Box2D: b2Contact.h Source File

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b2Contact.h
1 /*
2 * Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
3 *
4 * This software is provided 'as-is', without any express or implied
5 * warranty. In no event will the authors be held liable for any damages
6 * arising from the use of this software.
7 * Permission is granted to anyone to use this software for any purpose,
8 * including commercial applications, and to alter it and redistribute it
9 * freely, subject to the following restrictions:
10 * 1. The origin of this software must not be misrepresented; you must not
11 * claim that you wrote the original software. If you use this software
12 * in a product, an acknowledgment in the product documentation would be
13 * appreciated but is not required.
14 * 2. Altered source versions must be plainly marked as such, and must not be
15 * misrepresented as being the original software.
16 * 3. This notice may not be removed or altered from any source distribution.
17 */
18
19 #ifndef B2_CONTACT_H
20 #define B2_CONTACT_H
21
22 #include <Box2D/Common/b2Math.h>
23 #include <Box2D/Collision/b2Collision.h>
24 #include <Box2D/Collision/Shapes/b2Shape.h>
25 #include <Box2D/Dynamics/b2Fixture.h>
26
27 class b2Body;
28 class b2Contact;
29 class b2Fixture;
30 class b2World;
31 class b2BlockAllocator;
32 class b2StackAllocator;
33 class b2ContactListener;
34
37 inline float32 b2MixFriction(float32 friction1, float32 friction2)
38 {
39 return b2Sqrt(friction1 * friction2);
40 }
41
44 inline float32 b2MixRestitution(float32 restitution1, float32 restitution2)
45 {
46 return restitution1 > restitution2 ? restitution1 : restitution2;
47 }
48
49 typedef b2Contact* b2ContactCreateFcn( b2Fixture* fixtureA, int32 indexA,
50 b2Fixture* fixtureB, int32 indexB,
51 b2BlockAllocator* allocator);
52 typedef void b2ContactDestroyFcn(b2Contact* contact, b2BlockAllocator* allocator);
53
54 struct b2ContactRegister
55 {
56 b2ContactCreateFcn* createFcn;
57 b2ContactDestroyFcn* destroyFcn;
58 bool primary;
59 };
60
66 struct b2ContactEdge
67 {
68 b2Body* other;
69 b2Contact* contact;
70 b2ContactEdge* prev;
71 b2ContactEdge* next;
72 };
73
77 class b2Contact
78 {
79 public:
80
83 b2Manifold* GetManifold();
84 const b2Manifold* GetManifold() const;
85
87 void GetWorldManifold(b2WorldManifold* worldManifold) const;
88
90 bool IsTouching() const;
91
95 void SetEnabled(bool flag);
96
98 bool IsEnabled() const;
99
101 b2Contact* GetNext();
102 const b2Contact* GetNext() const;
103
105 b2Fixture* GetFixtureA();
106 const b2Fixture* GetFixtureA() const;
107
109 int32 GetChildIndexA() const;
110
112 b2Fixture* GetFixtureB();
113 const b2Fixture* GetFixtureB() const;
114
116 int32 GetChildIndexB() const;
117
120 void SetFriction(float32 friction);
121
123 float32 GetFriction() const;
124
126 void ResetFriction();
127
130 void SetRestitution(float32 restitution);
131
133 float32 GetRestitution() const;
134
136 void ResetRestitution();
137
139 void SetTangentSpeed(float32 speed);
140
142 float32 GetTangentSpeed() const;
143
145 virtual void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB) = 0;
146
147 protected:
148 friend class b2ContactManager;
149 friend class b2World;
150 friend class b2ContactSolver;
151 friend class b2Body;
152 friend class b2Fixture;
153
154 // Flags stored in m_flags
155 enum
156 {
157 // Used when crawling contact graph when forming islands.
158 e_islandFlag = 0x0001,
159
160 // Set when the shapes are touching.
161 e_touchingFlag = 0x0002,
162
163 // This contact can be disabled (by user)
164 e_enabledFlag = 0x0004,
165
166 // This contact needs filtering because a fixture filter was changed.
167 e_filterFlag = 0x0008,
168
169 // This bullet contact had a TOI event
170 e_bulletHitFlag = 0x0010,
171
172 // This contact has a valid TOI in m_toi
173 e_toiFlag = 0x0020
174 };
175
177 void FlagForFiltering();
178
179 static void AddType(b2ContactCreateFcn* createFcn, b2ContactDestroyFcn* destroyFcn,
180 b2Shape::Type typeA, b2Shape::Type typeB);
181 static void InitializeRegisters();
182 static b2Contact* Create(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator);
183 static void Destroy(b2Contact* contact, b2Shape::Type typeA, b2Shape::Type typeB, b2BlockAllocator* allocator);
184 static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);
185
186 b2Contact() : m_fixtureA(NULL), m_fixtureB(NULL) {}
187 b2Contact(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB);
188 virtual ~b2Contact() {}
189
190 void Update(b2ContactListener* listener);
191
192 static b2ContactRegister s_registers[b2Shape::e_typeCount][b2Shape::e_typeCount];
193 static bool s_initialized;
194
195 uint32 m_flags;
196
197 // World pool and list pointers.
