reflexion 0.1.12 → 0.1.13

data/src/physics/Box2D/Dynamics/b2World.cpp

@@ -1,1339 +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.
-*/
-
-#include <Box2D/Dynamics/b2World.h>
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2Fixture.h>
-#include <Box2D/Dynamics/b2Island.h>
-#include <Box2D/Dynamics/Joints/b2PulleyJoint.h>
-#include <Box2D/Dynamics/Contacts/b2Contact.h>
-#include <Box2D/Dynamics/Contacts/b2ContactSolver.h>
-#include <Box2D/Collision/b2Collision.h>
-#include <Box2D/Collision/b2BroadPhase.h>
-#include <Box2D/Collision/Shapes/b2CircleShape.h>
-#include <Box2D/Collision/Shapes/b2EdgeShape.h>
-#include <Box2D/Collision/Shapes/b2ChainShape.h>
-#include <Box2D/Collision/Shapes/b2PolygonShape.h>
-#include <Box2D/Collision/b2TimeOfImpact.h>
-#include <Box2D/Common/b2Draw.h>
-#include <Box2D/Common/b2Timer.h>
-#include <new>
-
-b2World::b2World(const b2Vec2& gravity)
-{
-	m_destructionListener = NULL;
-	g_debugDraw = NULL;
-
-	m_bodyList = NULL;
-	m_jointList = NULL;
-
-	m_bodyCount = 0;
-	m_jointCount = 0;
-
-	m_warmStarting = true;
-	m_continuousPhysics = true;
-	m_subStepping = false;
-
-	m_stepComplete = true;
-
-	m_allowSleep = true;
-	m_gravity = gravity;
-
-	m_flags = e_clearForces;
-
-	m_inv_dt0 = 0.0f;
-
-	m_contactManager.m_allocator = &m_blockAllocator;
-
-	memset(&m_profile, 0, sizeof(b2Profile));
-}
-
-b2World::~b2World()
-{
-	// Some shapes allocate using b2Alloc.
-	b2Body* b = m_bodyList;
-	while (b)
-	{
-		b2Body* bNext = b->m_next;
-
-		b2Fixture* f = b->m_fixtureList;
-		while (f)
-		{
-			b2Fixture* fNext = f->m_next;
-			f->m_proxyCount = 0;
-			f->Destroy(&m_blockAllocator);
-			f = fNext;
-		}
-
-		b = bNext;
-	}
-}
-
-void b2World::SetDestructionListener(b2DestructionListener* listener)
-{
-	m_destructionListener = listener;
-}
-
-void b2World::SetContactFilter(b2ContactFilter* filter)
-{
-	m_contactManager.m_contactFilter = filter;
-}
-
-void b2World::SetContactListener(b2ContactListener* listener)
-{
-	m_contactManager.m_contactListener = listener;
-}
-
-void b2World::SetDebugDraw(b2Draw* debugDraw)
-{
-	g_debugDraw = debugDraw;
-}
-
-b2Body* b2World::CreateBody(const b2BodyDef* def)
-{
-	b2Assert(IsLocked() == false);
-	if (IsLocked())
-	{
-		return NULL;
-	}
-
-	void* mem = m_blockAllocator.Allocate(sizeof(b2Body));
-	b2Body* b = new (mem) b2Body(def, this);
-
-	// Add to world doubly linked list.
-	b->m_prev = NULL;
-	b->m_next = m_bodyList;
-	if (m_bodyList)
-	{
-		m_bodyList->m_prev = b;
-	}
-	m_bodyList = b;
-	++m_bodyCount;
-
-	return b;
-}
-
-void b2World::DestroyBody(b2Body* b)
-{
-	b2Assert(m_bodyCount > 0);
-	b2Assert(IsLocked() == false);
-	if (IsLocked())
-	{
-		return;
-	}
-
-	// Delete the attached joints.
-	b2JointEdge* je = b->m_jointList;
-	while (je)
-	{
-		b2JointEdge* je0 = je;
-		je = je->next;
-
-		if (m_destructionListener)
-		{
-			m_destructionListener->SayGoodbye(je0->joint);
-		}
-
-		DestroyJoint(je0->joint);
-
-		b->m_jointList = je;
-	}
-	b->m_jointList = NULL;
-
-	// Delete the attached contacts.
-	b2ContactEdge* ce = b->m_contactList;
-	while (ce)
-	{
-		b2ContactEdge* ce0 = ce;
-		ce = ce->next;
-		m_contactManager.Destroy(ce0->contact);
-	}
-	b->m_contactList = NULL;
-
-	// Delete the attached fixtures. This destroys broad-phase proxies.
-	b2Fixture* f = b->m_fixtureList;
-	while (f)
-	{
-		b2Fixture* f0 = f;
-		f = f->m_next;
-
-		if (m_destructionListener)
-		{
-			m_destructionListener->SayGoodbye(f0);
-		}
-
-		f0->DestroyProxies(&m_contactManager.m_broadPhase);
-		f0->Destroy(&m_blockAllocator);
-		f0->~b2Fixture();
-		m_blockAllocator.Free(f0, sizeof(b2Fixture));
-
-		b->m_fixtureList = f;
-		b->m_fixtureCount -= 1;
-	}
-	b->m_fixtureList = NULL;
-	b->m_fixtureCount = 0;
-
-	// Remove world body list.
