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Diffstat (limited to 'Source/3rdParty/Box2D/Collision/b2Collision.h')
| -rw-r--r-- | Source/3rdParty/Box2D/Collision/b2Collision.h | 277 |
1 files changed, 0 insertions, 277 deletions
diff --git a/Source/3rdParty/Box2D/Collision/b2Collision.h b/Source/3rdParty/Box2D/Collision/b2Collision.h deleted file mode 100644 index fe1f4cd..0000000 --- a/Source/3rdParty/Box2D/Collision/b2Collision.h +++ /dev/null @@ -1,277 +0,0 @@ -/* -* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org -* -* This software is provided 'as-is', without any express or implied -* warranty. In no event will the authors be held liable for any damages -* arising from the use of this software. -* Permission is granted to anyone to use this software for any purpose, -* including commercial applications, and to alter it and redistribute it -* freely, subject to the following restrictions: -* 1. The origin of this software must not be misrepresented; you must not -* claim that you wrote the original software. If you use this software -* in a product, an acknowledgment in the product documentation would be -* appreciated but is not required. -* 2. Altered source versions must be plainly marked as such, and must not be -* misrepresented as being the original software. -* 3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B2_COLLISION_H -#define B2_COLLISION_H - -#include "Box2D/Common/b2Math.h" -#include <limits.h> - -/// @file -/// Structures and functions used for computing contact points, distance -/// queries, and TOI queries. - -class b2Shape; -class b2CircleShape; -class b2EdgeShape; -class b2PolygonShape; - -const uint8 b2_nullFeature = UCHAR_MAX; - -/// The features that intersect to form the contact point -/// This must be 4 bytes or less. -struct b2ContactFeature -{ - enum Type - { - e_vertex = 0, - e_face = 1 - }; - - uint8 indexA; ///< Feature index on shapeA - uint8 indexB; ///< Feature index on shapeB - uint8 typeA; ///< The feature type on shapeA - uint8 typeB; ///< The feature type on shapeB -}; - -/// Contact ids to facilitate warm starting. -union b2ContactID -{ - b2ContactFeature cf; - uint32 key; ///< Used to quickly compare contact ids. -}; - -/// A manifold point is a contact point belonging to a contact -/// manifold. It holds details related to the geometry and dynamics -/// of the contact points. -/// The local point usage depends on the manifold type: -/// -e_circles: the local center of circleB -/// -e_faceA: the local center of cirlceB or the clip point of polygonB -/// -e_faceB: the clip point of polygonA -/// This structure is stored across time steps, so we keep it small. -/// Note: the impulses are used for internal caching and may not -/// provide reliable contact forces, especially for high speed collisions. -struct b2ManifoldPoint -{ - b2Vec2 localPoint; ///< usage depends on manifold type - float32 normalImpulse; ///< the non-penetration impulse - float32 tangentImpulse; ///< the friction impulse - b2ContactID id; ///< uniquely identifies a contact point between two shapes -}; - -/// A manifold for two touching convex shapes. -/// Box2D supports multiple types of contact: -/// - clip point versus plane with radius -/// - point versus point with radius (circles) -/// The local point usage depends on the manifold type: -/// -e_circles: the local center of circleA -/// -e_faceA: the center of faceA -/// -e_faceB: the center of faceB -/// Similarly the local normal usage: -/// -e_circles: not used -/// -e_faceA: the normal on polygonA -/// -e_faceB: the normal on polygonB -/// We store contacts in this way so that position correction can -/// account for movement, which is critical for continuous physics. -/// All contact scenarios must be expressed in one of these types. -/// This structure is stored across time steps, so we keep it small. -struct b2Manifold -{ - enum Type - { - e_circles, - e_faceA, - e_faceB - }; - - b2ManifoldPoint points[b2_maxManifoldPoints]; ///< the points of contact - b2Vec2 localNormal; ///< not use for Type::e_points - b2Vec2 localPoint; ///< usage depends on manifold type - Type type; - int32 pointCount; ///< the number of manifold points -}; - -/// This is used to compute the current state of a contact manifold. -struct b2WorldManifold -{ - /// Evaluate the manifold with supplied transforms. This assumes - /// modest motion from the original state. This does not change the - /// point count, impulses, etc. The radii must come from the shapes - /// that generated the manifold. - void Initialize(const b2Manifold* manifold, - const b2Transform& xfA, float32 radiusA, - const b2Transform& xfB, float32 radiusB); - - b2Vec2 normal; ///< world vector pointing from A to B - b2Vec2 points[b2_maxManifoldPoints]; ///< world contact