355 lines
		
	
	
		
			11 KiB
		
	
	
	
		
			C++
		
	
	
	
			
		
		
	
	
			355 lines
		
	
	
		
			11 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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| 
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| #ifndef B2_WORLD_H
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| #define B2_WORLD_H
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| 
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| #include "Box2D/Common/b2Math.h"
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| #include "Box2D/Common/b2BlockAllocator.h"
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| #include "Box2D/Common/b2StackAllocator.h"
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| #include "Box2D/Dynamics/b2ContactManager.h"
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| #include "Box2D/Dynamics/b2WorldCallbacks.h"
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| #include "Box2D/Dynamics/b2TimeStep.h"
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| 
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| struct b2AABB;
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| struct b2BodyDef;
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| struct b2Color;
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| struct b2JointDef;
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| class b2Body;
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| class b2Draw;
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| class b2Fixture;
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| class b2Joint;
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| 
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| /// The world class manages all physics entities, dynamic simulation,
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| /// and asynchronous queries. The world also contains efficient memory
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| /// management facilities.
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| class b2World
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| {
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| public:
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| 	/// Construct a world object.
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| 	/// @param gravity the world gravity vector.
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| 	b2World(const b2Vec2& gravity);
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| 
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| 	/// Destruct the world. All physics entities are destroyed and all heap memory is released.
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| 	~b2World();
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| 
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| 	/// Register a destruction listener. The listener is owned by you and must
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| 	/// remain in scope.
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| 	void SetDestructionListener(b2DestructionListener* listener);
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| 
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| 	/// Register a contact filter to provide specific control over collision.
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| 	/// Otherwise the default filter is used (b2_defaultFilter). The listener is
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| 	/// owned by you and must remain in scope. 
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| 	void SetContactFilter(b2ContactFilter* filter);
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| 
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| 	/// Register a contact event listener. The listener is owned by you and must
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| 	/// remain in scope.
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| 	void SetContactListener(b2ContactListener* listener);
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| 
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| 	/// Register a routine for debug drawing. The debug draw functions are called
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| 	/// inside with b2World::DrawDebugData method. The debug draw object is owned
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| 	/// by you and must remain in scope.
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| 	void SetDebugDraw(b2Draw* debugDraw);
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| 
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| 	/// Create a rigid body given a definition. No reference to the definition
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| 	/// is retained.
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| 	/// @warning This function is locked during callbacks.
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| 	b2Body* CreateBody(const b2BodyDef* def);
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| 
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| 	/// Destroy a rigid body given a definition. No reference to the definition
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| 	/// is retained. This function is locked during callbacks.
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| 	/// @warning This automatically deletes all associated shapes and joints.
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| 	/// @warning This function is locked during callbacks.
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| 	void DestroyBody(b2Body* body);
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| 
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| 	/// Create a joint to constrain bodies together. No reference to the definition
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| 	/// is retained. This may cause the connected bodies to cease colliding.
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| 	/// @warning This function is locked during callbacks.
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| 	b2Joint* CreateJoint(const b2JointDef* def);
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| 
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| 	/// Destroy a joint. This may cause the connected bodies to begin colliding.
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| 	/// @warning This function is locked during callbacks.
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| 	void DestroyJoint(b2Joint* joint);
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| 
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| 	/// Take a time step. This performs collision detection, integration,
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| 	/// and constraint solution.
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| 	/// @param timeStep the amount of time to simulate, this should not vary.
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| 	/// @param velocityIterations for the velocity constraint solver.
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| 	/// @param positionIterations for the position constraint solver.
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| 	void Step(	float32 timeStep,
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| 				int32 velocityIterations,
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| 				int32 positionIterations);
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| 
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| 	/// Manually clear the force buffer on all bodies. By default, forces are cleared automatically
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| 	/// after each call to Step. The default behavior is modified by calling SetAutoClearForces.
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| 	/// The purpose of this function is to support sub-stepping. Sub-stepping is often used to maintain
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| 	/// a fixed sized time step under a variable frame-rate.
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| 	/// When you perform sub-stepping you will disable auto clearing of forces and instead call
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| 	/// ClearForces after all sub-steps are complete in one pass of your game loop.
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| 	/// @see SetAutoClearForces
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| 	void ClearForces();
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| 
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| 	/// Call this to draw shapes and other debug draw data. This is intentionally non-const.
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| 	void DrawDebugData();
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| 
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| 	/// Query the world for all fixtures that potentially overlap the
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| 	/// provided AABB.
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| 	/// @param callback a user implemented callback class.
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| 	/// @param aabb the query box.
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| 	void QueryAABB(b2QueryCallback* callback, const b2AABB& aabb) const;
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| 
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| 	/// Ray-cast the world for all fixtures in the path of the ray. Your callback
