#include <limits.h>
#include "b2_api.h"
#include "b2_math.h"

Classes
struct	b2ContactFeature

union	b2ContactID
	Contact ids to facilitate warm starting. More...

struct	b2ManifoldPoint

struct	b2Manifold

struct	b2WorldManifold
	This is used to compute the current state of a contact manifold. More...

struct	b2ClipVertex
	Used for computing contact manifolds. More...

struct	b2RayCastInput
	Ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1). More...

struct	b2RayCastOutput

struct	b2AABB
	An axis aligned bounding box. More...

struct	b2Hull
	Convex hull used for polygon collision. More...

Enumerations
enum	b2PointState { b2_nullState , b2_addState , b2_persistState , b2_removeState }
	This is used for determining the state of contact points. More...

Functions
B2_API void	b2GetPointStates (b2PointState state1[b2_maxManifoldPoints], b2PointState state2[b2_maxManifoldPoints], const b2Manifold manifold1, const b2Manifold manifold2)

B2_API void	b2CollideCircles (b2Manifold manifold, const b2CircleShape circleA, const b2Transform &xfA, const b2CircleShape *circleB, const b2Transform &xfB)
	Compute the collision manifold between two circles.

B2_API void	b2CollidePolygonAndCircle (b2Manifold manifold, const b2PolygonShape polygonA, const b2Transform &xfA, const b2CircleShape *circleB, const b2Transform &xfB)
	Compute the collision manifold between a polygon and a circle.

B2_API void	b2CollidePolygons (b2Manifold manifold, const b2PolygonShape polygonA, const b2Transform &xfA, const b2PolygonShape *polygonB, const b2Transform &xfB)
	Compute the collision manifold between two polygons.

B2_API void	b2CollideEdgeAndCircle (b2Manifold manifold, const b2EdgeShape polygonA, const b2Transform &xfA, const b2CircleShape *circleB, const b2Transform &xfB)
	Compute the collision manifold between an edge and a circle.

B2_API void	b2CollideEdgeAndPolygon (b2Manifold manifold, const b2EdgeShape edgeA, const b2Transform &xfA, const b2PolygonShape *polygonB, const b2Transform &xfB)
	Compute the collision manifold between an edge and a polygon.

B2_API int32	b2ClipSegmentToLine (b2ClipVertex vOut[2], const b2ClipVertex vIn[2], const b2Vec2 &normal, float offset, int32 vertexIndexA)
	Clipping for contact manifolds.

B2_API bool	b2TestOverlap (const b2Shape shapeA, int32 indexA, const b2Shape shapeB, int32 indexB, const b2Transform &xfA, const b2Transform &xfB)
	Determine if two generic shapes overlap.

b2Hull	b2ComputeHull (const b2Vec2 *points, int32 count)

bool	b2ValidateHull (const b2Hull &hull)

bool	b2TestOverlap (const b2AABB &a, const b2AABB &b)

Variables
const uint8	b2_nullFeature = UCHAR_MAX

Detailed Description

Structures and functions used for computing contact points, distance queries, and TOI queries.

Enumeration Type Documentation

◆ b2PointState

enum b2PointState

This is used for determining the state of contact points.

Enumerator
b2_nullState	point does not exist
b2_addState	point was added in the update
b2_persistState	point persisted across the update
b2_removeState	point was removed in the update

Function Documentation

◆ b2ComputeHull()

b2Hull b2ComputeHull	(	const b2Vec2 *	points,
		int32	count )

Compute the convex hull of a set of points. Returns an empty hull if it fails. Some failure cases:

all points very close together
all points on a line
less than 3 points
more than b2_maxPolygonVertices points This welds close points and removes collinear points.

◆ b2GetPointStates()

B2_API void b2GetPointStates	(	b2PointState	state1[b2_maxManifoldPoints],
		b2PointState	state2[b2_maxManifoldPoints],
		const b2Manifold *	manifold1,
		const b2Manifold *	manifold2 )

Compute the point states given two manifolds. The states pertain to the transition from manifold1 to manifold2. So state1 is either persist or remove while state2 is either add or persist.

◆ b2ValidateHull()

bool b2ValidateHull ( const b2Hull & hull )

This determines if a hull is valid. Checks for:

convexity
collinear points This is expensive and should not be called at runtime.

Classes

Enumerations

Functions