reflexion 0.1.12 → 0.1.13

data/src/physics/Box2D/Dynamics/b2Body.h

@@ -1,860 +0,0 @@
-/*
-* Copyright (c) 2006-2011 Erin Catto http://www.box2d.org
-*
-* 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_BODY_H
-#define B2_BODY_H
-
-#include <Box2D/Common/b2Math.h>
-#include <Box2D/Collision/Shapes/b2Shape.h>
-#include <memory>
-
-class b2Fixture;
-class b2Joint;
-class b2Contact;
-class b2Controller;
-class b2World;
-struct b2FixtureDef;
-struct b2JointEdge;
-struct b2ContactEdge;
-
-/// The body type.
-/// static: zero mass, zero velocity, may be manually moved
-/// kinematic: zero mass, non-zero velocity set by user, moved by solver
-/// dynamic: positive mass, non-zero velocity determined by forces, moved by solver
-enum b2BodyType
-{
-	b2_staticBody = 0,
-	b2_kinematicBody,
-	b2_dynamicBody
-
-	// TODO_ERIN
-	//b2_bulletBody,
-};
-
-/// A body definition holds all the data needed to construct a rigid body.
-/// You can safely re-use body definitions. Shapes are added to a body after construction.
-struct b2BodyDef
-{
-	/// This constructor sets the body definition default values.
-	b2BodyDef()
-	{
-		userData = NULL;
-		position.Set(0.0f, 0.0f);
-		angle = 0.0f;
-		linearVelocity.Set(0.0f, 0.0f);
-		angularVelocity = 0.0f;
-		linearDamping = 0.0f;
-		angularDamping = 0.0f;
-		allowSleep = true;
-		awake = true;
-		fixedRotation = false;
-		bullet = false;
-		type = b2_staticBody;
-		active = true;
-		gravityScale = 1.0f;
-	}
-
-	/// The body type: static, kinematic, or dynamic.
-	/// Note: if a dynamic body would have zero mass, the mass is set to one.
-	b2BodyType type;
-
-	/// The world position of the body. Avoid creating bodies at the origin
-	/// since this can lead to many overlapping shapes.
-	b2Vec2 position;
-
-	/// The world angle of the body in radians.
-	float32 angle;
-
-	/// The linear velocity of the body's origin in world co-ordinates.
-	b2Vec2 linearVelocity;
-
-	/// The angular velocity of the body.
-	float32 angularVelocity;
-
-	/// Linear damping is use to reduce the linear velocity. The damping parameter
-	/// can be larger than 1.0f but the damping effect becomes sensitive to the
-	/// time step when the damping parameter is large.
-	float32 linearDamping;
-
-	/// Angular damping is use to reduce the angular velocity. The damping parameter
-	/// can be larger than 1.0f but the damping effect becomes sensitive to the
-	/// time step when the damping parameter is large.
-	float32 angularDamping;
-
-	/// Set this flag to false if this body should never fall asleep. Note that
-	/// this increases CPU usage.
-	bool allowSleep;
-
-	/// Is this body initially awake or sleeping?
-	bool awake;
-
-	/// Should this body be prevented from rotating? Useful for characters.
-	bool fixedRotation;
-
-	/// Is this a fast moving body that should be prevented from tunneling through
-	/// other moving bodies? Note that all bodies are prevented from tunneling through
-	/// kinematic and static bodies. This setting is only considered on dynamic bodies.
-	/// @warning You should use this flag sparingly since it increases processing time.
-	bool bullet;
-
-	/// Does this body start out active?
-	bool active;
-
-	/// Use this to store application specific body data.
-	void* userData;
-
-	/// Scale the gravity applied to this body.
-	float32 gravityScale;
-};
-
-/// A rigid body. These are created via b2World::CreateBody.
-class b2Body
-{
-public:
-	/// Creates a fixture and attach it to this body. Use this function if you need
-	/// to set some fixture parameters, like friction. Otherwise you can create the
-	/// fixture directly from a shape.
-	/// If the density is non-zero, this function automatically updates the mass of the body.
-	/// Contacts are not created until the next time step.
-	/// @param def the fixture definition.
-	/// @warning This function is locked during callbacks.
-	b2Fixture* CreateFixture(const b2FixtureDef* def);
-
-	/// Creates a fixture from a shape and attach it to this body.
-	/// This is a convenience function. Use b2FixtureDef if you need to set parameters
-	/// like friction, restitution, user data, or filtering.
-	/// If the density is non-zero, this function automatically updates the mass of the body.
