Box2D: /build/box2d/src/box2d-2.4.1/include/box2d/b2_world.h Source File

| Box2D 2.4.1 A 2D physics engine for games

b2_world.h
1 // MIT License
2
3 // Copyright (c) 2019 Erin Catto
4
5 // Permission is hereby granted, free of charge, to any person obtaining a copy
6 // of this software and associated documentation files (the "Software"), to deal
7 // in the Software without restriction, including without limitation the rights
8 // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
9 // copies of the Software, and to permit persons to whom the Software is
10 // furnished to do so, subject to the following conditions:
11
12 // The above copyright notice and this permission notice shall be included in all
13 // copies or substantial portions of the Software.
14
15 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 // SOFTWARE.
22
23 #ifndef B2_WORLD_H
24 #define B2_WORLD_H
25
26 #include "b2_api.h"
27 #include "b2_block_allocator.h"
28 #include "b2_contact_manager.h"
29 #include "b2_math.h"
30 #include "b2_stack_allocator.h"
31 #include "b2_time_step.h"
32 #include "b2_world_callbacks.h"
33
34 struct b2AABB;
35 struct b2BodyDef;
36 struct b2Color;
37 struct b2JointDef;
38 class b2Body;
39 class b2Draw;
40 class b2Fixture;
41 class b2Joint;
42
46 class B2_API b2World
47 {
48 public:
51 b2World(const b2Vec2& gravity);
52
54 ~b2World();
55
58 void SetDestructionListener(b2DestructionListener* listener);
59
63 void SetContactFilter(b2ContactFilter* filter);
64
67 void SetContactListener(b2ContactListener* listener);
68
72 void SetDebugDraw(b2Draw* debugDraw);
73
77 b2Body* CreateBody(const b2BodyDef* def);
78
83 void DestroyBody(b2Body* body);
84
88 b2Joint* CreateJoint(const b2JointDef* def);
89
92 void DestroyJoint(b2Joint* joint);
93
99 void Step( float timeStep,
100 int32 velocityIterations,
101 int32 positionIterations);
102
110 void ClearForces();
111
113 void DebugDraw();
114
119 void QueryAABB(b2QueryCallback* callback, const b2AABB& aabb) const;
120
127 void RayCast(b2RayCastCallback* callback, const b2Vec2& point1, const b2Vec2& point2) const;
128
132 b2Body* GetBodyList();
133 const b2Body* GetBodyList() const;
134
138 b2Joint* GetJointList();
139 const b2Joint* GetJointList() const;
140
146 b2Contact* GetContactList();
147 const b2Contact* GetContactList() const;
148
150 void SetAllowSleeping(bool flag);
151 bool GetAllowSleeping() const { return m_allowSleep; }
152
154 void SetWarmStarting(bool flag) { m_warmStarting = flag; }
155 bool GetWarmStarting() const { return m_warmStarting; }
156
158 void SetContinuousPhysics(bool flag) { m_continuousPhysics = flag; }
159 bool GetContinuousPhysics() const { return m_continuousPhysics; }
160
162 void SetSubStepping(bool flag) { m_subStepping = flag; }
163 bool GetSubStepping() const { return m_subStepping; }
164
166 int32 GetProxyCount() const;
167
169 int32 GetBodyCount() const;
170
172 int32 GetJointCount() const;
173
175 int32 GetContactCount() const;
176
178 int32 GetTreeHeight() const;
179
181 int32 GetTreeBalance() const;
182
185 float GetTreeQuality() const;
186
188 void SetGravity(const b2Vec2& gravity);
189
191 b2Vec2 GetGravity() const;
192
194 bool IsLocked() const;
195
197 void SetAutoClearForces(bool flag);
198
200 bool GetAutoClearForces() const;
201
205 void ShiftOrigin(const b2Vec2& newOrigin);
206
208 const b2ContactManager& GetContactManager() const;
209
211 const b2Profile& GetProfile() const;
212
215 void Dump();
216
217 private:
218
219 friend class b2Body;
220 friend class b2Fixture;
221 friend class b2ContactManager;
222 friend class b2Controller;
223
224 void Solve(const b2TimeStep& step);
225 void SolveTOI(const b2TimeStep& step);
226
227 void DrawShape(b2Fixture* shape, const b2Transform& xf, const b2Color& color);
228
229 b2BlockAllocator m_blockAllocator;
230 b2StackAllocator m_stackAllocator;
231
232 b2ContactManager m_contactManager;
233
234 b2Body* m_bodyList;
235 b2Joint* m_jointList;
236
237 int32 m_bodyCount;
238 int32 m_jointCount;
239
240 b2Vec2 m_gravity;
241 bool m_allowSleep;
242
243 b2DestructionListener* m_destructionListener;
244 b2Draw* m_debugDraw;
245
246 // This is used to compute the time step ratio to
247 // support a variable time step.
