contact.h

#pragma once
 
#include <cstdint>
 
#include <glm/glm.hpp>
 
namespace Vkm::Engine {

inline constexpr int MAX_CONTACTS_PER_MANIFOLD = 4;

struct Contact {
    glm::vec3 point       = {0.0f, 0.0f, 0.0f};  
    glm::vec3 normal      = {0.0f, 1.0f, 0.0f};  
    float     penetration = 0.0f;                
 
    float normalImpulse   = 0.0f;  
    float restitutionBias = 0.0f;  

    glm::vec3 tangent1 = {0.0f, 0.0f, 0.0f};
    glm::vec3 tangent2 = {0.0f, 0.0f, 0.0f};
    float tangentImpulse1 = 0.0f;
    float tangentImpulse2 = 0.0f;

    glm::vec3 warmFriction = {0.0f, 0.0f, 0.0f};

    glm::vec3 rA = {0.0f, 0.0f, 0.0f};
    glm::vec3 rB = {0.0f, 0.0f, 0.0f};
    float normalMass   = 0.0f;
    float tangentMass1 = 0.0f;
    float tangentMass2 = 0.0f;
};

struct ContactManifold {
    uint32_t bodyA = 0;  
    uint32_t bodyB = 0;  
    int      count = 0;  
    Contact  contacts[MAX_CONTACTS_PER_MANIFOLD];
};
 
} // namespace Vkm::Engine