box2d-ruby 1.0.0

data/ext/box2d/vendor/box2d/src/contact.h

@@ -0,0 +1,148 @@
+// SPDX-FileCopyrightText: 2023 Erin Catto
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include "array.h"
+#include "core.h"
+
+#include "box2d/collision.h"
+#include "box2d/types.h"
+
+typedef struct b2Shape b2Shape;
+typedef struct b2World b2World;
+
+enum b2ContactFlags
+{
+	// Set when the solid shapes are touching.
+	b2_contactTouchingFlag = 0x00000001,
+
+	// Contact has a hit event
+	b2_contactHitEventFlag = 0x00000002,
+
+	// This contact wants contact events
+	b2_contactEnableContactEvents = 0x00000004,
+};
+
+// A contact edge is used to connect bodies and contacts together
+// in a contact graph where each body is a node and each contact
+// is an edge. A contact edge belongs to a doubly linked list
+// maintained in each attached body. Each contact has two contact
+// edges, one for each attached body.
+typedef struct b2ContactEdge
+{
+	int bodyId;
+	int prevKey;
+	int nextKey;
+} b2ContactEdge;
+
+// Cold contact data. Used as a persistent handle and for persistent island
+// connectivity.
+typedef struct b2Contact
+{
+	// index of simulation set stored in b2World
+	// B2_NULL_INDEX when slot is free
+	int setIndex;
+
+	// index into the constraint graph color array
+	// B2_NULL_INDEX for non-touching or sleeping contacts
+	// B2_NULL_INDEX when slot is free
+	int colorIndex;
+
+	// contact index within set or graph color
+	// B2_NULL_INDEX when slot is free
+	int localIndex;
+
+	b2ContactEdge edges[2];
+	int shapeIdA;
+	int shapeIdB;
+
+	// A contact only belongs to an island if touching, otherwise B2_NULL_INDEX.
+	int islandPrev;
+	int islandNext;
+	int islandId;
+
+	int contactId;
+
+	// b2ContactFlags
+	uint32_t flags;
+
+	bool isMarked;
+} b2Contact;
+
+// Shifted to be distinct from b2ContactFlags
+enum b2ContactSimFlags
+{
+	// Set when the shapes are touching
+	b2_simTouchingFlag = 0x00010000,
+
+	// This contact no longer has overlapping AABBs
+	b2_simDisjoint = 0x00020000,
+
+	// This contact started touching
+	b2_simStartedTouching = 0x00040000,
+
+	// This contact stopped touching
+	b2_simStoppedTouching = 0x00080000,
+
+	// This contact has a hit event
+	b2_simEnableHitEvent = 0x00100000,
+
+	// This contact wants pre-solve events
+	b2_simEnablePreSolveEvents = 0x00200000,
+};
+
+/// The class manages contact between two shapes. A contact exists for each overlapping
+/// AABB in the broad-phase (except if filtered). Therefore a contact object may exist
+/// that has no contact points.
+typedef struct b2ContactSim
+{
+	int contactId;
+
+#if B2_VALIDATE
+	int bodyIdA;
+	int bodyIdB;
+#endif
+
+	int bodySimIndexA;
+	int bodySimIndexB;
+
+	int shapeIdA;
+	int shapeIdB;
+
+	float invMassA;
+	float invIA;
+
+	float invMassB;
+	float invIB;
+
+	b2Manifold manifold;
+
+	// Mixed friction and restitution
+	float friction;
+	float restitution;
+	float rollingResistance;
+	float tangentSpeed;
+
+	// b2ContactSimFlags
+	uint32_t simFlags;
+
+	b2SimplexCache cache;
+} b2ContactSim;
+
+void b2InitializeContactRegisters( void );
+
+void b2CreateContact( b2World* world, b2Shape* shapeA, b2Shape* shapeB );
+void b2DestroyContact( b2World* world, b2Contact* contact, bool wakeBodies );
+
+b2ContactSim* b2GetContactSim( b2World* world, b2Contact* contact );
+
+bool b2ShouldShapesCollide( b2Filter filterA, b2Filter filterB );
+
+bool b2UpdateContact( b2World* world, b2ContactSim* contactSim, b2Shape* shapeA, b2Transform transformA, b2Vec2 centerOffsetA,
+					  b2Shape* shapeB, b2Transform transformB, b2Vec2 centerOffsetB );
+
+b2Manifold b2ComputeManifold( b2Shape* shapeA, b2Transform transformA, b2Shape* shapeB, b2Transform transformB );
+
+B2_ARRAY_INLINE( b2Contact, b2Contact )
+B2_ARRAY_INLINE( b2ContactSim, b2ContactSim )