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Diffstat (limited to 'Source/3rdParty/Box2D/Dynamics/b2Body.h')
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diff --git a/Source/3rdParty/Box2D/Dynamics/b2Body.h b/Source/3rdParty/Box2D/Dynamics/b2Body.h deleted file mode 100644 index c191f6d..0000000 --- a/Source/3rdParty/Box2D/Dynamics/b2Body.h +++ /dev/null @@ -1,882 +0,0 @@ -/* -* Copyright (c) 2006-2011 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_BODY_H -#define B2_BODY_H - -#include "Box2D/Common/b2Math.h" -#include "Box2D/Collision/Shapes/b2Shape.h" -#include <memory> - -class b2Fixture; -class b2Joint; -class b2Contact; -class b2Controller; -class b2World; -struct b2FixtureDef; -struct b2JointEdge; -struct b2ContactEdge; - -/// The body type. -/// static: zero mass, zero velocity, may be manually moved -/// kinematic: zero mass, non-zero velocity set by user, moved by solver -/// dynamic: positive mass, non-zero velocity determined by forces, moved by solver -enum b2BodyType -{ - b2_staticBody = 0, - b2_kinematicBody, - b2_dynamicBody - - // TODO_ERIN - //b2_bulletBody, -}; - -/// A body definition holds all the data needed to construct a rigid body. -/// You can safely re-use body definitions. Shapes are added to a body after construction. -struct b2BodyDef -{ - /// This constructor sets the body definition default values. - b2BodyDef() - { - userData = nullptr; - position.Set(0.0f, 0.0f); - angle = 0.0f; - linearVelocity.Set(0.0f, 0.0f); - angularVelocity = 0.0f; - linearDamping = 0.0f; - angularDamping = 0.0f; - allowSleep = true; - awake = true; - fixedRotation = false; - bullet = false; - type = b2_staticBody; - active = true; - gravityScale = 1.0f; - } - - /// The body type: static, kinematic, or dynamic. - /// Note: if a dynamic body would have zero mass, the mass is set to one. - b2BodyType type; - - /// The world position of the body. Avoid creating bodies at the origin - /// since this can lead to many overlapping shapes. - b2Vec2 position; - - /// The world angle of the body in radians. - float32 angle; - - /// The linear velocity of the body's origin in world co-ordinates. - b2Vec2 linearVelocity; - - /// The angular velocity of the body. - float32 angularVelocity; - - /// Linear damping is use to reduce the linear velocity. The damping parameter - /// can be larger than 1.0f but the damping effect becomes sensitive to the - /// time step when the damping parameter is large. - /// Units are 1/time - float32 linearDamping; - - /// Angular damping is use to reduce the angular velocity. The damping parameter - /// can be larger than 1.0f but the damping effect becomes sensitive to the - /// time step when the damping parameter is large. - /// Units are 1/time - float32 angularDamping; - - /// Set this flag to false if this body should never fall asleep. Note that - /// this increases CPU usage. - bool allowSleep; - - /// Is this body initially awake or sleeping? - bool awake; - - /// Should this body be prevented from rotating? Useful for characters. - bool fixedRotation; - - /// Is this a fast moving body that should be prevented from tunneling through - /// other moving bodies? Note that all bodies are prevented from tunneling through - /// kinematic and static bodies. This setting is only considered on dynamic bodies. - /// @warning You should use this flag sparingly since it increases processing time. - bool bullet; - - /// Does this body start out active? - bool active; - - /// Use this to store application specific body data. - void* userData; - - /// Scale the gravity applied to this body. - float32 gravityScale; -}; - -/// A rigid body. These are created via b2World::CreateBody. -class b2Body -{ -public: - /// Creates a fixture and attach it to this body. Use this function if you need - /// to set some fixture parameters, like friction. Otherwise you can create the - /// fixture directly from a shape. - /// If the density is