Game Physics Engine Development, 2nd Edition

14.4 The Collision Resolution Pr ocess 369

unsigned numContacts,

real duration);

};

Excerpt from file src/contacts.cpp

void ContactResolver::prepareContacts(Contact* contacts,

unsigned numContacts,

real duration)

{

// Generate contact velocity and axis information.

Contact* lastContact = contacts + numContacts;

for (Contact* contact=contacts; contact < lastContact; contact++)

{

// Calculate the internal contact data (inertia, basis, etc.).

contact->calculateInternals(duration);

}

}

In the calculateInternals method of the contact, we need to calculate each of

the three bits of data: contact basis, relative position, and relative velocity:

Excerpt from file include/cyclo ...