initial commit. includes PhsyicsBox2dExtension

AndEngine/jni/Box2D/Dynamics/Contacts/b2ContactSolver.h

@@ -0,0 +1,78 @@
+/*
+* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B2_CONTACT_SOLVER_H
+#define B2_CONTACT_SOLVER_H
+
+#include "Box2D/Common/b2Math.h"
+#include "Box2D/Collision/b2Collision.h"
+#include "Box2D/Dynamics/b2Island.h"
+
+class b2Contact;
+class b2Body;
+class b2StackAllocator;
+
+struct b2ContactConstraintPoint
+{
+	b2Vec2 localPoint;
+	b2Vec2 rA;
+	b2Vec2 rB;
+	float32 normalImpulse;
+	float32 tangentImpulse;
+	float32 normalMass;
+	float32 tangentMass;
+	float32 velocityBias;
+};
+
+struct b2ContactConstraint
+{
+	b2ContactConstraintPoint points[b2_maxManifoldPoints];
+	b2Vec2 localNormal;
+	b2Vec2 localPoint;
+	b2Vec2 normal;
+	b2Mat22 normalMass;
+	b2Mat22 K;
+	b2Body* bodyA;
+	b2Body* bodyB;
+	b2Manifold::Type type;
+	float32 radius;
+	float32 friction;
+	int32 pointCount;
+	b2Manifold* manifold;
+};
+
+class b2ContactSolver
+{
+public:
+	b2ContactSolver(b2Contact** contacts, int32 contactCount,
+					b2StackAllocator* allocator, float32 impulseRatio);
+
+	~b2ContactSolver();
+
+	void WarmStart();
+	void SolveVelocityConstraints();
+	void StoreImpulses();
+
+	bool SolvePositionConstraints(float32 baumgarte);
+
+	b2StackAllocator* m_allocator;
+	b2ContactConstraint* m_constraints;
+	int m_constraintCount;
+};
+
+#endif