b2Body.h

/*
* Copyright (c) 2006-2011 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_BODY_H
#define B2_BODY_H

#include <Box2D/Common/b2Math.h>
#include <Box2D/Collision/Shapes/b2Shape.h>
#include <memory>

class b2Fixture;
class b2Joint;
class b2Contact;
class b2Controller;
class b2World;
struct b2FixtureDef;
struct b2JointEdge;
struct b2ContactEdge;

enum b2BodyType
{
    b2_staticBody = 0,
    b2_kinematicBody,
    b2_dynamicBody

    // TODO_ERIN
    //b2_bulletBody,
};

struct b2BodyDef
{
    b2BodyDef()
    {
        userData = NULL;
        position.Set(0.0f, 0.0f);
        angle = 0.0f;
        linearVelocity.Set(0.0f, 0.0f);
        angularVelocity = 0.0f;
        linearDamping = 0.0f;
        angularDamping = 0.0f;
        allowSleep = true;
        awake = true;
        fixedRotation = false;
        bullet = false;
        type = b2_staticBody;
        active = true;
        gravityScale = 1.0f;
    }

    b2BodyType type;

    b2Vec2 position;

    float32 angle;

    b2Vec2 linearVelocity;

    float32 angularVelocity;

    float32 linearDamping;

    float32 angularDamping;

    bool allowSleep;

    bool awake;

    bool fixedRotation;

    bool bullet;

    bool active;

    void* userData;

    float32 gravityScale;
};

class b2Body
{
public:
    b2Fixture* CreateFixture(const b2FixtureDef* def);

    b2Fixture* CreateFixture(const b2Shape* shape, float32 density);

    void DestroyFixture(b2Fixture* fixture);

    void SetTransform(const b2Vec2& position, float32 angle);

    const b2Transform& GetTransform() const;

    const b2Vec2& GetPosition() const;

    float32 GetAngle() const;

    const b2Vec2& GetWorldCenter() const;

    const b2Vec2& GetLocalCenter() const;

    void SetLinearVelocity(const b2Vec2& v);

    const b2Vec2& GetLinearVelocity() const;

    void SetAngularVelocity(float32 omega);

    float32 GetAngularVelocity() const;

    void ApplyForce(const b2Vec2& force, const b2Vec2& point, bool wake);

    void ApplyForceToCenter(const b2Vec2& force, bool wake);

    void ApplyTorque(float32 torque, bool wake);

    void ApplyLinearImpulse(const b2Vec2& impulse, const b2Vec2& point, bool wake);

    void ApplyLinearImpulseToCenter(const b2Vec2& impulse, bool wake);

    void ApplyAngularImpulse(float32 impulse, bool wake);

    float32 GetMass() const;

    float32 GetInertia() const;

    void GetMassData(b2MassData* data) const;

    void SetMassData(const b2MassData* data);

    void ResetMassData();

    b2Vec2 GetWorldPoint(const b2Vec2& localPoint) const;

    b2Vec2 GetWorldVector(const b2Vec2& localVector) const;

    b2Vec2 GetLocalPoint(const b2Vec2& worldPoint) const;

    b2Vec2 GetLocalVector(const b2Vec2& worldVector) const;

    b2Vec2 GetLinearVelocityFromWorldPoint(const b2Vec2& worldPoint) const;

    b2Vec2 GetLinearVelocityFromLocalPoint(const b2Vec2& localPoint) const;

    float32 GetLinearDamping() const;

    void SetLinearDamping(float32 linearDamping);

    float32 GetAngularDamping() const;

    void SetAngularDamping(float32 angularDamping);

    float32 GetGravityScale() const;

    void SetGravityScale(float32 scale);

    void SetType(b2BodyType type);

    b2BodyType GetType() const;

    void SetBullet(bool flag);

    bool IsBullet() const;

    void SetSleepingAllowed(bool flag);

    bool IsSleepingAllowed() const;

    void SetAwake(bool flag);

    bool IsAwake() const;

    void SetActive(bool flag);

    bool IsActive() const;

