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 <span id="projectnumber">2.3.0</span>
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<li class="navelem"><a class="el" href="dir_a7f953fea4e008d17e00594b3bbaff29.html">Box2D</a></li><li class="navelem"><a class="el" href="dir_f938a2b4566b4bd7e1dc8e6edc30956c.html">Collision</a></li> </ul>
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<a href="b2_collision_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* This software is provided 'as-is', without any express or implied</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* warranty. In no event will the authors be held liable for any damages</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">* arising from the use of this software.</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Permission is granted to anyone to use this software for any purpose,</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* including commercial applications, and to alter it and redistribute it</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* freely, subject to the following restrictions:</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">* 1. The origin of this software must not be misrepresented; you must not</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* claim that you wrote the original software. If you use this software</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* in a product, an acknowledgment in the product documentation would be</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* appreciated but is not required.</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* 2. Altered source versions must be plainly marked as such, and must not be</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* misrepresented as being the original software.</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* 3. This notice may not be removed or altered from any source distribution.</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">*/</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#ifndef B2_COLLISION_H</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#define B2_COLLISION_H</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> </div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include <Box2D/Common/b2Math.h></span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor">#include <limits.h></span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> </div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> </div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="keyword">class </span><a class="code" href="classb2_shape.html">b2Shape</a>;</div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="keyword">class </span><a class="code" href="classb2_circle_shape.html">b2CircleShape</a>;</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="keyword">class </span><a class="code" href="classb2_edge_shape.html">b2EdgeShape</a>;</div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="keyword">class </span><a class="code" href="classb2_polygon_shape.html">b2PolygonShape</a>;</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> </div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="keyword">const</span> uint8 b2_nullFeature = UCHAR_MAX;</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structb2_contact_feature.html"> 38</a></span> <span class="keyword">struct </span><a class="code" href="structb2_contact_feature.html">b2ContactFeature</a></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> {</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keyword">enum</span> Type</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  {</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  e_vertex = 0,</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  e_face = 1</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  };</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span> </div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="structb2_contact_feature.html#a833bc746e7cb5e3cd458f1c0809101d0"> 46</a></span>  uint8 <a class="code" href="structb2_contact_feature.html#a833bc746e7cb5e3cd458f1c0809101d0">indexA</a>; </div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="structb2_contact_feature.html#ad96712b6a0cc1f4b22b85b5948eab81d"> 47</a></span>  uint8 <a class="code" href="structb2_contact_feature.html#ad96712b6a0cc1f4b22b85b5948eab81d">indexB</a>; </div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structb2_contact_feature.html#a3361b651f0a88fb60ec6aba9f4921cc2"> 48</a></span>  uint8 <a class="code" href="structb2_contact_feature.html#a3361b651f0a88fb60ec6aba9f4921cc2">typeA</a>; </div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="structb2_contact_feature.html#abb74afd6ee5b60834a3f8e2616182bdf"> 49</a></span>  uint8 <a class="code" href="structb2_contact_feature.html#abb74afd6ee5b60834a3f8e2616182bdf">typeB</a>; </div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span> };</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> </div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="unionb2_contact_i_d.html"> 53</a></span> <span class="keyword">union </span><a class="code" href="unionb2_contact_i_d.html">b2ContactID</a></div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span> {</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <a class="code" href="structb2_contact_feature.html">b2ContactFeature</a> cf;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="unionb2_contact_i_d.html#a04c04f8fdcb799b33552d01b3aa3f245"> 56</a></span>  uint32 <a class="code" href="unionb2_contact_i_d.html#a04c04f8fdcb799b33552d01b3aa3f245">key</a>; </div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span> };</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="structb2_manifold_point.html"> 69</a></span> <span class="keyword">struct </span><a class="code" href="structb2_manifold_point.html">b2ManifoldPoint</a></div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span> {</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structb2_manifold_point.html#ab3616990e7d1644deeeb691246094bfa"> 71</a></span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_manifold_point.html#ab3616990e7d1644deeeb691246094bfa">localPoint</a>; </div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="structb2_manifold_point.html#af4218c2359cb7762cd4e9d8ecefab173"> 