b2World.h
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上传日期:2022-01-07
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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_WORLD_H
- #define B2_WORLD_H
- #include <Box2D/Common/b2Math.h>
- #include <Box2D/Common/b2BlockAllocator.h>
- #include <Box2D/Common/b2StackAllocator.h>
- #include <Box2D/Dynamics/b2ContactManager.h>
- #include <Box2D/Dynamics/b2WorldCallbacks.h>
- struct b2AABB;
- struct b2BodyDef;
- struct b2JointDef;
- struct b2TimeStep;
- class b2Body;
- class b2Fixture;
- class b2Joint;
- /// The world class manages all physics entities, dynamic simulation,
- /// and asynchronous queries. The world also contains efficient memory
- /// management facilities.
- class b2World
- {
- public:
- /// Construct a world object.
- /// @param gravity the world gravity vector.
- /// @param doSleep improve performance by not simulating inactive bodies.
- b2World(const b2Vec2& gravity, bool doSleep);
- /// Destruct the world. All physics entities are destroyed and all heap memory is released.
- ~b2World();
- /// Register a destruction listener. The listener is owned by you and must
- /// remain in scope.
- void SetDestructionListener(b2DestructionListener* listener);
- /// Register a contact filter to provide specific control over collision.
- /// Otherwise the default filter is used (b2_defaultFilter). The listener is
- /// owned by you and must remain in scope.
- void SetContactFilter(b2ContactFilter* filter);
- /// Register a contact event listener. The listener is owned by you and must
- /// remain in scope.
- void SetContactListener(b2ContactListener* listener);
- /// Register a routine for debug drawing. The debug draw functions are called
- /// inside with b2World::DrawDebugData method. The debug draw object is owned
- /// by you and must remain in scope.
- void SetDebugDraw(b2DebugDraw* debugDraw);
- /// Create a rigid body given a definition. No reference to the definition
- /// is retained.
- /// @warning This function is locked during callbacks.
- b2Body* CreateBody(const b2BodyDef* def);
- /// Destroy a rigid body given a definition. No reference to the definition
- /// is retained. This function is locked during callbacks.
- /// @warning This automatically deletes all associated shapes and joints.
- /// @warning This function is locked during callbacks.
- void DestroyBody(b2Body* body);
- /// Create a joint to constrain bodies together. No reference to the definition
- /// is retained. This may cause the connected bodies to cease colliding.
- /// @warning This function is locked during callbacks.
- b2Joint* CreateJoint(const b2JointDef* def);
- /// Destroy a joint. This may cause the connected bodies to begin colliding.
- /// @warning This function is locked during callbacks.
- void DestroyJoint(b2Joint* joint);
- /// Take a time step. This performs collision detection, integration,
- /// and constraint solution.
- /// @param timeStep the amount of time to simulate, this should not vary.
- /// @param velocityIterations for the velocity constraint solver.
- /// @param positionIterations for the position constraint solver.
- void Step( float32 timeStep,
- int32 velocityIterations,
- int32 positionIterations);
- /// Call this after you are done with time steps to clear the forces. You normally
- /// call this after each call to Step, unless you are performing sub-steps. By default,
- /// forces will be automatically cleared, so you don't need to call this function.
- /// @see SetAutoClearForces
- void ClearForces();
- /// Call this to draw shapes and other debug draw data.
- void DrawDebugData();
- /// Query the world for all fixtures that potentially overlap the
- /// provided AABB.
- /// @param callback a user implemented callback class.
- /// @param aabb the query box.
- void QueryAABB(b2QueryCallback* callback, const b2AABB& aabb) const;
- /// Ray-cast the world for all fixtures in the path of the ray. Your callback
- /// controls whether you get the closest point, any point, or n-points.
- /// The ray-cast ignores shapes that contain the starting point.
- /// @param callback a user implemented callback class.
- /// @param point1 the ray starting point
- /// @param point2 the ray ending point
- void RayCast(b2RayCastCallback* callback, const b2Vec2& point1, const b2Vec2& point2) const;
- /// Get the world body list. With the returned body, use b2Body::GetNext to get
- /// the next body in the world list. A NULL body indicates the end of the list.
