reflexion 0.1.11 → 0.1.16

data/src/physics/Box2D/Dynamics/Contacts/b2Contact.h

@@ -1,349 +0,0 @@
-/*
-* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B2_CONTACT_H
-#define B2_CONTACT_H
-
-#include <Box2D/Common/b2Math.h>
-#include <Box2D/Collision/b2Collision.h>
-#include <Box2D/Collision/Shapes/b2Shape.h>
-#include <Box2D/Dynamics/b2Fixture.h>
-
-class b2Body;
-class b2Contact;
-class b2Fixture;
-class b2World;
-class b2BlockAllocator;
-class b2StackAllocator;
-class b2ContactListener;
-
-/// Friction mixing law. The idea is to allow either fixture to drive the restitution to zero.
-/// For example, anything slides on ice.
-inline float32 b2MixFriction(float32 friction1, float32 friction2)
-{
-	return b2Sqrt(friction1 * friction2);
-}
-
-/// Restitution mixing law. The idea is allow for anything to bounce off an inelastic surface.
-/// For example, a superball bounces on anything.
-inline float32 b2MixRestitution(float32 restitution1, float32 restitution2)
-{
-	return restitution1 > restitution2 ? restitution1 : restitution2;
-}
-
-typedef b2Contact* b2ContactCreateFcn(	b2Fixture* fixtureA, int32 indexA,
-										b2Fixture* fixtureB, int32 indexB,
-										b2BlockAllocator* allocator);
-typedef void b2ContactDestroyFcn(b2Contact* contact, b2BlockAllocator* allocator);
-
-struct b2ContactRegister
-{
-	b2ContactCreateFcn* createFcn;
-	b2ContactDestroyFcn* destroyFcn;
-	bool primary;
-};
-
-/// A contact edge is used to connect bodies and contacts together
-/// in a contact graph where each body is a node and each contact
-/// is an edge. A contact edge belongs to a doubly linked list
-/// maintained in each attached body. Each contact has two contact
-/// nodes, one for each attached body.
-struct b2ContactEdge
-{
-	b2Body* other;			///< provides quick access to the other body attached.
-	b2Contact* contact;		///< the contact
-	b2ContactEdge* prev;	///< the previous contact edge in the body's contact list
-	b2ContactEdge* next;	///< the next contact edge in the body's contact list
-};
-
-/// The class manages contact between two shapes. A contact exists for each overlapping
-/// AABB in the broad-phase (except if filtered). Therefore a contact object may exist
-/// that has no contact points.
-class b2Contact
-{
-public:
-
-	/// Get the contact manifold. Do not modify the manifold unless you understand the
-	/// internals of Box2D.
-	b2Manifold* GetManifold();
-	const b2Manifold* GetManifold() const;
-
-	/// Get the world manifold.
-	void GetWorldManifold(b2WorldManifold* worldManifold) const;
-
-	/// Is this contact touching?
-	bool IsTouching() const;
-
-	/// Enable/disable this contact. This can be used inside the pre-solve
-	/// contact listener. The contact is only disabled for the current
-	/// time step (or sub-step in continuous collisions).
-	void SetEnabled(bool flag);
-
-	/// Has this contact been disabled?
-	bool IsEnabled() const;
-
-	/// Get the next contact in the world's contact list.
-	b2Contact* GetNext();
-	const b2Contact* GetNext() const;
-
-	/// Get fixture A in this contact.
-	b2Fixture* GetFixtureA();
-	const b2Fixture* GetFixtureA() const;
-
-	/// Get the child primitive index for fixture A.
-	int32 GetChildIndexA() const;
-
-	/// Get fixture B in this contact.
-	b2Fixture* GetFixtureB();
-	const b2Fixture* GetFixtureB() const;
-
-	/// Get the child primitive index for fixture B.
-	int32 GetChildIndexB() const;
-
-	/// Override the default friction mixture. You can call this in b2ContactListener::PreSolve.
-	/// This value persists until set or reset.
-	void SetFriction(float32 friction);
-
-	/// Get the friction.
-	float32 GetFriction() const;
-
-	/// Reset the friction mixture to the default value.
-	void ResetFriction();
-
-	/// Override the default restitution mixture. You can call this in b2ContactListener::PreSolve.
-	/// The value persists until you set or reset.
-	void SetRestitution(float32 restitution);
-
-	/// Get the restitution.
-	float32 GetRestitution() const;
-
-	/// Reset the restitution to the default value.
-	void ResetRestitution();
-
-	/// Set the desired tangent speed for a conveyor belt behavior. In meters per second.
-	void SetTangentSpeed(float32 speed);
-
-	/// Get the desired tangent speed. In meters per second.
-	float32 GetTangentSpeed() const;
-
-	/// Evaluate this contact with your own manifold and transforms.
-	virtual void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB) = 0;
-
-protected:
-	friend class b2ContactManager;
-	friend class b2World;
-	friend class b2ContactSolver;
-	friend class b2Body;
-	friend class b2Fixture;
-
-	// Flags stored in m_flags
-	enum
-	{
-		// Used when crawling contact graph when forming islands.
-		e_islandFlag		= 0x0001,
-
-        // Set when the shapes are touching.
-		e_touchingFlag		= 0x0002,
-
-		// This contact can be disabled (by user)
-		e_enabledFlag		= 0x0004,
-
-		// This contact needs filtering because a fixture filter was changed.