72</a></span>  float32 <a class="code" href="structb2_manifold_point.html#af4218c2359cb7762cd4e9d8ecefab173">normalImpulse</a>; </div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structb2_manifold_point.html#a0ac5375b1fc4675a0073129f56aa62c9"> 73</a></span>  float32 <a class="code" href="structb2_manifold_point.html#a0ac5375b1fc4675a0073129f56aa62c9">tangentImpulse</a>; </div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="structb2_manifold_point.html#afa7ec272b2b27abe129540f8fbe57fc5"> 74</a></span>  <a class="code" href="unionb2_contact_i_d.html">b2ContactID</a> <a class="code" href="structb2_manifold_point.html#afa7ec272b2b27abe129540f8fbe57fc5">id</a>; </div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span> };</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span> </div><div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="structb2_manifold.html"> 93</a></span> <span class="keyword">struct </span><a class="code" href="structb2_manifold.html">b2Manifold</a></div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span> {</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keyword">enum</span> Type</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  {</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  e_circles,</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  e_faceA,</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  e_faceB</div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  };</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span> </div><div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="structb2_manifold.html#ab8021128e9792cc7391a8804ea02173d"> 102</a></span>  <a class="code" href="structb2_manifold_point.html">b2ManifoldPoint</a> <a class="code" href="structb2_manifold.html#ab8021128e9792cc7391a8804ea02173d">points</a>[<a class="code" href="b2_settings_8h.html#aa5f44cc9edf711433dea2b2ec94f3c42">b2_maxManifoldPoints</a>]; </div><div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="structb2_manifold.html#a3604e9fef2a03347c5649c71a9fd4c79"> 103</a></span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_manifold.html#a3604e9fef2a03347c5649c71a9fd4c79">localNormal</a>; </div><div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="structb2_manifold.html#a8825cea31b27dbbaf22c13c3070870d5"> 104</a></span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_manifold.html#a8825cea31b27dbbaf22c13c3070870d5">localPoint</a>; </div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  Type type;</div><div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="structb2_manifold.html#abf59ff6fa36bed34b0242ad54951a696"> 106</a></span>  int32 <a class="code" href="structb2_manifold.html#abf59ff6fa36bed34b0242ad54951a696">pointCount</a>; </div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span> };</div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span> </div><div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="structb2_world_manifold.html"> 110</a></span> <span class="keyword">struct </span><a class="code" href="structb2_world_manifold.html">b2WorldManifold</a></div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span> {</div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordtype">void</span> <a class="code" href="structb2_world_manifold.html#a896dd7e7d4d6f6a5bc69e19fbd6871bd">Initialize</a>(<span class="keyword">const</span> <a class="code" href="structb2_manifold.html">b2Manifold</a>* manifold,</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>& xfA, float32 radiusA,</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>& xfB, float32 radiusB);</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span> </div><div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="structb2_world_manifold.html#acf8de61b73d9784d16f7d0e824ce44bf"> 120</a></span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_world_manifold.html#acf8de61b73d9784d16f7d0e824ce44bf">normal</a>; </div><div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="structb2_world_manifold.html#af15e84b90f102c0ac433be2d63604021"> 121</a></span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_world_manifold.html#af15e84b90f102c0ac433be2d63604021">points</a>[<a class="code" href="b2_settings_8h.html#aa5f44cc9edf711433dea2b2ec94f3c42">b2_maxManifoldPoints</a>]; </div><div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="structb2_world_manifold.html#ac545e60a52d219d53ef1de3e0cad2d84"> 122</a></span>  float32 <a class="code" href="structb2_world_manifold.html#ac545e60a52d219d53ef1de3e0cad2d84">separations</a>[<a class="code" href="b2_settings_8h.html#aa5f44cc9edf711433dea2b2ec94f3c42">b2_maxManifoldPoints</a>]; </div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span> };</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span> </div><div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="b2_collision_8h.html#a0a894e3715ce8c61b7958dd6e083663d"> 126</a></span> <span class="keyword">enum</span> <a class="code" href="b2_collision_8h.html#a0a894e3715ce8c61b7958dd6e083663d">b2PointState</a></div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span> {</div><div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="b2_collision_8h.html#a0a894e3715ce8c61b7958dd6e083663da7ce77ce1a592f49d92939997976c217b"> 128</a></span>  <a class="code" href="b2_collision_8h.html#a0a894e3715ce8c61b7958dd6e083663da7ce77ce1a592f49d92939997976c217b">b2_nullState</a>, </div><div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="b2_collision_8h.html#a0a894e3715ce8c61b7958dd6e083663dac60dc479bee2089a695b37948179b3d4"> 129</a></span>  <a class="code" href="b2_collision_8h.html#a0a894e3715ce8c61b7958dd6e083663dac60dc479bee2089a695b37948179b3d4">b2_addState</a>, </div><div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="b2_collision_8h.html#a0a894e3715ce8c61b7958dd6e083663dafb032f2175741fa95361e55d1c069e0a"> 130</a></span>  <a class="code" href="b2_collision_8h.html#a0a894e3715ce8c61b7958dd6e083663dafb032f2175741fa95361e55d1c069e0a">b2_persistState</a>, </div><div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="b2_collision_8h.html#a0a894e3715ce8c61b7958dd6e083663da42ca6d7de57b948c8c895cd6f51ee8be"> 131</a></span>  <a