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