-	if (b->m_prev)
-	{
-		b->m_prev->m_next = b->m_next;
-	}
-
-	if (b->m_next)
-	{
-		b->m_next->m_prev = b->m_prev;
-	}
-
-	if (b == m_bodyList)
-	{
-		m_bodyList = b->m_next;
-	}
-
-	--m_bodyCount;
-	b->~b2Body();
-	m_blockAllocator.Free(b, sizeof(b2Body));
-}
-
-b2Joint* b2World::CreateJoint(const b2JointDef* def)
-{
-	b2Assert(IsLocked() == false);
-	if (IsLocked())
-	{
-		return NULL;
-	}
-
-	b2Joint* j = b2Joint::Create(def, &m_blockAllocator);
-
-	// Connect to the world list.
-	j->m_prev = NULL;
-	j->m_next = m_jointList;
-	if (m_jointList)
-	{
-		m_jointList->m_prev = j;
-	}
-	m_jointList = j;
-	++m_jointCount;
-
-	// Connect to the bodies' doubly linked lists.
-	j->m_edgeA.joint = j;
-	j->m_edgeA.other = j->m_bodyB;
-	j->m_edgeA.prev = NULL;
-	j->m_edgeA.next = j->m_bodyA->m_jointList;
-	if (j->m_bodyA->m_jointList) j->m_bodyA->m_jointList->prev = &j->m_edgeA;
-	j->m_bodyA->m_jointList = &j->m_edgeA;
-
-	j->m_edgeB.joint = j;
-	j->m_edgeB.other = j->m_bodyA;
-	j->m_edgeB.prev = NULL;
-	j->m_edgeB.next = j->m_bodyB->m_jointList;
-	if (j->m_bodyB->m_jointList) j->m_bodyB->m_jointList->prev = &j->m_edgeB;
-	j->m_bodyB->m_jointList = &j->m_edgeB;
-
-	b2Body* bodyA = def->bodyA;
-	b2Body* bodyB = def->bodyB;
-
-	// If the joint prevents collisions, then flag any contacts for filtering.
-	if (def->collideConnected == false)
-	{
-		b2ContactEdge* edge = bodyB->GetContactList();
-		while (edge)
-		{
-			if (edge->other == bodyA)
-			{
-				// Flag the contact for filtering at the next time step (where either
-				// body is awake).
-				edge->contact->FlagForFiltering();
-			}
-
-			edge = edge->next;
-		}
-	}
-
-	// Note: creating a joint doesn't wake the bodies.
-
-	return j;
-}
-
-void b2World::DestroyJoint(b2Joint* j)
-{
-	b2Assert(IsLocked() == false);
-	if (IsLocked())
-	{
-		return;
-	}
-
-	bool collideConnected = j->m_collideConnected;
-
-	// Remove from the doubly linked list.
-	if (j->m_prev)
-	{
-		j->m_prev->m_next = j->m_next;
-	}
-
-	if (j->m_next)
-	{
-		j->m_next->m_prev = j->m_prev;
-	}
-
-	if (j == m_jointList)
-	{
-		m_jointList = j->m_next;
-	}
-
-	// Disconnect from island graph.
-	b2Body* bodyA = j->m_bodyA;
-	b2Body* bodyB = j->m_bodyB;
-
-	// Wake up connected bodies.
-	bodyA->SetAwake(true);
-	bodyB->SetAwake(true);
-
-	// Remove from body 1.
-	if (j->m_edgeA.prev)
-	{
-		j->m_edgeA.prev->next = j->m_edgeA.next;
-	}
-
-	if (j->m_edgeA.next)
-	{
-		j->m_edgeA.next->prev = j->m_edgeA.prev;
-	}
-
-	if (&j->m_edgeA == bodyA->m_jointList)
-	{
-		bodyA->m_jointList = j->m_edgeA.next;
-	}
-
-	j->m_edgeA.prev = NULL;
-	j->m_edgeA.next = NULL;
-
-	// Remove from body 2
-	if (j->m_edgeB.prev)
-	{
-		j->m_edgeB.prev->next = j->m_edgeB.next;
-	}
-
-	if (j->m_edgeB.next)
-	{
-		j->m_edgeB.next->prev = j->m_edgeB.prev;
-	}
-
-	if (&j->m_edgeB == bodyB->m_jointList)
-	{
-		bodyB->m_jointList = j->m_edgeB.next;
-	}
-
-	j->m_edgeB.prev = NULL;
-	j->m_edgeB.next = NULL;
-
-	b2Joint::Destroy(j, &m_blockAllocator);
-
-	b2Assert(m_jointCount > 0);
-	--m_jointCount;
-
-	// If the joint prevents collisions, then flag any contacts for filtering.
-	if (collideConnected == false)
-	{
-		b2ContactEdge* edge = bodyB->GetContactList();
-		while (edge)
-		{
-			if (edge->other == bodyA)
-			{
-				// Flag the contact for filtering at the next time step (where either
-				// body is awake).
