box2d-ruby 1.0.0

data/ext/box2d/vendor/box2d/include/box2d/collision.h

@@ -0,0 +1,830 @@
+// SPDX-FileCopyrightText: 2023 Erin Catto
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include "base.h"
+#include "math_functions.h"
+
+#include <stdbool.h>
+
+typedef struct b2SimplexCache b2SimplexCache;
+typedef struct b2Hull b2Hull;
+
+/**
+ * @defgroup geometry Geometry
+ * @brief Geometry types and algorithms
+ *
+ * Definitions of circles, capsules, segments, and polygons. Various algorithms to compute hulls, mass properties, and so on.
+ * @{
+ */
+
+/// The maximum number of vertices on a convex polygon. Changing this affects performance even if you
+/// don't use more vertices.
+#define B2_MAX_POLYGON_VERTICES 8
+
+/// Low level ray cast input data
+typedef struct b2RayCastInput
+{
+	/// Start point of the ray cast
+	b2Vec2 origin;
+
+	/// Translation of the ray cast
+	b2Vec2 translation;
+
+	/// The maximum fraction of the translation to consider, typically 1
+	float maxFraction;
+} b2RayCastInput;
+
+/// A distance proxy is used by the GJK algorithm. It encapsulates any shape.
+/// You can provide between 1 and B2_MAX_POLYGON_VERTICES and a radius.
+typedef struct b2ShapeProxy
+{
+	/// The point cloud
+	b2Vec2 points[B2_MAX_POLYGON_VERTICES];
+
+	/// The number of points. Must be greater than 0.
+	int count;
+
+	/// The external radius of the point cloud. May be zero.
+	float radius;
+} b2ShapeProxy;
+
+/// Low level shape cast input in generic form. This allows casting an arbitrary point
+/// cloud wrap with a radius. For example, a circle is a single point with a non-zero radius.
+/// A capsule is two points with a non-zero radius. A box is four points with a zero radius.
+typedef struct b2ShapeCastInput
+{
+	/// A generic shape
+	b2ShapeProxy proxy;
+
+	/// The translation of the shape cast
+	b2Vec2 translation;
+
+	/// The maximum fraction of the translation to consider, typically 1
+	float maxFraction;
+
+	/// Allow shape cast to encroach when initially touching. This only works if the radius is greater than zero.
+	bool canEncroach;
+} b2ShapeCastInput;
+
+/// Low level ray cast or shape-cast output data
+typedef struct b2CastOutput
+{
+	/// The surface normal at the hit point
+	b2Vec2 normal;
+
+	/// The surface hit point
+	b2Vec2 point;
+
+	/// The fraction of the input translation at collision
+	float fraction;
+
+	/// The number of iterations used
+	int iterations;
+
+	/// Did the cast hit?
+	bool hit;
+} b2CastOutput;
+
+/// This holds the mass data computed for a shape.
+typedef struct b2MassData
+{
+	/// The mass of the shape, usually in kilograms.
+	float 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.
+	float rotationalInertia;
+} b2MassData;
+
+/// A solid circle
+typedef struct b2Circle
+{
+	/// The local center
+	b2Vec2 center;
+
+	/// The radius
+	float radius;
+} b2Circle;
+
+/// A solid capsule can be viewed as two semicircles connected
+/// by a rectangle.
+typedef struct b2Capsule
+{
+	/// Local center of the first semicircle
+	b2Vec2 center1;
+
+	/// Local center of the second semicircle
+	b2Vec2 center2;
+
+	/// The radius of the semicircles
+	float radius;
+} b2Capsule;
+
+/// A solid convex polygon. It is assumed that the interior of the polygon is to
+/// the left of each edge.
+/// Polygons have a maximum number of vertices equal to B2_MAX_POLYGON_VERTICES.
+/// In most cases you should not need many vertices for a convex polygon.
+/// @warning DO NOT fill this out manually, instead use a helper function like
+/// b2MakePolygon or b2MakeBox.
+typedef struct b2Polygon
+{
+	/// The polygon vertices
+	b2Vec2 vertices[B2_MAX_POLYGON_VERTICES];
+
+	/// The outward normal vectors of the polygon sides
+	b2Vec2 normals[B2_MAX_POLYGON_VERTICES];
+
+	/// The centroid of the polygon
+	b2Vec2 centroid;
+
+	/// The external radius for rounded polygons
+	float radius;
+
+	/// The number of polygon vertices
+	int count;
+} b2Polygon;
+
+/// A line segment with two-sided collision.