class="code" href="b2_collision_8h.html#a0a894e3715ce8c61b7958dd6e083663da42ca6d7de57b948c8c895cd6f51ee8be">b2_removeState</a> </div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span> };</div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span> </div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="keywordtype">void</span> <a class="code" href="b2_collision_8h.html#a401e2747d276e9fbfd131989e02ff568">b2GetPointStates</a>(<a class="code" href="b2_collision_8h.html#a0a894e3715ce8c61b7958dd6e083663d">b2PointState</a> state1[<a class="code" href="b2_settings_8h.html#aa5f44cc9edf711433dea2b2ec94f3c42">b2_maxManifoldPoints</a>], <a class="code" href="b2_collision_8h.html#a0a894e3715ce8c61b7958dd6e083663d">b2PointState</a> state2[<a class="code" href="b2_settings_8h.html#aa5f44cc9edf711433dea2b2ec94f3c42">b2_maxManifoldPoints</a>],</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keyword">const</span> <a class="code" href="structb2_manifold.html">b2Manifold</a>* manifold1, <span class="keyword">const</span> <a class="code" href="structb2_manifold.html">b2Manifold</a>* manifold2);</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span> </div><div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="structb2_clip_vertex.html"> 140</a></span> <span class="keyword">struct </span><a class="code" href="structb2_clip_vertex.html">b2ClipVertex</a></div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span> {</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> v;</div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <a class="code" href="unionb2_contact_i_d.html">b2ContactID</a> id;</div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span> };</div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span> </div><div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="structb2_ray_cast_input.html"> 147</a></span> <span class="keyword">struct </span><a class="code" href="structb2_ray_cast_input.html">b2RayCastInput</a></div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span> {</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> p1, p2;</div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  float32 maxFraction;</div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span> };</div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span> </div><div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="structb2_ray_cast_output.html"> 155</a></span> <span class="keyword">struct </span><a class="code" href="structb2_ray_cast_output.html">b2RayCastOutput</a></div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span> {</div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> normal;</div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  float32 fraction;</div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span> };</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span> </div><div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="structb2_a_a_b_b.html"> 162</a></span> <span class="keyword">struct </span><a class="code" href="structb2_a_a_b_b.html">b2AABB</a></div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span> {</div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordtype">bool</span> <a class="code" href="structb2_a_a_b_b.html#a70bb45c086fcc2d7ee8694deb386070e">IsValid</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span> </div><div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="structb2_a_a_b_b.html#a2c4051e79001a3166cc7f8ad811137fe"> 168</a></span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_a_a_b_b.html#a2c4051e79001a3166cc7f8ad811137fe">GetCenter</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordflow">return</span> 0.5f * (<a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a> + <a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a>);</div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  }</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span> </div><div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="structb2_a_a_b_b.html#a2a4f550a18d2a0895fbc5c4d3ec17d22"> 174</a></span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_a_a_b_b.html#a2a4f550a18d2a0895fbc5c4d3ec17d22">GetExtents</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keywordflow">return</span> 0.5f * (<a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a> - <a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a>);</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  }</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span> </div><div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="structb2_a_a_b_b.html#a25d2504d2f2fdec88f9347f62f112268"> 180</a></span>  float32 <a class="code" href="structb2_a_a_b_b.html#a25d2504d2f2fdec88f9347f62f112268">GetPerimeter</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  float32 wx = <a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a>.x - <a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a>.x;</div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  float32 wy = <a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a>.y - <a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a>.y;</div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordflow">return</span> 2.0f * (wx + wy);</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  }</div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span> </div><div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="structb2_a_a_b_b.html#ad551edba62d2ad6094672a9ba3e26496"> 188</a></span>  <span class="keywordtype">void</span> <a class="code" href="structb2_a_a_b_b.html#ad551edba62d2ad6094672a9ba3e26496">Combine</a>(<span class="keyword">const</span> <a class="code" href="structb2_a_a_b_b.html">b2AABB</a>& aabb)</div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  {</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a> = b2Min(<a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a>, aabb.<a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a>);</div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a> = b2Max(<a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a>, aabb.