types.h

// SPDX-FileCopyrightText: 2023 Erin Catto
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include "base.h"
#include "collision.h"
#include "id.h"
#include "math_functions.h"
 
#include <stdbool.h>
#include <stdint.h>
 
typedef void b2TaskCallback( int32_t startIndex, int32_t endIndex, uint32_t workerIndex, void* taskContext );
 
typedef void* b2EnqueueTaskCallback( b2TaskCallback* task, int32_t itemCount, int32_t minRange, void* taskContext,
                                     void* userContext );
 
typedef void b2FinishTaskCallback( void* userTask, void* userContext );
 
typedef struct b2RayResult
{
    b2ShapeId shapeId;
    b2Vec2 point;
    b2Vec2 normal;
    float fraction;
    bool hit;
} b2RayResult;
 
typedef struct b2WorldDef
{
    b2Vec2 gravity;
 
    float restitutionThreshold;
 
    float contactPushoutVelocity;
 
    float hitEventThreshold;
 
    float contactHertz;
 
    float contactDampingRatio;
 
    float jointHertz;
 
    float jointDampingRatio;
 
    float maximumLinearVelocity;
 
    bool enableSleep;
 
    bool enableContinuous;
 
    int32_t workerCount;
 
    b2EnqueueTaskCallback* enqueueTask;
 
    b2FinishTaskCallback* finishTask;
 
    void* userTaskContext;
 
    int32_t internalValue;
} b2WorldDef;
 
B2_API b2WorldDef b2DefaultWorldDef( void );
 
typedef enum b2BodyType
{
    b2_staticBody = 0,
 
    b2_kinematicBody = 1,
 
    b2_dynamicBody = 2,
 
    b2_bodyTypeCount,
} b2BodyType;
 
typedef struct b2BodyDef
{
    b2BodyType type;
 
    b2Vec2 position;
 
    b2Rot rotation;
 
    b2Vec2 linearVelocity;
 
    float angularVelocity;
 
    float linearDamping;
 
    float angularDamping;
 
    float gravityScale;
 
    float sleepThreshold;
 
    void* userData;
 
    bool enableSleep;
 
    bool isAwake;
 
    bool fixedRotation;
 
    bool isBullet;
 
    bool isEnabled;
 
    bool automaticMass;
 
    bool allowFastRotation;
 
    int32_t internalValue;
} b2BodyDef;
 
B2_API b2BodyDef b2DefaultBodyDef( void );
 
typedef struct b2Filter
{
    uint64_t categoryBits;
 
    uint64_t maskBits;
 
    int32_t groupIndex;
} b2Filter;
 
B2_API b2Filter b2DefaultFilter( void );
 
typedef struct b2QueryFilter
{
    uint64_t categoryBits;
 
    uint64_t maskBits;
} b2QueryFilter;
 
B2_API b2QueryFilter b2DefaultQueryFilter( void );
 
typedef enum b2ShapeType
{
    b2_circleShape,
 
    b2_capsuleShape,
 
    b2_segmentShape,
 
    b2_polygonShape,
 
    b2_chainSegmentShape,
 
    b2_shapeTypeCount
} b2ShapeType;
 
typedef struct b2ShapeDef
{
    void* userData;
 
    float friction;
 
    float restitution;
 
    float density;
 
    b2Filter filter;
 
    uint32_t customColor;
 
    bool isSensor;
 
    bool enableSensorEvents;
 
    bool enableContactEvents;
 
    bool enableHitEvents;
 
    bool enablePreSolveEvents;
 
    bool forceContactCreation;
 
    int32_t internalValue;
} b2ShapeDef;
 
B2_API b2ShapeDef b2DefaultShapeDef( void );
 
typedef struct b2ChainDef
{
    void* userData;
 
    const b2Vec2* points;
 
    int32_t count;
 
    float friction;
 
    float restitution;
 
    b2Filter filter;
 
    bool isLoop;
 
    int32_t internalValue;
} b2ChainDef;
 