    void SetFixedRotation(bool flag);

    bool IsFixedRotation() const;

    b2Fixture* GetFixtureList();
    const b2Fixture* GetFixtureList() const;

    b2JointEdge* GetJointList();
    const b2JointEdge* GetJointList() const;

    b2ContactEdge* GetContactList();
    const b2ContactEdge* GetContactList() const;

    b2Body* GetNext();
    const b2Body* GetNext() const;

    void* GetUserData() const;

    void SetUserData(void* data);

    b2World* GetWorld();
    const b2World* GetWorld() const;

    void Dump();

private:

    friend class b2World;
    friend class b2Island;
    friend class b2ContactManager;
    friend class b2ContactSolver;
    friend class b2Contact;
    
    friend class b2DistanceJoint;
    friend class b2FrictionJoint;
    friend class b2GearJoint;
    friend class b2MotorJoint;
    friend class b2MouseJoint;
    friend class b2PrismaticJoint;
    friend class b2PulleyJoint;
    friend class b2RevoluteJoint;
    friend class b2RopeJoint;
    friend class b2WeldJoint;
    friend class b2WheelJoint;

    // m_flags
    enum
    {
        e_islandFlag        = 0x0001,
        e_awakeFlag         = 0x0002,
        e_autoSleepFlag     = 0x0004,
        e_bulletFlag        = 0x0008,
        e_fixedRotationFlag = 0x0010,
        e_activeFlag        = 0x0020,
        e_toiFlag           = 0x0040
    };

    b2Body(const b2BodyDef* bd, b2World* world);
    ~b2Body();

    void SynchronizeFixtures();
    void SynchronizeTransform();

    // This is used to prevent connected bodies from colliding.
    // It may lie, depending on the collideConnected flag.
    bool ShouldCollide(const b2Body* other) const;

    void Advance(float32 t);

    b2BodyType m_type;

    uint16 m_flags;

    int32 m_islandIndex;

    b2Transform m_xf;       // the body origin transform
    b2Sweep m_sweep;        // the swept motion for CCD

    b2Vec2 m_linearVelocity;
    float32 m_angularVelocity;

    b2Vec2 m_force;
    float32 m_torque;

    b2World* m_world;
    b2Body* m_prev;
    b2Body* m_next;

    b2Fixture* m_fixtureList;
    int32 m_fixtureCount;

    b2JointEdge* m_jointList;
    b2ContactEdge* m_contactList;

    float32 m_mass, m_invMass;

    // Rotational inertia about the center of mass.
    float32 m_I, m_invI;

    float32 m_linearDamping;
    float32 m_angularDamping;
    float32 m_gravityScale;

    float32 m_sleepTime;

    void* m_userData;
};

inline b2BodyType b2Body::GetType() const
{
    return m_type;
}

inline const b2Transform& b2Body::GetTransform() const
{
    return m_xf;
}

inline const b2Vec2& b2Body::GetPosition() const
{
    return m_xf.p;
}

inline float32 b2Body::GetAngle() const
{
    return m_sweep.a;
}

inline const b2Vec2& b2Body::GetWorldCenter() const
{
    return m_sweep.c;
}

inline const b2Vec2& b2Body::GetLocalCenter() const
{
    return m_sweep.localCenter;
}

inline void b2Body::SetLinearVelocity(const b2Vec2& v)
{
    if (m_type == b2_staticBody)
    {
        return;
    }

    if (b2Dot(v,v) > 0.0f)
    {
        SetAwake(true);
    }

    m_linearVelocity = v;
}

inline const b2Vec2& b2Body::GetLinearVelocity() const
{
    return m_linearVelocity;
}

inline void b2Body::SetAngularVelocity(float32 w)
{
    if (m_type == b2_staticBody)
    {
        return;
    }

    if (w * w > 0.0f)
    {
        SetAwake(true);
    }

    m_angularVelocity = w;
}

inline float32 b2Body::GetAngularVelocity() const
{
    return m_angularVelocity;
}

