ContactImpulsesList.cpp
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1 /*
2  * Copyright (c) 2017 Louis Langholtz https://github.com/louis-langholtz/PlayRho
3  *
4  * This software is provided 'as-is', without any express or implied
5  * warranty. In no event will the authors be held liable for any damages
6  * arising from the use of this software.
7  *
8  * Permission is granted to anyone to use this software for any purpose,
9  * including commercial applications, and to alter it and redistribute it
10  * freely, subject to the following restrictions:
11  *
12  * 1. The origin of this software must not be misrepresented; you must not
13  * claim that you wrote the original software. If you use this software
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19  */
20 
21 #include <PlayRho/Dynamics/ContactImpulsesList.hpp>
22 #include <PlayRho/Dynamics/Contacts/VelocityConstraint.hpp>
23 
24 namespace playrho {
25 namespace d2 {
26 
28 ContactImpulsesList GetContactImpulses(const VelocityConstraint& vc)
29 {
30  ContactImpulsesList impulse;
31  const auto count = vc.GetPointCount();
32  for (auto j = decltype(count){0}; j < count; ++j)
33  {
34  impulse.AddEntry(GetNormalImpulseAtPoint(vc, j), GetTangentImpulseAtPoint(vc, j));
35  }
36  return impulse;
37 }
38 
39 } // namespace d2
40 } // namespace playrho