+typedef struct b2Segment
+{
+	/// The first point
+	b2Vec2 point1;
+
+	/// The second point
+	b2Vec2 point2;
+} b2Segment;
+
+/// A line segment with one-sided collision. Only collides on the right side.
+/// Several of these are generated for a chain shape.
+/// ghost1 -> point1 -> point2 -> ghost2
+typedef struct b2ChainSegment
+{
+	/// The tail ghost vertex
+	b2Vec2 ghost1;
+
+	/// The line segment
+	b2Segment segment;
+
+	/// The head ghost vertex
+	b2Vec2 ghost2;
+
+	/// The owning chain shape index (internal usage only)
+	int chainId;
+} b2ChainSegment;
+
+/// Validate ray cast input data (NaN, etc)
+B2_API bool b2IsValidRay( const b2RayCastInput* input );
+
+/// Make a convex polygon from a convex hull. This will assert if the hull is not valid.
+/// @warning Do not manually fill in the hull data, it must come directly from b2ComputeHull
+B2_API b2Polygon b2MakePolygon( const b2Hull* hull, float radius );
+
+/// Make an offset convex polygon from a convex hull. This will assert if the hull is not valid.
+/// @warning Do not manually fill in the hull data, it must come directly from b2ComputeHull
+B2_API b2Polygon b2MakeOffsetPolygon( const b2Hull* hull, b2Vec2 position, b2Rot rotation );
+
+/// Make an offset convex polygon from a convex hull. This will assert if the hull is not valid.
+/// @warning Do not manually fill in the hull data, it must come directly from b2ComputeHull
+B2_API b2Polygon b2MakeOffsetRoundedPolygon( const b2Hull* hull, b2Vec2 position, b2Rot rotation, float radius );
+
+/// Make a square polygon, bypassing the need for a convex hull.
+/// @param halfWidth the half-width
+B2_API b2Polygon b2MakeSquare( float halfWidth );
+
+/// Make a box (rectangle) polygon, bypassing the need for a convex hull.
+/// @param halfWidth the half-width (x-axis)
+/// @param halfHeight the half-height (y-axis)
+B2_API b2Polygon b2MakeBox( float halfWidth, float halfHeight );
+
+/// Make a rounded box, bypassing the need for a convex hull.
+/// @param halfWidth the half-width (x-axis)
+/// @param halfHeight the half-height (y-axis)
+/// @param radius the radius of the rounded extension
+B2_API b2Polygon b2MakeRoundedBox( float halfWidth, float halfHeight, float radius );
+
+/// Make an offset box, bypassing the need for a convex hull.
+/// @param halfWidth the half-width (x-axis)
+/// @param halfHeight the half-height (y-axis)
+/// @param center the local center of the box
+/// @param rotation the local rotation of the box
+B2_API b2Polygon b2MakeOffsetBox( float halfWidth, float halfHeight, b2Vec2 center, b2Rot rotation );
+
+/// Make an offset rounded box, bypassing the need for a convex hull.
+/// @param halfWidth the half-width (x-axis)
+/// @param halfHeight the half-height (y-axis)
+/// @param center the local center of the box
+/// @param rotation the local rotation of the box
+/// @param radius the radius of the rounded extension
+B2_API b2Polygon b2MakeOffsetRoundedBox( float halfWidth, float halfHeight, b2Vec2 center, b2Rot rotation, float radius );
+
+/// Transform a polygon. This is useful for transferring a shape from one body to another.
+B2_API b2Polygon b2TransformPolygon( b2Transform transform, const b2Polygon* polygon );
+
+/// Compute mass properties of a circle
+B2_API b2MassData b2ComputeCircleMass( const b2Circle* shape, float density );
+
+/// Compute mass properties of a capsule
+B2_API b2MassData b2ComputeCapsuleMass( const b2Capsule* shape, float density );
+
+/// Compute mass properties of a polygon
+B2_API b2MassData b2ComputePolygonMass( const b2Polygon* shape, float density );
+
+/// Compute the bounding box of a transformed circle
+B2_API b2AABB b2ComputeCircleAABB( const b2Circle* shape, b2Transform transform );
+
+/// Compute the bounding box of a transformed capsule
+B2_API b2AABB b2ComputeCapsuleAABB( const b2Capsule* shape, b2Transform transform );
+
+/// Compute the bounding box of a transformed polygon
+B2_API b2AABB b2ComputePolygonAABB( const b2Polygon* shape, b2Transform transform );
+
+/// Compute the bounding box of a transformed line segment
+B2_API b2AABB b2ComputeSegmentAABB( const b2Segment* shape, b2Transform transform );
+
+/// Test a point for overlap with a circle in local space
+B2_API bool b2PointInCircle( b2Vec2 point, const b2Circle* shape );
+
+/// Test a point for overlap with a capsule in local space
+B2_API bool b2PointInCapsule( b2Vec2 point, const b2Capsule* shape );
+
+/// Test a point for overlap with a convex polygon in local space
+B2_API bool b2PointInPolygon( b2Vec2 point, const b2Polygon* shape );
+
+/// Ray cast versus circle shape in local space. Initial overlap is treated as a miss.
