// SPDX-FileCopyrightText: 2026 Erin Catto
// SPDX-License-Identifier: MIT

#pragma once

#include "box2d/math_functions.h"

/// Used to detect bad values. Positions greater than about 16km will have precision
/// problems in single precision, so 100km as a limit should be fine in all cases.
/// In large world mode the broad-phase starts to have excessive padding at 10,000km.
#if defined( BOX2D_DOUBLE_PRECISION )
#define B2_HUGE ( 1.0e9f * b2GetLengthUnitsPerMeter() )
#else
#define B2_HUGE ( 1.0e5f * b2GetLengthUnitsPerMeter() )
#endif

/// Maximum parallel workers. Used for some fixed size arrays.
#define B2_MAX_WORKERS 32

/// Maximum number of tasks queued per world step. b2EnqueueTaskCallback will never be called
/// more than this per world step. This is related to B2_MAX_WORKERS. With 32 workers,
/// the maximum observed task count is 130. This allows an external task system to use a fixed
/// size array for Box2D task, which may help with creating stable user task pointers.
#define B2_MAX_TASKS 256

/// Maximum number of colors in the constraint graph. Constraints that cannot
/// find a color are added to the overflow set which are solved single-threaded.
/// The compound barrel benchmark has minor overflow with 24 colors
#define B2_GRAPH_COLOR_COUNT 24

/// A small length used as a collision and constraint tolerance. Usually it is
/// chosen to be numerically significant, but visually insignificant. In meters.
/// Normally this is 0.5cm.
/// @warning modifying this can have a significant impact on stability
#define B2_LINEAR_SLOP ( 0.005f * b2GetLengthUnitsPerMeter() )

/// Maximum number of simultaneous worlds that can be allocated
#ifndef B2_MAX_WORLDS
#define B2_MAX_WORLDS 128
#endif

/// Maximum length of the body name. Can be 0 if you don't need names.
#ifndef B2_NAME_LENGTH
#define B2_NAME_LENGTH 10
#endif

/// The maximum rotation of a body per time step. This limit is very large and is used
/// to prevent numerical problems. You shouldn't need to adjust this.
/// @warning increasing this to 0.5f * b2_pi or greater will break continuous collision.
#define B2_MAX_ROTATION ( 0.25f * B2_PI )

/// Box2D uses limited speculative collision. This reduces jitter.
/// Normally this is 2cm.
/// @warning modifying this can have a significant impact on performance and stability
#define B2_SPECULATIVE_DISTANCE ( 4.0f * B2_LINEAR_SLOP )

/// The default contact recycling distance.
#define B2_CONTACT_RECYCLE_DISTANCE ( 10.0f * B2_LINEAR_SLOP )

/// The default contact recycling world angle threshold. 0.98 ~= 11.5 degrees
#define B2_CONTACT_RECYCLE_COS_ANGLE ( 0.98f )

/// 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.
/// Normally this is 5cm.
/// @warning modifying this can have a significant impact on performance
#define B2_MAX_AABB_MARGIN ( 0.05f * b2GetLengthUnitsPerMeter() )

/// For small objects the margin is limited to this fraction times the maximum extent
#define B2_AABB_MARGIN_FRACTION 0.125f

/// The time that a body must be still before it will go to sleep. In seconds.
#define B2_TIME_TO_SLEEP 0.5f