-				edge->contact->FlagForFiltering();
-			}
-
-			edge = edge->next;
-		}
-	}
-}
-
-//
-void b2World::SetAllowSleeping(bool flag)
-{
-	if (flag == m_allowSleep)
-	{
-		return;
-	}
-
-	m_allowSleep = flag;
-	if (m_allowSleep == false)
-	{
-		for (b2Body* b = m_bodyList; b; b = b->m_next)
-		{
-			b->SetAwake(true);
-		}
-	}
-}
-
-// Find islands, integrate and solve constraints, solve position constraints
-void b2World::Solve(const b2TimeStep& step)
-{
-	m_profile.solveInit = 0.0f;
-	m_profile.solveVelocity = 0.0f;
-	m_profile.solvePosition = 0.0f;
-
-	// Size the island for the worst case.
-	b2Island island(m_bodyCount,
-					m_contactManager.m_contactCount,
-					m_jointCount,
-					&m_stackAllocator,
-					m_contactManager.m_contactListener);
-
-	// Clear all the island flags.
-	for (b2Body* b = m_bodyList; b; b = b->m_next)
-	{
-		b->m_flags &= ~b2Body::e_islandFlag;
-	}
-	for (b2Contact* c = m_contactManager.m_contactList; c; c = c->m_next)
-	{
-		c->m_flags &= ~b2Contact::e_islandFlag;
-	}
-	for (b2Joint* j = m_jointList; j; j = j->m_next)
-	{
-		j->m_islandFlag = false;
-	}
-
-	// Build and simulate all awake islands.
-	int32 stackSize = m_bodyCount;
-	b2Body** stack = (b2Body**)m_stackAllocator.Allocate(stackSize * sizeof(b2Body*));
-	for (b2Body* seed = m_bodyList; seed; seed = seed->m_next)
-	{
-		if (seed->m_flags & b2Body::e_islandFlag)
-		{
-			continue;
-		}
-
-		if (seed->IsAwake() == false || seed->IsActive() == false)
-		{
-			continue;
-		}
-
-		// The seed can be dynamic or kinematic.
-		if (seed->GetType() == b2_staticBody)
-		{
-			continue;
-		}
-
-		// Reset island and stack.
-		island.Clear();
-		int32 stackCount = 0;
-		stack[stackCount++] = seed;
-		seed->m_flags |= b2Body::e_islandFlag;
-
-		// Perform a depth first search (DFS) on the constraint graph.
-		while (stackCount > 0)
-		{
-			// Grab the next body off the stack and add it to the island.
-			b2Body* b = stack[--stackCount];
-			b2Assert(b->IsActive() == true);
-			island.Add(b);
-
-			// Make sure the body is awake.
-			b->SetAwake(true);
-
-			// To keep islands as small as possible, we don't
-			// propagate islands across static bodies.
-			if (b->GetType() == b2_staticBody)
-			{
-				continue;
-			}
-
-			// Search all contacts connected to this body.
-			for (b2ContactEdge* ce = b->m_contactList; ce; ce = ce->next)
-			{
-				b2Contact* contact = ce->contact;
-
-				// Has this contact already been added to an island?
-				if (contact->m_flags & b2Contact::e_islandFlag)
-				{
-					continue;
-				}
-
-				// Is this contact solid and touching?
-				if (contact->IsEnabled() == false ||
-					contact->IsTouching() == false)
-				{
-					continue;
-				}
-
-				// Skip sensors.
-				bool sensorA = contact->m_fixtureA->m_isSensor;
-				bool sensorB = contact->m_fixtureB->m_isSensor;
-				if (sensorA || sensorB)
-				{
-					continue;
-				}
-
-				island.Add(contact);
-				contact->m_flags |= b2Contact::e_islandFlag;
-
-				b2Body* other = ce->other;
-
-				// Was the other body already added to this island?
-				if (other->m_flags & b2Body::e_islandFlag)
-				{
-					continue;
-				}
-
-				b2Assert(stackCount < stackSize);
-				stack[stackCount++] = other;
-				other->m_flags |= b2Body::e_islandFlag;
-			}
-
-			// Search all joints connect to this body.
-			for (b2JointEdge* je = b->m_jointList; je; je = je->next)
-			{
-				if (je->joint->m_islandFlag == true)
-				{
-					continue;
-				}
-
-				b2Body* other = je->other;
-
-				// Don't simulate joints connected to inactive bodies.
-				if (other->IsActive() == false)
-				{
-					continue;
-				}
-
-				island.Add(je->joint);
-				je->joint->m_islandFlag = true;
-
-				if (other->m_flags & b2Body::e_islandFlag)
-				{
-					continue;
-				}
-
-				b2Assert(stackCount < stackSize);
-				stack[stackCount++] = other;
-				other->m_flags |= b2Body::e_islandFlag;
-			}
-		}
-
-		b2Profile profile;
-		island.Solve(&profile, step, m_gravity, m_allowSleep);
-		m_profile.solveInit += profile.solveInit;
-		m_profile.solveVelocity += profile.solveVelocity;
-		m_profile.solvePosition += profile.solvePosition;
-
-		// Post solve cleanup.
-		for (int32 i = 0; i < island.m_bodyCount; ++i)
-		{
-			// Allow static bodies to participate in other islands.