non-zero, this function automatically updates the mass of the body. - /// Contacts are not created until the next time step. - /// @param def the fixture definition. - /// @warning This function is locked during callbacks. - b2Fixture* CreateFixture(const b2FixtureDef* def); - - /// Creates a fixture from a shape and attach it to this body. - /// This is a convenience function. Use b2FixtureDef if you need to set parameters - /// like friction, restitution, user data, or filtering. - /// If the density is non-zero, this function automatically updates the mass of the body. - /// @param shape the shape to be cloned. - /// @param density the shape density (set to zero for static bodies). - /// @warning This function is locked during callbacks. - b2Fixture* CreateFixture(const b2Shape* shape, float32 density); - - /// Destroy a fixture. This removes the fixture from the broad-phase and - /// destroys all contacts associated with this fixture. This will - /// automatically adjust the mass of the body if the body is dynamic and the - /// fixture has positive density. - /// All fixtures attached to a body are implicitly destroyed when the body is destroyed. - /// @param fixture the fixture to be removed. - /// @warning This function is locked during callbacks. - void DestroyFixture(b2Fixture* fixture); - - /// Set the position of the body's origin and rotation. - /// Manipulating a body's transform may cause non-physical behavior. - /// Note: contacts are updated on the next call to b2World::Step. - /// @param position the world position of the body's local origin. - /// @param angle the world rotation in radians. - void SetTransform(const b2Vec2& position, float32 angle); - - /// Get the body transform for the body's origin. - /// @return the world transform of the body's origin. - const b2Transform& GetTransform() const; - - /// Get the world body origin position. - /// @return the world position of the body's origin. - const b2Vec2& GetPosition() const; - - /// Get the angle in radians. - /// @return the current world rotation angle in radians. - float32 GetAngle() const; - - /// Get the world position of the center of mass. - const b2Vec2& GetWorldCenter() const; - - /// Get the local position of the center of mass. - const b2Vec2& GetLocalCenter() const; - - /// Set the linear velocity of the center of mass. - /// @param v the new linear velocity of the center of mass. - void SetLinearVelocity(const b2Vec2& v); - - /// Get the linear velocity of the center of mass. - /// @return the linear velocity of the center of mass. - const b2Vec2& GetLinearVelocity() const; - - /// Set the angular velocity. - /// @param omega the new angular velocity in radians/second. - void SetAngularVelocity(float32 omega); - - /// Get the angular velocity. - /// @return the angular velocity in radians/second. - float32 GetAngularVelocity() const; - - /// Apply a force at a world point. If the force is not - /// applied at the center of mass, it will generate a torque and - /// affect the angular velocity. This wakes up the body. - /// @param force the world force vector, usually in Newtons (N). - /// @param point the world position of the point of application. - /// @param wake also wake up the body - void ApplyForce(const b2Vec2& force, const b2Vec2& point, bool wake); - - /// Apply a force to the center of mass. This wakes up the body. - /// @param force the world force vector, usually in Newtons (N). - /// @param wake also wake up the body - void ApplyForceToCenter(const b2Vec2& force, bool wake); - - /// Apply a torque. This affects the angular velocity - /// without affecting the linear velocity of the center of mass. - /// @param torque about the z-axis (out of the screen), usually in N-m. - /// @param wake also wake up the body - void ApplyTorque(float32 torque, bool wake); - - /// Apply an impulse at a point. This immediately modifies the velocity. - /// It also modifies the angular velocity