-	/// @param shape the shape to be cloned.
-	/// @param density the shape density (set to zero for static bodies).
-	/// @warning This function is locked during callbacks.
-	b2Fixture* CreateFixture(const b2Shape* shape, float32 density);
-
-	/// Destroy a fixture. This removes the fixture from the broad-phase and
-	/// destroys all contacts associated with this fixture. This will
-	/// automatically adjust the mass of the body if the body is dynamic and the
-	/// fixture has positive density.
-	/// All fixtures attached to a body are implicitly destroyed when the body is destroyed.
-	/// @param fixture the fixture to be removed.
-	/// @warning This function is locked during callbacks.
-	void DestroyFixture(b2Fixture* fixture);
-
-	/// Set the position of the body's origin and rotation.
-	/// Manipulating a body's transform may cause non-physical behavior.
-	/// Note: contacts are updated on the next call to b2World::Step.
-	/// @param position the world position of the body's local origin.
-	/// @param angle the world rotation in radians.
-	void SetTransform(const b2Vec2& position, float32 angle);
-
-	/// Get the body transform for the body's origin.
-	/// @return the world transform of the body's origin.
-	const b2Transform& GetTransform() const;
-
-	/// Get the world body origin position.
-	/// @return the world position of the body's origin.
-	const b2Vec2& GetPosition() const;
-
-	/// Get the angle in radians.
-	/// @return the current world rotation angle in radians.
-	float32 GetAngle() const;
-
-	/// Get the world position of the center of mass.
-	const b2Vec2& GetWorldCenter() const;
-
-	/// Get the local position of the center of mass.
-	const b2Vec2& GetLocalCenter() const;
-
-	/// Set the linear velocity of the center of mass.
-	/// @param v the new linear velocity of the center of mass.
-	void SetLinearVelocity(const b2Vec2& v);
-
-	/// Get the linear velocity of the center of mass.
-	/// @return the linear velocity of the center of mass.
-	const b2Vec2& GetLinearVelocity() const;
-
-	/// Set the angular velocity.
-	/// @param omega the new angular velocity in radians/second.
-	void SetAngularVelocity(float32 omega);
-
-	/// Get the angular velocity.
-	/// @return the angular velocity in radians/second.
-	float32 GetAngularVelocity() const;
-
-	/// Apply a force at a world point. If the force is not
-	/// applied at the center of mass, it will generate a torque and
-	/// affect the angular velocity. This wakes up the body.
-	/// @param force the world force vector, usually in Newtons (N).
-	/// @param point the world position of the point of application.
-	/// @param wake also wake up the body
-	void ApplyForce(const b2Vec2& force, const b2Vec2& point, bool wake);
-
-	/// Apply a force to the center of mass. This wakes up the body.
-	/// @param force the world force vector, usually in Newtons (N).
-	/// @param wake also wake up the body
-	void ApplyForceToCenter(const b2Vec2& force, bool wake);
-
-	/// Apply a torque. This affects the angular velocity
-	/// without affecting the linear velocity of the center of mass.
-	/// This wakes up the body.
-	/// @param torque about the z-axis (out of the screen), usually in N-m.
-	/// @param wake also wake up the body
-	void ApplyTorque(float32 torque, bool wake);
-
-	/// Apply an impulse at a point. This immediately modifies the velocity.
-	/// It also modifies the angular velocity if the point of application
-	/// is not at the center of mass. This wakes up the body.
-	/// @param impulse the world impulse vector, usually in N-seconds or kg-m/s.
-	/// @param point the world position of the point of application.
-	/// @param wake also wake up the body
-	void ApplyLinearImpulse(const b2Vec2& impulse, const b2Vec2& point, bool wake);
-
-	/// Apply an angular impulse.
-	/// @param impulse the angular impulse in units of kg*m*m/s
-	/// @param wake also wake up the body
-	void ApplyAngularImpulse(float32 impulse, bool wake);
-
-	/// Get the total mass of the body.
-	/// @return the mass, usually in kilograms (kg).
-	float32 GetMass() const;
-
-	/// Get the rotational inertia of the body about the local origin.
-	/// @return the rotational inertia, usually in kg-m^2.
-	float32 GetInertia() const;
-
-	/// Get the mass data of the body.
-	/// @return a struct containing the mass, inertia and center of the body.
-	void GetMassData(b2MassData* data) const;
-
-	/// Set the mass properties to override the mass properties of the fixtures.
-	/// Note that this changes the center of mass position.
-	/// Note that creating or destroying fixtures can also alter the mass.