-			b2Body* b = island.m_bodies[i];
-			if (b->GetType() == b2_staticBody)
-			{
-				b->m_flags &= ~b2Body::e_islandFlag;
-			}
-		}
-	}
-
-	m_stackAllocator.Free(stack);
-
-	{
-		b2Timer timer;
-		// Synchronize fixtures, check for out of range bodies.
-		for (b2Body* b = m_bodyList; b; b = b->GetNext())
-		{
-			// If a body was not in an island then it did not move.
-			if ((b->m_flags & b2Body::e_islandFlag) == 0)
-			{
-				continue;
-			}
-
-			if (b->GetType() == b2_staticBody)
-			{
-				continue;
-			}
-
-			// Update fixtures (for broad-phase).
-			b->SynchronizeFixtures();
-		}
-
-		// Look for new contacts.
-		m_contactManager.FindNewContacts();
-		m_profile.broadphase = timer.GetMilliseconds();
-	}
-}
-
-// Find TOI contacts and solve them.
-void b2World::SolveTOI(const b2TimeStep& step)
-{
-	b2Island island(2 * b2_maxTOIContacts, b2_maxTOIContacts, 0, &m_stackAllocator, m_contactManager.m_contactListener);
-
-	if (m_stepComplete)
-	{
-		for (b2Body* b = m_bodyList; b; b = b->m_next)
-		{
-			b->m_flags &= ~b2Body::e_islandFlag;
-			b->m_sweep.alpha0 = 0.0f;
-		}
-
-		for (b2Contact* c = m_contactManager.m_contactList; c; c = c->m_next)
-		{
-			// Invalidate TOI
-			c->m_flags &= ~(b2Contact::e_toiFlag | b2Contact::e_islandFlag);
-			c->m_toiCount = 0;
-			c->m_toi = 1.0f;
-		}
-	}
-
-	// Find TOI events and solve them.
-	for (;;)
-	{
-		// Find the first TOI.
-		b2Contact* minContact = NULL;
-		float32 minAlpha = 1.0f;
-
-		for (b2Contact* c = m_contactManager.m_contactList; c; c = c->m_next)
-		{
-			// Is this contact disabled?
-			if (c->IsEnabled() == false)
-			{
-				continue;
-			}
-
-			// Prevent excessive sub-stepping.
-			if (c->m_toiCount > b2_maxSubSteps)
-			{
-				continue;
-			}
-
-			float32 alpha = 1.0f;
-			if (c->m_flags & b2Contact::e_toiFlag)
-			{
-				// This contact has a valid cached TOI.
-				alpha = c->m_toi;
-			}
-			else
-			{
-				b2Fixture* fA = c->GetFixtureA();
-				b2Fixture* fB = c->GetFixtureB();
-
-				// Is there a sensor?
-				if (fA->IsSensor() || fB->IsSensor())
-				{
-					continue;
-				}
-
-				b2Body* bA = fA->GetBody();
-				b2Body* bB = fB->GetBody();
-
-				b2BodyType typeA = bA->m_type;
-				b2BodyType typeB = bB->m_type;
-				b2Assert(typeA == b2_dynamicBody || typeB == b2_dynamicBody);
-
-				bool activeA = bA->IsAwake() && typeA != b2_staticBody;
-				bool activeB = bB->IsAwake() && typeB != b2_staticBody;
-
-				// Is at least one body active (awake and dynamic or kinematic)?
-				if (activeA == false && activeB == false)
-				{
-					continue;
-				}
-
-				bool collideA = bA->IsBullet() || typeA != b2_dynamicBody;
-				bool collideB = bB->IsBullet() || typeB != b2_dynamicBody;
-
-				// Are these two non-bullet dynamic bodies?
-				if (collideA == false && collideB == false)
-				{
-					continue;
-				}
-
-				// Compute the TOI for this contact.
-				// Put the sweeps onto the same time interval.
-				float32 alpha0 = bA->m_sweep.alpha0;
-
-				if (bA->m_sweep.alpha0 < bB->m_sweep.alpha0)
-				{
-					alpha0 = bB->m_sweep.alpha0;
-					bA->m_sweep.Advance(alpha0);
-				}
-				else if (bB->m_sweep.alpha0 < bA->m_sweep.alpha0)
-				{
-					alpha0 = bA->m_sweep.alpha0;
-					bB->m_sweep.Advance(alpha0);
-				}
-
-				b2Assert(alpha0 < 1.0f);
-
-				int32 indexA = c->GetChildIndexA();
-				int32 indexB = c->GetChildIndexB();
-
-				// Compute the time of impact in interval [0, minTOI]
-				b2TOIInput input;
-				input.proxyA.Set(fA->GetShape(), indexA);
-				input.proxyB.Set(fB->GetShape(), indexB);
-				input.sweepA = bA->m_sweep;
-				input.sweepB = bB->m_sweep;
-				input.tMax = 1.0f;
-
-				b2TOIOutput output;
-				b2TimeOfImpact(&output, &input);
-
-				// Beta is the fraction of the remaining portion of the .