B2_API b2ChainDef b2DefaultChainDef( void );
 
typedef struct b2Profile
{
    float step;
    float pairs;
    float collide;
    float solve;
    float buildIslands;
    float solveConstraints;
    float prepareTasks;
    float solverTasks;
    float prepareConstraints;
    float integrateVelocities;
    float warmStart;
    float solveVelocities;
    float integratePositions;
    float relaxVelocities;
    float applyRestitution;
    float storeImpulses;
    float finalizeBodies;
    float splitIslands;
    float sleepIslands;
    float hitEvents;
    float broadphase;
    float continuous;
} b2Profile;
 
typedef struct b2Counters
{
    int32_t staticBodyCount;
    int32_t bodyCount;
    int32_t shapeCount;
    int32_t contactCount;
    int32_t jointCount;
    int32_t islandCount;
    int32_t stackUsed;
    int32_t staticTreeHeight;
    int32_t treeHeight;
    int32_t byteCount;
    int32_t taskCount;
    int32_t colorCounts[12];
} b2Counters;
 
typedef enum b2JointType
{
    b2_distanceJoint,
    b2_motorJoint,
    b2_mouseJoint,
    b2_prismaticJoint,
    b2_revoluteJoint,
    b2_weldJoint,
    b2_wheelJoint,
} b2JointType;
 
typedef struct b2DistanceJointDef
{
    b2BodyId bodyIdA;
 
    b2BodyId bodyIdB;
 
    b2Vec2 localAnchorA;
 
    b2Vec2 localAnchorB;
 
    float length;
 
    bool enableSpring;
 
    float hertz;
 
    float dampingRatio;
 
    bool enableLimit;
 
    float minLength;
 
    float maxLength;
 
    bool enableMotor;
 
    float maxMotorForce;
 
    float motorSpeed;
 
    bool collideConnected;
 
    void* userData;
 
    int32_t internalValue;
} b2DistanceJointDef;
 
B2_API b2DistanceJointDef b2DefaultDistanceJointDef( void );
 
typedef struct b2MotorJointDef
{
    b2BodyId bodyIdA;
 
    b2BodyId bodyIdB;
 
    b2Vec2 linearOffset;
 
    float angularOffset;
 
    float maxForce;
 
    float maxTorque;
 
    float correctionFactor;
 
    bool collideConnected;
 
    void* userData;
 
    int32_t internalValue;
} b2MotorJointDef;
 
B2_API b2MotorJointDef b2DefaultMotorJointDef( void );
 
typedef struct b2MouseJointDef
{
    b2BodyId bodyIdA;
 
    b2BodyId bodyIdB;
 
    b2Vec2 target;
 
    float hertz;
 
    float dampingRatio;
 
    float maxForce;
 
    bool collideConnected;
 
    void* userData;
 
    int32_t internalValue;
} b2MouseJointDef;
 
B2_API b2MouseJointDef b2DefaultMouseJointDef( void );
 
typedef struct b2PrismaticJointDef
{
    b2BodyId bodyIdA;
 
    b2BodyId bodyIdB;
 
    b2Vec2 localAnchorA;
 
    b2Vec2 localAnchorB;
 
    b2Vec2 localAxisA;
 
    float referenceAngle;
 
    bool enableSpring;
 
    float hertz;
 
    float dampingRatio;
 
    bool enableLimit;
 
    float lowerTranslation;
 
    float upperTranslation;
 
    bool enableMotor;
 
    float maxMotorForce;
 
    float motorSpeed;
 
    bool collideConnected;
 
    void* userData;
 
    int32_t internalValue;
} b2PrismaticJointDef;
 
B2_API b2PrismaticJointDef b2DefaultPrismaticJointDef( void );
 
typedef struct b2RevoluteJointDef
{
    b2BodyId bodyIdA;
 
    b2BodyId bodyIdB;
 
    b2Vec2 localAnchorA;
 
    b2Vec2 localAnchorB;
 
    float referenceAngle;
 
    bool enableSpring;
 
    float hertz;
 
    float dampingRatio;
 
    bool enableLimit;
 
    float lowerAngle;
 
    float upperAngle;
 
    bool enableMotor;
 
    float maxMotorTorque;
 
    float motorSpeed;
 
    float drawSize;
 
    bool collideConnected;
 
    void* userData;
 
    int32_t internalValue;
} b2RevoluteJointDef;
 
B2_API b2RevoluteJointDef b2DefaultRevoluteJointDef( void );
 
typedef struct b2WeldJointDef
{
    b2BodyId bodyIdA;
 
    b2BodyId bodyIdB;
 
    b2Vec2 localAnchorA;
 
    b2Vec2 localAnchorB;
 
    float referenceAngle;
 
    float linearHertz;
 
    float angularHertz;
 
    float linearDampingRatio;
 
    float angularDampingRatio;
 
    bool collideConnected;
 
    void* userData;
 
    int32_t internalValue;
} b2WeldJointDef;
 