-	/// This function has no effect if the body isn't dynamic.
-	/// @param massData the mass properties.
-	void SetMassData(const b2MassData* data);
-
-	/// This resets the mass properties to the sum of the mass properties of the fixtures.
-	/// This normally does not need to be called unless you called SetMassData to override
-	/// the mass and you later want to reset the mass.
-	void ResetMassData();
-
-	/// Get the world coordinates of a point given the local coordinates.
-	/// @param localPoint a point on the body measured relative the the body's origin.
-	/// @return the same point expressed in world coordinates.
-	b2Vec2 GetWorldPoint(const b2Vec2& localPoint) const;
-
-	/// Get the world coordinates of a vector given the local coordinates.
-	/// @param localVector a vector fixed in the body.
-	/// @return the same vector expressed in world coordinates.
-	b2Vec2 GetWorldVector(const b2Vec2& localVector) const;
-
-	/// Gets a local point relative to the body's origin given a world point.
-	/// @param a point in world coordinates.
-	/// @return the corresponding local point relative to the body's origin.
-	b2Vec2 GetLocalPoint(const b2Vec2& worldPoint) const;
-
-	/// Gets a local vector given a world vector.
-	/// @param a vector in world coordinates.
-	/// @return the corresponding local vector.
-	b2Vec2 GetLocalVector(const b2Vec2& worldVector) const;
-
-	/// Get the world linear velocity of a world point attached to this body.
-	/// @param a point in world coordinates.
-	/// @return the world velocity of a point.
-	b2Vec2 GetLinearVelocityFromWorldPoint(const b2Vec2& worldPoint) const;
-
-	/// Get the world velocity of a local point.
-	/// @param a point in local coordinates.
-	/// @return the world velocity of a point.
-	b2Vec2 GetLinearVelocityFromLocalPoint(const b2Vec2& localPoint) const;
-
-	/// Get the linear damping of the body.
-	float32 GetLinearDamping() const;
-
-	/// Set the linear damping of the body.
-	void SetLinearDamping(float32 linearDamping);
-
-	/// Get the angular damping of the body.
-	float32 GetAngularDamping() const;
-
-	/// Set the angular damping of the body.
-	void SetAngularDamping(float32 angularDamping);
-
-	/// Get the gravity scale of the body.
-	float32 GetGravityScale() const;
-
-	/// Set the gravity scale of the body.
-	void SetGravityScale(float32 scale);
-
-	/// Set the type of this body. This may alter the mass and velocity.
-	void SetType(b2BodyType type);
-
-	/// Get the type of this body.
-	b2BodyType GetType() const;
-
-	/// Should this body be treated like a bullet for continuous collision detection?
-	void SetBullet(bool flag);
-
-	/// Is this body treated like a bullet for continuous collision detection?
-	bool IsBullet() const;
-
-	/// You can disable sleeping on this body. If you disable sleeping, the
-	/// body will be woken.
-	void SetSleepingAllowed(bool flag);
-
-	/// Is this body allowed to sleep
-	bool IsSleepingAllowed() const;
-
-	/// Set the sleep state of the body. A sleeping body has very
-	/// low CPU cost.
-	/// @param flag set to true to wake the body, false to put it to sleep.
-	void SetAwake(bool flag);
-
-	/// Get the sleeping state of this body.
-	/// @return true if the body is awake.
-	bool IsAwake() const;
-
-	/// Set the active state of the body. An inactive body is not
-	/// simulated and cannot be collided with or woken up.
-	/// If you pass a flag of true, all fixtures will be added to the
-	/// broad-phase.
-	/// If you pass a flag of false, all fixtures will be removed from
-	/// the broad-phase and all contacts will be destroyed.
-	/// Fixtures and joints are otherwise unaffected. You may continue
-	/// to create/destroy fixtures and joints on inactive bodies.
-	/// Fixtures on an inactive body are implicitly inactive and will
-	/// not participate in collisions, ray-casts, or queries.
-	/// Joints connected to an inactive body are implicitly inactive.
-	/// An inactive body is still owned by a b2World object and remains
-	/// in the body list.
-	void SetActive(bool flag);
-
-	/// Get the active state of the body.
-	bool IsActive() const;
-
-	/// Set this body to have fixed rotation. This causes the mass
-	/// to be reset.
-	void SetFixedRotation(bool flag);
-
-	/// Does this body have fixed rotation?
-	bool IsFixedRotation() const;
-
-	/// Get the list of all fixtures attached to this body.
