/usr/include/Box2D/Dynamics/b2Body.h is in libbox2d-dev 2.0.1+dfsg1-1.
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* Copyright (c) 2006-2007 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_BODY_H
#define B2_BODY_H
#include "../Common/b2Math.h"
#include "../Collision/Shapes/b2Shape.h"
#include "Joints/b2Joint.h"
#include <memory>
class b2Joint;
class b2Contact;
class b2World;
struct b2JointEdge;
struct b2ContactEdge;
/// A body definition holds all the data needed to construct a rigid body.
/// You can safely re-use body definitions.
struct b2BodyDef
{
/// This constructor sets the body definition default values.
b2BodyDef()
{
massData.center.SetZero();
massData.mass = 0.0f;
massData.I = 0.0f;
userData = NULL;
position.Set(0.0f, 0.0f);
angle = 0.0f;
linearDamping = 0.0f;
angularDamping = 0.0f;
allowSleep = true;
isSleeping = false;
fixedRotation = false;
isBullet = false;
}
/// You can use this to initialized the mass properties of the body.
/// If you prefer, you can set the mass properties after the shapes
/// have been added using b2Body::SetMassFromShapes.
b2MassData massData;
/// Use this to store application specific body data.
void* userData;
/// The world position of the body. Avoid creating bodies at the origin
/// since this can lead to many overlapping shapes.
b2Vec2 position;
/// The world angle of the body in radians.
float32 angle;
/// Linear damping is use to reduce the linear velocity. The damping parameter
/// can be larger than 1.0f but the damping effect becomes sensitive to the
/// time step when the damping parameter is large.
float32 linearDamping;
/// Angular damping is use to reduce the angular velocity. The damping parameter
/// can be larger than 1.0f but the damping effect becomes sensitive to the
/// time step when the damping parameter is large.
float32 angularDamping;
/// Set this flag to false if this body should never fall asleep. Note that
/// this increases CPU usage.
bool allowSleep;
/// Is this body initially sleeping?
bool isSleeping;
/// Should this body be prevented from rotating? Useful for characters.
bool fixedRotation;
/// Is this a fast moving body that should be prevented from tunneling through
/// other moving bodies? Note that all bodies are prevented from tunneling through
/// static bodies.
/// @warning You should use this flag sparingly since it increases processing time.
bool isBullet;
};
/// A rigid body.
class b2Body
{
public:
/// Creates a shape and attach it to this body.
/// @param shapeDef the shape definition.
/// @warning This function is locked during callbacks.
b2Shape* CreateShape(b2ShapeDef* shapeDef);
/// Destroy a shape. This removes the shape from the broad-phase and
/// therefore destroys any contacts associated with this shape. All shapes
/// attached to a body are implicitly destroyed when the body is destroyed.
/// @param shape the shape to be removed.
/// @warning This function is locked during callbacks.
void DestroyShape(b2Shape* shape);
/// Set the mass properties. Note that this changes the center of mass position.
/// If you are not sure how to compute mass properties, use SetMassFromShapes.
/// The inertia tensor is assumed to be relative to the center of mass.
/// @param massData the mass properties.
void SetMass(const b2MassData* massData);
/// Compute the mass properties from the attached shapes. You typically call this
/// after adding all the shapes. If you add or remove shapes later, you may want
/// to call this again. Note that this changes the center of mass position.
void SetMassFromShapes();
/// Set the position of the body's origin and rotation (radians).
/// This breaks any contacts and wakes the other bodies.
/// @param position the new world position of the body's origin (not necessarily
/// the center of mass).
/// @param angle the new world rotation angle of the body in radians.
/// @return false if the movement put a shape outside the world. In this case the
/// body is automatically frozen.
bool SetXForm(const b2Vec2& position, float32 angle);
/// Get the body transform for the body's origin.
/// @return the world transform of the body's origin.
const b2XForm& GetXForm() const;
/// Get the world body origin position.
/// @return the world position of the body's origin.
const b2Vec2& GetPosition() const;
/// Get the angle in radians.
/// @return the current world rotation angle in radians.
float32 GetAngle() const;
/// Get the world position of the center of mass.
const b2Vec2& GetWorldCenter() const;
/// Get the local position of the center of mass.
const b2Vec2& GetLocalCenter() const;
/// Set the linear velocity of the center of mass.
/// @param v the new linear velocity of the center of mass.
void SetLinearVelocity(const b2Vec2& v);
/// Get the linear velocity of the center of mass.
/// @return the linear velocity of the center of mass.
b2Vec2 GetLinearVelocity() const;
/// Set the angular velocity.
/// @param omega the new angular velocity in radians/second.
void SetAngularVelocity(float32 omega);
/// Get the angular velocity.
/// @return the angular velocity in radians/second.
float32 GetAngularVelocity() const;
/// Apply a force at a world point. If the force is not
/// applied at the center of mass, it will generate a torque and
/// affect the angular velocity. This wakes up the body.
/// @param force the world force vector, usually in Newtons (N).
/// @param point the world position of the point of application.
void ApplyForce(const b2Vec2& force, const b2Vec2& point);
/// Apply a torque. This affects the angular velocity
/// without affecting the linear velocity of the center of mass.