+B2_API b2CastOutput b2RayCastCircle( const b2RayCastInput* input, const b2Circle* shape );
+
+/// Ray cast versus capsule shape in local space. Initial overlap is treated as a miss.
+B2_API b2CastOutput b2RayCastCapsule( const b2RayCastInput* input, const b2Capsule* shape );
+
+/// Ray cast versus segment shape in local space. Optionally treat the segment as one-sided with hits from
+/// the left side being treated as a miss.
+B2_API b2CastOutput b2RayCastSegment( const b2RayCastInput* input, const b2Segment* shape, bool oneSided );
+
+/// Ray cast versus polygon shape in local space. Initial overlap is treated as a miss.
+B2_API b2CastOutput b2RayCastPolygon( const b2RayCastInput* input, const b2Polygon* shape );
+
+/// Shape cast versus a circle. Initial overlap is treated as a miss.
+B2_API b2CastOutput b2ShapeCastCircle( const b2ShapeCastInput* input, const b2Circle* shape );
+
+/// Shape cast versus a capsule. Initial overlap is treated as a miss.
+B2_API b2CastOutput b2ShapeCastCapsule( const b2ShapeCastInput* input, const b2Capsule* shape );
+
+/// Shape cast versus a line segment. Initial overlap is treated as a miss.
+B2_API b2CastOutput b2ShapeCastSegment( const b2ShapeCastInput* input, const b2Segment* shape );
+
+/// Shape cast versus a convex polygon. Initial overlap is treated as a miss.
+B2_API b2CastOutput b2ShapeCastPolygon( const b2ShapeCastInput* input, const b2Polygon* shape );
+
+/// A convex hull. Used to create convex polygons.
+/// @warning Do not modify these values directly, instead use b2ComputeHull()
+typedef struct b2Hull
+{
+	/// The final points of the hull
+	b2Vec2 points[B2_MAX_POLYGON_VERTICES];
+
+	/// The number of points
+	int count;
+} b2Hull;
+
+/// Compute the convex hull of a set of points. Returns an empty hull if it fails.
+/// Some failure cases:
+/// - all points very close together
+/// - all points on a line
+/// - less than 3 points
+/// - more than B2_MAX_POLYGON_VERTICES points
+/// This welds close points and removes collinear points.
+/// @warning Do not modify a hull once it has been computed
+B2_API b2Hull b2ComputeHull( const b2Vec2* points, int count );
+
+/// This determines if a hull is valid. Checks for:
+/// - convexity
+/// - collinear points
+/// This is expensive and should not be called at runtime.
+B2_API bool b2ValidateHull( const b2Hull* hull );
+
+/**@}*/
+
+/**
+ * @defgroup distance Distance
+ * Functions for computing the distance between shapes.
+ *
+ * These are advanced functions you can use to perform distance calculations. There
+ * are functions for computing the closest points between shapes, doing linear shape casts,
+ * and doing rotational shape casts. The latter is called time of impact (TOI).
+ * @{
+ */
+
+/// Result of computing the distance between two line segments
+typedef struct b2SegmentDistanceResult
+{
+	/// The closest point on the first segment
+	b2Vec2 closest1;
+
+	/// The closest point on the second segment
+	b2Vec2 closest2;
+
+	/// The barycentric coordinate on the first segment
+	float fraction1;
+
+	/// The barycentric coordinate on the second segment
+	float fraction2;
+
+	/// The squared distance between the closest points
+	float distanceSquared;
+} b2SegmentDistanceResult;
+
+/// Compute the distance between two line segments, clamping at the end points if needed.
