/** @file
 * @author Daniel Chappuis
 * @copyright 2010-2016 Daniel Chappuis
 * @license BSD 3 clauses (see license file)
 */

// Libraries
#include <ephysics/constraint/ContactPoint.hpp>
#include <ephysics/collision/ProxyShape.hpp>

using namespace ephysics;
using namespace std;

// Constructor
ContactPoint::ContactPoint(const ContactPointInfo& contactInfo)
			 : m_body1(contactInfo.shape1->getBody()), m_body2(contactInfo.shape2->getBody()),
			   m_normal(contactInfo.normal),
			   m_penetrationDepth(contactInfo.penetrationDepth),
			   m_localPointOnBody1(contactInfo.localPoint1),
			   m_localPointOnBody2(contactInfo.localPoint2),
			   m_worldPointOnBody1(contactInfo.shape1->getBody()->getTransform() *
								  contactInfo.shape1->getLocalToBodyTransform() *
								  contactInfo.localPoint1),
			   m_worldPointOnBody2(contactInfo.shape2->getBody()->getTransform() *
								  contactInfo.shape2->getLocalToBodyTransform() *
								  contactInfo.localPoint2),
			   m_isRestingContact(false) {

	m_frictionVectors[0] = vec3(0, 0, 0);
	m_frictionVectors[1] = vec3(0, 0, 0);

	assert(m_penetrationDepth > 0.0);

}

// Destructor
ContactPoint::~ContactPoint() {

}