From 57e345e91e18fe1e469c71b1c464f5142bb5f215 Mon Sep 17 00:00:00 2001 From: Bill Meltsner Date: Sun, 13 Mar 2011 07:59:18 -0400 Subject: [PATCH] bring in new version of Box2D and update #include paths --HG-- branch : box2d-update --- .../macosx/love.xcodeproj/project.pbxproj | 529 ++++---- src/modules/physics/box2d/Body.h | 2 +- src/modules/physics/box2d/Box2D/Box2D.h | 62 + .../Box2D/Collision/Shapes/b2CircleShape.cpp | 89 ++ .../Box2D/Collision/Shapes/b2CircleShape.h | 87 ++ .../Box2D/Collision/Shapes/b2PolygonShape.cpp | 434 +++++++ .../Box2D/Collision/Shapes/b2PolygonShape.h | 131 ++ .../box2d/Box2D/Collision/Shapes/b2Shape.h | 95 ++ .../box2d/Box2D/Collision/b2BroadPhase.cpp | 116 ++ .../box2d/Box2D/Collision/b2BroadPhase.h | 229 ++++ .../box2d/Box2D/Collision/b2CollideCircle.cpp | 154 +++ .../Collision/b2CollidePolygon.cpp} | 190 ++- .../box2d/Box2D/Collision/b2Collision.cpp | 250 ++++ .../box2d/Box2D/Collision/b2Collision.h | 240 ++++ .../box2d/Box2D/Collision/b2Distance.cpp | 571 +++++++++ .../box2d/Box2D/Collision/b2Distance.h | 141 +++ .../box2d/Box2D/Collision/b2DynamicTree.cpp | 365 ++++++ .../box2d/Box2D/Collision/b2DynamicTree.h | 286 +++++ .../box2d/Box2D/Collision/b2TimeOfImpact.cpp | 483 ++++++++ .../box2d/Box2D/Collision/b2TimeOfImpact.h | 59 + .../Common/b2BlockAllocator.cpp | 11 +- .../Common/b2BlockAllocator.h | 4 +- .../physics/box2d/Box2D/Common/b2Math.cpp | 55 + .../box2d/{Source => Box2D}/Common/b2Math.h | 444 ++++--- .../Common/b2Settings.cpp} | 24 +- .../{Source => Box2D}/Common/b2Settings.h | 113 +- .../Common/b2StackAllocator.cpp | 6 +- .../Common/b2StackAllocator.h | 4 +- .../Dynamics/Contacts/b2CircleContact.cpp | 52 + .../Dynamics/Contacts/b2CircleContact.h | 22 +- .../Box2D/Dynamics/Contacts/b2Contact.cpp | 226 ++++ .../box2d/Box2D/Dynamics/Contacts/b2Contact.h | 242 ++++ .../Dynamics/Contacts/b2ContactSolver.cpp | 623 ++++++++++ .../Dynamics/Contacts/b2ContactSolver.h | 45 +- .../Contacts/b2PolygonAndCircleContact.cpp | 52 + .../Contacts/b2PolygonAndCircleContact.h} | 24 +- .../Dynamics/Contacts/b2PolygonContact.cpp | 52 + .../Dynamics/Contacts/b2PolygonContact.h} | 20 +- .../Box2D/Dynamics/Contacts/b2TOISolver.cpp | 231 ++++ .../Box2D/Dynamics/Contacts/b2TOISolver.h | 51 + .../Dynamics/Joints/b2DistanceJoint.cpp | 77 +- .../Dynamics/Joints/b2DistanceJoint.h | 76 +- .../Box2D/Dynamics/Joints/b2FrictionJoint.cpp | 229 ++++ .../Box2D/Dynamics/Joints/b2FrictionJoint.h | 99 ++ .../Dynamics/Joints/b2GearJoint.cpp | 132 +- .../Dynamics/Joints/b2GearJoint.h | 20 +- .../Dynamics/Joints/b2Joint.cpp | 78 +- .../Dynamics/Joints/b2Joint.h | 95 +- .../Box2D/Dynamics/Joints/b2LineJoint.cpp | 591 +++++++++ .../box2d/Box2D/Dynamics/Joints/b2LineJoint.h | 170 +++ .../Box2D/Dynamics/Joints/b2MouseJoint.cpp | 197 +++ .../Dynamics/Joints/b2MouseJoint.h | 44 +- .../Dynamics/Joints/b2PrismaticJoint.cpp | 586 +++++++++ .../Dynamics/Joints/b2PrismaticJoint.h | 45 +- .../Dynamics/Joints/b2PulleyJoint.cpp | 197 ++- .../Dynamics/Joints/b2PulleyJoint.h | 81 +- .../Box2D/Dynamics/Joints/b2RevoluteJoint.cpp | 478 ++++++++ .../Dynamics/Joints/b2RevoluteJoint.h | 42 +- .../Box2D/Dynamics/Joints/b2WeldJoint.cpp | 219 ++++ .../box2d/Box2D/Dynamics/Joints/b2WeldJoint.h | 82 ++ .../physics/box2d/Box2D/Dynamics/b2Body.cpp | 470 +++++++ .../physics/box2d/Box2D/Dynamics/b2Body.h | 802 ++++++++++++ .../box2d/Box2D/Dynamics/b2ContactManager.cpp | 266 ++++ .../Dynamics/b2ContactManager.h | 36 +- .../box2d/Box2D/Dynamics/b2Fixture.cpp | 163 +++ .../physics/box2d/Box2D/Dynamics/b2Fixture.h | 326 +++++ .../{Source => Box2D}/Dynamics/b2Island.cpp | 286 ++--- .../{Source => Box2D}/Dynamics/b2Island.h | 33 +- .../Dynamics/b2TimeStep.h} | 46 +- .../physics/box2d/Box2D/Dynamics/b2World.cpp | 1076 +++++++++++++++++ .../{Source => Box2D}/Dynamics/b2World.h | 538 +++++---- .../Dynamics/b2WorldCallbacks.cpp | 20 +- .../Dynamics/b2WorldCallbacks.h | 129 +- src/modules/physics/box2d/Contact.h | 2 +- src/modules/physics/box2d/Include/Box2D.h | 52 - src/modules/physics/box2d/Joint.h | 2 +- src/modules/physics/box2d/Shape.h | 2 +- .../Source/Collision/Shapes/b2CircleShape.cpp | 120 -- .../Source/Collision/Shapes/b2CircleShape.h | 92 -- .../Collision/Shapes/b2PolygonShape.cpp | 449 ------- .../Source/Collision/Shapes/b2PolygonShape.h | 163 --- .../box2d/Source/Collision/Shapes/b2Shape.cpp | 167 --- .../box2d/Source/Collision/Shapes/b2Shape.h | 286 ----- .../box2d/Source/Collision/b2BroadPhase.cpp | 668 ---------- .../box2d/Source/Collision/b2BroadPhase.h | 146 --- .../Source/Collision/b2CollideCircle.cpp | 168 --- .../box2d/Source/Collision/b2Collision.cpp | 72 -- .../box2d/Source/Collision/b2Collision.h | 154 --- .../box2d/Source/Collision/b2Distance.cpp | 364 ------ .../box2d/Source/Collision/b2PairManager.cpp | 396 ------ .../box2d/Source/Collision/b2PairManager.h | 121 -- .../box2d/Source/Collision/b2TimeOfImpact.cpp | 112 -- .../physics/box2d/Source/Common/Fixed.h | 477 -------- .../physics/box2d/Source/Common/b2Math.cpp | 54 - .../physics/box2d/Source/Common/jtypes.h | 139 --- .../Dynamics/Contacts/b2CircleContact.cpp | 122 -- .../Source/Dynamics/Contacts/b2Contact.cpp | 172 --- .../Source/Dynamics/Contacts/b2Contact.h | 183 --- .../Dynamics/Contacts/b2ContactSolver.cpp | 360 ------ .../Contacts/b2PolyAndCircleContact.cpp | 158 --- .../Dynamics/Contacts/b2PolyContact.cpp | 157 --- .../Source/Dynamics/Joints/b2MouseJoint.cpp | 146 --- .../Dynamics/Joints/b2PrismaticJoint.cpp | 478 -------- .../Dynamics/Joints/b2RevoluteJoint.cpp | 399 ------ .../physics/box2d/Source/Dynamics/b2Body.cpp | 394 ------ .../physics/box2d/Source/Dynamics/b2Body.h | 587 --------- .../Source/Dynamics/b2ContactManager.cpp | 240 ---- .../physics/box2d/Source/Dynamics/b2World.cpp | 1064 ---------------- src/modules/physics/box2d/World.h | 2 +- 109 files changed, 12874 insertions(+), 10337 deletions(-) create mode 100644 src/modules/physics/box2d/Box2D/Box2D.h create mode 100644 src/modules/physics/box2d/Box2D/Collision/Shapes/b2CircleShape.cpp create mode 100644 src/modules/physics/box2d/Box2D/Collision/Shapes/b2CircleShape.h create mode 100644 src/modules/physics/box2d/Box2D/Collision/Shapes/b2PolygonShape.cpp create mode 100644 src/modules/physics/box2d/Box2D/Collision/Shapes/b2PolygonShape.h create mode 100644 src/modules/physics/box2d/Box2D/Collision/Shapes/b2Shape.h create mode 100644 src/modules/physics/box2d/Box2D/Collision/b2BroadPhase.cpp create mode 100644 src/modules/physics/box2d/Box2D/Collision/b2BroadPhase.h create mode 100644 src/modules/physics/box2d/Box2D/Collision/b2CollideCircle.cpp rename src/modules/physics/box2d/{Source/Collision/b2CollidePoly.cpp => Box2D/Collision/b2CollidePolygon.cpp} (53%) create mode 100644 src/modules/physics/box2d/Box2D/Collision/b2Collision.cpp create mode 100644 src/modules/physics/box2d/Box2D/Collision/b2Collision.h create mode 100644 src/modules/physics/box2d/Box2D/Collision/b2Distance.cpp create mode 100644 src/modules/physics/box2d/Box2D/Collision/b2Distance.h create mode 100644 src/modules/physics/box2d/Box2D/Collision/b2DynamicTree.cpp create mode 100644 src/modules/physics/box2d/Box2D/Collision/b2DynamicTree.h create mode 100644 src/modules/physics/box2d/Box2D/Collision/b2TimeOfImpact.cpp create mode 100644 src/modules/physics/box2d/Box2D/Collision/b2TimeOfImpact.h rename src/modules/physics/box2d/{Source => Box2D}/Common/b2BlockAllocator.cpp (91%) rename src/modules/physics/box2d/{Source => Box2D}/Common/b2BlockAllocator.h (91%) create mode 100644 src/modules/physics/box2d/Box2D/Common/b2Math.cpp rename src/modules/physics/box2d/{Source => Box2D}/Common/b2Math.h (60%) rename src/modules/physics/box2d/{Source/Dynamics/Contacts/b2NullContact.h => Box2D/Common/b2Settings.cpp} (70%) rename src/modules/physics/box2d/{Source => Box2D}/Common/b2Settings.h (57%) rename src/modules/physics/box2d/{Source => Box2D}/Common/b2StackAllocator.cpp (89%) rename src/modules/physics/box2d/{Source => Box2D}/Common/b2StackAllocator.h (90%) create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2CircleContact.cpp rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/Contacts/b2CircleContact.h (66%) create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2Contact.cpp create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2Contact.h create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2ContactSolver.cpp rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/Contacts/b2ContactSolver.h (67%) create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.cpp rename src/modules/physics/box2d/{Source/Dynamics/Contacts/b2PolyAndCircleContact.h => Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.h} (63%) create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2PolygonContact.cpp rename src/modules/physics/box2d/{Source/Dynamics/Contacts/b2PolyContact.h => Box2D/Dynamics/Contacts/b2PolygonContact.h} (69%) create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2TOISolver.cpp create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2TOISolver.h rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/Joints/b2DistanceJoint.cpp (67%) rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/Joints/b2DistanceJoint.h (59%) create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/Joints/b2FrictionJoint.cpp