-		e_filterFlag		= 0x0008,
-
-		// This bullet contact had a TOI event
-		e_bulletHitFlag		= 0x0010,
-
-		// This contact has a valid TOI in m_toi
-		e_toiFlag			= 0x0020
-	};
-
-	/// Flag this contact for filtering. Filtering will occur the next time step.
-	void FlagForFiltering();
-
-	static void AddType(b2ContactCreateFcn* createFcn, b2ContactDestroyFcn* destroyFcn,
-						b2Shape::Type typeA, b2Shape::Type typeB);
-	static void InitializeRegisters();
-	static b2Contact* Create(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator);
-	static void Destroy(b2Contact* contact, b2Shape::Type typeA, b2Shape::Type typeB, b2BlockAllocator* allocator);
-	static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);
-
-	b2Contact() : m_fixtureA(NULL), m_fixtureB(NULL) {}
-	b2Contact(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB);
-	virtual ~b2Contact() {}
-
-	void Update(b2ContactListener* listener);
-
-	static b2ContactRegister s_registers[b2Shape::e_typeCount][b2Shape::e_typeCount];
-	static bool s_initialized;
-
-	uint32 m_flags;
-
-	// World pool and list pointers.
-	b2Contact* m_prev;
-	b2Contact* m_next;
-
-	// Nodes for connecting bodies.
-	b2ContactEdge m_nodeA;
-	b2ContactEdge m_nodeB;
-
-	b2Fixture* m_fixtureA;
-	b2Fixture* m_fixtureB;
-
-	int32 m_indexA;
-	int32 m_indexB;
-
-	b2Manifold m_manifold;
-
-	int32 m_toiCount;
-	float32 m_toi;
-
-	float32 m_friction;
-	float32 m_restitution;
-
-	float32 m_tangentSpeed;
-};
-
-inline b2Manifold* b2Contact::GetManifold()
-{
-	return &m_manifold;
-}
-
-inline const b2Manifold* b2Contact::GetManifold() const
-{
-	return &m_manifold;
-}
-
-inline void b2Contact::GetWorldManifold(b2WorldManifold* worldManifold) const
-{
-	const b2Body* bodyA = m_fixtureA->GetBody();
-	const b2Body* bodyB = m_fixtureB->GetBody();
-	const b2Shape* shapeA = m_fixtureA->GetShape();
-	const b2Shape* shapeB = m_fixtureB->GetShape();
-
-	worldManifold->Initialize(&m_manifold, bodyA->GetTransform(), shapeA->m_radius, bodyB->GetTransform(), shapeB->m_radius);
-}
-
-inline void b2Contact::SetEnabled(bool flag)
-{
-	if (flag)
-	{
-		m_flags |= e_enabledFlag;
-	}
-	else
-	{
-		m_flags &= ~e_enabledFlag;
-	}
-}
-
-inline bool b2Contact::IsEnabled() const
-{
-	return (m_flags & e_enabledFlag) == e_enabledFlag;
-}
-
-inline bool b2Contact::IsTouching() const
-{
-	return (m_flags & e_touchingFlag) == e_touchingFlag;
-}
-
-inline b2Contact* b2Contact::GetNext()
-{
-	return m_next;
-}
-
-inline const b2Contact* b2Contact::GetNext() const
-{
-	return m_next;
-}
-
-inline b2Fixture* b2Contact::GetFixtureA()
-{
-	return m_fixtureA;
-}
-
-inline const b2Fixture* b2Contact::GetFixtureA() const
-{
-	return m_fixtureA;
-}
-
-inline b2Fixture* b2Contact::GetFixtureB()
-{
-	return m_fixtureB;
-}
-
-inline int32 b2Contact::GetChildIndexA() const
-{
-	return m_indexA;
-}
-
-inline const b2Fixture* b2Contact::GetFixtureB() const
-{
-	return m_fixtureB;
-}
-
-inline int32 b2Contact::GetChildIndexB() const
-{
-	return m_indexB;
-}
-
-inline void b2Contact::FlagForFiltering()
-{
-	m_flags |= e_filterFlag;
-}
-
-inline void b2Contact::SetFriction(float32 friction)
-{
-	m_friction = friction;
-}
-
-inline float32 b2Contact::GetFriction() const
-{
-	return m_friction;
-}
-
-inline void b2Contact::ResetFriction()
-{
-	m_friction = b2MixFriction(m_fixtureA->m_friction, m_fixtureB->m_friction);
-}
-
-inline void b2Contact::SetRestitution(float32 restitution)
-{
-	m_restitution = restitution;
-}
-
-inline float32 b2Contact::GetRestitution() const
-{
-	return m_restitution;
-}
-
-inline void b2Contact::ResetRestitution()
-{
-	m_restitution = b2MixRestitution(m_fixtureA->m_restitution, m_fixtureB->m_restitution);
-}
-
-inline void b2Contact::SetTangentSpeed(float32 speed)
-{
-	m_tangentSpeed = speed;
-}
-
-inline float32 b2Contact::GetTangentSpeed() const
-{
-	return m_tangentSpeed;
-}
-
-#endif

data/src/physics/Box2D/Dynamics/Contacts/b2ContactSolver.cpp

@@ -1,838 +0,0 @@
-/*
-* Copyright (c) 2006-2011 Erin Catto http://www.box2d.org
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include <Box2D/Dynamics/Contacts/b2ContactSolver.h>
-
-#include <Box2D/Dynamics/Contacts/b2Contact.h>
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2Fixture.h>
-#include <Box2D/Dynamics/b2World.h>
-#include <Box2D/Common/b2StackAllocator.h>
-
-#define B2_DEBUG_SOLVER 0
-
-bool g_blockSolve = true;
-
-struct b2ContactPositionConstraint
-{
-	b2Vec2 localPoints[b2_maxManifoldPoints];
-	b2Vec2 localNormal;
-	b2Vec2 localPoint;
-	int32 indexA;
-	int32 indexB;
-	float32 invMassA, invMassB;
-	b2Vec2 localCenterA, localCenterB;
-	float32 invIA, invIB;
-	b2Manifold::Type type;
-	float32 radiusA, radiusB;
-	int32 pointCount;
-};
-
-b2ContactSolver::b2ContactSolver(b2ContactSolverDef* def)
-{
-	m_step = def->step;
-	m_allocator = def->allocator;
-	m_count = def->count;
-	m_positionConstraints = (b2ContactPositionConstraint*)m_allocator->Allocate(m_count * sizeof(b2ContactPositionConstraint));
-	m_velocityConstraints = (b2ContactVelocityConstraint*)m_allocator->Allocate(m_count * sizeof(b2ContactVelocityConstraint));
-	m_positions = def->positions;
-	m_velocities = def->velocities;
-	m_contacts = def->contacts;
-
-	// Initialize position independent portions of the constraints.
