diff options
Diffstat (limited to 'Client/ThirdParty/Box2D/docs')
42 files changed, 10121 insertions, 0 deletions
diff --git a/Client/ThirdParty/Box2D/docs/CMakeLists.txt b/Client/ThirdParty/Box2D/docs/CMakeLists.txt new file mode 100644 index 0000000..edffb4e --- /dev/null +++ b/Client/ThirdParty/Box2D/docs/CMakeLists.txt @@ -0,0 +1,32 @@ + +# NOTE: The order of this list determines the order of items in the Guides +# (i.e. Pages) list in the generated documentation + +set(BOX2D_DOXYGEN_SOURCES + "include/box2d" + "docs/overview.md" + "docs/hello.md" + "docs/testbed.md" + "docs/common.md" + "docs/collision.md" + "docs/dynamics.md" + "docs/loose_ends.md" + "docs/references.md" + "docs/FAQ.md") + +# Format the source list into a Doxyfile INPUT value that Doxygen can parse +foreach(path IN LISTS BOX2D_DOXYGEN_SOURCES) + set(BOX2D_DOXYGEN_INPUT "${BOX2D_DOXYGEN_INPUT} \\\n\"${CMAKE_SOURCE_DIR}/${path}\"") +endforeach() + +# https://cmake.org/cmake/help/latest/command/configure_file.html +configure_file(Doxyfile.in Doxyfile @ONLY) + +add_custom_target(docs ALL "${DOXYGEN_EXECUTABLE}" + WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/docs" + COMMENT "Generating HTML documentation" VERBATIM) + +install( + DIRECTORY "${CMAKE_BINARY_DIR}/docs/html" + DESTINATION "${CMAKE_INSTALL_DOCDIR}" +) diff --git a/Client/ThirdParty/Box2D/docs/Doxyfile.in b/Client/ThirdParty/Box2D/docs/Doxyfile.in new file mode 100644 index 0000000..523c925 --- /dev/null +++ b/Client/ThirdParty/Box2D/docs/Doxyfile.in @@ -0,0 +1,2578 @@ +# Doxyfile 1.8.17 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the configuration +# file that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# https://www.gnu.org/software/libiconv/ for the list of possible encodings. +# The default value is: UTF-8. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. + +PROJECT_NAME = "Box2D" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. This +# could be handy for archiving the generated documentation or if some version +# control system is used. + +PROJECT_NUMBER = @CMAKE_PROJECT_VERSION@ + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer a +# quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = "A 2D physics engine for games" + +# With the PROJECT_LOGO tag one can specify a logo or an icon that is included +# in the documentation. The maximum height of the logo should not exceed 55 +# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy +# the logo to the output directory. + +PROJECT_LOGO = "@CMAKE_SOURCE_DIR@/docs/images/logo.svg" + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path +# into which the generated documentation will be written. If a relative path is +# entered, it will be relative to the location where doxygen was started. If +# left blank the current directory will be used. + +OUTPUT_DIRECTORY = "@CMAKE_BINARY_DIR@/docs" + +# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub- +# directories (in 2 levels) under the output directory of each output format and +# will distribute the generated files over these directories. Enabling this +# option can be useful when feeding doxygen a huge amount of source files, where +# putting all generated files in the same directory would otherwise causes +# performance problems for the file system. +# The default value is: NO. + +CREATE_SUBDIRS = NO + +# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII +# characters to appear in the names of generated files. If set to NO, non-ASCII +# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode +# U+3044. +# The default value is: NO. + +ALLOW_UNICODE_NAMES = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese, +# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States), +# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian, +# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages), +# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian, +# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian, +# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish, +# Ukrainian and Vietnamese. +# The default value is: English. + +OUTPUT_LANGUAGE = English + +# The OUTPUT_TEXT_DIRECTION tag is used to specify the direction in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all generated output in the proper direction. +# Possible values are: None, LTR, RTL and Context. +# The default value is: None. + +OUTPUT_TEXT_DIRECTION = None + +# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member +# descriptions after the members that are listed in the file and class +# documentation (similar to Javadoc). Set to NO to disable this. +# The default value is: YES. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief +# description of a member or function before the detailed description +# +# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. +# The default value is: YES. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator that is +# used to form the text in various listings. Each string in this list, if found +# as the leading text of the brief description, will be stripped from the text +# and the result, after processing the whole list, is used as the annotated +# text. Otherwise, the brief description is used as-is. If left blank, the +# following values are used ($name is automatically replaced with the name of +# the entity):The $name class, The $name widget, The $name file, is, provides, +# specifies, contains, represents, a, an and the. + +ABBREVIATE_BRIEF = "The $name class" \ + "The $name widget" \ + "The $name file" \ + is \ + provides \ + specifies \ + contains \ + represents \ + a \ + an \ + the + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# doxygen will generate a detailed section even if there is only a brief +# description. +# The default value is: NO. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. +# The default value is: NO. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path +# before files name in the file list and in the header files. If set to NO the +# shortest path that makes the file name unique will be used +# The default value is: YES. + +FULL_PATH_NAMES = YES + +# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. +# Stripping is only done if one of the specified strings matches the left-hand +# part of the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the path to +# strip. +# +# Note that you can specify absolute paths here, but also relative paths, which +# will be relative from the directory where doxygen is started. +# This tag requires that the tag FULL_PATH_NAMES is set to YES. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the +# path mentioned in the documentation of a class, which tells the reader which +# header file to include in order to use a class. If left blank only the name of +# the header file containing the class definition is used. Otherwise one should +# specify the list of include paths that are normally passed to the compiler +# using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but +# less readable) file names. This can be useful is your file systems doesn't +# support long names like on DOS, Mac, or CD-ROM. +# The default value is: NO. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the +# first line (until the first dot) of a Javadoc-style comment as the brief +# description. If set to NO, the Javadoc-style will behave just like regular Qt- +# style comments (thus requiring an explicit @brief command for a brief +# description.) +# The default value is: NO. + +JAVADOC_AUTOBRIEF = NO + +# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line +# such as +# /*************** +# as being the beginning of a Javadoc-style comment "banner". If set to NO, the +# Javadoc-style will behave just like regular comments and it will not be +# interpreted by doxygen. +# The default value is: NO. + +JAVADOC_BANNER = NO + +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first +# line (until the first dot) of a Qt-style comment as the brief description. If +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus +# requiring an explicit \brief command for a brief description.) +# The default value is: NO. + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as +# a brief description. This used to be the default behavior. The new default is +# to treat a multi-line C++ comment block as a detailed description. Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 4 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:\n" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". You can put \n's in the value part of an alias to insert +# newlines (in the resulting output). You can put ^^ in the value part of an +# alias to insert a newline as if a physical newline was in the original file. +# When you need a literal { or } or , in the value part of an alias you have to +# escape them by means of a backslash (\), this can lead to conflicts with the +# commands \{ and \} for these it is advised to use the version @{ and @} or use +# a double escape (\\{ and \\}) + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding "class=itcl::class" +# will allow you to use the command class in the itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice +# sources only. Doxygen will then generate output that is more tailored for that +# language. For instance, namespaces will be presented as modules, types will be +# separated into more groups, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_SLICE = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, JavaScript, +# Csharp (C#), C, C++, D, PHP, md (Markdown), Objective-C, Python, Slice, +# Fortran (fixed format Fortran: FortranFixed, free formatted Fortran: +# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser +# tries to guess whether the code is fixed or free formatted code, this is the +# default for Fortran type files), VHDL, tcl. For instance to make doxygen treat +# .inc files as Fortran files (default is PHP), and .f files as C (default is +# Fortran), use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See https://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up +# to that level are automatically included in the table of contents, even if +# they do not have an id attribute. +# Note: This feature currently applies only to Markdown headings. +# Minimum value: 0, maximum value: 99, default value: 5. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +TOC_INCLUDE_HEADINGS = 5 + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual +# methods of a class will be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIV_VIRTUAL = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# declarations. If set to NO, these declarations will be included in the +# documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file +# names in lower-case letters. If set to YES, upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# (including Cygwin) ands Mac users are advised to set this option to NO. +# The default value is: system dependent. + +CASE_SENSE_NAMES = NO + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if <section_label> ... \endif and \cond <section_label> +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = NO + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong or incomplete +# parameter documentation, but not about the absence of documentation. If +# EXTRACT_ALL is set to YES then this flag will automatically be disabled. +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = "@BOX2D_BINARY_DIR@/docs/warnings.txt" + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = @BOX2D_DOXYGEN_INPUT@ + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: https://www.gnu.org/software/libiconv/) for the list of +# possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, +# *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C comment), +# *.doc (to be provided as doxygen C comment), *.txt (to be provided as doxygen +# C comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f, *.for, *.tcl, *.vhd, +# *.vhdl, *.ucf, *.qsf and *.ice. + +FILE_PATTERNS = *.c \ + *.cc \ + *.cxx \ + *.cpp \ + *.c++ \ + *.java \ + *.ii \ + *.ixx \ + *.ipp \ + *.i++ \ + *.inl \ + *.idl \ + *.ddl \ + *.odl \ + *.h \ + *.hh \ + *.hxx \ + *.hpp \ + *.h++ \ + *.cs \ + *.d \ + *.php \ + *.php4 \ + *.php5 \ + *.phtml \ + *.inc \ + *.m \ + *.markdown \ + *.md \ + *.mm \ + *.dox \ + *.doc \ + *.txt \ + *.py \ + *.pyw \ + *.f90 \ + *.f95 \ + *.f03 \ + *.f08 \ + *.f \ + *.for \ + *.tcl \ + *.vhd \ + *.vhdl \ + *.ucf \ + *.qsf \ + *.ice + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = NO + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = * + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = "@CMAKE_SOURCE_DIR@/docs/images" + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# <filter> <input-file> +# +# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = "@CMAKE_SOURCE_DIR@/docs/overview.md" + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# entity all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see https://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the +# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the +# cost of reduced performance. This can be particularly helpful with template +# rich C++ code for which doxygen's built-in parser lacks the necessary type +# information. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse_libclang=ON option for CMake. +# The default value is: NO. + +CLANG_ASSISTED_PARSING = NO + +# If clang assisted parsing is enabled you can provide the compiler with command +# line options that you would normally use when invoking the compiler. Note that +# the include paths will already be set by doxygen for the files and directories +# specified with INPUT and INCLUDE_PATH. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_OPTIONS = + +# If clang assisted parsing is enabled you can provide the clang parser with the +# path to the compilation database (see: +# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) used when the files +# were built. This is equivalent to specifying the "-p" option to a clang tool, +# such as clang-check. These options will then be passed to the parser. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse_libclang=ON option for CMake. + +CLANG_DATABASE_PATH = + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in +# which the alphabetical index list will be split. +# Minimum value: 1, maximum value: 20, default value: 5. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). For an example see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = "@CMAKE_SOURCE_DIR@/docs/extra.css" + + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# https://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use grayscales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = NO + +# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML +# documentation will contain a main index with vertical navigation menus that +# are dynamically created via JavaScript. If disabled, the navigation index will +# consists of multiple levels of tabs that are statically embedded in every HTML +# page. Disable this option to support browsers that do not have JavaScript, +# like the Qt help browser. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_MENUS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: https://developer.apple.com/xcode/), introduced with OSX +# 10.5 (Leopard). To create a documentation set, doxygen will generate a +# Makefile in the HTML output directory. Running make will produce the docset in +# that directory and running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy +# genXcode/_index.html for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# (see: https://www.microsoft.com/en-us/download/details.aspx?id=21138) on +# Windows. +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the master .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual- +# folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location of Qt's +# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the +# generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine-tune the look of the index. As an example, the default style +# sheet generated by doxygen has an example that shows how to put an image at +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has +# the same information as the tab index, you could consider setting +# DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = YES + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANSPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands +# to create new LaTeX commands to be used in formulas as building blocks. See +# the section "Including formulas" for details. + +FORMULA_MACROFILE = + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# https://www.mathjax.org) which uses client side JavaScript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. See the MathJax site (see: +# http://docs.mathjax.org/en/latest/output.html) for more details. +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility), NativeMML (i.e. MathML) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from https://www.mathjax.org before deployment. +# The default value is: https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/ + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use <access key> + S +# (what the <access key> is depends on the OS and browser, but it is typically +# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down +# key> to jump into the search results window, the results can be navigated +# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel +# the search. The filter options can be selected when the cursor is inside the +# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys> +# to select a filter and <Enter> or <escape> to activate or cancel the filter +# option. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +SEARCHENGINE = YES + +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be +# implemented using a web server instead of a web client using JavaScript. There +# are two flavors of web server based searching depending on the EXTERNAL_SEARCH +# setting. When disabled, doxygen will generate a PHP script for searching and +# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing +# and searching needs to be provided by external tools. See the section +# "External Indexing and Searching" for details. +# The default value is: NO. +# This tag requires that the tag SEARCHENGINE is set to YES. + +SERVER_BASED_SEARCH = NO + +# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP +# script for searching. Instead the search results are written to an XML file +# which needs to be processed by an external indexer. Doxygen will invoke an +# external search engine pointed to by the SEARCHENGINE_URL option to obtain the +# search results. +# +# Doxygen ships with an example indexer (doxyindexer) and search engine +# (doxysearch.cgi) which are based on the open source search engine library +# Xapian (see: https://xapian.org/). +# +# See the section "External Indexing and Searching" for details. +# The default value is: NO. +# This tag requires that the tag SEARCHENGINE is set to YES. + +EXTERNAL_SEARCH = NO + +# The SEARCHENGINE_URL should point to a search engine hosted by a web server +# which will return the search results when EXTERNAL_SEARCH is enabled. +# +# Doxygen ships with an example indexer (doxyindexer) and search engine +# (doxysearch.cgi) which are based on the open source search engine library +# Xapian (see: https://xapian.org/). See the section "External Indexing and +# Searching" for details. +# This tag requires that the tag SEARCHENGINE is set to YES. + +SEARCHENGINE_URL = + +# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed +# search data is written to a file for indexing by an external tool. With the +# SEARCHDATA_FILE tag the name of this file can be specified. +# The default file is: searchdata.xml. +# This tag requires that the tag SEARCHENGINE is set to YES. + +SEARCHDATA_FILE = searchdata.xml + +# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the +# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is +# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple +# projects and redirect the results back to the right project. +# This tag requires that the tag SEARCHENGINE is set to YES. + +EXTERNAL_SEARCH_ID = + +# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen +# projects other than the one defined by this configuration file, but that are +# all added to the same external search index. Each project needs to have a +# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of +# to a relative location where the documentation can be found. The format is: +# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ... +# This tag requires that the tag SEARCHENGINE is set to YES. + +EXTRA_SEARCH_MAPPINGS = + +#--------------------------------------------------------------------------- +# Configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output. +# The default value is: YES. + +GENERATE_LATEX = NO + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: latex. