b2_collision.h

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// MIT License

// Copyright (c) 2019 Erin Catto

// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:

// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.

// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#ifndef B2_COLLISION_H
#define B2_COLLISION_H

#include <limits.h>

#include "b2_api.h"
#include "b2_math.h"


class b2Shape;
class b2CircleShape;
class b2EdgeShape;
class b2PolygonShape;

const uint8 b2_nullFeature = UCHAR_MAX;

struct B2_API b2ContactFeature
{
        enum Type
        {
                e_vertex = 0,
                e_face = 1
        };

        uint8 indexA;           
        uint8 indexB;           
        uint8 typeA;            
        uint8 typeB;            
};

union B2_API b2ContactID
{
        b2ContactFeature cf;
        uint32 key;                                     
};

struct B2_API b2ManifoldPoint
{
        b2Vec2 localPoint;              
        float normalImpulse;    
        float tangentImpulse;   
        b2ContactID id;                 
};

struct B2_API b2Manifold
{
        enum Type
        {
                e_circles,
                e_faceA,
                e_faceB
        };

        b2ManifoldPoint points[b2_maxManifoldPoints];   
        b2Vec2 localNormal;                                                             
        b2Vec2 localPoint;                                                              
        Type type;
        int32 pointCount;                                                               
};

struct B2_API b2WorldManifold
{
        void Initialize(const b2Manifold* manifold,
                                        const b2Transform& xfA, float radiusA,
                                        const b2Transform& xfB, float radiusB);

        b2Vec2 normal;                                                          
        b2Vec2 points[b2_maxManifoldPoints];            
        float separations[b2_maxManifoldPoints];        
};

enum b2PointState
{
        b2_nullState,           
        b2_addState,            
        b2_persistState,        
        b2_removeState          
};

B2_API void b2GetPointStates(b2PointState state1[b2_maxManifoldPoints], b2PointState state2[b2_maxManifoldPoints],
                                          const b2Manifold* manifold1, const b2Manifold* manifold2);

struct B2_API b2ClipVertex
{
        b2Vec2 v;
        b2ContactID id;
};

struct B2_API b2RayCastInput
{
        b2Vec2 p1, p2;
        float maxFraction;
};

struct B2_API b2RayCastOutput
{
        b2Vec2 normal;
        float fraction;
};

struct B2_API b2AABB
{
        bool IsValid() const;

        b2Vec2 GetCenter() const
        {
                return 0.5f * (lowerBound + upperBound);
        }

        b2Vec2 GetExtents() const
        {
                return 0.5f * (upperBound - lowerBound);
        }

        float GetPerimeter() const
        {
                float wx = upperBound.x - lowerBound.x;
                float wy = upperBound.y - lowerBound.y;
                return 2.0f * (wx + wy);
        }

        void Combine(const b2AABB& aabb)
        {
                lowerBound = b2Min(lowerBound, aabb.lowerBound);
                upperBound = b2Max(upperBound, aabb.upperBound);
        }

        void Combine(const b2AABB& aabb1, const b2AABB& aabb2)
        {
                lowerBound = b2Min(aabb1.lowerBound, aabb2.lowerBound);
                upperBound = b2Max(aabb1.upperBound, aabb2.upperBound);
        }

        bool Contains(const b2AABB& aabb) const
        {
                bool result = true;
                result = result && lowerBound.x <= aabb.lowerBound.x;
                result = result && lowerBound.y <= aabb.lowerBound.y;
                result = result && aabb.upperBound.x <= upperBound.x;
                result = result && aabb.upperBound.y <= upperBound.y;
                return result;
        }

        bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input) const;

        b2Vec2 lowerBound;      
        b2Vec2 upperBound;      
};

B2_API void b2CollideCircles(b2Manifold* manifold,
                                          const b2CircleShape* circleA, const b2Transform& xfA,
                                          const b2CircleShape* circleB, const b2Transform& xfB);

B2_API void b2CollidePolygonAndCircle(b2Manifold* manifold,
                                                           const b2PolygonShape* polygonA, const b2Transform& xfA,
                                                           const b2CircleShape* circleB, const b2Transform& xfB);

B2_API void b2CollidePolygons(b2Manifold* manifold,
                                           const b2PolygonShape* polygonA, const b2Transform& xfA,
                                           const b2PolygonShape* polygonB, const b2Transform& xfB);

B2_API void b2CollideEdgeAndCircle(b2Manifold* manifold,
                                                           const b2EdgeShape* polygonA, const b2Transform& xfA,
                                                           const b2CircleShape* circleB, const b2Transform& xfB);

B2_API void b2CollideEdgeAndPolygon(b2Manifold* manifold,
                                                           const b2EdgeShape* edgeA, const b2Transform& xfA,
                                                           const b2PolygonShape* circleB, const b2Transform& xfB);

B2_API int32 b2ClipSegmentToLine(b2ClipVertex vOut[2], const b2ClipVertex vIn[2],
                                                        const b2Vec2& normal, float offset, int32 vertexIndexA);

B2_API bool b2TestOverlap(      const b2Shape* shapeA, int32 indexA,
                                        const b2Shape* shapeB, int32 indexB,
                                        const b2Transform& xfA, const b2Transform& xfB);

// ---------------- Inline Functions ------------------------------------------

inline bool b2AABB::IsValid() const
{
        b2Vec2 d = upperBound - lowerBound;
        bool valid = d.x >= 0.0f && d.y >= 0.0f;
        valid = valid && lowerBound.IsValid() && upperBound.IsValid();
        return valid;
}

inline bool b2TestOverlap(const b2AABB& a, const b2AABB& b)
{
        b2Vec2 d1, d2;
        d1 = b.lowerBound - a.upperBound;
        d2 = a.lowerBound - b.upperBound;

        if (d1.x > 0.0f || d1.y > 0.0f)
                return false;

        if (d2.x > 0.0f || d2.y > 0.0f)
                return false;

        return true;
}

#endif