-	for (int32 i = 0; i < m_count; ++i)
-	{
-		b2Contact* contact = m_contacts[i];
-
-		b2Fixture* fixtureA = contact->m_fixtureA;
-		b2Fixture* fixtureB = contact->m_fixtureB;
-		b2Shape* shapeA = fixtureA->GetShape();
-		b2Shape* shapeB = fixtureB->GetShape();
-		float32 radiusA = shapeA->m_radius;
-		float32 radiusB = shapeB->m_radius;
-		b2Body* bodyA = fixtureA->GetBody();
-		b2Body* bodyB = fixtureB->GetBody();
-		b2Manifold* manifold = contact->GetManifold();
-
-		int32 pointCount = manifold->pointCount;
-		b2Assert(pointCount > 0);
-
-		b2ContactVelocityConstraint* vc = m_velocityConstraints + i;
-		vc->friction = contact->m_friction;
-		vc->restitution = contact->m_restitution;
-		vc->tangentSpeed = contact->m_tangentSpeed;
-		vc->indexA = bodyA->m_islandIndex;
-		vc->indexB = bodyB->m_islandIndex;
-		vc->invMassA = bodyA->m_invMass;
-		vc->invMassB = bodyB->m_invMass;
-		vc->invIA = bodyA->m_invI;
-		vc->invIB = bodyB->m_invI;
-		vc->contactIndex = i;
-		vc->pointCount = pointCount;
-		vc->K.SetZero();
-		vc->normalMass.SetZero();
-
-		b2ContactPositionConstraint* pc = m_positionConstraints + i;
-		pc->indexA = bodyA->m_islandIndex;
-		pc->indexB = bodyB->m_islandIndex;
-		pc->invMassA = bodyA->m_invMass;
-		pc->invMassB = bodyB->m_invMass;
-		pc->localCenterA = bodyA->m_sweep.localCenter;
-		pc->localCenterB = bodyB->m_sweep.localCenter;
-		pc->invIA = bodyA->m_invI;
-		pc->invIB = bodyB->m_invI;
-		pc->localNormal = manifold->localNormal;
-		pc->localPoint = manifold->localPoint;
-		pc->pointCount = pointCount;
-		pc->radiusA = radiusA;
-		pc->radiusB = radiusB;
-		pc->type = manifold->type;
-
-		for (int32 j = 0; j < pointCount; ++j)
-		{
-			b2ManifoldPoint* cp = manifold->points + j;
-			b2VelocityConstraintPoint* vcp = vc->points + j;
-	
-			if (m_step.warmStarting)
-			{
-				vcp->normalImpulse = m_step.dtRatio * cp->normalImpulse;
-				vcp->tangentImpulse = m_step.dtRatio * cp->tangentImpulse;
-			}
-			else
-			{
-				vcp->normalImpulse = 0.0f;
-				vcp->tangentImpulse = 0.0f;
-			}
-
-			vcp->rA.SetZero();
-			vcp->rB.SetZero();
-			vcp->normalMass = 0.0f;
-			vcp->tangentMass = 0.0f;
-			vcp->velocityBias = 0.0f;
-
-			pc->localPoints[j] = cp->localPoint;
-		}
-	}
-}
-
-b2ContactSolver::~b2ContactSolver()
-{
-	m_allocator->Free(m_velocityConstraints);
-	m_allocator->Free(m_positionConstraints);
-}
-
-// Initialize position dependent portions of the velocity constraints.
