constraint.hpp

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#pragma once
 
#include "collision.hpp"
#include "material_defaults.hpp"
 
#include <glm/vec2.hpp>
#include <glm/vec3.hpp>
 
namespace physics {
 
struct Constraint {
  BroadPhasePair pair;
  uint8_t normal_index = k_primitive_manifold_normal_index;
  ContactFeatureID feature_a = {};
  ContactFeatureID feature_b = {};
  BodyID body_a;
  BodyID body_b;
  glm::vec3 contact_point = {};
  glm::vec3 normal = {};
  glm::vec3 tangent_1 = {};
  glm::vec3 tangent_2 = {};
  glm::vec3 r_a = {};
  glm::vec3 r_b = {};
  float penetration = 0.0f;
 
  float normal_mass = 0.0f;
  float tangent_mass_1 = 0.0f;
  float tangent_mass_2 = 0.0f;
  float restitution_bias = 0.0f;
 
  float static_friction = material_defaults::k_static_friction;
  float dynamic_friction = material_defaults::k_dynamic_friction;
  float accumulated_normal_impulse = 0.0f;
  glm::vec2 accumulated_tangent_impulse = {};
  float rolling_friction = 0.0f;
  float spin_friction = 0.0f;
  float rolling_mass_1 = 0.0f;
  float rolling_mass_2 = 0.0f;
  float spin_mass = 0.0f;
  glm::vec2 accumulated_rolling_impulse = {};
  float accumulated_spin_impulse = 0.0f;
};
 
}