198 b2Contact* m_prev;
199 b2Contact* m_next;
200
201 // Nodes for connecting bodies.
202 b2ContactEdge m_nodeA;
203 b2ContactEdge m_nodeB;
204
205 b2Fixture* m_fixtureA;
206 b2Fixture* m_fixtureB;
207
208 int32 m_indexA;
209 int32 m_indexB;
210
211 b2Manifold m_manifold;
212
213 int32 m_toiCount;
214 float32 m_toi;
215
216 float32 m_friction;
217 float32 m_restitution;
218
219 float32 m_tangentSpeed;
220 };
221
222 inline b2Manifold* b2Contact::GetManifold()
223 {
224 return &m_manifold;
225 }
226
227 inline const b2Manifold* b2Contact::GetManifold() const
228 {
229 return &m_manifold;
230 }
231
232 inline void b2Contact::GetWorldManifold(b2WorldManifold* worldManifold) const
233 {
234 const b2Body* bodyA = m_fixtureA->GetBody();
235 const b2Body* bodyB = m_fixtureB->GetBody();
236 const b2Shape* shapeA = m_fixtureA->GetShape();
237 const b2Shape* shapeB = m_fixtureB->GetShape();
238
239 worldManifold->Initialize(&m_manifold, bodyA->GetTransform(), shapeA->m_radius, bodyB->GetTransform(), shapeB->m_radius);
240 }
241
242 inline void b2Contact::SetEnabled(bool flag)
243 {
244 if (flag)
245 {
246 m_flags |= e_enabledFlag;
247 }
248 else
249 {
250 m_flags &= ~e_enabledFlag;
251 }
252 }
253
254 inline bool b2Contact::IsEnabled() const
255 {
256 return (m_flags & e_enabledFlag) == e_enabledFlag;
257 }
258
259 inline bool b2Contact::IsTouching() const
260 {
261 return (m_flags & e_touchingFlag) == e_touchingFlag;
262 }
263
264 inline b2Contact* b2Contact::GetNext()
265 {
266 return m_next;
267 }
268
269 inline const b2Contact* b2Contact::GetNext() const
270 {
271 return m_next;
272 }
273
274 inline b2Fixture* b2Contact::GetFixtureA()
275 {
276 return m_fixtureA;
277 }
278
279 inline const b2Fixture* b2Contact::GetFixtureA() const
280 {
281 return m_fixtureA;
282 }
283
284 inline b2Fixture* b2Contact::GetFixtureB()
285 {
286 return m_fixtureB;
287 }
288
289 inline int32 b2Contact::GetChildIndexA() const
290 {
291 return m_indexA;
292 }
293
294 inline const b2Fixture* b2Contact::GetFixtureB() const
295 {
296 return m_fixtureB;
297 }
298
299 inline int32 b2Contact::GetChildIndexB() const
300 {
301 return m_indexB;
302 }
303
304 inline void b2Contact::FlagForFiltering()
305 {
306 m_flags |= e_filterFlag;
307 }
308
309 inline void b2Contact::SetFriction(float32 friction)
310 {
311 m_friction = friction;
312 }
313
314 inline float32 b2Contact::GetFriction() const
315 {
316 return m_friction;
317 }
318
319 inline void b2Contact::ResetFriction()
320 {
321 m_friction = b2MixFriction(m_fixtureA->m_friction, m_fixtureB->m_friction);
322 }
323
324 inline void b2Contact::SetRestitution(float32 restitution)
325 {
326 m_restitution = restitution;
327 }
328
329 inline float32 b2Contact::GetRestitution() const
330 {
331 return m_restitution;
332 }
333
334 inline void b2Contact::ResetRestitution()
335 {
336 m_restitution = b2MixRestitution(m_fixtureA->m_restitution, m_fixtureB->m_restitution);
337 }
338
339 inline void b2Contact::SetTangentSpeed(float32 speed)
340 {
341 m_tangentSpeed = speed;
342 }
343
344 inline float32 b2Contact::GetTangentSpeed() const
345 {
346 return m_tangentSpeed;
347 }
348
349 #endif
b2Transform
Definition: b2Math.h:350
b2Contact::GetChildIndexB
int32 GetChildIndexB() const
Get the child primitive index for fixture B.