-void b2ContactSolver::InitializeVelocityConstraints()
-{
-	for (int32 i = 0; i < m_count; ++i)
-	{
-		b2ContactVelocityConstraint* vc = m_velocityConstraints + i;
-		b2ContactPositionConstraint* pc = m_positionConstraints + i;
-
-		float32 radiusA = pc->radiusA;
-		float32 radiusB = pc->radiusB;
-		b2Manifold* manifold = m_contacts[vc->contactIndex]->GetManifold();
-
-		int32 indexA = vc->indexA;
-		int32 indexB = vc->indexB;
-
-		float32 mA = vc->invMassA;
-		float32 mB = vc->invMassB;
-		float32 iA = vc->invIA;
-		float32 iB = vc->invIB;
-		b2Vec2 localCenterA = pc->localCenterA;
-		b2Vec2 localCenterB = pc->localCenterB;
-
-		b2Vec2 cA = m_positions[indexA].c;
-		float32 aA = m_positions[indexA].a;
-		b2Vec2 vA = m_velocities[indexA].v;
-		float32 wA = m_velocities[indexA].w;
-
-		b2Vec2 cB = m_positions[indexB].c;
-		float32 aB = m_positions[indexB].a;
-		b2Vec2 vB = m_velocities[indexB].v;
-		float32 wB = m_velocities[indexB].w;
-
-		b2Assert(manifold->pointCount > 0);
-
-		b2Transform xfA, xfB;
-		xfA.q.Set(aA);
-		xfB.q.Set(aB);
-		xfA.p = cA - b2Mul(xfA.q, localCenterA);
-		xfB.p = cB - b2Mul(xfB.q, localCenterB);
-
-		b2WorldManifold worldManifold;
-		worldManifold.Initialize(manifold, xfA, radiusA, xfB, radiusB);
-
-		vc->normal = worldManifold.normal;
-
-		int32 pointCount = vc->pointCount;
-		for (int32 j = 0; j < pointCount; ++j)
-		{
-			b2VelocityConstraintPoint* vcp = vc->points + j;
-
-			vcp->rA = worldManifold.points[j] - cA;
-			vcp->rB = worldManifold.points[j] - cB;
-
-			float32 rnA = b2Cross(vcp->rA, vc->normal);
-			float32 rnB = b2Cross(vcp->rB, vc->normal);
-
-			float32 kNormal = mA + mB + iA * rnA * rnA + iB * rnB * rnB;
-
-			vcp->normalMass = kNormal > 0.0f ? 1.0f / kNormal : 0.0f;
-
-			b2Vec2 tangent = b2Cross(vc->normal, 1.0f);
-
-			float32 rtA = b2Cross(vcp->rA, tangent);
-			float32 rtB = b2Cross(vcp->rB, tangent);
-
-			float32 kTangent = mA + mB + iA * rtA * rtA + iB * rtB * rtB;
-
-			vcp->tangentMass = kTangent > 0.0f ? 1.0f /  kTangent : 0.0f;
-
-			// Setup a velocity bias for restitution.
-			vcp->velocityBias = 0.0f;
-			float32 vRel = b2Dot(vc->normal, vB + b2Cross(wB, vcp->rB) - vA - b2Cross(wA, vcp->rA));
-			if (vRel < -b2_velocityThreshold)
-			{
-				vcp->velocityBias = -vc->restitution * vRel;
-			}
-		}
-
-		// If we have two points, then prepare the block solver.
-		if (vc->pointCount == 2 && g_blockSolve)
-		{
-			b2VelocityConstraintPoint* vcp1 = vc->points + 0;
-			b2VelocityConstraintPoint* vcp2 = vc->points + 1;
-
-			float32 rn1A = b2Cross(vcp1->rA, vc->normal);
-			float32 rn1B = b2Cross(vcp1->rB, vc->normal);
-			float32 rn2A = b2Cross(vcp2->rA, vc->normal);
-			float32 rn2B = b2Cross(vcp2->rB, vc->normal);
-
-			float32 k11 = mA + mB + iA * rn1A * rn1A + iB * rn1B * rn1B;
-			float32 k22 = mA + mB + iA * rn2A * rn2A + iB * rn2B * rn2B;
-			float32 k12 = mA + mB + iA * rn1A * rn2A + iB * rn1B * rn2B;
-
-			// Ensure a reasonable condition number.
-			const float32 k_maxConditionNumber = 1000.0f;
-			if (k11 * k11 < k_maxConditionNumber * (k11 * k22 - k12 * k12))
-			{
-				// K is safe to invert.
-				vc->K.ex.Set(k11, k12);
-				vc->K.ey.Set(k12, k22);
-				vc->normalMass = vc->K.GetInverse();
-			}
-			else
-			{
-				// The constraints are redundant, just use one.
-				// TODO_ERIN use deepest?
-				vc->pointCount = 1;
-			}
-		}
-	}
-}
-
-void b2ContactSolver::WarmStart()
-{
-	// Warm start.
