ContactVelocityConstraint.java

/*
 * The MIT License (MIT)
 *
 * FXGL - JavaFX Game Library
 *
 * Copyright (c) 2015-2017 AlmasB (almaslvl@gmail.com)
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */
package org.jbox2d.dynamics.contacts;

import com.almasb.fxgl.core.math.Vec2;
import org.jbox2d.common.JBoxSettings;
import org.jbox2d.common.Mat22;

public class ContactVelocityConstraint {
    public VelocityConstraintPoint[] points = new VelocityConstraintPoint[JBoxSettings.maxManifoldPoints];
    public final Vec2 normal = new Vec2();
    public final Mat22 normalMass = new Mat22();
    public final Mat22 K = new Mat22();
    public int indexA;
    public int indexB;
    public float invMassA, invMassB;
    public float invIA, invIB;
    public float friction;
    public float restitution;
    public float tangentSpeed;
    public int pointCount;
    public int contactIndex;

    public ContactVelocityConstraint() {
        for (int i = 0; i < points.length; i++) {
            points[i] = new VelocityConstraintPoint();
        }
    }

    public static class VelocityConstraintPoint {
        public final Vec2 rA = new Vec2();
        public final Vec2 rB = new Vec2();
        public float normalImpulse;
        public float tangentImpulse;
        public float normalMass;
        public float tangentMass;
        public float velocityBias;
    }
}