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Updated Box2D to 2.3.2-git.

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This commit is contained in:
Alex Szpakowski
2015-11-30 23:55:50 -04:00
parent 5bdd858487
commit 0474f8167a
12 changed files with 87 additions and 51 deletions
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src/libraries/Box2D/Dynamics/Contacts/b2ContactSolver.cpp
+23 -18
View File
@@ -26,6 +26,8 @@
#define B2_DEBUG_SOLVER 0
bool g_blockSolve = true;
struct b2ContactPositionConstraint
{
b2Vec2 localPoints[b2_maxManifoldPoints];
@@ -213,7 +215,7 @@ void b2ContactSolver::InitializeVelocityConstraints()
}
// If we have two points, then prepare the block solver.
if (vc->pointCount == 2)
if (vc->pointCount == 2 && g_blockSolve)
{
b2VelocityConstraintPoint* vcp1 = vc->points + 0;
b2VelocityConstraintPoint* vcp2 = vc->points + 1;
@@ -341,29 +343,32 @@ void b2ContactSolver::SolveVelocityConstraints()
}
// Solve normal constraints
if (vc->pointCount == 1)
if (pointCount == 1 || g_blockSolve == false)
{
b2VelocityConstraintPoint* vcp = vc->points + 0;
for (int32 i = 0; i < pointCount; ++i)
{
b2VelocityConstraintPoint* vcp = vc->points + i;
// Relative velocity at contact
b2Vec2 dv = vB + b2Cross(wB, vcp->rB) - vA - b2Cross(wA, vcp->rA);
// Relative velocity at contact
b2Vec2 dv = vB + b2Cross(wB, vcp->rB) - vA - b2Cross(wA, vcp->rA);
// Compute normal impulse
float32 vn = b2Dot(dv, normal);
float32 lambda = -vcp->normalMass * (vn - vcp->velocityBias);
// Compute normal impulse
float32 vn = b2Dot(dv, normal);
float32 lambda = -vcp->normalMass * (vn - vcp->velocityBias);
// b2Clamp the accumulated impulse
float32 newImpulse = b2Max(vcp->normalImpulse + lambda, 0.0f);
lambda = newImpulse - vcp->normalImpulse;
vcp->normalImpulse = newImpulse;
// b2Clamp the accumulated impulse
float32 newImpulse = b2Max(vcp->normalImpulse + lambda, 0.0f);
lambda = newImpulse - vcp->normalImpulse;
vcp->normalImpulse = newImpulse;
// Apply contact impulse
b2Vec2 P = lambda * normal;
vA -= mA * P;
wA -= iA * b2Cross(vcp->rA, P);
// Apply contact impulse
b2Vec2 P = lambda * normal;
vA -= mA * P;
wA -= iA * b2Cross(vcp->rA, P);
vB += mB * P;
wB += iB * b2Cross(vcp->rB, P);
vB += mB * P;
wB += iB * b2Cross(vcp->rB, P);
}
}
else
{
src/libraries/Box2D/Dynamics/Joints/b2PrismaticJoint.cpp
+3
View File
@@ -174,6 +174,9 @@ void b2PrismaticJoint::InitVelocityConstraints(const b2SolverData& data)
m_s1 = b2Cross(d + rA, m_perp);
m_s2 = b2Cross(rB, m_perp);
float32 s1test;
s1test = b2Cross(rA, m_perp);
float32 k11 = mA + mB + iA * m_s1 * m_s1 + iB * m_s2 * m_s2;
float32 k12 = iA * m_s1 + iB * m_s2;
float32 k13 = iA * m_s1 * m_a1 + iB * m_s2 * m_a2;
src/libraries/Box2D/Dynamics/Joints/b2WeldJoint.cpp
+17 -1
View File
@@ -129,6 +129,12 @@ void b2WeldJoint::InitVelocityConstraints(const b2SolverData& data)
invM += m_gamma;
m_mass.ez.z = invM != 0.0f ? 1.0f / invM : 0.0f;
}
else if (K.ez.z == 0.0f)
{
K.GetInverse22(&m_mass);
m_gamma = 0.0f;
m_bias = 0.0f;
}
else
{
K.GetSymInverse33(&m_mass);
@@ -271,7 +277,17 @@ bool b2WeldJoint::SolvePositionConstraints(const b2SolverData& data)
b2Vec3 C(C1.x, C1.y, C2);
b2Vec3 impulse = -K.Solve33(C);
b2Vec3 impulse;
if (K.ez.z > 0.0f)
{
impulse = -K.Solve33(C);
}
else
{
b2Vec2 impulse2 = -K.Solve22(C1);
impulse.Set(impulse2.x, impulse2.y, 0.0f);
}
b2Vec2 P(impulse.x, impulse.y);
cA -= mA * P;
src/libraries/Box2D/Dynamics/Joints/b2WheelJoint.h
+2 -3
View File
@@ -72,9 +72,8 @@ struct b2WheelJointDef : public b2JointDef
};
/// A wheel joint. This joint provides two degrees of freedom: translation
/// along an axis fixed in bodyA and rotation in the plane. You can use a
/// joint limit to restrict the range of motion and a joint motor to drive
/// the rotation or to model rotational friction.
/// along an axis fixed in bodyA and rotation in the plane. In other words, it is a point to
/// line constraint with a rotational motor and a linear spring/damper.