-	for (int32 i = 0; i < m_count; ++i)
-	{
-		b2ContactVelocityConstraint* vc = m_velocityConstraints + i;
-
-		int32 indexA = vc->indexA;
-		int32 indexB = vc->indexB;
-		float32 mA = vc->invMassA;
-		float32 iA = vc->invIA;
-		float32 mB = vc->invMassB;
-		float32 iB = vc->invIB;
-		int32 pointCount = vc->pointCount;
-
-		b2Vec2 vA = m_velocities[indexA].v;
-		float32 wA = m_velocities[indexA].w;
-		b2Vec2 vB = m_velocities[indexB].v;
-		float32 wB = m_velocities[indexB].w;
-
-		b2Vec2 normal = vc->normal;
-		b2Vec2 tangent = b2Cross(normal, 1.0f);
-
-		for (int32 j = 0; j < pointCount; ++j)
-		{
-			b2VelocityConstraintPoint* vcp = vc->points + j;
-			b2Vec2 P = vcp->normalImpulse * normal + vcp->tangentImpulse * tangent;
-			wA -= iA * b2Cross(vcp->rA, P);
-			vA -= mA * P;
-			wB += iB * b2Cross(vcp->rB, P);
-			vB += mB * P;
-		}
-
-		m_velocities[indexA].v = vA;
-		m_velocities[indexA].w = wA;
-		m_velocities[indexB].v = vB;
-		m_velocities[indexB].w = wB;
-	}
-}
-
-void b2ContactSolver::SolveVelocityConstraints()
-{
-	for (int32 i = 0; i < m_count; ++i)
-	{
-		b2ContactVelocityConstraint* vc = m_velocityConstraints + i;
-
-		int32 indexA = vc->indexA;
-		int32 indexB = vc->indexB;
-		float32 mA = vc->invMassA;
-		float32 iA = vc->invIA;
-		float32 mB = vc->invMassB;
-		float32 iB = vc->invIB;
-		int32 pointCount = vc->pointCount;
-
-		b2Vec2 vA = m_velocities[indexA].v;
-		float32 wA = m_velocities[indexA].w;
-		b2Vec2 vB = m_velocities[indexB].v;
-		float32 wB = m_velocities[indexB].w;
-
-		b2Vec2 normal = vc->normal;
-		b2Vec2 tangent = b2Cross(normal, 1.0f);
-		float32 friction = vc->friction;
-
-		b2Assert(pointCount == 1 || pointCount == 2);
-
-		// Solve tangent constraints first because non-penetration is more important
-		// than friction.
-		for (int32 j = 0; j < pointCount; ++j)
-		{
-			b2VelocityConstraintPoint* vcp = vc->points + j;
-
-			// Relative velocity at contact
-			b2Vec2 dv = vB + b2Cross(wB, vcp->rB) - vA - b2Cross(wA, vcp->rA);
-
-			// Compute tangent force
-			float32 vt = b2Dot(dv, tangent) - vc->tangentSpeed;
-			float32 lambda = vcp->tangentMass * (-vt);
-
-			// b2Clamp the accumulated force
-			float32 maxFriction = friction * vcp->normalImpulse;
-			float32 newImpulse = b2Clamp(vcp->tangentImpulse + lambda, -maxFriction, maxFriction);
-			lambda = newImpulse - vcp->tangentImpulse;
-			vcp->tangentImpulse = newImpulse;
-
-			// Apply contact impulse
-			b2Vec2 P = lambda * tangent;
-
-			vA -= mA * P;
-			wA -= iA * b2Cross(vcp->rA, P);
-
-			vB += mB * P;
-			wB += iB * b2Cross(vcp->rB, P);
-		}
-
-		// Solve normal constraints
-		if (pointCount == 1 || g_blockSolve == false)
-		{
-			for (int32 i = 0; i < pointCount; ++i)
-			{
-				b2VelocityConstraintPoint* vcp = vc->points + i;
-
-				// Relative velocity at contact
-				b2Vec2 dv = vB + b2Cross(wB, vcp->rB) - vA - b2Cross(wA, vcp->rA);
-
-				// Compute normal impulse
-				float32 vn = b2Dot(dv, normal);
-				float32 lambda = -vcp->normalMass * (vn - vcp->velocityBias);
-
-				// b2Clamp the accumulated impulse
-				float32 newImpulse = b2Max(vcp->normalImpulse + lambda, 0.0f);
-				lambda = newImpulse - vcp->normalImpulse;
-				vcp->normalImpulse = newImpulse;
-
-				// Apply contact impulse
-				b2Vec2 P = lambda * normal;
-				vA -= mA * P;
-				wA -= iA * b2Cross(vcp->rA, P);
-
-				vB += mB * P;
-				wB += iB * b2Cross(vcp->rB, P);
-			}
-		}
-		else
-		{
-			// Block solver developed in collaboration with Dirk Gregorius (back in 01/07 on Box2D_Lite).
-			// Build the mini LCP for this contact patch
-			//
-			// vn = A * x + b, vn >= 0, , vn >= 0, x >= 0 and vn_i * x_i = 0 with i = 1..2
-			//
-			// A = J * W * JT and J = ( -n, -r1 x n, n, r2 x n )
-			// b = vn0 - velocityBias
-			//
-			// The system is solved using the "Total enumeration method" (s. Murty). The complementary constraint vn_i * x_i
-			// implies that we must have in any solution either vn_i = 0 or x_i = 0. So for the 2D contact problem the cases
-			// vn1 = 0 and vn2 = 0, x1 = 0 and x2 = 0, x1 = 0 and vn2 = 0, x2 = 0 and vn1 = 0 need to be tested. The first valid
-			// solution that satisfies the problem is chosen.
-			// 
-			// In order to account of the accumulated impulse 'a' (because of the iterative nature of the solver which only requires
-			// that the accumulated impulse is clamped and not the incremental impulse) we change the impulse variable (x_i).