<a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a>);</div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  }</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span> </div><div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="structb2_a_a_b_b.html#a34b9c7d824df845c10caa9c12ae90452"> 195</a></span>  <span class="keywordtype">void</span> <a class="code" href="structb2_a_a_b_b.html#a34b9c7d824df845c10caa9c12ae90452">Combine</a>(<span class="keyword">const</span> <a class="code" href="structb2_a_a_b_b.html">b2AABB</a>& aabb1, <span class="keyword">const</span> <a class="code" href="structb2_a_a_b_b.html">b2AABB</a>& aabb2)</div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  {</div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a> = b2Min(aabb1.<a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a>, aabb2.<a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a>);</div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a> = b2Max(aabb1.<a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a>, aabb2.<a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a>);</div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  }</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span> </div><div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="structb2_a_a_b_b.html#acf98175d3a53bca755d5c4852fa85a00"> 202</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structb2_a_a_b_b.html#acf98175d3a53bca755d5c4852fa85a00">Contains</a>(<span class="keyword">const</span> <a class="code" href="structb2_a_a_b_b.html">b2AABB</a>& aabb)<span class="keyword"> const</span></div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <span class="keywordtype">bool</span> result = <span class="keyword">true</span>;</div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  result = result && <a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a>.x <= aabb.<a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a>.x;</div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  result = result && <a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a>.y <= aabb.<a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a>.y;</div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  result = result && aabb.<a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a>.x <= <a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a>.x;</div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  result = result && aabb.<a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a>.y <= <a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a>.y;</div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordflow">return</span> result;</div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  }</div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span> </div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordtype">bool</span> RayCast(<a class="code" href="structb2_ray_cast_output.html">b2RayCastOutput</a>* output, <span class="keyword">const</span> <a class="code" href="structb2_ray_cast_input.html">b2RayCastInput</a>& input) <span class="keyword">const</span>;</div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span> </div><div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5"> 214</a></span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a>; </div><div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f"> 215</a></span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a>; </div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span> };</div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span> </div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span> <span class="keywordtype">void</span> <a class="code" href="b2_collision_8h.html#ab8a1bf2c6a9453307466f4870c1fa333">b2CollideCircles</a>(<a class="code" href="structb2_manifold.html">b2Manifold</a>* manifold,</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keyword">const</span> <a class="code" href="classb2_circle_shape.html">b2CircleShape</a>* circleA, <span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>& xfA,</div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keyword">const</span> <a class="code" href="classb2_circle_shape.html">b2CircleShape</a>* circleB, <span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>& xfB);</div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span> </div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span> <span class="keywordtype">void</span> <a class="code" href="b2_collision_8h.html#a30da13c857596fbefa40b47c3e1e78d0">b2CollidePolygonAndCircle</a>(<a class="code" href="structb2_manifold.html">b2Manifold</a>* manifold,</div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="keyword">const</span> <a class="code" href="classb2_polygon_shape.html">b2PolygonShape</a>* polygonA, <span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>& xfA,</div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keyword">const</span> <a class="code" href="classb2_circle_shape.html">b2CircleShape</a>* circleB, <span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>& xfB);</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span> </div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span> <span class="keywordtype">void</span> <a class="code" href="b2_collision_8h.html#a2f7b9859479384c0e2cceb9e7744afcb">b2CollidePolygons</a>(<a class="code" href="structb2_manifold.html">b2Manifold</a>* manifold,</div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keyword">const</span> <a class="code" href="classb2_polygon_shape.html">b2PolygonShape</a>* polygonA, <span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>& xfA,</div><div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="keyword">const</span> <a class="code" href="classb2_polygon_shape.html">b2PolygonShape</a>* polygonB, <span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>& xfB);</div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span> </div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span> <span class="keywordtype">void</span> <a class="code" href="b2_collision_8h.html#aee6f752fdf8c89152e824da12e944733">b2CollideEdgeAndCircle</a>(<a class="code" href="structb2_manifold.html">b2Manifold</a>* manifold,</div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="keyword">const</span> <a class="code" href="classb2_edge_shape.html">b2EdgeShape</a>* polygonA, <span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>& xfA,</div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="keyword">const</span> <a