-	b2Fixture* GetFixtureList();
-	const b2Fixture* GetFixtureList() const;
-
-	/// Get the list of all joints attached to this body.
-	b2JointEdge* GetJointList();
-	const b2JointEdge* GetJointList() const;
-
-	/// Get the list of all contacts attached to this body.
-	/// @warning this list changes during the time step and you may
-	/// miss some collisions if you don't use b2ContactListener.
-	b2ContactEdge* GetContactList();
-	const b2ContactEdge* GetContactList() const;
-
-	/// Get the next body in the world's body list.
-	b2Body* GetNext();
-	const b2Body* GetNext() const;
-
-	/// Get the user data pointer that was provided in the body definition.
-	void* GetUserData() const;
-
-	/// Set the user data. Use this to store your application specific data.
-	void SetUserData(void* data);
-
-	/// Get the parent world of this body.
-	b2World* GetWorld();
-	const b2World* GetWorld() const;
-
-	/// Dump this body to a log file
-	void Dump();
-
-private:
-
-	friend class b2World;
-	friend class b2Island;
-	friend class b2ContactManager;
-	friend class b2ContactSolver;
-	friend class b2Contact;
-	
-	friend class b2DistanceJoint;
-	friend class b2FrictionJoint;
-	friend class b2GearJoint;
-	friend class b2MotorJoint;
-	friend class b2MouseJoint;
-	friend class b2PrismaticJoint;
-	friend class b2PulleyJoint;
-	friend class b2RevoluteJoint;
-	friend class b2RopeJoint;
-	friend class b2WeldJoint;
-	friend class b2WheelJoint;
-
-	// m_flags
-	enum
-	{
-		e_islandFlag		= 0x0001,
-		e_awakeFlag			= 0x0002,
-		e_autoSleepFlag		= 0x0004,
-		e_bulletFlag		= 0x0008,
-		e_fixedRotationFlag	= 0x0010,
-		e_activeFlag		= 0x0020,
-		e_toiFlag			= 0x0040
-	};
-
-	b2Body(const b2BodyDef* bd, b2World* world);
-	~b2Body();
-
-	void SynchronizeFixtures();
-	void SynchronizeTransform();
-
-	// This is used to prevent connected bodies from colliding.
-	// It may lie, depending on the collideConnected flag.
-	bool ShouldCollide(const b2Body* other) const;
-
-	void Advance(float32 t);
-
-	b2BodyType m_type;
-
-	uint16 m_flags;
-
-	int32 m_islandIndex;
-
-	b2Transform m_xf;		// the body origin transform
-	b2Sweep m_sweep;		// the swept motion for CCD
-
-	b2Vec2 m_linearVelocity;
-	float32 m_angularVelocity;
-
-	b2Vec2 m_force;
-	float32 m_torque;
-
-	b2World* m_world;
-	b2Body* m_prev;
-	b2Body* m_next;
-
-	b2Fixture* m_fixtureList;
-	int32 m_fixtureCount;
-
-	b2JointEdge* m_jointList;
-	b2ContactEdge* m_contactList;
-
-	float32 m_mass, m_invMass;
-
-	// Rotational inertia about the center of mass.
-	float32 m_I, m_invI;
-
-	float32 m_linearDamping;
-	float32 m_angularDamping;
-	float32 m_gravityScale;
-
-	float32 m_sleepTime;
-
-	void* m_userData;
-};
-
-inline b2BodyType b2Body::GetType() const
-{
-	return m_type;
-}
-
-inline const b2Transform& b2Body::GetTransform() const
-{
-	return m_xf;
-}
-
-inline const b2Vec2& b2Body::GetPosition() const
-{
-	return m_xf.p;
-}
-
-inline float32 b2Body::GetAngle() const
-{
-	return m_sweep.a;
-}
-
-inline const b2Vec2& b2Body::GetWorldCenter() const
-{
-	return m_sweep.c;
-}
-
-inline const b2Vec2& b2Body::GetLocalCenter() const
-{
-	return m_sweep.localCenter;
-}
-
-inline void b2Body::SetLinearVelocity(const b2Vec2& v)
-{
-	if (m_type == b2_staticBody)
-	{
-		return;
