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PositionSolverManifold.hpp
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/*
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* Original work Copyright (c) 2006-2011 Erin Catto http://www.box2d.org
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* Modified work Copyright (c) 2017 Louis Langholtz https://github.com/louis-langholtz/PlayRho
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef PLAYRHO_DYNAMICS_CONTACTS_POSITIONSOLVERMANIFOLD_HPP
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#define PLAYRHO_DYNAMICS_CONTACTS_POSITIONSOLVERMANIFOLD_HPP
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#include <
PlayRho/Common/Settings.hpp
>
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#include <
PlayRho/Common/Math.hpp
>
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#include <
PlayRho/Collision/Manifold.hpp
>
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namespace
playrho
{
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namespace
d2 {
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struct
PositionSolverManifold
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{
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UnitVec
m_normal
;
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Length2
m_point
;
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Length
m_separation
;
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};
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PositionSolverManifold
GetPSM
(
const
Manifold
& manifold,
Manifold::size_type
index,
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const
Transformation
& xfA,
const
Transformation
& xfB);
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}
// namespace d2
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}
// namespace playrho
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#endif // PLAYRHO_DYNAMICS_CONTACTS_POSITIONSOLVERMANIFOLD_HPP