collide.h

/*
* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erin Catto makes no representations about the suitability 
* of this software for any purpose.  
* It is provided "as is" without express or implied warranty.
*/


#ifndef COLLIDE_H
#define COLLIDE_H

#include "mathutils.h"

extern int debug;

struct Edges
{
    char inEdge1;
    char outEdge1;
    char inEdge2;
    char outEdge2;
};

struct Contact
{
	struct Vec2 position;
	struct Vec2 normal;
	struct Vec2 r1, r2;
	float separation;
	float Pn;	// accumulated normal impulse
	float Pt;	// accumulated tangent impulse
	float Pnb;	// accumulated normal impulse for position bias
	float massNormal, massTangent;
	float bias;
	struct Edges feature;
};

struct Body
{
//	Body();
//	void Set(const Vec2& w, float m);

//	void AddForce(const Vec2& f)
//	{
	//	force += f;
//	}

	struct Vec2 position;
	float rotation;

	struct Vec2 velocity;
	float angularVelocity;

	struct Vec2 force;
	float torque;

	struct Vec2 width;

	float friction;
	float mass, invMass;
	float I, invI;
};

int Collide(struct Contact* contacts, struct Body* bodyA, struct Body* bodyB);

#endif