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Link: http://codepad.org/JJhSuL2p    [ raw code | output | fork ]

C++, pasted on Jan 28: 
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void AMG3DRigidBodyCollisionResponder::applyImpulse()
{
	if(m_bSkipCollision)
		return;

	for(int i=0; i<m_cdContactData.iNumContacts; ++i) {
		// ===================================================================================================
		// The normal impulse calculation
		// ===================================================================================================
		AMG3DVector4 normal = m_cdContactData.contacts[i].vContactNormal;

		AMG3DVector4 rap = m_cdContactData.contacts[i].vContactPoint - m_pRigidBody1->m_vPosition;
		AMG3DVector4 rbp = m_cdContactData.contacts[i].vContactPoint - m_pRigidBody2->m_vPosition;

		AMG3DVector4 vap = m_pRigidBody1->m_vVelocity + m_pRigidBody1->m_vAngularVelocity.cross(rap);
		AMG3DVector4 vbp = m_pRigidBody2->m_vVelocity + m_pRigidBody2->m_vAngularVelocity.cross(rbp);

		// Relative velocity
		AMG3DVector4 vab = vap - vbp;
		
		// Compute the normal impulse
		AMG3DScalar vabdotn = vab.dot(normal);
		AMG3DScalar dPn = (-vabdotn + m_cdContactData.contacts[i].bias) * m_cdContactData.contacts[i].massNormal;

		if(AMG3DPhysicsWorld::g_AMG3D_bAccumulateImpulses) {
			// Clamp the accumulated impulse, not each corrective impulse as it will lead to jitter
			AMG3DScalar Pn0 = m_cdContactData.contacts[i].Pn;
			m_cdContactData.contacts[i].Pn = AMG3D_MATH_MAX(Pn0+dPn, 0.0f);
			dPn = m_cdContactData.contacts[i].Pn - Pn0;
		}
		else {
			dPn = AMG3D_MATH_MAX(dPn, 0.0f);
		}

		// Apply normal impulse
		AMG3DVector4 Pn = normal*dPn;
		
		// Update final linear and angular velocities with normal impulse
		m_pRigidBody1->m_vVelocity			+= Pn*m_pRigidBody1->m_sInvMass;
		m_pRigidBody1->m_vAngularVelocity	+= m_pRigidBody1->m_matInvIWorld*rap.cross(Pn);
		
		m_pRigidBody2->m_vVelocity			-= Pn*m_pRigidBody2->m_sInvMass;
		m_pRigidBody2->m_vAngularVelocity	-= m_pRigidBody2->m_matInvIWorld*rbp.cross(Pn);
		
		// ===================================================================================================
		// The tangent/friction impulse calculation
		// ===================================================================================================
		vap = m_pRigidBody1->m_vVelocity + m_pRigidBody1->m_vAngularVelocity.cross(rap);
		vbp = m_pRigidBody2->m_vVelocity + m_pRigidBody2->m_vAngularVelocity.cross(rbp);

		// Relative velocity
		vab = vap - vbp;
		
		AMG3DVector4 t1, t2;
		normal.buildOrthoBasis(&t1, &t2);

		AMG3DVector4 rapcrosst1 = rap.cross(t1);
		AMG3DVector4 rbpcrosst1 = rbp.cross(t1);

		AMG3DVector4 rapcrosst2 = rap.cross(t2);
		AMG3DVector4 rbpcrosst2 = rbp.cross(t2);

		// Compute the tangent/friction impulse in the first direction
		AMG3DScalar vabdott1 = vab.dot(t1);	
		AMG3DScalar dPt1 = -vabdott1 * m_cdContactData.contacts[i].massTangent1;

		// Compute the tangent/friction impulse in the second direction
		AMG3DScalar vabdott2 = vab.dot(t2);	
		AMG3DScalar dPt2 = -vabdott2 * m_cdContactData.contacts[i].massTangent2;

		if(AMG3DPhysicsWorld::g_AMG3D_bAccumulateImpulses) {
			// Clamp the accumulated impulse, not each corrective impulse as it will lead to jitter
			AMG3DScalar maxPt = m_sFrictionConstant * m_cdContactData.contacts[i].Pn;

			// The first tangent direction
			AMG3DScalar Pt0 = m_cdContactData.contacts[i].Pt1;
			m_cdContactData.contacts[i].Pt1 = AMG3D_MATH_CLAMP(Pt0 + dPt1, -maxPt, maxPt);
			dPt1 = m_cdContactData.contacts[i].Pt1 - Pt0;

			// The second tangent direction
			Pt0 = m_cdContactData.contacts[i].Pt2;
			m_cdContactData.contacts[i].Pt2 = AMG3D_MATH_CLAMP(Pt0 + dPt2, -maxPt, maxPt);
			dPt2 = m_cdContactData.contacts[i].Pt2 - Pt0;

		}
		else {
			AMG3DScalar maxPt = m_sFrictionConstant * dPn;
			dPt1 = AMG3D_MATH_CLAMP(dPt1, -maxPt, maxPt);
			dPt2 = AMG3D_MATH_CLAMP(dPt2, -maxPt, maxPt);
		}

		// Apply friction/tangent impulse
		AMG3DVector4 Pt1 = t1*dPt1;
		AMG3DVector4 Pt2 = t2*dPt2;
		
		// Update final linear and angular velocities with friction/tangent impulse
		m_pRigidBody1->m_vVelocity			+= Pt1*m_pRigidBody1->m_sInvMass + Pt2*m_pRigidBody1->m_sInvMass;
		m_pRigidBody1->m_vAngularVelocity	+= m_pRigidBody1->m_matInvIWorld*rap.cross(Pt1) + m_pRigidBody1->m_matInvIWorld*rap.cross(Pt2);
		
		m_pRigidBody2->m_vVelocity			-= Pt1*m_pRigidBody2->m_sInvMass + Pt2*m_pRigidBody2->m_sInvMass;
		m_pRigidBody2->m_vAngularVelocity	-= m_pRigidBody2->m_matInvIWorld*rbp.cross(Pt1) + m_pRigidBody2->m_matInvIWorld*rbp.cross(Pt2);
	}
}


Output: 
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2

Line 1: error: 'AMG3DRigidBodyCollisionResponder' has not been declared
compilation terminated due to -Wfatal-errors.


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