| | | 1 | | //======================================================================= |
| | | 2 | | // ContactWarmStartImpulse.cs |
| | | 3 | | //======================================================================= |
| | | 4 | | // MIT License, Copyright (c) 2026–present David Oravsky (mrdav30) |
| | | 5 | | // See LICENSE file in the project root for full license information. |
| | | 6 | | //======================================================================= |
| | | 7 | | |
| | | 8 | | using FixedMathSharp; |
| | | 9 | | |
| | | 10 | | namespace Gravitas.CollisionHandling; |
| | | 11 | | |
| | | 12 | | /// <summary> |
| | | 13 | | /// Stores deterministic impulse scalars from the previous solve for one stable manifold contact. |
| | | 14 | | /// </summary> |
| | | 15 | | internal readonly struct ContactWarmStartImpulse |
| | | 16 | | { |
| | | 17 | | public ContactWarmStartImpulse(Fixed64 normalImpulse, Fixed64 tangentImpulse) |
| | 2074 | 18 | | : this(Vector3d.Zero, normalImpulse, tangentImpulse, Fixed64.Zero) { } |
| | | 19 | | |
| | | 20 | | public ContactWarmStartImpulse( |
| | | 21 | | Vector3d normal, |
| | | 22 | | Fixed64 normalImpulse, |
| | | 23 | | Fixed64 tangentImpulse, |
| | | 24 | | Fixed64 secondaryTangentImpulse) |
| | | 25 | | { |
| | 10158 | 26 | | Normal = normal; |
| | 10158 | 27 | | NormalImpulse = normalImpulse; |
| | 10158 | 28 | | TangentImpulse = tangentImpulse; |
| | 10158 | 29 | | SecondaryTangentImpulse = secondaryTangentImpulse; |
| | 10158 | 30 | | } |
| | | 31 | | |
| | | 32 | | public Vector3d Normal { get; } |
| | | 33 | | |
| | | 34 | | public Fixed64 NormalImpulse { get; } |
| | | 35 | | |
| | | 36 | | public Fixed64 TangentImpulse { get; } |
| | | 37 | | |
| | | 38 | | /// <summary> |
| | | 39 | | /// Secondary tangent impulse for 3D contacts. Pure 2D contacts leave this value at zero. |
| | | 40 | | /// </summary> |
| | | 41 | | public Fixed64 SecondaryTangentImpulse { get; } |
| | | 42 | | } |