- /// @return the head of the world body list.
- b2Body* GetBodyList();
- /// Get the world joint list. With the returned joint, use b2Joint::GetNext to get
- /// the next joint in the world list. A NULL joint indicates the end of the list.
- /// @return the head of the world joint list.
- b2Joint* GetJointList();
- /// Get the world contact list. With the returned contact, use b2Contact::GetNext to get
- /// the next contact in the world list. A NULL contact indicates the end of the list.
- /// @return the head of the world contact list.
- /// @warning contacts are
- b2Contact* GetContactList();
- /// Enable/disable warm starting. For testing.
- void SetWarmStarting(bool flag) { m_warmStarting = flag; }
- /// Enable/disable continuous physics. For testing.
- void SetContinuousPhysics(bool flag) { m_continuousPhysics = flag; }
- /// Get the number of broad-phase proxies.
- int32 GetProxyCount() const;
- /// Get the number of bodies.
- int32 GetBodyCount() const;
- /// Get the number of joints.
- int32 GetJointCount() const;
- /// Get the number of contacts (each may have 0 or more contact points).
- int32 GetContactCount() const;
- /// Change the global gravity vector.
- void SetGravity(const b2Vec2& gravity);
-
- /// Get the global gravity vector.
- b2Vec2 GetGravity() const;
- /// Is the world locked (in the middle of a time step).
- bool IsLocked() const;
- /// Set flag to control automatic clearing of forces after each time step.
- void SetAutoClearForces(bool flag);
- /// Get the flag that controls automatic clearing of forces after each time step.
- bool GetAutoClearForces() const;
- private:
- // m_flags
- enum
- {
- e_newFixture = 0x0001,
- e_locked = 0x0002,
- e_clearForces = 0x0004,
- };
- friend class b2Body;
- friend class b2ContactManager;
- friend class b2Controller;
- void Solve(const b2TimeStep& step);
- void SolveTOI();
- void SolveTOI(b2Body* body);
- void DrawJoint(b2Joint* joint);
- void DrawShape(b2Fixture* shape, const b2Transform& xf, const b2Color& color);
- b2BlockAllocator m_blockAllocator;
- b2StackAllocator m_stackAllocator;
- int32 m_flags;
- b2ContactManager m_contactManager;
- b2Body* m_bodyList;
- b2Joint* m_jointList;
- int32 m_bodyCount;
- int32 m_jointCount;
- b2Vec2 m_gravity;
- bool m_allowSleep;
- b2Body* m_groundBody;
- b2DestructionListener* m_destructionListener;
- b2DebugDraw* m_debugDraw;
- // This is used to compute the time step ratio to
- // support a variable time step.
- float32 m_inv_dt0;
- // This is for debugging the solver.
- bool m_warmStarting;
- // This is for debugging the solver.
- bool m_continuousPhysics;
- };
- inline b2Body* b2World::GetBodyList()
- {
- return m_bodyList;
- }
- inline b2Joint* b2World::GetJointList()
- {
- return m_jointList;
- }
- inline b2Contact* b2World::GetContactList()
- {
- return m_contactManager.m_contactList;
- }
- inline int32 b2World::GetBodyCount() const
- {
- return m_bodyCount;
- }
- inline int32 b2World::GetJointCount() const
- {
- return m_jointCount;
- }
- inline int32 b2World::GetContactCount() const
- {
- return m_contactManager.m_contactCount;
- }
- inline void b2World::SetGravity(const b2Vec2& gravity)
- {
- m_gravity = gravity;
- }
- inline b2Vec2 b2World::GetGravity() const
- {
- return m_gravity;
- }
- inline bool b2World::IsLocked() const
- {
- return (m_flags & e_locked) == e_locked;
- }
- inline void b2World::SetAutoClearForces(bool flag)
- {
- if (flag)
- {
- m_flags |= e_clearForces;
- }
- else
- {
- m_flags &= ~e_clearForces;
- }
- }
- /// Get the flag that controls automatic clearing of forces after each time step.
- inline bool b2World::GetAutoClearForces() const
- {
- return (m_flags & e_clearForces) == e_clearForces;
- }
- #endif