if the point of application - /// is not at the center of mass. This wakes up the body. - /// @param impulse the world impulse vector, usually in N-seconds or kg-m/s. - /// @param point the world position of the point of application. - /// @param wake also wake up the body - void ApplyLinearImpulse(const b2Vec2& impulse, const b2Vec2& point, bool wake); - - /// Apply an impulse to the center of mass. This immediately modifies the velocity. - /// @param impulse the world impulse vector, usually in N-seconds or kg-m/s. - /// @param wake also wake up the body - void ApplyLinearImpulseToCenter(const b2Vec2& impulse, bool wake); - - /// Apply an angular impulse. - /// @param impulse the angular impulse in units of kg*m*m/s - /// @param wake also wake up the body - void ApplyAngularImpulse(float32 impulse, bool wake); - - /// Get the total mass of the body. - /// @return the mass, usually in kilograms (kg). - float32 GetMass() const; - - /// Get the rotational inertia of the body about the local origin. - /// @return the rotational inertia, usually in kg-m^2. - float32 GetInertia() const; - - /// Get the mass data of the body. - /// @return a struct containing the mass, inertia and center of the body. - void GetMassData(b2MassData* data) const; - - /// Set the mass properties to override the mass properties of the fixtures. - /// Note that this changes the center of mass position. - /// Note that creating or destroying fixtures can also alter the mass. - /// This function has no effect if the body isn't dynamic. - /// @param massData the mass properties. - void SetMassData(const b2MassData* data); - - /// This resets the mass properties to the sum of the mass properties of the fixtures. - /// This normally does not need to be called unless you called SetMassData to override - /// the mass and you later want to reset the mass. - void ResetMassData(); - - /// Get the world coordinates of a point given the local coordinates. - /// @param localPoint a point on the body measured relative the the body's origin. - /// @return the same point expressed in world coordinates. - b2Vec2 GetWorldPoint(const b2Vec2& localPoint) const; - - /// Get the world coordinates of a vector given the local coordinates. - /// @param localVector a vector fixed in the body. - /// @return the same vector expressed in world coordinates. - b2Vec2 GetWorldVector(const b2Vec2& localVector) const; - - /// Gets a local point relative to the body's origin given a world point. - /// @param a point in world coordinates. - /// @return the corresponding local point relative to the body's origin. - b2Vec2 GetLocalPoint(const b2Vec2& worldPoint) const; - - /// Gets a local vector given a world vector. - /// @param a vector in world coordinates. - /// @return the corresponding local vector. - b2Vec2 GetLocalVector(const b2Vec2& worldVector) const; - - /// Get the world linear velocity of a world point attached to this body. - /// @param a point in world coordinates. - /// @return the world velocity of a point. - b2Vec2 GetLinearVelocityFromWorldPoint(const b2Vec2& worldPoint) const; - - /// Get the world velocity of a local point. - /// @param a point in local coordinates. - /// @return the world velocity of a point. - b2Vec2 GetLinearVelocityFromLocalPoint(const b2Vec2& localPoint) const; - - /// Get the linear damping of the body. - float32 GetLinearDamping() const; - - /// Set the linear damping of the body. - void SetLinearDamping(float32 linearDamping); - - /// Get the angular damping of the body. - float32 GetAngularDamping() const; - - /// Set the angular damping of the body. - void SetAngularDamping(float32 angularDamping); - - /// Get the gravity scale of the body. - float32 GetGravityScale() const; - - /// Set the gravity scale of the body. - void SetGravityScale(float32 scale); - - /// Set the type of this body. This may alter the mass and velocity. - void SetType(b2BodyType type); - - /// Get the type of this