-				float32 beta = output.t;
-				if (output.state == b2TOIOutput::e_touching)
-				{
-					alpha = b2Min(alpha0 + (1.0f - alpha0) * beta, 1.0f);
-				}
-				else
-				{
-					alpha = 1.0f;
-				}
-
-				c->m_toi = alpha;
-				c->m_flags |= b2Contact::e_toiFlag;
-			}
-
-			if (alpha < minAlpha)
-			{
-				// This is the minimum TOI found so far.
-				minContact = c;
-				minAlpha = alpha;
-			}
-		}
-
-		if (minContact == NULL || 1.0f - 10.0f * b2_epsilon < minAlpha)
-		{
-			// No more TOI events. Done!
-			m_stepComplete = true;
-			break;
-		}
-
-		// Advance the bodies to the TOI.
-		b2Fixture* fA = minContact->GetFixtureA();
-		b2Fixture* fB = minContact->GetFixtureB();
-		b2Body* bA = fA->GetBody();
-		b2Body* bB = fB->GetBody();
-
-		b2Sweep backup1 = bA->m_sweep;
-		b2Sweep backup2 = bB->m_sweep;
-
-		bA->Advance(minAlpha);
-		bB->Advance(minAlpha);
-
-		// The TOI contact likely has some new contact points.
-		minContact->Update(m_contactManager.m_contactListener);
-		minContact->m_flags &= ~b2Contact::e_toiFlag;
-		++minContact->m_toiCount;
-
-		// Is the contact solid?
-		if (minContact->IsEnabled() == false || minContact->IsTouching() == false)
-		{
-			// Restore the sweeps.
-			minContact->SetEnabled(false);
-			bA->m_sweep = backup1;
-			bB->m_sweep = backup2;
-			bA->SynchronizeTransform();
-			bB->SynchronizeTransform();
-			continue;
-		}
-
-		bA->SetAwake(true);
-		bB->SetAwake(true);
-
-		// Build the island
-		island.Clear();
-		island.Add(bA);
-		island.Add(bB);
-		island.Add(minContact);
-
-		bA->m_flags |= b2Body::e_islandFlag;
-		bB->m_flags |= b2Body::e_islandFlag;
-		minContact->m_flags |= b2Contact::e_islandFlag;
-
-		// Get contacts on bodyA and bodyB.
-		b2Body* bodies[2] = {bA, bB};
-		for (int32 i = 0; i < 2; ++i)
-		{
-			b2Body* body = bodies[i];
-			if (body->m_type == b2_dynamicBody)
-			{
-				for (b2ContactEdge* ce = body->m_contactList; ce; ce = ce->next)
-				{
-					if (island.m_bodyCount == island.m_bodyCapacity)
-					{
-						break;
-					}
-
-					if (island.m_contactCount == island.m_contactCapacity)
-					{
-						break;
-					}
-
-					b2Contact* contact = ce->contact;
-
-					// Has this contact already been added to the island?
-					if (contact->m_flags & b2Contact::e_islandFlag)
-					{
-						continue;
-					}
-
-					// Only add static, kinematic, or bullet bodies.
-					b2Body* other = ce->other;
-					if (other->m_type == b2_dynamicBody &&
-						body->IsBullet() == false && other->IsBullet() == false)
-					{
-						continue;
-					}
-
-					// Skip sensors.
-					bool sensorA = contact->m_fixtureA->m_isSensor;
-					bool sensorB = contact->m_fixtureB->m_isSensor;
-					if (sensorA || sensorB)
-					{
-						continue;
-					}
-
-					// Tentatively advance the body to the TOI.
-					b2Sweep backup = other->m_sweep;
-					if ((other->m_flags & b2Body::e_islandFlag) == 0)
-					{
-						other->Advance(minAlpha);
-					}
-
-					// Update the contact points
-					contact->Update(m_contactManager.m_contactListener);
-
-					// Was the contact disabled by the user?
-					if (contact->IsEnabled() == false)
-					{
-						other->m_sweep = backup;
-						other->SynchronizeTransform();
-						continue;
-					}
-
-					// Are there contact points?
-					if (contact->IsTouching() == false)
-					{
-						other->m_sweep = backup;
-						other->SynchronizeTransform();
-						continue;
-					}
-
-					// Add the contact to the island
-					contact->m_flags |= b2Contact::e_islandFlag;
-					island.Add(contact);
-
-					// Has the other body already been added to the island?
-					if (other->m_flags & b2Body::e_islandFlag)
-					{
-						continue;
-					}
-					
-					// Add the other body to the island.
-					other->m_flags |= b2Body::e_islandFlag;
-
-					if (other->m_type != b2_staticBody)
-					{
-						other->SetAwake(true);
-					}
-
-					island.Add(other);
-				}
-			}
-		}
-
-		b2TimeStep subStep;
-		subStep.dt = (1.0f - minAlpha) * step.dt;
-		subStep.inv_dt = 1.0f / subStep.dt;
-		subStep.dtRatio = 1.0f;
-		subStep.positionIterations = 20;
-		subStep.velocityIterations = step.velocityIterations;
-		subStep.warmStarting = false;
-		island.SolveTOI(subStep, bA->m_islandIndex, bB->m_islandIndex);
-
-		// Reset island flags and synchronize broad-phase proxies.
