org.jbox2d.dynamics.contacts.ContactVelocityConstraint Maven / Gradle / Ivy

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/*******************************************************************************
 * Copyright (c) 2013, Daniel Murphy
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without modification,
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package org.jbox2d.dynamics.contacts;

import org.jbox2d.common.Mat22;
import org.jbox2d.common.Settings;
import org.jbox2d.common.Vec2;

public class ContactVelocityConstraint {
  public VelocityConstraintPoint[] points = new VelocityConstraintPoint[Settings.maxManifoldPoints];
  public final Vec2 normal = new Vec2();
  public final Mat22 normalMass = new Mat22();
  public final Mat22 K = new Mat22();
  public int indexA;
  public int indexB;
  public float invMassA, invMassB;
  public float invIA, invIB;
  public float friction;
  public float restitution;
  public float tangentSpeed;
  public int pointCount;
  public int contactIndex;

  public ContactVelocityConstraint() {
    for (int i = 0; i < points.length; i++) {
      points[i] = new VelocityConstraintPoint();
    }
  }

  public static class VelocityConstraintPoint {
    public final Vec2 rA = new Vec2();
    public final Vec2 rB = new Vec2();
    public float normalImpulse;
    public float tangentImpulse;
    public float normalMass;
    public float tangentMass;
    public float velocityBias;
  }
}