+B2_API b2SegmentDistanceResult b2SegmentDistance( b2Vec2 p1, b2Vec2 q1, b2Vec2 p2, b2Vec2 q2 );
+
+/// Used to warm start the GJK simplex. If you call this function multiple times with nearby
+/// transforms this might improve performance. Otherwise you can zero initialize this.
+/// The distance cache must be initialized to zero on the first call.
+/// Users should generally just zero initialize this structure for each call.
+typedef struct b2SimplexCache
+{
+	/// The number of stored simplex points
+	uint16_t count;
+
+	/// The cached simplex indices on shape A
+	uint8_t indexA[3];
+
+	/// The cached simplex indices on shape B
+	uint8_t indexB[3];
+} b2SimplexCache;
+
+static const b2SimplexCache b2_emptySimplexCache = B2_ZERO_INIT;
+
+/// Input for b2ShapeDistance
+typedef struct b2DistanceInput
+{
+	/// The proxy for shape A
+	b2ShapeProxy proxyA;
+
+	/// The proxy for shape B
+	b2ShapeProxy proxyB;
+
+	/// The world transform for shape A
+	b2Transform transformA;
+
+	/// The world transform for shape B
+	b2Transform transformB;
+
+	/// Should the proxy radius be considered?
+	bool useRadii;
+} b2DistanceInput;
+
+/// Output for b2ShapeDistance
+typedef struct b2DistanceOutput
+{
+	b2Vec2 pointA;	  ///< Closest point on shapeA
+	b2Vec2 pointB;	  ///< Closest point on shapeB
+	b2Vec2 normal;	  ///< Normal vector that points from A to B
+	float distance;	  ///< The final distance, zero if overlapped
+	int iterations;	  ///< Number of GJK iterations used
+	int simplexCount; ///< The number of simplexes stored in the simplex array
+} b2DistanceOutput;
+
+/// Simplex vertex for debugging the GJK algorithm
+typedef struct b2SimplexVertex
+{
+	b2Vec2 wA;	///< support point in proxyA
+	b2Vec2 wB;	///< support point in proxyB
+	b2Vec2 w;	///< wB - wA
+	float a;	///< barycentric coordinate for closest point
+	int indexA; ///< wA index
+	int indexB; ///< wB index
+} b2SimplexVertex;
+
+/// Simplex from the GJK algorithm
+typedef struct b2Simplex
+{
+	b2SimplexVertex v1, v2, v3; ///< vertices
+	int count;					///< number of valid vertices
+} b2Simplex;
+
+/// Compute the closest points between two shapes represented as point clouds.
+/// b2SimplexCache cache is input/output. On the first call set b2SimplexCache.count to zero.
+/// The underlying GJK algorithm may be debugged by passing in debug simplexes and capacity. You may pass in NULL and 0 for these.
+B2_API b2DistanceOutput b2ShapeDistance( const b2DistanceInput* input, b2SimplexCache* cache, b2Simplex* simplexes,
+										 int simplexCapacity );
+
+/// Input parameters for b2ShapeCast
+typedef struct b2ShapeCastPairInput
+{
+	b2ShapeProxy proxyA;	///< The proxy for shape A
+	b2ShapeProxy proxyB;	///< The proxy for shape B
+	b2Transform transformA; ///< The world transform for shape A
+	b2Transform transformB; ///< The world transform for shape B
+	b2Vec2 translationB;	///< The translation of shape B
+	float maxFraction;		///< The fraction of the translation to consider, typically 1
+	bool canEncroach;		///< Allows shapes with a radius to move slightly closer if already touching
+} b2ShapeCastPairInput;
+
+/// Perform a linear shape cast of shape B moving and shape A fixed. Determines the hit point, normal, and translation fraction.
+/// You may optionally supply an array to hold debug data.
+B2_API b2CastOutput b2ShapeCast( const b2ShapeCastPairInput* input );
+
+/// Make a proxy for use in overlap, shape cast, and related functions. This is a deep copy of the points.
+B2_API b2ShapeProxy b2MakeProxy( const b2Vec2* points, int count, float radius );
+
+/// Make a proxy with a transform. This is a deep copy of the points.
+B2_API b2ShapeProxy b2MakeOffsetProxy( const b2Vec2* points, int count, float radius, b2Vec2 position, b2Rot rotation );
+
+/// This describes the motion of a body/shape for TOI computation. Shapes are defined with respect to the body origin,
+/// which may not coincide with the center of mass. However, to support dynamics we must interpolate the center of mass
+/// position.
