b2TOISolver.h
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上传日期:2022-01-07
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- /*
- * Copyright (c) 2006-2010 Erin Catto http://www.gphysics.com
- *
- * 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 B2_TOI_SOLVER_H
- #define B2_TOI_SOLVER_H
- #include <Box2D/Common/b2Math.h>
- class b2Contact;
- class b2Body;
- struct b2TOIConstraint;
- class b2StackAllocator;
- /// This is a pure position solver for a single movable body in contact with
- /// multiple non-moving bodies.
- class b2TOISolver
- {
- public:
- b2TOISolver(b2StackAllocator* allocator);
- ~b2TOISolver();
- void Initialize(b2Contact** contacts, int32 contactCount, b2Body* toiBody);
- void Clear();
- // Perform one solver iteration. Returns true if converged.
- bool Solve(float32 baumgarte);
- private:
- b2TOIConstraint* m_constraints;
- int32 m_count;
- b2Body* m_toiBody;
- b2StackAllocator* m_allocator;
- };
- #endif