inline float32 b2Body::GetMass() const
{
    return m_mass;
}

inline float32 b2Body::GetInertia() const
{
    return m_I + m_mass * b2Dot(m_sweep.localCenter, m_sweep.localCenter);
}

inline void b2Body::GetMassData(b2MassData* data) const
{
    data->mass = m_mass;
    data->I = m_I + m_mass * b2Dot(m_sweep.localCenter, m_sweep.localCenter);
    data->center = m_sweep.localCenter;
}

inline b2Vec2 b2Body::GetWorldPoint(const b2Vec2& localPoint) const
{
    return b2Mul(m_xf, localPoint);
}

inline b2Vec2 b2Body::GetWorldVector(const b2Vec2& localVector) const
{
    return b2Mul(m_xf.q, localVector);
}

inline b2Vec2 b2Body::GetLocalPoint(const b2Vec2& worldPoint) const
{
    return b2MulT(m_xf, worldPoint);
}

inline b2Vec2 b2Body::GetLocalVector(const b2Vec2& worldVector) const
{
    return b2MulT(m_xf.q, worldVector);
}

inline b2Vec2 b2Body::GetLinearVelocityFromWorldPoint(const b2Vec2& worldPoint) const
{
    return m_linearVelocity + b2Cross(m_angularVelocity, worldPoint - m_sweep.c);
}

inline b2Vec2 b2Body::GetLinearVelocityFromLocalPoint(const b2Vec2& localPoint) const
{
    return GetLinearVelocityFromWorldPoint(GetWorldPoint(localPoint));
}

inline float32 b2Body::GetLinearDamping() const
{
    return m_linearDamping;
}

inline void b2Body::SetLinearDamping(float32 linearDamping)
{
    m_linearDamping = linearDamping;
}

inline float32 b2Body::GetAngularDamping() const
{
    return m_angularDamping;
}

inline void b2Body::SetAngularDamping(float32 angularDamping)
{
    m_angularDamping = angularDamping;
}

inline float32 b2Body::GetGravityScale() const
{
    return m_gravityScale;
}

inline void b2Body::SetGravityScale(float32 scale)
{
    m_gravityScale = scale;
}

inline void b2Body::SetBullet(bool flag)
{
    if (flag)
    {
        m_flags |= e_bulletFlag;
    }
    else
    {
        m_flags &= ~e_bulletFlag;
    }
}

inline bool b2Body::IsBullet() const
{
    return (m_flags & e_bulletFlag) == e_bulletFlag;
}

inline void b2Body::SetAwake(bool flag)
{
    if (flag)
    {
        if ((m_flags & e_awakeFlag) == 0)
        {
            m_flags |= e_awakeFlag;
            m_sleepTime = 0.0f;
        }
    }
    else
    {
        m_flags &= ~e_awakeFlag;
        m_sleepTime = 0.0f;
        m_linearVelocity.SetZero();
        m_angularVelocity = 0.0f;
        m_force.SetZero();
        m_torque = 0.0f;
    }
}

inline bool b2Body::IsAwake() const
{
    return (m_flags & e_awakeFlag) == e_awakeFlag;
}

inline bool b2Body::IsActive() const
{
    return (m_flags & e_activeFlag) == e_activeFlag;
}

inline bool b2Body::IsFixedRotation() const
{
    return (m_flags & e_fixedRotationFlag) == e_fixedRotationFlag;
}

inline void b2Body::SetSleepingAllowed(bool flag)
{
    if (flag)
    {
        m_flags |= e_autoSleepFlag;
    }
    else
    {
        m_flags &= ~e_autoSleepFlag;
        SetAwake(true);
    }
}

inline bool b2Body::IsSleepingAllowed() const
{
    return (m_flags & e_autoSleepFlag) == e_autoSleepFlag;
}

inline b2Fixture* b2Body::GetFixtureList()
{
    return m_fixtureList;
}

inline const b2Fixture* b2Body::GetFixtureList() const
{
    return m_fixtureList;
}

inline b2JointEdge* b2Body::GetJointList()
{
    return m_jointList;
}

inline const b2JointEdge* b2Body::GetJointList() const
{
    return m_jointList;
}