create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/Joints/b2FrictionJoint.h rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/Joints/b2GearJoint.cpp (57%) rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/Joints/b2GearJoint.h (85%) rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/Joints/b2Joint.cpp (61%) rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/Joints/b2Joint.h (69%) create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/Joints/b2LineJoint.cpp create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/Joints/b2LineJoint.h create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/Joints/b2MouseJoint.cpp rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/Joints/b2MouseJoint.h (70%) create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/Joints/b2PrismaticJoint.cpp rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/Joints/b2PrismaticJoint.h (83%) rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/Joints/b2PulleyJoint.cpp (57%) rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/Joints/b2PulleyJoint.h (65%) create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/Joints/b2RevoluteJoint.cpp rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/Joints/b2RevoluteJoint.h (82%) create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/Joints/b2WeldJoint.cpp create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/Joints/b2WeldJoint.h create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/b2Body.cpp create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/b2Body.h create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/b2ContactManager.cpp rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/b2ContactManager.h (58%) create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/b2Fixture.cpp create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/b2Fixture.h rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/b2Island.cpp (62%) rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/b2Island.h (75%) rename src/modules/physics/box2d/{Source/Common/b2Settings.cpp => Box2D/Dynamics/b2TimeStep.h} (57%) create mode 100644 src/modules/physics/box2d/Box2D/Dynamics/b2World.cpp rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/b2World.h (57%) rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/b2WorldCallbacks.cpp (68%) rename src/modules/physics/box2d/{Source => Box2D}/Dynamics/b2WorldCallbacks.h (50%) delete mode 100644 src/modules/physics/box2d/Include/Box2D.h delete mode 100644 src/modules/physics/box2d/Source/Collision/Shapes/b2CircleShape.cpp delete mode 100644 src/modules/physics/box2d/Source/Collision/Shapes/b2CircleShape.h delete mode 100644 src/modules/physics/box2d/Source/Collision/Shapes/b2PolygonShape.cpp delete mode 100644 src/modules/physics/box2d/Source/Collision/Shapes/b2PolygonShape.h delete mode 100644 src/modules/physics/box2d/Source/Collision/Shapes/b2Shape.cpp delete mode 100644 src/modules/physics/box2d/Source/Collision/Shapes/b2Shape.h delete mode 100644 src/modules/physics/box2d/Source/Collision/b2BroadPhase.cpp delete mode 100644 src/modules/physics/box2d/Source/Collision/b2BroadPhase.h delete mode 100644 src/modules/physics/box2d/Source/Collision/b2CollideCircle.cpp delete mode 100644 src/modules/physics/box2d/Source/Collision/b2Collision.cpp delete mode 100644 src/modules/physics/box2d/Source/Collision/b2Collision.h delete mode 100644 src/modules/physics/box2d/Source/Collision/b2Distance.cpp delete mode 100644 src/modules/physics/box2d/Source/Collision/b2PairManager.cpp delete mode 100644 src/modules/physics/box2d/Source/Collision/b2PairManager.h delete mode 100644 src/modules/physics/box2d/Source/Collision/b2TimeOfImpact.cpp delete mode 100644 src/modules/physics/box2d/Source/Common/Fixed.h delete mode 100644 src/modules/physics/box2d/Source/Common/b2Math.cpp delete mode 100644 src/modules/physics/box2d/Source/Common/jtypes.h delete mode 100644 src/modules/physics/box2d/Source/Dynamics/Contacts/b2CircleContact.cpp delete mode 100644 src/modules/physics/box2d/Source/Dynamics/Contacts/b2Contact.cpp delete mode 100644 src/modules/physics/box2d/Source/Dynamics/Contacts/b2Contact.h delete mode 100644 src/modules/physics/box2d/Source/Dynamics/Contacts/b2ContactSolver.cpp delete mode 100644 src/modules/physics/box2d/Source/Dynamics/Contacts/b2PolyAndCircleContact.cpp delete mode 100644 src/modules/physics/box2d/Source/Dynamics/Contacts/b2PolyContact.cpp delete mode 100644 src/modules/physics/box2d/Source/Dynamics/Joints/b2MouseJoint.cpp delete mode 100644 src/modules/physics/box2d/Source/Dynamics/Joints/b2PrismaticJoint.cpp delete mode 100644 src/modules/physics/box2d/Source/Dynamics/Joints/b2RevoluteJoint.cpp delete mode 100644 src/modules/physics/box2d/Source/Dynamics/b2Body.cpp delete mode 100644 src/modules/physics/box2d/Source/Dynamics/b2Body.h delete mode 100644 src/modules/physics/box2d/Source/Dynamics/b2ContactManager.cpp delete mode 100644 src/modules/physics/box2d/Source/Dynamics/b2World.cpp diff --git a/platform/macosx/love.xcodeproj/project.pbxproj b/platform/macosx/love.xcodeproj/project.pbxproj index e0a8c6197..eee5e9af9 100644 --- a/platform/macosx/love.xcodeproj/project.pbxproj +++ b/platform/macosx/love.xcodeproj/project.pbxproj @@ -98,65 +98,34 @@ A946D73C10424AC7002BF36C /* Mouse.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 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GearJoint.h */, A93E6AF510420AC7007D418B /* graham */, - A93E6AF810420AC8007D418B /* Include */, A93E6AFA10420AC8007D418B /* Joint.cpp */, A93E6AFB10420AC8007D418B /* Joint.h */, A93E6AFC10420AC8007D418B /* MouseJoint.cpp */, @@ -1151,7 +1163,6 @@ A93E6B0710420AC8007D418B /* RevoluteJoint.h */, A93E6B0810420AC8007D418B /* Shape.cpp */, A93E6B0910420AC8007D418B /* Shape.h */, - A93E6B0A10420AC8007D418B /* Source */, A93E6B4E10420ACA007D418B /* World.cpp */, A93E6B4F10420ACA007D418B /* World.h */, A93E6B5010420ACA007D418B /* wrap_Body.cpp */, @@ -1195,130 +1206,6 @@ path = graham; sourceTree = ""; }; - A93E6AF810420AC8007D418B /* Include */ = { - isa = PBXGroup; - children = ( - A93E6AF910420AC8007D418B /* Box2D.h */, - ); - path = Include; - sourceTree = ""; - }; - A93E6B0A10420AC8007D418B /* Source */ = { - isa = PBXGroup; - children = ( - A93E6B0B10420AC8007D418B /* Collision */, - A93E6B1D10420AC9007D418B /* Common */, - A93E6B2810420AC9007D418B /* Dynamics */, - ); - path = Source; 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A93E6B1B10420AC9007D418B /* b2Shape.cpp */, - A93E6B1C10420AC9007D418B /* b2Shape.h */, - ); - path = Shapes; - sourceTree = ""; - }; - A93E6B1D10420AC9007D418B /* Common */ = { - isa = PBXGroup; - children = ( - A93E6B1E10420AC9007D418B /* b2BlockAllocator.cpp */, - A93E6B1F10420AC9007D418B /* b2BlockAllocator.h */, - A93E6B2010420AC9007D418B /* b2Math.cpp */, - A93E6B2110420AC9007D418B /* b2Math.h */, - A93E6B2210420AC9007D418B /* b2Settings.cpp */, - A93E6B2310420AC9007D418B /* b2Settings.h */, - A93E6B2410420AC9007D418B /* b2StackAllocator.cpp */, - A93E6B2510420AC9007D418B /* b2StackAllocator.h */, - A93E6B2610420AC9007D418B /* Fixed.h */, - A93E6B2710420AC9007D418B /* jtypes.h */, - ); - path = Common; - sourceTree = ""; - }; - A93E6B2810420AC9007D418B /* Dynamics */ = { - isa = PBXGroup; - children = ( - A93E6B2910420AC9007D418B /* b2Body.cpp */, - A93E6B2A10420AC9007D418B /* b2Body.h */, - A93E6B2B10420AC9007D418B /* b2ContactManager.cpp */, - A93E6B2C10420AC9007D418B /* b2ContactManager.h */, - A93E6B2D10420AC9007D418B /* b2Island.cpp */, - A93E6B2E10420AC9007D418B /* b2Island.h */, - A93E6B2F10420AC9007D418B /* b2World.cpp */, - A93E6B3010420AC9007D418B /* b2World.h */, - A93E6B3110420AC9007D418B /* b2WorldCallbacks.cpp */, - A93E6B3210420AC9007D418B /* b2WorldCallbacks.h */, - A93E6B3310420AC9007D418B /* Contacts */, - A93E6B3F10420AC9007D418B /* Joints */, - ); - path = Dynamics; - sourceTree = ""; - }; - A93E6B3310420AC9007D418B /* Contacts */ = { - isa = PBXGroup; - children = ( - A93E6B3410420AC9007D418B /* b2CircleContact.cpp */, - A93E6B3510420AC9007D418B /* b2CircleContact.h */, - A93E6B3610420AC9007D418B /* b2Contact.cpp */, - A93E6B3710420AC9007D418B /* b2Contact.h */, - A93E6B3810420AC9007D418B /* b2ContactSolver.cpp */, - A93E6B3910420AC9007D418B /* b2ContactSolver.h */, - A93E6B3A10420AC9007D418B /* b2NullContact.h */, - A93E6B3B10420AC9007D418B /* b2PolyAndCircleContact.cpp */, - A93E6B3C10420AC9007D418B /* b2PolyAndCircleContact.h */, - A93E6B3D10420AC9007D418B /* b2PolyContact.cpp */, - A93E6B3E10420AC9007D418B /* b2PolyContact.h */, - ); - path = Contacts; - sourceTree = ""; - }; - A93E6B3F10420AC9007D418B /* Joints */ = { - isa = PBXGroup; - children = ( - A93E6B4010420AC9007D418B /* b2DistanceJoint.cpp */, - A93E6B4110420AC9007D418B /* b2DistanceJoint.h */, - A93E6B4210420AC9007D418B /* b2GearJoint.cpp */, - A93E6B4310420AC9007D418B /* b2GearJoint.h */, - A93E6B4410420AC9007D418B /* b2Joint.cpp */, - A93E6B4510420AC9007D418B /* b2Joint.h */, - A93E6B4610420AC9007D418B /* b2MouseJoint.cpp */, - A93E6B4710420ACA007D418B /* b2MouseJoint.h */, - A93E6B4810420ACA007D418B /* b2PrismaticJoint.cpp */, - A93E6B4910420ACA007D418B /* b2PrismaticJoint.h */, - A93E6B4A10420ACA007D418B /* b2PulleyJoint.cpp */, - A93E6B4B10420ACA007D418B /* b2PulleyJoint.h */, - A93E6B4C10420ACA007D418B /* b2RevoluteJoint.cpp */, - A93E6B4D10420ACA007D418B /* b2RevoluteJoint.h */, - ); - path = Joints; - sourceTree = ""; - }; A93E6B7410420ACB007D418B /* sound */ = { isa = PBXGroup; children = ( @@ -1428,6 +1315,132 @@ path = sdl; sourceTree = ""; }; + A986EBC3132CE6D800F048C8 /* Box2D */ = { + isa = PBXGroup; + children = ( + A986ECAC132CE82F00F048C8 /* Box2D.h */, + A986EBC7132CE6D800F048C8 /* Collision */, + A986EBDA132CE6D800F048C8 /* Common */, + A986EBE3132CE6D800F048C8 /* Dynamics */, + ); + path = Box2D; + sourceTree = ""; + }; + A986EBC7132CE6D800F048C8 /* Collision */ = { + isa = PBXGroup; + children = ( + A986EBC8132CE6D800F048C8 /* b2BroadPhase.cpp */, + A986EBC9132CE6D800F048C8 /* b2BroadPhase.h */, + A986EBCA132CE6D800F048C8 /* b2CollideCircle.cpp */, + A986EBCB132CE6D800F048C8 /* b2CollidePolygon.cpp */, + A986EBCC132CE6D800F048C8 /* b2Collision.cpp */, + A986EBCD132CE6D800F048C8 /* b2Collision.h */, + A986EBCE132CE6D800F048C8 /* b2Distance.cpp */, + A986EBCF132CE6D800F048C8 /* b2Distance.h */, + A986EBD0132CE6D800F048C8 /* b2DynamicTree.cpp */, + A986EBD1132CE6D800F048C8 /* b2DynamicTree.h */, + A986EBD2132CE6D800F048C8 /* b2TimeOfImpact.cpp */, + A986EBD3132CE6D800F048C8 /* b2TimeOfImpact.h */, + A986EBD4132CE6D800F048C8 /* Shapes */, + ); + path = Collision; + sourceTree = ""; + }; + A986EBD4132CE6D800F048C8 /* Shapes */ = { + isa = PBXGroup; + children = ( + A986EBD5132CE6D800F048C8 /* b2CircleShape.cpp */, + A986EBD6132CE6D800F048C8 /* b2CircleShape.h */, + A986EBD7132CE6D800F048C8 /* b2PolygonShape.cpp */, + A986EBD8132CE6D800F048C8 /* b2PolygonShape.h */, + A986EBD9132CE6D800F048C8 /* b2Shape.h */, + ); + path = Shapes; + sourceTree = ""; + }; + A986EBDA132CE6D800F048C8 /* Common */ = { + isa = PBXGroup; + children = ( + A986EBDB132CE6D800F048C8 /* b2BlockAllocator.cpp */, + A986EBDC132CE6D800F048C8 /* b2BlockAllocator.h */, + A986EBDD132CE6D800F048C8 /* b2Math.cpp */, + A986EBDE132CE6D800F048C8 /* b2Math.h */, + A986EBDF132CE6D800F048C8 /* b2Settings.cpp */, + A986EBE0132CE6D800F048C8 /* b2Settings.h */, + A986EBE1132CE6D800F048C8 /* b2StackAllocator.cpp */, + A986EBE2132CE6D800F048C8 /* b2StackAllocator.h */, + ); + path = Common; + sourceTree = ""; + }; + A986EBE3132CE6D800F048C8 /* Dynamics */ = { + isa = PBXGroup; + children = ( + A986EBE4132CE6D800F048C8 /* b2Body.cpp */, + A986EBE5132CE6D800F048C8 /* b2Body.h */, + A986EBE6132CE6D800F048C8 /* b2ContactManager.cpp */, + A986EBE7132CE6D800F048C8 /* b2ContactManager.h */, + A986EBE8132CE6D800F048C8 /* b2Fixture.cpp */, + A986EBE9132CE6D800F048C8 /* b2Fixture.h */, + A986EBEA132CE6D800F048C8 /* b2Island.cpp */, + A986EBEB132CE6D800F048C8 /* b2Island.h */, + A986EBEC132CE6D800F048C8 /* b2TimeStep.h */, + A986EBED132CE6D800F048C8 /* b2World.cpp */, + A986EBEE132CE6D800F048C8 /* b2World.h */, + A986EBEF132CE6D800F048C8 /* b2WorldCallbacks.cpp */, + A986EBF0132CE6D800F048C8 /* b2WorldCallbacks.h */, + A986EBF1132CE6D800F048C8 /* Contacts */, + A986EBFE132CE6D800F048C8 /* Joints */, + ); + path = Dynamics; + sourceTree = ""; + }; + A986EBF1132CE6D800F048C8 /* Contacts */ = { + isa = PBXGroup; + children = ( + A986EBF2132CE6D800F048C8 /* b2CircleContact.cpp */, + A986EBF3132CE6D800F048C8 /* b2CircleContact.h */, + A986EBF4132CE6D800F048C8 /* b2Contact.cpp */, + A986EBF5132CE6D800F048C8 /* b2Contact.h */, + A986EBF6132CE6D800F048C8 /* b2ContactSolver.cpp */, + A986EBF7132CE6D800F048C8 /* b2ContactSolver.h */, + A986EBF8132CE6D800F048C8 /* b2PolygonAndCircleContact.cpp */, + A986EBF9132CE6D800F048C8 /* b2PolygonAndCircleContact.h */, + A986EBFA132CE6D800F048C8 /* b2PolygonContact.cpp */, + A986EBFB132CE6D800F048C8 /* b2PolygonContact.h */, + A986EBFC132CE6D800F048C8 /* b2TOISolver.cpp */, + A986EBFD132CE6D800F048C8 /* b2TOISolver.h */, + ); + path = Contacts; + sourceTree = ""; + }; + A986EBFE132CE6D800F048C8 /* Joints */ = { + isa = PBXGroup; + children = ( + A986EBFF132CE6D800F048C8 /* b2DistanceJoint.cpp */, + A986EC00132CE6D800F048C8 /* b2DistanceJoint.h */, + A986EC01132CE6D800F048C8 /* b2FrictionJoint.cpp */, + A986EC02132CE6D800F048C8 /* b2FrictionJoint.h */, + A986EC03132CE6D800F048C8 /* b2GearJoint.cpp */, + A986EC04132CE6D800F048C8 /* b2GearJoint.h */, + A986EC05132CE6D800F048C8 /* b2Joint.cpp */, + A986EC06132CE6D800F048C8 /* b2Joint.h */, + A986EC07132CE6D800F048C8 /* b2LineJoint.cpp */, + A986EC08132CE6D800F048C8 /* b2LineJoint.h */, + A986EC09132CE6D800F048C8 /* b2MouseJoint.cpp */, + A986EC0A132CE6D800F048C8 /* b2MouseJoint.h */, + A986EC0B132CE6D800F048C8 /* b2PrismaticJoint.cpp */, + A986EC0C132CE6D800F048C8 /* b2PrismaticJoint.h */, + A986EC0D132CE6D800F048C8 /* b2PulleyJoint.cpp */, + A986EC0E132CE6D800F048C8 /* b2PulleyJoint.h */, + A986EC0F132CE6D800F048C8 /* b2RevoluteJoint.cpp */, + A986EC10132CE6D800F048C8 /* b2RevoluteJoint.h */, + A986EC11132CE6D800F048C8 /* b2WeldJoint.cpp */, + A986EC12132CE6D800F048C8 /* b2WeldJoint.h */, + ); + path = Joints; + sourceTree = ""; + }; /* End PBXGroup section */ /* Begin PBXNativeTarget section */ @@ -1481,7 +1494,6 @@ files = ( A9DEC1C11046EFA70049C70C /* Love.icns in Resources */, A9DEC1C21046EFA70049C70C /* LoveDocument.icns in Resources */, - A97E3843132A9EDE00198A2F /* love-Info.plist in Resources */, ); runOnlyForDeploymentPostprocessing = 0; }; @@ -1565,65 +1577,34 @@ A946D73C10424AC7002BF36C /* Mouse.cpp in Sources */, A946D73D10424AC7002BF36C /* wrap_Mouse.cpp in Sources */, A946D7DA10424E57002BF36C /* wrap_GearJoint.cpp in Sources */, - A946D7DB10424E57002BF36C /* b2CircleContact.cpp in Sources */, A946D7DC10424E57002BF36C /* wrap_Shape.cpp in Sources */, A946D7DD10424E57002BF36C /* wrap_PolygonShape.cpp in Sources */, A946D7DE10424E57002BF36C /* DistanceJoint.cpp in Sources */, - A946D7DF10424E57002BF36C /* b2PulleyJoint.cpp in Sources */, - A946D7E010424E57002BF36C /* b2Island.cpp in Sources */, - A946D7E110424E57002BF36C /* b2BlockAllocator.cpp in Sources */, A946D7E210424E57002BF36C /* Contact.cpp in Sources */, - A946D7E310424E57002BF36C /* b2Distance.cpp in Sources */, A946D7E410424E57002BF36C /* Joint.cpp in Sources */, - A946D7E510424E57002BF36C /* b2PolyContact.cpp in Sources */, - A946D7E610424E57002BF36C /* b2Joint.cpp in Sources */, - A946D7E710424E57002BF36C /* b2WorldCallbacks.cpp in Sources */, A946D7E810424E57002BF36C /* wrap_PulleyJoint.cpp in Sources */, - A946D7E910424E57002BF36C /* b2Body.cpp in Sources */, - A946D7EA10424E57002BF36C /* b2TimeOfImpact.cpp in Sources */, A946D7EB10424E57002BF36C /* wrap_DistanceJoint.cpp in Sources */, A946D7EC10424E57002BF36C /* CircleShape.cpp in Sources */, - A946D7ED10424E57002BF36C /* b2ContactSolver.cpp in Sources */, A946D7EE10424E57002BF36C /* MouseJoint.cpp in Sources */, A946D7EF10424E57002BF36C /* wrap_CircleShape.cpp in Sources */, A946D7F010424E57002BF36C /* wrap_Contact.cpp in Sources */, - A946D7F110424E57002BF36C /* b2PrismaticJoint.cpp in Sources */, A946D7F210424E57002BF36C /* RevoluteJoint.cpp in Sources */, - A946D7F310424E57002BF36C /* b2Shape.cpp in Sources */, - A946D7F410424E57002BF36C /* b2BroadPhase.cpp in Sources */, - A946D7F510424E57002BF36C /* b2PolygonShape.cpp in Sources */, A946D7F610424E57002BF36C /* PulleyJoint.cpp in Sources */, - A946D7F710424E57002BF36C /* b2CollidePoly.cpp in Sources */, A946D7F810424E57002BF36C /* Shape.cpp in Sources */, A946D7F910424E57002BF36C /* wrap_World.cpp in Sources */, A946D7FA10424E57002BF36C /* wrap_RevoluteJoint.cpp in Sources */, A946D7FB10424E57002BF36C /* wrap_PrismaticJoint.cpp in Sources */, A946D7FC10424E57002BF36C /* GrahamScanConvexHull.cpp in Sources */, - A946D7FD10424E57002BF36C /* b2RevoluteJoint.cpp in Sources */, A946D7FE10424E57002BF36C /* wrap_MouseJoint.cpp in Sources */, A946D7FF10424E57002BF36C /* wrap_Physics.cpp in Sources */, - A946D80010424E57002BF36C /* b2ContactManager.cpp in Sources */, - A946D80110424E57002BF36C /* b2StackAllocator.cpp in Sources */, A946D80210424E57002BF36C /* PrismaticJoint.cpp in Sources */, - A946D80310424E57002BF36C /* b2PairManager.cpp in Sources */, - A946D80410424E57002BF36C /* b2Contact.cpp in Sources */, - A946D80510424E57002BF36C /* b2CollideCircle.cpp in Sources */, - A946D80610424E57002BF36C /* b2DistanceJoint.cpp in Sources */, A946D80710424E57002BF36C /* Body.cpp in Sources */, - A946D80810424E57002BF36C /* b2GearJoint.cpp in Sources */, A946D80910424E57002BF36C /* PolygonShape.cpp in Sources */, A946D80A10424E57002BF36C /* GearJoint.cpp in Sources */, A946D80B10424E57002BF36C /* World.cpp in Sources */, - A946D80C10424E57002BF36C /* b2Math.cpp in Sources */, - A946D80D10424E57002BF36C /* b2CircleShape.cpp in Sources */, - A946D80E10424E57002BF36C /* b2MouseJoint.cpp in Sources */, A946D80F10424E57002BF36C /* Physics.cpp in Sources */, - A946D81010424E57002BF36C /* b2World.cpp in Sources */, - A946D81110424E57002BF36C /* b2Collision.cpp in Sources */, A946D81210424E57002BF36C /* wrap_Joint.cpp in Sources */, - A946D81310424E57002BF36C /* b2PolyAndCircleContact.cpp in Sources */, A946D81410424E57002BF36C /* wrap_Body.cpp in Sources */, - A946D81510424E57002BF36C /* b2Settings.cpp in Sources */, A946D82A10424EE3002BF36C /* Sound.cpp in Sources */, A946D82B10424EE3002BF36C /* Mpg123Decoder.cpp in Sources */, A946D82C10424EE3002BF36C /* Decoder.cpp