59 lines
1.9 KiB
C
59 lines
1.9 KiB
C
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// SPDX-FileCopyrightText: 2023 Erin Catto
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// SPDX-License-Identifier: MIT
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#pragma once
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#include "array.h"
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#include "bitset.h"
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#include "constants.h"
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typedef struct b2Body b2Body;
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typedef struct b2ContactSim b2ContactSim;
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typedef struct b2Contact b2Contact;
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typedef struct b2ContactConstraint b2ContactConstraint;
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typedef struct b2ContactConstraintSIMD b2ContactConstraintSIMD;
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typedef struct b2JointSim b2JointSim;
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typedef struct b2Joint b2Joint;
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typedef struct b2StepContext b2StepContext;
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typedef struct b2World b2World;
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// This holds constraints that cannot fit the graph color limit. This happens when a single dynamic body
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// is touching many other bodies.
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#define B2_OVERFLOW_INDEX (B2_GRAPH_COLOR_COUNT - 1)
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typedef struct b2GraphColor
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{
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// This bitset is indexed by bodyId so this is over-sized to encompass static bodies
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// however I never traverse these bits or use the bit count for anything
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// This bitset is unused on the overflow color.
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// todo consider having a uint_16 per body that tracks the graph color membership
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b2BitSet bodySet;
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// cache friendly arrays
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b2ContactSimArray contactSims;
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b2JointSimArray jointSims;
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// transient
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union
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{
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b2ContactConstraintSIMD* simdConstraints;
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b2ContactConstraint* overflowConstraints;
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};
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} b2GraphColor;
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typedef struct b2ConstraintGraph
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{
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// including overflow at the end
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b2GraphColor colors[B2_GRAPH_COLOR_COUNT];
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} b2ConstraintGraph;
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void b2CreateGraph( b2ConstraintGraph* graph, int bodyCapacity );
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void b2DestroyGraph( b2ConstraintGraph* graph );
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void b2AddContactToGraph( b2World* world, b2ContactSim* contactSim, b2Contact* contact );
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void b2RemoveContactFromGraph( b2World* world, int bodyIdA, int bodyIdB, int colorIndex, int localIndex );
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b2JointSim* b2CreateJointInGraph( b2World* world, b2Joint* joint );
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void b2AddJointToGraph( b2World* world, b2JointSim* jointSim, b2Joint* joint );
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void b2RemoveJointFromGraph( b2World* world, int bodyIdA, int bodyIdB, int colorIndex, int localIndex );
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