body. - b2BodyType GetType() const; - - /// Should this body be treated like a bullet for continuous collision detection? - void SetBullet(bool flag); - - /// Is this body treated like a bullet for continuous collision detection? - bool IsBullet() const; - - /// You can disable sleeping on this body. If you disable sleeping, the - /// body will be woken. - void SetSleepingAllowed(bool flag); - - /// Is this body allowed to sleep - bool IsSleepingAllowed() const; - - /// Set the sleep state of the body. A sleeping body has very - /// low CPU cost. - /// @param flag set to true to wake the body, false to put it to sleep. - void SetAwake(bool flag); - - /// Get the sleeping state of this body. - /// @return true if the body is awake. - bool IsAwake() const; - - /// Set the active state of the body. An inactive body is not - /// simulated and cannot be collided with or woken up. - /// If you pass a flag of true, all fixtures will be added to the - /// broad-phase. - /// If you pass a flag of false, all fixtures will be removed from - /// the broad-phase and all contacts will be destroyed. - /// Fixtures and joints are otherwise unaffected. You may continue - /// to create/destroy fixtures and joints on inactive bodies. - /// Fixtures on an inactive body are implicitly inactive and will - /// not participate in collisions, ray-casts, or queries. - /// Joints connected to an inactive body are implicitly inactive. - /// An inactive body is still owned by a b2World object and remains - /// in the body list. - void SetActive(bool flag); - - /// Get the active state of the body. - bool IsActive() const; - - /// Set this body to have fixed rotation. This causes the mass - /// to be reset. - void SetFixedRotation(bool flag); - - /// Does this body have fixed rotation? - bool IsFixedRotation() const; - - /// Get the list of all fixtures attached to this body. - b2Fixture* GetFixtureList(); - const b2Fixture* GetFixtureList() const; - - /// Get the list of all joints attached to this body. - b2JointEdge* GetJointList(); - const b2JointEdge* GetJointList() const; - - /// Get the list of all contacts attached to this body. - /// @warning this list changes during the time step and you may - /// miss some collisions if you don't use b2ContactListener. - b2ContactEdge* GetContactList(); - const b2ContactEdge* GetContactList() const; - - /// Get the next body in the world's body list. - b2Body* GetNext(); - const b2Body* GetNext() const; - - /// Get the user data pointer that was provided in the body definition. - void* GetUserData() const; - - /// Set the user data. Use this to store your application specific data. - void SetUserData(void* data); - - /// Get the parent world of this body. - b2World* GetWorld(); - const b2World* GetWorld() const; - - /// Dump this body to a log file - void Dump(); - -private: - - friend class b2World; - friend class b2Island; - friend class b2ContactManager; - friend class b2ContactSolver; - friend class b2Contact; - - friend class b2DistanceJoint; - friend class b2FrictionJoint; - friend class b2GearJoint; - friend class b2MotorJoint; - friend class b2MouseJoint; - friend class b2PrismaticJoint; - friend class b2PulleyJoint; - friend class b2RevoluteJoint; - friend class b2RopeJoint; - friend class b2WeldJoint; - friend class b2WheelJoint; - - // m_flags - enum - { - e_islandFlag = 0x0001, - e_awakeFlag = 0x0002, - e_autoSleepFlag = 0x0004, - e_bulletFlag = 0x0008, - e_fixedRotationFlag = 0x0010, - e_activeFlag = 0x0020, - e_toiFlag = 0x0040 - }; - - b2Body(const b2BodyDef* bd, b2World* world); - ~b2Body(); - - void SynchronizeFixtures(); - void SynchronizeTransform(); - - // This is used to prevent connected bodies from colliding. - // It may lie, depending on the collideConnected flag. - bool ShouldCollide(const b2Body* other) const; - - void Advance(float32 t); - - b2BodyType m_type; - - uint16 m_flags; - - int32 m_islandIndex; - - b2Transform m_xf; // the