Box2D: /build/box2d/src/box2d-2.4.1/include/box2d/b2_fixture.h Source File

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b2_fixture.h
1// MIT License
2
3// Copyright (c) 2019 Erin Catto
4
5// Permission is hereby granted, free of charge, to any person obtaining a copy
6// of this software and associated documentation files (the "Software"), to deal
7// in the Software without restriction, including without limitation the rights
8// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
9// copies of the Software, and to permit persons to whom the Software is
10// furnished to do so, subject to the following conditions:
11
12// The above copyright notice and this permission notice shall be included in all
13// copies or substantial portions of the Software.
14
15// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21// SOFTWARE.
22
23#ifndef B2_FIXTURE_H
24#define B2_FIXTURE_H
25
26#include "b2_api.h"
27#include "b2_body.h"
28#include "b2_collision.h"
29#include "b2_shape.h"
30
31class b2BlockAllocator;
32class b2Body;
33class b2BroadPhase;
34class b2Fixture;
35
37 struct B2_API b2Filter
38{
39 b2Filter()
40 {
41 categoryBits = 0x0001;
42 maskBits = 0xFFFF;
43 groupIndex = 0;
44 }
45
47 uint16 categoryBits;
48
51 uint16 maskBits;
52
56 int16 groupIndex;
57};
58
61 struct B2_API b2FixtureDef
62{
64 b2FixtureDef()
65 {
66 shape = nullptr;
67 friction = 0.2f;
68 restitution = 0.0f;
69 restitutionThreshold = 1.0f * b2_lengthUnitsPerMeter;
70 density = 0.0f;
71 isSensor = false;
72 }
73
76 const b2Shape* shape;
77
79 b2FixtureUserData userData;
80
82 float friction;
83
85 float restitution;
86
89 float restitutionThreshold;
90
92 float density;
93
96 bool isSensor;
97
99 b2Filter filter;
100};
101
103 struct B2_API b2FixtureProxy
104{
105 b2AABB aabb;
106 b2Fixture* fixture;
107 int32 childIndex;
108 int32 proxyId;
109};
110
116 class B2_API b2Fixture
117{
118public:
121 b2Shape::Type GetType() const;
122
126 b2Shape* GetShape();
127 const b2Shape* GetShape() const;
128
130 void SetSensor(bool sensor);
131
134 bool IsSensor() const;
135
139 void SetFilterData(const b2Filter& filter);
140
142 const b2Filter& GetFilterData() const;
143
145 void Refilter();
146
149 b2Body* GetBody();
150 const b2Body* GetBody() const;
151
154 b2Fixture* GetNext();
155 const b2Fixture* GetNext() const;
156
159 b2FixtureUserData& GetUserData();
160
163 bool TestPoint(const b2Vec2& p) const;
164
169 bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input, int32 childIndex) const;
170
174 void GetMassData(b2MassData* massData) const;
175
178 void SetDensity(float density);
179
181 float GetDensity() const;
182
184 float GetFriction() const;
185
188 void SetFriction(float friction);
189
191 float GetRestitution() const;
192
195 void SetRestitution(float restitution);
196
198 float GetRestitutionThreshold() const;
199
202 void SetRestitutionThreshold(float threshold);
203
207 const b2AABB& GetAABB(int32 childIndex) const;
208
210 void Dump(int32 bodyIndex);
211
212protected:
213
214 friend class b2Body;
215 friend class b2World;
216 friend class b2Contact;
217 friend class b2ContactManager;
218
219 b2Fixture();
220
221 // We need separation create/destroy functions from the constructor/destructor because
222 // the destructor cannot access the allocator (no destructor arguments allowed by C++).
223 void Create(b2BlockAllocator* allocator, b2Body* body, const b2FixtureDef* def);
224 void Destroy(b2BlockAllocator* allocator);
225
226 // These support body activation/deactivation.
