ContactImpulsesList.hpp

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/*
 * Copyright (c) 2017 Louis Langholtz https://github.com/louis-langholtz/PlayRho
 *
 * 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 PLAYRHO_DYNAMICS_CONTACTIMPULSESLIST_HPP
#define PLAYRHO_DYNAMICS_CONTACTIMPULSESLIST_HPP
 
#include <PlayRho/Common/Settings.hpp>
#include <algorithm>
 
namespace playrho {
namespace d2 {
 
class VelocityConstraint;
 
class ContactImpulsesList
{
public:
    
    using Counter = std::remove_const<decltype(MaxManifoldPoints)>::type;
    
    Counter GetCount() const noexcept { return count; }
    
    Momentum GetEntryNormal(Counter index) const noexcept { return normalImpulses[index]; }
    
    Momentum GetEntryTanget(Counter index) const noexcept { return tangentImpulses[index]; }
    
    void AddEntry(Momentum normal, Momentum tangent) noexcept
    {
        assert(count < MaxManifoldPoints);
        normalImpulses[count] = normal;
        tangentImpulses[count] = tangent;
        ++count;
    }
    
private:
    Momentum normalImpulses[MaxManifoldPoints]; 
    Momentum tangentImpulses[MaxManifoldPoints]; 
    Counter count = 0; 
};
 
inline Momentum GetMaxNormalImpulse(const ContactImpulsesList& impulses) noexcept
{
    auto maxImpulse = 0_Ns;
    const auto count = impulses.GetCount();
    for (auto i = decltype(count){0}; i < count; ++i)
    {
        maxImpulse = std::max(maxImpulse, impulses.GetEntryNormal(i));
    }
    return maxImpulse;
}
 
ContactImpulsesList GetContactImpulses(const VelocityConstraint& vc);
 
} // namespace d2
} // namespace playrho
 
#endif // PLAYRHO_DYNAMICS_CONTACTIMPULSESLIST_HPP