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. +# +# Note that when not enabling USE_PDFLATEX the default is latex when enabling +# USE_PDFLATEX the default is pdflatex and when in the later case latex is +# chosen this is overwritten by pdflatex. For specific output languages the +# default can have been set differently, this depends on the implementation of +# the output language. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_CMD_NAME = + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate +# index for LaTeX. +# Note: This tag is used in the Makefile / make.bat. +# See also: LATEX_MAKEINDEX_CMD for the part in the generated output file +# (.tex). +# The default file is: makeindex. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +MAKEINDEX_CMD_NAME = makeindex + +# The LATEX_MAKEINDEX_CMD tag can be used to specify the command name to +# generate index for LaTeX. In case there is no backslash (\) as first character +# it will be automatically added in the LaTeX code. +# Note: This tag is used in the generated output file (.tex). +# See also: MAKEINDEX_CMD_NAME for the part in the Makefile / make.bat. +# The default value is: makeindex. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_MAKEINDEX_CMD = makeindex + +# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX +# documents. This may be useful for small projects and may help to save some +# trees in general. +# The default value is: NO. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +COMPACT_LATEX = NO + +# The PAPER_TYPE tag can be used to set the paper type that is used by the +# printer. +# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x +# 14 inches) and executive (7.25 x 10.5 inches). +# The default value is: a4. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +PAPER_TYPE = a4 + +# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names +# that should be included in the LaTeX output. The package can be specified just +# by its name or with the correct syntax as to be used with the LaTeX +# \usepackage command. To get the times font for instance you can specify : +# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times} +# To use the option intlimits with the amsmath package you can specify: +# EXTRA_PACKAGES=[intlimits]{amsmath} +# If left blank no extra packages will be included. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +EXTRA_PACKAGES = + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the +# generated LaTeX document. The header should contain everything until the first +# chapter. If it is left blank doxygen will generate a standard header. See +# section "Doxygen usage" for information on how to let doxygen write the +# default header to a separate file. +# +# Note: Only use a user-defined header if you know what you are doing! The +# following commands have a special meaning inside the header: $title, +# $datetime, $date, $doxygenversion, $projectname, $projectnumber, +# $projectbrief, $projectlogo. Doxygen will replace $title with the empty +# string, for the replacement values of the other commands the user is referred +# to HTML_HEADER. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_HEADER = + +# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the +# generated LaTeX document. The footer should contain everything after the last +# chapter. If it is left blank doxygen will generate a standard footer. See +# LATEX_HEADER for more information on how to generate a default footer and what +# special commands can be used inside the footer. +# +# Note: Only use a user-defined footer if you know what you are doing! +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_FOOTER = + +# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# LaTeX style sheets that are included after the standard style sheets created +# by doxygen. Using this option one can overrule certain style aspects. Doxygen +# will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_EXTRA_STYLESHEET = + +# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the LATEX_OUTPUT output +# directory. Note that the files will be copied as-is; there are no commands or +# markers available. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_EXTRA_FILES = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is +# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will +# contain links (just like the HTML output) instead of page references. This +# makes the output suitable for online browsing using a PDF viewer. +# The default value is: YES. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +PDF_HYPERLINKS = YES + +# If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate +# the PDF file directly from the LaTeX files. Set this option to YES, to get a +# higher quality PDF documentation. +# The default value is: YES. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +USE_PDFLATEX = YES + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode +# command to the generated LaTeX files. This will instruct LaTeX to keep running +# if errors occur, instead of asking the user for help. This option is also used +# when generating formulas in HTML. +# The default value is: NO. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_BATCHMODE = NO + +# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the +# index chapters (such as File Index, Compound Index, etc.) in the output. +# The default value is: NO. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_HIDE_INDICES = NO + +# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source +# code with syntax highlighting in the LaTeX output. +# +# Note that which sources are shown also depends on other settings such as +# SOURCE_BROWSER. +# The default value is: NO. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_SOURCE_CODE = NO + +# The LATEX_BIB_STYLE tag can be used to specify the style to use for the +# bibliography, e.g. plainnat, or ieeetr. See +# https://en.wikipedia.org/wiki/BibTeX and \cite for more info. +# The default value is: plain. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_BIB_STYLE = plain + +# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated +# page will contain the date and time when the page was generated. Setting this +# to NO can help when comparing the output of multiple runs. +# The default value is: NO. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_TIMESTAMP = NO + +# The LATEX_EMOJI_DIRECTORY tag is used to specify the (relative or absolute) +# path from which the emoji images will be read. If a relative path is entered, +# it will be relative to the LATEX_OUTPUT directory. If left blank the +# LATEX_OUTPUT directory will be used. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_EMOJI_DIRECTORY = + +#--------------------------------------------------------------------------- +# Configuration options related to the RTF output +#--------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The +# RTF output is optimized for Word 97 and may not look too pretty with other RTF +# readers/editors. +# The default value is: NO. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: rtf. +# This tag requires that the tag GENERATE_RTF is set to YES. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF +# documents. This may be useful for small projects and may help to save some +# trees in general. +# The default value is: NO. +# This tag requires that the tag GENERATE_RTF is set to YES. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will +# contain hyperlink fields. The RTF file will contain links (just like the HTML +# output) instead of page references. This makes the output suitable for online +# browsing using Word or some other Word compatible readers that support those +# fields. +# +# Note: WordPad (write) and others do not support links. +# The default value is: NO. +# This tag requires that the tag GENERATE_RTF is set to YES. + +RTF_HYPERLINKS = NO + +# Load stylesheet definitions from file. Syntax is similar to doxygen's +# configuration file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. +# +# See also section "Doxygen usage" for information on how to generate the +# default style sheet that doxygen normally uses. +# This tag requires that the tag GENERATE_RTF is set to YES. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an RTF document. Syntax is +# similar to doxygen's configuration file. A template extensions file can be +# generated using doxygen -e rtf extensionFile. +# This tag requires that the tag GENERATE_RTF is set to YES. + +RTF_EXTENSIONS_FILE = + +# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code +# with syntax highlighting in the RTF output. +# +# Note that which sources are shown also depends on other settings such as +# SOURCE_BROWSER. +# The default value is: NO. +# This tag requires that the tag GENERATE_RTF is set to YES. + +RTF_SOURCE_CODE = NO + +#--------------------------------------------------------------------------- +# Configuration options related to the man page output +#--------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for +# classes and files. +# The default value is: NO. + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. A directory man3 will be created inside the directory specified by +# MAN_OUTPUT. +# The default directory is: man. +# This tag requires that the tag GENERATE_MAN is set to YES. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to the generated +# man pages. In case the manual section does not start with a number, the number +# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is +# optional. +# The default value is: .3. +# This tag requires that the tag GENERATE_MAN is set to YES. + +MAN_EXTENSION = .3 + +# The MAN_SUBDIR tag determines the name of the directory created within +# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by +# MAN_EXTENSION with the initial . removed. +# This tag requires that the tag GENERATE_MAN is set to YES. + +MAN_SUBDIR = + +# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it +# will generate one additional man file for each entity documented in the real +# man page(s). These additional files only source the real man page, but without +# them the man command would be unable to find the correct page. +# The default value is: NO. +# This tag requires that the tag GENERATE_MAN is set to YES. + +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# Configuration options related to the XML output +#--------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that +# captures the structure of the code including all documentation. +# The default value is: NO. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: xml. +# This tag requires that the tag GENERATE_XML is set to YES. + +XML_OUTPUT = xml + +# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program +# listings (including syntax highlighting and cross-referencing information) to +# the XML output. Note that enabling this will significantly increase the size +# of the XML output. +# The default value is: YES. +# This tag requires that the tag GENERATE_XML is set to YES. + +XML_PROGRAMLISTING = YES + +# If the XML_NS_MEMB_FILE_SCOPE tag is set to YES, doxygen will include +# namespace members in file scope as well, matching the HTML output. +# The default value is: NO. +# This tag requires that the tag GENERATE_XML is set to YES. + +XML_NS_MEMB_FILE_SCOPE = NO + +#--------------------------------------------------------------------------- +# Configuration options related to the DOCBOOK output +#--------------------------------------------------------------------------- + +# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files +# that can be used to generate PDF. +# The default value is: NO. + +GENERATE_DOCBOOK = NO + +# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in +# front of it. +# The default directory is: docbook. +# This tag requires that the tag GENERATE_DOCBOOK is set to YES. + +DOCBOOK_OUTPUT = docbook + +# If the DOCBOOK_PROGRAMLISTING tag is set to YES, doxygen will include the +# program listings (including syntax highlighting and cross-referencing +# information) to the DOCBOOK output. Note that enabling this will significantly +# increase the size of the DOCBOOK output. +# The default value is: NO. +# This tag requires that the tag GENERATE_DOCBOOK is set to YES. + +DOCBOOK_PROGRAMLISTING = NO + +#--------------------------------------------------------------------------- +# Configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- + +# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an +# AutoGen Definitions (see http://autogen.sourceforge.net/) file that captures +# the structure of the code including all documentation. Note that this feature +# is still experimental and incomplete at the moment. +# The default value is: NO. + +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# Configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module +# file that captures the structure of the code including all documentation. +# +# Note that this feature is still experimental and incomplete at the moment. +# The default value is: NO. + +GENERATE_PERLMOD = NO + +# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary +# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI +# output from the Perl module output. +# The default value is: NO. +# This tag requires that the tag GENERATE_PERLMOD is set to YES. + +PERLMOD_LATEX = NO + +# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely +# formatted so it can be parsed by a human reader. This is useful if you want to +# understand what is going on. On the other hand, if this tag is set to NO, the +# size of the Perl module output will be much smaller and Perl will parse it +# just the same. +# The default value is: YES. +# This tag requires that the tag GENERATE_PERLMOD is set to YES. + +PERLMOD_PRETTY = YES + +# The names of the make variables in the generated doxyrules.make file are +# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful +# so different doxyrules.make files included by the same Makefile don't +# overwrite each other's variables. +# This tag requires that the tag GENERATE_PERLMOD is set to YES. + +PERLMOD_MAKEVAR_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- + +# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all +# C-preprocessor directives found in the sources and include files. +# The default value is: YES. + +ENABLE_PREPROCESSING = YES + +# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names +# in the source code. If set to NO, only conditional compilation will be +# performed. Macro expansion can be done in a controlled way by setting +# EXPAND_ONLY_PREDEF to YES. +# The default value is: NO. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES. + +MACRO_EXPANSION = NO + +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then +# the macro expansion is limited to the macros specified with the PREDEFINED and +# EXPAND_AS_DEFINED tags. +# The default value is: NO. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES. + +EXPAND_ONLY_PREDEF = NO + +# If the SEARCH_INCLUDES tag is set to YES, the include files in the +# INCLUDE_PATH will be searched if a #include is found. +# The default value is: YES. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES. + +SEARCH_INCLUDES = YES + +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by the +# preprocessor. +# This tag requires that the tag SEARCH_INCLUDES is set to YES. + +INCLUDE_PATH = + +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will be +# used. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES. + +INCLUDE_FILE_PATTERNS = + +# The PREDEFINED tag can be used to specify one or more macro names that are +# defined before the preprocessor is started (similar to the -D option of e.g. +# gcc). The argument of the tag is a list of macros of the form: name or +# name=definition (no spaces). If the definition and the "=" are omitted, "=1" +# is assumed. To prevent a macro definition from being undefined via #undef or +# recursively expanded use the := operator instead of the = operator. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES. + +PREDEFINED = + +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this +# tag can be used to specify a list of macro names that should be expanded. The +# macro definition that is found in the sources will be used. Use the PREDEFINED +# tag if you want to use a different macro definition that overrules the +# definition found in the source code. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES. + +EXPAND_AS_DEFINED = + +# If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will +# remove all references to function-like macros that are alone on a line, have +# an all uppercase name, and do not end with a semicolon. Such function macros +# are typically used for boiler-plate code, and will confuse the parser if not +# removed. +# The default value is: YES. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES. + +SKIP_FUNCTION_MACROS = YES + +#--------------------------------------------------------------------------- +# Configuration options related to external references +#--------------------------------------------------------------------------- + +# The TAGFILES tag can be used to specify one or more tag files. For each tag +# file the location of the external documentation should be added. The format of +# a tag file without this location is as follows: +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where loc1 and loc2 can be relative or absolute paths or URLs. See the +# section "Linking to external documentation" for more information about the use +# of tag files. +# Note: Each tag file must have a unique name (where the name does NOT include +# the path). If a tag file is not located in the directory in which doxygen is +# run, you must also specify the path to the tagfile here. + +TAGFILES = + +# When a file name is specified after GENERATE_TAGFILE, doxygen will create a +# tag file that is based on the input files it reads. See section "Linking to +# external documentation" for more information about the usage of tag files. + +GENERATE_TAGFILE = + +# If the ALLEXTERNALS tag is set to YES, all external class will be listed in +# the class index. If set to NO, only the inherited external classes will be +# listed. +# The default value is: NO. + +ALLEXTERNALS = NO + +# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed +# in the modules index. If set to NO, only the current project's groups will be +# listed. +# The default value is: YES. + +EXTERNAL_GROUPS = YES + +# If the EXTERNAL_PAGES tag is set to YES, all external pages will be listed in +# the related pages index. If set to NO, only the current project's pages will +# be listed. +# The default value is: YES. + +EXTERNAL_PAGES = YES + +#--------------------------------------------------------------------------- +# Configuration options related to the dot tool +#--------------------------------------------------------------------------- + +# If the CLASS_DIAGRAMS tag is set to YES, doxygen will generate a class diagram +# (in HTML and LaTeX) for classes with base or super classes. Setting the tag to +# NO turns the diagrams off. Note that this option also works with HAVE_DOT +# disabled, but it is recommended to install and use dot, since it yields more +# powerful graphs. +# The default value is: YES. + +CLASS_DIAGRAMS = YES + +# You can include diagrams made with dia in doxygen documentation. Doxygen will +# then run dia to produce the diagram and insert it in the documentation. The +# DIA_PATH tag allows you to specify the directory where the dia binary resides. +# If left empty dia is assumed to be found in the default search path. + +DIA_PATH = + +# If set to YES the inheritance and collaboration graphs will hide inheritance +# and usage relations if the target is undocumented or is not a class. +# The default value is: YES. + +HIDE_UNDOC_RELATIONS = YES + +# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is +# available from the path. This tool is part of Graphviz (see: +# http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent +# Bell Labs. The other options in this section have no effect if this option is +# set to NO +# The default value is: NO. + +HAVE_DOT = NO + +# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed +# to run in parallel. When set to 0 doxygen will base this on the number of +# processors available in the system. You can set it explicitly to a value +# larger than 0 to get control over the balance between CPU load and processing +# speed. +# Minimum value: 0, maximum value: 32, default value: 0. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_NUM_THREADS = 0 + +# When you want a differently looking font in the dot files that doxygen +# generates you can specify the font name using DOT_FONTNAME. You need to make +# sure dot is able to find the font, which can be done by putting it in a +# standard location or by setting the DOTFONTPATH environment variable or by +# setting DOT_FONTPATH to the directory containing the font. +# The default value is: Helvetica. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_FONTNAME = Helvetica + +# The DOT_FONTSIZE tag can be used to set the size (in points) of the font of +# dot graphs. +# Minimum value: 4, maximum value: 24, default value: 10. