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0001 /*
0002 * Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
0003 *
0004 * This software is provided 'as-is', without any express or implied
0005 * warranty.  In no event will the authors be held liable for any damages
0006 * arising from the use of this software.
0007 * Permission is granted to anyone to use this software for any purpose,
0008 * including commercial applications, and to alter it and redistribute it
0009 * freely, subject to the following restrictions:
0010 * 1. The origin of this software must not be misrepresented; you must not
0011 * claim that you wrote the original software. If you use this software
0012 * in a product, an acknowledgment in the product documentation would be
0013 * appreciated but is not required.
0014 * 2. Altered source versions must be plainly marked as such, and must not be
0015 * misrepresented as being the original software.
0016 * 3. This notice may not be removed or altered from any source distribution.
0017 */
0018 
0019 #ifndef B2_ISLAND_H
0020 #define B2_ISLAND_H
0021 
0022 #include <Box2D/Common/b2Math.h>
0023 #include <Box2D/Dynamics/b2Body.h>
0024 #include <Box2D/Dynamics/b2TimeStep.h>
0025 
0026 class b2Contact;
0027 class b2Joint;
0028 class b2StackAllocator;
0029 class b2ContactListener;
0030 struct b2ContactVelocityConstraint;
0031 struct b2Profile;
0032 
0033 /// This is an internal class.
0034 class b2Island
0035 {
0036 public:
0037     b2Island(int32 bodyCapacity, int32 contactCapacity, int32 jointCapacity,
0038             b2StackAllocator* allocator, b2ContactListener* listener);
0039     ~b2Island();
0040 
0041     void Clear()
0042     {
0043         m_bodyCount = 0;
0044         m_contactCount = 0;
0045         m_jointCount = 0;
0046     }
0047 
0048     void Solve(b2Profile* profile, const b2TimeStep& step, const b2Vec2& gravity, bool allowSleep);
0049 
0050     void SolveTOI(const b2TimeStep& subStep, int32 toiIndexA, int32 toiIndexB);
0051 
0052     void Add(b2Body* body)
0053     {
0054         b2Assert(m_bodyCount < m_bodyCapacity);
0055         body->m_islandIndex = m_bodyCount;
0056         m_bodies[m_bodyCount] = body;
0057         ++m_bodyCount;
0058     }
0059 
0060     void Add(b2Contact* contact)
0061     {
0062         b2Assert(m_contactCount < m_contactCapacity);
0063         m_contacts[m_contactCount++] = contact;
0064     }
0065 
0066     void Add(b2Joint* joint)
0067     {
0068         b2Assert(m_jointCount < m_jointCapacity);
0069         m_joints[m_jointCount++] = joint;
0070     }
0071 
0072     void Report(const b2ContactVelocityConstraint* constraints);
0073 
0074     b2StackAllocator* m_allocator;
0075     b2ContactListener* m_listener;
0076 
0077     b2Body** m_bodies;
0078     b2Contact** m_contacts;
0079     b2Joint** m_joints;
0080 
0081     b2Position* m_positions;
0082     b2Velocity* m_velocities;
0083 
0084     int32 m_bodyCount;
0085     int32 m_jointCount;
0086     int32 m_contactCount;
0087 
0088     int32 m_bodyCapacity;
0089     int32 m_contactCapacity;
0090     int32 m_jointCapacity;
0091 };
0092 
0093 #endif