1 /* Copyright (c) 2013 Scott Lembcke and Howling Moon Software
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22 /// @defgroup cpShape cpShape
23 /// The cpShape struct defines the shape of a rigid body.
26 /// Point query info struct.
27 typedef struct cpPointQueryInfo {
28 /// The nearest shape, NULL if no shape was within range.
30 /// The closest point on the shape's surface. (in world space coordinates)
32 /// The distance to the point. The distance is negative if the point is inside the shape.
34 /// The gradient of the signed distance function.
35 /// The value should be similar to info.p/info.d, but accurate even for very small values of info.d.
39 /// Segment query info struct.
40 typedef struct cpSegmentQueryInfo {
41 /// The shape that was hit, or NULL if no collision occured.
43 /// The point of impact.
45 /// The normal of the surface hit.
47 /// The normalized distance along the query segment in the range [0, 1].
51 /// Fast collision filtering type that is used to determine if two objects collide before calling collision or query callbacks.
52 typedef struct cpShapeFilter {
53 /// Two objects with the same non-zero group value do not collide.
54 /// This is generally used to group objects in a composite object together to disable self collisions.
56 /// A bitmask of user definable categories that this object belongs to.
57 /// The category/mask combinations of both objects in a collision must agree for a collision to occur.
59 /// A bitmask of user definable category types that this object object collides with.
60 /// The category/mask combinations of both objects in a collision must agree for a collision to occur.
64 /// Collision filter value for a shape that will collide with anything except CP_SHAPE_FILTER_NONE.
65 static const cpShapeFilter CP_SHAPE_FILTER_ALL = {CP_NO_GROUP, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES};
66 /// Collision filter value for a shape that does not collide with anything.
67 static const cpShapeFilter CP_SHAPE_FILTER_NONE = {CP_NO_GROUP, ~CP_ALL_CATEGORIES, ~CP_ALL_CATEGORIES};
69 /// Create a new collision filter.
70 static inline cpShapeFilter
71 cpShapeFilterNew(cpGroup group, cpBitmask categories, cpBitmask mask)
73 cpShapeFilter filter = {group, categories, mask};
78 CP_EXPORT void cpShapeDestroy(cpShape *shape);
79 /// Destroy and Free a shape.
80 CP_EXPORT void cpShapeFree(cpShape *shape);
82 /// Update, cache and return the bounding box of a shape based on the body it's attached to.
83 CP_EXPORT cpBB cpShapeCacheBB(cpShape *shape);
84 /// Update, cache and return the bounding box of a shape with an explicit transformation.
85 CP_EXPORT cpBB cpShapeUpdate(cpShape *shape, cpTransform transform);
87 /// Perform a nearest point query. It finds the closest point on the surface of shape to a specific point.
88 /// The value returned is the distance between the points. A negative distance means the point is inside the shape.
89 CP_EXPORT cpFloat cpShapePointQuery(const cpShape *shape, cpVect p, cpPointQueryInfo *out);
91 /// Perform a segment query against a shape. @c info must be a pointer to a valid cpSegmentQueryInfo structure.
92 CP_EXPORT cpBool cpShapeSegmentQuery(const cpShape *shape, cpVect a, cpVect b, cpFloat radius, cpSegmentQueryInfo *info);
94 /// Return contact information about two shapes.
95 CP_EXPORT cpContactPointSet cpShapesCollide(const cpShape *a, const cpShape *b);
97 /// The cpSpace this body is added to.
98 CP_EXPORT cpSpace* cpShapeGetSpace(const cpShape *shape);
100 /// The cpBody this shape is connected to.
101 CP_EXPORT cpBody* cpShapeGetBody(const cpShape *shape);
102 /// Set the cpBody this shape is connected to.
103 /// Can only be used if the shape is not currently added to a space.
104 CP_EXPORT void cpShapeSetBody(cpShape *shape, cpBody *body);
106 /// Get the mass of the shape if you are having Chipmunk calculate mass properties for you.
107 CP_EXPORT cpFloat cpShapeGetMass(cpShape *shape);
108 /// Set the mass of this shape to have Chipmunk calculate mass properties for you.
109 CP_EXPORT void cpShapeSetMass(cpShape *shape, cpFloat mass);
111 /// Get the density of the shape if you are having Chipmunk calculate mass properties for you.
112 CP_EXPORT cpFloat cpShapeGetDensity(cpShape *shape);
113 /// Set the density of this shape to have Chipmunk calculate mass properties for you.
