55 lines
1.7 KiB
C
55 lines
1.7 KiB
C
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// SPDX-FileCopyrightText: 2023 Erin Catto
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// SPDX-License-Identifier: MIT
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#pragma once
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#include "solver.h"
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typedef struct b2ContactSim b2ContactSim;
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typedef struct b2ContactConstraintPoint
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{
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b2Vec2 anchorA, anchorB;
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float baseSeparation;
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float relativeVelocity;
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float normalImpulse;
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float tangentImpulse;
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float totalNormalImpulse;
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float normalMass;
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float tangentMass;
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} b2ContactConstraintPoint;
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typedef struct b2ContactConstraint
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{
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int indexA;
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int indexB;
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b2ContactConstraintPoint points[2];
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b2Vec2 normal;
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float invMassA, invMassB;
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float invIA, invIB;
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float friction;
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float restitution;
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float tangentSpeed;
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float rollingResistance;
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float rollingMass;
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float rollingImpulse;
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b2Softness softness;
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int pointCount;
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} b2ContactConstraint;
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int b2GetContactConstraintSIMDByteCount( void );
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// Overflow contacts don't fit into the constraint graph coloring
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void b2PrepareOverflowContacts( b2StepContext* context );
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void b2WarmStartOverflowContacts( b2StepContext* context );
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void b2SolveOverflowContacts( b2StepContext* context, bool useBias );
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void b2ApplyOverflowRestitution( b2StepContext* context );
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void b2StoreOverflowImpulses( b2StepContext* context );
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// Contacts that live within the constraint graph coloring
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void b2PrepareContactsTask( int startIndex, int endIndex, b2StepContext* context );
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void b2WarmStartContactsTask( int startIndex, int endIndex, b2StepContext* context, int colorIndex );
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void b2SolveContactsTask( int startIndex, int endIndex, b2StepContext* context, int colorIndex, bool useBias );
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void b2ApplyRestitutionTask( int startIndex, int endIndex, b2StepContext* context, int colorIndex );
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void b2StoreImpulsesTask( int startIndex, int endIndex, b2StepContext* context );
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