point (point of intersection) - float32 separations[b2_maxManifoldPoints]; ///< a negative value indicates overlap, in meters -}; - -/// This is used for determining the state of contact points. -enum b2PointState -{ - b2_nullState, ///< point does not exist - b2_addState, ///< point was added in the update - b2_persistState, ///< point persisted across the update - b2_removeState ///< point was removed in the update -}; - -/// Compute the point states given two manifolds. The states pertain to the transition from manifold1 -/// to manifold2. So state1 is either persist or remove while state2 is either add or persist. -void b2GetPointStates(b2PointState state1[b2_maxManifoldPoints], b2PointState state2[b2_maxManifoldPoints], - const b2Manifold* manifold1, const b2Manifold* manifold2); - -/// Used for computing contact manifolds. -struct b2ClipVertex -{ - b2Vec2 v; - b2ContactID id; -}; - -/// Ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1). -struct b2RayCastInput -{ - b2Vec2 p1, p2; - float32 maxFraction; -}; - -/// Ray-cast output data. The ray hits at p1 + fraction * (p2 - p1), where p1 and p2 -/// come from b2RayCastInput. -struct b2RayCastOutput -{ - b2Vec2 normal; - float32 fraction; -}; - -/// An axis aligned bounding box. -struct b2AABB -{ - /// Verify that the bounds are sorted. - bool IsValid() const; - - /// Get the center of the AABB. - b2Vec2 GetCenter() const - { - return 0.5f * (lowerBound + upperBound); - } - - /// Get the extents of the AABB (half-widths). - b2Vec2 GetExtents() const - { - return 0.5f * (upperBound - lowerBound); - } - - /// Get the perimeter length - float32 GetPerimeter() const - { - float32 wx = upperBound.x - lowerBound.x; - float32 wy = upperBound.y - lowerBound.y; - return 2.0f * (wx + wy); - } - - /// Combine an AABB into this one. - void Combine(const b2AABB& aabb) - { - lowerBound = b2Min(lowerBound, aabb.lowerBound); - upperBound = b2Max(upperBound, aabb.upperBound); - } - - /// Combine two AABBs into this one. - void Combine(const b2AABB& aabb1, const b2AABB& aabb2) - { - lowerBound = b2Min(aabb1.lowerBound, aabb2.lowerBound); - upperBound = b2Max(aabb1.upperBound, aabb2.upperBound); - } - - /// Does this aabb contain the provided AABB. - bool Contains(const b2AABB& aabb) const - { - bool result = true; - result = result && lowerBound.x <= aabb.lowerBound.x; - result = result && lowerBound.y <= aabb.lowerBound.y; - result = result && aabb.upperBound.x <= upperBound.x; - result = result && aabb.upperBound.y <= upperBound.y; - return result; - } - - bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input) const; - - b2Vec2 lowerBound; ///< the lower vertex - b2Vec2 upperBound; ///< the upper vertex -}; - -/// Compute the collision manifold between two circles. -void b2CollideCircles(b2Manifold* manifold, - const b2CircleShape* circleA, const b2Transform& xfA, - const b2CircleShape* circleB, const b2Transform& xfB); - -/// Compute the collision manifold between a polygon and a circle. -void b2CollidePolygonAndCircle(b2Manifold* manifold, - const b2PolygonShape* polygonA, const b2Transform& xfA, - const b2CircleShape* circleB, const b2Transform& xfB); - -/// Compute the collision manifold between two polygons. -void b2CollidePolygons(b2Manifold* manifold, - const b2PolygonShape* polygonA, const b2Transform& xfA, - const b2PolygonShape* polygonB, const b2Transform& xfB); - -/// Compute the collision manifold between an edge and a circle. -void b2CollideEdgeAndCircle(b2Manifold* manifold, - const b2EdgeShape* polygonA, const b2Transform& xfA, - const b2CircleShape* circleB, const b2Transform& xfB); - -/// Compute the collision manifold between an edge and a circle. -void b2CollideEdgeAndPolygon(b2Manifold* manifold, - const b2EdgeShape* edgeA, const b2Transform& xfA, - const b2PolygonShape* circleB, const b2Transform& xfB); - -/// Clipping for contact manifolds. -int32 b2ClipSegmentToLine(b2ClipVertex vOut[2], const b2ClipVertex vIn[2], - const b2Vec2& normal, float32 offset, int32 vertexIndexA); - -/// Determine if two generic shapes overlap. -bool b2TestOverlap( const b2Shape* shapeA, int32 indexA, - const b2Shape* shapeB, int32 indexB, - const b2Transform& xfA, const b2Transform& xfB); - -// ---------------- Inline Functions ------------------------------------------ - -inline bool b2AABB::IsValid() const -{ - b2Vec2 d = upperBound - lowerBound; - bool valid = d.x >= 0.0f && d.y >= 0.0f; - valid = valid && lowerBound.IsValid() && upperBound.IsValid(); - return valid; -} - -inline bool b2TestOverlap(const b2AABB& a, const b2AABB& b) -{ - b2Vec2 d1, d2; - d1 = b.lowerBound - a.upperBound; - d2 = a.lowerBound - b.upperBound; - - if (d1.x > 0.0f || d1.y > 0.0f) - return false; - - if (d2.x > 0.0f || d2.y > 0.0f) - return false; - - return true; -} - -#endif |