/// This wakes up the body.
/// @param torque about the z-axis (out of the screen), usually in N-m.
void ApplyTorque(float32 torque);
/// Apply an impulse at a point. This immediately modifies the velocity.
/// It also modifies the angular velocity if the point of application
/// is not at the center of mass. This wakes up the body.
/// @param impulse the world impulse vector, usually in N-seconds or kg-m/s.
/// @param point the world position of the point of application.
void ApplyImpulse(const b2Vec2& impulse, const b2Vec2& point);
/// Get the total mass of the body.
/// @return the mass, usually in kilograms (kg).
float32 GetMass() const;
/// Get the central rotational inertia of the body.
/// @return the rotational inertia, usually in kg-m^2.
float32 GetInertia() const;
/// Get the world coordinates of a point given the local coordinates.
/// @param localPoint a point on the body measured relative the the body's origin.
/// @return the same point expressed in world coordinates.
b2Vec2 GetWorldPoint(const b2Vec2& localPoint) const;
/// Get the world coordinates of a vector given the local coordinates.
/// @param localVector a vector fixed in the body.
/// @return the same vector expressed in world coordinates.
b2Vec2 GetWorldVector(const b2Vec2& localVector) const;
/// Gets a local point relative to the body's origin given a world point.
/// @param a point in world coordinates.
/// @return the corresponding local point relative to the body's origin.
b2Vec2 GetLocalPoint(const b2Vec2& worldPoint) const;
/// Gets a local vector given a world vector.
/// @param a vector in world coordinates.
/// @return the corresponding local vector.
b2Vec2 GetLocalVector(const b2Vec2& worldVector) const;
/// Get the world linear velocity of a world point attached to this body.
/// @param a point in world coordinates.
/// @return the world velocity of a point.
b2Vec2 GetLinearVelocityFromWorldPoint(const b2Vec2& worldPoint) const;
/// Get the world velocity of a local point.
/// @param a point in local coordinates.
/// @return the world velocity of a point.
b2Vec2 GetLinearVelocityFromLocalPoint(const b2Vec2& localPoint) const;
/// Is this body treated like a bullet for continuous collision detection?
bool IsBullet() const;
/// Should this body be treated like a bullet for continuous collision detection?
void SetBullet(bool flag);
/// Is this body static (immovable)?
bool IsStatic() const;
/// Is this body dynamic (movable)?
bool IsDynamic() const;
/// Is this body frozen?
bool IsFrozen() const;
/// Is this body sleeping (not simulating).
bool IsSleeping() const;
/// You can disable sleeping on this body.
void AllowSleeping(bool flag);
/// Wake up this body so it will begin simulating.
void WakeUp();
/// Put this body to sleep so it will stop simulating.
/// This also sets the velocity to zero.
void PutToSleep();
/// Get the list of all shapes attached to this body.
b2Shape* GetShapeList();
/// Get the list of all joints attached to this body.
b2JointEdge* GetJointList();
/// Get the next body in the world's body list.
b2Body* GetNext();
/// Get the user data pointer that was provided in the body definition.
void* GetUserData();
/// Set the user data. Use this to store your application specific data.
void SetUserData(void* data);
/// Get the parent world of this body.
b2World* GetWorld();
private:
friend class b2World;
friend class b2Island;
friend class b2ContactManager;
friend class b2ContactSolver;
friend class b2DistanceJoint;
friend class b2GearJoint;
friend class b2MouseJoint;
friend class b2PrismaticJoint;
friend class b2PulleyJoint;
friend class b2RevoluteJoint;
// m_flags
enum
{
e_frozenFlag = 0x0002,
e_islandFlag = 0x0004,
e_sleepFlag = 0x0008,
e_allowSleepFlag = 0x0010,
e_bulletFlag = 0x0020,
e_fixedRotationFlag = 0x0040,
};
// m_type
enum
{
e_staticType,
e_dynamicType,
e_maxTypes,
};
b2Body(const b2BodyDef* bd, b2World* world);
~b2Body();
bool SynchronizeShapes();
void SynchronizeTransform();
// This is used to prevent connected bodies from colliding.
// It may lie, depending on the collideConnected flag.