+typedef struct b2Sweep
+{
+	b2Vec2 localCenter; ///< Local center of mass position
+	b2Vec2 c1;			///< Starting center of mass world position
+	b2Vec2 c2;			///< Ending center of mass world position
+	b2Rot q1;			///< Starting world rotation
+	b2Rot q2;			///< Ending world rotation
+} b2Sweep;
+
+/// Evaluate the transform sweep at a specific time.
+B2_API b2Transform b2GetSweepTransform( const b2Sweep* sweep, float time );
+
+/// Input parameters for b2TimeOfImpact
+typedef struct b2TOIInput
+{
+	b2ShapeProxy proxyA; ///< The proxy for shape A
+	b2ShapeProxy proxyB; ///< The proxy for shape B
+	b2Sweep sweepA;		 ///< The movement of shape A
+	b2Sweep sweepB;		 ///< The movement of shape B
+	float maxFraction;	 ///< Defines the sweep interval [0, maxFraction]
+} b2TOIInput;
+
+/// Describes the TOI output
+typedef enum b2TOIState
+{
+	b2_toiStateUnknown,
+	b2_toiStateFailed,
+	b2_toiStateOverlapped,
+	b2_toiStateHit,
+	b2_toiStateSeparated
+} b2TOIState;
+
+/// Output parameters for b2TimeOfImpact.
+typedef struct b2TOIOutput
+{
+	b2TOIState state; ///< The type of result
+	float fraction;	  ///< The sweep time of the collision
+} b2TOIOutput;
+
+/// Compute the upper bound on time before two shapes penetrate. Time is represented as
+/// a fraction between [0,tMax]. This uses a swept separating axis and may miss some intermediate,
+/// non-tunneling collisions. If you change the time interval, you should call this function
+/// again.
+B2_API b2TOIOutput b2TimeOfImpact( const b2TOIInput* input );
+
+/**@}*/
+
+/**
+ * @defgroup collision Collision
+ * @brief Functions for colliding pairs of shapes
+ * @{
+ */
+
+/// A manifold point is a contact point belonging to a contact manifold.
+/// It holds details related to the geometry and dynamics of the contact points.
+/// Box2D uses speculative collision so some contact points may be separated.
+/// You may use the totalNormalImpulse to determine if there was an interaction during
+/// the time step.
+typedef struct b2ManifoldPoint
+{
+	/// Location of the contact point in world space. Subject to precision loss at large coordinates.
+	/// @note Should only be used for debugging.
+	b2Vec2 point;
+
+	/// Location of the contact point relative to shapeA's origin in world space
+	/// @note When used internally to the Box2D solver, this is relative to the body center of mass.
+	b2Vec2 anchorA;
+
+	/// Location of the contact point relative to shapeB's origin in world space
+	/// @note When used internally to the Box2D solver, this is relative to the body center of mass.
+	b2Vec2 anchorB;
+
+	/// The separation of the contact point, negative if penetrating
+	float separation;
+
+	/// The impulse along the manifold normal vector.
+	float normalImpulse;
+
+	/// The friction impulse
+	float tangentImpulse;
+
+	/// The total normal impulse applied across sub-stepping and restitution. This is important
+	/// to identify speculative contact points that had an interaction in the time step.
+	float totalNormalImpulse;
+
+	/// Relative normal velocity pre-solve. Used for hit events. If the normal impulse is
+	/// zero then there was no hit. Negative means shapes are approaching.
+	float normalVelocity;
+
+	/// Uniquely identifies a contact point between two shapes
+	uint16_t id;
+
+	/// Did this contact point exist the previous step?
+	bool persisted;
+} b2ManifoldPoint;
+
+/// A contact manifold describes the contact points between colliding shapes.
+/// @note Box2D uses speculative collision so some contact points may be separated.