248 float m_inv_dt0;
249
250 bool m_newContacts;
251 bool m_locked;
252 bool m_clearForces;
253
254 // These are for debugging the solver.
255 bool m_warmStarting;
256 bool m_continuousPhysics;
257 bool m_subStepping;
258
259 bool m_stepComplete;
260
261 b2Profile m_profile;
262 };
263
264 inline b2Body* b2World::GetBodyList()
265 {
266 return m_bodyList;
267 }
268
269 inline const b2Body* b2World::GetBodyList() const
270 {
271 return m_bodyList;
272 }
273
274 inline b2Joint* b2World::GetJointList()
275 {
276 return m_jointList;
277 }
278
279 inline const b2Joint* b2World::GetJointList() const
280 {
281 return m_jointList;
282 }
283
284 inline b2Contact* b2World::GetContactList()
285 {
286 return m_contactManager.m_contactList;
287 }
288
289 inline const b2Contact* b2World::GetContactList() const
290 {
291 return m_contactManager.m_contactList;
292 }
293
294 inline int32 b2World::GetBodyCount() const
295 {
296 return m_bodyCount;
297 }
298
299 inline int32 b2World::GetJointCount() const
300 {
301 return m_jointCount;
302 }
303
304 inline int32 b2World::GetContactCount() const
305 {
306 return m_contactManager.m_contactCount;
307 }
308
309 inline void b2World::SetGravity(const b2Vec2& gravity)
310 {
311 m_gravity = gravity;
312 }
313
314 inline b2Vec2 b2World::GetGravity() const
315 {
316 return m_gravity;
317 }
318
319 inline bool b2World::IsLocked() const
320 {
321 return m_locked;
322 }
323
324 inline void b2World::SetAutoClearForces(bool flag)
325 {
326 m_clearForces = flag;
327 }
328
330 inline bool b2World::GetAutoClearForces() const
331 {
332 return m_clearForces;
333 }
334
335 inline const b2ContactManager& b2World::GetContactManager() const
336 {
337 return m_contactManager;
338 }
339
340 inline const b2Profile& b2World::GetProfile() const
341 {
342 return m_profile;
343 }
344
345 #endif
b2World::ClearForces
void ClearForces()
b2World::CreateJoint
b2Joint * CreateJoint(const b2JointDef *def)
b2World::DebugDraw
void DebugDraw()
Call this to draw shapes and other debug draw data. This is intentionally non-const.
b2Vec2
A 2D column vector.
Definition: b2_math.h:42
b2TimeStep
This is an internal structure.
Definition: b2_time_step.h:43
b2Body
A rigid body. These are created via b2World::CreateBody.
Definition: b2_body.h:129
b2World::GetJointList
b2Joint * GetJointList()
Definition: b2_world.h:274
b2ContactManager
Definition: b2_contact_manager.h:36
b2World::SetDestructionListener
void SetDestructionListener(b2DestructionListener *listener)
b2World::SetContactListener
void SetContactListener(b2ContactListener *listener)
b2World::GetContactCount
int32 GetContactCount() const
Get the number of contacts (each may have 0 or more contact points).
Definition: b2_world.h:304
b2Profile
Profiling data. Times are in milliseconds.
Definition: b2_time_step.h:30
b2World::CreateBody
b2Body * CreateBody(const b2BodyDef *def)
b2World::GetContactManager
const b2ContactManager & GetContactManager() const
Get the contact manager for testing.