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| 	/// controls whether you get the closest point, any point, or n-points.
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| 	/// The ray-cast ignores shapes that contain the starting point.
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| 	/// @param callback a user implemented callback class.
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| 	/// @param point1 the ray starting point
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| 	/// @param point2 the ray ending point
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| 	void RayCast(b2RayCastCallback* callback, const b2Vec2& point1, const b2Vec2& point2) const;
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| 
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| 	/// Get the world body list. With the returned body, use b2Body::GetNext to get
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| 	/// the next body in the world list. A nullptr body indicates the end of the list.
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| 	/// @return the head of the world body list.
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| 	b2Body* GetBodyList();
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| 	const b2Body* GetBodyList() const;
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| 
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| 	/// Get the world joint list. With the returned joint, use b2Joint::GetNext to get
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| 	/// the next joint in the world list. A nullptr joint indicates the end of the list.
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| 	/// @return the head of the world joint list.
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| 	b2Joint* GetJointList();
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| 	const b2Joint* GetJointList() const;
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| 
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| 	/// Get the world contact list. With the returned contact, use b2Contact::GetNext to get
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| 	/// the next contact in the world list. A nullptr contact indicates the end of the list.
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| 	/// @return the head of the world contact list.
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| 	/// @warning contacts are created and destroyed in the middle of a time step.
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| 	/// Use b2ContactListener to avoid missing contacts.
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| 	b2Contact* GetContactList();
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| 	const b2Contact* GetContactList() const;
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| 
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| 	/// Enable/disable sleep.
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| 	void SetAllowSleeping(bool flag);
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| 	bool GetAllowSleeping() const { return m_allowSleep; }
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| 
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| 	/// Enable/disable warm starting. For testing.
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| 	void SetWarmStarting(bool flag) { m_warmStarting = flag; }
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| 	bool GetWarmStarting() const { return m_warmStarting; }
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| 
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| 	/// Enable/disable continuous physics. For testing.
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| 	void SetContinuousPhysics(bool flag) { m_continuousPhysics = flag; }
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| 	bool GetContinuousPhysics() const { return m_continuousPhysics; }
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| 
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| 	/// Enable/disable single stepped continuous physics. For testing.
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| 	void SetSubStepping(bool flag) { m_subStepping = flag; }
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| 	bool GetSubStepping() const { return m_subStepping; }
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| 
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| 	/// Get the number of broad-phase proxies.
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| 	int32 GetProxyCount() const;
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| 
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| 	/// Get the number of bodies.
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| 	int32 GetBodyCount() const;
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| 
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| 	/// Get the number of joints.
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| 	int32 GetJointCount() const;
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| 
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| 	/// Get the number of contacts (each may have 0 or more contact points).
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| 	int32 GetContactCount() const;
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| 
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| 	/// Get the height of the dynamic tree.
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| 	int32 GetTreeHeight() const;
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| 
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| 	/// Get the balance of the dynamic tree.
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| 	int32 GetTreeBalance() const;
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| 
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| 	/// Get the quality metric of the dynamic tree. The smaller the better.
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| 	/// The minimum is 1.
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| 	float32 GetTreeQuality() const;
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| 
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| 	/// Change the global gravity vector.
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| 	void SetGravity(const b2Vec2& gravity);
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| 	
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| 	/// Get the global gravity vector.
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| 	b2Vec2 GetGravity() const;
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| 
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| 	/// Is the world locked (in the middle of a time step).
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| 	bool IsLocked() const;
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| 
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| 	/// Set flag to control automatic clearing of forces after each time step.
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| 	void SetAutoClearForces(bool flag);
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| 
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| 	/// Get the flag that controls automatic clearing of forces after each time step.
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| 	bool GetAutoClearForces() const;
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| 
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| 	/// Shift the world origin. Useful for large worlds.
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| 	/// The body shift formula is: position -= newOrigin
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| 	/// @param newOrigin the new origin with respect to the old origin
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| 	void ShiftOrigin(const b2Vec2& newOrigin);
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| 
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| 	/// Get the contact manager for testing.
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| 	const b2ContactManager& GetContactManager() const;
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| 
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| 	/// Get the current profile.
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| 	const b2Profile& GetProfile() const;
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| 
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| 	/// Dump the world into the log file.
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| 	/// @warning this should be called outside of a time step.
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| 	void Dump();
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| 
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| private:
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| 
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| 	// m_flags
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| 	enum
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| 	{
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| 		e_newFixture	= 0x0001,
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| 		e_locked		= 0x0002,
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| 		e_clearForces	= 0x0004
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| 	};
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| 
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| 	friend class b2Body;
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| 	friend class b2Fixture;