class="code" href="classb2_circle_shape.html">b2CircleShape</a>* circleB, <span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>& xfB);</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span> </div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span> <span class="keywordtype">void</span> <a class="code" href="b2_collision_8h.html#a5d0c5fab412d5ca886b1965666b16d99">b2CollideEdgeAndPolygon</a>(<a class="code" href="structb2_manifold.html">b2Manifold</a>* manifold,</div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="keyword">const</span> <a class="code" href="classb2_edge_shape.html">b2EdgeShape</a>* edgeA, <span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>& xfA,</div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="keyword">const</span> <a class="code" href="classb2_polygon_shape.html">b2PolygonShape</a>* circleB, <span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>& xfB);</div><div class="line"><a name="l00242"></a><span class="lineno"> 242</span> </div><div class="line"><a name="l00244"></a><span class="lineno"> 244</span> int32 <a class="code" href="b2_collision_8h.html#a8b36e651798f55f2533f9837462ded41">b2ClipSegmentToLine</a>(<a class="code" href="structb2_clip_vertex.html">b2ClipVertex</a> vOut[2], <span class="keyword">const</span> <a class="code" href="structb2_clip_vertex.html">b2ClipVertex</a> vIn[2],</div><div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>& normal, float32 offset, int32 vertexIndexA);</div><div class="line"><a name="l00246"></a><span class="lineno"> 246</span> </div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span> <span class="keywordtype">bool</span> <a class="code" href="b2_collision_8h.html#ae7601420d0b42c1ee494e879dd2009a5">b2TestOverlap</a>( <span class="keyword">const</span> <a class="code" href="classb2_shape.html">b2Shape</a>* shapeA, int32 indexA,</div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <span class="keyword">const</span> <a class="code" href="classb2_shape.html">b2Shape</a>* shapeB, int32 indexB,</div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>& xfA, <span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>& xfB);</div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span> </div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span> <span class="comment">// ---------------- Inline Functions ------------------------------------------</span></div><div class="line"><a name="l00253"></a><span class="lineno"> 253</span> </div><div class="line"><a name="l00254"></a><span class="lineno"><a class="line" href="structb2_a_a_b_b.html#a70bb45c086fcc2d7ee8694deb386070e"> 254</a></span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structb2_a_a_b_b.html#a70bb45c086fcc2d7ee8694deb386070e">b2AABB::IsValid</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00255"></a><span class="lineno"> 255</span> <span class="keyword"></span>{</div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> d = <a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a> - <a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a>;</div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keywordtype">bool</span> valid = d.x >= 0.0f && d.y >= 0.0f;</div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  valid = valid && <a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a>.<a class="code" href="structb2_vec2.html#abad59bf9a0269f02cda9dc919592c0ee">IsValid</a>() && <a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a>.<a class="code" href="structb2_vec2.html#abad59bf9a0269f02cda9dc919592c0ee">IsValid</a>();</div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <span class="keywordflow">return</span> valid;</div><div class="line"><a name="l00260"></a><span class="lineno"> 260</span> }</div><div class="line"><a name="l00261"></a><span class="lineno"> 261</span> </div><div class="line"><a name="l00262"></a><span class="lineno"> 262</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="b2_collision_8h.html#ae7601420d0b42c1ee494e879dd2009a5">b2TestOverlap</a>(<span class="keyword">const</span> <a class="code" href="structb2_a_a_b_b.html">b2AABB</a>& a, <span class="keyword">const</span> <a class="code" href="structb2_a_a_b_b.html">b2AABB</a>& b)</div><div class="line"><a name="l00263"></a><span class="lineno"> 263</span> {</div><div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> d1, d2;</div><div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  d1 = b.<a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a> - a.<a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a>;</div><div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  d2 = a.<a class="code" href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">lowerBound</a> - b.<a class="code" href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">upperBound</a>;</div><div class="line"><a name="l00267"></a><span class="lineno"> 267</span> </div><div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="keywordflow">if</span> (d1.x > 0.0f || d1.y > 0.0f)</div><div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00270"></a><span class="lineno"> 270</span> </div><div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <span class="keywordflow">if</span> (d2.x > 0.0f || d2.y > 0.0f)</div><div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00273"></a><span class="lineno"> 273</span> </div><div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00275"></a><span class="lineno"> 275</span> }</div><div class="line"><a name="l00276"></a><span class="lineno"> 276</span> </div><div class="line"><a name="l00277"></a><span class="lineno"> 277</span> <span class="preprocessor">#endif</span></div><div class="ttc" id="structb2_transform_html"><div class="ttname"><a href="structb2_transform.html">b2Transform</a></div><div class="ttdef"><b>Definition:</b> b2Math.h:350</div></div>
<div class="ttc" id="classb2_circle_shape_html"><div class="ttname"><a href="classb2_circle_shape.html">b2CircleShape</a></div><div class="ttdoc">A circle shape. </div><div class="ttdef"><b>Definition:</b> b2CircleShape.h:25</div></div>
<div class="ttc" id="b2_collision_8h_html_a0a894e3715ce8c61b7958dd6e083663dac60dc479bee2089a695b37948179b3d4"><div class="ttname"><a href="b2_collision_8h.html#a0a894e3715ce8c61b7958dd6e083663dac60dc479bee2089a695b37948179b3d4">b2_addState</a></div><div class="ttdoc">point was added in the update </div><div class="ttdef"><b>Definition:</b> b2Collision.h:129</div></div>
