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+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+#ifndef B2_POLYGON_SHAPE_H
+#define B2_POLYGON_SHAPE_H
+
+#include "b2_api.h"
+#include "b2_shape.h"
+
+/// A solid convex polygon. It is assumed that the interior of the polygon is to
+/// the left of each edge.
+/// Polygons have a maximum number of vertices equal to b2_maxPolygonVertices.
+/// In most cases you should not need many vertices for a convex polygon.
+class B2_API b2PolygonShape : public b2Shape
+{
+public:
+ b2PolygonShape();
+
+ /// Implement b2Shape.
+ b2Shape* Clone(b2BlockAllocator* allocator) const override;
+
+ /// @see b2Shape::GetChildCount
+ int32 GetChildCount() const override;
+
+ /// Create a convex hull from the given array of local points.
+ /// The count must be in the range [3, b2_maxPolygonVertices].
+ /// @warning the points may be re-ordered, even if they form a convex polygon
+ /// @warning collinear points are handled but not removed. Collinear points
+ /// may lead to poor stacking behavior.
+ void Set(const b2Vec2* points, int32 count);
+
+ /// Build vertices to represent an axis-aligned box centered on the local origin.
+ /// @param hx the half-width.
+ /// @param hy the half-height.
+ void SetAsBox(float hx, float hy);
+
+ /// Build vertices to represent an oriented box.
+ /// @param hx the half-width.
+ /// @param hy the half-height.
+ /// @param center the center of the box in local coordinates.
+ /// @param angle the rotation of the box in local coordinates.
+ void SetAsBox(float hx, float hy, const b2Vec2& center, float angle);
+
+ /// @see b2Shape::TestPoint
+ bool TestPoint(const b2Transform& transform, const b2Vec2& p) const override;
+
+ /// Implement b2Shape.
+ /// @note because the polygon is solid, rays that start inside do not hit because the normal is
+ /// not defined.
+ bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
+ const b2Transform& transform, int32 childIndex) const override;
+
+ /// @see b2Shape::ComputeAABB
+ void ComputeAABB(b2AABB* aabb, const b2Transform& transform, int32 childIndex) const override;
+
+ /// @see b2Shape::ComputeMass
+ void ComputeMass(b2MassData* massData, float density) const override;
+
+ /// Validate convexity. This is a very time consuming operation.
+ /// @returns true if valid
+ bool Validate() const;
+
+ b2Vec2 m_centroid;
+ b2Vec2 m_vertices[b2_maxPolygonVertices];
+ b2Vec2 m_normals[b2_maxPolygonVertices];
+ int32 m_count;
+};
+
+inline b2PolygonShape::b2PolygonShape()
+{
+ m_type = e_polygon;
+ m_radius = b2_polygonRadius;
+ m_count = 0;
+ m_centroid.SetZero();
+}
+
+#endif