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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,122 +1,108 @@ | ||
| /* | ||
| * Copyright (c) 2006-2009 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_COLLISION_H | ||
| #define B2_COLLISION_H | ||
| * Copyright (c) 2006-2009 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. | ||
| */ | ||
|
|
||
| #pragma once | ||
|
|
||
| #include "b2Math.h" | ||
|
|
||
| /// Ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1). | ||
| struct b2RayCastInputAABB | ||
| { | ||
| b2Vec2 p1, p2; | ||
| float32 maxFraction; | ||
| namespace daabbcc { | ||
|
|
||
| /// Ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - | ||
| /// p1). | ||
| struct b2RayCastInputAABB { | ||
| b2Vec2 p1, p2; | ||
| float32 maxFraction; | ||
| }; | ||
|
|
||
| /// Ray-cast output data. The ray hits at p1 + fraction * (p2 - p1), where p1 and p2 | ||
| /// come from b2RayCastInputAABB. | ||
| struct b2RayCastOutputAABB | ||
| { | ||
| b2Vec2 normal; | ||
| float32 fraction; | ||
| /// Ray-cast output data. The ray hits at p1 + fraction * (p2 - p1), where p1 | ||
| /// and p2 come from b2RayCastInputAABB. | ||
| struct b2RayCastOutputAABB { | ||
| b2Vec2 normal; | ||
| float32 fraction; | ||
| }; | ||
|
|
||
| /// An axis aligned bounding box. | ||
| struct b2AABB | ||
| { | ||
| /// Verify that the bounds are sorted. | ||
| bool IsValid() const; | ||
|
|
||
| /// Get the center of the AABB. | ||
| b2Vec2 GetCenter() const | ||
| { | ||
| return 0.5f * (lowerBound + upperBound); | ||
| } | ||
|
|
||
| /// Get the extents of the AABB (half-widths). | ||
| b2Vec2 GetExtents() const | ||
| { | ||
| return 0.5f * (upperBound - lowerBound); | ||
| } | ||
|
|
||
| /// Get the perimeter length | ||
| float32 GetPerimeter() const | ||
| { | ||
| float32 wx = upperBound.x - lowerBound.x; | ||
| float32 wy = upperBound.y - lowerBound.y; | ||
| return 2.0f * (wx + wy); | ||
| } | ||
|
|
||
| /// Combine an AABB into this one. | ||
| void Combine(const b2AABB& aabb) | ||
| { | ||
| lowerBound = b2Min(lowerBound, aabb.lowerBound); | ||
| upperBound = b2Max(upperBound, aabb.upperBound); | ||
| } | ||
|
|
||
| /// Combine two AABBs into this one. | ||
| void Combine(const b2AABB& aabb1, const b2AABB& aabb2) | ||
| { | ||
| lowerBound = b2Min(aabb1.lowerBound, aabb2.lowerBound); | ||
| upperBound = b2Max(aabb1.upperBound, aabb2.upperBound); | ||
| } | ||
|
|
||
| /// Does this aabb contain the provided AABB. | ||
| bool Contains(const b2AABB& aabb) const | ||
| { | ||
| bool result = true; | ||
| result = result && lowerBound.x <= aabb.lowerBound.x; | ||
| result = result && lowerBound.y <= aabb.lowerBound.y; | ||
| result = result && aabb.upperBound.x <= upperBound.x; | ||
| result = result && aabb.upperBound.y <= upperBound.y; | ||
| return result; | ||
| } | ||
|
|
||
| bool RayCast(b2RayCastOutputAABB* output, const b2RayCastInputAABB& input) const; | ||
|
|
||
| b2Vec2 lowerBound; ///< the lower vertex | ||
| b2Vec2 upperBound; ///< the upper vertex | ||
