Box2D: /build/box2d/src/box2d-2.4.2/include/box2d/b2_world.h Source File

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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
34struct b2AABB;
35struct b2BodyDef;
36struct b2Color;
37struct b2JointDef;
38class b2Body;
39class b2Draw;
40class b2Fixture;
41class b2Joint;
42
46 class B2_API b2World
47{
48public:
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
217private:
218
219 friend class b2Body;
220 friend class b2Fixture;
221 friend class b2ContactManager;
222 friend class b2Controller;
223
224 b2World(const b2World&) = delete;
225 void operator=(const b2World&) = delete;
226
227 void Solve(const b2TimeStep& step);
228 void SolveTOI(const b2TimeStep& step);
229
230 void DrawShape(b2Fixture* shape, const b2Transform& xf, const b2Color& color);
231
232 b2BlockAllocator m_blockAllocator;
233 b2StackAllocator m_stackAllocator;
234
235 b2ContactManager m_contactManager;
236
237 b2Body* m_bodyList;
238 b2Joint* m_jointList;
239
240 int32 m_bodyCount;
241 int32 m_jointCount;
242
243 b2Vec2 m_gravity;
244 bool m_allowSleep;
245
246 b2DestructionListener* m_destructionListener;
247 b2Draw* m_debugDraw;
248
249 // This is used to compute the time step ratio to
250 // support a variable time step.
251 float m_inv_dt0;
252
253 bool m_newContacts;
254 bool m_locked;
255 bool m_clearForces;
256
257 // These are for debugging the solver.
258 bool m_warmStarting;
259 bool m_continuousPhysics;
260 bool m_subStepping;
261
262 bool m_stepComplete;
263
264 b2Profile m_profile;
265};
266
267 inline b2Body* b2World::GetBodyList()
268{
269 return m_bodyList;
270}
271
272inline const b2Body* b2World::GetBodyList() const
273{
274 return m_bodyList;
275}
276
277 inline b2Joint* b2World::GetJointList()
278{
279 return m_jointList;
280}
281
282inline const b2Joint* b2World::GetJointList() const
283{
284 return m_jointList;
285}
286
287 inline b2Contact* b2World::GetContactList()
288{
289 return m_contactManager.m_contactList;
290}
291
292inline const b2Contact* b2World::GetContactList() const
293{
294 return m_contactManager.m_contactList;
295}
296
297 inline int32 b2World::GetBodyCount() const
298{
299 return m_bodyCount;
300}
301
302 inline int32 b2World::GetJointCount() const
303{
304 return m_jointCount;
305}
306
307 inline int32 b2World::GetContactCount() const
308{
309 return m_contactManager.m_contactCount;
310}
311
312 inline void b2World::SetGravity(const b2Vec2& gravity)
313{
314 m_gravity = gravity;
315}
316
317 inline b2Vec2 b2World::GetGravity() const
318{
319 return m_gravity;
320}
321
322 inline bool b2World::IsLocked() const
323{
324 return m_locked;
325}
326
327 inline void b2World::SetAutoClearForces(bool flag)
328{
329 m_clearForces = flag;
330}
331
333 inline bool b2World::GetAutoClearForces() const
334{
335 return m_clearForces;
336}
337
338 inline const b2ContactManager& b2World::GetContactManager() const
339{
340 return m_contactManager;
341}
342
343 inline const b2Profile& b2World::GetProfile() const
344{
345 return m_profile;
346}
347
348#endif
b2BlockAllocator
Definition b2_block_allocator.h:38
b2Body
A rigid body. These are created via b2World::CreateBody.
Definition b2_body.h:129
b2ContactFilter
Definition b2_world_callbacks.h:58
b2Contact
Definition b2_contact.h:89
b2ContactListener
Definition b2_world_callbacks.h:87
b2ContactManager
Definition b2_contact_manager.h:36
b2DestructionListener
Definition b2_world_callbacks.h:42
b2Draw
Definition b2_draw.h:49
b2Fixture
Definition b2_fixture.h:117
b2Joint
Definition b2_joint.h:110
b2QueryCallback
Definition b2_world_callbacks.h:129
b2RayCastCallback
Definition b2_world_callbacks.h:141
b2StackAllocator
Definition b2_stack_allocator.h:43
b2World
Definition b2_world.h:47
b2World::GetProxyCount
int32 GetProxyCount() const
Get the number of broad-phase proxies.
b2World::GetBodyList
b2Body * GetBodyList()
Definition b2_world.h:267
b2World::CreateBody
b2Body * CreateBody(const b2BodyDef *def)
b2World::GetContactManager
const b2ContactManager & GetContactManager() const
Get the contact manager for testing.