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_FONTSIZE = 10 + +# By default doxygen will tell dot to use the default font as specified with +# DOT_FONTNAME. If you specify a different font using DOT_FONTNAME you can set +# the path where dot can find it using this tag. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_FONTPATH = + +# If the CLASS_GRAPH tag is set to YES then doxygen will generate a graph for +# each documented class showing the direct and indirect inheritance relations. +# Setting this tag to YES will force the CLASS_DIAGRAMS tag to NO. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +CLASS_GRAPH = YES + +# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a +# graph for each documented class showing the direct and indirect implementation +# dependencies (inheritance, containment, and class references variables) of the +# class with other documented classes. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +COLLABORATION_GRAPH = YES + +# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for +# groups, showing the direct groups dependencies. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +GROUP_GRAPHS = YES + +# If the UML_LOOK tag is set to YES, doxygen will generate inheritance and +# collaboration diagrams in a style similar to the OMG's Unified Modeling +# Language. +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +UML_LOOK = NO + +# If the UML_LOOK tag is enabled, the fields and methods are shown inside the +# class node. If there are many fields or methods and many nodes the graph may +# become too big to be useful. The UML_LIMIT_NUM_FIELDS threshold limits the +# number of items for each type to make the size more manageable. Set this to 0 +# for no limit. Note that the threshold may be exceeded by 50% before the limit +# is enforced. So when you set the threshold to 10, up to 15 fields may appear, +# but if the number exceeds 15, the total amount of fields shown is limited to +# 10. +# Minimum value: 0, maximum value: 100, default value: 10. +# This tag requires that the tag HAVE_DOT is set to YES. + +UML_LIMIT_NUM_FIELDS = 10 + +# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and +# collaboration graphs will show the relations between templates and their +# instances. +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +TEMPLATE_RELATIONS = NO + +# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to +# YES then doxygen will generate a graph for each documented file showing the +# direct and indirect include dependencies of the file with other documented +# files. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +INCLUDE_GRAPH = YES + +# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are +# set to YES then doxygen will generate a graph for each documented file showing +# the direct and indirect include dependencies of the file with other documented +# files. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +INCLUDED_BY_GRAPH = YES + +# If the CALL_GRAPH tag is set to YES then doxygen will generate a call +# dependency graph for every global function or class method. +# +# Note that enabling this option will significantly increase the time of a run. +# So in most cases it will be better to enable call graphs for selected +# functions only using the \callgraph command. Disabling a call graph can be +# accomplished by means of the command \hidecallgraph. +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +CALL_GRAPH = NO + +# If the CALLER_GRAPH tag is set to YES then doxygen will generate a caller +# dependency graph for every global function or class method. +# +# Note that enabling this option will significantly increase the time of a run. +# So in most cases it will be better to enable caller graphs for selected +# functions only using the \callergraph command. Disabling a caller graph can be +# accomplished by means of the command \hidecallergraph. +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +CALLER_GRAPH = NO + +# If the GRAPHICAL_HIERARCHY tag is set to YES then doxygen will graphical +# hierarchy of all classes instead of a textual one. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +GRAPHICAL_HIERARCHY = YES + +# If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the +# dependencies a directory has on other directories in a graphical way. The +# dependency relations are determined by the #include relations between the +# files in the directories. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +DIRECTORY_GRAPH = YES + +# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images +# generated by dot. For an explanation of the image formats see the section +# output formats in the documentation of the dot tool (Graphviz (see: +# http://www.graphviz.org/)). +# Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order +# to make the SVG files visible in IE 9+ (other browsers do not have this +# requirement). +# Possible values are: png, jpg, gif, svg, png:gd, png:gd:gd, png:cairo, +# png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and +# png:gdiplus:gdiplus. +# The default value is: png. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_IMAGE_FORMAT = png + +# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to +# enable generation of interactive SVG images that allow zooming and panning. +# +# Note that this requires a modern browser other than Internet Explorer. Tested +# and working are Firefox, Chrome, Safari, and Opera. +# Note: For IE 9+ you need to set HTML_FILE_EXTENSION to xhtml in order to make +# the SVG files visible. Older versions of IE do not have SVG support. +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +INTERACTIVE_SVG = NO + +# The DOT_PATH tag can be used to specify the path where the dot tool can be +# found. If left blank, it is assumed the dot tool can be found in the path. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_PATH = + +# The DOTFILE_DIRS tag can be used to specify one or more directories that +# contain dot files that are included in the documentation (see the \dotfile +# command). +# This tag requires that the tag HAVE_DOT is set to YES. + +DOTFILE_DIRS = + +# The MSCFILE_DIRS tag can be used to specify one or more directories that +# contain msc files that are included in the documentation (see the \mscfile +# command). + +MSCFILE_DIRS = + +# The DIAFILE_DIRS tag can be used to specify one or more directories that +# contain dia files that are included in the documentation (see the \diafile +# command). + +DIAFILE_DIRS = + +# When using plantuml, the PLANTUML_JAR_PATH tag should be used to specify the +# path where java can find the plantuml.jar file. If left blank, it is assumed +# PlantUML is not used or called during a preprocessing step. Doxygen will +# generate a warning when it encounters a \startuml command in this case and +# will not generate output for the diagram. + +PLANTUML_JAR_PATH = + +# When using plantuml, the PLANTUML_CFG_FILE tag can be used to specify a +# configuration file for plantuml. + +PLANTUML_CFG_FILE = + +# When using plantuml, the specified paths are searched for files specified by +# the !include statement in a plantuml block. + +PLANTUML_INCLUDE_PATH = + +# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes +# that will be shown in the graph. If the number of nodes in a graph becomes +# larger than this value, doxygen will truncate the graph, which is visualized +# by representing a node as a red box. Note that doxygen if the number of direct +# children of the root node in a graph is already larger than +# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note that +# the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. +# Minimum value: 0, maximum value: 10000, default value: 50. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_GRAPH_MAX_NODES = 50 + +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the graphs +# generated by dot. A depth value of 3 means that only nodes reachable from the +# root by following a path via at most 3 edges will be shown. Nodes that lay +# further from the root node will be omitted. Note that setting this option to 1 +# or 2 may greatly reduce the computation time needed for large code bases. Also +# note that the size of a graph can be further restricted by +# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. +# Minimum value: 0, maximum value: 1000, default value: 0. +# This tag requires that the tag HAVE_DOT is set to YES. + +MAX_DOT_GRAPH_DEPTH = 0 + +# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent +# background. This is disabled by default, because dot on Windows does not seem +# to support this out of the box. +# +# Warning: Depending on the platform used, enabling this option may lead to +# badly anti-aliased labels on the edges of a graph (i.e. they become hard to +# read). +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_TRANSPARENT = NO + +# Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) support +# this, this feature is disabled by default. +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_MULTI_TARGETS = NO + +# If the GENERATE_LEGEND tag is set to YES doxygen will generate a legend page +# explaining the meaning of the various boxes and arrows in the dot generated +# graphs. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +GENERATE_LEGEND = YES + +# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate dot +# files that are used to generate the various graphs. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_CLEANUP = YES diff --git a/Client/ThirdParty/Box2D/docs/FAQ.md b/Client/ThirdParty/Box2D/docs/FAQ.md new file mode 100644 index 0000000..7f18a3c --- /dev/null +++ b/Client/ThirdParty/Box2D/docs/FAQ.md @@ -0,0 +1,146 @@ +# FAQ + +## What is Box2D? + +Box2D is a feature rich 2D rigid body physics engine, written in C++ by Erin Catto. It has been used in many games, including Crayon Physics Deluxe, winner of the 2008 Independant Game Festival Grand Prize. + +Box2D uses the [MIT license](https://en.wikipedia.org/wiki/MIT_License) license and can be used free of charge. + +## What platforms does Box2D support? + +Box2D is developed on Windows using Visual C++. Ports are also available for Flash, Java, C#, Python. + +Erin Catto maintains the C++ version, but provides no support for other languages. Other languages are supported by the community and possibly by the authors of those ports. + +## Who makes it? + +Erin Catto is the driving force behind Box2D, with various others supporting the ports. Box2D is an open source project, and accepts community feedback. + +## How do I get help? + +You should read the documentation and the rest of this FAQ first. Also, you should study the examples included in the source distribution. Then you can visit the [subreddit](https://www.reddit.com/r/box2d/) to ask any remaining questions. + +Please to not PM or email Erin Catto for support. It is best to ask questions in the forum so that everyone can benefit from the discussion. + +## Documentation + +### Why isn't feature foo documented? + +If you grab the latest code from the git master branch you will likely find features that are not documented in the manual. New features are added to the manual after they are mature and a new point release is imminent. However, all major features added to Box2D are accompanied by example code in the testbed to test the feature and show the intended usage. + +## Prerequisites + +### Programming + +You should have a working knowledge of C++ before you use Box2D. You should understand classes, inheritance, and pointers. There are plenty of resources on the web for learning C++. You should also understand your development environment: compilation, linking, and debugging. + +### Math and Physics + +You should have a basic knowledge of rigid bodies, force, torque, and impulses. If you come across a math or physics concept you don't understand, please read about it on Wikipedia. Visit this [page](http://box2d.org/publications/) if you want a deeper knowledge of the algorithms used in Box2D. + +## API + +### What units does Box2D use? + +Box2D is tuned for meters-kilograms-seconds (MKS). Your moving objects should be between 0.1 - 10 meters. Do not use pixels as units! You will get a jittery simulation. + +### How do I convert pixels to meters? + +Suppose you have a sprite for a character that is 100x100 pixels. You decide to use a scaling factor that is 0.01. This will make the character physics box 1m x 1m. So go make a physics box that is 1x1. Now suppose the character starts out at pixel coordinate (345,679). So position the physics box at (3.45,6.79). Now simulate the physics world. Suppose the character physics box moves to (2.31,4.98), so move your character sprite to pixel coordinates (231,498). +Now the only tricky part is choosing a scaling factor. This really depends on your game. You should try to get your moving objects in the range 0.1 - 10 meters, with 1 meter being the sweet spot. + +### Why don't you use this awesome C++ feature? + +Box2D is designed to be portable, so I try to keep the C++ usage simple. Also, I don't use the STL (except sort) or other libraries to keep the dependencies low. I keep template usage low and don't use name spaces. Remember, just because a C++ feature exists, that doesn't mean you need to use it. + +The many ports of Box2D to other languages platforms shows that this strategy has been successful. + +### Can I use Box2D in a DLL? + +Box2D was not designed to be used in a DLL. You may have to change how static data is used to make this work. + +### Is Box2D thread-safe? + +No. Box2D will likely never be thread-safe. Box2D has a large API and trying to make such an API thread-safe would have a large performance and complexity impact. + +## Build Issues + +### Why doesn't my code compile and/or link? + +There are many reasons why a build can go bad. Here are a few that have come up: + +* Using old Box2D headers with new code +* Not linking the Box2D library with your application +* Using old project files that don't include some new source files + +## Rendering + +### What are Box2D's rendering capabilities? + +Box2D is only a physics engine. How you draw stuff is up to you. + +### But the Testbed draws stuff + +Visualization is very important for debugging collision and physics. I wrote the test bed to help me test Box2D and give you examples of how to use Box2D. The TestBed is not part of the Box2D library. + +### How do I draw shapes? + +Drawing shapes is not supported and shape internal data is likely to change. Instead you should implement the `b2DebugDraw` interface. + +## Accuracy + +Box2D uses approximate methods for a few reasons. + +* Performance +* Some differential equations don't have known solutions +* Some constraints cannot be determined uniquely + +What this means is that constraints are not perfectly rigid and sometimes you will see some bounce even when the restitution is zero. +Box2D uses Gauss-Seidel to approximately solve constraints. +Box2D also uses Semi-implicit Euler to approximately solve the differential equations. +Box2D also does not have exact collision. Polygons are covered with a thin skin (around 0.5cm thick) to avoid numerical problems. This can sometimes lead to unexpected contact normals. Also, some shapes may begin to overlap and then be pushed apart by the solver. + +## Making Games + +### Worms Clones + +Making a worms clone requires arbitrarily destructible terrain. This is beyond the scope of Box2D, so you will have to figure out how to do this on your own. + +### Tile Based Environment + +Using many boxes for your terrain may not work well because box-like characters can get snagged on internal corners. A future update to Box2D should allow for smooth motion over edge chains. In general you should avoid using a rectangular character because collision tolerances will still lead to undesirable snagging. + +### Asteroid Type Coordinate Systems + +Box2D does not have any support for coordinate frame wrapping. You would likely need to customize Box2D for this purpose. You may need to use a different broad-phase for this to work. + +## Determinism + +### Is Box2D deterministic? + +For the same input, and same binary, Box2D will reproduce any simulation. Box2D does not use any random numbers nor base any computation on random events (such as timers, etc). + +However, people often want more stringent determinism. People often want to know if Box2D can produce identical results on different binaries and on different platforms. The answer is no. The reason for this answer has to do with how floating point math is implemented in many compilers and processors. I recommend reading this article if you are curious: http://www.yosefk.com/blog/consistency-how-to-defeat-the-purpose-of-ieee-floating-point.html + +### But I really want determinism + +This naturally leads to the question of fixed-point math. Box2D does not support fixed-point math. In the past Box2D was ported to the NDS in fixed-point and apparently it worked okay. Fixed-point math is slower and more tedious to develop, so I have chosen not to use fixed-point for the development of Box2D. + +## Why is the restitution/friction mixing inaccurate? + +A physically correct restitution value must be measured in experiments. But as soon as you change the geometry from the experiment then the value is wrong. Next, adding simultaneous collision makes the answer worse. We've been down this road before. + +So the question of accuracy has been answered: failure. + +The only remaining question is how do we make it convenient. On this opinions may vary. + +`b2Settings` is just that. Settings you can adjust if you know what you are doing. + +## What are the biggest mistakes made by new users? + +* Using pixels for length instead of meters. +* Expecting Box2D to give pixel perfect results. +* Using b2Polygon to create concave polygons. +* Testing their code in release mode. +* Not learning C++ before using Box2D. +* Not reading this FAQ. :) diff --git a/Client/ThirdParty/Box2D/docs/collision.md b/Client/ThirdParty/Box2D/docs/collision.md new file mode 100644 index 0000000..fe00aa4 --- /dev/null +++ b/Client/ThirdParty/Box2D/docs/collision.md @@ -0,0 +1,433 @@ +# Collision Module +The Collision module contains shapes and functions that operate on them. +The module also contains a dynamic tree and broad-phase to acceleration +collision processing of large systems. + +The collision module is designed to be usable outside of the dynamic +system. For example, you can use the dynamic tree for other aspects of +your game besides physics. + +However, the main purpose of Box2D is to provide a rigid body physics +engine, so the using the collision module by itself may feel limited for +some applications. Likewise, I will not make a strong effort to document +it or polish the APIs. + +## Shapes +Shapes describe collision geometry and may be used independently of +physics simulation. At a minimum, you should understand how to create +shapes that can be later attached to rigid bodies. + +Box2D shapes implement the b2Shape base class. The base class defines +functions to: +- Test a point for overlap with the shape. +- Perform a ray cast against the shape. +- Compute the shape's AABB. +- Compute the mass properties of the shape. + +In addition, each shape has a type member and a radius. The radius even +applies to polygons, as discussed below. + +Keep in mind that a shape does not know about bodies and stand apart +from the dynamics system. Shapes are stored in a compact form that is +optimized for size and performance. As such, shapes are not easily moved +around. You have to manually set the shape vertex positions to move a +shape. However, when a shape is attached to a body using a fixture, the +shapes move rigidly with the host body. In summary: +- When a shape is **not** attached to a body, you can view it's vertices as being expressed in world-space. +- When a shape is attached to a body, you can view it's vertices as being expressed in local coordinates. + +### Circle Shapes +Circle shapes have a position and radius. Circles are solid. You cannot +make a hollow circle using the circle shape. + +```cpp +b2CircleShape circle; +circle.m_p.Set(2.0f, 3.0f); +circle.m_radius = 0.5f; +``` + +### Polygon Shapes +Polygon shapes are solid convex polygons. A polygon is convex when all +line segments connecting two points in the interior do not cross any +edge of the polygon. Polygons are solid and never hollow. A polygon must +have 3 or more vertices. + + + +Polygons vertices are stored with a counter clockwise winding (CCW). We +must be careful because the notion of CCW is with respect to a +right-handed coordinate system with the z-axis pointing out of the +plane. This might turn out to be clockwise on your screen, depending on +your coordinate system conventions. + + + +The polygon members are public, but you should use initialization +functions to create a polygon. The initialization functions create +normal vectors and perform validation. + +You can create a polygon shape by passing in a vertex array. The maximal +size of the array is controlled by `b2_maxPolygonVertices` which has a +default value of 8. This is sufficient to describe most