-	}
-
-	if (b2Dot(v,v) > 0.0f)
-	{
-		SetAwake(true);
-	}
-
-	m_linearVelocity = v;
-}
-
-inline const b2Vec2& b2Body::GetLinearVelocity() const
-{
-	return m_linearVelocity;
-}
-
-inline void b2Body::SetAngularVelocity(float32 w)
-{
-	if (m_type == b2_staticBody)
-	{
-		return;
-	}
-
-	if (w * w > 0.0f)
-	{
-		SetAwake(true);
-	}
-
-	m_angularVelocity = w;
-}
-
-inline float32 b2Body::GetAngularVelocity() const
-{
-	return m_angularVelocity;
-}
-
-inline float32 b2Body::GetMass() const
-{
-	return m_mass;
-}
-
-inline float32 b2Body::GetInertia() const
-{
-	return m_I + m_mass * b2Dot(m_sweep.localCenter, m_sweep.localCenter);
-}
-
-inline void b2Body::GetMassData(b2MassData* data) const
-{
-	data->mass = m_mass;
-	data->I = m_I + m_mass * b2Dot(m_sweep.localCenter, m_sweep.localCenter);
-	data->center = m_sweep.localCenter;
-}
-
-inline b2Vec2 b2Body::GetWorldPoint(const b2Vec2& localPoint) const
-{
-	return b2Mul(m_xf, localPoint);
-}
-
-inline b2Vec2 b2Body::GetWorldVector(const b2Vec2& localVector) const
-{
-	return b2Mul(m_xf.q, localVector);
-}
-
-inline b2Vec2 b2Body::GetLocalPoint(const b2Vec2& worldPoint) const
-{
-	return b2MulT(m_xf, worldPoint);
-}
-
-inline b2Vec2 b2Body::GetLocalVector(const b2Vec2& worldVector) const
-{
-	return b2MulT(m_xf.q, worldVector);
-}
-
-inline b2Vec2 b2Body::GetLinearVelocityFromWorldPoint(const b2Vec2& worldPoint) const
-{
-	return m_linearVelocity + b2Cross(m_angularVelocity, worldPoint - m_sweep.c);
-}
-
-inline b2Vec2 b2Body::GetLinearVelocityFromLocalPoint(const b2Vec2& localPoint) const
-{
-	return GetLinearVelocityFromWorldPoint(GetWorldPoint(localPoint));
-}
-
-inline float32 b2Body::GetLinearDamping() const
-{
-	return m_linearDamping;
-}
-
-inline void b2Body::SetLinearDamping(float32 linearDamping)
-{
-	m_linearDamping = linearDamping;
-}
-
-inline float32 b2Body::GetAngularDamping() const
-{
-	return m_angularDamping;
-}
-
-inline void b2Body::SetAngularDamping(float32 angularDamping)
-{
-	m_angularDamping = angularDamping;
-}
-
-inline float32 b2Body::GetGravityScale() const
-{
-	return m_gravityScale;
-}
-
-inline void b2Body::SetGravityScale(float32 scale)
-{
-	m_gravityScale = scale;
-}
-
-inline void b2Body::SetBullet(bool flag)
-{
-	if (flag)
-	{
-		m_flags |= e_bulletFlag;
-	}
-	else
-	{
-		m_flags &= ~e_bulletFlag;
-	}
-}
-
-inline bool b2Body::IsBullet() const
-{
-	return (m_flags & e_bulletFlag) == e_bulletFlag;
-}
-
-inline void b2Body::SetAwake(bool flag)
-{
-	if (flag)
-	{
-		if ((m_flags & e_awakeFlag) == 0)
-		{
-			m_flags |= e_awakeFlag;
-			m_sleepTime = 0.0f;
-		}
-	}
-	else
-	{
-		m_flags &= ~e_awakeFlag;
-		m_sleepTime = 0.0f;
-		m_linearVelocity.SetZero();
-		m_angularVelocity = 0.0f;
-		m_force.SetZero();
-		m_torque = 0.0f;
-	}
-}
-
-inline bool b2Body::IsAwake() const
-{
-	return (m_flags & e_awakeFlag) == e_awakeFlag;
-}
-
-inline bool b2Body::IsActive() const
-{
-	return (m_flags & e_activeFlag) == e_activeFlag;
-}
-
-inline bool b2Body::IsFixedRotation() const
-{
-	return (m_flags & e_fixedRotationFlag) == e_fixedRotationFlag;
-}
-
-inline void b2Body::SetSleepingAllowed(bool flag)
-{
-	if (flag)
-	{
-		m_flags |= e_autoSleepFlag;
-	}
-	else
-	{
-		m_flags &= ~e_autoSleepFlag;
-		SetAwake(true);