+typedef struct b2Manifold
+{
+	/// The unit normal vector in world space, points from shape A to bodyB
+	b2Vec2 normal;
+
+	/// Angular impulse applied for rolling resistance. N * m * s = kg * m^2 / s
+	float rollingImpulse;
+
+	/// The manifold points, up to two are possible in 2D
+	b2ManifoldPoint points[2];
+
+	/// The number of contacts points, will be 0, 1, or 2
+	int pointCount;
+
+} b2Manifold;
+
+/// Compute the contact manifold between two circles
+B2_API b2Manifold b2CollideCircles( const b2Circle* circleA, b2Transform xfA, const b2Circle* circleB, b2Transform xfB );
+
+/// Compute the contact manifold between a capsule and circle
+B2_API b2Manifold b2CollideCapsuleAndCircle( const b2Capsule* capsuleA, b2Transform xfA, const b2Circle* circleB,
+											 b2Transform xfB );
+
+/// Compute the contact manifold between an segment and a circle
+B2_API b2Manifold b2CollideSegmentAndCircle( const b2Segment* segmentA, b2Transform xfA, const b2Circle* circleB,
+											 b2Transform xfB );
+
+/// Compute the contact manifold between a polygon and a circle
+B2_API b2Manifold b2CollidePolygonAndCircle( const b2Polygon* polygonA, b2Transform xfA, const b2Circle* circleB,
+											 b2Transform xfB );
+
+/// Compute the contact manifold between a capsule and circle
+B2_API b2Manifold b2CollideCapsules( const b2Capsule* capsuleA, b2Transform xfA, const b2Capsule* capsuleB, b2Transform xfB );
+
+/// Compute the contact manifold between an segment and a capsule
+B2_API b2Manifold b2CollideSegmentAndCapsule( const b2Segment* segmentA, b2Transform xfA, const b2Capsule* capsuleB,
+											  b2Transform xfB );
+
+/// Compute the contact manifold between a polygon and capsule
+B2_API b2Manifold b2CollidePolygonAndCapsule( const b2Polygon* polygonA, b2Transform xfA, const b2Capsule* capsuleB,
+											  b2Transform xfB );
+
+/// Compute the contact manifold between two polygons
+B2_API b2Manifold b2CollidePolygons( const b2Polygon* polygonA, b2Transform xfA, const b2Polygon* polygonB, b2Transform xfB );
+
+/// Compute the contact manifold between an segment and a polygon
+B2_API b2Manifold b2CollideSegmentAndPolygon( const b2Segment* segmentA, b2Transform xfA, const b2Polygon* polygonB,
+											  b2Transform xfB );
+
+/// Compute the contact manifold between a chain segment and a circle
+B2_API b2Manifold b2CollideChainSegmentAndCircle( const b2ChainSegment* segmentA, b2Transform xfA, const b2Circle* circleB,
+												  b2Transform xfB );
+
+/// Compute the contact manifold between a chain segment and a capsule
+B2_API b2Manifold b2CollideChainSegmentAndCapsule( const b2ChainSegment* segmentA, b2Transform xfA, const b2Capsule* capsuleB,
+												   b2Transform xfB, b2SimplexCache* cache );
+
+/// Compute the contact manifold between a chain segment and a rounded polygon
+B2_API b2Manifold b2CollideChainSegmentAndPolygon( const b2ChainSegment* segmentA, b2Transform xfA, const b2Polygon* polygonB,
+												   b2Transform xfB, b2SimplexCache* cache );
+
+/**@}*/
+
+/**
+ * @defgroup tree Dynamic Tree
+ * The dynamic tree is a binary AABB tree to organize and query large numbers of geometric objects
+ *
+ * Box2D uses the dynamic tree internally to sort collision shapes into a binary bounding volume hierarchy.
+ * This data structure may have uses in games for organizing other geometry data and may be used independently
+ * of Box2D rigid body simulation.
+ *
+ * A dynamic AABB tree broad-phase, inspired by Nathanael Presson's btDbvt.
+ * A dynamic tree arranges data in a binary tree to accelerate
+ * queries such as AABB queries and ray casts. Leaf nodes are proxies
+ * with an AABB. These are used to hold a user collision object.
+ * Nodes are pooled and relocatable, so I use node indices rather than pointers.
+ * The dynamic tree is made available for advanced users that would like to use it to organize
+ * spatial game data besides rigid bodies.
+ * @{
+ */
+
+/// The dynamic tree structure. This should be considered private data.
+/// It is placed here for performance reasons.
+typedef struct b2DynamicTree
+{
+	/// The tree nodes
+	struct b2TreeNode* nodes;
+
+	/// The root index
+	int root;
+
+	/// The number of nodes
+	int nodeCount;
+
+	/// The allocated node space
+	int nodeCapacity;
+
+	/// Node free list
+	int freeList;
+
+	/// Number of proxies created
+	int proxyCount;
+
+	/// Leaf indices for rebuild
+	int* leafIndices;
+
+	/// Leaf bounding boxes for rebuild
+	b2AABB* leafBoxes;
+
+	/// Leaf bounding box centers for rebuild
+	b2Vec2* leafCenters;
+
+	/// Bins for sorting during rebuild
+	int* binIndices;
+
+	/// Allocated space for rebuilding
+	int rebuildCapacity;
+} b2DynamicTree;
+
+/// These are performance results returned by dynamic tree queries.