-			//
-			// Substitute:
-			// 
-			// x = a + d
-			// 
-			// a := old total impulse
-			// x := new total impulse
-			// d := incremental impulse 
-			//
-			// For the current iteration we extend the formula for the incremental impulse
-			// to compute the new total impulse:
-			//
-			// vn = A * d + b
-			//    = A * (x - a) + b
-			//    = A * x + b - A * a
-			//    = A * x + b'
-			// b' = b - A * a;
-
-			b2VelocityConstraintPoint* cp1 = vc->points + 0;
-			b2VelocityConstraintPoint* cp2 = vc->points + 1;
-
-			b2Vec2 a(cp1->normalImpulse, cp2->normalImpulse);
-			b2Assert(a.x >= 0.0f && a.y >= 0.0f);
-
-			// Relative velocity at contact
-			b2Vec2 dv1 = vB + b2Cross(wB, cp1->rB) - vA - b2Cross(wA, cp1->rA);
-			b2Vec2 dv2 = vB + b2Cross(wB, cp2->rB) - vA - b2Cross(wA, cp2->rA);
-
-			// Compute normal velocity
-			float32 vn1 = b2Dot(dv1, normal);
-			float32 vn2 = b2Dot(dv2, normal);
-
-			b2Vec2 b;
-			b.x = vn1 - cp1->velocityBias;
-			b.y = vn2 - cp2->velocityBias;
-
-			// Compute b'
-			b -= b2Mul(vc->K, a);
-
-			const float32 k_errorTol = 1e-3f;
-			B2_NOT_USED(k_errorTol);
-
-			for (;;)
-			{
-				//
-				// Case 1: vn = 0
-				//
-				// 0 = A * x + b'
-				//
-				// Solve for x:
-				//
-				// x = - inv(A) * b'
-				//
-				b2Vec2 x = - b2Mul(vc->normalMass, b);
-
-				if (x.x >= 0.0f && x.y >= 0.0f)
-				{
-					// Get the incremental impulse
-					b2Vec2 d = x - a;
-
-					// Apply incremental impulse
-					b2Vec2 P1 = d.x * normal;
-					b2Vec2 P2 = d.y * normal;
-					vA -= mA * (P1 + P2);
-					wA -= iA * (b2Cross(cp1->rA, P1) + b2Cross(cp2->rA, P2));
-
-					vB += mB * (P1 + P2);
-					wB += iB * (b2Cross(cp1->rB, P1) + b2Cross(cp2->rB, P2));
-
-					// Accumulate
-					cp1->normalImpulse = x.x;
-					cp2->normalImpulse = x.y;
-
-#if B2_DEBUG_SOLVER == 1
-					// Postconditions
-					dv1 = vB + b2Cross(wB, cp1->rB) - vA - b2Cross(wA, cp1->rA);
-					dv2 = vB + b2Cross(wB, cp2->rB) - vA - b2Cross(wA, cp2->rA);
-
-					// Compute normal velocity
-					vn1 = b2Dot(dv1, normal);
-					vn2 = b2Dot(dv2, normal);
-
-					b2Assert(b2Abs(vn1 - cp1->velocityBias) < k_errorTol);
-					b2Assert(b2Abs(vn2 - cp2->velocityBias) < k_errorTol);
-#endif
-					break;
-				}
-
-				//
-				// Case 2: vn1 = 0 and x2 = 0
-				//
-				//   0 = a11 * x1 + a12 * 0 + b1' 
-				// vn2 = a21 * x1 + a22 * 0 + b2'
-				//
-				x.x = - cp1->normalMass * b.x;
-				x.y = 0.0f;
-				vn1 = 0.0f;
-				vn2 = vc->K.ex.y * x.x + b.y;
-
-				if (x.x >= 0.0f && vn2 >= 0.0f)
-				{
-					// Get the incremental impulse
-					b2Vec2 d = x - a;
-
-					// Apply incremental impulse
-					b2Vec2 P1 = d.x * normal;
-					b2Vec2 P2 = d.y * normal;
-					vA -= mA * (P1 + P2);
-					wA -= iA * (b2Cross(cp1->rA, P1) + b2Cross(cp2->rA, P2));
-
-					vB += mB * (P1 + P2);
-					wB += iB * (b2Cross(cp1->rB, P1) + b2Cross(cp2->rB, P2));
-
-					// Accumulate
-					cp1->normalImpulse = x.x;
-					cp2->normalImpulse = x.y;
-
-#if B2_DEBUG_SOLVER == 1
-					// Postconditions
-					dv1 = vB + b2Cross(wB, cp1->rB) - vA - b2Cross(wA, cp1->rA);
-
-					// Compute normal velocity
-					vn1 = b2Dot(dv1, normal);
-
-					b2Assert(b2Abs(vn1 - cp1->velocityBias) < k_errorTol);
-#endif
-					break;
-				}
-
-
-				//
-				// Case 3: vn2 = 0 and x1 = 0
-				//
-				// vn1 = a11 * 0 + a12 * x2 + b1' 
-				//   0 = a21 * 0 + a22 * x2 + b2'
-				//
-				x.x = 0.0f;
-				x.y = - cp2->normalMass * b.y;
-				vn1 = vc->K.ey.x * x.y + b.x;
-				vn2 = 0.0f;