<div class="ttc" id="structb2_a_a_b_b_html_ab94b68fbad8348b22b0522469b11bdb5"><div class="ttname"><a href="structb2_a_a_b_b.html#ab94b68fbad8348b22b0522469b11bdb5">b2AABB::lowerBound</a></div><div class="ttdeci">b2Vec2 lowerBound</div><div class="ttdoc">the lower vertex </div><div class="ttdef"><b>Definition:</b> b2Collision.h:214</div></div>
<div class="ttc" id="structb2_a_a_b_b_html_acf98175d3a53bca755d5c4852fa85a00"><div class="ttname"><a href="structb2_a_a_b_b.html#acf98175d3a53bca755d5c4852fa85a00">b2AABB::Contains</a></div><div class="ttdeci">bool Contains(const b2AABB &aabb) const</div><div class="ttdoc">Does this aabb contain the provided AABB. </div><div class="ttdef"><b>Definition:</b> b2Collision.h:202</div></div>
<div class="ttc" id="structb2_world_manifold_html"><div class="ttname"><a href="structb2_world_manifold.html">b2WorldManifold</a></div><div class="ttdoc">This is used to compute the current state of a contact manifold. </div><div class="ttdef"><b>Definition:</b> b2Collision.h:110</div></div>
<div class="ttc" id="structb2_contact_feature_html_a3361b651f0a88fb60ec6aba9f4921cc2"><div class="ttname"><a href="structb2_contact_feature.html#a3361b651f0a88fb60ec6aba9f4921cc2">b2ContactFeature::typeA</a></div><div class="ttdeci">uint8 typeA</div><div class="ttdoc">The feature type on shapeA. </div><div class="ttdef"><b>Definition:</b> b2Collision.h:48</div></div>
<div class="ttc" id="structb2_a_a_b_b_html_a2c4051e79001a3166cc7f8ad811137fe"><div class="ttname"><a href="structb2_a_a_b_b.html#a2c4051e79001a3166cc7f8ad811137fe">b2AABB::GetCenter</a></div><div class="ttdeci">b2Vec2 GetCenter() const</div><div class="ttdoc">Get the center of the AABB. </div><div class="ttdef"><b>Definition:</b> b2Collision.h:168</div></div>
<div class="ttc" id="structb2_world_manifold_html_a896dd7e7d4d6f6a5bc69e19fbd6871bd"><div class="ttname"><a href="structb2_world_manifold.html#a896dd7e7d4d6f6a5bc69e19fbd6871bd">b2WorldManifold::Initialize</a></div><div class="ttdeci">void Initialize(const b2Manifold *manifold, const b2Transform &xfA, float32 radiusA, const b2Transform &xfB, float32 radiusB)</div><div class="ttdef"><b>Definition:</b> b2Collision.cpp:22</div></div>
<div class="ttc" id="b2_collision_8h_html_a5d0c5fab412d5ca886b1965666b16d99"><div class="ttname"><a href="b2_collision_8h.html#a5d0c5fab412d5ca886b1965666b16d99">b2CollideEdgeAndPolygon</a></div><div class="ttdeci">void b2CollideEdgeAndPolygon(b2Manifold *manifold, const b2EdgeShape *edgeA, const b2Transform &xfA, const b2PolygonShape *circleB, const b2Transform &xfB)</div><div class="ttdoc">Compute the collision manifold between an edge and a circle. </div><div class="ttdef"><b>Definition:</b> b2CollideEdge.cpp:692</div></div>
<div class="ttc" id="structb2_world_manifold_html_ac545e60a52d219d53ef1de3e0cad2d84"><div class="ttname"><a href="structb2_world_manifold.html#ac545e60a52d219d53ef1de3e0cad2d84">b2WorldManifold::separations</a></div><div class="ttdeci">float32 separations[b2_maxManifoldPoints]</div><div class="ttdoc">a negative value indicates overlap, in meters </div><div class="ttdef"><b>Definition:</b> b2Collision.h:122</div></div>
<div class="ttc" id="classb2_shape_html"><div class="ttname"><a href="classb2_shape.html">b2Shape</a></div><div class="ttdef"><b>Definition:</b> b2Shape.h:42</div></div>
<div class="ttc" id="structb2_clip_vertex_html"><div class="ttname"><a href="structb2_clip_vertex.html">b2ClipVertex</a></div><div class="ttdoc">Used for computing contact manifolds. </div><div class="ttdef"><b>Definition:</b> b2Collision.h:140</div></div>
<div class="ttc" id="b2_collision_8h_html_a0a894e3715ce8c61b7958dd6e083663da7ce77ce1a592f49d92939997976c217b"><div class="ttname"><a href="b2_collision_8h.html#a0a894e3715ce8c61b7958dd6e083663da7ce77ce1a592f49d92939997976c217b">b2_nullState</a></div><div class="ttdoc">point does not exist </div><div class="ttdef"><b>Definition:</b> b2Collision.h:128</div></div>
<div class="ttc" id="b2_collision_8h_html_a8b36e651798f55f2533f9837462ded41"><div class="ttname"><a href="b2_collision_8h.html#a8b36e651798f55f2533f9837462ded41">b2ClipSegmentToLine</a></div><div class="ttdeci">int32 b2ClipSegmentToLine(b2ClipVertex vOut[2], const b2ClipVertex vIn[2], const b2Vec2 &normal, float32 offset, int32 vertexIndexA)</div><div class="ttdoc">Clipping for contact manifolds. </div><div class="ttdef"><b>Definition:</b> b2Collision.cpp:201</div></div>
<div class="ttc" id="classb2_polygon_shape_html"><div class="ttname"><a href="classb2_polygon_shape.html">b2PolygonShape</a></div><div class="ttdef"><b>Definition:</b> b2PolygonShape.h:28</div></div>
<div class="ttc" id="structb2_ray_cast_output_html"><div class="ttname"><a href="structb2_ray_cast_output.html">b2RayCastOutput</a></div><div class="ttdef"><b>Definition:</b> b2Collision.h:155</div></div>
<div class="ttc" id="structb2_manifold_point_html_af4218c2359cb7762cd4e9d8ecefab173"><div class="ttname"><a href="structb2_manifold_point.html#af4218c2359cb7762cd4e9d8ecefab173">b2ManifoldPoint::normalImpulse</a></div><div class="ttdeci">float32 normalImpulse</div><div class="ttdoc">the non-penetration impulse </div><div class="ttdef"><b>Definition:</b> b2Collision.h:72</div></div>
<div class="ttc" id="unionb2_contact_i_d_html"><div class="ttname"><a href="unionb2_contact_i_d.html">b2ContactID</a></div><div class="ttdoc">Contact ids to facilitate warm starting. </div><div class="ttdef"><b>Definition:</b> b2Collision.h:53</div></div>
<div class="ttc" id="structb2_contact_feature_html"><div class="ttname"><a href="structb2_contact_feature.html">b2ContactFeature</a></div><div class="ttdef"><b>Definition:</b> b2Collision.h:38</div></div>
<div class="ttc" id="b2_collision_8h_html_a0a894e3715ce8c61b7958dd6e083663da42ca6d7de57b948c8c895cd6f51ee8be"><div class="ttname"><a href="b2_collision_8h.html#a0a894e3715ce8c61b7958dd6e083663da42ca6d7de57b948c8c895cd6f51ee8be">b2_removeState</a></div><div class="ttdoc">point was removed in the update </div><div class="ttdef"><b>Definition:</b> b2Collision.h:131</div></div>
<div class="ttc" id="b2_collision_8h_html_ab8a1bf2c6a9453307466f4870c1fa333"><div class="ttname"><a href="b2_collision_8h.html#ab8a1bf2c6a9453307466f4870c1fa333">b2CollideCircles</a></div><div class="ttdeci">void b2CollideCircles(b2Manifold *manifold, const b2CircleShape *circleA, const b2Transform &xfA, const b2CircleShape *circleB, const b2Transform &xfB)</div><div class="ttdoc">Compute the collision manifold between two circles. </div><div class="ttdef"><b>Definition:</b> b2CollideCircle.cpp:23</div></div>