convex polygons. + +The `b2PolygonShape::Set` function automatically computes the convex hull +and establishes the proper winding order. This function is fast when the +number of vertices is low. If you increase `b2_maxPolygonVertices`, then +the convex hull computation might become slow. Also note that the convex +hull function may eliminate and/or re-order the points you provide. +Vertices that are closer than `b2_linearSlop` may be merged. + +```cpp +// This defines a triangle in CCW order. +b2Vec2 vertices[3]; +vertices[0].Set(0.0f, 0.0f); +vertices[1].Set(1.0f, 0.0f); +vertices[2].Set(0.0f, 1.0f); + +int32 count = 3; +b2PolygonShape polygon; +polygon.Set(vertices, count); +``` + +The polygon shape has some convenience functions to create boxes. + +```cpp +void SetAsBox(float hx, float hy); +void SetAsBox(float hx, float hy, const b2Vec2& center, float angle); +``` + +Polygons inherit a radius from b2Shape. The radius creates a skin around +the polygon. The skin is used in stacking scenarios to keep polygons +slightly separated. This allows continuous collision to work against the +core polygon. + + + +The polygon skin helps prevent tunneling by keeping the polygons +separated. This results in small gaps between the shapes. Your visual +representation can be larger than the polygon to hide any gaps. + + + +Not that polygon skin is only provided to help with continuous collision. +The purpose is not to simulate rounded polygons. + +### Edge Shapes +Edge shapes are line segments. These are provided to assist in making a +free-form static environment for your game. A major limitation of edge +shapes is that they can collide with circles and polygons but not with +themselves. The collision algorithms used by Box2D require that at least +one of two colliding shapes have volume. Edge shapes have no volume, so +edge-edge collision is not possible. + +```cpp +// This an edge shape. +b2Vec2 v1(0.0f, 0.0f); +b2Vec2 v2(1.0f, 0.0f); + +b2EdgeShape edge; +edge.SetTwoSided(v1, v2); +``` + +In many cases a game environment is constructed by connecting several +edge shapes end-to-end. This can give rise to an unexpected artifact +when a polygon slides along the chain of edges. In the figure below we +see a box colliding with an internal vertex. These *ghost* collisions +are caused when the polygon collides with an internal vertex generating +an internal collision normal. + + + +If edge1 did not exist this collision would seem fine. With edge1 +present, the internal collision seems like a bug. But normally when +Box2D collides two shapes, it views them in isolation. + +Fortunately, the edge shape provides a mechanism for eliminating ghost +collisions by storing the adjacent *ghost* vertices. Box2D uses these +ghost vertices to prevent internal collisions. + + + +The Box2D algorithm for dealing with ghost collisions only supports +one-sided collision. The front face is to the right when looking from the first +vertex towards the second vertex. This matches the CCW winding order +used by polygons. + +```cpp +// This is an edge shape with ghost vertices. +b2Vec2 v0(1.7f, 0.0f); +b2Vec2 v1(1.0f, 0.25f); +b2Vec2 v2(0.0f, 0.0f); +b2Vec2 v3(-1.7f, 0.4f); + +b2EdgeShape edge; +edge.SetOneSided(v0, v1, v2, v3); +``` + +In general stitching edges together this way is a bit wasteful and +tedious. This brings us to chain shapes. + +### Chain Shapes + +The chain shape provides an efficient way to connect many edges together +to construct your static game worlds. Chain shapes automatically +eliminate ghost collisions and provide one-sided collision. The collision is +one-sided to eliminate ghost collisions. + +If you don't care about ghost collisions, you can just create a bunch of +two-sided edge shapes. The efficiency is similar. + +The simplest way to use chain shapes is to create loops. Simply provide an +array of vertices. + +```cpp +b2Vec2 vs[4]; +vs[0].Set(1.7f, 0.0f); +vs[1].Set(1.0f, 0.25f); +vs[2].Set(0.0f, 0.0f); +vs[3].Set(-1.7f, 0.4f); + +b2ChainShape chain; +chain.CreateLoop(vs, 4); +``` + +The edge normal depends on the winding order. A counter-clockwise winding order orients the normal outwards and a clockwise winding order orients the normal inwards. + + + + + +You may have a scrolling game world and would like to connect several chains together. +You can connect chains together using ghost vertices, like we did with b2EdgeShape. + + + +```cpp +b2ChainShape::CreateChain(const b2Vec2* vertices, int32 count, + const b2Vec2& prevVertex, const b2Vec2& nextVertex); +``` + +Self-intersection of chain shapes is not supported. It might work, it +might not. The code that prevents ghost collisions assumes there are no +self-intersections of the chain. Also, very close vertices can cause +problems. Make sure all your edges are longer than b2_linearSlop (5mm). + + + +Each edge in the chain is treated as a child shape and can be accessed +by index. When a chain shape is connected to a body, each edge gets its +own bounding box in the broad-phase collision tree. + +```cpp +// Visit each child edge. +for (int32 i = 0; i \< chain.GetChildCount(); ++i) +{ + b2EdgeShape edge; + chain.GetChildEdge(&edge, i); + + ... +} +``` + +## Geometric Queries +You can perform a couple geometric queries on a single shape. + +### Shape Point Test +You can test a point for overlap with a shape. You provide a transform +for the shape and a world point. + +```cpp +b2Transform transform; +transform.SetIdentity(); +b2Vec2 point(5.0f, 2.0f); + +bool hit = shape->TestPoint(transform, point); +``` + +Edge and chain shapes always return false, even if the chain is a loop. + +### Shape Ray Cast +You can cast a ray at a shape to get the point of first intersection and normal vector. A child index is included for chain shapes because the ray cast will only check a single edge at a time. + +> **Caution**: +> No hit will register if the ray starts inside a convex shape like a circle or polygon. This is consistent with Box2D treating convex shapes as solid. +> + +```cpp +b2Transfrom transform; +transform.SetIdentity(); + +b2RayCastInput input; +input.p1.Set(0.0f, 0.0f); +input.p2.Set(1.0f, 0.0f); +input.maxFraction = 1.0f; +int32 childIndex = 0; + +b2RayCastOutput output; +bool hit = shape->RayCast(&output, input, transform, childIndex); + +if (hit) +{ + b2Vec2 hitPoint = input.p1 + output.fraction * (input.p2 -- input.p1); + ... +} +``` + +## Pairwise Functions +The Collision module contains functions that take a pair of shapes and compute some results. These include: +- Overlap +- Contact manifolds +- Distance +- Time of impact + +### Overlap +You can test two shapes for overlap using this function: + +```cpp +b2Transform xfA = ..., xfB = ...; +bool overlap = b2TestOverlap(shapeA, indexA, shapeB, indexB, xfA, xfB); +``` + +Again you must provide child indices to for the case of chain shapes. + +### Contact Manifolds +Box2D has functions to compute contact points for overlapping shapes. If +we consider circle-circle or circle-polygon, we can only get one contact +point and normal. In the case of polygon-polygon we can get two points. +These points share the same normal vector so Box2D groups them into a +manifold structure. The contact solver takes advantage of this to +improve stacking stability. + + + +Normally you don't need to compute contact manifolds directly, however +you will likely use the results produced in the simulation. + +The b2Manifold structure holds a normal vector and up to two contact +points. The normal and points are held in local coordinates. As a +convenience for the contact solver, each point stores the normal and +tangential (friction) impulses. + +The data stored in b2Manifold is optimized for internal use. If you need +this data, it is usually best to use the b2WorldManifold structure to +generate the world coordinates of the contact normal and points. You +need to provide a b2Manifold and the shape transforms and radii. + +```cpp +b2WorldManifold worldManifold; +worldManifold.Initialize(&manifold, transformA, shapeA.m_radius, +transformB, shapeB.m_radius); + +for (int32 i = 0; i \< manifold.pointCount; ++i) +{ + b2Vec2 point = worldManifold.points[i]; + ... +} +``` + +Notice that the world manifold uses the point count from the original +manifold. + +During simulation shapes may move and the manifolds may change. Points +may be added or removed. You can detect this using b2GetPointStates. + +```cpp +b2PointState state1[2], state2[2]; +b2GetPointStates(state1, state2, &manifold1, &manifold2); + +if (state1[0] == b2_removeState) +{ + // process event +} +``` + +### Distance +The `b2Distance` function can be used to compute the distance between two +shapes. The distance function needs both shapes to be converted into a +b2DistanceProxy. There is also some caching used to warm start the +distance function for repeated calls. + + + +### Time of Impact +If two shapes are moving fast, they may *tunnel* through each other in a +single time step. + + + +The `b2TimeOfImpact` function is used to determine the time when two +moving shapes collide. This is called the *time of impact* (TOI). The +main purpose of `b2TimeOfImpact` is for tunnel prevention. In particular, +it is designed to prevent moving objects from tunneling outside of +static level geometry. + +This function accounts for rotation and translation of both shapes, +however if the rotations are large enough, then the function may miss a +collision. However the function will still report a non-overlapped time +and will capture all translational collisions. + +The time of impact function identities an initial separating axis and +ensures the shapes do not cross on that axis. This might miss collisions +that are clear at the final positions. While this approach may miss some +collisions, it is very fast and adequate for tunnel prevention. + + + + + +It is difficult to put a restriction on the rotation magnitude. There +may be cases where collisions are missed for small rotations. Normally, +these missed rotational collisions should not harm game play. They tend +to be glancing collisions. + +The function requires two shapes (converted to b2DistanceProxy) and two +b2Sweep structures. The sweep structure defines the initial and final +transforms of the shapes. + +You can use fixed rotations to perform a *shape cast*. In this case, the +time of impact function will not miss any collisions. + +## Dynamic Tree +The b2DynamicTree class is used by Box2D to organize large numbers of +shapes efficiently. The class does not know about shapes. Instead it +operates on axis-aligned bounding boxes (AABBs) with user data pointers. + +The dynamic tree is a hierarchical AABB tree. Each internal node in the +tree has two children. A leaf node is a single user AABB. The tree uses +rotations to keep the tree balanced, even in the case of degenerate +input. + +The tree structure allows for efficient ray casts and region queries. +For example, you may have hundreds of shapes in your scene. You could +perform a ray cast against the scene in a brute force manner by ray +casting each shape. This would be inefficient because it does not take +advantage of shapes being spread out. Instead, you can maintain a +dynamic tree and perform ray casts against the tree. This traverses the +ray through the tree skipping large numbers of shapes. + +A region query uses the tree to find all leaf AABBs that overlap a query +AABB. This is faster than a brute force approach because many shapes can +be skipped. + + + + + +Normally you will not use the dynamic tree directly. Rather you will go +through the b2World class for ray casts and region queries. If you plan +to instantiate your own dynamic tree, you can learn how to use it by +looking at how Box2D uses it. + +## Broad-phase +Collision processing in a physics step can be divided into narrow-phase +and broad-phase. In the narrow-phase we compute contact points between +pairs of shapes. Imagine we have N shapes. Using brute force, we would +need to perform the narrow-phase for N*N/2 pairs. + +The b2BroadPhase class reduces this load by using a dynamic tree for +pair management. This greatly reduces the number of narrow-phase calls. + +Normally you do not interact with the broad-phase directly. Instead, +Box2D creates and manages a broad-phase internally. Also, b2BroadPhase +is designed with Box2D's simulation loop in mind, so it is likely not +suited for other use cases. diff --git a/Client/ThirdParty/Box2D/docs/common.md b/Client/ThirdParty/Box2D/docs/common.md new file mode 100644 index 0000000..0534ff7 --- /dev/null +++ b/Client/ThirdParty/Box2D/docs/common.md @@ -0,0 +1,66 @@ +# Common Module +The Common module contains settings, memory management, and vector math. + +## Settings +The header b2Settings.h contains: +- Types such as int32 and float +- Constants +- Allocation wrappers +- The version number + +### Types +Box2D defines various types such as int8, etc. to make it easy +to determine the size of structures. + +### Constants +Box2D defines several constants. These are all documented in +b2Settings.h. Normally you do not need to adjust these constants. + +Box2D uses floating point math for collision and simulation. Due to +round-off error some numerical tolerances are defined. Some tolerances +are absolute and some are relative. Absolute tolerances use MKS units. + +### Allocation wrappers +The settings file defines b2Alloc and b2Free for large allocations. You +may forward these calls to your own memory management system. + +### Version +The b2Version structure holds the current version so you can query this +at run-time. + +## Memory Management +A large number of the decisions about the design of Box2D were based on +the need for quick and efficient use of memory. In this section I will +discuss how and why Box2D allocates memory. + +Box2D tends to allocate a large number of small objects (around 50-300 +bytes). Using the system heap through malloc or new for small objects is +inefficient and can cause fragmentation. Many of these small objects may +have a short life span, such as contacts, but can persist for several +time steps. So we need an allocator that can efficiently provide heap +memory for these objects. + +Box2D's solution is to use a small object allocator (SOA) called +b2BlockAllocator. The SOA keeps a number of growable pools of varying +sizes. When a request is made for memory, the SOA returns a block of +memory that best fits the requested size. When a block is freed, it is +returned to the pool. Both of these operations are fast and cause little +heap traffic. + +Since Box2D uses a SOA, you should never new or malloc a body, fixture, +or joint. However, you do have to allocate a b2World on your own. The +b2World class provides factories for you to create bodies, fixtures, and +joints. This allows Box2D to use the SOA and hide the gory details from +you. Never, call delete or free on a body, fixture, or joint. + +While executing a time step, Box2D needs some temporary workspace +memory. For this, it uses a stack allocator called b2StackAllocator to +avoid per-step heap allocations. You don't need to interact with the +stack allocator, but it's good to know it's there. + +## Math +Box2D includes a simple small vector and matrix module. This has been +designed to suit the internal needs of Box2D and the API. All the +members are exposed, so you may use them freely in your application. + +The math library is kept simple to make Box2D easy to port and maintain. diff --git a/Client/ThirdParty/Box2D/docs/copycss.sh b/Client/ThirdParty/Box2D/docs/copycss.sh new file mode 100644 index 0000000..989a774 --- /dev/null +++ b/Client/ThirdParty/Box2D/docs/copycss.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +cp *.css ../build/docs/html/ diff --git a/Client/ThirdParty/Box2D/docs/dynamics.md b/Client/ThirdParty/Box2D/docs/dynamics.md new file mode 100644 index 0000000..e8b45fc --- /dev/null +++ b/Client/ThirdParty/Box2D/docs/dynamics.md @@ -0,0 +1,1674 @@ +# Dynamics Module +The Dynamics module is the most complex part of Box2D and is the part +you likely interact with the most. The Dynamics module sits on top of +the Common and Collision modules, so you should be somewhat familiar +with those by now. + +The Dynamics module contains: +- fixture class +- rigid body class +- contact class +- joint classes +- world class +- listener classes + +There are many dependencies between these classes so it is difficult to +describe one class without referring to another. In the following, you +may see some references to classes that have not been described yet. +Therefore, you may want to quickly skim this chapter before reading it +closely. + +The dynamics module is covered in the following chapters. + +## Bodies +Bodies have position and velocity. You can apply forces, torques, and +impulses to bodies. Bodies can be static, kinematic, or dynamic. Here +are the body type definitions: + +#### b2_staticBody +A static body does not move under simulation and behaves as if it has +infinite mass. Internally, Box2D stores zero for the mass and the +inverse mass. Static bodies can be moved manually by the user. A static +body has zero velocity. Static bodies do not collide with other static +or kinematic bodies. + +#### b2_kinematicBody +A kinematic body moves under simulation according to its velocity. +Kinematic bodies do not respond to forces. They can be moved manually by +the user, but normally a kinematic body is moved by setting its +velocity. A kinematic body behaves as if it has infinite mass, however, +Box2D stores zero for the mass and the inverse mass. Kinematic bodies do +not collide with other kinematic or static bodies. + +#### b2_dynamicBody +A dynamic body is fully simulated. They can be moved manually by the +user, but normally they move according to forces. A dynamic body can +collide with all body types. A dynamic body always has finite, non-zero +mass. If you try to set the mass of a dynamic body to zero, it will +automatically acquire a mass of one kilogram and it won't rotate. + +Bodies are the backbone for fixtures (shapes). Bodies carry fixtures and +move them around in the world. Bodies are always rigid bodies in Box2D. +That means that two fixtures attached to the same rigid body never move +relative to each other and fixtures attached to the same body don't +collide. + +Fixtures have collision geometry and density. Normally, bodies acquire +their mass properties from the fixtures. However, you can override the +mass properties after a body is constructed. + +You usually keep pointers to all the bodies you create. This way you can +query the body positions to update the positions of your graphical +entities. You should also keep body pointers so you can destroy them +when you are done with them. + +### Body Definition +Before a body is created you must create a body definition (b2BodyDef). +The body definition holds the data needed to create and initialize a +body. + +Box2D copies the data out of the body definition; it does not keep a +pointer to the body definition. This means you can recycle a body +definition to create multiple bodies. + +Let's go over some of the key members of the body definition. + +### Body Type +As discussed at the beginning of this chapter, there are three different +body types: static, kinematic, and dynamic. You should establish the +body type at creation because changing the body type later is expensive. + +```cpp +b2BodyDef bodyDef; +bodyDef.type = b2_dynamicBody; +``` + +Setting the body type is mandatory. + +### Position and Angle +The body definition gives you the chance to initialize the position of +the body on creation. This has far better performance than creating the +body at the world origin and then moving the body. + +> **Caution**: +> Do not create a body at the origin and then move it. If you create +> several bodies at the origin, then performance will suffer. + +A body has two main points of interest. The first point is the body's +origin. Fixtures and joints are attached relative to the body's origin. +The second point of interest is the center of mass. The center of mass +is determined from mass distribution of the attached shapes or is +explicitly set with b2MassData. Much of Box2D's internal computations +use the center of mass position. For example b2Body stores the linear +velocity for the center of mass. + +When you are building the body definition, you may not know where the +center of mass is located. Therefore you specify the position of the +body's origin. You may also specify the body's angle in radians, which +is not affected by the position of the center of mass. If you later +change the mass properties of the body, then the center of mass may move +on the body, but the origin position does not change and the attached +shapes and joints do not move. + +```cpp +b2BodyDef bodyDef; +bodyDef.position.Set(0.0f, 2.0f); // the body's origin position. +bodyDef.angle = 0.25f * b2_pi; // the body's angle in radians. +``` + +A rigid body is also a frame of reference. You can define fixtures and +joints in that frame. Those fixtures and joint anchors never move in the +local frame of the body. + +### Damping +Damping is