-		for (int32 i = 0; i < island.m_bodyCount; ++i)
-		{
-			b2Body* body = island.m_bodies[i];
-			body->m_flags &= ~b2Body::e_islandFlag;
-
-			if (body->m_type != b2_dynamicBody)
-			{
-				continue;
-			}
-
-			body->SynchronizeFixtures();
-
-			// Invalidate all contact TOIs on this displaced body.
-			for (b2ContactEdge* ce = body->m_contactList; ce; ce = ce->next)
-			{
-				ce->contact->m_flags &= ~(b2Contact::e_toiFlag | b2Contact::e_islandFlag);
-			}
-		}
-
-		// Commit fixture proxy movements to the broad-phase so that new contacts are created.
-		// Also, some contacts can be destroyed.
-		m_contactManager.FindNewContacts();
-
-		if (m_subStepping)
-		{
-			m_stepComplete = false;
-			break;
-		}
-	}
-}
-
-void b2World::Step(float32 dt, int32 velocityIterations, int32 positionIterations)
-{
-	b2Timer stepTimer;
-
-	// If new fixtures were added, we need to find the new contacts.
-	if (m_flags & e_newFixture)
-	{
-		m_contactManager.FindNewContacts();
-		m_flags &= ~e_newFixture;
-	}
-
-	m_flags |= e_locked;
-
-	b2TimeStep step;
-	step.dt = dt;
-	step.velocityIterations	= velocityIterations;
-	step.positionIterations = positionIterations;
-	if (dt > 0.0f)
-	{
-		step.inv_dt = 1.0f / dt;
-	}
-	else
-	{
-		step.inv_dt = 0.0f;
-	}
-
-	step.dtRatio = m_inv_dt0 * dt;
-
-	step.warmStarting = m_warmStarting;
-	
-	// Update contacts. This is where some contacts are destroyed.
-	{
-		b2Timer timer;
-		m_contactManager.Collide();
-		m_profile.collide = timer.GetMilliseconds();
-	}
-
-	// Integrate velocities, solve velocity constraints, and integrate positions.
-	if (m_stepComplete && step.dt > 0.0f)
-	{
-		b2Timer timer;
-		Solve(step);
-		m_profile.solve = timer.GetMilliseconds();
-	}
-
-	// Handle TOI events.
-	if (m_continuousPhysics && step.dt > 0.0f)
-	{
-		b2Timer timer;
-		SolveTOI(step);
-		m_profile.solveTOI = timer.GetMilliseconds();
-	}
-
-	if (step.dt > 0.0f)
-	{
-		m_inv_dt0 = step.inv_dt;
-	}
-
-	if (m_flags & e_clearForces)
-	{
-		ClearForces();
-	}
-
-	m_flags &= ~e_locked;
-
-	m_profile.step = stepTimer.GetMilliseconds();
-}
-
-void b2World::ClearForces()
-{
-	for (b2Body* body = m_bodyList; body; body = body->GetNext())
-	{
-		body->m_force.SetZero();
-		body->m_torque = 0.0f;
-	}
-}
-
-struct b2WorldQueryWrapper
-{
-	bool QueryCallback(int32 proxyId)
-	{
-		b2FixtureProxy* proxy = (b2FixtureProxy*)broadPhase->GetUserData(proxyId);
-		return callback->ReportFixture(proxy->fixture);
-	}
-
-	const b2BroadPhase* broadPhase;
-	b2QueryCallback* callback;
-};
-
-void b2World::QueryAABB(b2QueryCallback* callback, const b2AABB& aabb) const
-{
-	b2WorldQueryWrapper wrapper;
-	wrapper.broadPhase = &m_contactManager.m_broadPhase;
-	wrapper.callback = callback;
-	m_contactManager.m_broadPhase.Query(&wrapper, aabb);
-}
-
-struct b2WorldRayCastWrapper
-{
-	float32 RayCastCallback(const b2RayCastInput& input, int32 proxyId)
-	{
-		void* userData = broadPhase->GetUserData(proxyId);
-		b2FixtureProxy* proxy = (b2FixtureProxy*)userData;
-		b2Fixture* fixture = proxy->fixture;
-		int32 index = proxy->childIndex;
-		b2RayCastOutput output;
-		bool hit = fixture->RayCast(&output, input, index);
-
-		if (hit)
-		{
-			float32 fraction = output.fraction;
-			b2Vec2 point = (1.0f - fraction) * input.p1 + fraction * input.p2;
-			return callback->ReportFixture(fixture, point, output.normal, fraction);
-		}
-
-		return input.maxFraction;
-	}
-
-	const b2BroadPhase* broadPhase;
-	b2RayCastCallback* callback;
-};
-
-void b2World::RayCast(b2RayCastCallback* callback, const b2Vec2& point1, const b2Vec2& point2) const
-{
-	b2WorldRayCastWrapper wrapper;