in Sources */, @@ -1656,6 +1637,41 @@ A9BD60741226C988007DEC63 /* Framebuffer.cpp in Sources */, A9BD60751226C988007DEC63 /* wrap_Framebuffer.cpp in Sources */, A95684F7125D3555001B276B /* b64.cpp in Sources */, + A986EC64132CE6DB00F048C8 /* b2BroadPhase.cpp in Sources */, + A986EC65132CE6DB00F048C8 /* b2CollideCircle.cpp in Sources */, + A986EC66132CE6DB00F048C8 /* b2CollidePolygon.cpp in Sources */, + A986EC67132CE6DB00F048C8 /* b2Collision.cpp in Sources */, + A986EC68132CE6DB00F048C8 /* b2Distance.cpp in Sources */, + A986EC69132CE6DB00F048C8 /* b2DynamicTree.cpp in Sources */, + A986EC6A132CE6DB00F048C8 /* b2TimeOfImpact.cpp in Sources */, + A986EC6B132CE6DB00F048C8 /* b2CircleShape.cpp in Sources */, + A986EC6C132CE6DB00F048C8 /* b2PolygonShape.cpp in Sources */, + A986EC6D132CE6DB00F048C8 /* b2BlockAllocator.cpp in Sources */, + A986EC6E132CE6DB00F048C8 /* b2Math.cpp in Sources */, + A986EC6F132CE6DB00F048C8 /* b2Settings.cpp in Sources */, + A986EC70132CE6DB00F048C8 /* b2StackAllocator.cpp in Sources */, + A986EC71132CE6DB00F048C8 /* b2Body.cpp in Sources */, + A986EC72132CE6DB00F048C8 /* b2ContactManager.cpp in Sources */, + A986EC73132CE6DB00F048C8 /* b2Fixture.cpp in Sources */, + A986EC74132CE6DB00F048C8 /* b2Island.cpp in Sources */, + A986EC75132CE6DB00F048C8 /* b2World.cpp in Sources */, + A986EC76132CE6DB00F048C8 /* b2WorldCallbacks.cpp in Sources */, + A986EC77132CE6DB00F048C8 /* b2CircleContact.cpp in Sources */, + A986EC78132CE6DB00F048C8 /* b2Contact.cpp in Sources */, + A986EC79132CE6DB00F048C8 /* b2ContactSolver.cpp in Sources */, + A986EC7A132CE6DB00F048C8 /* b2PolygonAndCircleContact.cpp in Sources */, + A986EC7B132CE6DB00F048C8 /* b2PolygonContact.cpp in Sources */, + A986EC7C132CE6DB00F048C8 /* b2TOISolver.cpp in Sources */, + A986EC7D132CE6DB00F048C8 /* b2DistanceJoint.cpp in Sources */, + A986EC7E132CE6DB00F048C8 /* b2FrictionJoint.cpp in Sources */, + A986EC7F132CE6DB00F048C8 /* b2GearJoint.cpp in Sources */, + A986EC80132CE6DB00F048C8 /* b2Joint.cpp in Sources */, + A986EC81132CE6DB00F048C8 /* b2LineJoint.cpp in Sources */, + A986EC82132CE6DB00F048C8 /* b2MouseJoint.cpp in Sources */, + A986EC83132CE6DB00F048C8 /* b2PrismaticJoint.cpp in Sources */, + A986EC84132CE6DB00F048C8 /* b2PulleyJoint.cpp in Sources */, + A986EC85132CE6DB00F048C8 /* b2RevoluteJoint.cpp in Sources */, + A986EC86132CE6DB00F048C8 /* b2WeldJoint.cpp in Sources */, ); runOnlyForDeploymentPostprocessing = 0; }; @@ -1683,6 +1699,7 @@ /Library/Frameworks/SDL.framework/Headers, ../../src, ../../src/modules, + ../../src/modules/physics/box2d, ); INSTALL_PATH = "$(HOME)/Applications"; LIBRARY_SEARCH_PATHS = ( @@ -1705,6 +1722,14 @@ GCC_MODEL_TUNING = G5; GCC_PRECOMPILE_PREFIX_HEADER = YES; GCC_PREFIX_HEADER = love_Prefix.pch; + HEADER_SEARCH_PATHS = ( + /Library/Frameworks/Lua.framework/Headers, + /Library/Frameworks/FreeType.framework/Headers, + /Library/Frameworks/SDL.framework/Headers, + ../../src, + ../../src/modules, + ../../src/modules/physics/box2d, + ); INSTALL_PATH = "$(HOME)/Applications"; LIBRARY_SEARCH_PATHS = ( "$(inherited)", diff --git a/src/modules/physics/box2d/Body.h b/src/modules/physics/box2d/Body.h index 9444a39d5..83996e17c 100644 --- a/src/modules/physics/box2d/Body.h +++ b/src/modules/physics/box2d/Body.h @@ -28,7 +28,7 @@ // Box2D -#include "Include/Box2D.h" +#include namespace love { diff --git a/src/modules/physics/box2d/Box2D/Box2D.h b/src/modules/physics/box2d/Box2D/Box2D.h new file mode 100644 index 000000000..dc5701f51 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Box2D.h @@ -0,0 +1,62 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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 BOX2D_H +#define BOX2D_H + +/** +\mainpage Box2D API Documentation + +\section intro_sec Getting Started + +For documentation please see http://box2d.org/documentation.html + +For discussion please visit http://box2d.org/forum +*/ + +// These include files constitute the main Box2D API + +#include + +#include +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#endif diff --git a/src/modules/physics/box2d/Box2D/Collision/Shapes/b2CircleShape.cpp b/src/modules/physics/box2d/Box2D/Collision/Shapes/b2CircleShape.cpp new file mode 100644 index 000000000..a950b0be5 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Collision/Shapes/b2CircleShape.cpp @@ -0,0 +1,89 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include + +b2Shape* b2CircleShape::Clone(b2BlockAllocator* allocator) const +{ + void* mem = allocator->Allocate(sizeof(b2CircleShape)); + b2CircleShape* clone = new (mem) b2CircleShape; + *clone = *this; + return clone; +} + +bool b2CircleShape::TestPoint(const b2Transform& transform, const b2Vec2& p) const +{ + b2Vec2 center = transform.position + b2Mul(transform.R, m_p); + b2Vec2 d = p - center; + return b2Dot(d, d) <= m_radius * m_radius; +} + +// Collision Detection in Interactive 3D Environments by Gino van den Bergen +// From Section 3.1.2 +// x = s + a * r +// norm(x) = radius +bool b2CircleShape::RayCast(b2RayCastOutput* output, const b2RayCastInput& input, const b2Transform& transform) const +{ + b2Vec2 position = transform.position + b2Mul(transform.R, m_p); + b2Vec2 s = input.p1 - position; + float32 b = b2Dot(s, s) - m_radius * m_radius; + + // Solve quadratic equation. + b2Vec2 r = input.p2 - input.p1; + float32 c = b2Dot(s, r); + float32 rr = b2Dot(r, r); + float32 sigma = c * c - rr * b; + + // Check for negative discriminant and short segment. + if (sigma < 0.0f || rr < b2_epsilon) + { + return false; + } + + // Find the point of intersection of the line with the circle. + float32 a = -(c + b2Sqrt(sigma)); + + // Is the intersection point on the segment? + if (0.0f <= a && a <= input.maxFraction * rr) + { + a /= rr; + output->fraction = a; + output->normal = s + a * r; + output->normal.Normalize(); + return true; + } + + return false; +} + +void b2CircleShape::ComputeAABB(b2AABB* aabb, const b2Transform& transform) const +{ + b2Vec2 p = transform.position + b2Mul(transform.R, m_p); + aabb->lowerBound.Set(p.x - m_radius, p.y - m_radius); + aabb->upperBound.Set(p.x + m_radius, p.y + m_radius); +} + +void b2CircleShape::ComputeMass(b2MassData* massData, float32 density) const +{ + massData->mass = density * b2_pi * m_radius * m_radius; + massData->center = m_p; + + // inertia about the local origin + massData->I = massData->mass * (0.5f * m_radius * m_radius + b2Dot(m_p, m_p)); +} diff --git a/src/modules/physics/box2d/Box2D/Collision/Shapes/b2CircleShape.h b/src/modules/physics/box2d/Box2D/Collision/Shapes/b2CircleShape.h new file mode 100644 index 000000000..bb31da898 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Collision/Shapes/b2CircleShape.h @@ -0,0 +1,87 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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_CIRCLE_SHAPE_H +#define B2_CIRCLE_SHAPE_H + +#include + +/// A circle shape. +class b2CircleShape : public b2Shape +{ +public: + b2CircleShape(); + + /// Implement b2Shape. + b2Shape* Clone(b2BlockAllocator* allocator) const; + + /// Implement b2Shape. + bool TestPoint(const b2Transform& transform, const b2Vec2& p) const; + + /// Implement b2Shape. + bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input, const b2Transform& transform) const; + + /// @see b2Shape::ComputeAABB + void ComputeAABB(b2AABB* aabb, const b2Transform& transform) const; + + /// @see b2Shape::ComputeMass + void ComputeMass(b2MassData* massData, float32 density) const; + + /// Get the supporting vertex index in the given direction. + int32 GetSupport(const b2Vec2& d) const; + + /// Get the supporting vertex in the given direction. + const b2Vec2& GetSupportVertex(const b2Vec2& d) const; + + /// Get the vertex count. + int32 GetVertexCount() const { return 1; } + + /// Get a vertex by index. Used by b2Distance. + const b2Vec2& GetVertex(int32 index) const; + + /// Position + b2Vec2 m_p; +}; + +inline b2CircleShape::b2CircleShape() +{ + m_type = e_circle; + m_radius = 0.0f; + m_p.SetZero(); +} + +inline int32 b2CircleShape::GetSupport(const b2Vec2 &d) const +{ + B2_NOT_USED(d); + return 0; +} + +inline const b2Vec2& b2CircleShape::GetSupportVertex(const b2Vec2 &d) const +{ + B2_NOT_USED(d); + return m_p; +} + +inline const b2Vec2& b2CircleShape::GetVertex(int32 index) const +{ + B2_NOT_USED(index); + b2Assert(index == 0); + return m_p; +} + +#endif diff --git a/src/modules/physics/box2d/Box2D/Collision/Shapes/b2PolygonShape.cpp b/src/modules/physics/box2d/Box2D/Collision/Shapes/b2PolygonShape.cpp new file mode 100644 index 000000000..429e64704 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Collision/Shapes/b2PolygonShape.cpp @@ -0,0 +1,434 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include + +b2Shape* b2PolygonShape::Clone(b2BlockAllocator* allocator) const +{ + void* mem = allocator->Allocate(sizeof(b2PolygonShape)); + b2PolygonShape* clone = new (mem) b2PolygonShape; + *clone = *this; + return clone; +} + +void b2PolygonShape::SetAsBox(float32 hx, float32 hy) +{ + m_vertexCount = 4; + m_vertices[0].Set(-hx, -hy); + m_vertices[1].Set( hx, -hy); + m_vertices[2].Set( hx, hy); + m_vertices[3].Set(-hx, hy); + m_normals[0].Set(0.0f, -1.0f); + m_normals[1].Set(1.0f, 0.0f); + m_normals[2].Set(0.0f, 