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 /*
 * 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