+typedef struct b2TreeStats
+{
+	/// Number of internal nodes visited during the query
+	int nodeVisits;
+
+	/// Number of leaf nodes visited during the query
+	int leafVisits;
+} b2TreeStats;
+
+/// Constructing the tree initializes the node pool.
+B2_API b2DynamicTree b2DynamicTree_Create( void );
+
+/// Destroy the tree, freeing the node pool.
+B2_API void b2DynamicTree_Destroy( b2DynamicTree* tree );
+
+/// Create a proxy. Provide an AABB and a userData value.
+B2_API int b2DynamicTree_CreateProxy( b2DynamicTree* tree, b2AABB aabb, uint64_t categoryBits, uint64_t userData );
+
+/// Destroy a proxy. This asserts if the id is invalid.
+B2_API void b2DynamicTree_DestroyProxy( b2DynamicTree* tree, int proxyId );
+
+/// Move a proxy to a new AABB by removing and reinserting into the tree.
+B2_API void b2DynamicTree_MoveProxy( b2DynamicTree* tree, int proxyId, b2AABB aabb );
+
+/// Enlarge a proxy and enlarge ancestors as necessary.
+B2_API void b2DynamicTree_EnlargeProxy( b2DynamicTree* tree, int proxyId, b2AABB aabb );
+
+/// Modify the category bits on a proxy. This is an expensive operation.
+B2_API void b2DynamicTree_SetCategoryBits( b2DynamicTree* tree, int proxyId, uint64_t categoryBits );
+
+/// Get the category bits on a proxy.
+B2_API uint64_t b2DynamicTree_GetCategoryBits( b2DynamicTree* tree, int proxyId );
+
+/// This function receives proxies found in the AABB query.
+/// @return true if the query should continue
+typedef bool b2TreeQueryCallbackFcn( int proxyId, uint64_t userData, void* context );
+
+/// Query an AABB for overlapping proxies. The callback class is called for each proxy that overlaps the supplied AABB.
+///	@return performance data
+B2_API b2TreeStats b2DynamicTree_Query( const b2DynamicTree* tree, b2AABB aabb, uint64_t maskBits,
+										b2TreeQueryCallbackFcn* callback, void* context );
+
+/// This function receives clipped ray cast input for a proxy. The function
+/// returns the new ray fraction.
+/// - return a value of 0 to terminate the ray cast
+/// - return a value less than input->maxFraction to clip the ray
+/// - return a value of input->maxFraction to continue the ray cast without clipping
+typedef float b2TreeRayCastCallbackFcn( const b2RayCastInput* input, int proxyId, uint64_t userData, void* context );
+
+/// Ray cast against the proxies in the tree. This relies on the callback
+/// to perform a exact ray cast in the case were the proxy contains a shape.
+/// The callback also performs the any collision filtering. This has performance
+/// roughly equal to k * log(n), where k is the number of collisions and n is the
+/// number of proxies in the tree.
+/// Bit-wise filtering using mask bits can greatly improve performance in some scenarios.
+///	However, this filtering may be approximate, so the user should still apply filtering to results.
+/// @param tree the dynamic tree to ray cast
+/// @param input the ray cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1)
+/// @param maskBits mask bit hint: `bool accept = (maskBits & node->categoryBits) != 0;`
+/// @param callback a callback class that is called for each proxy that is hit by the ray
+/// @param context user context that is passed to the callback
+///	@return performance data
+B2_API b2TreeStats b2DynamicTree_RayCast( const b2DynamicTree* tree, const b2RayCastInput* input, uint64_t maskBits,
+										  b2TreeRayCastCallbackFcn* callback, void* context );
+
+/// This function receives clipped ray cast input for a proxy. The function
+/// returns the new ray fraction.
+/// - return a value of 0 to terminate the ray cast
+/// - return a value less than input->maxFraction to clip the ray
+/// - return a value of input->maxFraction to continue the ray cast without clipping
+typedef float b2TreeShapeCastCallbackFcn( const b2ShapeCastInput* input, int proxyId, uint64_t userData, void* context );
+
+/// Ray cast against the proxies in the tree. This relies on the callback
+/// to perform a exact ray cast in the case were the proxy contains a shape.