-	wrapper.broadPhase = &m_contactManager.m_broadPhase;
-	wrapper.callback = callback;
-	b2RayCastInput input;
-	input.maxFraction = 1.0f;
-	input.p1 = point1;
-	input.p2 = point2;
-	m_contactManager.m_broadPhase.RayCast(&wrapper, input);
-}
-
-void b2World::DrawShape(b2Fixture* fixture, const b2Transform& xf, const b2Color& color)
-{
-	switch (fixture->GetType())
-	{
-	case b2Shape::e_circle:
-		{
-			b2CircleShape* circle = (b2CircleShape*)fixture->GetShape();
-
-			b2Vec2 center = b2Mul(xf, circle->m_p);
-			float32 radius = circle->m_radius;
-			b2Vec2 axis = b2Mul(xf.q, b2Vec2(1.0f, 0.0f));
-
-			g_debugDraw->DrawSolidCircle(center, radius, axis, color);
-		}
-		break;
-
-	case b2Shape::e_edge:
-		{
-			b2EdgeShape* edge = (b2EdgeShape*)fixture->GetShape();
-			b2Vec2 v1 = b2Mul(xf, edge->m_vertex1);
-			b2Vec2 v2 = b2Mul(xf, edge->m_vertex2);
-			g_debugDraw->DrawSegment(v1, v2, color);
-		}
-		break;
-
-	case b2Shape::e_chain:
-		{
-			b2ChainShape* chain = (b2ChainShape*)fixture->GetShape();
-			int32 count = chain->m_count;
-			const b2Vec2* vertices = chain->m_vertices;
-
-			b2Vec2 v1 = b2Mul(xf, vertices[0]);
-			for (int32 i = 1; i < count; ++i)
-			{
-				b2Vec2 v2 = b2Mul(xf, vertices[i]);
-				g_debugDraw->DrawSegment(v1, v2, color);
-				g_debugDraw->DrawCircle(v1, 0.05f, color);
-				v1 = v2;
-			}
-		}
-		break;
-
-	case b2Shape::e_polygon:
-		{
-			b2PolygonShape* poly = (b2PolygonShape*)fixture->GetShape();
-			int32 vertexCount = poly->m_count;
-			b2Assert(vertexCount <= b2_maxPolygonVertices);
-			b2Vec2 vertices[b2_maxPolygonVertices];
-
-			for (int32 i = 0; i < vertexCount; ++i)
-			{
-				vertices[i] = b2Mul(xf, poly->m_vertices[i]);
-			}
-
-			g_debugDraw->DrawSolidPolygon(vertices, vertexCount, color);
-		}
-		break;
-            
-    default:
-        break;
-	}
-}
-
-void b2World::DrawJoint(b2Joint* joint)
-{
-	b2Body* bodyA = joint->GetBodyA();
-	b2Body* bodyB = joint->GetBodyB();
-	const b2Transform& xf1 = bodyA->GetTransform();
-	const b2Transform& xf2 = bodyB->GetTransform();
-	b2Vec2 x1 = xf1.p;
-	b2Vec2 x2 = xf2.p;
-	b2Vec2 p1 = joint->GetAnchorA();
-	b2Vec2 p2 = joint->GetAnchorB();
-
-	b2Color color(0.5f, 0.8f, 0.8f);
-
-	switch (joint->GetType())
-	{
-	case e_distanceJoint:
-		g_debugDraw->DrawSegment(p1, p2, color);
-		break;
-
-	case e_pulleyJoint:
-		{
-			b2PulleyJoint* pulley = (b2PulleyJoint*)joint;
-			b2Vec2 s1 = pulley->GetGroundAnchorA();
-			b2Vec2 s2 = pulley->GetGroundAnchorB();
-			g_debugDraw->DrawSegment(s1, p1, color);
-			g_debugDraw->DrawSegment(s2, p2, color);
-			g_debugDraw->DrawSegment(s1, s2, color);
-		}
-		break;
-
-	case e_mouseJoint:
-		// don't draw this
-		break;
-
-	default:
-		g_debugDraw->DrawSegment(x1, p1, color);
-		g_debugDraw->DrawSegment(p1, p2, color);
-		g_debugDraw->DrawSegment(x2, p2, color);
-	}
-}
-
-void b2World::DrawDebugData()
-{
-	if (g_debugDraw == NULL)
-	{
-		return;
-	}
-
-	uint32 flags = g_debugDraw->GetFlags();
-
-	if (flags & b2Draw::e_shapeBit)
-	{
-		for (b2Body* b = m_bodyList; b; b = b->GetNext())
-		{
-			const b2Transform& xf = b->GetTransform();
-			for (b2Fixture* f = b->GetFixtureList(); f; f = f->GetNext())
-			{
-				if (b->IsActive() == false)
-				{
-					DrawShape(f, xf, b2Color(0.5f, 0.5f, 0.3f));
-				}
-				else if (b->GetType() == b2_staticBody)
-				{
-					DrawShape(f, xf, b2Color(0.5f, 0.9f, 0.5f));
-				}
-				else if (b->GetType() == b2_kinematicBody)
-				{
-					DrawShape(f, xf, b2Color(0.5f, 0.5f, 0.9f));
-				}
-				else if (b->IsAwake() == false)
-				{
-					DrawShape(f, xf, b2Color(0.6f, 0.6f, 0.6f));
-				}
-				else
-				{