227 void CreateProxies(b2BroadPhase* broadPhase, const b2Transform& xf);
228 void DestroyProxies(b2BroadPhase* broadPhase);
229
230 void Synchronize(b2BroadPhase* broadPhase, const b2Transform& xf1, const b2Transform& xf2);
231
232 float m_density;
233
234 b2Fixture* m_next;
235 b2Body* m_body;
236
237 b2Shape* m_shape;
238
239 float m_friction;
240 float m_restitution;
241 float m_restitutionThreshold;
242
243 b2FixtureProxy* m_proxies;
244 int32 m_proxyCount;
245
246 b2Filter m_filter;
247
248 bool m_isSensor;
249
250 b2FixtureUserData m_userData;
251};
252
253 inline b2Shape::Type b2Fixture::GetType() const
254{
255 return m_shape->GetType();
256}
257
258 inline b2Shape* b2Fixture::GetShape()
259{
260 return m_shape;
261}
262
263inline const b2Shape* b2Fixture::GetShape() const
264{
265 return m_shape;
266}
267
268 inline bool b2Fixture::IsSensor() const
269{
270 return m_isSensor;
271}
272
273 inline const b2Filter& b2Fixture::GetFilterData() const
274{
275 return m_filter;
276}
277
278 inline b2FixtureUserData& b2Fixture::GetUserData()
279{
280 return m_userData;
281}
282
283 inline b2Body* b2Fixture::GetBody()
284{
285 return m_body;
286}
287
288inline const b2Body* b2Fixture::GetBody() const
289{
290 return m_body;
291}
292
293 inline b2Fixture* b2Fixture::GetNext()
294{
295 return m_next;
296}
297
298inline const b2Fixture* b2Fixture::GetNext() const
299{
300 return m_next;
301}
302
303 inline void b2Fixture::SetDensity(float density)
304{
305 b2Assert(b2IsValid(density) && density >= 0.0f);
306 m_density = density;
307}
308
309 inline float b2Fixture::GetDensity() const
310{
311 return m_density;
312}
313
314 inline float b2Fixture::GetFriction() const
315{
316 return m_friction;
317}
318
319 inline void b2Fixture::SetFriction(float friction)
320{
321 m_friction = friction;
322}
323
324 inline float b2Fixture::GetRestitution() const
325{
326 return m_restitution;
327}
328
329 inline void b2Fixture::SetRestitution(float restitution)
330{
331 m_restitution = restitution;
332}
333
334 inline float b2Fixture::GetRestitutionThreshold() const
335{
336 return m_restitutionThreshold;
337}
338
339 inline void b2Fixture::SetRestitutionThreshold(float threshold)
340{
341 m_restitutionThreshold = threshold;
342}
343
344 inline bool b2Fixture::TestPoint(const b2Vec2& p) const
345{
346 return m_shape->TestPoint(m_body->GetTransform(), p);
347}
348
349 inline bool b2Fixture::RayCast(b2RayCastOutput* output, const b2RayCastInput& input, int32 childIndex) const
350{
351 return m_shape->RayCast(output, input, m_body->GetTransform(), childIndex);
352}
353
354 inline void b2Fixture::GetMassData(b2MassData* massData) const
355{
356 m_shape->ComputeMass(massData, m_density);
357}
358
359 inline const b2AABB& b2Fixture::GetAABB(int32 childIndex) const
360{
361 b2Assert(0 <= childIndex && childIndex < m_proxyCount);
362 return m_proxies[childIndex].aabb;
363}
364
365#endif
b2_collision.h
b2_lengthUnitsPerMeter
#define b2_lengthUnitsPerMeter
Define this macro in your build if you want to override settings.
Definition b2_settings.h:49
b2BlockAllocator
Definition b2_block_allocator.h:38
b2Body
A rigid body. These are created via b2World::CreateBody.
Definition b2_body.h:129
b2Body::GetTransform
const b2Transform & GetTransform() const
Definition b2_body.h:479
b2BroadPhase
Definition b2_broad_phase.h:41
b2Contact
Definition b2_contact.h:89
b2ContactManager
Definition b2_contact_manager.h:36
b2Fixture
Definition b2_fixture.h:117
b2Fixture::GetNext
b2Fixture * GetNext()
Definition b2_fixture.h:293
b2Fixture::SetFriction
void SetFriction(float friction)
Definition b2_fixture.h:319
b2Fixture::GetAABB
const b2AABB & GetAABB(int32 childIndex) const
Definition b2_fixture.h:359
b2Fixture::SetFilterData
void SetFilterData(const b2Filter &filter)
b2Fixture::GetRestitutionThreshold
float GetRestitutionThreshold() const
Get the restitution velocity threshold.
Definition b2_fixture.h:334
b2Fixture::GetFriction
float GetFriction() const
Get the coefficient of friction.