bool IsConnected(const b2Body* other) const;
void Advance(float32 t);
uint16 m_flags;
int16 m_type;
b2XForm m_xf; // the body origin transform
b2Sweep m_sweep; // the swept motion for CCD
b2Vec2 m_linearVelocity;
float32 m_angularVelocity;
b2Vec2 m_force;
float32 m_torque;
b2World* m_world;
b2Body* m_prev;
b2Body* m_next;
b2Shape* m_shapeList;
int32 m_shapeCount;
b2JointEdge* m_jointList;
b2ContactEdge* m_contactList;
float32 m_mass, m_invMass;
float32 m_I, m_invI;
float32 m_linearDamping;
float32 m_angularDamping;
float32 m_sleepTime;
void* m_userData;
};
inline const b2XForm& b2Body::GetXForm() const
{
return m_xf;
}
inline const b2Vec2& b2Body::GetPosition() const
{
return m_xf.position;
}
inline float32 b2Body::GetAngle() const
{
return m_sweep.a;
}
inline const b2Vec2& b2Body::GetWorldCenter() const
{
return m_sweep.c;
}
inline const b2Vec2& b2Body::GetLocalCenter() const
{
return m_sweep.localCenter;
}
inline void b2Body::SetLinearVelocity(const b2Vec2& v)
{
m_linearVelocity = v;
}
inline b2Vec2 b2Body::GetLinearVelocity() const
{
return m_linearVelocity;
}
inline void b2Body::SetAngularVelocity(float32 w)
{
m_angularVelocity = w;
}
inline float32 b2Body::GetAngularVelocity() const
{
return m_angularVelocity;
}
inline float32 b2Body::GetMass() const
{
return m_mass;
}
inline float32 b2Body::GetInertia() const
{
return m_I;
}
inline b2Vec2 b2Body::GetWorldPoint(const b2Vec2& localPoint) const
{
return b2Mul(m_xf, localPoint);
}
inline b2Vec2 b2Body::GetWorldVector(const b2Vec2& localVector) const
{
return b2Mul(m_xf.R, localVector);
}
inline b2Vec2 b2Body::GetLocalPoint(const b2Vec2& worldPoint) const
{
return b2MulT(m_xf, worldPoint);
}
inline b2Vec2 b2Body::GetLocalVector(const b2Vec2& worldVector) const
{
return b2MulT(m_xf.R, worldVector);
}
inline b2Vec2 b2Body::GetLinearVelocityFromWorldPoint(const b2Vec2& worldPoint) const
{
return m_linearVelocity + b2Cross(m_angularVelocity, worldPoint - m_sweep.c);
}
inline b2Vec2 b2Body::GetLinearVelocityFromLocalPoint(const b2Vec2& localPoint) const
{
return GetLinearVelocityFromWorldPoint(GetWorldPoint(localPoint));
}
inline bool b2Body::IsBullet() const
{
return (m_flags & e_bulletFlag) == e_bulletFlag;
}
inline void b2Body::SetBullet(bool flag)
{
if (flag)
{
m_flags |= e_bulletFlag;
}
else
{
m_flags &= ~e_bulletFlag;
}
}
inline bool b2Body::IsStatic() const
{
return m_type == e_staticType;
}
inline bool b2Body::IsDynamic() const
{
return m_type == e_dynamicType;
}
inline bool b2Body::IsFrozen() const
{
return (m_flags & e_frozenFlag) == e_frozenFlag;
}
inline bool b2Body::IsSleeping() const
{
return (m_flags & e_sleepFlag) == e_sleepFlag;
}
inline void b2Body::AllowSleeping(bool flag)
{
if (flag)
{
m_flags |= e_allowSleepFlag;
}
else
{
m_flags &= ~e_allowSleepFlag;
WakeUp();
}
}
inline void b2Body::WakeUp()
{
m_flags &= ~e_sleepFlag;
m_sleepTime = 0.0f;
}
inline void b2Body::PutToSleep()
{
m_flags |= e_sleepFlag;
m_sleepTime = 0.0f;
m_linearVelocity.SetZero();
m_angularVelocity = 0.0f;
m_force.SetZero();
m_torque = 0.0f;
}
inline b2Shape* b2Body::GetShapeList()
{
return m_shapeList;
}
inline b2JointEdge* b2Body::GetJointList()
{
return m_jointList;
}
inline b2Body* b2Body::GetNext()
{
return m_next;
}
inline void* b2Body::GetUserData()
{
return m_userData;
}
inline void b2Body::SetUserData(void* data)
{
m_userData = data;
}
inline bool b2Body::IsConnected(const b2Body* other) const
{
for (b2JointEdge* jn = m_jointList; jn; jn = jn->next)
{
if (jn->other == other)
return jn->joint->m_collideConnected == false;
}
return false;
}
inline void b2Body::ApplyForce(const b2Vec2& force, const b2Vec2& point)
{
if (IsSleeping())
{
WakeUp();
}
m_force += force;
m_torque += b2Cross(point - m_sweep.c, force);
}
inline void b2Body::ApplyTorque(float32 torque)
{
if (IsSleeping())
{
WakeUp();
}
m_torque += torque;
}
inline void b2Body::ApplyImpulse(const b2Vec2& impulse, const b2Vec2& point)
{
if (IsSleeping())
{
WakeUp();
}
m_linearVelocity += m_invMass * impulse;
m_angularVelocity += m_invI * b2Cross(point - m_sweep.c, impulse);
}
inline void b2Body::SynchronizeTransform()
{
m_xf.R.Set(m_sweep.a);
m_xf.position = m_sweep.c - b2Mul(m_xf.R, m_sweep.localCenter);
}
inline void b2Body::Advance(float32 t)
{
// Advance to the new safe time.
m_sweep.Advance(t);
m_sweep.c = m_sweep.c0;
m_sweep.a = m_sweep.a0;
SynchronizeTransform();
}
inline b2World* b2Body::GetWorld()
{
return m_world;
}
#endif
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