Definition: b2_world.h:335
b2ContactListener
Definition: b2_world_callbacks.h:87
b2Draw
Definition: b2_draw.h:49
b2World::DestroyBody
void DestroyBody(b2Body *body)
b2Transform
Definition: b2_math.h:339
b2World::SetWarmStarting
void SetWarmStarting(bool flag)
Enable/disable warm starting. For testing.
Definition: b2_world.h:154
b2JointDef
Joint definitions are used to construct joints.
Definition: b2_joint.h:73
b2QueryCallback
Definition: b2_world_callbacks.h:129
b2World::GetBodyCount
int32 GetBodyCount() const
Get the number of bodies.
Definition: b2_world.h:294
b2World::SetGravity
void SetGravity(const b2Vec2 &gravity)
Change the global gravity vector.
Definition: b2_world.h:309
b2World::GetTreeHeight
int32 GetTreeHeight() const
Get the height of the dynamic tree.
b2StackAllocator
Definition: b2_stack_allocator.h:43
b2World::GetTreeQuality
float GetTreeQuality() const
b2World::DestroyJoint
void DestroyJoint(b2Joint *joint)
b2World::GetJointCount
int32 GetJointCount() const
Get the number of joints.
Definition: b2_world.h:299
b2World::GetBodyList
b2Body * GetBodyList()
Definition: b2_world.h:264
b2Color
Color for debug drawing. Each value has the range [0,1].
Definition: b2_draw.h:31
b2World::SetDebugDraw
void SetDebugDraw(b2Draw *debugDraw)
b2World::GetTreeBalance
int32 GetTreeBalance() const
Get the balance of the dynamic tree.
b2Fixture
Definition: b2_fixture.h:117
b2AABB
An axis aligned bounding box.
Definition: b2_collision.h:169
b2World::SetContinuousPhysics
void SetContinuousPhysics(bool flag)
Enable/disable continuous physics. For testing.
Definition: b2_world.h:158
b2World::Dump
void Dump()
b2World::SetAutoClearForces
void SetAutoClearForces(bool flag)
Set flag to control automatic clearing of forces after each time step.
Definition: b2_world.h:324
b2BlockAllocator
Definition: b2_block_allocator.h:38
b2World::b2World
b2World(const b2Vec2 &gravity)
b2BodyDef
Definition: b2_body.h:53
b2World::GetContactList
b2Contact * GetContactList()
Definition: b2_world.h:284
b2World::~b2World
~b2World()
Destruct the world. All physics entities are destroyed and all heap memory is released.
b2World::ShiftOrigin
void ShiftOrigin(const b2Vec2 &newOrigin)
b2World::GetGravity
b2Vec2 GetGravity() const
Get the global gravity vector.
Definition: b2_world.h:314
b2World::RayCast
void RayCast(b2RayCastCallback *callback, const b2Vec2 &point1, const b2Vec2 &point2) const
b2Contact
Definition: b2_contact.h:89
b2World::SetSubStepping
void SetSubStepping(bool flag)
Enable/disable single stepped continuous physics. For testing.
Definition: b2_world.h:162
b2RayCastCallback
Definition: b2_world_callbacks.h:141
b2World
Definition: b2_world.h:47
b2ContactFilter
Definition: b2_world_callbacks.h:58
b2World::QueryAABB
void QueryAABB(b2QueryCallback *callback, const b2AABB &aabb) const
b2World::GetProxyCount
int32 GetProxyCount() const
Get the number of broad-phase proxies.
b2World::GetProfile
const b2Profile & GetProfile() const
Get the current profile.
Definition: b2_world.h:340
b2World::SetAllowSleeping
void SetAllowSleeping(bool flag)
Enable/disable sleep.
b2Joint
Definition: b2_joint.h:111
b2World::GetAutoClearForces
bool GetAutoClearForces() const
Get the flag that controls automatic clearing of forces after each time step.
Definition: b2_world.h:330
b2DestructionListener
Definition: b2_world_callbacks.h:42
b2World::SetContactFilter
void SetContactFilter(b2ContactFilter *filter)
b2World::Step
void Step(float timeStep, int32 velocityIterations, int32 positionIterations)
b2World::IsLocked
bool IsLocked() const
Is the world locked (in the middle of a time step).
Definition: b2_world.h:319