b2World.h

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/*
* Copyright (c) 2006-2011 Erin Catto http://www.box2d.org
*
* 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_WORLD_H
#define B2_WORLD_H

#include <Box2D/Common/b2Math.h>
#include <Box2D/Common/b2BlockAllocator.h>
#include <Box2D/Common/b2StackAllocator.h>
#include <Box2D/Dynamics/b2ContactManager.h>
#include <Box2D/Dynamics/b2WorldCallbacks.h>
#include <Box2D/Dynamics/b2TimeStep.h>

struct b2AABB;
struct b2BodyDef;
struct b2Color;
struct b2JointDef;
class b2Body;
class b2Draw;
class b2Fixture;
class b2Joint;

class b2World
{
public:
        b2World(const b2Vec2& gravity);

        ~b2World();

        void SetDestructionListener(b2DestructionListener* listener);

        void SetContactFilter(b2ContactFilter* filter);

        void SetContactListener(b2ContactListener* listener);

        void SetDebugDraw(b2Draw* debugDraw);

        b2Body* CreateBody(const b2BodyDef* def);

        void DestroyBody(b2Body* body);

        b2Joint* CreateJoint(const b2JointDef* def);

        void DestroyJoint(b2Joint* joint);

        void Step(      float32 timeStep,
                                int32 velocityIterations,
                                int32 positionIterations);

        void ClearForces();

        void DrawDebugData();

        void QueryAABB(b2QueryCallback* callback, const b2AABB& aabb) const;

        void RayCast(b2RayCastCallback* callback, const b2Vec2& point1, const b2Vec2& point2) const;

        b2Body* GetBodyList();
        const b2Body* GetBodyList() const;

        b2Joint* GetJointList();
        const b2Joint* GetJointList() const;

        b2Contact* GetContactList();
        const b2Contact* GetContactList() const;

        void SetAllowSleeping(bool flag);
        bool GetAllowSleeping() const { return m_allowSleep; }

        void SetWarmStarting(bool flag) { m_warmStarting = flag; }
        bool GetWarmStarting() const { return m_warmStarting; }

        void SetContinuousPhysics(bool flag) { m_continuousPhysics = flag; }
        bool GetContinuousPhysics() const { return m_continuousPhysics; }

        void SetSubStepping(bool flag) { m_subStepping = flag; }
        bool GetSubStepping() const { return m_subStepping; }

        int32 GetProxyCount() const;

        int32 GetBodyCount() const;

        int32 GetJointCount() const;

        int32 GetContactCount() const;

        int32 GetTreeHeight() const;

        int32 GetTreeBalance() const;

        float32 GetTreeQuality() const;

        void SetGravity(const b2Vec2& gravity);
        
        b2Vec2 GetGravity() const;

        bool IsLocked() const;

        void SetAutoClearForces(bool flag);

        bool GetAutoClearForces() const;

        void ShiftOrigin(const b2Vec2& newOrigin);

        const b2ContactManager& GetContactManager() const;

        const b2Profile& GetProfile() const;

        void Dump();

private:

        // m_flags
        enum
        {
                e_newFixture    = 0x0001,
                e_locked                = 0x0002,
                e_clearForces   = 0x0004
        };

        friend class b2Body;
        friend class b2Fixture;
        friend class b2ContactManager;
        friend class b2Controller;

        void Solve(const b2TimeStep& step);
        void SolveTOI(const b2TimeStep& step);

        void DrawJoint(b2Joint* joint);
        void DrawShape(b2Fixture* shape, const b2Transform& xf, const b2Color& color);

        b2BlockAllocator m_blockAllocator;
        b2StackAllocator m_stackAllocator;

        int32 m_flags;

        b2ContactManager m_contactManager;

        b2Body* m_bodyList;
        b2Joint* m_jointList;

        int32 m_bodyCount;
        int32 m_jointCount;

        b2Vec2 m_gravity;
        bool m_allowSleep;

        b2DestructionListener* m_destructionListener;
        b2Draw* g_debugDraw;

        // This is used to compute the time step ratio to
        // support a variable time step.
        float32 m_inv_dt0;

        // These are for debugging the solver.
        bool m_warmStarting;
        bool m_continuousPhysics;
        bool m_subStepping;

        bool m_stepComplete;

        b2Profile m_profile;
};

inline b2Body* b2World::GetBodyList()
{
        return m_bodyList;
}

inline const b2Body* b2World::GetBodyList() const
{
        return m_bodyList;
}

inline b2Joint* b2World::GetJointList()
{
        return m_jointList;
}

inline const b2Joint* b2World::GetJointList() const
{
        return m_jointList;
}

inline b2Contact* b2World::GetContactList()
{
        return m_contactManager.m_contactList;
}

inline const b2Contact* b2World::GetContactList() const
{
        return m_contactManager.m_contactList;
}

inline int32 b2World::GetBodyCount() const
{
        return m_bodyCount;
}

inline int32 b2World::GetJointCount() const
{
        return m_jointCount;
}

inline int32 b2World::GetContactCount() const
{
        return m_contactManager.m_contactCount;
}

inline void b2World::SetGravity(const b2Vec2& gravity)
{
        m_gravity = gravity;
}

inline b2Vec2 b2World::GetGravity() const
{
        return m_gravity;
}

inline bool b2World::IsLocked() const
{
        return (m_flags & e_locked) == e_locked;
}

inline void b2World::SetAutoClearForces(bool flag)
{
        if (flag)
        {
                m_flags |= e_clearForces;
        }
        else
        {
                m_flags &= ~e_clearForces;
        }
}

inline bool b2World::GetAutoClearForces() const
{
        return (m_flags & e_clearForces) == e_clearForces;
}

inline const b2ContactManager& b2World::GetContactManager() const
{
        return m_contactManager;
}

inline const b2Profile& b2World::GetProfile() const
{
        return m_profile;
}

#endif