00001 /* 00002 * Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com 00003 * 00004 * This software is provided 'as-is', without any express or implied 00005 * warranty. In no event will the authors be held liable for any damages 00006 * arising from the use of this software. 00007 * Permission is granted to anyone to use this software for any purpose, 00008 * including commercial applications, and to alter it and redistribute it 00009 * freely, subject to the following restrictions: 00010 * 1. The origin of this software must not be misrepresented; you must not 00011 * claim that you wrote the original software. If you use this software 00012 * in a product, an acknowledgment in the product documentation would be 00013 * appreciated but is not required. 00014 * 2. Altered source versions must be plainly marked as such, and must not be 00015 * misrepresented as being the original software. 00016 * 3. This notice may not be removed or altered from any source distribution. 00017 */ 00018 00019 #ifndef B2_ISLAND_H 00020 #define B2_ISLAND_H 00021 00022 #include <Box2D/Common/b2Math.h> 00023 #include <Box2D/Dynamics/b2Body.h> 00024 #include <Box2D/Dynamics/b2TimeStep.h> 00025 00026 class b2Contact; 00027 class b2Joint; 00028 class b2StackAllocator; 00029 class b2ContactListener; 00030 struct b2ContactConstraint; 00031 00033 struct b2Position 00034 { 00035 b2Vec2 x; 00036 float32 a; 00037 }; 00038 00040 struct b2Velocity 00041 { 00042 b2Vec2 v; 00043 float32 w; 00044 }; 00045 00047 class b2Island 00048 { 00049 public: 00050 b2Island(int32 bodyCapacity, int32 contactCapacity, int32 jointCapacity, 00051 b2StackAllocator* allocator, b2ContactListener* listener); 00052 ~b2Island(); 00053 00054 void Clear() 00055 { 00056 m_bodyCount = 0; 00057 m_contactCount = 0; 00058 m_jointCount = 0; 00059 } 00060 00061 void Solve(const b2TimeStep& step, const b2Vec2& gravity, bool allowSleep); 00062 00063 void Add(b2Body* body) 00064 { 00065 b2Assert(m_bodyCount < m_bodyCapacity); 00066 body->m_islandIndex = m_bodyCount; 00067 m_bodies[m_bodyCount++] = body; 00068 } 00069 00070 void Add(b2Contact* contact) 00071 { 00072 b2Assert(m_contactCount < m_contactCapacity); 00073 m_contacts[m_contactCount++] = contact; 00074 } 00075 00076 void Add(b2Joint* joint) 00077 { 00078 b2Assert(m_jointCount < m_jointCapacity); 00079 m_joints[m_jointCount++] = joint; 00080 } 00081 00082 void Report(const b2ContactConstraint* constraints); 00083 00084 b2StackAllocator* m_allocator; 00085 b2ContactListener* m_listener; 00086 00087 b2Body** m_bodies; 00088 b2Contact** m_contacts; 00089 b2Joint** m_joints; 00090 00091 b2Position* m_positions; 00092 b2Velocity* m_velocities; 00093 00094 int32 m_bodyCount; 00095 int32 m_jointCount; 00096 int32 m_contactCount; 00097 00098 int32 m_bodyCapacity; 00099 int32 m_contactCapacity; 00100 int32 m_jointCapacity; 00101 00102 int32 m_positionIterationCount; 00103 }; 00104 00105 #endif