-					DrawShape(f, xf, b2Color(0.9f, 0.7f, 0.7f));
-				}
-			}
-		}
-	}
-
-	if (flags & b2Draw::e_jointBit)
-	{
-		for (b2Joint* j = m_jointList; j; j = j->GetNext())
-		{
-			DrawJoint(j);
-		}
-	}
-
-	if (flags & b2Draw::e_pairBit)
-	{
-		b2Color color(0.3f, 0.9f, 0.9f);
-		for (b2Contact* c = m_contactManager.m_contactList; c; c = c->GetNext())
-		{
-			//b2Fixture* fixtureA = c->GetFixtureA();
-			//b2Fixture* fixtureB = c->GetFixtureB();
-
-			//b2Vec2 cA = fixtureA->GetAABB().GetCenter();
-			//b2Vec2 cB = fixtureB->GetAABB().GetCenter();
-
-			//g_debugDraw->DrawSegment(cA, cB, color);
-		}
-	}
-
-	if (flags & b2Draw::e_aabbBit)
-	{
-		b2Color color(0.9f, 0.3f, 0.9f);
-		b2BroadPhase* bp = &m_contactManager.m_broadPhase;
-
-		for (b2Body* b = m_bodyList; b; b = b->GetNext())
-		{
-			if (b->IsActive() == false)
-			{
-				continue;
-			}
-
-			for (b2Fixture* f = b->GetFixtureList(); f; f = f->GetNext())
-			{
-				for (int32 i = 0; i < f->m_proxyCount; ++i)
-				{
-					b2FixtureProxy* proxy = f->m_proxies + i;
-					b2AABB aabb = bp->GetFatAABB(proxy->proxyId);
-					b2Vec2 vs[4];
-					vs[0].Set(aabb.lowerBound.x, aabb.lowerBound.y);
-					vs[1].Set(aabb.upperBound.x, aabb.lowerBound.y);
-					vs[2].Set(aabb.upperBound.x, aabb.upperBound.y);
-					vs[3].Set(aabb.lowerBound.x, aabb.upperBound.y);
-
-					g_debugDraw->DrawPolygon(vs, 4, color);
-				}
-			}
-		}
-	}
-
-	if (flags & b2Draw::e_centerOfMassBit)
-	{
-		for (b2Body* b = m_bodyList; b; b = b->GetNext())
-		{
-			b2Transform xf = b->GetTransform();
-			xf.p = b->GetWorldCenter();
-			g_debugDraw->DrawTransform(xf);
-		}
-	}
-}
-
-int32 b2World::GetProxyCount() const
-{
-	return m_contactManager.m_broadPhase.GetProxyCount();
-}
-
-int32 b2World::GetTreeHeight() const
-{
-	return m_contactManager.m_broadPhase.GetTreeHeight();
-}
-
-int32 b2World::GetTreeBalance() const
-{
-	return m_contactManager.m_broadPhase.GetTreeBalance();
-}
-
-float32 b2World::GetTreeQuality() const
-{
-	return m_contactManager.m_broadPhase.GetTreeQuality();
-}
-
-void b2World::ShiftOrigin(const b2Vec2& newOrigin)
-{
-	b2Assert((m_flags & e_locked) == 0);
-	if ((m_flags & e_locked) == e_locked)
-	{
-		return;
-	}
-
-	for (b2Body* b = m_bodyList; b; b = b->m_next)
-	{
-		b->m_xf.p -= newOrigin;
-		b->m_sweep.c0 -= newOrigin;
-		b->m_sweep.c -= newOrigin;
-	}
-
-	for (b2Joint* j = m_jointList; j; j = j->m_next)
-	{
-		j->ShiftOrigin(newOrigin);
-	}
-
-	m_contactManager.m_broadPhase.ShiftOrigin(newOrigin);
-}
-
-void b2World::Dump()
-{
-	if ((m_flags & e_locked) == e_locked)
-	{
-		return;
-	}
-
-	b2Log("b2Vec2 g(%.15lef, %.15lef);\n", m_gravity.x, m_gravity.y);
-	b2Log("m_world->SetGravity(g);\n");
-
-	b2Log("b2Body** bodies = (b2Body**)b2Alloc(%d * sizeof(b2Body*));\n", m_bodyCount);
-	b2Log("b2Joint** joints = (b2Joint**)b2Alloc(%d * sizeof(b2Joint*));\n", m_jointCount);
-	int32 i = 0;
-	for (b2Body* b = m_bodyList; b; b = b->m_next)
-	{
-		b->m_islandIndex = i;
-		b->Dump();
-		++i;
-	}
-
-	i = 0;
-	for (b2Joint* j = m_jointList; j; j = j->m_next)
-	{
-		j->m_index = i;
-		++i;
-	}
-
-	// First pass on joints, skip gear joints.
-	for (b2Joint* j = m_jointList; j; j = j->m_next)
-	{
-		if (j->m_type == e_gearJoint)
-		{
-			continue;
-		}
-
-		b2Log("{\n");
-		j->Dump();
-		b2Log("}\n");
-	}
-
-	// Second pass on joints, only gear joints.
-	for (b2Joint* j = m_jointList; j; j = j->m_next)
-	{
-		if (j->m_type != e_gearJoint)
-		{
-			continue;
-		}
-
-		b2Log("{\n");
-		j->Dump();
-		b2Log("}\n");
-	}
-
-	b2Log("b2Free(joints);\n");
-	b2Log("b2Free(bodies);\n");
-	b2Log("joints = NULL;\n");
-	b2Log("bodies = NULL;\n");
-}