<div class="ttc" id="structb2_manifold_point_html_ab3616990e7d1644deeeb691246094bfa"><div class="ttname"><a href="structb2_manifold_point.html#ab3616990e7d1644deeeb691246094bfa">b2ManifoldPoint::localPoint</a></div><div class="ttdeci">b2Vec2 localPoint</div><div class="ttdoc">usage depends on manifold type </div><div class="ttdef"><b>Definition:</b> b2Collision.h:71</div></div>
<div class="ttc" id="structb2_manifold_html_ab8021128e9792cc7391a8804ea02173d"><div class="ttname"><a href="structb2_manifold.html#ab8021128e9792cc7391a8804ea02173d">b2Manifold::points</a></div><div class="ttdeci">b2ManifoldPoint points[b2_maxManifoldPoints]</div><div class="ttdoc">the points of contact </div><div class="ttdef"><b>Definition:</b> b2Collision.h:102</div></div>
<div class="ttc" id="structb2_a_a_b_b_html_ad4a8ec483ba13a2c02918b01d058a18f"><div class="ttname"><a href="structb2_a_a_b_b.html#ad4a8ec483ba13a2c02918b01d058a18f">b2AABB::upperBound</a></div><div class="ttdeci">b2Vec2 upperBound</div><div class="ttdoc">the upper vertex </div><div class="ttdef"><b>Definition:</b> b2Collision.h:215</div></div>
<div class="ttc" id="structb2_manifold_html_a8825cea31b27dbbaf22c13c3070870d5"><div class="ttname"><a href="structb2_manifold.html#a8825cea31b27dbbaf22c13c3070870d5">b2Manifold::localPoint</a></div><div class="ttdeci">b2Vec2 localPoint</div><div class="ttdoc">usage depends on manifold type </div><div class="ttdef"><b>Definition:</b> b2Collision.h:104</div></div>
<div class="ttc" id="structb2_manifold_point_html_a0ac5375b1fc4675a0073129f56aa62c9"><div class="ttname"><a href="structb2_manifold_point.html#a0ac5375b1fc4675a0073129f56aa62c9">b2ManifoldPoint::tangentImpulse</a></div><div class="ttdeci">float32 tangentImpulse</div><div class="ttdoc">the friction impulse </div><div class="ttdef"><b>Definition:</b> b2Collision.h:73</div></div>
<div class="ttc" id="structb2_a_a_b_b_html"><div class="ttname"><a href="structb2_a_a_b_b.html">b2AABB</a></div><div class="ttdoc">An axis aligned bounding box. </div><div class="ttdef"><b>Definition:</b> b2Collision.h:162</div></div>
<div class="ttc" id="structb2_world_manifold_html_af15e84b90f102c0ac433be2d63604021"><div class="ttname"><a href="structb2_world_manifold.html#af15e84b90f102c0ac433be2d63604021">b2WorldManifold::points</a></div><div class="ttdeci">b2Vec2 points[b2_maxManifoldPoints]</div><div class="ttdoc">world contact point (point of intersection) </div><div class="ttdef"><b>Definition:</b> b2Collision.h:121</div></div>
<div class="ttc" id="b2_collision_8h_html_ae7601420d0b42c1ee494e879dd2009a5"><div class="ttname"><a href="b2_collision_8h.html#ae7601420d0b42c1ee494e879dd2009a5">b2TestOverlap</a></div><div class="ttdeci">bool b2TestOverlap(const b2Shape *shapeA, int32 indexA, const b2Shape *shapeB, int32 indexB, const b2Transform &xfA, const b2Transform &xfB)</div><div class="ttdoc">Determine if two generic shapes overlap. </div><div class="ttdef"><b>Definition:</b> b2Collision.cpp:233</div></div>
<div class="ttc" id="structb2_a_a_b_b_html_a25d2504d2f2fdec88f9347f62f112268"><div class="ttname"><a href="structb2_a_a_b_b.html#a25d2504d2f2fdec88f9347f62f112268">b2AABB::GetPerimeter</a></div><div class="ttdeci">float32 GetPerimeter() const</div><div class="ttdoc">Get the perimeter length. </div><div class="ttdef"><b>Definition:</b> b2Collision.h:180</div></div>
<div class="ttc" id="b2_collision_8h_html_a0a894e3715ce8c61b7958dd6e083663dafb032f2175741fa95361e55d1c069e0a"><div class="ttname"><a href="b2_collision_8h.html#a0a894e3715ce8c61b7958dd6e083663dafb032f2175741fa95361e55d1c069e0a">b2_persistState</a></div><div class="ttdoc">point persisted across the update </div><div class="ttdef"><b>Definition:</b> b2Collision.h:130</div></div>
<div class="ttc" id="structb2_contact_feature_html_abb74afd6ee5b60834a3f8e2616182bdf"><div class="ttname"><a href="structb2_contact_feature.html#abb74afd6ee5b60834a3f8e2616182bdf">b2ContactFeature::typeB</a></div><div class="ttdeci">uint8 typeB</div><div class="ttdoc">The feature type on shapeB. </div><div class="ttdef"><b>Definition:</b> b2Collision.h:49</div></div>
<div class="ttc" id="b2_collision_8h_html_a30da13c857596fbefa40b47c3e1e78d0"><div class="ttname"><a href="b2_collision_8h.html#a30da13c857596fbefa40b47c3e1e78d0">b2CollidePolygonAndCircle</a></div><div class="ttdeci">void b2CollidePolygonAndCircle(b2Manifold *manifold, const b2PolygonShape *polygonA, const b2Transform &xfA, const b2CircleShape *circleB, const b2Transform &xfB)</div><div class="ttdoc">Compute the collision manifold between a polygon and a circle. </div><div class="ttdef"><b>Definition:</b> b2CollideCircle.cpp:51</div></div>
<div class="ttc" id="structb2_ray_cast_input_html"><div class="ttname"><a href="structb2_ray_cast_input.html">b2RayCastInput</a></div><div class="ttdoc">Ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1). </div><div class="ttdef"><b>Definition:</b> b2Collision.h:147</div></div>
<div class="ttc" id="classb2_edge_shape_html"><div class="ttname"><a href="classb2_edge_shape.html">b2EdgeShape</a></div><div class="ttdef"><b>Definition:</b> b2EdgeShape.h:27</div></div>
<div class="ttc" id="b2_collision_8h_html_a2f7b9859479384c0e2cceb9e7744afcb"><div class="ttname"><a href="b2_collision_8h.html#a2f7b9859479384c0e2cceb9e7744afcb">b2CollidePolygons</a></div><div class="ttdeci">void b2CollidePolygons(b2Manifold *manifold, const b2PolygonShape *polygonA, const b2Transform &xfA, const b2PolygonShape *polygonB, const b2Transform &xfB)</div><div class="ttdoc">Compute the collision manifold between two polygons. </div><div class="ttdef"><b>Definition:</b> b2CollidePolygon.cpp:116</div></div>
<div class="ttc" id="structb2_contact_feature_html_a833bc746e7cb5e3cd458f1c0809101d0"><div class="ttname"><a href="structb2_contact_feature.html#a833bc746e7cb5e3cd458f1c0809101d0">b2ContactFeature::indexA</a></div><div class="ttdeci">uint8 indexA</div><div class="ttdoc">Feature index on shapeA. </div><div class="ttdef"><b>Definition:</b> b2Collision.h:46</div></div>