-
-				if (x.y >= 0.0f && vn1 >= 0.0f)
-				{
-					// Resubstitute for the incremental impulse
-					b2Vec2 d = x - a;
-
-					// Apply incremental impulse
-					b2Vec2 P1 = d.x * normal;
-					b2Vec2 P2 = d.y * normal;
-					vA -= mA * (P1 + P2);
-					wA -= iA * (b2Cross(cp1->rA, P1) + b2Cross(cp2->rA, P2));
-
-					vB += mB * (P1 + P2);
-					wB += iB * (b2Cross(cp1->rB, P1) + b2Cross(cp2->rB, P2));
-
-					// Accumulate
-					cp1->normalImpulse = x.x;
-					cp2->normalImpulse = x.y;
-
-#if B2_DEBUG_SOLVER == 1
-					// Postconditions
-					dv2 = vB + b2Cross(wB, cp2->rB) - vA - b2Cross(wA, cp2->rA);
-
-					// Compute normal velocity
-					vn2 = b2Dot(dv2, normal);
-
-					b2Assert(b2Abs(vn2 - cp2->velocityBias) < k_errorTol);
-#endif
-					break;
-				}
-
-				//
-				// Case 4: x1 = 0 and x2 = 0
-				// 
-				// vn1 = b1
-				// vn2 = b2;
-				x.x = 0.0f;
-				x.y = 0.0f;
-				vn1 = b.x;
-				vn2 = b.y;
-
-				if (vn1 >= 0.0f && vn2 >= 0.0f )
-				{
-					// Resubstitute for the incremental impulse
-					b2Vec2 d = x - a;
-
-					// Apply incremental impulse
-					b2Vec2 P1 = d.x * normal;
-					b2Vec2 P2 = d.y * normal;
-					vA -= mA * (P1 + P2);
-					wA -= iA * (b2Cross(cp1->rA, P1) + b2Cross(cp2->rA, P2));
-
-					vB += mB * (P1 + P2);
-					wB += iB * (b2Cross(cp1->rB, P1) + b2Cross(cp2->rB, P2));
-
-					// Accumulate
-					cp1->normalImpulse = x.x;
-					cp2->normalImpulse = x.y;
-
-					break;
-				}
-
-				// No solution, give up. This is hit sometimes, but it doesn't seem to matter.
-				break;
-			}
-		}
-
-		m_velocities[indexA].v = vA;
-		m_velocities[indexA].w = wA;
-		m_velocities[indexB].v = vB;
-		m_velocities[indexB].w = wB;
-	}
-}
-
-void b2ContactSolver::StoreImpulses()
-{
-	for (int32 i = 0; i < m_count; ++i)
-	{
-		b2ContactVelocityConstraint* vc = m_velocityConstraints + i;
-		b2Manifold* manifold = m_contacts[vc->contactIndex]->GetManifold();
-
-		for (int32 j = 0; j < vc->pointCount; ++j)
-		{
-			manifold->points[j].normalImpulse = vc->points[j].normalImpulse;
-			manifold->points[j].tangentImpulse = vc->points[j].tangentImpulse;
-		}
-	}
-}
-
-struct b2PositionSolverManifold
-{
-	void Initialize(b2ContactPositionConstraint* pc, const b2Transform& xfA, const b2Transform& xfB, int32 index)
-	{
-		b2Assert(pc->pointCount > 0);
-
-		switch (pc->type)
-		{
-		case b2Manifold::e_circles:
-			{
-				b2Vec2 pointA = b2Mul(xfA, pc->localPoint);
-				b2Vec2 pointB = b2Mul(xfB, pc->localPoints[0]);
-				normal = pointB - pointA;
-				normal.Normalize();
-				point = 0.5f * (pointA + pointB);
-				separation = b2Dot(pointB - pointA, normal) - pc->radiusA - pc->radiusB;
-			}
-			break;
-
-		case b2Manifold::e_faceA:
-			{
-				normal = b2Mul(xfA.q, pc->localNormal);
-				b2Vec2 planePoint = b2Mul(xfA, pc->localPoint);
-
-				b2Vec2 clipPoint = b2Mul(xfB, pc->localPoints[index]);
-				separation = b2Dot(clipPoint - planePoint, normal) - pc->radiusA - pc->radiusB;
-				point = clipPoint;
-			}
-			break;
-
-		case b2Manifold::e_faceB:
-			{
-				normal = b2Mul(xfB.q, pc->localNormal);
-				b2Vec2 planePoint = b2Mul(xfB, pc->localPoint);
-
-				b2Vec2 clipPoint = b2Mul(xfA, pc->localPoints[index]);
-				separation = b2Dot(clipPoint - planePoint, normal) - pc->radiusA - pc->radiusB;
-				point = clipPoint;
-
-				// Ensure normal points from A to B
-				normal = -normal;
-			}
-			break;
-		}
-	}
-
-	b2Vec2 normal;
-	b2Vec2 point;
-	float32 separation;
-};
-
-// Sequential solver.
