b2_world.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_WORLD_H
#define B2_WORLD_H

#include "b2_api.h"
#include "b2_block_allocator.h"
#include "b2_contact_manager.h"
#include "b2_math.h"
#include "b2_stack_allocator.h"
#include "b2_time_step.h"
#include "b2_world_callbacks.h"

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

class B2_API 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(      float timeStep,
                                int32 velocityIterations,
                                int32 positionIterations);

        void ClearForces();

        void DebugDraw();

        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;

        float 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:

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

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

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

        b2BlockAllocator m_blockAllocator;
        b2StackAllocator m_stackAllocator;

        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* m_debugDraw;

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

        bool m_newContacts;
        bool m_locked;
        bool m_clearForces;

        // 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_locked;
}

inline void b2World::SetAutoClearForces(bool flag)
{
        m_clearForces = flag;
}

inline bool b2World::GetAutoClearForces() const
{
        return m_clearForces;
}

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

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

#endif