used to reduce the world velocity of bodies. Damping is +different than friction because friction only occurs with contact. +Damping is not a replacement for friction and the two effects should be +used together. + +Damping parameters should be between 0 and infinity, with 0 meaning no +damping, and infinity meaning full damping. Normally you will use a +damping value between 0 and 0.1. I generally do not use linear damping +because it makes bodies look like they are floating. + +```cpp +b2BodyDef bodyDef; +bodyDef.linearDamping = 0.0f; +bodyDef.angularDamping = 0.01f; +``` + +Damping is approximated for stability and performance. At small damping +values the damping effect is mostly independent of the time step. At +larger damping values, the damping effect will vary with the time step. +This is not an issue if you use a fixed time step (recommended). + +### Gravity Scale +You can use the gravity scale to adjust the gravity on a single body. Be +careful though, increased gravity can decrease stability. + +```cpp +// Set the gravity scale to zero so this body will float +b2BodyDef bodyDef; +bodyDef.gravityScale = 0.0f; +``` + +### Sleep Parameters +What does sleep mean? Well it is expensive to simulate bodies, so the +less we have to simulate the better. When a body comes to rest we would +like to stop simulating it. + +When Box2D determines that a body (or group of bodies) has come to rest, +the body enters a sleep state which has very little CPU overhead. If a +body is awake and collides with a sleeping body, then the sleeping body +wakes up. Bodies will also wake up if a joint or contact attached to +them is destroyed. You can also wake a body manually. + +The body definition lets you specify whether a body can sleep and +whether a body is created sleeping. + +```cpp +b2BodyDef bodyDef; +bodyDef.allowSleep = true; +bodyDef.awake = true; +``` + +### Fixed Rotation +You may want a rigid body, such as a character, to have a fixed +rotation. Such a body should not rotate, even under load. You can use +the fixed rotation setting to achieve this: + +```cpp +b2BodyDef bodyDef; +bodyDef.fixedRotation = true; +``` + +The fixed rotation flag causes the rotational inertia and its inverse to +be set to zero. + +### Bullets +Game simulation usually generates a sequence of images that are played +at some frame rate. This is called discrete simulation. In discrete +simulation, rigid bodies can move by a large amount in one time step. If +a physics engine doesn't account for the large motion, you may see some +objects incorrectly pass through each other. This effect is called +tunneling. + +By default, Box2D uses continuous collision detection (CCD) to prevent +dynamic bodies from tunneling through static bodies. This is done by +sweeping shapes from their old position to their new positions. The +engine looks for new collisions during the sweep and computes the time +of impact (TOI) for these collisions. Bodies are moved to their first +TOI and then the solver performs a sub-step to complete the full time +step. There may be additional TOI events within a sub-step. + +Normally CCD is not used between dynamic bodies. This is done to keep +performance reasonable. In some game scenarios you need dynamic bodies +to use CCD. For example, you may want to shoot a high speed bullet at a +stack of dynamic bricks. Without CCD, the bullet might tunnel through +the bricks. + +Fast moving objects in Box2D can be labeled as bullets. Bullets will +perform CCD with both static and dynamic bodies. You should decide what +bodies should be bullets based on your game design. If you decide a body +should be treated as a bullet, use the following setting. + +```cpp +b2BodyDef bodyDef; +bodyDef.bullet = true; +``` + +The bullet flag only affects dynamic bodies. + +### Activation +You may wish a body to be created but not participate in collision or +dynamics. This state is similar to sleeping except the body will not be +woken by other bodies and the body's fixtures will not be placed in the +broad-phase. This means the body will not participate in collisions, ray +casts, etc. + +You can create a body in an inactive state and later re-activate it. + +```cpp +b2BodyDef bodyDef; +bodyDef.active = true; +``` + +Joints may be connected to inactive bodies. These joints will not be +simulated. You should be careful when you activate a body that its +joints are not distorted. + +Note that activating a body is almost as expensive as creating the body +from scratch. So you should not use activation for streaming worlds. Use +creation/destruction for streaming worlds to save memory. + +### User Data +User data is a void pointer. This gives you a hook to link your +application objects to bodies. You should be consistent to use the same +object type for all body user data. + +```cpp +b2BodyDef bodyDef; +bodyDef.userData.pointer = reinterpret_cast<uintptr_t>(&myActor); +``` + +### Body Factory +Bodies are created and destroyed using a body factory provided by the +world class. This lets the world create the body with an efficient +allocator and add the body to the world data structure. + +```cpp +b2World* myWorld; +b2Body* dynamicBody = myWorld->CreateBody(&bodyDef); + +// ... do stuff ... + +myWorld->DestroyBody(dynamicBody); +dynamicBody = nullptr; +``` + +> **Caution**: +> You should never use new or malloc to create a body. The world won't +> know about the body and the body won't be properly initialized. + +Box2D does not keep a reference to the body definition or any of the +data it holds (except user data pointers). So you can create temporary +body definitions and reuse the same body definitions. + +Box2D allows you to avoid destroying bodies by deleting your b2World +object, which does all the cleanup work for you. However, you should be +mindful to nullify body pointers that you keep in your game engine. + +When you destroy a body, the attached fixtures and joints are +automatically destroyed. This has important implications for how you +manage shape and joint pointers. + +### Using a Body +After creating a body, there are many operations you can perform on the +body. These include setting mass properties, accessing position and +velocity, applying forces, and transforming points and vectors. + +### Mass Data +A body has mass (scalar), center of mass (2-vector), and rotational +inertia (scalar). For static bodies, the mass and rotational inertia are +set to zero. When a body has fixed rotation, its rotational inertia is +zero. + +Normally the mass properties of a body are established automatically +when fixtures are added to the body. You can also adjust the mass of a +body at run-time. This is usually done when you have special game +scenarios that require altering the mass. + +```cpp +void b2Body::SetMassData(const b2MassData* data); +``` + +After setting a body's mass directly, you may wish to revert to the +natural mass dictated by the fixtures. You can do this with: + +```cpp +void b2Body::ResetMassData(); +``` + +The body's mass data is available through the following functions: + +```cpp +float b2Body::GetMass() const; +float b2Body::GetInertia() const; +const b2Vec2& b2Body::GetLocalCenter() const; +void b2Body::GetMassData(b2MassData* data) const; +``` + +### State Information +There are many aspects to the body's state. You can access this state +data efficiently through the following functions: + +```cpp +void b2Body::SetType(b2BodyType type); +b2BodyType b2Body::GetType(); +void b2Body::SetBullet(bool flag); +bool b2Body::IsBullet() const; +void b2Body::SetSleepingAllowed(bool flag); +bool b2Body::IsSleepingAllowed() const; +void b2Body::SetAwake(bool flag); +bool b2Body::IsAwake() const; +void b2Body::SetEnabled(bool flag); +bool b2Body::IsEnabled() const; +void b2Body::SetFixedRotation(bool flag); +bool b2Body::IsFixedRotation() const; +``` + +### Position and Velocity +You can access the position and rotation of a body. This is common when +rendering your associated game actor. You can also set the position, +although this is less common since you will normally use Box2D to +simulate movement. + +```cpp +bool b2Body::SetTransform(const b2Vec2& position, float angle); +const b2Transform& b2Body::GetTransform() const; +const b2Vec2& b2Body::GetPosition() const; +float b2Body::GetAngle() const; +``` + +You can access the center of mass position in local and world +coordinates. Much of the internal simulation in Box2D uses the center of +mass. However, you should normally not need to access it. Instead you +will usually work with the body transform. For example, you may have a +body that is square. The body origin might be a corner of the square, +while the center of mass is located at the center of the square. + +```cpp +const b2Vec2& b2Body::GetWorldCenter() const; +const b2Vec2& b2Body::GetLocalCenter() const; +``` + +You can access the linear and angular velocity. The linear velocity is +for the center of mass. Therefore, the linear velocity may change if the +mass properties change. + +### Forces and Impulses +You can apply forces, torques, and impulses to a body. When you apply a +force or an impulse, you provide a world point where the load is +applied. This often results in a torque about the center of mass. + +```cpp +void b2Body::ApplyForce(const b2Vec2& force, const b2Vec2& point); +void b2Body::ApplyTorque(float torque); +void b2Body::ApplyLinearImpulse(const b2Vec2& impulse, const b2Vec2& point); +void b2Body::ApplyAngularImpulse(float impulse); +``` + +Applying a force, torque, or impulse wakes the body. Sometimes this is +undesirable. For example, you may be applying a steady force and want to +allow the body to sleep to improve performance. In this case you can use +the following code. + +```cpp +if (myBody->IsAwake() == true) +{ + myBody->ApplyForce(myForce, myPoint); +} +``` + +### Coordinate Transformations +The body class has some utility functions to help you transform points +and vectors between local and world space. If you don't understand +these concepts, please read \"Essential Mathematics for Games and +Interactive Applications\" by Jim Van Verth and Lars Bishop. These +functions are efficient (when inlined). + +```cpp +b2Vec2 b2Body::GetWorldPoint(const b2Vec2& localPoint); +b2Vec2 b2Body::GetWorldVector(const b2Vec2& localVector); +b2Vec2 b2Body::GetLocalPoint(const b2Vec2& worldPoint); +b2Vec2 b2Body::GetLocalVector(const b2Vec2& worldVector); +``` + +### Acessing Fixtures, Joints, and Contacts +You can iterate over a body's fixtures. This is mainly useful if you +need to access the fixture's user data. + +```cpp +for (b2Fixture* f = body->GetFixtureList(); f; f = f->GetNext()) +{ + MyFixtureData* data = (MyFixtureData*)f->GetUserData(); + // do something with data ... +} +``` + +You can similarly iterate over the body's joint list. + +The body also provides a list of associated contacts. You can use this +to get information about the current contacts. Be careful, because the +contact list may not contain all the contacts that existed during the +previous time step. + +## Fixtures +Recall that shapes don't know about bodies and may be used independently +of the physics simulation. Therefore Box2D provides the b2Fixture class +to attach shapes to bodies. A body may have zero or more fixtures. A +body with multiple fixtures is sometimes called a *compound body.* + +Fixtures hold the following: +- a single shape +- broad-phase proxies +- density, friction, and restitution +- collision filtering flags +- back pointer to the parent body +- user data +- sensor flag + +These are described in the following sections. + +### Fixture Creation +Fixtures are created by initializing a fixture definition and then +passing the definition to the parent body. + +```cpp +b2Body* myBody; +b2FixtureDef fixtureDef; +fixtureDef.shape = &myShape; +fixtureDef.density = 1.0f; +b2Fixture* myFixture = myBody->CreateFixture(&fixtureDef); +``` + +This creates the fixture and attaches it to the body. You do not need to +store the fixture pointer since the fixture will automatically be +destroyed when the parent body is destroyed. You can create multiple +fixtures on a single body. + +You can destroy a fixture on the parent body. You may do this to model a +breakable object. Otherwise you can just leave the fixture alone and let +the body destruction take care of destroying the attached fixtures. + +```cpp +myBody->DestroyFixture(myFixture); +``` + +### Density +The fixture density is used to compute the mass properties of the parent +body. The density can be zero or positive. You should generally use +similar densities for all your fixtures. This will improve stacking +stability. + +The mass of a body is not adjusted when you set the density. You must +call ResetMassData for this to occur. + +```cpp +b2Fixture* fixture; +fixture->SetDensity(5.0f); +b2Body* +body->ResetMassData(); +``` + +### Friction +Friction is used to make objects slide along each other realistically. +Box2D supports static and dynamic friction, but uses the same parameter +for both. Friction is simulated accurately in Box2D and the friction +strength is proportional to the normal force (this is called Coulomb +friction). The friction parameter is usually set between 0 and 1, but +can be any non-negative value. A friction value of 0 turns off friction +and a value of 1 makes the friction strong. When the friction force is +computed between two shapes, Box2D must combine the friction parameters +of the two parent fixtures. This is done with the geometric mean: + +```cpp +b2Fixture* fixtureA; +b2Fixture* fixtureB; +float friction; +friction = sqrtf(fixtureA->friction * fixtureB->friction); +``` + +So if one fixture has zero friction then the contact will have zero +friction. + +You can override the default mixed friction using +`b2Contact::SetFriction`. This is usually done in the `b2ContactListener` +callback. + +### Restitution +Restitution is used to make objects bounce. The restitution value is +usually set to be between 0 and 1. Consider dropping a ball on a table. +A value of zero means the ball won't bounce. This is called an +inelastic collision. A value of one means the ball's velocity will be +exactly reflected. This is called a perfectly elastic collision. +Restitution is combined using the following formula. + +```cpp +b2Fixture* fixtureA; +b2Fixture* fixtureB; +float restitution; +restitution = b2Max(fixtureA->restitution, fixtureB->restitution); +``` + +Restitution is combined this way so that you can have a bouncy super +ball without having a bouncy floor. + +You can override the default mixed restitution using +`b2Contact::SetRestitution`. This is usually done in the b2ContactListener +callback. + +When a shape develops multiple contacts, restitution is simulated +approximately. This is because Box2D uses an iterative solver. Box2D +also uses inelastic collisions when the collision velocity is small. +This is done to prevent jitter. See `b2_velocityThreshold`. + +### Filtering +Collision filtering allows you to prevent collision between fixtures. +For example, say you make a character that rides a bicycle. You want the +bicycle to collide with the terrain and the character to collide with +the terrain, but you don't want the character to collide with the +bicycle (because they must overlap). Box2D supports such collision +filtering using categories and groups. + +Box2D supports 16 collision categories. For each fixture you can specify +which category it belongs to. You also specify what other categories +this fixture can collide with. For example, you could specify in a +multiplayer game that all players don't collide with each other and +monsters don't collide with each other, but players and monsters should +collide. This is done with masking bits. For example: + +```cpp +b2FixtureDef playerFixtureDef, monsterFixtureDef; +playerFixtureDef.filter.categoryBits = 0x0002; +monsterFixtureDef.filter.categoryBits = 0x0004; +playerFixtureDef.filter.maskBits = 0x0004; +monsterFixtureDef.filter.maskBits = 0x0002; +``` + +Here is the rule for a collision to occur: + +```cpp +uint16 catA = fixtureA.filter.categoryBits; +uint16 maskA = fixtureA.filter.maskBits; +uint16 catB = fixtureB.filter.categoryBits; +uint16 maskB = fixtureB.filter.maskBits; + +if ((catA & maskB) != 0 && (catB & maskA) != 0) +{ + // fixtures can collide +} +``` + +Collision groups let you specify an integral group index. You can have +all fixtures with the same group index always collide (positive index) +or never collide (negative index). Group indices are usually used for +things that are somehow related, like the parts of a bicycle. In the +following example, fixture1 and fixture2 always collide, but fixture3 +and fixture4 never collide. + +```cpp +fixture1Def.filter.groupIndex = 2; +fixture2Def.filter.groupIndex = 2; +fixture3Def.filter.groupIndex = -8; +fixture4Def.filter.groupIndex = -8; +``` + +Collisions between fixtures of different group indices are filtered +according the category and mask bits. In other words, group filtering +has higher precedence than category filtering. + +Note that additional collision filtering occurs in Box2D. Here is a +list: +- A fixture on a static body can only collide with a dynamic body. +- A fixture on a kinematic body can only collide with a dynamic body. +- Fixtures on the same body never collide with each other. +- You can optionally enable/disable collision between fixtures on bodies connected by a joint. + +Sometimes you might need to change collision filtering after a fixture +has already been created. You can get and set the b2Filter structure on +an existing fixture using b2Fixture::GetFilterData and +b2Fixture::SetFilterData. Note that changing the filter data will not +add or remove contacts until the next time step (see the World class). + +### Sensors +Sometimes game logic needs to know when two fixtures overlap yet there +should be no collision response. This is done by using sensors. A sensor +is a fixture that detects collision but does not produce a response. + +You can flag any fixture as being a sensor. Sensors may be static, +kinematic, or dynamic. Remember that you may have multiple fixtures per +body and you can have any mix of sensors and solid fixtures. Also, +sensors only form contacts when at least one body is dynamic, so you +will not get a contact for kinematic versus kinematic, kinematic versus +static, or static versus static. + +Sensors do not generate contact points. There are two ways to get the +state of a sensor: +1. `b2Contact::IsTouching` +2. `b2ContactListener::BeginContact` and `b2ContactListener::EndContact` + +## Joints +Joints are used to constrain bodies to the world or to each other. +Typical examples in games include ragdolls, teeters, and pulleys. Joints +can be combined in many different ways to create interesting motions. + +Some joints provide limits so you can control the range of motion. Some +joint provide motors which can be used to drive the joint at a +prescribed speed until a prescribed force/torque is exceeded. + +Joint motors can be used in many ways. You can use motors to control +position by specifying a joint velocity that is proportional to the +difference between the actual and desired position. You can also use +motors to simulate joint friction: set the joint velocity to zero and +provide a small, but significant maximum motor force/torque. Then the +motor will attempt to keep the joint from moving until the load becomes +too strong. + +### Joint Definition +Each joint type has a definition that derives from b2JointDef. All +joints are connected between two different bodies. One body may static. +Joints between static and/or kinematic bodies are allowed, but have no +effect and use some processing time. + +You can specify user data for any joint type and you can provide a flag +to prevent the attached bodies from colliding with each other. This is +actually the default behavior and you must set the collideConnected +Boolean to allow collision between to connected bodies. + +Many joint definitions require that you provide some geometric data. +Often a joint will be defined by anchor points. These are points fixed +in the attached bodies. Box2D requires these points to be specified in +local coordinates. This way the joint can be specified even when the +current body transforms violate the joint constraint \-\-- a common +occurrence when a game is saved and reloaded. Additionally, some joint +definitions need to know the default relative angle between the bodies. +This is necessary to constrain rotation correctly. + +Initializing the geometric data can be tedious, so many joints have +initialization functions that use the current body transforms to remove +much of the work. However, these initialization functions should usually +only be used for prototyping. Production code should define the geometry +directly. This will make joint behavior more robust. + +The rest of the joint definition data depends on the joint type. We +cover these now. + +### Joint Factory +Joints are created and destroyed using the world factory methods. This +brings up an old issue: + +> **Caution**: +> Don't try to create a joint on