Physics/Contact.h

/*
 * Contact.h
 *
 *  Created on: 2010-11-11
 *      Author: krejziwan
 */

#ifndef CONTACT_H_
#define CONTACT_H_

#include "RigidBody.h"
#include "../Common/Constants.h"

class Contact {
        RigidBody* body[2];
        Vector normal;
        real penetration;
        real restitution, cushionRestitution;

        void resolveVelocity(real duration);
        void resolveInterpenetration(real duration);
        void resolveGroupVelocity(real duration, Vector direction, RigidBody * body);
public:
        Contact(Vector _normal, RigidBody * b1, RigidBody * b2 = NULL): normal(_normal),penetration(0.0),restitution(RESTITUTION), cushionRestitution(CUSHION_RESTITUTION) {
                body[0] = b1;
                body[1] = b2;
        }
        Contact(Vector _normal, real p, RigidBody * b1, RigidBody * b2 = NULL): normal(_normal), penetration(p),
                        restitution(RESTITUTION), cushionRestitution(CUSHION_RESTITUTION)  {
                body[0] = b1;
                body[1] = b2;
        }

        real calculateRelativeVelocity() const {
                Vector relVel = body[0]->getVelocity();
                if(body[1]) relVel -= body[1]->getVelocity();
                return relVel*normal;

        }

        void resolve(real duration) {
                resolveInterpenetration(duration);
                resolveVelocity(duration);
                if(body[1] && body[1]->isPartOfGroup())
                        resolveGroupVelocity(duration, normal, body[1]);
        }


};

#endif /* CONTACT_H_ */