Definition b2_fixture.h:314
b2Fixture::GetMassData
void GetMassData(b2MassData *massData) const
Definition b2_fixture.h:354
b2Fixture::Refilter
void Refilter()
Call this if you want to establish collision that was previously disabled by b2ContactFilter::ShouldC...
b2Fixture::SetRestitutionThreshold
void SetRestitutionThreshold(float threshold)
Definition b2_fixture.h:339
b2Fixture::GetRestitution
float GetRestitution() const
Get the coefficient of restitution.
Definition b2_fixture.h:324
b2Fixture::Dump
void Dump(int32 bodyIndex)
Dump this fixture to the log file.
b2Fixture::SetSensor
void SetSensor(bool sensor)
Set if this fixture is a sensor.
b2Fixture::SetDensity
void SetDensity(float density)
Definition b2_fixture.h:303
b2Fixture::GetType
b2Shape::Type GetType() const
Definition b2_fixture.h:253
b2Fixture::GetBody
b2Body * GetBody()
Definition b2_fixture.h:283
b2Fixture::TestPoint
bool TestPoint(const b2Vec2 &p) const
Definition b2_fixture.h:344
b2Fixture::GetShape
b2Shape * GetShape()
Definition b2_fixture.h:258
b2Fixture::RayCast
bool RayCast(b2RayCastOutput *output, const b2RayCastInput &input, int32 childIndex) const
Definition b2_fixture.h:349
b2Fixture::SetRestitution
void SetRestitution(float restitution)
Definition b2_fixture.h:329
b2Fixture::GetFilterData
const b2Filter & GetFilterData() const
Get the contact filtering data.
Definition b2_fixture.h:273
b2Fixture::GetDensity
float GetDensity() const
Get the density of this fixture.
Definition b2_fixture.h:309
b2Fixture::IsSensor
bool IsSensor() const
Definition b2_fixture.h:268
b2Fixture::GetUserData
b2FixtureUserData & GetUserData()
Definition b2_fixture.h:278
b2Shape
Definition b2_shape.h:49
b2Shape::ComputeMass
virtual void ComputeMass(b2MassData *massData, float density) const =0
b2Shape::GetType
Type GetType() const
Definition b2_shape.h:105
b2Shape::TestPoint
virtual bool TestPoint(const b2Transform &xf, const b2Vec2 &p) const =0
b2Shape::RayCast
virtual bool RayCast(b2RayCastOutput *output, const b2RayCastInput &input, const b2Transform &transform, int32 childIndex) const =0
b2World
Definition b2_world.h:47
b2AABB
An axis aligned bounding box.
Definition b2_collision.h:169
b2Filter
This holds contact filtering data.
Definition b2_fixture.h:38
b2Filter::categoryBits
uint16 categoryBits
The collision category bits. Normally you would just set one bit.
Definition b2_fixture.h:47
b2Filter::maskBits
uint16 maskBits
Definition b2_fixture.h:51
b2Filter::groupIndex
int16 groupIndex
Definition b2_fixture.h:56
b2FixtureDef
Definition b2_fixture.h:62
b2FixtureDef::friction
float friction
The friction coefficient, usually in the range [0,1].
Definition b2_fixture.h:82
b2FixtureDef::shape
const b2Shape * shape
Definition b2_fixture.h:76
b2FixtureDef::density
float density
The density, usually in kg/m^2.
Definition b2_fixture.h:92
b2FixtureDef::userData
b2FixtureUserData userData
Use this to store application specific fixture data.
Definition b2_fixture.h:79
b2FixtureDef::filter
b2Filter filter
Contact filtering data.
Definition b2_fixture.h:99
b2FixtureDef::restitution
float restitution
The restitution (elasticity) usually in the range [0,1].
Definition b2_fixture.h:85
b2FixtureDef::b2FixtureDef
b2FixtureDef()
The constructor sets the default fixture definition values.
Definition b2_fixture.h:64
b2FixtureDef::isSensor
bool isSensor
Definition b2_fixture.h:96
b2FixtureDef::restitutionThreshold
float restitutionThreshold
Definition b2_fixture.h:89
b2FixtureProxy
This proxy is used internally to connect fixtures to the broad-phase.
Definition b2_fixture.h:104
b2FixtureUserData
You can define this to inject whatever data you want in b2Fixture.
Definition b2_settings.h:71
b2MassData
This holds the mass data computed for a shape.
Definition b2_shape.h:34
b2RayCastInput
Ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1).
Definition b2_collision.h:154
b2RayCastOutput
Definition b2_collision.h:162
b2Transform
Definition b2_math.h:339
b2Vec2
A 2D column vector.
Definition b2_math.h:42