b2Settings.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_SETTINGS_H
- #define B2_SETTINGS_H
- #include <cassert>
- #include <cmath>
- #define B2_NOT_USED(x) ((void)(x))
- #define b2Assert(A) assert(A)
- typedef signed char int8;
- typedef signed short int16;
- typedef signed int int32;
- typedef unsigned char uint8;
- typedef unsigned short uint16;
- typedef unsigned int uint32;
- typedef float float32;
- #define b2_maxFloat FLT_MAX
- #define b2_epsilon FLT_EPSILON
- #define b2_pi 3.14159265359f
- /// @file
- /// Global tuning constants based on meters-kilograms-seconds (MKS) units.
- ///
- // Collision
- /// The maximum number of contact points between two convex shapes.
- #define b2_maxManifoldPoints 2
- /// The maximum number of vertices on a convex polygon.
- #define b2_maxPolygonVertices 8
- /// This is used to fatten AABBs in the dynamic tree. This allows proxies
- /// to move by a small amount without triggering a tree adjustment.
- /// This is in meters.
- #define b2_aabbExtension 0.1f
- /// This is used to fatten AABBs in the dynamic tree. This is used to predict
- /// the future position based on the current displacement.
- /// This is a dimensionless multiplier.
- #define b2_aabbMultiplier 2.0f
- /// A small length used as a collision and constraint tolerance. Usually it is
- /// chosen to be numerically significant, but visually insignificant.
- #define b2_linearSlop 0.005f
- /// A small angle used as a collision and constraint tolerance. Usually it is
- /// chosen to be numerically significant, but visually insignificant.
- #define b2_angularSlop (2.0f / 180.0f * b2_pi)
- /// The radius of the polygon/edge shape skin. This should not be modified. Making
- /// this smaller means polygons will have an insufficient buffer for continuous collision.
- /// Making it larger may create artifacts for vertex collision.
- #define b2_polygonRadius (2.0f * b2_linearSlop)
- // Dynamics
- /// Maximum number of contacts to be handled to solve a TOI impact.
- #define b2_maxTOIContacts 32
- /// A velocity threshold for elastic collisions. Any collision with a relative linear
- /// velocity below this threshold will be treated as inelastic.
- #define b2_velocityThreshold 1.0f
- /// The maximum linear position correction used when solving constraints. This helps to
- /// prevent overshoot.
- #define b2_maxLinearCorrection 0.2f
- /// The maximum angular position correction used when solving constraints. This helps to
- /// prevent overshoot.
- #define b2_maxAngularCorrection (8.0f / 180.0f * b2_pi)
- /// The maximum linear velocity of a body. This limit is very large and is used
- /// to prevent numerical problems. You shouldn't need to adjust this.
- #define b2_maxTranslation 2.0f
- #define b2_maxTranslationSquared (b2_maxTranslation * b2_maxTranslation)
- /// The maximum angular velocity of a body. This limit is very large and is used
- /// to prevent numerical problems. You shouldn't need to adjust this.
- #define b2_maxRotation (0.5f * b2_pi)
- #define b2_maxRotationSquared (b2_maxRotation * b2_maxRotation)
- /// This scale factor controls how fast overlap is resolved. Ideally this would be 1 so
- /// that overlap is removed in one time step. However using values close to 1 often lead
- /// to overshoot.
- #define b2_contactBaumgarte 0.2f
- // Sleep
- /// The time that a body must be still before it will go to sleep.
- #define b2_timeToSleep 0.5f
- /// A body cannot sleep if its linear velocity is above this tolerance.
- #define b2_linearSleepTolerance 0.01f
- /// A body cannot sleep if its angular velocity is above this tolerance.
- #define b2_angularSleepTolerance (2.0f / 180.0f * b2_pi)
- // Memory Allocation
- /// Implement this function to use your own memory allocator.
- void* b2Alloc(int32 size);
- /// If you implement b2Alloc, you should also implement this function.
- void b2Free(void* mem);
- /// Version numbering scheme.
- /// See http://en.wikipedia.org/wiki/Software_versioning
- struct b2Version
- {
- int32 major; ///< significant changes
- int32 minor; ///< incremental changes
- int32 revision; ///< bug fixes
- };
- /// Current version.
- extern b2Version b2_version;
- /// Friction mixing law. Feel free to customize this.
- inline float32 b2MixFriction(float32 friction1, float32 friction2)
- {
- return sqrtf(friction1 * friction2);
- }
- /// Restitution mixing law. Feel free to customize this.
- inline float32 b2MixRestitution(float32 restitution1, float32 restitution2)
- {
- return restitution1 > restitution2 ? restitution1 : restitution2;
- }
- #endif