PositionSolverManifold.hpp
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1 /*
2  * Original work Copyright (c) 2006-2011 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_POSITIONSOLVERMANIFOLD_HPP
21 #define PLAYRHO_DYNAMICS_CONTACTS_POSITIONSOLVERMANIFOLD_HPP
22 
23 #include <PlayRho/Common/Settings.hpp>
24 #include <PlayRho/Common/Math.hpp>
25 
26 #include <PlayRho/Collision/Manifold.hpp>
27 
28 namespace playrho {
29 namespace d2 {
30 
35 struct PositionSolverManifold
36 {
41  UnitVec m_normal;
42 
46  Length2 m_point;
47 
51  Length m_separation;
52 };
53 
59 PositionSolverManifold GetPSM(const Manifold& manifold, Manifold::size_type index,
60  const Transformation& xfA, const Transformation& xfB);
61 
62 } // namespace d2
63 } // namespace playrho
64 
65 #endif // PLAYRHO_DYNAMICS_CONTACTS_POSITIONSOLVERMANIFOLD_HPP