60 lines
1.5 KiB
C++
60 lines
1.5 KiB
C++
/*
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* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
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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 B3_JOINT_SOLVER_H
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#define B3_JOINT_SOLVER_H
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#include <bounce/dynamics/time_step.h>
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class b3Joint;
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// A 1x12 Jacobian row.
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struct b3Jacobian
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{
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b3Vec3 linearA;
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b3Vec3 angularA;
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b3Vec3 linearB;
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b3Vec3 angularB;
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};
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struct b3JointSolverDef
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{
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float32 dt;
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u32 count;
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b3Joint** joints;
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b3Position* positions;
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b3Velocity* velocities;
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};
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class b3JointSolver
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{
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public :
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b3JointSolver(const b3JointSolverDef* def);
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void InitializeConstraints();
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void WarmStart();
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void SolveVelocityConstraints();
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bool SolvePositionConstraints();
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private :
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b3SolverData m_solverData;
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b3Joint** m_joints;
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u32 m_count;
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};
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#endif
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