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/*
* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
*
* 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_EDGE_SHAPE_H
#define B2_EDGE_SHAPE_H
#include "b2Shape.h"
/// This structure is used to build edge shapes.
struct b2EdgeChainDef : public b2ShapeDef
{
b2EdgeChainDef()
{
type = e_edgeShape;
vertexCount = 0;
isALoop = true;
vertices = NULL;
}
/// The vertices in local coordinates. You must manage the memory
/// of this array on your own, outside of Box2D.
b2Vec2* vertices;
/// The number of vertices in the chain.
int32 vertexCount;
/// Whether to create an extra edge between the first and last vertices:
bool isALoop;
};
/// The edge shape.
class b2EdgeShape : public b2Shape
{
public:
/// @see b2Shape::TestPoint
bool TestPoint(const b2XForm& transform, const b2Vec2& p) const;
/// @see b2Shape::TestSegment
b2SegmentCollide TestSegment( const b2XForm& transform,
float32* lambda,
b2Vec2* normal,
const b2Segment& segment,
float32 maxLambda) const;
/// @see b2Shape::ComputeAABB
void ComputeAABB(b2AABB* aabb, const b2XForm& transform) const;
/// @see b2Shape::ComputeSweptAABB
void ComputeSweptAABB( b2AABB* aabb,
const b2XForm& transform1,
const b2XForm& transform2) const;
/// @see b2Shape::ComputeMass
void ComputeMass(b2MassData* massData) const;
/// @warning This only gives a consistent and sensible answer when when summed over a body only contains loops of edges
/// @see b2Shape::ComputeSubmergedArea
float32 ComputeSubmergedArea( const b2Vec2& normal,
float32 offset,
const b2XForm& xf,
b2Vec2* c) const;
/// Linear distance from vertex1 to vertex2:
float32 GetLength() const;
/// Local position of vertex in parent body
const b2Vec2& GetVertex1() const;
/// Local position of vertex in parent body
const b2Vec2& GetVertex2() const;
/// "Core" vertex with TOI slop for b2Distance functions:
const b2Vec2& GetCoreVertex1() const;
/// "Core" vertex with TOI slop for b2Distance functions:
const b2Vec2& GetCoreVertex2() const;
/// Perpendicular unit vector point, pointing from the solid side to the empty side:
const b2Vec2& GetNormalVector() const;
/// Parallel unit vector, pointing from vertex1 to vertex2:
const b2Vec2& GetDirectionVector() const;
const b2Vec2& GetCorner1Vector() const;
const b2Vec2& GetCorner2Vector() const;
bool Corner1IsConvex() const;
bool Corner2IsConvex() const;
b2Vec2 GetFirstVertex(const b2XForm& xf) const;
b2Vec2 Support(const b2XForm& xf, const b2Vec2& d) const;
/// Get the next edge in the chain.
b2EdgeShape* GetNextEdge() const;
/// Get the previous edge in the chain.
b2EdgeShape* GetPrevEdge() const;
void SetPrevEdge(b2EdgeShape* edge, const b2Vec2& core, const b2Vec2& cornerDir, bool convex);
void SetNextEdge(b2EdgeShape* edge, const b2Vec2& core, const b2Vec2& cornerDir, bool convex);
private:
friend class b2Shape;
friend class b2Body;
b2EdgeShape(const b2Vec2& v1, const b2Vec2& v2, const b2ShapeDef* def);
void UpdateSweepRadius(const b2Vec2& center);
b2Vec2 m_v1;
b2Vec2 m_v2;
b2Vec2 m_coreV1;
b2Vec2 m_coreV2;
float32 m_length;
b2Vec2 m_normal;
b2Vec2 m_direction;
// Unit vector halfway between m_direction and m_prevEdge.m_direction:
b2Vec2 m_cornerDir1;
// Unit vector halfway between m_direction and m_nextEdge.m_direction:
b2Vec2 m_cornerDir2;
bool m_cornerConvex1;
bool m_cornerConvex2;
b2EdgeShape* m_nextEdge;
b2EdgeShape* m_prevEdge;
};
inline float32 b2EdgeShape::GetLength() const
{
return m_length;
}
inline const b2Vec2& b2EdgeShape::GetVertex1() const
{
return m_v1;
}
inline const b2Vec2& b2EdgeShape::GetVertex2() const
{
return m_v2;
}
inline const b2Vec2& b2EdgeShape::GetCoreVertex1() const
{
return m_coreV1;
}
inline const b2Vec2& b2EdgeShape::GetCoreVertex2() const
{
return m_coreV2;
}
inline const b2Vec2& b2EdgeShape::GetNormalVector() const
{
return m_normal;
}
inline const b2Vec2& b2EdgeShape::GetDirectionVector() const
{
return m_direction;
}
inline const b2Vec2& b2EdgeShape::GetCorner1Vector() const
{
return m_cornerDir1;
}
inline const b2Vec2& b2EdgeShape::GetCorner2Vector() const
{
return m_cornerDir2;
}
inline b2EdgeShape* b2EdgeShape::GetNextEdge() const
{
return m_nextEdge;
}
inline b2EdgeShape* b2EdgeShape::GetPrevEdge() const
{
return m_prevEdge;
}
inline b2Vec2 b2EdgeShape::GetFirstVertex(const b2XForm& xf) const
{
return b2Mul(xf, m_coreV1);
}
inline bool b2EdgeShape::Corner1IsConvex() const
{
return m_cornerConvex1;
}
inline bool b2EdgeShape::Corner2IsConvex() const
{
return m_cornerConvex2;
}
#endif
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