b2Contact.h

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/*
* Copyright (c) 2006-2009 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_CONTACT_H
#define B2_CONTACT_H

#include <Box2D/Common/b2Math.h>
#include <Box2D/Collision/b2Collision.h>
#include <Box2D/Collision/Shapes/b2Shape.h>
#include <Box2D/Dynamics/b2Fixture.h>

class b2Body;
class b2Contact;
class b2Fixture;
class b2World;
class b2BlockAllocator;
class b2StackAllocator;
class b2ContactListener;

inline float32 b2MixFriction(float32 friction1, float32 friction2)
{
        return b2Sqrt(friction1 * friction2);
}

inline float32 b2MixRestitution(float32 restitution1, float32 restitution2)
{
        return restitution1 > restitution2 ? restitution1 : restitution2;
}

typedef b2Contact* b2ContactCreateFcn(  b2Fixture* fixtureA, int32 indexA,
                                                                                b2Fixture* fixtureB, int32 indexB,
                                                                                b2BlockAllocator* allocator);
typedef void b2ContactDestroyFcn(b2Contact* contact, b2BlockAllocator* allocator);

struct b2ContactRegister
{
        b2ContactCreateFcn* createFcn;
        b2ContactDestroyFcn* destroyFcn;
        bool primary;
};

struct b2ContactEdge
{
        b2Body* other;                  
        b2Contact* contact;             
        b2ContactEdge* prev;    
        b2ContactEdge* next;    
};

class b2Contact
{
public:

        b2Manifold* GetManifold();
        const b2Manifold* GetManifold() const;

        void GetWorldManifold(b2WorldManifold* worldManifold) const;

        bool IsTouching() const;

        void SetEnabled(bool flag);

        bool IsEnabled() const;

        b2Contact* GetNext();
        const b2Contact* GetNext() const;

        b2Fixture* GetFixtureA();
        const b2Fixture* GetFixtureA() const;

        int32 GetChildIndexA() const;

        b2Fixture* GetFixtureB();
        const b2Fixture* GetFixtureB() const;

        int32 GetChildIndexB() const;

        void SetFriction(float32 friction);

        float32 GetFriction() const;

        void ResetFriction();

        void SetRestitution(float32 restitution);

        float32 GetRestitution() const;

        void ResetRestitution();

        void SetTangentSpeed(float32 speed);

        float32 GetTangentSpeed() const;

        virtual void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB) = 0;

protected:
        friend class b2ContactManager;
        friend class b2World;
        friend class b2ContactSolver;
        friend class b2Body;
        friend class b2Fixture;

        // Flags stored in m_flags
        enum
        {
                // Used when crawling contact graph when forming islands.
                e_islandFlag            = 0x0001,

        // Set when the shapes are touching.
                e_touchingFlag          = 0x0002,

                // This contact can be disabled (by user)
                e_enabledFlag           = 0x0004,

                // This contact needs filtering because a fixture filter was changed.
                e_filterFlag            = 0x0008,

                // This bullet contact had a TOI event
                e_bulletHitFlag         = 0x0010,

                // This contact has a valid TOI in m_toi
                e_toiFlag                       = 0x0020
        };

        void FlagForFiltering();

        static void AddType(b2ContactCreateFcn* createFcn, b2ContactDestroyFcn* destroyFcn,
                                                b2Shape::Type typeA, b2Shape::Type typeB);
        static void InitializeRegisters();
        static b2Contact* Create(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator);
        static void Destroy(b2Contact* contact, b2Shape::Type typeA, b2Shape::Type typeB, b2BlockAllocator* allocator);
        static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);

        b2Contact() : m_fixtureA(NULL), m_fixtureB(NULL) {}
        b2Contact(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB);
        virtual ~b2Contact() {}

        void Update(b2ContactListener* listener);

        static b2ContactRegister s_registers[b2Shape::e_typeCount][b2Shape::e_typeCount];
        static bool s_initialized;

        uint32 m_flags;

        // World pool and list pointers.
        b2Contact* m_prev;
        b2Contact* m_next;

        // Nodes for connecting bodies.
        b2ContactEdge m_nodeA;
        b2ContactEdge m_nodeB;

        b2Fixture* m_fixtureA;
        b2Fixture* m_fixtureB;

        int32 m_indexA;
        int32 m_indexB;

        b2Manifold m_manifold;

        int32 m_toiCount;
        float32 m_toi;

        float32 m_friction;
        float32 m_restitution;

        float32 m_tangentSpeed;
};

inline b2Manifold* b2Contact::GetManifold()
{
        return &m_manifold;
}

inline const b2Manifold* b2Contact::GetManifold() const
{
        return &m_manifold;
}

inline void b2Contact::GetWorldManifold(b2WorldManifold* worldManifold) const
{
        const b2Body* bodyA = m_fixtureA->GetBody();
        const b2Body* bodyB = m_fixtureB->GetBody();
        const b2Shape* shapeA = m_fixtureA->GetShape();
        const b2Shape* shapeB = m_fixtureB->GetShape();

        worldManifold->Initialize(&m_manifold, bodyA->GetTransform(), shapeA->m_radius, bodyB->GetTransform(), shapeB->m_radius);
}

inline void b2Contact::SetEnabled(bool flag)
{
        if (flag)
        {
                m_flags |= e_enabledFlag;
        }
        else
        {
                m_flags &= ~e_enabledFlag;
        }
}

inline bool b2Contact::IsEnabled() const
{
        return (m_flags & e_enabledFlag) == e_enabledFlag;
}

inline bool b2Contact::IsTouching() const
{
        return (m_flags & e_touchingFlag) == e_touchingFlag;
}

inline b2Contact* b2Contact::GetNext()
{
        return m_next;
}

inline const b2Contact* b2Contact::GetNext() const
{
        return m_next;
}

inline b2Fixture* b2Contact::GetFixtureA()
{
        return m_fixtureA;
}

inline const b2Fixture* b2Contact::GetFixtureA() const
{
        return m_fixtureA;
}

inline b2Fixture* b2Contact::GetFixtureB()
{
        return m_fixtureB;
}

inline int32 b2Contact::GetChildIndexA() const
{
        return m_indexA;
}

inline const b2Fixture* b2Contact::GetFixtureB() const
{
        return m_fixtureB;
}

inline int32 b2Contact::GetChildIndexB() const
{
        return m_indexB;
}

inline void b2Contact::FlagForFiltering()
{
        m_flags |= e_filterFlag;
}

inline void b2Contact::SetFriction(float32 friction)
{
        m_friction = friction;
}

inline float32 b2Contact::GetFriction() const
{
        return m_friction;
}

inline void b2Contact::ResetFriction()
{
        m_friction = b2MixFriction(m_fixtureA->m_friction, m_fixtureB->m_friction);
}

inline void b2Contact::SetRestitution(float32 restitution)
{
        m_restitution = restitution;
}

inline float32 b2Contact::GetRestitution() const
{
        return m_restitution;
}

inline void b2Contact::ResetRestitution()
{
        m_restitution = b2MixRestitution(m_fixtureA->m_restitution, m_fixtureB->m_restitution);
}

inline void b2Contact::SetTangentSpeed(float32 speed)
{
        m_tangentSpeed = speed;
}

inline float32 b2Contact::GetTangentSpeed() const
{
        return m_tangentSpeed;
}

#endif