114 CP_EXPORT void cpShapeSetDensity(cpShape *shape, cpFloat density);
116 /// Get the calculated moment of inertia for this shape.
117 CP_EXPORT cpFloat cpShapeGetMoment(cpShape *shape);
118 /// Get the calculated area of this shape.
119 CP_EXPORT cpFloat cpShapeGetArea(cpShape *shape);
120 /// Get the centroid of this shape.
121 CP_EXPORT cpVect cpShapeGetCenterOfGravity(cpShape *shape);
123 /// Get the bounding box that contains the shape given it's current position and angle.
124 CP_EXPORT cpBB cpShapeGetBB(const cpShape *shape);
126 /// Get if the shape is set to be a sensor or not.
127 CP_EXPORT cpBool cpShapeGetSensor(const cpShape *shape);
128 /// Set if the shape is a sensor or not.
129 CP_EXPORT void cpShapeSetSensor(cpShape *shape, cpBool sensor);
131 /// Get the elasticity of this shape.
132 CP_EXPORT cpFloat cpShapeGetElasticity(const cpShape *shape);
133 /// Set the elasticity of this shape.
134 CP_EXPORT void cpShapeSetElasticity(cpShape *shape, cpFloat elasticity);
136 /// Get the friction of this shape.
137 CP_EXPORT cpFloat cpShapeGetFriction(const cpShape *shape);
138 /// Set the friction of this shape.
139 CP_EXPORT void cpShapeSetFriction(cpShape *shape, cpFloat friction);
141 /// Get the surface velocity of this shape.
142 CP_EXPORT cpVect cpShapeGetSurfaceVelocity(const cpShape *shape);
143 /// Set the surface velocity of this shape.
144 CP_EXPORT void cpShapeSetSurfaceVelocity(cpShape *shape, cpVect surfaceVelocity);
146 /// Get the user definable data pointer of this shape.
147 CP_EXPORT cpDataPointer cpShapeGetUserData(const cpShape *shape);
148 /// Set the user definable data pointer of this shape.
149 CP_EXPORT void cpShapeSetUserData(cpShape *shape, cpDataPointer userData);
151 /// Set the collision type of this shape.
152 CP_EXPORT cpCollisionType cpShapeGetCollisionType(const cpShape *shape);
153 /// Get the collision type of this shape.
154 CP_EXPORT void cpShapeSetCollisionType(cpShape *shape, cpCollisionType collisionType);
156 /// Get the collision filtering parameters of this shape.
157 CP_EXPORT cpShapeFilter cpShapeGetFilter(const cpShape *shape);
158 /// Set the collision filtering parameters of this shape.
159 CP_EXPORT void cpShapeSetFilter(cpShape *shape, cpShapeFilter filter);
163 /// @defgroup cpCircleShape cpCircleShape
165 /// Allocate a circle shape.
166 CP_EXPORT cpCircleShape* cpCircleShapeAlloc(void);
167 /// Initialize a circle shape.
168 CP_EXPORT cpCircleShape* cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset);
169 /// Allocate and initialize a circle shape.
170 CP_EXPORT cpShape* cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset);
172 /// Get the offset of a circle shape.
173 CP_EXPORT cpVect cpCircleShapeGetOffset(const cpShape *shape);
174 /// Get the radius of a circle shape.
175 CP_EXPORT cpFloat cpCircleShapeGetRadius(const cpShape *shape);
178 /// @defgroup cpSegmentShape cpSegmentShape
180 /// Allocate a segment shape.
181 CP_EXPORT cpSegmentShape* cpSegmentShapeAlloc(void);
182 /// Initialize a segment shape.
183 CP_EXPORT cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius);
184 /// Allocate and initialize a segment shape.
185 CP_EXPORT cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius);
187 /// Let Chipmunk know about the geometry of adjacent segments to avoid colliding with endcaps.
188 CP_EXPORT void cpSegmentShapeSetNeighbors(cpShape *shape, cpVect prev, cpVect next);
190 /// Get the first endpoint of a segment shape.
191 CP_EXPORT cpVect cpSegmentShapeGetA(const cpShape *shape);
192 /// Get the second endpoint of a segment shape.
193 CP_EXPORT cpVect cpSegmentShapeGetB(const cpShape *shape);
194 /// Get the normal of a segment shape.
195 CP_EXPORT cpVect cpSegmentShapeGetNormal(const cpShape *shape);
196 /// Get the first endpoint of a segment shape.
197 CP_EXPORT cpFloat cpSegmentShapeGetRadius(const cpShape *shape);