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