/* * Copyright (c) 2006-2009 Erin Catto http://www.box2d.org * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages * arising from the use of this software. * Permission is granted to anyone to use this software for any purpose, * including commercial applications, and to alter it and redistribute it * freely, subject to the following restrictions: * 1. The origin of this software must not be misrepresented; you must not * claim that you wrote the original software. If you use this software * in a product, an acknowledgment in the product documentation would be * appreciated but is not required. * 2. Altered source versions must be plainly marked as such, and must not be * misrepresented as being the original software. * 3. This notice may not be removed or altered from any source distribution. */ #ifndef B2_SETTINGS_H #define B2_SETTINGS_H #include <cassert> #include <cmath> #define B2_NOT_USED(x) ((void)(x)) #define b2Assert(A) assert(A) typedef signed char int8; typedef signed short int16; typedef signed int int32; typedef unsigned char uint8; typedef unsigned short uint16; typedef unsigned int uint32; typedef float float32; typedef double float64; #define b2_maxFloat FLT_MAX #define b2_epsilon FLT_EPSILON #define b2_pi 3.14159265359f /// @file /// Global tuning constants based on meters-kilograms-seconds (MKS) units. /// // Collision /// The maximum number of contact points between two convex shapes. Do /// not change this value. #define b2_maxManifoldPoints 2 /// The maximum number of vertices on a convex polygon. You cannot increase /// this too much because b2BlockAllocator has a maximum object size. #define b2_maxPolygonVertices 8 /// This is used to fatten AABBs in the dynamic tree. This allows proxies /// to move by a small amount without triggering a tree adjustment. /// This is in meters. #define b2_aabbExtension 0.1f /// This is used to fatten AABBs in the dynamic tree. This is used to predict /// the future position based on the current displacement. /// This is a dimensionless multiplier. #define b2_aabbMultiplier 2.0f /// A small length used as a collision and constraint tolerance. Usually it is /// chosen to be numerically significant, but visually insignificant. #define b2_linearSlop 0.005f /// A small angle used as a collision and constraint tolerance. Usually it is /// chosen to be numerically significant, but visually insignificant. #define b2_angularSlop (2.0f / 180.0f * b2_pi) /// The radius of the polygon/edge shape skin. This should not be modified. Making /// this smaller means polygons will have an insufficient buffer for continuous collision. /// Making it larger may create artifacts for vertex collision. #define b2_polygonRadius (2.0f * b2_linearSlop) /// Maximum number of sub-steps per contact in continuous physics simulation. #define b2_maxSubSteps 8 // Dynamics /// Maximum number of contacts to be handled to solve a TOI impact. #define b2_maxTOIContacts 32 /// A velocity threshold for elastic collisions. Any collision with a relative linear /// velocity below this threshold will be treated as inelastic. #define b2_velocityThreshold 1.0f /// The maximum linear position correction used when solving constraints. This helps to /// prevent overshoot. #define b2_maxLinearCorrection 0.2f /// The maximum angular position correction used when solving constraints. This helps to /// prevent overshoot. #define b2_maxAngularCorrection (8.0f / 180.0f * b2_pi) /// The maximum linear velocity of a body. This limit is very large and is used /// to prevent numerical problems. You shouldn't need to adjust this. #define b2_maxTranslation 2.0f #define b2_maxTranslationSquared (b2_maxTranslation * b2_maxTranslation) /// The maximum angular velocity of a body. This limit is very large and is used /// to prevent numerical problems. You shouldn't need to adjust this. #define b2_maxRotation (0.5f * b2_pi) #define b2_maxRotationSquared (b2_maxRotation * b2_maxRotation) /// This scale factor controls how fast overlap is resolved. Ideally this would be 1 so /// that overlap is removed in one time step. However using values close to 1 often lead /// to overshoot. #define b2_baumgarte 0.2f #define b2_toiBaugarte 0.75f // Sleep /// The time that a body must be still before it will go to sleep. #define b2_timeToSleep 0.5f /// A body cannot sleep if its linear velocity is above this tolerance. #define b2_linearSleepTolerance 0.01f /// A body cannot sleep if its angular velocity is above this tolerance. #define b2_angularSleepTolerance (2.0f / 180.0f * b2_pi) // Memory Allocation /// Implement this function to use your own memory allocator. void* b2Alloc(int32 size); /// If you implement b2Alloc, you should also implement this function. void b2Free(void* mem); /// Logging function. void b2Log(const char* string, ...); /// Version numbering scheme. /// See http://en.wikipedia.org/wiki/Software_versioning struct b2Version { int32 major; ///< significant changes int32 minor; ///< incremental changes int32 revision; ///< bug fixes }; /// Current version. extern b2Version b2_version; #endif