_constraint.html">b2ContactPositionConstraint</a>;</div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> </div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="structb2_velocity_constraint_point.html"> 31</a></span> <span class="keyword">struct </span><a class="code" href="structb2_velocity_constraint_point.html">b2VelocityConstraintPoint</a></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> {</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> rA;</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> rB;</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  float32 normalImpulse;</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  float32 tangentImpulse;</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  float32 normalMass;</div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  float32 tangentMass;</div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  float32 velocityBias;</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span> };</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> </div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="structb2_contact_velocity_constraint.html"> 42</a></span> <span class="keyword">struct </span><a class="code" href="structb2_contact_velocity_constraint.html">b2ContactVelocityConstraint</a></div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span> {</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="structb2_velocity_constraint_point.html">b2VelocityConstraintPoint</a> points[<a class="code" href="b2_settings_8h.html#aa5f44cc9edf711433dea2b2ec94f3c42">b2_maxManifoldPoints</a>];</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> normal;</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <a class="code" href="structb2_mat22.html">b2Mat22</a> normalMass;</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <a class="code" href="structb2_mat22.html">b2Mat22</a> K;</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  int32 indexA;</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  int32 indexB;</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  float32 invMassA, invMassB;</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  float32 invIA, invIB;</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  float32 friction;</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  float32 restitution;</div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  float32 tangentSpeed;</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  int32 pointCount;</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  int32 contactIndex;</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span> };</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structb2_contact_solver_def.html"> 59</a></span> <span class="keyword">struct </span><a class="code" href="structb2_contact_solver_def.html">b2ContactSolverDef</a></div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span> {</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <a class="code" href="structb2_time_step.html">b2TimeStep</a> step;</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <a class="code" href="classb2_contact.html">b2Contact</a>** contacts;</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  int32 count;</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <a class="code" href="structb2_position.html">b2Position</a>* positions;</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <a class="code" href="structb2_velocity.html">b2Velocity</a>* velocities;</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <a class="code" href="classb2_stack_allocator.html">b2StackAllocator</a>* allocator;</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span> };</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span> </div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classb2_contact_solver.html"> 69</a></span> <span class="keyword">class </span><a class="code" href="classb2_contact_solver.html">b2ContactSolver</a></div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span> {</div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <a class="code" href="classb2_contact_solver.html">b2ContactSolver</a>(<a class="code" href="structb2_contact_solver_def.html">b2ContactSolverDef</a>* def);</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  ~<a class="code" href="classb2_contact_solver.html">b2ContactSolver</a>();</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span> </div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordtype">void</span> InitializeVelocityConstraints();</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span> </div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordtype">void</span> WarmStart();</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordtype">void</span> SolveVelocityConstraints();</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordtype">void</span> StoreImpulses();</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span> </div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordtype">bool</span> SolvePositionConstraints();</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordtype">bool</span> SolveTOIPositionConstraints(int32 toiIndexA, int32 toiIndexB);</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span> </div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <a class="code" href="structb2_time_step.html">b2TimeStep</a> m_step;</div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <a class="code" href="structb2_position.html">b2Position</a>* m_positions;</div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <a class="code" href="structb2_velocity.html">b2Velocity</a>* m_velocities;</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <a class="code" href="classb2_stack_allocator.html">b2StackAllocator</a>* m_allocator;</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <a class="code" href="structb2_contact_position_constraint.html">b2ContactPositionConstraint</a>* m_positionConstraints;</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <a class="code" href="structb2_contact_velocity_constraint.html">b2ContactVelocityConstraint</a>* m_velocityConstraints;</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <a class="code" href="classb2_contact.html">b2Contact</a>** m_contacts;</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordtype">int</span> m_count;</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span> };</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span> </div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div><div class="ttc" id="structb2_contact_position_constraint_html"><div class="ttname"><a href="structb2_contact_position_constraint.html">b2ContactPositionConstraint</a></div><div class="ttdef"><b>Definition:</b> b2ContactSolver.cpp:31</div></div>
<div class="ttc" id="structb2_contact_solver_def_html"><div class="ttname"><a href="structb2_contact_solver_def.html">b2ContactSolverDef</a></div><div class="ttdef"><b>Definition:</b> b2ContactSolver.h:59</div></div>
<div class="ttc" id="classb2_stack_allocator_html"><div class="ttname"><a href="classb2_stack_allocator.html">b2StackAllocator</a></div><div class="ttdef"><b>Definition:</b> b2StackAllocator.h:37</div></div>
<div class="ttc" id="structb2_velocity_constraint_point_html"><div class="ttname"><a href="structb2_velocity_constraint_point.html">b2VelocityConstraintPoint</a></div><div class="ttdef"><b>Definition:</b> b2ContactSolver.h:31</div></div>
<div class="ttc" id="b2_collision_8h_html"><div class="ttname"><a href="b2_collision_8h.html">b2Collision.h</a></div></div>
<div class="ttc" id="structb2_position_html"><div class="ttname"><a href="structb2_position.html">b2Position</a></div><div class="ttdoc">This is an internal structure. </div><div class="ttdef"><b>Definition:</b> b2TimeStep.h:49</div></div>
<div class="ttc" id="structb2_time_step_html"><div class="ttname"><a href="structb2_time_step.html">b2TimeStep</a></div><div class="ttdoc">This is an internal structure. </div><div class="ttdef"><b>Definition:</b> b2TimeStep.h:38</div></div>
<div class="ttc" id="structb2_mat22_html"><div class="ttname"><a href="structb2_mat22.html">b2Mat22</a></div><div class="ttdoc">A 2-by-2 matrix. Stored in column-major order. </div><div class="ttdef"><b>Definition:</b> b2Math.h:183</div></div>
<div class="ttc" id="classb2_body_html"><div class="ttname"><a href="classb2_body.html">b2Body</a></div><div class="ttdoc">A rigid body. These are created via b2World::CreateBody. </div><div class="ttdef"><b>Definition:</b> b2Body.h:126</div></div>
<div class="ttc" id="structb2_contact_velocity_constraint_html"><div class="ttname"><a href="structb2_contact_velocity_constraint.html">b2ContactVelocityConstraint</a></div><div class="ttdef"><b>Definition:</b> b2ContactSolver.h:42</div></div>
<div class="ttc" id="structb2_velocity_html"><div class="ttname"><a href="structb2_velocity.html">b2Velocity</a></div><div class="ttdoc">This is an internal structure. </div><div class="ttdef"><b>Definition:</b> b2TimeStep.h:56</div></div>
<div class="ttc" id="structb2_vec2_html"><div class="ttname"><a href="structb2_vec2.html">b2Vec2</a></div><div class="ttdoc">A 2D column vector. </div><div class="ttdef"><b>Definition:</b> b2Math.h:53</div></div>
<div class="ttc" id="classb2_contact_html"><div class="ttname"><a href="classb2_contact.html">b2Contact</a></div><div class="ttdef"><b>Definition:</b> b2Contact.h:77</div></div>
<div class="ttc" id="classb2_contact_solver_html"><div class="ttname"><a href="classb2_contact_solver.html">b2ContactSolver</a></div><div class="ttdef"><b>Definition:</b> b2ContactSolver.h:69</div></div>
<div class="ttc" id="b2_settings_8h_html_aa5f44cc9edf711433dea2b2ec94f3c42"><div class="ttname"><a href="b2_settings_8h.html#aa5f44cc9edf711433dea2b2ec94f3c42">b2_maxManifoldPoints</a></div><div class="ttdeci">#define b2_maxManifoldPoints</div><div class="ttdef"><b>Definition:</b> b2Settings.h:50</div></div>
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