-	}
-}
-
-inline bool b2Body::IsSleepingAllowed() const
-{
-	return (m_flags & e_autoSleepFlag) == e_autoSleepFlag;
-}
-
-inline b2Fixture* b2Body::GetFixtureList()
-{
-	return m_fixtureList;
-}
-
-inline const b2Fixture* b2Body::GetFixtureList() const
-{
-	return m_fixtureList;
-}
-
-inline b2JointEdge* b2Body::GetJointList()
-{
-	return m_jointList;
-}
-
-inline const b2JointEdge* b2Body::GetJointList() const
-{
-	return m_jointList;
-}
-
-inline b2ContactEdge* b2Body::GetContactList()
-{
-	return m_contactList;
-}
-
-inline const b2ContactEdge* b2Body::GetContactList() const
-{
-	return m_contactList;
-}
-
-inline b2Body* b2Body::GetNext()
-{
-	return m_next;
-}
-
-inline const b2Body* b2Body::GetNext() const
-{
-	return m_next;
-}
-
-inline void b2Body::SetUserData(void* data)
-{
-	m_userData = data;
-}
-
-inline void* b2Body::GetUserData() const
-{
-	return m_userData;
-}
-
-inline void b2Body::ApplyForce(const b2Vec2& force, const b2Vec2& point, bool wake)
-{
-	if (m_type != b2_dynamicBody)
-	{
-		return;
-	}
-
-	if (wake && (m_flags & e_awakeFlag) == 0)
-	{
-		SetAwake(true);
-	}
-
-	// Don't accumulate a force if the body is sleeping.
-	if (m_flags & e_awakeFlag)
-	{
-		m_force += force;
-		m_torque += b2Cross(point - m_sweep.c, force);
-	}
-}
-
-inline void b2Body::ApplyForceToCenter(const b2Vec2& force, bool wake)
-{
-	if (m_type != b2_dynamicBody)
-	{
-		return;
-	}
-
-	if (wake && (m_flags & e_awakeFlag) == 0)
-	{
-		SetAwake(true);
-	}
-
-	// Don't accumulate a force if the body is sleeping
-	if (m_flags & e_awakeFlag)
-	{
-		m_force += force;
-	}
-}
-
-inline void b2Body::ApplyTorque(float32 torque, bool wake)
-{
-	if (m_type != b2_dynamicBody)
-	{
-		return;
-	}
-
-	if (wake && (m_flags & e_awakeFlag) == 0)
-	{
-		SetAwake(true);
-	}
-
-	// Don't accumulate a force if the body is sleeping
-	if (m_flags & e_awakeFlag)
-	{
-		m_torque += torque;
-	}
-}
-
-inline void b2Body::ApplyLinearImpulse(const b2Vec2& impulse, const b2Vec2& point, bool wake)
-{
-	if (m_type != b2_dynamicBody)
-	{
-		return;
-	}
-
-	if (wake && (m_flags & e_awakeFlag) == 0)
-	{
-		SetAwake(true);
-	}
-
-	// Don't accumulate velocity if the body is sleeping
-	if (m_flags & e_awakeFlag)
-	{
-		m_linearVelocity += m_invMass * impulse;
-		m_angularVelocity += m_invI * b2Cross(point - m_sweep.c, impulse);
-	}
-}
-
-inline void b2Body::ApplyAngularImpulse(float32 impulse, bool wake)
-{
-	if (m_type != b2_dynamicBody)
-	{
-		return;
-	}
-
-	if (wake && (m_flags & e_awakeFlag) == 0)
-	{
-		SetAwake(true);
-	}
-
-	// Don't accumulate velocity if the body is sleeping
-	if (m_flags & e_awakeFlag)
-	{
-		m_angularVelocity += m_invI * impulse;
-	}
-}
-
-inline void b2Body::SynchronizeTransform()
-{
-	m_xf.q.Set(m_sweep.a);
-	m_xf.p = m_sweep.c - b2Mul(m_xf.q, m_sweep.localCenter);
-}
-
-inline void b2Body::Advance(float32 alpha)
-{
-	// Advance to the new safe time. This doesn't sync the broad-phase.
-	m_sweep.Advance(alpha);
-	m_sweep.c = m_sweep.c0;
-	m_sweep.a = m_sweep.a0;
-	m_xf.q.Set(m_sweep.a);
-	m_xf.p = m_sweep.c - b2Mul(m_xf.q, m_sweep.localCenter);
-}
-
-inline b2World* b2Body::GetWorld()
-{
-	return m_world;
-}
-
-inline const b2World* b2Body::GetWorld() const
-{
-	return m_world;
-}
-
-#endif