<div class="ttc" id="unionb2_contact_i_d_html_a04c04f8fdcb799b33552d01b3aa3f245"><div class="ttname"><a href="unionb2_contact_i_d.html#a04c04f8fdcb799b33552d01b3aa3f245">b2ContactID::key</a></div><div class="ttdeci">uint32 key</div><div class="ttdoc">Used to quickly compare contact ids. </div><div class="ttdef"><b>Definition:</b> b2Collision.h:56</div></div>
<div class="ttc" id="structb2_manifold_html"><div class="ttname"><a href="structb2_manifold.html">b2Manifold</a></div><div class="ttdef"><b>Definition:</b> b2Collision.h:93</div></div>
<div class="ttc" id="b2_collision_8h_html_a0a894e3715ce8c61b7958dd6e083663d"><div class="ttname"><a href="b2_collision_8h.html#a0a894e3715ce8c61b7958dd6e083663d">b2PointState</a></div><div class="ttdeci">b2PointState</div><div class="ttdoc">This is used for determining the state of contact points. </div><div class="ttdef"><b>Definition:</b> b2Collision.h:126</div></div>
<div class="ttc" id="b2_collision_8h_html_aee6f752fdf8c89152e824da12e944733"><div class="ttname"><a href="b2_collision_8h.html#aee6f752fdf8c89152e824da12e944733">b2CollideEdgeAndCircle</a></div><div class="ttdeci">void b2CollideEdgeAndCircle(b2Manifold *manifold, const b2EdgeShape *polygonA, const b2Transform &xfA, const b2CircleShape *circleB, const b2Transform &xfB)</div><div class="ttdoc">Compute the collision manifold between an edge and a circle. </div><div class="ttdef"><b>Definition:</b> b2CollideEdge.cpp:27</div></div>
<div class="ttc" id="structb2_manifold_html_abf59ff6fa36bed34b0242ad54951a696"><div class="ttname"><a href="structb2_manifold.html#abf59ff6fa36bed34b0242ad54951a696">b2Manifold::pointCount</a></div><div class="ttdeci">int32 pointCount</div><div class="ttdoc">the number of manifold points </div><div class="ttdef"><b>Definition:</b> b2Collision.h:106</div></div>
<div class="ttc" id="structb2_a_a_b_b_html_a70bb45c086fcc2d7ee8694deb386070e"><div class="ttname"><a href="structb2_a_a_b_b.html#a70bb45c086fcc2d7ee8694deb386070e">b2AABB::IsValid</a></div><div class="ttdeci">bool IsValid() const</div><div class="ttdoc">Verify that the bounds are sorted. </div><div class="ttdef"><b>Definition:</b> b2Collision.h:254</div></div>
<div class="ttc" id="structb2_a_a_b_b_html_ad551edba62d2ad6094672a9ba3e26496"><div class="ttname"><a href="structb2_a_a_b_b.html#ad551edba62d2ad6094672a9ba3e26496">b2AABB::Combine</a></div><div class="ttdeci">void Combine(const b2AABB &aabb)</div><div class="ttdoc">Combine an AABB into this one. </div><div class="ttdef"><b>Definition:</b> b2Collision.h:188</div></div>
<div class="ttc" id="structb2_vec2_html_abad59bf9a0269f02cda9dc919592c0ee"><div class="ttname"><a href="structb2_vec2.html#abad59bf9a0269f02cda9dc919592c0ee">b2Vec2::IsValid</a></div><div class="ttdeci">bool IsValid() const</div><div class="ttdoc">Does this vector contain finite coordinates? </div><div class="ttdef"><b>Definition:</b> b2Math.h:129</div></div>
<div class="ttc" id="structb2_vec2_html"><div class="ttname"><a href="structb2_vec2.html">b2Vec2</a></div><div class="ttdoc">A 2D column vector. </div><div class="ttdef"><b>Definition:</b> b2Math.h:53</div></div>
<div class="ttc" id="structb2_contact_feature_html_ad96712b6a0cc1f4b22b85b5948eab81d"><div class="ttname"><a href="structb2_contact_feature.html#ad96712b6a0cc1f4b22b85b5948eab81d">b2ContactFeature::indexB</a></div><div class="ttdeci">uint8 indexB</div><div class="ttdoc">Feature index on shapeB. </div><div class="ttdef"><b>Definition:</b> b2Collision.h:47</div></div>
<div class="ttc" id="b2_settings_8h_html_aa5f44cc9edf711433dea2b2ec94f3c42"><div class="ttname"><a href="b2_settings_8h.html#aa5f44cc9edf711433dea2b2ec94f3c42">b2_maxManifoldPoints</a></div><div class="ttdeci">#define b2_maxManifoldPoints</div><div class="ttdef"><b>Definition:</b> b2Settings.h:50</div></div>
<div class="ttc" id="structb2_manifold_point_html"><div class="ttname"><a href="structb2_manifold_point.html">b2ManifoldPoint</a></div><div class="ttdef"><b>Definition:</b> b2Collision.h:69</div></div>
<div class="ttc" id="structb2_world_manifold_html_acf8de61b73d9784d16f7d0e824ce44bf"><div class="ttname"><a href="structb2_world_manifold.html#acf8de61b73d9784d16f7d0e824ce44bf">b2WorldManifold::normal</a></div><div class="ttdeci">b2Vec2 normal</div><div class="ttdoc">world vector pointing from A to B </div><div class="ttdef"><b>Definition:</b> b2Collision.h:120</div></div>
<div class="ttc" id="b2_collision_8h_html_a401e2747d276e9fbfd131989e02ff568"><div class="ttname"><a href="b2_collision_8h.html#a401e2747d276e9fbfd131989e02ff568">b2GetPointStates</a></div><div class="ttdeci">void b2GetPointStates(b2PointState state1[b2_maxManifoldPoints], b2PointState state2[b2_maxManifoldPoints], const b2Manifold *manifold1, const b2Manifold *manifold2)</div><div class="ttdef"><b>Definition:</b> b2Collision.cpp:88</div></div>
<div class="ttc" id="structb2_a_a_b_b_html_a34b9c7d824df845c10caa9c12ae90452"><div class="ttname"><a href="structb2_a_a_b_b.html#a34b9c7d824df845c10caa9c12ae90452">b2AABB::Combine</a></div><div class="ttdeci">void Combine(const b2AABB &aabb1, const b2AABB &aabb2)</div><div class="ttdoc">Combine two AABBs into this one. </div><div class="ttdef"><b>Definition:</b> b2Collision.h:195</div></div>
<div class="ttc" id="structb2_manifold_html_a3604e9fef2a03347c5649c71a9fd4c79"><div class="ttname"><a href="structb2_manifold.html#a3604e9fef2a03347c5649c71a9fd4c79">b2Manifold::localNormal</a></div><div class="ttdeci">b2Vec2 localNormal</div><div class="ttdoc">not use for Type::e_points </div><div class="ttdef"><b>Definition:</b> b2Collision.h:103</div></div>
<div class="ttc" id="structb2_manifold_point_html_afa7ec272b2b27abe129540f8fbe57fc5"><div class="ttname"><a href="structb2_manifold_point.html#afa7ec272b2b27abe129540f8fbe57fc5">b2ManifoldPoint::id</a></div><div class="ttdeci">b2ContactID id</div><div class="ttdoc">uniquely identifies a contact point between two shapes </div><div class="ttdef"><b>Definition:</b> b2Collision.h:74</div></div>
<div class="ttc" id="structb2_a_a_b_b_html_a2a4f550a18d2a0895fbc5c4d3ec17d22"><div class="ttname"><a href="structb2_a_a_b_b.html#a2a4f550a18d2a0895fbc5c4d3ec17d22">b2AABB::GetExtents</a></div><div class="ttdeci">b2Vec2 GetExtents() const</div><div class="ttdoc">Get the extents of the AABB (half-widths). </div><div class="ttdef"><b>Definition:</b> b2Collision.h:174</div></div>
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