346 lines
9.0 KiB
C
346 lines
9.0 KiB
C
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/*
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* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef B2_FIXTURE_H
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#define B2_FIXTURE_H
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#include "Box2D/Dynamics/b2Body.h"
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#include "Box2D/Collision/b2Collision.h"
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#include "Box2D/Collision/Shapes/b2Shape.h"
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class b2BlockAllocator;
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class b2Body;
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class b2BroadPhase;
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class b2Fixture;
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/// This holds contact filtering data.
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struct b2Filter
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{
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b2Filter()
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{
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categoryBits = 0x0001;
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maskBits = 0xFFFF;
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groupIndex = 0;
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}
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/// The collision category bits. Normally you would just set one bit.
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uint16 categoryBits;
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/// The collision mask bits. This states the categories that this
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/// shape would accept for collision.
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uint16 maskBits;
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/// Collision groups allow a certain group of objects to never collide (negative)
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/// or always collide (positive). Zero means no collision group. Non-zero group
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/// filtering always wins against the mask bits.
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int16 groupIndex;
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};
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/// A fixture definition is used to create a fixture. This class defines an
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/// abstract fixture definition. You can reuse fixture definitions safely.
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struct b2FixtureDef
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{
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/// The constructor sets the default fixture definition values.
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b2FixtureDef()
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{
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shape = nullptr;
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userData = nullptr;
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friction = 0.2f;
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restitution = 0.0f;
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density = 0.0f;
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isSensor = false;
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}
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/// The shape, this must be set. The shape will be cloned, so you
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/// can create the shape on the stack.
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const b2Shape* shape;
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/// Use this to store application specific fixture data.
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void* userData;
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/// The friction coefficient, usually in the range [0,1].
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float32 friction;
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/// The restitution (elasticity) usually in the range [0,1].
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float32 restitution;
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/// The density, usually in kg/m^2.
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float32 density;
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/// A sensor shape collects contact information but never generates a collision
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/// response.
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bool isSensor;
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/// Contact filtering data.
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b2Filter filter;
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};
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/// This proxy is used internally to connect fixtures to the broad-phase.
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struct b2FixtureProxy
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{
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b2AABB aabb;
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b2Fixture* fixture;
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int32 childIndex;
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int32 proxyId;
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};
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/// A fixture is used to attach a shape to a body for collision detection. A fixture
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/// inherits its transform from its parent. Fixtures hold additional non-geometric data
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/// such as friction, collision filters, etc.
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/// Fixtures are created via b2Body::CreateFixture.
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/// @warning you cannot reuse fixtures.
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class b2Fixture
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{
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public:
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/// Get the type of the child shape. You can use this to down cast to the concrete shape.
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/// @return the shape type.
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b2Shape::Type GetType() const;
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/// Get the child shape. You can modify the child shape, however you should not change the
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/// number of vertices because this will crash some collision caching mechanisms.
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/// Manipulating the shape may lead to non-physical behavior.
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b2Shape* GetShape();
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const b2Shape* GetShape() const;
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/// Set if this fixture is a sensor.
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void SetSensor(bool sensor);
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/// Is this fixture a sensor (non-solid)?
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/// @return the true if the shape is a sensor.
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bool IsSensor() const;
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/// Set the contact filtering data. This will not update contacts until the next time
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/// step when either parent body is active and awake.
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/// This automatically calls Refilter.
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void SetFilterData(const b2Filter& filter);
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/// Get the contact filtering data.
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const b2Filter& GetFilterData() const;
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/// Call this if you want to establish collision that was previously disabled by b2ContactFilter::ShouldCollide.
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void Refilter();
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/// Get the parent body of this fixture. This is nullptr if the fixture is not attached.
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/// @return the parent body.
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b2Body* GetBody();
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const b2Body* GetBody() const;
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/// Get the next fixture in the parent body's fixture list.
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/// @return the next shape.
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b2Fixture* GetNext();
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const b2Fixture* GetNext() const;
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/// Get the user data that was assigned in the fixture definition. Use this to
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/// store your application specific data.
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void* GetUserData() const;
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/// Set the user data. Use this to store your application specific data.
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void SetUserData(void* data);
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/// Test a point for containment in this fixture.
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/// @param p a point in world coordinates.
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bool TestPoint(const b2Vec2& p) const;
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/// Cast a ray against this shape.
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/// @param output the ray-cast results.
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/// @param input the ray-cast input parameters.
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bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input, int32 childIndex) const;
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/// Get the mass data for this fixture. The mass data is based on the density and
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/// the shape. The rotational inertia is about the shape's origin. This operation
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/// may be expensive.