B2_API b2WeldJointDef b2DefaultWeldJointDef( void );
 
typedef struct b2WheelJointDef
{
    b2BodyId bodyIdA;
 
    b2BodyId bodyIdB;
 
    b2Vec2 localAnchorA;
 
    b2Vec2 localAnchorB;
 
    b2Vec2 localAxisA;
 
    bool enableSpring;
 
    float hertz;
 
    float dampingRatio;
 
    bool enableLimit;
 
    float lowerTranslation;
 
    float upperTranslation;
 
    bool enableMotor;
 
    float maxMotorTorque;
 
    float motorSpeed;
 
    bool collideConnected;
 
    void* userData;
 
    int32_t internalValue;
} b2WheelJointDef;
 
B2_API b2WheelJointDef b2DefaultWheelJointDef( void );
 
typedef struct b2SensorBeginTouchEvent
{
    b2ShapeId sensorShapeId;
 
    b2ShapeId visitorShapeId;
} b2SensorBeginTouchEvent;
 
typedef struct b2SensorEndTouchEvent
{
    b2ShapeId sensorShapeId;
 
    b2ShapeId visitorShapeId;
} b2SensorEndTouchEvent;
 
typedef struct b2SensorEvents
{
    b2SensorBeginTouchEvent* beginEvents;
 
    b2SensorEndTouchEvent* endEvents;
 
    int32_t beginCount;
 
    int32_t endCount;
} b2SensorEvents;
 
typedef struct b2ContactBeginTouchEvent
{
    b2ShapeId shapeIdA;
 
    b2ShapeId shapeIdB;
} b2ContactBeginTouchEvent;
 
typedef struct b2ContactEndTouchEvent
{
    b2ShapeId shapeIdA;
 
    b2ShapeId shapeIdB;
} b2ContactEndTouchEvent;
 
typedef struct b2ContactHitEvent
{
    b2ShapeId shapeIdA;
 
    b2ShapeId shapeIdB;
 
    b2Vec2 point;
 
    b2Vec2 normal;
 
    float approachSpeed;
} b2ContactHitEvent;
 
typedef struct b2ContactEvents
{
    b2ContactBeginTouchEvent* beginEvents;
 
    b2ContactEndTouchEvent* endEvents;
 
    b2ContactHitEvent* hitEvents;
 
    int32_t beginCount;
 
    int32_t endCount;
 
    int32_t hitCount;
} b2ContactEvents;
 
typedef struct b2BodyMoveEvent
{
    b2Transform transform;
    b2BodyId bodyId;
    void* userData;
    bool fellAsleep;
} b2BodyMoveEvent;
 
typedef struct b2BodyEvents
{
    b2BodyMoveEvent* moveEvents;
 
    int32_t moveCount;
} b2BodyEvents;
 
typedef struct b2ContactData
{
    b2ShapeId shapeIdA;
    b2ShapeId shapeIdB;
    b2Manifold manifold;
} b2ContactData;
 
typedef bool b2CustomFilterFcn( b2ShapeId shapeIdA, b2ShapeId shapeIdB, void* context );
 
typedef bool b2PreSolveFcn( b2ShapeId shapeIdA, b2ShapeId shapeIdB, b2Manifold* manifold, void* context );
 
typedef bool b2OverlapResultFcn( b2ShapeId shapeId, void* context );
 
typedef float b2CastResultFcn( b2ShapeId shapeId, b2Vec2 point, b2Vec2 normal, float fraction, void* context );
 