1.0f); + m_normals[3].Set(-1.0f, 0.0f); + m_centroid.SetZero(); +} + +void b2PolygonShape::SetAsBox(float32 hx, float32 hy, const b2Vec2& center, float32 angle) +{ + m_vertexCount = 4; + m_vertices[0].Set(-hx, -hy); + m_vertices[1].Set( hx, -hy); + m_vertices[2].Set( hx, hy); + m_vertices[3].Set(-hx, hy); + m_normals[0].Set(0.0f, -1.0f); + m_normals[1].Set(1.0f, 0.0f); + m_normals[2].Set(0.0f, 1.0f); + m_normals[3].Set(-1.0f, 0.0f); + m_centroid = center; + + b2Transform xf; + xf.position = center; + xf.R.Set(angle); + + // Transform vertices and normals. + for (int32 i = 0; i < m_vertexCount; ++i) + { + m_vertices[i] = b2Mul(xf, m_vertices[i]); + m_normals[i] = b2Mul(xf.R, m_normals[i]); + } +} + +void b2PolygonShape::SetAsEdge(const b2Vec2& v1, const b2Vec2& v2) +{ + m_vertexCount = 2; + m_vertices[0] = v1; + m_vertices[1] = v2; + m_centroid = 0.5f * (v1 + v2); + m_normals[0] = b2Cross(v2 - v1, 1.0f); + m_normals[0].Normalize(); + m_normals[1] = -m_normals[0]; +} + +static b2Vec2 ComputeCentroid(const b2Vec2* vs, int32 count) +{ + b2Assert(count >= 2); + + b2Vec2 c; c.Set(0.0f, 0.0f); + float32 area = 0.0f; + + if (count == 2) + { + c = 0.5f * (vs[0] + vs[1]); + return c; + } + + // pRef is the reference point for forming triangles. + // It's location doesn't change the result (except for rounding error). + b2Vec2 pRef(0.0f, 0.0f); +#if 0 + // This code would put the reference point inside the polygon. + for (int32 i = 0; i < count; ++i) + { + pRef += vs[i]; + } + pRef *= 1.0f / count; +#endif + + const float32 inv3 = 1.0f / 3.0f; + + for (int32 i = 0; i < count; ++i) + { + // Triangle vertices. + b2Vec2 p1 = pRef; + b2Vec2 p2 = vs[i]; + b2Vec2 p3 = i + 1 < count ? vs[i+1] : vs[0]; + + b2Vec2 e1 = p2 - p1; + b2Vec2 e2 = p3 - p1; + + float32 D = b2Cross(e1, e2); + + float32 triangleArea = 0.5f * D; + area += triangleArea; + + // Area weighted centroid + c += triangleArea * inv3 * (p1 + p2 + p3); + } + + // Centroid + b2Assert(area > b2_epsilon); + c *= 1.0f / area; + return c; +} + +void b2PolygonShape::Set(const b2Vec2* vertices, int32 count) +{ + b2Assert(2 <= count && count <= b2_maxPolygonVertices); + m_vertexCount = count; + + // Copy vertices. + for (int32 i = 0; i < m_vertexCount; ++i) + { + m_vertices[i] = vertices[i]; + } + + // Compute normals. Ensure the edges have non-zero length. + for (int32 i = 0; i < m_vertexCount; ++i) + { + int32 i1 = i; + int32 i2 = i + 1 < m_vertexCount ? i + 1 : 0; + b2Vec2 edge = m_vertices[i2] - m_vertices[i1]; + b2Assert(edge.LengthSquared() > b2_epsilon * b2_epsilon); + m_normals[i] = b2Cross(edge, 1.0f); + m_normals[i].Normalize(); + } + +#ifdef _DEBUG + // Ensure the polygon is convex and the interior + // is to the left of each edge. + for (int32 i = 0; i < m_vertexCount; ++i) + { + int32 i1 = i; + int32 i2 = i + 1 < m_vertexCount ? i + 1 : 0; + b2Vec2 edge = m_vertices[i2] - m_vertices[i1]; + + for (int32 j = 0; j < m_vertexCount; ++j) + { + // Don't check vertices on the current edge. + if (j == i1 || j == i2) + { + continue; + } + + b2Vec2 r = m_vertices[j] - m_vertices[i1]; + + // Your polygon is non-convex (it has an indentation) or + // has colinear edges. + float32 s = b2Cross(edge, r); + b2Assert(s > 0.0f); + } + } +#endif + + // Compute the polygon centroid. + m_centroid = ComputeCentroid(m_vertices, m_vertexCount); +} + +bool b2PolygonShape::TestPoint(const b2Transform& xf, const b2Vec2& p) const +{ + b2Vec2 pLocal = b2MulT(xf.R, p - xf.position); + + for (int32 i = 0; i < m_vertexCount; ++i) + { + float32 dot = b2Dot(m_normals[i], pLocal - m_vertices[i]); + if (dot > 0.0f) + { + return false; + } + } + + return true; +} + +bool b2PolygonShape::RayCast(b2RayCastOutput* output, const b2RayCastInput& input, const b2Transform& xf) const +{ + // Put the ray into the polygon's frame of reference. + b2Vec2 p1 = b2MulT(xf.R, input.p1 - xf.position); + b2Vec2 p2 = b2MulT(xf.R, input.p2 - xf.position); + b2Vec2 d = p2 - p1; + + if (m_vertexCount == 2) + { + b2Vec2 v1 = m_vertices[0]; + b2Vec2 v2 = m_vertices[1]; + b2Vec2 normal = m_normals[0]; + + // q = p1 + t * d + // dot(normal, q - v1) = 0 + // dot(normal, p1 - v1) + t * dot(normal, d) = 0 + float32 numerator = b2Dot(normal, v1 - p1); + float32 denominator = b2Dot(normal, d); + + if (denominator == 0.0f) + { + return false; + } + + float32 t = numerator / denominator; + if (t < 0.0f || 1.0f < t) + { + return false; + } + + b2Vec2 q = p1 + t * d; + + // q = v1 + s * r + // s = dot(q - v1, r) / dot(r, r) + b2Vec2 r = v2 - v1; + float32 rr = b2Dot(r, r); + if (rr == 0.0f) + { + return false; + } + + float32 s = b2Dot(q - v1, r) / rr; + if (s < 0.0f || 1.0f < s) + { + return false; + } + + output->fraction = t; + if (numerator > 0.0f) + { + output->normal = -normal; + } + else + { + output->normal = normal; + } + return true; + } + else + { + float32 lower = 0.0f, upper = input.maxFraction; + + int32 index = -1; + + for (int32 i = 0; i < m_vertexCount; ++i) + { + // p = p1 + a * d + // dot(normal, p - v) = 0 + // dot(normal, p1 - v) + a * dot(normal, d) = 0 + float32 numerator = b2Dot(m_normals[i], m_vertices[i] - p1); + float32 denominator = b2Dot(m_normals[i], d); + + if (denominator == 0.0f) + { + if (numerator < 0.0f) + { + return false; + } + } + else + { + // Note: we want this predicate without division: + // lower < numerator / denominator, where denominator < 0 + // Since denominator < 0, we have to flip the inequality: + // lower < numerator / denominator <==> denominator * lower > numerator. + if (denominator < 0.0f && numerator < lower * denominator) + { + // Increase lower. + // The segment enters this half-space. + lower = numerator / denominator; + index = i; + } + else if (denominator > 0.0f && numerator < upper * denominator) + { + // Decrease upper. + // The segment exits this half-space. + upper = numerator / denominator; + } + } + + // The use of epsilon here causes the assert on lower to trip + // in some cases. Apparently the use of epsilon was to make edge + // shapes work, but now those are handled separately. + //if (upper < lower - b2_epsilon) + if (upper < lower) + { + return false; + } + } + + b2Assert(0.0f <= lower && lower <= input.maxFraction); + + if (index >= 0) + { + output->fraction = lower; + output->normal = b2Mul(xf.R, m_normals[index]); + return true; + } + } + + return false; +} + +void b2PolygonShape::ComputeAABB(b2AABB* aabb, const b2Transform& xf) const +{ + b2Vec2 lower = b2Mul(xf, m_vertices[0]); + b2Vec2 upper = lower; + + for (int32 i = 1; i < m_vertexCount; ++i) + { + b2Vec2 v = b2Mul(xf, m_vertices[i]); + lower = b2Min(lower, v); + upper = b2Max(upper, v); + } + + b2Vec2 r(m_radius, m_radius); + aabb->lowerBound = lower - r; + aabb->upperBound = upper + r; +} + +void b2PolygonShape::ComputeMass(b2MassData* massData, float32 density) const +{ + // Polygon mass, centroid, and inertia. + // Let rho be the polygon density in mass per unit area. + // Then: + // mass = rho * int(dA) + // centroid.x = (1/mass) * rho * int(x * dA) + // centroid.y = (1/mass) * rho * int(y * dA) + // I = rho * int((x*x + y*y) * dA) + // + // We can compute these integrals by summing all the integrals + // for each triangle of the polygon. To evaluate the integral + // for a single triangle, we make a change of variables to + // the (u,v) coordinates of the triangle: + // x = x0 + e1x * u + e2x * v + // y = y0 + e1y * u + e2y * v + // where 0 <= u && 0 <= v && u + v <= 1. + // + // We integrate u from [0,1-v] and then v from [0,1]. + // We also need to use the Jacobian of the transformation: + // D = cross(e1, e2) + // + // Simplification: triangle centroid = (1/3) * (p1 + p2 + p3) + // + // The rest of the derivation is handled by computer algebra. + + b2Assert(m_vertexCount >= 2); + + // A line segment has zero mass. + if (m_vertexCount == 2) + { + massData->center = 0.5f * (m_vertices[0] + m_vertices[1]); + massData->mass = 0.0f; + massData->I = 0.0f; + return; + } + + b2Vec2 center; center.Set(0.0f, 0.0f); + float32 area = 0.0f; + float32 I = 0.0f; + + // pRef is the reference point for forming triangles. + // It's location doesn't change the result (except for rounding error). + b2Vec2 pRef(0.0f, 0.0f); +#if 0 + // This code would put the reference point inside the polygon. + for (int32 i = 0; i < m_vertexCount; ++i) + { + pRef += m_vertices[i]; + } + pRef *= 1.0f / count; +#endif + + const float32 k_inv3 = 1.0f / 3.0f; + + for (int32 i = 0; i < m_vertexCount; ++i) + { + // Triangle vertices. + b2Vec2 p1 = pRef; + b2Vec2 p2 = m_vertices[i]; + b2Vec2 p3 = i + 1 < m_vertexCount ? m_vertices[i+1] : m_vertices[0]; + + b2Vec2 e1 = p2 - p1; + b2Vec2 e2 = p3 - p1; + + float32 D = b2Cross(e1, e2); + + float32 triangleArea = 0.5f * D; + area += triangleArea; + + // Area weighted centroid + center += triangleArea * k_inv3 * (p1 + p2 + p3); + + float32 px = p1.x, py = p1.y; + float32 ex1 = e1.x, ey1 = e1.y; + float32 ex2 = e2.x, ey2 = e2.y; + + float32 intx2 = k_inv3 * (0.25f * (ex1*ex1 + ex2*ex1 + ex2*ex2) + (px*ex1 + px*ex2)) + 0.5f*px*px; + float32 inty2 = k_inv3 * (0.25f * (ey1*ey1 + ey2*ey1 + ey2*ey2) + (py*ey1 + py*ey2)) + 0.5f*py*py; + + I += D * (intx2 + inty2); + } + + // Total mass + massData->mass = density * area; + + // Center of mass + b2Assert(area > b2_epsilon); + center *= 1.0f / area; + massData->center = center; + + // Inertia tensor relative to the local origin. + massData->I = density * I; +} diff --git a/src/modules/physics/box2d/Box2D/Collision/Shapes/b2PolygonShape.h b/src/modules/physics/box2d/Box2D/Collision/Shapes/b2PolygonShape.h new file mode 100644 index 000000000..564d4b083 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Collision/Shapes/b2PolygonShape.h @@ -0,0 +1,131 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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_POLYGON_SHAPE_H +#define B2_POLYGON_SHAPE_H + +#include + +/// A convex polygon. It is assumed that the interior of the polygon is to +/// the left of each edge. +class b2PolygonShape : public b2Shape +{ +public: + b2PolygonShape(); + + /// Implement b2Shape. + b2Shape* Clone(b2BlockAllocator* allocator) const; + + /// Copy vertices. This assumes the vertices define a convex polygon. + /// It is assumed that the exterior is the the right of each edge. + void Set(const b2Vec2* vertices, int32 vertexCount); + + /// Build vertices to represent an axis-aligned box. + /// @param hx the half-width. + /// @param hy the half-height. + void SetAsBox(float32 hx, float32 hy); + + /// Build vertices to represent an oriented box. + /// @param hx the half-width. + /// @param hy the half-height. + /// @param center the center of the box in local coordinates. + /// @param angle the rotation of the box in local coordinates. + void SetAsBox(float32 hx, float32 hy, const b2Vec2& center, float32 angle); + + /// Set this as a single edge. + void SetAsEdge(const b2Vec2& v1, const b2Vec2& v2); + + /// @see b2Shape::TestPoint + bool TestPoint(const b2Transform& transform, const b2Vec2& p) const; + + /// Implement b2Shape. + bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input, const b2Transform& transform) const; + + /// @see b2Shape::ComputeAABB + void ComputeAABB(b2AABB* aabb, const b2Transform& transform) const; + + /// @see b2Shape::ComputeMass + void ComputeMass(b2MassData* massData, float32 density) const; + + /// Get the supporting vertex index in the given direction. + int32 GetSupport(const b2Vec2& d) const; + + /// Get the supporting vertex in the given direction. + const b2Vec2& GetSupportVertex(const b2Vec2& d) const; + + /// Get the vertex count. + int32 GetVertexCount() const { return m_vertexCount; } + + /// Get a vertex by index. + const b2Vec2& GetVertex(int32 index) const; + + b2Vec2 m_centroid; + b2Vec2 m_vertices[b2_maxPolygonVertices]; + b2Vec2 m_normals[b2_maxPolygonVertices]; + int32 m_vertexCount; +}; + +inline b2PolygonShape::b2PolygonShape() +{ + m_type = e_polygon; + m_radius = b2_polygonRadius; + m_vertexCount = 0; + m_centroid.SetZero(); +} + +inline int32 b2PolygonShape::GetSupport(const b2Vec2& d) const +{ + int32 bestIndex = 0; + float32 bestValue = b2Dot(m_vertices[0], d); + for (int32 i = 1; i < m_vertexCount; ++i) + { + float32 value = b2Dot(m_vertices[i], d); + if (value > bestValue) + { + bestIndex = i; + bestValue = value; + } + } + + return bestIndex; +} + +inline const b2Vec2& b2PolygonShape::GetSupportVertex(const b2Vec2& d) const +{ + int32 bestIndex = 0; + float32 bestValue = b2Dot(m_vertices[0], d); + for (int32 i = 1; i < m_vertexCount; ++i) + { + float32 value = b2Dot(m_vertices[i], d); + if (value > bestValue) + { + bestIndex = i; + bestValue = value; + } + } + + return m_vertices[bestIndex]; +} + +inline const b2Vec2& b2PolygonShape::GetVertex(int32 index) const +{ + b2Assert(0 <= index && index < m_vertexCount); + return m_vertices[index]; +} + +#endif diff --git a/src/modules/physics/box2d/Box2D/Collision/Shapes/b2Shape.h b/src/modules/physics/box2d/Box2D/Collision/Shapes/b2Shape.h new file mode 100644 index 000000000..9082c0ef9 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Collision/Shapes/b2Shape.h @@ -0,0 +1,95 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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_SHAPE_H +#define B2_SHAPE_H + +#include +#include +#include + +/// This holds the mass data computed for a shape. +struct b2MassData +{ + /// The mass of the shape, usually in kilograms. + float32 mass; + + /// The position of the shape's centroid relative to the shape's origin. + b2Vec2 center; + + /// The rotational inertia of the shape about the local origin. + float32 I; +}; + +/// A shape is used for collision detection. You can create a shape however you like. +/// Shapes used for simulation in b2World are created automatically when a b2Fixture +/// is created. +class b2Shape +{ +public: + + enum Type + { + e_unknown= -1, + e_circle = 0, + e_polygon = 1, + e_typeCount = 2, + }; + + b2Shape() { m_type = e_unknown; } + virtual ~b2Shape() {} + + /// Clone the concrete shape using the provided allocator. + virtual b2Shape* Clone(b2BlockAllocator* allocator) const = 0; + + /// Get the type of this shape. You can use this to down cast to the concrete shape. + /// @return the shape type. + Type GetType() const; + + /// Test a point for containment in this shape. This only works for convex shapes. + /// @param xf the shape world transform. + /// @param p a point in world coordinates. + virtual bool TestPoint(const b2Transform& xf, const b2Vec2& p) const = 0; + + /// Cast a ray against this shape. + /// @param output the ray-cast results. + /// @param input the ray-cast input parameters. + /// @param transform the transform to be applied to the shape. + virtual bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input, const b2Transform& transform) const = 0; + + /// Given a transform, compute the associated axis aligned bounding box for this shape. + /// @param aabb returns the axis aligned box. + /// @param xf the world transform of the shape. + virtual void ComputeAABB(b2AABB* aabb, const b2Transform& xf) const = 0; + + /// Compute the mass properties of this shape using its dimensions and density. + /// The inertia tensor is computed about the local origin. + /// @param massData returns the mass data for this shape. + /// @param density the density in kilograms per meter squared. + virtual void ComputeMass(b2MassData* massData, float32 density) const = 0; + + Type m_type; + float32 m_radius; +}; + +inline b2Shape::Type b2Shape::GetType() const +{ + return m_type; +} + +#endif diff --git a/src/modules/physics/box2d/Box2D/Collision/b2BroadPhase.cpp b/src/modules/physics/box2d/Box2D/Collision/b2BroadPhase.cpp new file mode 100644 index 000000000..12c79678d --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Collision/b2BroadPhase.cpp @@ -0,0 +1,116 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include + +b2BroadPhase::b2BroadPhase() +{ + m_proxyCount = 0; + + m_pairCapacity = 16; + m_pairCount = 0; + m_pairBuffer = (b2Pair*)b2Alloc(m_pairCapacity * sizeof(b2Pair)); + + m_moveCapacity = 16; + m_moveCount = 0; + m_moveBuffer = (int32*)b2Alloc(m_moveCapacity * sizeof(int32)); +} + +b2BroadPhase::~b2BroadPhase() +{ + b2Free(m_moveBuffer); + b2Free(m_pairBuffer); +} + +int32 b2BroadPhase::CreateProxy(const b2AABB& aabb, void* userData) +{ + int32 proxyId = m_tree.CreateProxy(aabb, userData); + ++m_proxyCount; + BufferMove(proxyId); + return proxyId; +} + +void b2BroadPhase::DestroyProxy(int32 proxyId) +{ + UnBufferMove(proxyId); + --m_proxyCount; + m_tree.DestroyProxy(proxyId); +} + +void b2BroadPhase::MoveProxy(int32 proxyId, const b2AABB& aabb, const b2Vec2& displacement) +{ + bool buffer = m_tree.MoveProxy(proxyId, aabb, displacement); + if (buffer) + { + BufferMove(proxyId); + } +} + +void b2BroadPhase::BufferMove(int32 proxyId) +{ + if (m_moveCount == m_moveCapacity) + { + int32* oldBuffer = m_moveBuffer; + m_moveCapacity *= 2; + m_moveBuffer = (int32*)b2Alloc(m_moveCapacity * sizeof(int32)); + memcpy(m_moveBuffer, oldBuffer, m_moveCount * sizeof(int32)); + b2Free(oldBuffer); + } + + m_moveBuffer[m_moveCount] = proxyId; + ++m_moveCount; +} + +void b2BroadPhase::UnBufferMove(int32 proxyId) +{ + for (int32 i = 0; i < m_moveCount; ++i) + { + if (m_moveBuffer[i] == proxyId) + { + m_moveBuffer[i] = e_nullProxy; + return; + } + } +} + +// This is called from b2DynamicTree::Query when we are gathering pairs. +bool b2BroadPhase::QueryCallback(int32 proxyId) +{ + // A proxy cannot form a pair with itself. + if (proxyId == m_queryProxyId) + { + return true; + } + + // Grow the pair buffer as needed. + if (m_pairCount == m_pairCapacity) + { + b2Pair* oldBuffer = m_pairBuffer; + m_pairCapacity *= 2; + m_pairBuffer = (b2Pair*)b2Alloc(m_pairCapacity * sizeof(b2Pair)); + memcpy(m_pairBuffer, oldBuffer, m_pairCount * sizeof(b2Pair)); + b2Free(oldBuffer); + } + + m_pairBuffer[m_pairCount].proxyIdA = b2Min(proxyId, m_queryProxyId); + m_pairBuffer[m_pairCount].proxyIdB = b2Max(proxyId, m_queryProxyId); + ++m_pairCount; + + return true; +} diff --git a/src/modules/physics/box2d/Box2D/Collision/b2BroadPhase.h b/src/modules/physics/box2d/Box2D/Collision/b2BroadPhase.h new file mode 100644 index 000000000..bff188e88 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Collision/b2BroadPhase.h @@ -0,0 +1,229 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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_BROAD_PHASE_H +#define B2_BROAD_PHASE_H + +#include +#include +#include +#include + +struct b2Pair +{ + int32 proxyIdA; + int32 