+/// The callback also performs the any collision filtering. This has performance
+/// roughly equal to k * log(n), where k is the number of collisions and n is the
+/// number of proxies in the tree.
+/// @param tree the dynamic tree to ray cast
+/// @param input the ray cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1).
+/// @param maskBits filter bits: `bool accept = (maskBits & node->categoryBits) != 0;`
+/// @param callback a callback class that is called for each proxy that is hit by the shape
+/// @param context user context that is passed to the callback
+///	@return performance data
+B2_API b2TreeStats b2DynamicTree_ShapeCast( const b2DynamicTree* tree, const b2ShapeCastInput* input, uint64_t maskBits,
+											b2TreeShapeCastCallbackFcn* callback, void* context );
+
+/// Get the height of the binary tree.
+B2_API int b2DynamicTree_GetHeight( const b2DynamicTree* tree );
+
+/// Get the ratio of the sum of the node areas to the root area.
+B2_API float b2DynamicTree_GetAreaRatio( const b2DynamicTree* tree );
+
+/// Get the bounding box that contains the entire tree
+B2_API b2AABB b2DynamicTree_GetRootBounds( const b2DynamicTree* tree );
+
+/// Get the number of proxies created
+B2_API int b2DynamicTree_GetProxyCount( const b2DynamicTree* tree );
+
+/// Rebuild the tree while retaining subtrees that haven't changed. Returns the number of boxes sorted.
+B2_API int b2DynamicTree_Rebuild( b2DynamicTree* tree, bool fullBuild );
+
+/// Get the number of bytes used by this tree
+B2_API int b2DynamicTree_GetByteCount( const b2DynamicTree* tree );
+
+/// Get proxy user data
+B2_API uint64_t b2DynamicTree_GetUserData( const b2DynamicTree* tree, int proxyId );
+
+/// Get the AABB of a proxy
+B2_API b2AABB b2DynamicTree_GetAABB( const b2DynamicTree* tree, int proxyId );
+
+/// Validate this tree. For testing.
+B2_API void b2DynamicTree_Validate( const b2DynamicTree* tree );
+
+/// Validate this tree has no enlarged AABBs. For testing.
+B2_API void b2DynamicTree_ValidateNoEnlarged( const b2DynamicTree* tree );
+
+/**@}*/
+
+/**
+ * @defgroup character Character mover
+ * Character movement solver
+ * @{
+ */
+
+/// These are the collision planes returned from b2World_CollideMover
+typedef struct b2PlaneResult
+{
+	/// The collision plane between the mover and a convex shape
+	b2Plane plane;
+
+	/// Did the collision register a hit? If not this plane should be ignored.
+	bool hit;
+} b2PlaneResult;
+
+/// These are collision planes that can be fed to b2SolvePlanes. Normally
+/// this is assembled by the user from plane results in b2PlaneResult
+typedef struct b2CollisionPlane
+{
+	/// The collision plane between the mover and some shape
+	b2Plane plane;
+
+	/// Setting this to FLT_MAX makes the plane as rigid as possible. Lower values can
+	/// make the plane collision soft. Usually in meters.
+	float pushLimit;
+
+	/// The push on the mover determined by b2SolvePlanes. Usually in meters.
+	float push;
+
+	/// Indicates if b2ClipVector should clip against this plane. Should be false for soft collision.
+	bool clipVelocity;
+} b2CollisionPlane;
+
+/// Result returned by b2SolvePlanes
+typedef struct b2PlaneSolverResult
+{
+	/// The final position of the mover
+	b2Vec2 position;
+
+	/// The number of iterations used by the plane solver. For diagnostics.
+	int iterationCount;
+} b2PlaneSolverResult;
+
+/// Solves the position of a mover that satisfies the given collision planes.
+/// @param position this must be the position used to generate the collision planes
+/// @param planes the collision planes
+/// @param count the number of collision planes
+B2_API b2PlaneSolverResult b2SolvePlanes( b2Vec2 position, b2CollisionPlane* planes, int count );
+
+/// Clips the velocity against the given collision planes. Planes with zero push or clipVelocity
+/// set to false are skipped.
+B2_API b2Vec2 b2ClipVector( b2Vec2 vector, const b2CollisionPlane* planes, int count );
+
+/**@}*/