typedef enum b2HexColor
{
    b2_colorAliceBlue = 0xf0f8ff,
    b2_colorAntiqueWhite = 0xfaebd7,
    b2_colorAquamarine = 0x7fffd4,
    b2_colorAzure = 0xf0ffff,
    b2_colorBeige = 0xf5f5dc,
    b2_colorBisque = 0xffe4c4,
    b2_colorBlack = 0x000000,
    b2_colorBlanchedAlmond = 0xffebcd,
    b2_colorBlue = 0x0000ff,
    b2_colorBlueViolet = 0x8a2be2,
    b2_colorBrown = 0xa52a2a,
    b2_colorBurlywood = 0xdeb887,
    b2_colorCadetBlue = 0x5f9ea0,
    b2_colorChartreuse = 0x7fff00,
    b2_colorChocolate = 0xd2691e,
    b2_colorCoral = 0xff7f50,
    b2_colorCornflowerBlue = 0x6495ed,
    b2_colorCornsilk = 0xfff8dc,
    b2_colorCrimson = 0xdc143c,
    b2_colorCyan = 0x00ffff,
    b2_colorDarkBlue = 0x00008b,
    b2_colorDarkCyan = 0x008b8b,
    b2_colorDarkGoldenrod = 0xb8860b,
    b2_colorDarkGray = 0xa9a9a9,
    b2_colorDarkGreen = 0x006400,
    b2_colorDarkKhaki = 0xbdb76b,
    b2_colorDarkMagenta = 0x8b008b,
    b2_colorDarkOliveGreen = 0x556b2f,
    b2_colorDarkOrange = 0xff8c00,
    b2_colorDarkOrchid = 0x9932cc,
    b2_colorDarkRed = 0x8b0000,
    b2_colorDarkSalmon = 0xe9967a,
    b2_colorDarkSeaGreen = 0x8fbc8f,
    b2_colorDarkSlateBlue = 0x483d8b,
    b2_colorDarkSlateGray = 0x2f4f4f,
    b2_colorDarkTurquoise = 0x00ced1,
    b2_colorDarkViolet = 0x9400d3,
    b2_colorDeepPink = 0xff1493,
    b2_colorDeepSkyBlue = 0x00bfff,
    b2_colorDimGray = 0x696969,
    b2_colorDodgerBlue = 0x1e90ff,
    b2_colorFirebrick = 0xb22222,
    b2_colorFloralWhite = 0xfffaf0,
    b2_colorForestGreen = 0x228b22,
    b2_colorGainsboro = 0xdcdcdc,
    b2_colorGhostWhite = 0xf8f8ff,
    b2_colorGold = 0xffd700,
    b2_colorGoldenrod = 0xdaa520,
    b2_colorGray = 0xbebebe,
    b2_colorGray1 = 0x1a1a1a,
    b2_colorGray2 = 0x333333,
    b2_colorGray3 = 0x4d4d4d,
    b2_colorGray4 = 0x666666,
    b2_colorGray5 = 0x7f7f7f,
    b2_colorGray6 = 0x999999,
    b2_colorGray7 = 0xb3b3b3,
    b2_colorGray8 = 0xcccccc,
    b2_colorGray9 = 0xe5e5e5,
    b2_colorGreen = 0x00ff00,
    b2_colorGreenYellow = 0xadff2f,
    b2_colorHoneydew = 0xf0fff0,
    b2_colorHotPink = 0xff69b4,
    b2_colorIndianRed = 0xcd5c5c,
    b2_colorIndigo = 0x4b0082,
    b2_colorIvory = 0xfffff0,
    b2_colorKhaki = 0xf0e68c,
    b2_colorLavender = 0xe6e6fa,
    b2_colorLavenderBlush = 0xfff0f5,
    b2_colorLawnGreen = 0x7cfc00,
    b2_colorLemonChiffon = 0xfffacd,
    b2_colorLightBlue = 0xadd8e6,
    b2_colorLightCoral = 0xf08080,
    b2_colorLightCyan = 0xe0ffff,
    b2_colorLightGoldenrod = 0xeedd82,
    b2_colorLightGoldenrodYellow = 0xfafad2,
    b2_colorLightGray = 0xd3d3d3,
    b2_colorLightGreen = 0x90ee90,
    b2_colorLightPink = 0xffb6c1,
    b2_colorLightSalmon = 0xffa07a,
    b2_colorLightSeaGreen = 0x20b2aa,
    b2_colorLightSkyBlue = 0x87cefa,
    b2_colorLightSlateBlue = 0x8470ff,
    b2_colorLightSlateGray = 0x778899,
    b2_colorLightSteelBlue = 0xb0c4de,
    b2_colorLightYellow = 0xffffe0,
    b2_colorLimeGreen = 0x32cd32,
    b2_colorLinen = 0xfaf0e6,
    b2_colorMagenta = 0xff00ff,
    b2_colorMaroon = 0xb03060,
    b2_colorMediumAquamarine = 0x66cdaa,
    b2_colorMediumBlue = 0x0000cd,
    b2_colorMediumOrchid = 0xba55d3,
    b2_colorMediumPurple = 0x9370db,
    b2_colorMediumSeaGreen = 0x3cb371,
    b2_colorMediumSlateBlue = 0x7b68ee,
    b2_colorMediumSpringGreen = 0x00fa9a,
    b2_colorMediumTurquoise = 0x48d1cc,
    b2_colorMediumVioletRed = 0xc71585,
    b2_colorMidnightBlue = 0x191970,
    b2_colorMintCream = 0xf5fffa,
    b2_colorMistyRose = 0xffe4e1,
    b2_colorMoccasin = 0xffe4b5,
    b2_colorNavajoWhite = 0xffdead,
    b2_colorNavyBlue = 0x000080,
    b2_colorOldLace = 0xfdf5e6,
    b2_colorOlive = 0x808000,
    b2_colorOliveDrab = 0x6b8e23,
    b2_colorOrange = 0xffa500,
    b2_colorOrangeRed = 0xff4500,
    b2_colorOrchid = 0xda70d6,
    b2_colorPaleGoldenrod = 0xeee8aa,
    b2_colorPaleGreen = 0x98fb98,
    b2_colorPaleTurquoise = 0xafeeee,
    b2_colorPaleVioletRed = 0xdb7093,
    b2_colorPapayaWhip = 0xffefd5,
    b2_colorPeachPuff = 0xffdab9,
    b2_colorPeru = 0xcd853f,
    b2_colorPink = 0xffc0cb,
    b2_colorPlum = 0xdda0dd,
    b2_colorPowderBlue = 0xb0e0e6,
    b2_colorPurple = 0xa020f0,
    b2_colorRebeccaPurple = 0x663399,
    b2_colorRed = 0xff0000,
    b2_colorRosyBrown = 0xbc8f8f,
    b2_colorRoyalBlue = 0x4169e1,
    b2_colorSaddleBrown = 0x8b4513,
    b2_colorSalmon = 0xfa8072,
    b2_colorSandyBrown = 0xf4a460,
    b2_colorSeaGreen = 0x2e8b57,
    b2_colorSeashell = 0xfff5ee,
    b2_colorSienna = 0xa0522d,
    b2_colorSilver = 0xc0c0c0,
    b2_colorSkyBlue = 0x87ceeb,
    b2_colorSlateBlue = 0x6a5acd,
    b2_colorSlateGray = 0x708090,
    b2_colorSnow = 0xfffafa,
    b2_colorSpringGreen = 0x00ff7f,
    b2_colorSteelBlue = 0x4682b4,
    b2_colorTan = 0xd2b48c,
    b2_colorTeal = 0x008080,
    b2_colorThistle = 0xd8bfd8,
    b2_colorTomato = 0xff6347,
    b2_colorTurquoise = 0x40e0d0,
    b2_colorViolet = 0xee82ee,
    b2_colorVioletRed = 0xd02090,
    b2_colorWheat = 0xf5deb3,
    b2_colorWhite = 0xffffff,
    b2_colorWhiteSmoke = 0xf5f5f5,
    b2_colorYellow = 0xffff00,
    b2_colorYellowGreen = 0x9acd32,
    b2_colorBox2DRed = 0xdc3132,
    b2_colorBox2DBlue = 0x30aebf,
    b2_colorBox2DGreen = 0x8cc924,
    b2_colorBox2DYellow = 0xffee8c
} b2HexColor;
 
