ContactInfo.cpp

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#include "ContactInfo.h" 
#include "PhysicalObject.h"


ContactInfo::ContactInfo(PhysicalObject* iniObject, int iniSigma) :
   sigma(iniSigma),
   type(contactTypeTorque),
   object(iniObject),
   force(0.0){
      parentObject=object;
}

ContactInfo::ContactInfo(PhysicalObject* iniObject, int iniSigma, 
                         const Vector2& iniP, const Vector2& iniN, int iSensor) :
   object(iniObject),    
   sigma(iniSigma),
   p(iniP),
   n(iniN),
   iSensor(iSensor),
   type(contactTypeForce),
   force(0.0){ 
   setupObject();
}


ContactInfo::ContactInfo(PhysicalObject* iniObject, int iniSigma, 
                         const Vector2& iniP, const Vector2& iniN, 
                   int iSensor, int iSensor2) :
   object(iniObject),
   sigma(iniSigma),
   p(iniP),
   n(iniN),
   iSensor(iSensor),
   iSensor2(iSensor2),
   type(contactTypeForceParallel),
   force(0.0){    
   setupObject(); 
}

void ContactInfo::setupObject(){
   if(object->parent){
      /*for composed objects, modify the relative position, 
          to be relative to the origin of the
          composed object, rather than the object itself */
      Vector2  rt=object->r;
      rt -= object->parent->r;
      p += rt;
      /*for composed objects, the contact is registered 
          at the level of the composed object, 
          not at the level of the simple objects */
      parentObject = object->parent;
   } else {
      parentObject = object;
   }
   pxn = p ^ n;
   parentObject->addContact(this);
}

ContactInfo::~ContactInfo() {
}

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