/// This joint is designed for vehicle suspensions.
class b2WheelJoint : public b2Joint
{
src/libraries/Box2D/Dynamics/b2World.cpp
+19 -19
View File
@@ -37,7 +37,7 @@
b2World::b2World(const b2Vec2& gravity)
{
m_destructionListener = NULL;
m_debugDraw = NULL;
g_debugDraw = NULL;
m_bodyList = NULL;
m_jointList = NULL;
@@ -101,7 +101,7 @@ void b2World::SetContactListener(b2ContactListener* listener)
void b2World::SetDebugDraw(b2Draw* debugDraw)
{
m_debugDraw = debugDraw;
g_debugDraw = debugDraw;
}
b2Body* b2World::CreateBody(const b2BodyDef* def)
@@ -1040,7 +1040,7 @@ void b2World::DrawShape(b2Fixture* fixture, const b2Transform& xf, const b2Color
float32 radius = circle->m_radius;
b2Vec2 axis = b2Mul(xf.q, b2Vec2(1.0f, 0.0f));
m_debugDraw->DrawSolidCircle(center, radius, axis, color);
g_debugDraw->DrawSolidCircle(center, radius, axis, color);
}
break;
@@ -1049,7 +1049,7 @@ void b2World::DrawShape(b2Fixture* fixture, const b2Transform& xf, const b2Color
b2EdgeShape* edge = (b2EdgeShape*)fixture->GetShape();
b2Vec2 v1 = b2Mul(xf, edge->m_vertex1);
b2Vec2 v2 = b2Mul(xf, edge->m_vertex2);
m_debugDraw->DrawSegment(v1, v2, color);
g_debugDraw->DrawSegment(v1, v2, color);
}
break;
@@ -1063,8 +1063,8 @@ void b2World::DrawShape(b2Fixture* fixture, const b2Transform& xf, const b2Color
for (int32 i = 1; i < count; ++i)
{
b2Vec2 v2 = b2Mul(xf, vertices[i]);
m_debugDraw->DrawSegment(v1, v2, color);
m_debugDraw->DrawCircle(v1, 0.05f, color);
g_debugDraw->DrawSegment(v1, v2, color);
g_debugDraw->DrawCircle(v1, 0.05f, color);
v1 = v2;
}
}
@@ -1082,7 +1082,7 @@ void b2World::DrawShape(b2Fixture* fixture, const b2Transform& xf, const b2Color
vertices[i] = b2Mul(xf, poly->m_vertices[i]);
}
m_debugDraw->DrawSolidPolygon(vertices, vertexCount, color);
g_debugDraw->DrawSolidPolygon(vertices, vertexCount, color);
}
break;
@@ -1107,7 +1107,7 @@ void b2World::DrawJoint(b2Joint* joint)
switch (joint->GetType())
{
case e_distanceJoint:
m_debugDraw->DrawSegment(p1, p2, color);
g_debugDraw->DrawSegment(p1, p2, color);
break;
case e_pulleyJoint:
@@ -1115,9 +1115,9 @@ void b2World::DrawJoint(b2Joint* joint)
b2PulleyJoint* pulley = (b2PulleyJoint*)joint;
b2Vec2 s1 = pulley->GetGroundAnchorA();
b2Vec2 s2 = pulley->GetGroundAnchorB();
m_debugDraw->DrawSegment(s1, p1, color);
m_debugDraw->DrawSegment(s2, p2, color);
m_debugDraw->DrawSegment(s1, s2, color);
g_debugDraw->DrawSegment(s1, p1, color);
g_debugDraw->DrawSegment(s2, p2, color);
g_debugDraw->DrawSegment(s1, s2, color);
}
break;
@@ -1126,20 +1126,20 @@ void b2World::DrawJoint(b2Joint* joint)
break;
default:
m_debugDraw->DrawSegment(x1, p1, color);
m_debugDraw->DrawSegment(p1, p2, color);
m_debugDraw->DrawSegment(x2, p2, color);
g_debugDraw->DrawSegment(x1, p1, color);
g_debugDraw->DrawSegment(p1, p2, color);
g_debugDraw->DrawSegment(x2, p2, color);
}
}
void b2World::DrawDebugData()
{
if (m_debugDraw == NULL)
if (g_debugDraw == NULL)
{
return;
}
uint32 flags = m_debugDraw->GetFlags();
uint32 flags = g_debugDraw->GetFlags();
if (flags & b2Draw::e_shapeBit)
{
@@ -1191,7 +1191,7 @@ void b2World::DrawDebugData()
//b2Vec2 cA = fixtureA->GetAABB().GetCenter();
//b2Vec2 cB = fixtureB->GetAABB().GetCenter();
//m_debugDraw->DrawSegment(cA, cB, color);
//g_debugDraw->DrawSegment(cA, cB, color);
}
}
@@ -1219,7 +1219,7 @@ void b2World::DrawDebugData()
vs[2].Set(aabb.upperBound.x, aabb.upperBound.y);
vs[3].Set(aabb.lowerBound.x, aabb.upperBound.y);
m_debugDraw->DrawPolygon(vs, 4, color);
g_debugDraw->DrawPolygon(vs, 4, color);
}
}
}
@@ -1231,7 +1231,7 @@ void b2World::DrawDebugData()
{
b2Transform xf = b->GetTransform();
xf.p = b->GetWorldCenter();
m_debugDraw->DrawTransform(xf);
g_debugDraw->DrawTransform(xf);
}
}
}
src/libraries/Box2D/Dynamics/b2World.h
+1 -1
View File
@@ -247,7 +247,7 @@ private:
bool m_allowSleep;
b2DestructionListener* m_destructionListener;
b2Draw* m_debugDraw;
b2Draw* g_debugDraw;
// This is used to compute the time step ratio to
// support a variable time step.