typedef struct b2DebugDraw
{
    void ( *DrawPolygon )( const b2Vec2* vertices, int vertexCount, b2HexColor color, void* context );
 
    void ( *DrawSolidPolygon )( b2Transform transform, const b2Vec2* vertices, int vertexCount, float radius, b2HexColor color,
                                void* context );
 
    void ( *DrawCircle )( b2Vec2 center, float radius, b2HexColor color, void* context );
 
    void ( *DrawSolidCircle )( b2Transform transform, float radius, b2HexColor color, void* context );
 
    void ( *DrawCapsule )( b2Vec2 p1, b2Vec2 p2, float radius, b2HexColor color, void* context );
 
    void ( *DrawSolidCapsule )( b2Vec2 p1, b2Vec2 p2, float radius, b2HexColor color, void* context );
 
    void ( *DrawSegment )( b2Vec2 p1, b2Vec2 p2, b2HexColor color, void* context );
 
    void ( *DrawTransform )( b2Transform transform, void* context );
 
    void ( *DrawPoint )( b2Vec2 p, float size, b2HexColor color, void* context );
 
    void ( *DrawString )( b2Vec2 p, const char* s, void* context );
 
    b2AABB drawingBounds;
 
    bool useDrawingBounds;
 
    bool drawShapes;
 
    bool drawJoints;
 
    bool drawJointExtras;
 
    bool drawAABBs;
 
    bool drawMass;
 
    bool drawContacts;
 
    bool drawGraphColors;
 
    bool drawContactNormals;
 
    bool drawContactImpulses;
 
    bool drawFrictionImpulses;
 
    void* context;
} b2DebugDraw;
 
B2_API b2DebugDraw b2DefaultDebugDraw( void );