qmanifold.h

 
/************************************************************************************
 * MIT License
 *
 * Copyright (c) 2023 Eray Zesen
 *
 * 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.
 *
 * https://github.com/erayzesen/QuarkPhysics
 *
**************************************************************************************/
 
#ifndef QMANIFOLD_H
#define QMANIFOLD_H
#include "qbody.h"
#include "qcollision.h"
class QManifold
{
    QVector GetRelativeVelocity(QParticle *contactParticle,vector<QParticle*> referenceParticles, QVector rRef,QVector rInc);
    QVector linearRelativeVelocity=QVector::Zero();
 
    //One time calculate properties
    float restitution=0.0f;
    float invMass;
    bool isCollisionOneSide=false;
public:
 
 
    QManifold(QBody *bodyA,QBody *bodyB);
 
    QBody *bodyA;
    QBody *bodyB;
 
    vector<QCollision::Contact*> contacts;
 
    void Solve();
 
    void SolveFrictionAndVelocities();
 
 
};
 
struct QManifoldKey{
public:
    QManifoldKey(QBody *bA,QBody *bB){
        if(bA<bB){
            bodyA=bA;
            bodyB=bB;
        }else{
            bodyA=bB;
            bodyB=bA;
        }
    }
    QBody *bodyA;
    QBody *bodyB;
};
 
inline bool operator <(const QManifoldKey& mk1,const QManifoldKey& mk2){
    if(mk1.bodyA<mk2.bodyA){
        return true;
    }
    if(mk1.bodyA==mk2.bodyA && mk1.bodyB<mk2.bodyB){
        return true;
    }
    return false;
}
 
#endif // QMANIFOLD_H