Definition: b2Contact.h:299
b2ContactEdge::other
b2Body * other
provides quick access to the other body attached.
Definition: b2Contact.h:68
b2WorldManifold
This is used to compute the current state of a contact manifold.
Definition: b2Collision.h:110
b2StackAllocator
Definition: b2StackAllocator.h:37
b2Contact::IsTouching
bool IsTouching() const
Is this contact touching?
Definition: b2Contact.h:259
b2World
Definition: b2World.h:41
b2ContactEdge::contact
b2Contact * contact
the contact
Definition: b2Contact.h:69
b2WorldManifold::Initialize
void Initialize(const b2Manifold *manifold, const b2Transform &xfA, float32 radiusA, const b2Transform &xfB, float32 radiusB)
Definition: b2Collision.cpp:22
b2ContactListener
Definition: b2WorldCallbacks.h:81
b2BlockAllocator
Definition: b2BlockAllocator.h:35
b2Shape
Definition: b2Shape.h:42
b2Contact::SetRestitution
void SetRestitution(float32 restitution)
Definition: b2Contact.h:324
b2Collision.h
b2ContactEdge
Definition: b2Contact.h:66
b2Contact::ResetFriction
void ResetFriction()
Reset the friction mixture to the default value.
Definition: b2Contact.h:319
b2Contact::GetChildIndexA
int32 GetChildIndexA() const
Get the child primitive index for fixture A.
Definition: b2Contact.h:289
b2Fixture::GetBody
b2Body * GetBody()
Definition: b2Fixture.h:273
b2Fixture::GetShape
b2Shape * GetShape()
Definition: b2Fixture.h:243
b2Contact::FlagForFiltering
void FlagForFiltering()
Flag this contact for filtering. Filtering will occur the next time step.
Definition: b2Contact.h:304
b2Contact::GetFixtureB
b2Fixture * GetFixtureB()
Get fixture B in this contact.
Definition: b2Contact.h:284
b2Contact::GetManifold
b2Manifold * GetManifold()
Definition: b2Contact.h:222
b2Contact::GetFriction
float32 GetFriction() const
Get the friction.
Definition: b2Contact.h:314
b2Contact::SetEnabled
void SetEnabled(bool flag)
Definition: b2Contact.h:242
b2ContactRegister
Definition: b2Contact.h:54
b2Contact::GetFixtureA
b2Fixture * GetFixtureA()
Get fixture A in this contact.
Definition: b2Contact.h:274
b2Contact::GetRestitution
float32 GetRestitution() const
Get the restitution.
Definition: b2Contact.h:329
b2Body
A rigid body. These are created via b2World::CreateBody.
Definition: b2Body.h:126
b2ContactEdge::prev
b2ContactEdge * prev
the previous contact edge in the body's contact list
Definition: b2Contact.h:70
b2Manifold
Definition: b2Collision.h:93
b2Body::GetTransform
const b2Transform & GetTransform() const
Definition: b2Body.h:474
b2Contact::SetFriction
void SetFriction(float32 friction)
Definition: b2Contact.h:309
b2Contact::IsEnabled
bool IsEnabled() const
Has this contact been disabled?
Definition: b2Contact.h:254
b2Contact::SetTangentSpeed
void SetTangentSpeed(float32 speed)
Set the desired tangent speed for a conveyor belt behavior. In meters per second. ...
Definition: b2Contact.h:339
b2Contact::Evaluate
virtual void Evaluate(b2Manifold *manifold, const b2Transform &xfA, const b2Transform &xfB)=0
Evaluate this contact with your own manifold and transforms.
b2Contact::GetWorldManifold
void GetWorldManifold(b2WorldManifold *worldManifold) const
Get the world manifold.
Definition: b2Contact.h:232
b2Contact::ResetRestitution
void ResetRestitution()
Reset the restitution to the default value.
Definition: b2Contact.h:334
b2Contact
Definition: b2Contact.h:77
b2ContactManager
Definition: b2ContactManager.h:30
b2Contact::GetNext
b2Contact * GetNext()
Get the next contact in the world's contact list.
Definition: b2Contact.h:264
b2ContactSolver
Definition: b2ContactSolver.h:69
b2Contact::GetTangentSpeed
float32 GetTangentSpeed() const
Get the desired tangent speed. In meters per second.
Definition: b2Contact.h:344
b2ContactEdge::next
b2ContactEdge * next
the next contact edge in the body's contact list
Definition: b2Contact.h:71
b2Fixture
Definition: b2Fixture.h:107