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void GetMassData(b2MassData* massData) const;
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/// Set the density of this fixture. This will _not_ automatically adjust the mass
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/// of the body. You must call b2Body::ResetMassData to update the body's mass.
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void SetDensity(float32 density);
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/// Get the density of this fixture.
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float32 GetDensity() const;
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/// Get the coefficient of friction.
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float32 GetFriction() const;
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/// Set the coefficient of friction. This will _not_ change the friction of
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/// existing contacts.
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void SetFriction(float32 friction);
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/// Get the coefficient of restitution.
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float32 GetRestitution() const;
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/// Set the coefficient of restitution. This will _not_ change the restitution of
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/// existing contacts.
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void SetRestitution(float32 restitution);
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/// Get the fixture's AABB. This AABB may be enlarge and/or stale.
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/// If you need a more accurate AABB, compute it using the shape and
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/// the body transform.
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const b2AABB& GetAABB(int32 childIndex) const;
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/// Dump this fixture to the log file.
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void Dump(int32 bodyIndex);
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protected:
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friend class b2Body;
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friend class b2World;
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friend class b2Contact;
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friend class b2ContactManager;
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b2Fixture();
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// We need separation create/destroy functions from the constructor/destructor because
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// the destructor cannot access the allocator (no destructor arguments allowed by C++).
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void Create(b2BlockAllocator* allocator, b2Body* body, const b2FixtureDef* def);
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void Destroy(b2BlockAllocator* allocator);
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// These support body activation/deactivation.
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void CreateProxies(b2BroadPhase* broadPhase, const b2Transform& xf);
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void DestroyProxies(b2BroadPhase* broadPhase);
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void Synchronize(b2BroadPhase* broadPhase, const b2Transform& xf1, const b2Transform& xf2);
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float32 m_density;
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b2Fixture* m_next;
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b2Body* m_body;
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b2Shape* m_shape;
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float32 m_friction;
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float32 m_restitution;
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b2FixtureProxy* m_proxies;
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int32 m_proxyCount;
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b2Filter m_filter;
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bool m_isSensor;
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void* m_userData;
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};
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inline b2Shape::Type b2Fixture::GetType() const
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{
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return m_shape->GetType();
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}
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inline b2Shape* b2Fixture::GetShape()
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{
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return m_shape;
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}
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inline const b2Shape* b2Fixture::GetShape() const
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{
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return m_shape;
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}
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inline bool b2Fixture::IsSensor() const
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{
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return m_isSensor;
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}
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inline const b2Filter& b2Fixture::GetFilterData() const
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{
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return m_filter;
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}
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inline void* b2Fixture::GetUserData() const
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{
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return m_userData;
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}
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inline void b2Fixture::SetUserData(void* data)
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{
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m_userData = data;
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}
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inline b2Body* b2Fixture::GetBody()
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{
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return m_body;
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}
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inline const b2Body* b2Fixture::GetBody() const
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{
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return m_body;
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}
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inline b2Fixture* b2Fixture::GetNext()
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{
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return m_next;
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}
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inline const b2Fixture* b2Fixture::GetNext() const
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{
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return m_next;
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}
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inline void b2Fixture::SetDensity(float32 density)
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{
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b2Assert(b2IsValid(density) && density >= 0.0f);
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m_density = density;
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}
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inline float32 b2Fixture::GetDensity() const
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{
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return m_density;
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}
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inline float32 b2Fixture::GetFriction() const
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{
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return m_friction;
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}
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inline void b2Fixture::SetFriction(float32 friction)
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{
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m_friction = friction;
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}
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inline float32 b2Fixture::GetRestitution() const
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{
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return m_restitution;
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}
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inline void b2Fixture::SetRestitution(float32 restitution)
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{
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m_restitution = restitution;
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}
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inline bool b2Fixture::TestPoint(const b2Vec2& p) const
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{
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return m_shape->TestPoint(m_body->GetTransform(), p);
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}
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inline bool b2Fixture::RayCast(b2RayCastOutput* output, const b2RayCastInput& input, int32 childIndex) const
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{
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return m_shape->RayCast(output, input, m_body->GetTransform(), childIndex);
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}
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inline void b2Fixture::GetMassData(b2MassData* massData) const
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{
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m_shape->ComputeMass(massData, m_density);
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}
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inline const b2AABB& b2Fixture::GetAABB(int32 childIndex) const
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{
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b2Assert(0 <= childIndex && childIndex < m_proxyCount);
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return m_proxies[childIndex].aabb;
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}
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#endif
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