d2Constraint.h

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#ifndef CONSTRAINT_H
#define CONSTRAINT_H
 
#include "d2Body.h"
 
class d2Constraint
{
public:
    d2Body *a;
    d2Body *b;
 
    d2Vec2 aPoint; // The constraint point in A's local space
    d2Vec2 bPoint; // The constraint point in B's local space
 
    d2Constraint* next;
    d2Constraint* prev;
 
    virtual ~d2Constraint() = default;
 
    d2MatMN GetInvM() const;
 
    d2VecN GetVelocities() const;
 
    virtual void PreSolve(const real dt) { (void)dt; }
 
    virtual void Solve() {}
 
    virtual void PostSolve() {}
 
    void SetNext(d2Constraint* next) { this->next = next; }
 
    void SetPrev(d2Constraint* prev) { this->prev = prev; }
 
    d2Constraint* GetNext() { return next; }
    const d2Constraint* GetNext() const { return next; }
 
    d2Constraint* GetPrev() { return prev; }
    const d2Constraint* GetPrev() const { return prev; }
};
 
class d2JointConstraint : public d2Constraint
{
private:
    d2MatMN jacobian;
    d2VecN cachedLambda;
    real bias;
 
public:
    d2JointConstraint();
 
    d2JointConstraint(d2Body *a, d2Body *b, const d2Vec2 &anchorPoint);
 
    void PreSolve(const real dt) override;
 
    void Solve() override;
 
    void PostSolve() override;
};
 
class d2PenetrationConstraint : public d2Constraint
{
private:
    d2MatMN jacobian;
    d2VecN cachedLambda;
    real bias;
    d2Vec2 normal;    // Normal direction of the penetration in A's local space
    real friction; // Friction coefficient between the two penetrating m_bodiesList
 
public:
    d2PenetrationConstraint();
 
    d2PenetrationConstraint(d2Body *a,
                            d2Body *b,
                            const d2Vec2 &aCollisionPoint,
                            const d2Vec2 &bCollisionPoint,
                            const d2Vec2 &normal);
 
    void PreSolve(const real dt) override;
 
    void Solve() override;
 
    void PostSolve() override;
};
 
#endif