/*
* Copyright (c) 2006-2009 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_SHAPE_H
#define B2_SHAPE_H
#include
#include
#include
/// This holds the mass data computed for a shape.
struct b2MassData
{
/// The mass of the shape, usually in kilograms.
float32 mass;
/// The position of the shape's centroid relative to the shape's origin.
b2Vec2 center;
/// The rotational inertia of the shape about the local origin.
float32 I;
};
/// A shape is used for collision detection. You can create a shape however you like.
/// Shapes used for simulation in b2World are created automatically when a b2Fixture
/// is created.
class b2Shape
{
public:
enum Type
{
e_unknown= -1,
e_circle = 0,
e_polygon = 1,
e_typeCount = 2,
};
b2Shape() { m_type = e_unknown; }
virtual ~b2Shape() {}
/// Clone the concrete shape using the provided allocator.
virtual b2Shape* Clone(b2BlockAllocator* allocator) const = 0;
/// Get the type of this shape. You can use this to down cast to the concrete shape.
/// @return the shape type.
Type GetType() const;
/// Test a point for containment in this shape. This only works for convex shapes.
/// @param xf the shape world transform.
/// @param p a point in world coordinates.
virtual bool TestPoint(const b2Transform& xf, const b2Vec2& p) const = 0;
/// Cast a ray against this shape.
/// @param output the ray-cast results.
/// @param input the ray-cast input parameters.
/// @param transform the transform to be applied to the shape.
virtual bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input, const b2Transform& transform) const = 0;
/// Given a transform, compute the associated axis aligned bounding box for this shape.
/// @param aabb returns the axis aligned box.
/// @param xf the world transform of the shape.
virtual void ComputeAABB(b2AABB* aabb, const b2Transform& xf) const = 0;
/// Compute the mass properties of this shape using its dimensions and density.
/// The inertia tensor is computed about the local origin.
/// @param massData returns the mass data for this shape.
/// @param density the density in kilograms per meter squared.
virtual void ComputeMass(b2MassData* massData, float32 density) const = 0;
Type m_type;
float32 m_radius;
};
inline b2Shape::Type b2Shape::GetType() const
{
return m_type;
}
#endif