the stack or on the heap using new or +> malloc. You must create and destroy bodies and joints using the create +> and destroy methods of the b2World class. + +Here's an example of the lifetime of a revolute joint: + +```cpp +b2World* myWorld; +b2RevoluteJointDef jointDef; +jointDef.bodyA = myBodyA; +jointDef.bodyB = myBodyB; +jointDef.anchorPoint = myBodyA->GetCenterPosition(); + +b2RevoluteJoint* joint = (b2RevoluteJoint*)myWorld->CreateJoint(&jointDef); + +// ... do stuff ... + +myWorld->DestroyJoint(joint); +joint = nullptr; +``` + +It is always good to nullify your pointer after they are destroyed. This +will make the program crash in a controlled manner if you try to reuse +the pointer. + +The lifetime of a joint is not simple. Heed this warning well: + +> **Caution**: +> Joints are destroyed when an attached body is destroyed. + +This precaution is not always necessary. You may organize your game +engine so that joints are always destroyed before the attached bodies. +In this case you don't need to implement the listener class. See the +section on Implicit Destruction for details. + +### Using Joints +Many simulations create the joints and don't access them again until +they are destroyed. However, there is a lot of useful data contained in +joints that you can use to create a rich simulation. + +First of all, you can get the bodies, anchor points, and user data from +a joint. + +```cpp +b2Body* b2Joint::GetBodyA(); +b2Body* b2Joint::GetBodyB(); +b2Vec2 b2Joint::GetAnchorA(); +b2Vec2 b2Joint::GetAnchorB(); +void* b2Joint::GetUserData(); +``` + +All joints have a reaction force and torque. This the reaction force +applied to body 2 at the anchor point. You can use reaction forces to +break joints or trigger other game events. These functions may do some +computations, so don't call them if you don't need the result. + +```cpp +b2Vec2 b2Joint::GetReactionForce(); +float b2Joint::GetReactionTorque(); +``` + +### Distance Joint +One of the simplest joint is a distance joint which says that the +distance between two points on two bodies must be constant. When you +specify a distance joint the two bodies should already be in place. Then +you specify the two anchor points in world coordinates. The first anchor +point is connected to body 1, and the second anchor point is connected +to body 2. These points imply the length of the distance constraint. + + + +Here is an example of a distance joint definition. In this case we +decide to allow the bodies to collide. + +```cpp +b2DistanceJointDef jointDef; +jointDef.Initialize(myBodyA, myBodyB, worldAnchorOnBodyA, +worldAnchorOnBodyB); +jointDef.collideConnected = true; +``` + +The distance joint can also be made soft, like a spring-damper +connection. See the Web example in the testbed to see how this behaves. + +Softness is achieved by tuning two constants in the definition: +stiffness and damping. It can be non-intuitive setting these values directly +since they have units in terms on Newtons. Box2D provides and API to compute +these values in terms of frequency and damping ratio. +```cpp +void b2LinearStiffness(float& stiffness, float& damping, + float frequencyHertz, float dampingRatio, + const b2Body* bodyA, const b2Body* bodyB); +``` + +Think of the frequency as the frequency of a harmonic oscillator (like a +guitar string). The frequency is specified in Hertz. Typically the frequency +should be less than a half the frequency of the time step. So if you are using +a 60Hz time step, the frequency of the distance joint should be less than 30Hz. +The reason is related to the Nyquist frequency. + +The damping ratio is non-dimensional and is typically between 0 and 1, +but can be larger. At 1, the damping is critical (all oscillations +should vanish). + +```cpp +float frequencyHz = 4.0f; +float dampingRatio = 0.5f; +b2LinearStiffness(jointDef.stiffness, jointDef.damping, frequencyHz, dampingRatio, jointDef.bodyA, jointDef.bodyB); +``` + +It is also possible to define a minimum and maximum length for the distance joint. +See `b2DistanceJointDef` for details. + +### Revolute Joint +A revolute joint forces two bodies to share a common anchor point, often +called a hinge point. The revolute joint has a single degree of freedom: +the relative rotation of the two bodies. This is called the joint angle. + + + +To specify a revolute you need to provide two bodies and a single anchor +point in world space. The initialization function assumes that the +bodies are already in the correct position. + +In this example, two bodies are connected by a revolute joint at the +first body's center of mass. + +```cpp +b2RevoluteJointDef jointDef; +jointDef.Initialize(myBodyA, myBodyB, myBodyA->GetWorldCenter()); +``` + +The revolute joint angle is positive when bodyB rotates CCW about the +angle point. Like all angles in Box2D, the revolute angle is measured in +radians. By convention the revolute joint angle is zero when the joint +is created using Initialize(), regardless of the current rotation of the +two bodies. + +In some cases you might wish to control the joint angle. For this, the +revolute joint can optionally simulate a joint limit and/or a motor. + +A joint limit forces the joint angle to remain between a lower and upper +bound. The limit will apply as much torque as needed to make this +happen. The limit range should include zero, otherwise the joint will +lurch when the simulation begins. + +A joint motor allows you to specify the joint speed (the time derivative +of the angle). The speed can be negative or positive. A motor can have +infinite force, but this is usually not desirable. Recall the eternal +question: + +> *What happens when an irresistible force meets an immovable object?* + +I can tell you it's not pretty. So you can provide a maximum torque for +the joint motor. The joint motor will maintain the specified speed +unless the required torque exceeds the specified maximum. When the +maximum torque is exceeded, the joint will slow down and can even +reverse. + +You can use a joint motor to simulate joint friction. Just set the joint +speed to zero, and set the maximum torque to some small, but significant +value. The motor will try to prevent the joint from rotating, but will +yield to a significant load. + +Here's a revision of the revolute joint definition above; this time the +joint has a limit and a motor enabled. The motor is setup to simulate +joint friction. + +```cpp +b2RevoluteJointDef jointDef; +jointDef.Initialize(bodyA, bodyB, myBodyA->GetWorldCenter()); +jointDef.lowerAngle = -0.5f * b2_pi; // -90 degrees +jointDef.upperAngle = 0.25f * b2_pi; // 45 degrees +jointDef.enableLimit = true; +jointDef.maxMotorTorque = 10.0f; +jointDef.motorSpeed = 0.0f; +jointDef.enableMotor = true; +``` +You can access a revolute joint's angle, speed, and motor torque. + +```cpp +float b2RevoluteJoint::GetJointAngle() const; +float b2RevoluteJoint::GetJointSpeed() const; +float b2RevoluteJoint::GetMotorTorque() const; +``` + +You also update the motor parameters each step. + +```cpp +void b2RevoluteJoint::SetMotorSpeed(float speed); +void b2RevoluteJoint::SetMaxMotorTorque(float torque); +``` + +Joint motors have some interesting abilities. You can update the joint +speed every time step so you can make the joint move back-and-forth like +a sine-wave or according to whatever function you want. + +```cpp +// ... Game Loop Begin ... + +myJoint->SetMotorSpeed(cosf(0.5f * time)); + +// ... Game Loop End ... +``` + +You can also use joint motors to track a desired joint angle. For example: + +```cpp +// ... Game Loop Begin ... + +float angleError = myJoint->GetJointAngle() - angleTarget; +float gain = 0.1f; +myJoint->SetMotorSpeed(-gain * angleError); + +// ... Game Loop End ... +``` + +Generally your gain parameter should not be too large. Otherwise your +joint may become unstable. + +### Prismatic Joint +A prismatic joint allows for relative translation of two bodies along a +specified axis. A prismatic joint prevents relative rotation. Therefore, +a prismatic joint has a single degree of freedom. + + + +The prismatic joint definition is similar to the revolute joint +description; just substitute translation for angle and force for torque. +Using this analogy provides an example prismatic joint definition with a +joint limit and a friction motor: + +```cpp +b2PrismaticJointDef jointDef; +b2Vec2 worldAxis(1.0f, 0.0f); +jointDef.Initialize(myBodyA, myBodyB, myBodyA->GetWorldCenter(), worldAxis); +jointDef.lowerTranslation = -5.0f; +jointDef.upperTranslation = 2.5f; +jointDef.enableLimit = true; +jointDef.maxMotorForce = 1.0f; +jointDef.motorSpeed = 0.0f; +jointDef.enableMotor = true; +``` + +The revolute joint has an implicit axis coming out of the screen. The +prismatic joint needs an explicit axis parallel to the screen. This axis +is fixed in the two bodies and follows their motion. + +Like the revolute joint, the prismatic joint translation is zero when +the joint is created using Initialize(). So be sure zero is between your +lower and upper translation limits. + +Using a prismatic joint is similar to using a revolute joint. Here are +the relevant member functions: + +```cpp +float PrismaticJoint::GetJointTranslation() const; +float PrismaticJoint::GetJointSpeed() const; +float PrismaticJoint::GetMotorForce() const; +void PrismaticJoint::SetMotorSpeed(float speed); +void PrismaticJoint::SetMotorForce(float force); +``` + +### Pulley Joint +A pulley is used to create an idealized pulley. The pulley connects two +bodies to ground and to each other. As one body goes up, the other goes +down. The total length of the pulley rope is conserved according to the +initial configuration. + +``` +length1 + length2 == constant +``` + +You can supply a ratio that simulates a block and tackle. This causes +one side of the pulley to extend faster than the other. At the same time +the constraint force is smaller on one side than the other. You can use +this to create mechanical leverage. + +``` +length1 + ratio * length2 == constant +``` + +For example, if the ratio is 2, then length1 will vary at twice the rate +of length2. Also the force in the rope attached to body1 will have half +the constraint force as the rope attached to body2. + + + +Pulleys can be troublesome when one side is fully extended. The rope on +the other side will have zero length. At this point the constraint +equations become singular (bad). You should configure collision shapes +to prevent this. + +Here is an example pulley definition: + +```cpp +b2Vec2 anchor1 = myBody1->GetWorldCenter(); +b2Vec2 anchor2 = myBody2->GetWorldCenter(); + +b2Vec2 groundAnchor1(p1.x, p1.y + 10.0f); +b2Vec2 groundAnchor2(p2.x, p2.y + 12.0f); + +float ratio = 1.0f; + +b2PulleyJointDef jointDef; +jointDef.Initialize(myBody1, myBody2, groundAnchor1, groundAnchor2, anchor1, anchor2, ratio); +``` + +Pulley joints provide the current lengths. + +```cpp +float PulleyJoint::GetLengthA() const; +float PulleyJoint::GetLengthB() const; +``` + +### Gear Joint +If you want to create a sophisticated mechanical contraption you might +want to use gears. In principle you can create gears in Box2D by using +compound shapes to model gear teeth. This is not very efficient and +might be tedious to author. You also have to be careful to line up the +gears so the teeth mesh smoothly. Box2D has a simpler method of creating +gears: the gear joint. + + + +The gear joint can only connect revolute and/or prismatic joints. + +Like the pulley ratio, you can specify a gear ratio. However, in this +case the gear ratio can be negative. Also keep in mind that when one +joint is a revolute joint (angular) and the other joint is prismatic +(translation), and then the gear ratio will have units of length or one +over length. + +``` +coordinate1 + ratio * coordinate2 == constant +``` + +Here is an example gear joint. The bodies myBodyA and myBodyB are any +bodies from the two joints, as long as they are not the same bodies. + +```cpp +b2GearJointDef jointDef; +jointDef.bodyA = myBodyA; +jointDef.bodyB = myBodyB; +jointDef.joint1 = myRevoluteJoint; +jointDef.joint2 = myPrismaticJoint; +jointDef.ratio = 2.0f * b2_pi / myLength; +``` + +Note that the gear joint depends on two other joints. This creates a +fragile situation. What happens if those joints are deleted? + +> **Caution**: +> Always delete gear joints before the revolute/prismatic joints on the +> gears. Otherwise your code will crash in a bad way due to the orphaned +> joint pointers in the gear joint. You should also delete the gear joint +> before you delete any of the bodies involved. + +### Mouse Joint +The mouse joint is used in the testbed to manipulate bodies with the +mouse. It attempts to drive a point on a body towards the current +position of the cursor. There is no restriction on rotation. + +The mouse joint definition has a target point, maximum force, frequency, +and damping ratio. The target point initially coincides with the body's +anchor point. The maximum force is used to prevent violent reactions +when multiple dynamic bodies interact. You can make this as large as you +like. The frequency and damping ratio are used to create a spring/damper +effect similar to the distance joint. + +Many users have tried to adapt the mouse joint for game play. Users +often want to achieve precise positioning and instantaneous response. +The mouse joint doesn't work very well in that context. You may wish to +consider using kinematic bodies instead. + +### Wheel Joint +The wheel joint restricts a point on bodyB to a line on bodyA. The wheel +joint also provides a suspension spring. See b2WheelJoint.h and Car.h +for details. + + + +### Weld Joint +The weld joint attempts to constrain all relative motion between two +bodies. See the Cantilever.h in the testbed to see how the weld joint +behaves. + +It is tempting to use the weld joint to define breakable structures. +However, the Box2D solver is iterative so the joints are a bit soft. So +chains of bodies connected by weld joints will flex. + +Instead it is better to create breakable bodies starting with a single +body with multiple fixtures. When the body breaks, you can destroy a +fixture and recreate it on a new body. See the Breakable example in the +testbed. + +### Rope Joint +The rope joint restricts the maximum distance between two points. This +can be useful to prevent chains of bodies from stretching, even under +high load. See b2RopeJoint.h and rope_joint.cpp for details. + +### Friction Joint +The friction joint is used for top-down friction. The joint provides 2D +translational friction and angular friction. See b2FrictionJoint.h and +apply_force.cpp for details. + +### Motor Joint +A motor joint lets you control the motion of a body by specifying target +position and rotation offsets. You can set the maximum motor force and +torque that will be applied to reach the target position and rotation. +If the body is blocked, it will stop and the contact forces will be +proportional the maximum motor force and torque. See b2MotorJoint and +motor_joint.cpp for details. + +### Wheel Joint +The wheel joint is designed specifically for vehicles. It provides a translation +and rotation. The translation has a spring and damper to simulate the vehicle +suspension. The rotation allows the wheel to rotate. You can specify an rotational +motor to drive the wheel and to apply braking. See b2WheelJoint, wheel_joint.cpp, +and car.cpp for details. + +## Contacts +Contacts are objects created by Box2D to manage collision between two +fixtures. If the fixture has children, such as a chain shape, then a +contact exists for each relevant child. There are different kinds of +contacts, derived from b2Contact, for managing contact between different +kinds of fixtures. For example there is a contact class for managing +polygon-polygon collision and another contact class for managing +circle-circle collision. + +Here is some terminology associated with contacts. + +##### contact point +A contact point is a point where two shapes touch. Box2D approximates +contact with a small number of points. + +##### contact normal +A contact normal is a unit vector that points from one shape to another. +By convention, the normal points from fixtureA to fixtureB. + +##### contact separation +Separation is the opposite of penetration. Separation is negative when +shapes overlap. It is possible that future versions of Box2D will create +contact points with positive separation, so you may want to check the +sign when contact points are reported. + +##### contact manifold +Contact between two convex polygons may generate up to 2 contact points. +Both of these points use the same normal, so they are grouped into a +contact manifold, which is an approximation of a continuous region of +contact. + +##### normal impulse +The normal force is the force applied at a contact point to prevent the +shapes from penetrating. For convenience, Box2D works with impulses. The +normal impulse is just the normal force multiplied by the time step. + +##### tangent impulse +The tangent force is generated at a contact point to simulate friction. +For convenience, this is stored as an impulse. + +##### contact ids +Box2D tries to re-use the contact force results from a time step as the +initial guess for the next time step. Box2D uses contact ids to match +contact points across time steps. The ids contain geometric features +indices that help to distinguish one contact point from another. + +Contacts are created when two fixture's AABBs overlap. Sometimes +collision filtering will prevent the creation of contacts. Contacts are +destroyed with the AABBs cease to overlap. + +So you might gather that there may be contacts created for fixtures that +are not touching (just their AABBs). Well, this is correct. It's a +\"chicken or egg\" problem. We don't know if we need a contact object +until one is created to analyze the collision. We could delete the +contact right away if the shapes are not touching, or we can just wait +until the AABBs stop overlapping. Box2D takes the latter approach +because it lets the system cache information to improve performance. + +### Contact Class +As mentioned before, the contact class is created and destroyed by +Box2D. Contact objects are not created by the user. However, you are +able to access the contact class and interact with it. + +You can access the raw contact manifold: + +```cpp +b2Manifold* b2Contact::GetManifold(); +const b2Manifold* b2Contact::GetManifold() const; +``` + +You can potentially modify the manifold, but this is generally not +supported and is for advanced usage. + +There is a helper function to get the `b2WorldManifold`: + +```cpp +void b2Contact::GetWorldManifold(b2WorldManifold* worldManifold) const; +``` + +This uses the current positions of the bodies to compute world positions +of the contact points. + +Sensors do not create manifolds, so for them use: + +```cpp +bool touching = sensorContact->IsTouching(); +``` + +This function also works for non-sensors. + +You can get the fixtures from a contact. From those you can get the +bodies. + +```cpp +b2Fixture* fixtureA = myContact->GetFixtureA(); +b2Body* bodyA = fixtureA->GetBody(); +MyActor* actorA = (MyActor*)bodyA->GetUserData().pointer; +``` + +You can disable a contact. This only works inside the +b2ContactListener::PreSolve event, discussed below. + +### Accessing Contacts +You can get access to contacts in several ways. You can access the +contacts directly on the world and body structures. You can also +implement a contact listener. + +You can iterate over all contacts in the world: + +```cpp +for (b2Contact* c = myWorld->GetContactList(); c; c = c->GetNext()) +{ + // process c +} +``` + +You can also iterate over all the contacts on a body. These are stored +in a graph using a contact edge structure. + +```cpp +for (b2ContactEdge* ce = myBody->GetContactList(); ce; ce = ce->next) +{ + b2Contact* c = ce->contact; + // process c +} +``` + +You can also access contacts using the contact listener that is +described below. + +> **Caution**: +> Accessing contacts off b2World and b2Body may miss some transient +> contacts that occur in the middle of the time step. Use +> b2ContactListener to get the most accurate results. + +### Contact Listener +You can receive contact data by implementing b2ContactListener. The +contact listener supports several events: begin, end, pre-solve, and +post-solve. + +```cpp +class MyContactListener : public b2ContactListener +{ +public: + +void BeginContact(b2Contact* contact) +{ /* handle begin event */ } + +void EndContact(b2Contact* contact) +{ /* handle end event */ } + +void PreSolve(b2Contact* contact, const b2Manifold* oldManifold) +{ /* handle pre-solve event */ } + +void PostSolve(b2Contact* contact, const b2ContactImpulse* impulse) +{ /* handle post-solve event */ } +}; +``` + +> **Caution**: +> Do not keep a reference to the pointers sent to b2ContactListener. +> Instead make a deep copy of the contact point data into your own buffer. +> The example below shows one way of doing this. + +At run-time you can create an instance of the listener and register it +with b2World::SetContactListener. Be