void Contact::Solve()
{
if (m_t < 0.0f)
ResolveOverlap();
ResolveCollision();
}
void Contact::ResolveOverlap()
{
if (!m_pxBodies[0] || !m_pxBodies[1])
return;
for(int i = 0; i < m_iNumContacts; i ++)
{
ResolveOverlap(m_xContacts[i][0], m_xContacts[i][1]);
}
}
void DContact::Solve()
{
// since we don't support time-to-collision, this will always be true
if(t<0.0f)
{
// resolve overlaps
for(u32 i=0;i<numDContacts;++i)
ResolveOverlap(DContacts[i][0], DContacts[i][1]);
}
// resolve collisions
for(u32 i=0;i<numDContacts;++i)
ResolveCollision(DContacts[i][0], DContacts[i][1]);
};
