PositionConstraint.hpp
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1 /*
2  * Original work Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
3  * Modified work Copyright (c) 2017 Louis Langholtz https://github.com/louis-langholtz/PlayRho
4  *
5  * This software is provided 'as-is', without any express or implied
6  * warranty. In no event will the authors be held liable for any damages
7  * arising from the use of this software.
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  * 1. The origin of this software must not be misrepresented; you must not
12  * claim that you wrote the original software. If you use this software
13  * in a product, an acknowledgment in the product documentation would be
14  * appreciated but is not required.
15  * 2. Altered source versions must be plainly marked as such, and must not be
16  * misrepresented as being the original software.
17  * 3. This notice may not be removed or altered from any source distribution.
18  */
19 
20 #ifndef PLAYRHO_DYNAMICS_CONTACTS_POSITIONCONSTRAINT_HPP
21 #define PLAYRHO_DYNAMICS_CONTACTS_POSITIONCONSTRAINT_HPP
22 
25 
26 namespace playrho {
27 namespace d2 {
28 
32  {
33  public:
35  using size_type = std::remove_const<decltype(MaxManifoldPoints)>::type;
36 
37  PositionConstraint() = default;
38 
41  BodyConstraint& bA, Length rA,
42  BodyConstraint& bB, Length rB):
43  manifold{m}, m_bodyA{&bA}, m_bodyB{&bB}, m_radiusA{rA}, m_radiusB{rB}
44  {
45  assert(m.GetPointCount() > 0);
46  assert(&bA != &bB);
47  assert(rA >= 0_m);
48  assert(rB >= 0_m);
49  }
50 
52 
54  BodyConstraint* GetBodyA() const noexcept { return m_bodyA; }
55 
57  BodyConstraint* GetBodyB() const noexcept { return m_bodyB; }
58 
60  Length GetRadiusA() const noexcept { return m_radiusA; }
61 
63  Length GetRadiusB() const noexcept { return m_radiusB; }
64 
65  private:
66 
67  BodyConstraint* m_bodyA;
68 
69  BodyConstraint* m_bodyB;
70 
73  Length m_radiusA; // 4-bytes.
74 
77  Length m_radiusB; // 4-bytes.
78  };
79 
80 } // namespace d2
81 } // namespace playrho
82 
83 #endif // PLAYRHO_DYNAMICS_CONTACTS_POSITIONCONSTRAINT_HPP