body origin transform - b2Sweep m_sweep; // the swept motion for CCD - - b2Vec2 m_linearVelocity; - float32 m_angularVelocity; - - b2Vec2 m_force; - float32 m_torque; - - b2World* m_world; - b2Body* m_prev; - b2Body* m_next; - - b2Fixture* m_fixtureList; - int32 m_fixtureCount; - - b2JointEdge* m_jointList; - b2ContactEdge* m_contactList; - - float32 m_mass, m_invMass; - - // Rotational inertia about the center of mass. - float32 m_I, m_invI; - - float32 m_linearDamping; - float32 m_angularDamping; - float32 m_gravityScale; - - float32 m_sleepTime; - - void* m_userData; -}; - -inline b2BodyType b2Body::GetType() const -{ - return m_type; -} - -inline const b2Transform& b2Body::GetTransform() const -{ - return m_xf; -} - -inline const b2Vec2& b2Body::GetPosition() const -{ - return m_xf.p; -} - -inline float32 b2Body::GetAngle() const -{ - return m_sweep.a; -} - -inline const b2Vec2& b2Body::GetWorldCenter() const -{ - return m_sweep.c; -} - -inline const b2Vec2& b2Body::GetLocalCenter() const -{ - return m_sweep.localCenter; -} - -inline void b2Body::SetLinearVelocity(const b2Vec2& v) -{ - if (m_type == b2_staticBody) - { - return; - } - - if (b2Dot(v,v) > 0.0f) - { - SetAwake(true); - } - - m_linearVelocity = v; -} - -inline const b2Vec2& b2Body::GetLinearVelocity() const -{ - return m_linearVelocity; -} - -inline void b2Body::SetAngularVelocity(float32 w) -{ - if (m_type == b2_staticBody) - { - return; - } - - if (w * w > 0.0f) - { - SetAwake(true); - } - - m_angularVelocity = w; -} - -inline float32 b2Body::GetAngularVelocity() const -{ - return m_angularVelocity; -} - -inline float32 b2Body::GetMass() const -{ - return m_mass; -} - -inline float32 b2Body::GetInertia() const -{ - return m_I + m_mass * b2Dot(m_sweep.localCenter, m_sweep.localCenter); -} - -inline void b2Body::GetMassData(b2MassData* data) const -{ - data->mass = m_mass; - data->I = m_I + m_mass * b2Dot(m_sweep.localCenter, m_sweep.localCenter); - data->center = m_sweep.localCenter; -} - -inline b2Vec2 b2Body::GetWorldPoint(const b2Vec2& localPoint) const -{ - return b2Mul(m_xf, localPoint); -} - -inline b2Vec2 b2Body::GetWorldVector(const b2Vec2& localVector) const -{ - return b2Mul(m_xf.q, localVector); -} - -inline b2Vec2 b2Body::GetLocalPoint(const b2Vec2& worldPoint) const -{ - return b2MulT(m_xf, worldPoint); -} - -inline b2Vec2 b2Body::GetLocalVector(const b2Vec2& worldVector) const -{ - return b2MulT(m_xf.q, worldVector); -} - -inline b2Vec2 b2Body::GetLinearVelocityFromWorldPoint(const b2Vec2& worldPoint) const -{ - return m_linearVelocity + b2Cross(m_angularVelocity, worldPoint - m_sweep.c); -} - -inline b2Vec2 b2Body::GetLinearVelocityFromLocalPoint(const b2Vec2& localPoint) const -{ - return GetLinearVelocityFromWorldPoint(GetWorldPoint(localPoint)); -} - -inline float32 b2Body::GetLinearDamping() const -{ - return m_linearDamping; -} - -inline void b2Body::SetLinearDamping(float32 linearDamping) -{ - m_linearDamping = linearDamping; -} - -inline float32 b2Body::GetAngularDamping() const -{ - return m_angularDamping; -} - -inline void b2Body::SetAngularDamping(float32 angularDamping) -{ - m_angularDamping = angularDamping; -} - -inline float32 b2Body::GetGravityScale() const -{ - return m_gravityScale; -} - -inline void b2Body::SetGravityScale(float32 scale) -{ - m_gravityScale = scale; -} - -inline void b2Body::SetBullet(bool flag) -{ - if (flag) - { - m_flags |= e_bulletFlag; - } - else - { - m_flags &= ~e_bulletFlag; - } -} - -inline bool b2Body::IsBullet() const -{ - return (m_flags & e_bulletFlag) == e_bulletFlag; -} - -inline void b2Body::SetAwake(bool flag) -{ - if (flag) - { - m_flags |= e_awakeFlag; - m_sleepTime = 0.0f; - } - else - { - m_flags &= ~e_awakeFlag; - m_sleepTime = 0.0f; - m_linearVelocity.SetZero(); - m_angularVelocity = 0.0f; - m_force.SetZero(); - m_torque = 0.0f; - } -} - -inline bool b2Body::IsAwake() const -{ - return (m_flags & e_awakeFlag) == e_awakeFlag; -} - -inline