1 /*
2 * Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
3 *
4 * This software is provided 'as-is', without any express or implied
5 * warranty.  In no event will the authors be held liable for any damages
6 * arising from the use of this software.
7 * Permission is granted to anyone to use this software for any purpose,
8 * including commercial applications, and to alter it and redistribute it
9 * freely, subject to the following restrictions:
10 * 1. The origin of this software must not be misrepresented; you must not
11 * claim that you wrote the original software. If you use this software
12 * in a product, an acknowledgment in the product documentation would be
13 * appreciated but is not required.
14 * 2. Altered source versions must be plainly marked as such, and must not be
15 * misrepresented as being the original software.
16 * 3. This notice may not be removed or altered from any source distribution.
17 */
18 
19 #ifndef B2_ISLAND_H
20 #define B2_ISLAND_H
21 
22 #include <Box2D/Common/b2Math.h>
23 #include <Box2D/Dynamics/b2Body.h>
24 #include <Box2D/Dynamics/b2TimeStep.h>
25 
26 class b2Contact;
27 class b2Joint;
28 class b2StackAllocator;
29 class b2ContactListener;
30 struct b2ContactVelocityConstraint;
31 struct b2Profile;
32 
33 /// This is an internal class.
34 class b2Island
35 {
36 public:
37 	b2Island(int32 bodyCapacity, int32 contactCapacity, int32 jointCapacity,
38 			b2StackAllocator* allocator, b2ContactListener* listener);
39 	~b2Island();
40 
Clear()41 	void Clear()
42 	{
43 		m_bodyCount = 0;
44 		m_contactCount = 0;
45 		m_jointCount = 0;
46 	}
47 
48 	void Solve(b2Profile* profile, const b2TimeStep& step, const b2Vec2& gravity, bool allowSleep);
49 
50 	void SolveTOI(const b2TimeStep& subStep, int32 toiIndexA, int32 toiIndexB);
51 
Add(b2Body * body)52 	void Add(b2Body* body)
53 	{
54 		b2Assert(m_bodyCount < m_bodyCapacity);
55 		body->m_islandIndex = m_bodyCount;
56 		m_bodies[m_bodyCount] = body;
57 		++m_bodyCount;
58 	}
59 
Add(b2Contact * contact)60 	void Add(b2Contact* contact)
61 	{
62 		b2Assert(m_contactCount < m_contactCapacity);
63 		m_contacts[m_contactCount++] = contact;
64 	}
65 
Add(b2Joint * joint)66 	void Add(b2Joint* joint)
67 	{
68 		b2Assert(m_jointCount < m_jointCapacity);
69 		m_joints[m_jointCount++] = joint;
70 	}
71 
72 	void Report(const b2ContactVelocityConstraint* constraints);
73 
74 	b2StackAllocator* m_allocator;
75 	b2ContactListener* m_listener;
76 
77 	b2Body** m_bodies;
78 	b2Contact** m_contacts;
79 	b2Joint** m_joints;
80 
81 	b2Position* m_positions;
82 	b2Velocity* m_velocities;
83 
84 	int32 m_bodyCount;
85 	int32 m_jointCount;
86 	int32 m_contactCount;
87 
88 	int32 m_bodyCapacity;
89 	int32 m_contactCapacity;
90 	int32 m_jointCapacity;
91 };
92 
93 #endif
94