-bool b2ContactSolver::SolvePositionConstraints()
-{
-	float32 minSeparation = 0.0f;
-
-	for (int32 i = 0; i < m_count; ++i)
-	{
-		b2ContactPositionConstraint* pc = m_positionConstraints + i;
-
-		int32 indexA = pc->indexA;
-		int32 indexB = pc->indexB;
-		b2Vec2 localCenterA = pc->localCenterA;
-		float32 mA = pc->invMassA;
-		float32 iA = pc->invIA;
-		b2Vec2 localCenterB = pc->localCenterB;
-		float32 mB = pc->invMassB;
-		float32 iB = pc->invIB;
-		int32 pointCount = pc->pointCount;
-
-		b2Vec2 cA = m_positions[indexA].c;
-		float32 aA = m_positions[indexA].a;
-
-		b2Vec2 cB = m_positions[indexB].c;
-		float32 aB = m_positions[indexB].a;
-
-		// Solve normal constraints
-		for (int32 j = 0; j < pointCount; ++j)
-		{
-			b2Transform xfA, xfB;
-			xfA.q.Set(aA);
-			xfB.q.Set(aB);
-			xfA.p = cA - b2Mul(xfA.q, localCenterA);
-			xfB.p = cB - b2Mul(xfB.q, localCenterB);
-
-			b2PositionSolverManifold psm;
-			psm.Initialize(pc, xfA, xfB, j);
-			b2Vec2 normal = psm.normal;
-
-			b2Vec2 point = psm.point;
-			float32 separation = psm.separation;
-
-			b2Vec2 rA = point - cA;
-			b2Vec2 rB = point - cB;
-
-			// Track max constraint error.
-			minSeparation = b2Min(minSeparation, separation);
-
-			// Prevent large corrections and allow slop.
-			float32 C = b2Clamp(b2_baumgarte * (separation + b2_linearSlop), -b2_maxLinearCorrection, 0.0f);
-
-			// Compute the effective mass.
-			float32 rnA = b2Cross(rA, normal);
-			float32 rnB = b2Cross(rB, normal);
-			float32 K = mA + mB + iA * rnA * rnA + iB * rnB * rnB;
-
-			// Compute normal impulse
-			float32 impulse = K > 0.0f ? - C / K : 0.0f;
-
-			b2Vec2 P = impulse * normal;
-
-			cA -= mA * P;
-			aA -= iA * b2Cross(rA, P);
-
-			cB += mB * P;
-			aB += iB * b2Cross(rB, P);
-		}
-
-		m_positions[indexA].c = cA;
-		m_positions[indexA].a = aA;
-
-		m_positions[indexB].c = cB;
-		m_positions[indexB].a = aB;
-	}
-
-	// We can't expect minSpeparation >= -b2_linearSlop because we don't
-	// push the separation above -b2_linearSlop.
-	return minSeparation >= -3.0f * b2_linearSlop;
-}
-
-// Sequential position solver for position constraints.
-bool b2ContactSolver::SolveTOIPositionConstraints(int32 toiIndexA, int32 toiIndexB)
-{
-	float32 minSeparation = 0.0f;
-
-	for (int32 i = 0; i < m_count; ++i)
-	{
-		b2ContactPositionConstraint* pc = m_positionConstraints + i;
-
-		int32 indexA = pc->indexA;
-		int32 indexB = pc->indexB;
-		b2Vec2 localCenterA = pc->localCenterA;
-		b2Vec2 localCenterB = pc->localCenterB;
-		int32 pointCount = pc->pointCount;
-
-		float32 mA = 0.0f;
-		float32 iA = 0.0f;
-		if (indexA == toiIndexA || indexA == toiIndexB)
-		{
-			mA = pc->invMassA;
-			iA = pc->invIA;
-		}
-
-		float32 mB = 0.0f;
-		float32 iB = 0.;
-		if (indexB == toiIndexA || indexB == toiIndexB)
-		{
-			mB = pc->invMassB;
-			iB = pc->invIB;
-		}
-
-		b2Vec2 cA = m_positions[indexA].c;
-		float32 aA = m_positions[indexA].a;
-
-		b2Vec2 cB = m_positions[indexB].c;
-		float32 aB = m_positions[indexB].a;
-
-		// Solve normal constraints
-		for (int32 j = 0; j < pointCount; ++j)
-		{
-			b2Transform xfA, xfB;
-			xfA.q.Set(aA);
-			xfB.q.Set(aB);
-			xfA.p = cA - b2Mul(xfA.q, localCenterA);
-			xfB.p = cB - b2Mul(xfB.q, localCenterB);
-
-			b2PositionSolverManifold psm;
-			psm.Initialize(pc, xfA, xfB, j);
-			b2Vec2 normal = psm.normal;
-
-			b2Vec2 point = psm.point;
-			float32 separation = psm.separation;
-
-			b2Vec2 rA = point - cA;
-			b2Vec2 rB = point - cB;
-
-			// Track max constraint error.
-			minSeparation = b2Min(minSeparation, separation);
-
-			// Prevent large corrections and allow slop.
-			float32 C = b2Clamp(b2_toiBaugarte * (separation + b2_linearSlop), -b2_maxLinearCorrection, 0.0f);
-
-			// Compute the effective mass.
-			float32 rnA = b2Cross(rA, normal);
-			float32 rnB = b2Cross(rB, normal);
-			float32 K = mA + mB + iA * rnA * rnA + iB * rnB * rnB;
-
-			// Compute normal impulse
-			float32 impulse = K > 0.0f ? - C / K : 0.0f;
-
-			b2Vec2 P = impulse * normal;
-
-			cA -= mA * P;
-			aA -= iA * b2Cross(rA, P);
-
-			cB += mB * P;
-			aB += iB * b2Cross(rB, P);
-		}
-
-		m_positions[indexA].c = cA;
-		m_positions[indexA].a = aA;
-
-		m_positions[indexB].c = cB;
-		m_positions[indexB].a = aB;
-	}
-
-	// We can't expect minSpeparation >= -b2_linearSlop because we don't
-	// push the separation above -b2_linearSlop.
-	return minSeparation >= -1.5f * b2_linearSlop;
-}