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| 	friend class b2ContactManager;
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| 	friend class b2Controller;
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| 
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| 	void Solve(const b2TimeStep& step);
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| 	void SolveTOI(const b2TimeStep& step);
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| 
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| 	void DrawJoint(b2Joint* joint);
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| 	void DrawShape(b2Fixture* shape, const b2Transform& xf, const b2Color& color);
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| 
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| 	b2BlockAllocator m_blockAllocator;
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| 	b2StackAllocator m_stackAllocator;
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| 
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| 	int32 m_flags;
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| 
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| 	b2ContactManager m_contactManager;
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| 
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| 	b2Body* m_bodyList;
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| 	b2Joint* m_jointList;
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| 
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| 	int32 m_bodyCount;
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| 	int32 m_jointCount;
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| 
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| 	b2Vec2 m_gravity;
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| 	bool m_allowSleep;
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| 
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| 	b2DestructionListener* m_destructionListener;
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| 	b2Draw* m_debugDraw;
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| 
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| 	// This is used to compute the time step ratio to
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| 	// support a variable time step.
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| 	float32 m_inv_dt0;
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| 
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| 	// These are for debugging the solver.
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| 	bool m_warmStarting;
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| 	bool m_continuousPhysics;
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| 	bool m_subStepping;
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| 
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| 	bool m_stepComplete;
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| 
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| 	b2Profile m_profile;
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| };
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| 
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| inline b2Body* b2World::GetBodyList()
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| {
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| 	return m_bodyList;
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| }
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| 
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| inline const b2Body* b2World::GetBodyList() const
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| {
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| 	return m_bodyList;
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| }
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| 
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| inline b2Joint* b2World::GetJointList()
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| {
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| 	return m_jointList;
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| }
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| 
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| inline const b2Joint* b2World::GetJointList() const
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| {
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| 	return m_jointList;
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| }
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| 
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| inline b2Contact* b2World::GetContactList()
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| {
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| 	return m_contactManager.m_contactList;
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| }
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| 
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| inline const b2Contact* b2World::GetContactList() const
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| {
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| 	return m_contactManager.m_contactList;
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| }
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| 
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| inline int32 b2World::GetBodyCount() const
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| {
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| 	return m_bodyCount;
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| }
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| 
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| inline int32 b2World::GetJointCount() const
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| {
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| 	return m_jointCount;
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| }
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| 
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| inline int32 b2World::GetContactCount() const
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| {
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| 	return m_contactManager.m_contactCount;
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| }
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| 
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| inline void b2World::SetGravity(const b2Vec2& gravity)
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| {
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| 	m_gravity = gravity;
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| }
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| 
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| inline b2Vec2 b2World::GetGravity() const
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| {
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| 	return m_gravity;
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| }
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| 
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| inline bool b2World::IsLocked() const
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| {
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| 	return (m_flags & e_locked) == e_locked;
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| }
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| 
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| inline void b2World::SetAutoClearForces(bool flag)
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| {
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| 	if (flag)
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| 	{
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| 		m_flags |= e_clearForces;
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| 	}
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| 	else
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| 	{
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| 		m_flags &= ~e_clearForces;
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| 	}
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| }
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| 
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| /// Get the flag that controls automatic clearing of forces after each time step.
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| inline bool b2World::GetAutoClearForces() const
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| {
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| 	return (m_flags & e_clearForces) == e_clearForces;
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| }
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| 
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| inline const b2ContactManager& b2World::GetContactManager() const
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| {
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| 	return m_contactManager;
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| }
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| 
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| inline const b2Profile& b2World::GetProfile() const
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| {
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| 	return m_profile;
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| }
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| 
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| #endif
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