sure your listener remains in scope +while the world object exists. + +#### Begin Contact Event +This is called when two fixtures begin to overlap. This is called for +sensors and non-sensors. This event can only occur inside the time step. + +#### End Contact Event +This is called when two fixtures cease to overlap. This is called for +sensors and non-sensors. This may be called when a body is destroyed, so +this event can occur outside the time step. + +#### Pre-Solve Event +This is called after collision detection, but before collision +resolution. This gives you a chance to disable the contact based on the +current configuration. For example, you can implement a one-sided +platform using this callback and calling b2Contact::SetEnabled(false). +The contact will be re-enabled each time through collision processing, +so you will need to disable the contact every time-step. The pre-solve +event may be fired multiple times per time step per contact due to +continuous collision detection. + +```cpp +void PreSolve(b2Contact* contact, const b2Manifold* oldManifold) +{ + b2WorldManifold worldManifold; + contact->GetWorldManifold(&worldManifold); + if (worldManifold.normal.y < -0.5f) + { + contact->SetEnabled(false); + } +} +``` + +The pre-solve event is also a good place to determine the point state +and the approach velocity of collisions. + +```cpp +void PreSolve(b2Contact* contact, const b2Manifold* oldManifold) +{ + b2WorldManifold worldManifold; + contact->GetWorldManifold(&worldManifold); + + b2PointState state1[2], state2[2]; + b2GetPointStates(state1, state2, oldManifold, contact->GetManifold()); + + if (state2[0] == b2_addState) + { + const b2Body* bodyA = contact->GetFixtureA()->GetBody(); + const b2Body* bodyB = contact->GetFixtureB()->GetBody(); + b2Vec2 point = worldManifold.points[0]; + b2Vec2 vA = bodyA->GetLinearVelocityFromWorldPoint(point); + b2Vec2 vB = bodyB->GetLinearVelocityFromWorldPoint(point); + + float approachVelocity = b2Dot(vB -- vA, worldManifold.normal); + + if (approachVelocity > 1.0f) + { + MyPlayCollisionSound(); + } + } +} +``` + +#### Post-Solve Event +The post solve event is where you can gather collision impulse results. +If you don't care about the impulses, you should probably just implement +the pre-solve event. + +It is tempting to implement game logic that alters the physics world +inside a contact callback. For example, you may have a collision that +applies damage and try to destroy the associated actor and its rigid +body. However, Box2D does not allow you to alter the physics world +inside a callback because you might destroy objects that Box2D is +currently processing, leading to orphaned pointers. + +The recommended practice for processing contact points is to buffer all +contact data that you care about and process it after the time step. You +should always process the contact points immediately after the time +step; otherwise some other client code might alter the physics world, +invalidating the contact buffer. When you process the contact buffer you +can alter the physics world, but you still need to be careful that you +don't orphan pointers stored in the contact point buffer. The testbed +has example contact point processing that is safe from orphaned +pointers. + +This code from the CollisionProcessing test shows how to handle orphaned +bodies when processing the contact buffer. Here is an excerpt. Be sure +to read the comments in the listing. This code assumes that all contact +points have been buffered in the b2ContactPoint array m_points. + +```cpp +// We are going to destroy some bodies according to contact +// points. We must buffer the bodies that should be destroyed +// because they may belong to multiple contact points. +const int32 k_maxNuke = 6; +b2Body* nuke[k_maxNuke]; +int32 nukeCount = 0; + +// Traverse the contact buffer. Destroy bodies that +// are touching heavier bodies. +for (int32 i = 0; i < m_pointCount; ++i) +{ + ContactPoint* point = m_points + i; + b2Body* bodyA = point->fixtureA->GetBody(); + b2Body* bodyB = point->FixtureB->GetBody(); + float massA = bodyA->GetMass(); + float massB = bodyB->GetMass(); + + if (massA > 0.0f && massB > 0.0f) + { + if (massB > massA) + { + nuke[nukeCount++] = bodyA; + } + else + { + nuke[nukeCount++] = bodyB; + } + + if (nukeCount == k_maxNuke) + { + break; + } + } +} + +// Sort the nuke array to group duplicates. +std::sort(nuke, nuke + nukeCount); + +// Destroy the bodies, skipping duplicates. +int32 i = 0; +while (i < nukeCount) +{ + b2Body* b = nuke[i++]; + while (i < nukeCount && nuke[i] == b) + { + ++i; + } + + m_world->DestroyBody(b); +} +``` + +### Contact Filtering +Often in a game you don't want all objects to collide. For example, you +may want to create a door that only certain characters can pass through. +This is called contact filtering, because some interactions are filtered +out. + +Box2D allows you to achieve custom contact filtering by implementing a +b2ContactFilter class. This class requires you to implement a +ShouldCollide function that receives two b2Shape pointers. Your function +returns true if the shapes should collide. + +The default implementation of ShouldCollide uses the b2FilterData +defined in Chapter 6, Fixtures. + +```cpp +bool b2ContactFilter::ShouldCollide(b2Fixture* fixtureA, b2Fixture* fixtureB) +{ + const b2Filter& filterA = fixtureA->GetFilterData(); + const b2Filter& filterB = fixtureB->GetFilterData(); + + if (filterA.groupIndex == filterB.groupIndex && filterA.groupIndex != 0) + { + return filterA.groupIndex > 0; + } + + bool collideA = (filterA.maskBits & filterB.categoryBits) != 0; + bool collideB = (filterA.categoryBits & filterB.maskBits) != 0 + bool collide = collideA && collideB; + return collide; +} +``` + +At run-time you can create an instance of your contact filter and +register it with b2World::SetContactFilter. Make sure your filter stays +in scope while the world exists. + +```cpp +MyContactFilter filter; +world->SetContactFilter(&filter); +// filter remains in scope ... +``` + +## World +The `b2World` class contains the bodies and joints. It manages all aspects +of the simulation and allows for asynchronous queries (like AABB queries +and ray-casts). Much of your interactions with Box2D will be with a +b2World object. + +### Creating and Destroying a World +Creating a world is fairly simple. You just need to provide a gravity +vector and a Boolean indicating if bodies can sleep. Usually you will +create and destroy a world using new and delete. + +```cpp +b2World* myWorld = new b2World(gravity, doSleep); + +// ... do stuff ... + +delete myWorld; +``` + +### Using a World +The world class contains factories for creating and destroying bodies +and joints. These factories are discussed later in the sections on +bodies and joints. There are some other interactions with b2World that I +will cover now. + +### Simulation +The world class is used to drive the simulation. You specify a time step +and a velocity and position iteration count. For example: + +```cpp +float timeStep = 1.0f / 60.f; +int32 velocityIterations = 10; +int32 positionIterations = 8; +myWorld->Step(timeStep, velocityIterations, positionIterations); +``` + +After the time step you can examine your bodies and joints for +information. Most likely you will grab the position off the bodies so +that you can update your actors and render them. You can perform the +time step anywhere in your game loop, but you should be aware of the +order of things. For example, you must create bodies before the time +step if you want to get collision results for the new bodies in that +frame. + +As I discussed above in the HelloWorld tutorial, you should use a fixed +time step. By using a larger time step you can improve performance in +low frame rate scenarios. But generally you should use a time step no +larger than 1/30 seconds. A time step of 1/60 seconds will usually +deliver a high quality simulation. + +The iteration count controls how many times the constraint solver sweeps +over all the contacts and joints in the world. More iteration always +yields a better simulation. But don't trade a small time step for a +large iteration count. 60Hz and 10 iterations is far better than 30Hz +and 20 iterations. + +After stepping, you should clear any forces you have applied to your +bodies. This is done with the command `b2World::ClearForces`. This lets +you take multiple sub-steps with the same force field. + +```cpp +myWorld->ClearForces(); +``` + +### Exploring the World +The world is a container for bodies, contacts, and joints. You can grab +the body, contact, and joint lists off the world and iterate over them. +For example, this code wakes up all the bodies in the world: + +```cpp +for (b2Body* b = myWorld->GetBodyList(); b; b = b->GetNext()) +{ + b->SetAwake(true); +} +``` + +Unfortunately real programs can be more complicated. For example, the +following code is broken: + +```cpp +for (b2Body* b = myWorld->GetBodyList(); b; b = b->GetNext()) +{ + GameActor* myActor = (GameActor*)b->GetUserData().pointer; + if (myActor->IsDead()) + { + myWorld->DestroyBody(b); // ERROR: now GetNext returns garbage. + } +} +``` + +Everything goes ok until a body is destroyed. Once a body is destroyed, +its next pointer becomes invalid. So the call to `b2Body::GetNext()` will +return garbage. The solution to this is to copy the next pointer before +destroying the body. + +```cpp +b2Body* node = myWorld->GetBodyList(); +while (node) +{ + b2Body* b = node; + node = node->GetNext(); + + GameActor* myActor = (GameActor*)b->GetUserData().pointer; + if (myActor->IsDead()) + { + myWorld->DestroyBody(b); + } +} +``` + +This safely destroys the current body. However, you may want to call a +game function that may destroy multiple bodies. In this case you need to +be very careful. The solution is application specific, but for +convenience I'll show one method of solving the problem. + +```cpp +b2Body* node = myWorld->GetBodyList(); +while (node) +{ + b2Body* b = node; + node = node->GetNext(); + + GameActor* myActor = (GameActor*)b->GetUserData().pointer; + if (myActor->IsDead()) + { + bool otherBodiesDestroyed = GameCrazyBodyDestroyer(b); + if (otherBodiesDestroyed) + { + node = myWorld->GetBodyList(); + } + } +} +``` + +Obviously to make this work, GameCrazyBodyDestroyer must be honest about +what it has destroyed. + +### AABB Queries +Sometimes you want to determine all the shapes in a region. The b2World +class has a fast log(N) method for this using the broad-phase data +structure. You provide an AABB in world coordinates and an +implementation of b2QueryCallback. The world calls your class with each +fixture whose AABB overlaps the query AABB. Return true to continue the +query, otherwise return false. For example, the following code finds all +the fixtures that potentially intersect a specified AABB and wakes up +all of the associated bodies. + +```cpp +class MyQueryCallback : public b2QueryCallback +{ +public: + bool ReportFixture(b2Fixture* fixture) + { + b2Body* body = fixture->GetBody(); + body->SetAwake(true); + + // Return true to continue the query. + return true; + } +}; + +// Elsewhere ... +MyQueryCallback callback; +b2AABB aabb; + +aabb.lowerBound.Set(-1.0f, -1.0f); +aabb.upperBound.Set(1.0f, 1.0f); +myWorld->Query(&callback, aabb); +``` + +You cannot make any assumptions about the order of the callbacks. + +### Ray Casts +You can use ray casts to do line-of-sight checks, fire guns, etc. You +perform a ray cast by implementing a callback class and providing the +start and end points. The world class calls your class with each fixture +hit by the ray. Your callback is provided with the fixture, the point of +intersection, the unit normal vector, and the fractional distance along +the ray. You cannot make any assumptions about the order of the +callbacks. + +You control the continuation of the ray cast by returning a fraction. +Returning a fraction of zero indicates the ray cast should be +terminated. A fraction of one indicates the ray cast should continue as +if no hit occurred. If you return the fraction from the argument list, +the ray will be clipped to the current intersection point. So you can +ray cast any shape, ray cast all shapes, or ray cast the closest shape +by returning the appropriate fraction. + +You may also return of fraction of -1 to filter the fixture. Then the +ray cast will proceed as if the fixture does not exist. + +Here is an example: + +```cpp +// This class captures the closest hit shape. +class MyRayCastCallback : public b2RayCastCallback +{ +public: + MyRayCastCallback() + { + m_fixture = NULL; + } + + float ReportFixture(b2Fixture* fixture, const b2Vec2& point, + const b2Vec2& normal, float fraction) + { + m_fixture = fixture; + m_point = point; + m_normal = normal; + m_fraction = fraction; + return fraction; + } + + b2Fixture* m_fixture; + b2Vec2 m_point; + b2Vec2 m_normal; + float m_fraction; +}; + +// Elsewhere ... +MyRayCastCallback callback; +b2Vec2 point1(-1.0f, 0.0f); +b2Vec2 point2(3.0f, 1.0f); +myWorld->RayCast(&callback, point1, point2); +``` + +> **Caution**: +> Due to round-off errors, ray casts can sneak through small cracks +> between polygons in your static environment. 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The program +creates a large ground box and a small dynamic box. This code does not +contain any graphics. All you will see is text output in the console of +the box's position over time. + +This is a good example of how to get up and running with Box2D. + +## Creating a World +Every Box2D program begins with the creation of a b2World object. +b2World is the physics hub that manages memory, objects, and simulation. +You can allocate the physics world on the stack, heap, or data section. + +It is easy to create a Box2D world. First, we define the gravity vector. + +```cpp +b2Vec2 gravity(0.0f, -10.0f); +``` + +Now we create the world object. Note that we are creating the world on +the stack, so the world must remain in scope. + +```cpp +b2World world(gravity); +``` + +So now we have our physics world, let's start adding some stuff to it. + +## Creating a Ground Box +Bodies are built using the following steps: +1. Define a body with position, damping, etc. +2. Use the world object to create the body. +3. Define fixtures with a shape, friction, density, etc. +4. Create fixtures on the body. + +For step 1 we create the ground body. For this we need a body +definition. With the body definition we specify the initial position of +the ground body. + +```cpp +b2BodyDef groundBodyDef; +groundBodyDef.position.Set(0.0f, -10.0f); +``` + +For step 2 the body definition is passed to the world object to create +the ground body. The world object does not keep a reference to the body +definition. Bodies are static by default. Static bodies don't collide +with other static bodies and are immovable. + +```cpp +b2Body* groundBody = world.CreateBody(&groundBodyDef); +``` + +For step 3 we create a ground polygon. We use the SetAsBox shortcut to +form the ground polygon into a box shape, with the box centered on the +origin of the parent body. + +```cpp +b2PolygonShape groundBox; +groundBox.SetAsBox(50.0f, 10.0f); +``` + +The SetAsBox function takes the **half**-**width** and +**half**-**height** (extents). So in this case the ground box is 100 +units wide (x-axis) and 20 units tall (y-axis). Box2D is tuned for +meters, kilograms, and seconds. So you can consider the extents to be in +meters. Box2D generally works best when objects are the size of typical +real world objects. For example, a barrel is about 1 meter tall. Due to +the limitations of floating point arithmetic, using Box2D to model the +movement of glaciers or dust particles is not a good idea. + +We finish the ground body in step 4 by creating the shape fixture. For +this step we have a shortcut. We do not have a need to alter the default +fixture material properties, so we can pass the shape directly to the +body without creating a fixture definition. Later we will see how to use +a fixture definition for customized material properties. The second +parameter is the shape density in kilograms per meter squared. A static +body has zero mass by definition, so the density is not used in this +case. + +```cpp +groundBody->CreateFixture(&groundBox, 0.0f); +``` + +Box2D does not keep a reference to the shape. It clones the data into a +new b2Shape object. + +Note that every fixture must have a parent body, even fixtures that are +static. However, you can attach all static fixtures to a single static +body. + +When you attach a shape to a body using a fixture, the shape's +coordinates become local to the body. So when the body moves, so does +the shape. A fixture's world transform is inherited from the parent +body. A fixture does not have a transform independent of the body. So we +don't move a shape around on the body. Moving or modifying a shape that +is on a body is not supported. The reason is simple: a body with +morphing shapes is not a rigid body, but Box2D is a rigid body engine. +Many of the assumptions made in Box2D are based on the rigid body model. +If this is violated many things will break + +## Creating a Dynamic Body +So now we have a ground body. We can use the same technique to create a +dynamic body. The main difference, besides dimensions, is that we must +establish the dynamic body's mass properties. + +First we create the body using CreateBody. By default bodies are static, +so we should set the b2BodyType at construction time to make the body +dynamic. + +```cpp +b2BodyDef bodyDef; +bodyDef.type = b2_dynamicBody; +bodyDef.position.Set(0.0f, 4.0f); +b2Body* body = world.CreateBody(&bodyDef); +``` + +> **Caution**: +> You must set the body type to b2_dynamicBody if you want the body to +> move in response to forces. + +Next we create and attach a polygon shape using a fixture definition. +First we create a box shape: + +```cpp +b2PolygonShape dynamicBox; +dynamicBox.SetAsBox(1.0f, 1.0f); +``` + +Next we create a fixture definition using the box. Notice that we set +density to 1. The default density is zero. Also, the friction on the +shape is set to 0.3. + +```cpp +b2FixtureDef fixtureDef; +fixtureDef.shape = &dynamicBox; +fixtureDef.density = 1.0f; +fixtureDef.friction = 0.3f; +``` + +> **Caution**: +> A dynamic body should have at least one fixture with a non-zero density. +> Otherwise you will get strange behavior. + +Using the fixture definition we can now create the fixture. This +automatically updates the mass of the body. You can add as many fixtures +as you like to a body. Each one contributes to the total mass. + +```cpp +body->CreateFixture(&fixtureDef); +``` + +That's it for initialization. We are now ready to begin simulating. + +## Simulating the World +So we have initialized the ground box and a dynamic box. Now we are +ready to set Newton loose to do his thing. We just have a couple more +issues to consider. + +Box2D uses a computational algorithm called an integrator. Integrators +simulate the physics equations at discrete points of time. This goes +along with the traditional game loop where we essentially have a flip +book of movement on the screen. So we need to pick a time step for +Box2D. Generally physics engines for games like a time step at least as +fast as 60Hz or 1/60 seconds. You can get away with larger time steps, +but you will have to be more careful about setting up the definitions +for your world. We also don't like the time step to change much. A +variable time step produces variable results, which makes it difficult +to debug. So don't tie the time step to your frame rate (unless you +really, really have to). Without further ado, here is the time step. + +```cpp +float timeStep = 1.0f / 60.0f; +``` + +In addition to the integrator, Box2D also uses a larger bit of code +called a constraint solver. The constraint solver solves all the +constraints in the simulation, one at a time. A single constraint can be +solved perfectly. However, when we solve one constraint, we slightly +disrupt other constraints. To get a good solution, we need to iterate +over all constraints a number of times. + +There are two phases in the constraint solver: a velocity phase and a +position phase. In the velocity phase the solver computes the impulses +necessary for the bodies to move correctly. In the position phase the +solver adjusts the positions of the bodies to reduce overlap and joint +detachment. Each phase has its own iteration count. In addition, the +position phase may exit iterations early if the errors are small. + +The suggested iteration count for Box2D is 8 for velocity and 3 for +position. You can tune this number to your liking, just keep in mind +that this has a trade-off between performance and accuracy. Using fewer +iterations increases performance but accuracy suffers. Likewise, using +more iterations decreases performance but improves the quality of your +simulation. For this simple example, we don't need much iteration. Here +are our chosen iteration counts. + +```cpp +int32 velocityIterations = 6; +int32 positionIterations = 2; +``` + +Note that the time step and the iteration count are completely +unrelated. An iteration is not a sub-step. One solver iteration is a +single pass over all the constraints within a time step. You can have +multiple passes over the constraints within a single time step. + +We are now ready to begin the simulation loop. In your game the +simulation loop can be merged with your game loop. In each pass through +your game loop you call b2World::Step. Just one call is usually enough, +depending on your frame rate and your physics time step. + +The Hello World program was designed to be simple, so it has no +graphical output. The code prints out the position and rotation of the +dynamic body. Here is the simulation loop that simulates 60 time steps +for a total of 1 second of simulated time. + +```cpp +for (int32 i = 0; i < 60; ++i) +{ + world.Step(timeStep, velocityIterations, positionIterations); + b2Vec2 position = body->GetPosition(); + float angle = body->GetAngle(); + printf("%4.2f %4.2f %4.2f\n", position.x, position.y, angle); +} +``` + +The output shows the box falling and landing on the ground box. Your +output should look like this: + +``` +0.00 4.00 0.00 +0.00 3.99 0.00 +0.00 3.98 0.00 +... +0.00 1.25 0.00 +0.00 1.13 0.00 +0.00 1.01 0.00 +``` + +## Cleanup +When a world leaves scope or is deleted by calling delete on a pointer, +all the memory reserved for bodies, fixtures, and joints is freed. This +is done to improve performance and make your life easier. 