| struct b2AABB { | ||
| /// Verify that the bounds are sorted. | ||
| bool IsValid() const; | ||
|
|
||
| /// Get the center of the AABB. | ||
| b2Vec2 GetCenter() const { return 0.5f * (lowerBound + upperBound); } | ||
|
|
||
| /// Get the extents of the AABB (half-widths). | ||
| b2Vec2 GetExtents() const { return 0.5f * (upperBound - lowerBound); } | ||
|
|
||
| /// Get the perimeter length | ||
| float32 GetPerimeter() const { | ||
| float32 wx = upperBound.x - lowerBound.x; | ||
| float32 wy = upperBound.y - lowerBound.y; | ||
| return 2.0f * (wx + wy); | ||
| } | ||
|
|
||
| /// Combine an AABB into this one. | ||
| void Combine(const b2AABB &aabb) { | ||
| lowerBound = b2Min(lowerBound, aabb.lowerBound); | ||
| upperBound = b2Max(upperBound, aabb.upperBound); | ||
| } | ||
|
|
||
| /// Combine two AABBs into this one. | ||
| void Combine(const b2AABB &aabb1, const b2AABB &aabb2) { | ||
| lowerBound = b2Min(aabb1.lowerBound, aabb2.lowerBound); | ||
| upperBound = b2Max(aabb1.upperBound, aabb2.upperBound); | ||
| } | ||
|
|
||
| /// Does this aabb contain the provided AABB. | ||
| bool Contains(const b2AABB &aabb) const { | ||
| bool result = true; | ||
| result = result && lowerBound.x <= aabb.lowerBound.x; | ||
| result = result && lowerBound.y <= aabb.lowerBound.y; | ||
| result = result && aabb.upperBound.x <= upperBound.x; | ||
| result = result && aabb.upperBound.y <= upperBound.y; | ||
| return result; | ||
| } | ||
|
|
||
| bool RayCast(b2RayCastOutputAABB *output, | ||
| const b2RayCastInputAABB &input) const; | ||
|
|
||
| b2Vec2 lowerBound; ///< the lower vertex | ||
| b2Vec2 upperBound; ///< the upper vertex | ||
| }; | ||
|
|
||
|
|
||
| // ---------------- Inline Functions ------------------------------------------ | ||
|
|
||
| inline bool b2AABB::IsValid() const | ||
| { | ||
| b2Vec2 d = upperBound - lowerBound; | ||
| bool valid = d.x >= 0.0f && d.y >= 0.0f; | ||
| valid = valid && lowerBound.IsValid() && upperBound.IsValid(); | ||
| return valid; | ||
| inline bool b2AABB::IsValid() const { | ||
| b2Vec2 d = upperBound - lowerBound; | ||
| bool valid = d.x >= 0.0f && d.y >= 0.0f; | ||
| valid = valid && lowerBound.IsValid() && upperBound.IsValid(); | ||
| return valid; | ||
| } | ||
|
|
||
| inline bool b2TestOverlap(const b2AABB& a, const b2AABB& b) | ||
| { | ||
| b2Vec2 d1, d2; | ||
| d1 = b.lowerBound - a.upperBound; | ||
| d2 = a.lowerBound - b.upperBound; | ||
| inline bool b2TestOverlap(const b2AABB &a, const b2AABB &b) { | ||
| b2Vec2 d1, d2; | ||
| d1 = b.lowerBound - a.upperBound; | ||
| d2 = a.lowerBound - b.upperBound; | ||
|
|
||
| if (d1.x > 0.0f || d1.y > 0.0f) | ||
| return false; | ||
| if (d1.x > 0.0f || d1.y > 0.0f) | ||
| return false; | ||
|
|
||
| if (d2.x > 0.0f || d2.y > 0.0f) | ||
| return false; | ||
| if (d2.x > 0.0f || d2.y > 0.0f) | ||
| return false; | ||
|
|
||
| return true; | ||
| return true; | ||
| } | ||
|
|
||
| #endif | ||
| } // namespace daabbcc |
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