Definition b2_world.h:338
b2World::GetBodyCount
int32 GetBodyCount() const
Get the number of bodies.
Definition b2_world.h:297
b2World::~b2World
~b2World()
Destruct the world. All physics entities are destroyed and all heap memory is released.
b2World::SetContinuousPhysics
void SetContinuousPhysics(bool flag)
Enable/disable continuous physics. For testing.
Definition b2_world.h:158
b2World::GetJointList
b2Joint * GetJointList()
Definition b2_world.h:277
b2World::CreateJoint
b2Joint * CreateJoint(const b2JointDef *def)
b2World::SetContactListener
void SetContactListener(b2ContactListener *listener)
b2World::SetAllowSleeping
void SetAllowSleeping(bool flag)
Enable/disable sleep.
b2World::SetDebugDraw
void SetDebugDraw(b2Draw *debugDraw)
b2World::IsLocked
bool IsLocked() const
Is the world locked (in the middle of a time step).
Definition b2_world.h:322
b2World::Dump
void Dump()
b2World::Step
void Step(float timeStep, int32 velocityIterations, int32 positionIterations)
b2World::SetContactFilter
void SetContactFilter(b2ContactFilter *filter)
b2World::GetTreeQuality
float GetTreeQuality() const
b2World::SetWarmStarting
void SetWarmStarting(bool flag)
Enable/disable warm starting. For testing.
Definition b2_world.h:154
b2World::GetJointCount
int32 GetJointCount() const
Get the number of joints.
Definition b2_world.h:302
b2World::SetAutoClearForces
void SetAutoClearForces(bool flag)
Set flag to control automatic clearing of forces after each time step.
Definition b2_world.h:327
b2World::GetContactCount
int32 GetContactCount() const
Get the number of contacts (each may have 0 or more contact points).
Definition b2_world.h:307
b2World::DebugDraw
void DebugDraw()
Call this to draw shapes and other debug draw data. This is intentionally non-const.
b2World::RayCast
void RayCast(b2RayCastCallback *callback, const b2Vec2 &point1, const b2Vec2 &point2) const
b2World::GetTreeBalance
int32 GetTreeBalance() const
Get the balance of the dynamic tree.
b2World::GetContactList
b2Contact * GetContactList()
Definition b2_world.h:287
b2World::GetTreeHeight
int32 GetTreeHeight() const
Get the height of the dynamic tree.
b2World::GetGravity
b2Vec2 GetGravity() const
Get the global gravity vector.
Definition b2_world.h:317
b2World::ClearForces
void ClearForces()
b2World::QueryAABB
void QueryAABB(b2QueryCallback *callback, const b2AABB &aabb) const
b2World::DestroyBody
void DestroyBody(b2Body *body)
b2World::DestroyJoint
void DestroyJoint(b2Joint *joint)
b2World::GetAutoClearForces
bool GetAutoClearForces() const
Get the flag that controls automatic clearing of forces after each time step.
Definition b2_world.h:333
b2World::SetDestructionListener
void SetDestructionListener(b2DestructionListener *listener)
b2World::SetSubStepping
void SetSubStepping(bool flag)
Enable/disable single stepped continuous physics. For testing.
Definition b2_world.h:162
b2World::SetGravity
void SetGravity(const b2Vec2 &gravity)
Change the global gravity vector.
Definition b2_world.h:312
b2World::GetProfile
const b2Profile & GetProfile() const
Get the current profile.
Definition b2_world.h:343
b2World::b2World
b2World(const b2Vec2 &gravity)
b2World::ShiftOrigin
void ShiftOrigin(const b2Vec2 &newOrigin)
b2AABB
An axis aligned bounding box.
Definition b2_collision.h:169
b2BodyDef
Definition b2_body.h:53
b2Color
Color for debug drawing. Each value has the range [0,1].
Definition b2_draw.h:31
b2JointDef
Joint definitions are used to construct joints.
Definition b2_joint.h:72
b2Profile
Profiling data. Times are in milliseconds.
Definition b2_time_step.h:30
b2TimeStep
This is an internal structure.
Definition b2_time_step.h:43
b2Transform
Definition b2_math.h:339
b2Vec2
A 2D column vector.
Definition b2_math.h:42