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
26class b2Contact;
27class b2Joint;
28class b2StackAllocator;
29class b2ContactListener;
30struct b2ContactVelocityConstraint;
31struct b2Profile;
32
33/// This is an internal class.
34class b2Island
35{
36public:
37 b2Island(int32 bodyCapacity, int32 contactCapacity, int32 jointCapacity,
38 b2StackAllocator* allocator, b2ContactListener* listener);
39 ~b2Island();
40
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
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
60 void Add(b2Contact* contact)
61 {
62 b2Assert(m_contactCount < m_contactCapacity);
63 m_contacts[m_contactCount++] = contact;
64 }
65
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