19 #ifndef B2_COLLISION_H 20 #define B2_COLLISION_H 22 #include <Box2D/Common/b2Math.h> 34 const uint8 b2_nullFeature = UCHAR_MAX;
165 bool IsValid()
const;
170 return 0.5f * (lowerBound + upperBound);
176 return 0.5f * (upperBound - lowerBound);
182 float32 wx = upperBound.x - lowerBound.x;
183 float32 wy = upperBound.y - lowerBound.y;
184 return 2.0f * (wx + wy);
190 lowerBound = b2Min(lowerBound, aabb.
lowerBound);
191 upperBound = b2Max(upperBound, aabb.
upperBound);
205 result = result && lowerBound.x <= aabb.
lowerBound.x;
206 result = result && lowerBound.y <= aabb.
lowerBound.y;
207 result = result && aabb.
upperBound.x <= upperBound.x;
208 result = result && aabb.
upperBound.y <= upperBound.y;
245 const b2Vec2& normal, float32 offset, int32 vertexIndexA);
256 b2Vec2 d = upperBound - lowerBound;
257 bool valid = d.x >= 0.0f && d.y >= 0.0f;
258 valid = valid && lowerBound.IsValid() && upperBound.IsValid();
268 if (d1.x > 0.0f || d1.y > 0.0f)
271 if (d2.x > 0.0f || d2.y > 0.0f)
b2Vec2 GetExtents() const
Get the extents of the AABB (half-widths).
Definition: b2Collision.h:174
A circle shape.
Definition: b2CircleShape.h:25
point was added in the update
Definition: b2Collision.h:129
b2Vec2 GetCenter() const
Get the center of the AABB.
Definition: b2Collision.h:168
b2Vec2 lowerBound
the lower vertex
Definition: b2Collision.h:214
This is used to compute the current state of a contact manifold.
Definition: b2Collision.h:110
bool Contains(const b2AABB &aabb) const
Does this aabb contain the provided AABB.
Definition: b2Collision.h:202
void b2CollideEdgeAndPolygon(b2Manifold *manifold, const b2EdgeShape *edgeA, const b2Transform &xfA, const b2PolygonShape *circleB, const b2Transform &xfB)
Compute the collision manifold between an edge and a circle.
Definition: b2CollideEdge.cpp:692
Used for computing contact manifolds.
Definition: b2Collision.h:140
point does not exist
Definition: b2Collision.h:128
int32 b2ClipSegmentToLine(b2ClipVertex vOut[2], const b2ClipVertex vIn[2], const b2Vec2 &normal, float32 offset, int32 vertexIndexA)
Clipping for contact manifolds.
Definition: b2Collision.cpp:201
Definition: b2PolygonShape.h:28
Definition: b2Collision.h:155
float32 normalImpulse
the non-penetration impulse
Definition: b2Collision.h:72
point was removed in the update
Definition: b2Collision.h:131
void b2CollideCircles(b2Manifold *manifold, const b2CircleShape *circleA, const b2Transform &xfA, const b2CircleShape *circleB, const b2Transform &xfB)
Compute the collision manifold between two circles.
Definition: b2CollideCircle.cpp:23
b2Vec2 localPoint
usage depends on manifold type
Definition: b2Collision.h:71
b2Vec2 upperBound
the upper vertex
Definition: b2Collision.h:215
b2Vec2 localPoint
usage depends on manifold type
Definition: b2Collision.h:104
bool IsValid() const
Verify that the bounds are sorted.
Definition: b2Collision.h:254
float32 tangentImpulse
the friction impulse
Definition: b2Collision.h:73
An axis aligned bounding box.
Definition: b2Collision.h:162
bool b2TestOverlap(const b2Shape *shapeA, int32 indexA, const b2Shape *shapeB, int32 indexB, const b2Transform &xfA, const b2Transform &xfB)
Determine if two generic shapes overlap.
Definition: b2Collision.cpp:233
point persisted across the update
Definition: b2Collision.h:130
void b2CollidePolygonAndCircle(b2Manifold *manifold, const b2PolygonShape *polygonA, const b2Transform &xfA, const b2CircleShape *circleB, const b2Transform &xfB)
Compute the collision manifold between a polygon and a circle.
Definition: b2CollideCircle.cpp:51
Definition: b2EdgeShape.h:27
void b2CollidePolygons(b2Manifold *manifold, const b2PolygonShape *polygonA, const b2Transform &xfA, const b2PolygonShape *polygonB, const b2Transform &xfB)
Compute the collision manifold between two polygons.
Definition: b2CollidePolygon.cpp:116
float32 GetPerimeter() const
Get the perimeter length.
Definition: b2Collision.h:180
Definition: b2Collision.h:93
b2PointState
This is used for determining the state of contact points.
Definition: b2Collision.h:126
void b2CollideEdgeAndCircle(b2Manifold *manifold, const b2EdgeShape *polygonA, const b2Transform &xfA, const b2CircleShape *circleB, const b2Transform &xfB)
Compute the collision manifold between an edge and a circle.
Definition: b2CollideEdge.cpp:27
int32 pointCount
the number of manifold points
Definition: b2Collision.h:106
void Combine(const b2AABB &aabb)
Combine an AABB into this one.
Definition: b2Collision.h:188
A 2D column vector.
Definition: b2Math.h:53
#define b2_maxManifoldPoints
Definition: b2Settings.h:50
Definition: b2Collision.h:69
b2Vec2 normal
world vector pointing from A to B
Definition: b2Collision.h:120
void b2GetPointStates(b2PointState state1[b2_maxManifoldPoints], b2PointState state2[b2_maxManifoldPoints], const b2Manifold *manifold1, const b2Manifold *manifold2)
Definition: b2Collision.cpp:88
void Combine(const b2AABB &aabb1, const b2AABB &aabb2)
Combine two AABBs into this one.
Definition: b2Collision.h:195
b2Vec2 localNormal
not use for Type::e_points
Definition: b2Collision.h:103
b2ContactID id
uniquely identifies a contact point between two shapes
Definition: b2Collision.h:74