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This is handy when you are examining Box2D data +structures and you want to determine how they relate to the objects in +your game engine. + +For example, it is typical to attach an actor pointer to the rigid body +on that actor. This sets up a circular reference. If you have the actor, +you can get the body. If you have the body, you can get the actor. + +```cpp +GameActor* actor = GameCreateActor(); +b2BodyDef bodyDef; +bodyDef.userData.pointer = reinterpret_cast<uintptr_t>(actor); +actor->body = myWorld->CreateBody(&bodyDef); +``` + +You can also use this to hold an integral value rather than a pointer. + +Here are some examples of cases where you would need the user data: +- Applying damage to an actor using a collision result. +- Playing a scripted event if the player is inside an axis-aligned box. +- Accessing a game structure when Box2D notifies you that a joint is + going to be destroyed. + +Keep in mind that user data is optional and you can put anything in it. +However, you should be consistent. For example, if you want to store an +actor pointer on one body, you should keep an actor pointer on all +bodies. Don't store an actor pointer on one body, and a foo pointer on +another body. Casting an actor pointer to a foo pointer may lead to a +crash. + +User data pointers are 0 by default. + +For fixtures you might consider defining a user data structure that lets +you store game specific information, such as material type, effects +hooks, sound hooks, etc. + +```cpp +struct FixtureUserData +{ + int materialIndex; + // ... +}; + +FixtureUserData myData = new FixtureUserData; +myData->materialIndex = 2; + +b2FixtureDef fixtureDef; +fixtureDef.shape = &someShape; +fixtureDef.userData.pointer = reinterpret_cast<uintptr_t>(myData); + +b2Fixture* fixture = body->CreateFixture(&fixtureDef); +// ... + +delete fixture->GetUserData(); +body->DestroyFixture(fixture); +``` + +## Custom User Data +You can define custom data structures that are embedded in the Box2D data +structures. This is done by defining `B2_USER_SETTINGS` and providing the +file `b2_user_settings.h`. See `b2_settings.h` for details. + +## Implicit Destruction +Box2D doesn't use reference counting. So if you destroy a body it is +really gone. Accessing a pointer to a destroyed body has undefined +behavior. In other words, your program will likely crash and burn. To +help fix these problems, the debug build memory manager fills destroyed +entities with FDFDFDFD. This can help find problems more easily in some +cases. + +If you destroy a Box2D entity, it is up to you to make sure you remove +all references to the destroyed object. This is easy if you only have a +single reference to the entity. If you have multiple references, you +might consider implementing a handle class to wrap the raw pointer. + +Often when using Box2D you will create and destroy many bodies, shapes, +and joints. Managing these entities is somewhat automated by Box2D. If +you destroy a body then all associated shapes and joints are +automatically destroyed. This is called implicit destruction. + +When you destroy a body, all its attached shapes, joints, and contacts +are destroyed. This is called implicit destruction. Any body connected +to one of those joints and/or contacts is woken. This process is usually +convenient. However, you must be aware of one crucial issue: + +> **Caution**: +> When a body is destroyed, all fixtures and joints attached to the body +> are automatically destroyed. You must nullify any pointers you have to +> those shapes and joints. Otherwise, your program will die horribly if +> you try to access or destroy those shapes or joints later. + +To help you nullify your joint pointers, Box2D provides a listener class +named b2DestructionListener that you can implement and provide to your +world object. Then the world object will notify you when a joint is +going to be implicitly destroyed + +Note that there no notification when a joint or fixture is explicitly +destroyed. In this case ownership is clear and you can perform the +necessary cleanup on the spot. If you like, you can call your own +implementation of b2DestructionListener to keep cleanup code +centralized. + +Implicit destruction is a great convenience in many cases. It can also +make your program fall apart. You may store pointers to shapes and +joints somewhere in your code. These pointers become orphaned when an +associated body is destroyed. The situation becomes worse when you +consider that joints are often created by a part of the code unrelated +to management of the associated body. For example, the testbed creates a +b2MouseJoint for interactive manipulation of bodies on the screen. + +Box2D provides a callback mechanism to inform your application when +implicit destruction occurs. This gives your application a chance to +nullify the orphaned pointers. This callback mechanism is described +later in this manual. + +You can implement a `b2DestructionListener` that allows b2World to inform +you when a shape or joint is implicitly destroyed because an associated +body was destroyed. This will help prevent your code from accessing +orphaned pointers. + +```cpp +class MyDestructionListener : public b2DestructionListener +{ + void SayGoodbye(b2Joint* joint) + { + // remove all references to joint. + } +}; +``` + +You can then register an instance of your destruction listener with your +world object. You should do this during world initialization. + +```cpp +myWorld->SetListener(myDestructionListener); +``` + +## Pixels and Coordinate Systems +Recall that Box2D uses MKS (meters, kilograms, and seconds) units and +radians for angles. You may have trouble working with meters because +your game is expressed in terms of pixels. To deal with this in the +testbed I have the whole *game* work in meters and just use an OpenGL +viewport transformation to scale the world into screen space. + +```cpp +float lowerX = -25.0f, upperX = 25.0f, lowerY = -5.0f, upperY = 25.0f; +gluOrtho2D(lowerX, upperX, lowerY, upperY); +``` + +If your game must work in pixel units then you should convert your +length units from pixels to meters when passing values from Box2D. +Likewise you should convert the values received from Box2D from meters +to pixels. This will improve the stability of the physics simulation. + +You have to come up with a reasonable conversion factor. I suggest +making this choice based on the size of your characters. Suppose you +have determined to use 50 pixels per meter (because your character is 75 +pixels tall). Then you can convert from pixels to meters using these +formulas: + +```cpp +xMeters = 0.02f * xPixels; +yMeters = 0.02f * yPixels; +``` + +In reverse: + +```cpp +xPixels = 50.0f * xMeters; +yPixels = 50.0f * yMeters; +``` + +You should consider using MKS units in your game code and just convert +to pixels when you render. This will simplify your game logic and reduce +the chance for errors since the rendering conversion can be isolated to +a small amount of code. + +If you use a conversion factor, you should try tweaking it globally to +make sure nothing breaks. You can also try adjusting it to improve +stability. + +## Debug Drawing +You can implement the b2DebugDraw class to get detailed drawing of the +physics world. Here are the available entities: +- shape outlines +- joint connectivity +- broad-phase axis-aligned bounding boxes (AABBs) +- center of mass + + + +This is the preferred method of drawing these physics entities, rather +than accessing the data directly. The reason is that much of the +necessary data is internal and subject to change. + +The testbed draws physics entities using the debug draw facility and the +contact listener, so it serves as the primary example of how to +implement debug drawing as well as how to draw contact points. + +## Limitations +Box2D uses several approximations to simulate rigid body physics +efficiently. This brings some limitations. + +Here are the current limitations: +1. Stacking heavy bodies on top of much lighter bodies is not stable. Stability degrades as the mass ratio passes 10:1. +2. Chains of bodies connected by joints may stretch if a lighter body is supporting a heavier body. For example, a wrecking ball connect to a chain of light weight bodies may not be stable. Stability degrades as the mass ratio passes 10:1. +3. There is typically around 0.5cm of slop in shape versus shape collision. +4. Continuous collision does not handle joints. So you may see joint stretching on fast moving objects. +5. Box2D uses the symplectic Euler integration scheme. It does not reproduce parabolic motion of projectiles and has only first-order accuracy. However it is fast and has good stability. +6. Box2D uses an iterative solver to provide real-time performance. You will not get precisely rigid collisions or pixel perfect accuracy. Increasing the iterations will improve accuracy. diff --git a/Client/ThirdParty/Box2D/docs/overview.md b/Client/ThirdParty/Box2D/docs/overview.md new file mode 100644 index 0000000..99142f3 --- /dev/null +++ b/Client/ThirdParty/Box2D/docs/overview.md @@ -0,0 +1,216 @@ +# Overview +Box2D is a 2D rigid body simulation library for games. Programmers can +use it in their games to make objects move in realistic ways and make +the game world more interactive. From the game engine's point of view, +a physics engine is just a system for procedural animation. + +Box2D is written in portable C++. Most of the types defined in the +engine begin with the b2 prefix. Hopefully this is sufficient to avoid +name clashing with your game engine. + +## Prerequisites +In this manual I'll assume you are familiar with basic physics +concepts, such as mass, force, torque, and impulses. If not, please +first consult Google search and Wikipedia. + +Box2D was created as part of a physics tutorial at the Game Developer +Conference. You can get these tutorials from the download section of +box2d.org. + +Since Box2D is written in C++, you are expected to be experienced in C++ +programming. Box2D should not be your first C++ programming project! You +should be comfortable with compiling, linking, and debugging. + +> **Caution**: +> Box2D should not be your first C++ project. Please learn C++ +> programming, compiling, linking, and debugging before working with +> Box2D. There are many resources for this on the net. + +## Scope +This manual covers the majority of the Box2D API. However, not every +aspect is covered. Please look at the testbed included +with Box2D to learn more. + +This manual is only updated with new releases. The latest version of +Box2D may be out of sync with this manual. + +## Feedback and Bugs +Please file bugs and feature requests here: +[Box2D Issues](https://github.com/erincatto/box2d/issues) + +You can help to ensure your issue gets fixed if you provide sufficient +detail. A testbed example that reproduces the problem is ideal. You can +read about the testbed later in this document. + +There is also a [Discord server](https://discord.gg/NKYgCBP) and a +[subreddit](https://reddit.com/r/box2d) for Box2D. + +## Core Concepts +Box2D works with several fundamental concepts and objects. We briefly +define these objects here and more details are given later in this +document. + +#### shape +A shape is 2D geometrical object, such as a circle or polygon. + +#### rigid body +A chunk of matter that is so strong that the distance between any two +bits of matter on the chunk is constant. They are hard like a diamond. +In the following discussion we use body interchangeably with rigid body. + +#### fixture +A fixture binds a shape to a body and adds material properties such as +density, friction, and restitution. A fixture puts a shape into the +collision system (broad-phase) so that it can collide with other shapes. + +#### constraint +A constraint is a physical connection that removes degrees of freedom +from bodies. A 2D body has 3 degrees of freedom (two translation +coordinates and one rotation coordinate). If we take a body and pin it +to the wall (like a pendulum) we have constrained the body to the wall. +At this point the body can only rotate about the pin, so the constraint +has removed 2 degrees of freedom. + +#### contact constraint +A special constraint designed to prevent penetration of rigid bodies and +to simulate friction and restitution. You do not create contact +constraints; they are created automatically by Box2D. + +#### joint +This is a constraint used to hold two or more bodies together. Box2D +supports several joint types: revolute, prismatic, distance, and more. +Some joints may have limits and motors. + +#### joint limit +A joint limit restricts the range of motion of a joint. For example, the +human elbow only allows a certain range of angles. + +#### joint motor +A joint motor drives the motion of the connected bodies according to the +joint's degrees of freedom. For example, you can use a motor to drive +the rotation of an elbow. + +#### world +A physics world is a collection of bodies, fixtures, and constraints +that interact together. Box2D supports the creation of multiple worlds, +but this is usually not necessary or desirable. + +#### solver +The physics world has a solver that is used to advance time and to +resolve contact and joint constraints. The Box2D solver is a high +performance iterative solver that operates in order N time, where N is +the number of constraints. + +#### continuous collision +The solver advances bodies in time using discrete time steps. Without +intervention this can lead to tunneling. + + +Box2D contains specialized algorithms to deal with tunneling. First, the +collision algorithms can interpolate the motion of two bodies to find +the first time of impact (TOI). Second, there is a sub-stepping solver +that moves bodies to their first time of impact and then resolves the +collision. + +## Modules +Box2D is composed of three modules: Common, Collision, and Dynamics. The +Common module has code for allocation, math, and settings. The Collision +module defines shapes, a broad-phase, and collision functions/queries. +Finally the Dynamics module provides the simulation world, bodies, +fixtures, and joints. + + +## Units +Box2D works with floating point numbers and tolerances have to be used +to make Box2D perform well. These tolerances have been tuned to work +well with meters-kilogram-second (MKS) units. In particular, Box2D has +been tuned to work well with moving shapes between 0.1 and 10 meters. So +this means objects between soup cans and buses in size should work well. +Static shapes may be up to 50 meters long without trouble. + +Being a 2D physics engine, it is tempting to use pixels as your units. +Unfortunately this will lead to a poor simulation and possibly weird +behavior. An object of length 200 pixels would be seen by Box2D as the +size of a 45 story building. + +> **Caution**: +> Box2D is tuned for MKS units. Keep the size of moving objects roughly +> between 0.1 and 10 meters. You'll need to use some scaling system when +> you render your environment and actors. The Box2D testbed does this by +> using an OpenGL viewport transform. DO NOT USE PIXELS. + +It is best to think of Box2D bodies as moving billboards upon which you +attach your artwork. The billboard may move in a unit system of meters, +but you can convert that to pixel coordinates with a simple scaling +factor. You can then use those pixel coordinates to place your sprites, +etc. You can also account for flipped coordinate axes. + +Another limitation to consider is overall world size. If your world units +become larger than 2 kilometers or so, then the lost precision can affect +stability. + +> **Caution**: +> Box2D works best with world sizes less than 2 kilometers. Use +> b2World::ShiftOrigin to support larger worlds. + +If you need to have a larger game world, consider using +b2World::ShiftOrigin to keep the world origin close to your player. I recommend +to use grid lines along with some hysteresis for triggering calls to ShiftOrigin. +This call should be made infrequently because it is has CPU cost. You may +need to store a physics offset when translating between game units and Box2D units. + +Box2D uses radians for angles. The body rotation is stored in radians +and may grow unbounded. Consider normalizing the angle of your bodies if +the magnitude of the angle becomes too large (use `b2Body::SetTransform`). + +> **Caution**: +> Box2D uses radians, not degrees. + +## Changing the length units +Advanced users may change the length unit modifying `b2_lengthUnitsPerMeter`. +You can avoid merge conflicts by defining `B2_USER_SETTINGS` and providing +`b2_user_settings.h`. See the file `b2_settings.h` for details. + +## Factories and Definitions +Fast memory management plays a central role in the design of the Box2D +API. So when you create a b2Body or a b2Joint, you need to call the +factory functions on b2World. You should never try to allocate these +types in another manner. + +There are creation functions: + +```cpp +b2Body* b2World::CreateBody(const b2BodyDef* def) +b2Joint* b2World::CreateJoint(const b2JointDef* def) +``` + +And there are corresponding destruction functions: + +```cpp +void b2World::DestroyBody(b2Body* body) +void b2World::DestroyJoint(b2Joint* joint) +``` + +When you create a body or joint, you need to provide a definition. These +definitions contain all the information needed to build the body or +joint. By using this approach we can prevent construction errors, keep +the number of function parameters small, provide sensible defaults, and +reduce the number of accessors. + +Since fixtures (shapes) must be parented to a body, they are created and +destroyed using a factory method on b2Body: + +```cpp +b2Fixture* b2Body::CreateFixture(const b2FixtureDef* def) +void b2Body::DestroyFixture(b2Fixture* fixture) +``` + +There is also shortcut to create a fixture directly from the shape and +density. + +```cpp +b2Fixture* b2Body::CreateFixture(const b2Shape* shape, float density) +``` + +Factories do not retain references to the definitions. So you can create +definitions on the stack and keep them in temporary resources. diff --git a/Client/ThirdParty/Box2D/docs/references.md b/Client/ThirdParty/Box2D/docs/references.md new file mode 100644 index 0000000..4d2aa5a --- /dev/null +++ b/Client/ThirdParty/Box2D/docs/references.md @@ -0,0 +1,4 @@ +# References +- [Erin Catto's Publications](https://box2d.org/publications/) +- Collision Detection in Interactive 3D Environments, Gino van den Bergen, 2004 +- Real-Time Collision Detection, Christer Ericson, 2005 diff --git a/Client/ThirdParty/Box2D/docs/testbed.md b/Client/ThirdParty/Box2D/docs/testbed.md new file mode 100644 index 0000000..a6f2233 --- /dev/null +++ b/Client/ThirdParty/Box2D/docs/testbed.md @@ -0,0 +1,21 @@ +# Testbed +Once you have conquered the HelloWorld example, you should start looking +at Box2D's testbed. The testbed is a testing framework and demo +environment. Here are some of the features: +- Camera with pan and zoom. +- Mouse picking of shapes attached to dynamic bodies. +- Extensible set of tests. +- GUI for selecting tests, parameter tuning, and debug drawing options. +- Pause and single step simulation. +- Text rendering. + + + +The testbed has many examples of Box2D usage in the test cases and the +framework itself. I encourage you to explore and tinker with the testbed +as you learn Box2D. + +Note: the testbed is written using [GLFW](https://www.glfw.org) and +[imgui](https://github.com/ocornut/imgui). The testbed is not part of the +Box2D library. The Box2D library is agnostic about rendering. As shown by +the HelloWorld example, you don't need a renderer to use Box2D. |
