/usr/include/tuxcap/cpArbiter.h is in libtuxcap-dev 1.4.0.dfsg2-2.2build1.
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*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
// Determines how fast penetrations resolve themselves.
extern cpFloat cp_bias_coef;
// Amount of allowed penetration. Used to reduce vibrating contacts.
extern cpFloat cp_collision_slop;
// Data structure for contact points.
typedef struct cpContact{
// Contact point and normal.
cpVect p, n;
// Penetration distance.
cpFloat dist;
// Calculated by cpArbiterPreStep().
cpVect r1, r2;
cpFloat nMass, tMass, bounce;
// Persistant contact information.
cpFloat jnAcc, jtAcc, jBias;
cpFloat bias;
// Hash value used to (mostly) uniquely identify a contact.
unsigned int hash;
} cpContact;
// Contacts are always allocated in groups.
cpContact* cpContactInit(cpContact *con, cpVect p, cpVect n, cpFloat dist, unsigned int hash);
// Sum the contact impulses. (Can be used after cpSpaceStep() returns)
cpVect cpContactsSumImpulses(cpContact *contacts, int numContacts);
cpVect cpContactsSumImpulsesWithFriction(cpContact *contacts, int numContacts);
// Data structure for tracking collisions between shapes.
typedef struct cpArbiter{
// Information on the contact points between the objects.
int numContacts;
cpContact *contacts;
// The two shapes involved in the collision.
cpShape *a, *b;
// Calculated by cpArbiterPreStep().
cpFloat u, e;
cpVect target_v;
// Time stamp of the arbiter. (from cpSpace)
int stamp;
} cpArbiter;
// Basic allocation/destruction functions.
cpArbiter* cpArbiterAlloc(void);
cpArbiter* cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b, int stamp);
cpArbiter* cpArbiterNew(cpShape *a, cpShape *b, int stamp);
void cpArbiterDestroy(cpArbiter *arb);
void cpArbiterFree(cpArbiter *arb);
// These functions are all intended to be used internally.
// Inject new contact points into the arbiter while preserving contact history.
void cpArbiterInject(cpArbiter *arb, cpContact *contacts, int numContacts);
// Precalculate values used by the solver.
void cpArbiterPreStep(cpArbiter *arb, cpFloat dt_inv);
// Run an iteration of the solver on the arbiter.
void cpArbiterApplyImpulse(cpArbiter *arb);
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