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b2Distance.h

    00001
    00002 /*
    00003 * Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
    00004 *
    00005 * This software is provided 'as-is', without any express or implied
    00006 * warranty.  In no event will the authors be held liable for any damages
    00007 * arising from the use of this software.
    00008 * Permission is granted to anyone to use this software for any purpose,
    00009 * including commercial applications, and to alter it and redistribute it
    00010 * freely, subject to the following restrictions:
    00011 * 1. The origin of this software must not be misrepresented; you must not
    00012 * claim that you wrote the original software. If you use this software
    00013 * in a product, an acknowledgment in the product documentation would be
    00014 * appreciated but is not required.
    00015 * 2. Altered source versions must be plainly marked as such, and must not be
    00016 * misrepresented as being the original software.
    00017 * 3. This notice may not be removed or altered from any source distribution.
    00018 */
    00019
    00020 #ifndef B2_DISTANCE_H
    00021 #define B2_DISTANCE_H
    00022
    00023 #include <Box2D/Common/b2Math.h>
    00024
    00025 class b2Shape;
    00026
    00029 struct b2DistanceProxy
    00030 {
    00031         b2DistanceProxy() : m_vertices(NULL), m_count(0), m_radius(0.0f) {}
    00032
    00035         void Set(const b2Shape* shape, int32 index);
    00036
    00038         int32 GetSupport(const b2Vec2& d) const;
    00039
    00041         const b2Vec2& GetSupportVertex(const b2Vec2& d) const;
    00042
    00044         int32 GetVertexCount() const;
    00045
    00047         const b2Vec2& GetVertex(int32 index) const;
    00048
    00049         b2Vec2 m_buffer[2];
    00050         const b2Vec2* m_vertices;
    00051         int32 m_count;
    00052         float32 m_radius;
    00053 };
    00054
    00057 struct b2SimplexCache
    00058 {
    00059         float32 metric;
    00060         uint16 count;
    00061         uint8 indexA[3];
    00062         uint8 indexB[3];
    00063 };
    00064
    00068 struct b2DistanceInput
    00069 {
    00070         b2DistanceProxy proxyA;
    00071         b2DistanceProxy proxyB;
    00072         b2Transform transformA;
    00073         b2Transform transformB;
    00074         bool useRadii;
    00075 };
    00076
    00078 struct b2DistanceOutput
    00079 {
    00080         b2Vec2 pointA;
    00081         b2Vec2 pointB;
    00082         float32 distance;
    00083         int32 iterations;
    00084 };
    00085
    00089 void b2Distance(b2DistanceOutput* output,
    00090                                 b2SimplexCache* cache,
    00091                                 const b2DistanceInput* input);
    00092
    00093
    00095
    00096 inline int32 b2DistanceProxy::GetVertexCount() const
    00097 {
    00098         return m_count;
    00099 }
    00100
    00101 inline const b2Vec2& b2DistanceProxy::GetVertex(int32 index) const
    00102 {
    00103         b2Assert(0 <= index && index < m_count);
    00104         return m_vertices[index];
    00105 }
    00106
    00107 inline int32 b2DistanceProxy::GetSupport(const b2Vec2& d) const
    00108 {
    00109         int32 bestIndex = 0;
    00110         float32 bestValue = b2Dot(m_vertices[0], d);
    00111         for (int32 i = 1; i < m_count; ++i)
    00112         {
    00113                 float32 value = b2Dot(m_vertices[i], d);
    00114                 if (value > bestValue)
    00115                 {
    00116                         bestIndex = i;
    00117                         bestValue = value;
    00118                 }
    00119         }
    00120
    00121         return bestIndex;
    00122 }
    00123
    00124 inline const b2Vec2& b2DistanceProxy::GetSupportVertex(const b2Vec2& d) const
    00125 {
    00126         int32 bestIndex = 0;
    00127         float32 bestValue = b2Dot(m_vertices[0], d);
    00128         for (int32 i = 1; i < m_count; ++i)
    00129         {
    00130                 float32 value = b2Dot(m_vertices[i], d);
    00131                 if (value > bestValue)
    00132                 {
    00133                         bestIndex = i;
    00134                         bestValue = value;
    00135                 }
    00136         }
    00137
    00138         return m_vertices[bestIndex];
    00139 }
    00140
    00141 #endif

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