manifold.h

// SPDX-FileCopyrightText: 2023 Erin Catto
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include "box2d/types.h"
 
typedef struct b2Circle b2Circle;
typedef struct b2Capsule b2Capsule;
typedef struct b2DistanceCache b2DistanceCache;
typedef struct b2Polygon b2Polygon;
typedef struct b2Segment b2Segment;
typedef struct b2SmoothSegment b2SmoothSegment;
 
typedef struct b2ManifoldPoint
{
    b2Vec2 point;
 
    b2Vec2 anchorA, anchorB;
 
    float separation;
 
    float normalImpulse;
 
    float tangentImpulse;
 
    uint16_t id;
 
    bool persisted;
} b2ManifoldPoint;
 
typedef struct b2Manifold
{
    b2ManifoldPoint points[2];
    b2Vec2 normal;
    int32_t pointCount;
} b2Manifold;
 
static const b2Manifold b2_emptyManifold = B2_ZERO_INIT;
 
BOX2D_API b2Manifold b2CollideCircles(const b2Circle* circleA, b2Transform xfA, const b2Circle* circleB, b2Transform xfB);
 
BOX2D_API b2Manifold b2CollideCapsuleAndCircle(const b2Capsule* capsuleA, b2Transform xfA, const b2Circle* circleB,
                                               b2Transform xfB);
 
BOX2D_API b2Manifold b2CollideSegmentAndCircle(const b2Segment* segmentA, b2Transform xfA, const b2Circle* circleB,
                                               b2Transform xfB);
 
BOX2D_API b2Manifold b2CollidePolygonAndCircle(const b2Polygon* polygonA, b2Transform xfA, const b2Circle* circleB,
                                               b2Transform xfB);
 
BOX2D_API b2Manifold b2CollideCapsules(const b2Capsule* capsuleA, b2Transform xfA, const b2Capsule* capsuleB, b2Transform xfB,
                                       b2DistanceCache* cache);
 
BOX2D_API b2Manifold b2CollideSegmentAndCapsule(const b2Segment* segmentA, b2Transform xfA, const b2Capsule* capsuleB,
                                                b2Transform xfB, b2DistanceCache* cache);
 
BOX2D_API b2Manifold b2CollidePolygonAndCapsule(const b2Polygon* polygonA, b2Transform xfA, const b2Capsule* capsuleB,
                                                b2Transform xfB, b2DistanceCache* cache);
 
BOX2D_API b2Manifold b2CollidePolygons(const b2Polygon* polyA, b2Transform xfA, const b2Polygon* polyB, b2Transform xfB,
                                       b2DistanceCache* cache);
 
BOX2D_API b2Manifold b2CollideSegmentAndPolygon(const b2Segment* segmentA, b2Transform xfA, const b2Polygon* polygonB,
                                                b2Transform xfB, b2DistanceCache* cache);
 
BOX2D_API b2Manifold b2CollideSmoothSegmentAndCircle(const b2SmoothSegment* smoothSegmentA, b2Transform xfA,
                                                     const b2Circle* circleB, b2Transform xfB);
 
BOX2D_API b2Manifold b2CollideSmoothSegmentAndCapsule(const b2SmoothSegment* segmentA, b2Transform xfA, const b2Capsule* capsuleB,
                                                      b2Transform xfB, b2DistanceCache* cache);
 
BOX2D_API b2Manifold b2CollideSmoothSegmentAndPolygon(const b2SmoothSegment* segmentA, b2Transform xfA, const b2Polygon* polygonB,
                                                      b2Transform xfB, b2DistanceCache* cache);