bool b2Body::IsActive() const -{ - return (m_flags & e_activeFlag) == e_activeFlag; -} - -inline bool b2Body::IsFixedRotation() const -{ - return (m_flags & e_fixedRotationFlag) == e_fixedRotationFlag; -} - -inline void b2Body::SetSleepingAllowed(bool flag) -{ - if (flag) - { - m_flags |= e_autoSleepFlag; - } - else - { - m_flags &= ~e_autoSleepFlag; - SetAwake(true); - } -} - -inline bool b2Body::IsSleepingAllowed() const -{ - return (m_flags & e_autoSleepFlag) == e_autoSleepFlag; -} - -inline b2Fixture* b2Body::GetFixtureList() -{ - return m_fixtureList; -} - -inline const b2Fixture* b2Body::GetFixtureList() const -{ - return m_fixtureList; -} - -inline b2JointEdge* b2Body::GetJointList() -{ - return m_jointList; -} - -inline const b2JointEdge* b2Body::GetJointList() const -{ - return m_jointList; -} - -inline b2ContactEdge* b2Body::GetContactList() -{ - return m_contactList; -} - -inline const b2ContactEdge* b2Body::GetContactList() const -{ - return m_contactList; -} - -inline b2Body* b2Body::GetNext() -{ - return m_next; -} - -inline const b2Body* b2Body::GetNext() const -{ - return m_next; -} - -inline void b2Body::SetUserData(void* data) -{ - m_userData = data; -} - -inline void* b2Body::GetUserData() const -{ - return m_userData; -} - -inline void b2Body::ApplyForce(const b2Vec2& force, const b2Vec2& point, bool wake) -{ - if (m_type != b2_dynamicBody) - { - return; - } - - if (wake && (m_flags & e_awakeFlag) == 0) - { - SetAwake(true); - } - - // Don't accumulate a force if the body is sleeping. - if (m_flags & e_awakeFlag) - { - m_force += force; - m_torque += b2Cross(point - m_sweep.c, force); - } -} - -inline void b2Body::ApplyForceToCenter(const b2Vec2& force, bool wake) -{ - if (m_type != b2_dynamicBody) - { - return; - } - - if (wake && (m_flags & e_awakeFlag) == 0) - { - SetAwake(true); - } - - // Don't accumulate a force if the body is sleeping - if (m_flags & e_awakeFlag) - { - m_force += force; - } -} - -inline void b2Body::ApplyTorque(float32 torque, bool wake) -{ - if (m_type != b2_dynamicBody) - { - return; - } - - if (wake && (m_flags & e_awakeFlag) == 0) - { - SetAwake(true); - } - - // Don't accumulate a force if the body is sleeping - if (m_flags & e_awakeFlag) - { - m_torque += torque; - } -} - -inline void b2Body::ApplyLinearImpulse(const b2Vec2& impulse, const b2Vec2& point, bool wake) -{ - if (m_type != b2_dynamicBody) - { - return; - } - - if (wake && (m_flags & e_awakeFlag) == 0) - { - SetAwake(true); - } - - // Don't accumulate velocity if the body is sleeping - if (m_flags & e_awakeFlag) - { - m_linearVelocity += m_invMass * impulse; - m_angularVelocity += m_invI * b2Cross(point - m_sweep.c, impulse); - } -} - -inline void b2Body::ApplyLinearImpulseToCenter(const b2Vec2& impulse, bool wake) -{ - if (m_type != b2_dynamicBody) - { - return; - } - - if (wake && (m_flags & e_awakeFlag) == 0) - { - SetAwake(true); - } - - // Don't accumulate velocity if the body is sleeping - if (m_flags & e_awakeFlag) - { - m_linearVelocity += m_invMass * impulse; - } -} - -inline void b2Body::ApplyAngularImpulse(float32 impulse, bool wake) -{ - if (m_type != b2_dynamicBody) - { - return; - } - - if (wake && (m_flags & e_awakeFlag) == 0) - { - SetAwake(true); - } - - // Don't accumulate velocity if the body is sleeping - if (m_flags & e_awakeFlag) - { - m_angularVelocity += m_invI * impulse; - } -} - -inline void b2Body::SynchronizeTransform() -{ - m_xf.q.Set(m_sweep.a); - m_xf.p = m_sweep.c - b2Mul(m_xf.q, m_sweep.localCenter); -} - -inline void b2Body::Advance(float32 alpha) -{ - // Advance to the new safe time. This doesn't sync the broad-phase. - m_sweep.Advance(alpha); - m_sweep.c = m_sweep.c0; - m_sweep.a = m_sweep.a0; - m_xf.q.Set(m_sweep.a); - m_xf.p = m_sweep.c - b2Mul(m_xf.q, m_sweep.localCenter); -} - -inline b2World* b2Body::GetWorld() -{ - return m_world; -} - -inline const b2World* b2Body::GetWorld() const -{ - return m_world; -} - -#endif |