inline b2ContactEdge* b2Body::GetContactList()
{
    return m_contactList;
}

inline const b2ContactEdge* b2Body::GetContactList() const
{
    return m_contactList;
}

inline b2Body* b2Body::GetNext()
{
    return m_next;
}

inline const b2Body* b2Body::GetNext() const
{
    return m_next;
}

inline void b2Body::SetUserData(void* data)
{
    m_userData = data;
}

inline void* b2Body::GetUserData() const
{
    return m_userData;
}

inline void b2Body::ApplyForce(const b2Vec2& force, const b2Vec2& point, bool wake)
{
    if (m_type != b2_dynamicBody)
    {
        return;
    }

    if (wake && (m_flags & e_awakeFlag) == 0)
    {
        SetAwake(true);
    }

    // Don't accumulate a force if the body is sleeping.
    if (m_flags & e_awakeFlag)
    {
        m_force += force;
        m_torque += b2Cross(point - m_sweep.c, force);
    }
}

inline void b2Body::ApplyForceToCenter(const b2Vec2& force, bool wake)
{
    if (m_type != b2_dynamicBody)
    {
        return;
    }

    if (wake && (m_flags & e_awakeFlag) == 0)
    {
        SetAwake(true);
    }

    // Don't accumulate a force if the body is sleeping
    if (m_flags & e_awakeFlag)
    {
        m_force += force;
    }
}

inline void b2Body::ApplyTorque(float32 torque, bool wake)
{
    if (m_type != b2_dynamicBody)
    {
        return;
    }

    if (wake && (m_flags & e_awakeFlag) == 0)
    {
        SetAwake(true);
    }

    // Don't accumulate a force if the body is sleeping
    if (m_flags & e_awakeFlag)
    {
        m_torque += torque;
    }
}

inline void b2Body::ApplyLinearImpulse(const b2Vec2& impulse, const b2Vec2& point, bool wake)
{
    if (m_type != b2_dynamicBody)
    {
        return;
    }

    if (wake && (m_flags & e_awakeFlag) == 0)
    {
        SetAwake(true);
    }

    // Don't accumulate velocity if the body is sleeping
    if (m_flags & e_awakeFlag)
    {
        m_linearVelocity += m_invMass * impulse;
        m_angularVelocity += m_invI * b2Cross(point - m_sweep.c, impulse);
    }
}

inline void b2Body::ApplyLinearImpulseToCenter(const b2Vec2& impulse, bool wake)
{
    if (m_type != b2_dynamicBody)
    {
        return;
    }

    if (wake && (m_flags & e_awakeFlag) == 0)
    {
        SetAwake(true);
    }

    // Don't accumulate velocity if the body is sleeping
    if (m_flags & e_awakeFlag)
    {
        m_linearVelocity += m_invMass * impulse;
    }
}

inline void b2Body::ApplyAngularImpulse(float32 impulse, bool wake)
{
    if (m_type != b2_dynamicBody)
    {
        return;
    }

    if (wake && (m_flags & e_awakeFlag) == 0)
    {
        SetAwake(true);
    }

    // Don't accumulate velocity if the body is sleeping
    if (m_flags & e_awakeFlag)
    {
        m_angularVelocity += m_invI * impulse;
    }
}

inline void b2Body::SynchronizeTransform()
{
    m_xf.q.Set(m_sweep.a);
    m_xf.p = m_sweep.c - b2Mul(m_xf.q, m_sweep.localCenter);
}

inline void b2Body::Advance(float32 alpha)
{
    // Advance to the new safe time. This doesn't sync the broad-phase.
    m_sweep.Advance(alpha);
    m_sweep.c = m_sweep.c0;
    m_sweep.a = m_sweep.a0;
    m_xf.q.Set(m_sweep.a);
    m_xf.p = m_sweep.c - b2Mul(m_xf.q, m_sweep.localCenter);
}

inline b2World* b2Body::GetWorld()
{
    return m_world;
}

inline const b2World* b2Body::GetWorld() const
{
    return m_world;
}

#endif