/*******************************************************************************
* Copyright (c) 2011, Daniel Murphy
* All rights reserved.
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* are permitted provided that the following conditions are met:
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* this list of conditions and the following disclaimer.
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******************************************************************************/
package org.jbox2d.dynamics.contacts;
import org.jbox2d.collision.Manifold;
import org.jbox2d.collision.Manifold.ManifoldType;
import org.jbox2d.common.Mat22;
import org.jbox2d.common.Settings;
import org.jbox2d.common.Vec2;
import org.jbox2d.dynamics.Body;
// updated to rev 100 - ec
public class ContactConstraint {
public final ContactConstraintPoint points[];
public final Vec2 localNormal;
public final Vec2 localPoint;
public final Vec2 normal;
public final Mat22 normalMass;
public final Mat22 K;
public Body bodyA;
public Body bodyB;
public ManifoldType type;
public float radius;
public float friction;
public float restitution;
public int pointCount;
public Manifold manifold = null;
public ContactConstraint() {
points = new ContactConstraintPoint[Settings.maxManifoldPoints];
for (int i = 0; i < Settings.maxManifoldPoints; i++) {
points[i] = new ContactConstraintPoint();
}
pointCount = 0;
localNormal = new Vec2();
localPoint = new Vec2();
normal = new Vec2();
normalMass = new Mat22();
K = new Mat22();
}
public void set(final ContactConstraint cp){
pointCount = cp.pointCount;
localNormal.set(cp.localNormal);
localPoint.set(cp.localPoint);
normal.set(cp.normal);
normalMass.set(cp.normalMass);
K.set(cp.K);
bodyA = cp.bodyA;
bodyB = cp.bodyB;
type = cp.type;
radius = cp.radius;
friction = cp.friction;
restitution = cp.restitution;
manifold = cp.manifold; // djm: not copy here
for(int i=0; i<cp.pointCount; i++){
points[i].set(cp.points[i]);
}
}
}