proxyIdB; + int32 next; +}; + +/// The broad-phase is used for computing pairs and performing volume queries and ray casts. +/// This broad-phase does not persist pairs. Instead, this reports potentially new pairs. +/// It is up to the client to consume the new pairs and to track subsequent overlap. +class b2BroadPhase +{ +public: + + enum + { + e_nullProxy = -1, + }; + + b2BroadPhase(); + ~b2BroadPhase(); + + /// Create a proxy with an initial AABB. Pairs are not reported until + /// UpdatePairs is called. + int32 CreateProxy(const b2AABB& aabb, void* userData); + + /// Destroy a proxy. It is up to the client to remove any pairs. + void DestroyProxy(int32 proxyId); + + /// Call MoveProxy as many times as you like, then when you are done + /// call UpdatePairs to finalized the proxy pairs (for your time step). + void MoveProxy(int32 proxyId, const b2AABB& aabb, const b2Vec2& displacement); + + /// Get the fat AABB for a proxy. + const b2AABB& GetFatAABB(int32 proxyId) const; + + /// Get user data from a proxy. Returns NULL if the id is invalid. + void* GetUserData(int32 proxyId) const; + + /// Test overlap of fat AABBs. + bool TestOverlap(int32 proxyIdA, int32 proxyIdB) const; + + /// Get the number of proxies. + int32 GetProxyCount() const; + + /// Update the pairs. This results in pair callbacks. This can only add pairs. + template + void UpdatePairs(T* callback); + + /// Query an AABB for overlapping proxies. The callback class + /// is called for each proxy that overlaps the supplied AABB. + template + void Query(T* callback, const b2AABB& aabb) const; + + /// Ray-cast against the proxies in the tree. This relies on the callback + /// to perform a exact ray-cast in the case were the proxy contains a shape. + /// The callback also performs the any collision filtering. This has performance + /// roughly equal to k * log(n), where k is the number of collisions and n is the + /// number of proxies in the tree. + /// @param input the ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1). + /// @param callback a callback class that is called for each proxy that is hit by the ray. + template + void RayCast(T* callback, const b2RayCastInput& input) const; + + /// Compute the height of the embedded tree. + int32 ComputeHeight() const; + +private: + + friend class b2DynamicTree; + + void BufferMove(int32 proxyId); + void UnBufferMove(int32 proxyId); + + bool QueryCallback(int32 proxyId); + + b2DynamicTree m_tree; + + int32 m_proxyCount; + + int32* m_moveBuffer; + int32 m_moveCapacity; + int32 m_moveCount; + + b2Pair* m_pairBuffer; + int32 m_pairCapacity; + int32 m_pairCount; + + int32 m_queryProxyId; +}; + +/// This is used to sort pairs. +inline bool b2PairLessThan(const b2Pair& pair1, const b2Pair& pair2) +{ + if (pair1.proxyIdA < pair2.proxyIdA) + { + return true; + } + + if (pair1.proxyIdA == pair2.proxyIdA) + { + return pair1.proxyIdB < pair2.proxyIdB; + } + + return false; +} + +inline void* b2BroadPhase::GetUserData(int32 proxyId) const +{ + return m_tree.GetUserData(proxyId); +} + +inline bool b2BroadPhase::TestOverlap(int32 proxyIdA, int32 proxyIdB) const +{ + const b2AABB& aabbA = m_tree.GetFatAABB(proxyIdA); + const b2AABB& aabbB = m_tree.GetFatAABB(proxyIdB); + return b2TestOverlap(aabbA, aabbB); +} + +inline const b2AABB& b2BroadPhase::GetFatAABB(int32 proxyId) const +{ + return m_tree.GetFatAABB(proxyId); +} + +inline int32 b2BroadPhase::GetProxyCount() const +{ + return m_proxyCount; +} + +inline int32 b2BroadPhase::ComputeHeight() const +{ + return m_tree.ComputeHeight(); +} + +template +void b2BroadPhase::UpdatePairs(T* callback) +{ + // Reset pair buffer + m_pairCount = 0; + + // Perform tree queries for all moving proxies. + for (int32 i = 0; i < m_moveCount; ++i) + { + m_queryProxyId = m_moveBuffer[i]; + if (m_queryProxyId == e_nullProxy) + { + continue; + } + + // We have to query the tree with the fat AABB so that + // we don't fail to create a pair that may touch later. + const b2AABB& fatAABB = m_tree.GetFatAABB(m_queryProxyId); + + // Query tree, create pairs and add them pair buffer. + m_tree.Query(this, fatAABB); + } + + // Reset move buffer + m_moveCount = 0; + + // Sort the pair buffer to expose duplicates. + std::sort(m_pairBuffer, m_pairBuffer + m_pairCount, b2PairLessThan); + + // Send the pairs back to the client. + int32 i = 0; + while (i < m_pairCount) + { + b2Pair* primaryPair = m_pairBuffer + i; + void* userDataA = m_tree.GetUserData(primaryPair->proxyIdA); + void* userDataB = m_tree.GetUserData(primaryPair->proxyIdB); + + callback->AddPair(userDataA, userDataB); + ++i; + + // Skip any duplicate pairs. + while (i < m_pairCount) + { + b2Pair* pair = m_pairBuffer + i; + if (pair->proxyIdA != primaryPair->proxyIdA || pair->proxyIdB != primaryPair->proxyIdB) + { + break; + } + ++i; + } + } + + // Try to keep the tree balanced. + m_tree.Rebalance(4); +} + +template +inline void b2BroadPhase::Query(T* callback, const b2AABB& aabb) const +{ + m_tree.Query(callback, aabb); +} + +template +inline void b2BroadPhase::RayCast(T* callback, const b2RayCastInput& input) const +{ + m_tree.RayCast(callback, input); +} + +#endif diff --git a/src/modules/physics/box2d/Box2D/Collision/b2CollideCircle.cpp b/src/modules/physics/box2d/Box2D/Collision/b2CollideCircle.cpp new file mode 100644 index 000000000..6edf89d7b --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Collision/b2CollideCircle.cpp @@ -0,0 +1,154 @@ +/* +* Copyright (c) 2007-2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include + +void b2CollideCircles( + b2Manifold* manifold, + const b2CircleShape* circleA, const b2Transform& xfA, + const b2CircleShape* circleB, const b2Transform& xfB) +{ + manifold->pointCount = 0; + + b2Vec2 pA = b2Mul(xfA, circleA->m_p); + b2Vec2 pB = b2Mul(xfB, circleB->m_p); + + b2Vec2 d = pB - pA; + float32 distSqr = b2Dot(d, d); + float32 rA = circleA->m_radius, rB = circleB->m_radius; + float32 radius = rA + rB; + if (distSqr > radius * radius) + { + return; + } + + manifold->type = b2Manifold::e_circles; + manifold->localPoint = circleA->m_p; + manifold->localNormal.SetZero(); + manifold->pointCount = 1; + + manifold->points[0].localPoint = circleB->m_p; + manifold->points[0].id.key = 0; +} + +void b2CollidePolygonAndCircle( + b2Manifold* manifold, + const b2PolygonShape* polygonA, const b2Transform& xfA, + const b2CircleShape* circleB, const b2Transform& xfB) +{ + manifold->pointCount = 0; + + // Compute circle position in the frame of the polygon. + b2Vec2 c = b2Mul(xfB, circleB->m_p); + b2Vec2 cLocal = b2MulT(xfA, c); + + // Find the min separating edge. + int32 normalIndex = 0; + float32 separation = -b2_maxFloat; + float32 radius = polygonA->m_radius + circleB->m_radius; + int32 vertexCount = polygonA->m_vertexCount; + const b2Vec2* vertices = polygonA->m_vertices; + const b2Vec2* normals = polygonA->m_normals; + + for (int32 i = 0; i < vertexCount; ++i) + { + float32 s = b2Dot(normals[i], cLocal - vertices[i]); + + if (s > radius) + { + // Early out. + return; + } + + if (s > separation) + { + separation = s; + normalIndex = i; + } + } + + // Vertices that subtend the incident face. + int32 vertIndex1 = normalIndex; + int32 vertIndex2 = vertIndex1 + 1 < vertexCount ? vertIndex1 + 1 : 0; + b2Vec2 v1 = vertices[vertIndex1]; + b2Vec2 v2 = vertices[vertIndex2]; + + // If the center is inside the polygon ... + if (separation < b2_epsilon) + { + manifold->pointCount = 1; + manifold->type = b2Manifold::e_faceA; + manifold->localNormal = normals[normalIndex]; + manifold->localPoint = 0.5f * (v1 + v2); + manifold->points[0].localPoint = circleB->m_p; + manifold->points[0].id.key = 0; + return; + } + + // Compute barycentric coordinates + float32 u1 = b2Dot(cLocal - v1, v2 - v1); + float32 u2 = b2Dot(cLocal - v2, v1 - v2); + if (u1 <= 0.0f) + { + if (b2DistanceSquared(cLocal, v1) > radius * radius) + { + return; + } + + manifold->pointCount = 1; + manifold->type = b2Manifold::e_faceA; + manifold->localNormal = cLocal - v1; + manifold->localNormal.Normalize(); + manifold->localPoint = v1; + manifold->points[0].localPoint = circleB->m_p; + manifold->points[0].id.key = 0; + } + else if (u2 <= 0.0f) + { + if (b2DistanceSquared(cLocal, v2) > radius * radius) + { + return; + } + + manifold->pointCount = 1; + manifold->type = b2Manifold::e_faceA; + manifold->localNormal = cLocal - v2; + manifold->localNormal.Normalize(); + manifold->localPoint = v2; + manifold->points[0].localPoint = circleB->m_p; + manifold->points[0].id.key = 0; + } + else + { + b2Vec2 faceCenter = 0.5f * (v1 + v2); + float32 separation = b2Dot(cLocal - faceCenter, normals[vertIndex1]); + if (separation > radius) + { + return; + } + + manifold->pointCount = 1; + manifold->type = b2Manifold::e_faceA; + manifold->localNormal = normals[vertIndex1]; + manifold->localPoint = faceCenter; + manifold->points[0].localPoint = circleB->m_p; + manifold->points[0].id.key = 0; + } +} diff --git a/src/modules/physics/box2d/Source/Collision/b2CollidePoly.cpp b/src/modules/physics/box2d/Box2D/Collision/b2CollidePolygon.cpp similarity index 53% rename from src/modules/physics/box2d/Source/Collision/b2CollidePoly.cpp rename to src/modules/physics/box2d/Box2D/Collision/b2CollidePolygon.cpp index b4aac6749..b37b7ba92 100644 --- a/src/modules/physics/box2d/Source/Collision/b2CollidePoly.cpp +++ b/src/modules/physics/box2d/Box2D/Collision/b2CollidePolygon.cpp @@ -1,5 +1,5 @@ /* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages @@ -16,59 +16,19 @@ * 3. This notice may not be removed or altered from any source distribution. */ -#include "b2Collision.h" -#include "Shapes/b2PolygonShape.h" - -struct ClipVertex -{ - b2Vec2 v; - b2ContactID id; -}; - -static int32 ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2], - const b2Vec2& normal, float32 offset) -{ - // Start with no output points - int32 numOut = 0; - - // Calculate the distance of end points to the line - float32 distance0 = b2Dot(normal, vIn[0].v) - offset; - float32 distance1 = b2Dot(normal, vIn[1].v) - offset; - - // If the points are behind the plane - if (distance0 <= 0.0f) vOut[numOut++] = vIn[0]; - if (distance1 <= 0.0f) vOut[numOut++] = vIn[1]; - - // If the points are on different sides of the plane - if (distance0 * distance1 < 0.0f) - { - // Find intersection point of edge and plane - float32 interp = distance0 / (distance0 - distance1); - vOut[numOut].v = vIn[0].v + interp * (vIn[1].v - vIn[0].v); - if (distance0 > 0.0f) - { - vOut[numOut].id = vIn[0].id; - } - else - { - vOut[numOut].id = vIn[1].id; - } - ++numOut; - } - - return numOut; -} +#include +#include // Find the separation between poly1 and poly2 for a give edge normal on poly1. -static float32 EdgeSeparation(const b2PolygonShape* poly1, const b2XForm& xf1, int32 edge1, - const b2PolygonShape* poly2, const b2XForm& xf2) +static float32 b2EdgeSeparation(const b2PolygonShape* poly1, const b2Transform& xf1, int32 edge1, + const b2PolygonShape* poly2, const b2Transform& xf2) { - int32 count1 = poly1->GetVertexCount(); - const b2Vec2* vertices1 = poly1->GetVertices(); - const b2Vec2* normals1 = poly1->GetNormals(); + int32 count1 = poly1->m_vertexCount; + const b2Vec2* vertices1 = poly1->m_vertices; + const b2Vec2* normals1 = poly1->m_normals; - int32 count2 = poly2->GetVertexCount(); - const b2Vec2* vertices2 = poly2->GetVertices(); + int32 count2 = poly2->m_vertexCount; + const b2Vec2* vertices2 = poly2->m_vertices; b2Assert(0 <= edge1 && edge1 < count1); @@ -78,7 +38,7 @@ static float32 EdgeSeparation(const b2PolygonShape* poly1, const b2XForm& xf1, i // Find support vertex on poly2 for -normal. int32 index = 0; - float32 minDot = B2_FLT_MAX; + float32 minDot = b2_maxFloat; for (int32 i = 0; i < count2; ++i) { @@ -97,20 +57,20 @@ static float32 EdgeSeparation(const b2PolygonShape* poly1, const b2XForm& xf1, i } // Find the max separation between poly1 and poly2 using edge normals from poly1. -static float32 FindMaxSeparation(int32* edgeIndex, - const b2PolygonShape* poly1, const b2XForm& xf1, - const b2PolygonShape* poly2, const b2XForm& xf2) +static float32 b2FindMaxSeparation(int32* edgeIndex, + const b2PolygonShape* poly1, const b2Transform& xf1, + const b2PolygonShape* poly2, const b2Transform& xf2) { - int32 count1 = poly1->GetVertexCount(); - const b2Vec2* normals1 = poly1->GetNormals(); + int32 count1 = poly1->m_vertexCount; + const b2Vec2* normals1 = poly1->m_normals; // Vector pointing from the centroid of poly1 to the centroid of poly2. - b2Vec2 d = b2Mul(xf2, poly2->GetCentroid()) - b2Mul(xf1, poly1->GetCentroid()); + b2Vec2 d = b2Mul(xf2, poly2->m_centroid) - b2Mul(xf1, poly1->m_centroid); b2Vec2 dLocal1 = b2MulT(xf1.R, d); // Find edge normal on poly1 that has the largest projection onto d. int32 edge = 0; - float32 maxDot = -B2_FLT_MAX; + float32 maxDot = -b2_maxFloat; for (int32 i = 0; i < count1; ++i) { float32 dot = b2Dot(normals1[i], dLocal1); @@ -122,27 +82,15 @@ static float32 FindMaxSeparation(int32* edgeIndex, } // Get the separation for the edge normal. - float32 s = EdgeSeparation(poly1, xf1, edge, poly2, xf2); - if (s > 0.0f) - { - return s; - } + float32 s = b2EdgeSeparation(poly1, xf1, edge, poly2, xf2); // Check the separation for the previous edge normal. int32 prevEdge = edge - 1 >= 0 ? edge - 1 : count1 - 1; - float32 sPrev = EdgeSeparation(poly1, xf1, prevEdge, poly2, xf2); - if (sPrev > 0.0f) - { - return sPrev; - } + float32 sPrev = b2EdgeSeparation(poly1, xf1, prevEdge, poly2, xf2); // Check the separation for the next edge normal. int32 nextEdge = edge + 1 < count1 ? edge + 1 : 0; - float32 sNext = EdgeSeparation(poly1, xf1, nextEdge, poly2, xf2); - if (sNext > 0.0f) - { - return sNext; - } + float32 sNext = b2EdgeSeparation(poly1, xf1, nextEdge, poly2, xf2); // Find the best edge and the search direction. int32 bestEdge; @@ -174,11 +122,7 @@ static float32 FindMaxSeparation(int32* edgeIndex, else edge = bestEdge + 1 < count1 ? bestEdge + 1 : 0; - s = EdgeSeparation(poly1, xf1, edge, poly2, xf2); - if (s > 0.0f) - { - return s; - } + s = b2EdgeSeparation(poly1, xf1, edge, poly2, xf2); if (s > bestSeparation) { @@ -195,16 +139,16 @@ static float32 FindMaxSeparation(int32* edgeIndex, return bestSeparation; } -static void FindIncidentEdge(ClipVertex c[2], - const b2PolygonShape* poly1, const b2XForm& xf1, int32 edge1, - const b2PolygonShape* poly2, const b2XForm& xf2) +static void b2FindIncidentEdge(b2ClipVertex c[2], + const b2PolygonShape* poly1, const b2Transform& xf1, int32 edge1, + const b2PolygonShape* poly2, const b2Transform& xf2) { - int32 count1 = poly1->GetVertexCount(); - const b2Vec2* normals1 = poly1->GetNormals(); + int32 count1 = poly1->m_vertexCount; + const b2Vec2* normals1 = poly1->m_normals; - int32 count2 = poly2->GetVertexCount(); - const b2Vec2* vertices2 = poly2->GetVertices(); - const b2Vec2* normals2 = poly2->GetNormals(); + int32 count2 = poly2->m_vertexCount; + const b2Vec2* vertices2 = poly2->m_vertices; + const b2Vec2* normals2 = poly2->m_normals; b2Assert(0 <= edge1 && edge1 < count1); @@ -213,7 +157,7 @@ static void FindIncidentEdge(ClipVertex c[2], // Find the incident edge on poly2. int32 index = 0; - float32 minDot = B2_FLT_MAX; + float32 minDot = b2_maxFloat; for (int32 i = 0; i < count2; ++i) { float32 dot = b2Dot(normal1, normals2[i]); @@ -247,30 +191,30 @@ static void FindIncidentEdge(ClipVertex c[2], // The normal points from 1 to 2 void b2CollidePolygons(b2Manifold* manifold, - const b2PolygonShape* polyA, const b2XForm& xfA, - const b2PolygonShape* polyB, const b2XForm& xfB) + const b2PolygonShape* polyA, const b2Transform& xfA, + const b2PolygonShape* polyB, const b2Transform& xfB) { manifold->pointCount = 0; + float32 totalRadius = polyA->m_radius + polyB->m_radius; int32 edgeA = 0; - float32 separationA = FindMaxSeparation(&edgeA, polyA, xfA, polyB, xfB); - if (separationA > 0.0f) + float32 separationA = b2FindMaxSeparation(&edgeA, polyA, xfA, polyB, xfB); + if (separationA > totalRadius) return; int32 edgeB = 0; - float32 separationB = FindMaxSeparation(&edgeB, polyB, xfB, polyA, xfA); - if (separationB > 0.0f) + float32 separationB = b2FindMaxSeparation(&edgeB, polyB, xfB, polyA, xfA); + if (separationB > totalRadius) return; - const b2PolygonShape* poly1; // reference poly - const b2PolygonShape* poly2; // incident poly - b2XForm xf1, xf2; + const b2PolygonShape* poly1; // reference polygon + const b2PolygonShape* poly2; // incident polygon + b2Transform xf1, xf2; int32 edge1; // reference edge uint8 flip; const float32 k_relativeTol = 0.98f; const float32 k_absoluteTol = 0.001f; - // TODO_ERIN use "radius" of poly for absolute tolerance. if (separationB > k_relativeTol * separationA + k_absoluteTol) { poly1 = polyB; @@ -278,6 +222,7 @@ void b2CollidePolygons(b2Manifold* manifold, xf1 = xfB; xf2 = xfA; edge1 = edgeB; + manifold->type = b2Manifold::e_faceB; flip = 1; } else @@ -287,61 +232,70 @@ void b2CollidePolygons(b2Manifold* manifold, xf1 = xfA; xf2 = xfB; edge1 = edgeA; + manifold->type = b2Manifold::e_faceA; flip = 0; } - ClipVertex incidentEdge[2]; - FindIncidentEdge(incidentEdge, poly1, xf1, edge1, poly2, xf2); + b2ClipVertex incidentEdge[2]; + b2FindIncidentEdge(incidentEdge, poly1, xf1, edge1, poly2, xf2); - int32 count1 = poly1->GetVertexCount(); - const b2Vec2* vertices1 = poly1->GetVertices(); + int32 count1 = poly1->m_vertexCount; + const b2Vec2* vertices1 = poly1->m_vertices; b2Vec2 v11 = vertices1[edge1]; b2Vec2 v12 = edge1 + 1 < count1 ? vertices1[edge1+1] : vertices1[0]; - b2Vec2 dv = v12 - v11; - b2Vec2 sideNormal = b2Mul(xf1.R, v12 - v11); - sideNormal.Normalize(); - b2Vec2 frontNormal = b2Cross(sideNormal, 1.0f); + b2Vec2 localTangent = v12 - v11; + localTangent.Normalize(); + + b2Vec2 localNormal = b2Cross(localTangent, 1.0f); + b2Vec2 planePoint = 0.5f * (v11 + v12); + + b2Vec2 tangent = b2Mul(xf1.R, localTangent); + b2Vec2 normal = b2Cross(tangent, 1.0f); v11 = b2Mul(xf1, v11); v12 = b2Mul(xf1, v12); - float32 frontOffset = b2Dot(frontNormal, v11); - float32 sideOffset1 = -b2Dot(sideNormal, v11); - float32 sideOffset2 = b2Dot(sideNormal, v12); + // Face offset. + float32 frontOffset = b2Dot(normal, v11); + + // Side offsets, extended by polytope skin thickness. + float32 sideOffset1 = -b2Dot(tangent, v11) + totalRadius; + float32 sideOffset2 = b2Dot(tangent, v12) + totalRadius; // Clip incident edge against extruded edge1 side edges. - ClipVertex clipPoints1[2]; - ClipVertex clipPoints2[2]; + b2ClipVertex clipPoints1[2]; + b2ClipVertex clipPoints2[2]; int np; // Clip to box side 1 - np = ClipSegmentToLine(clipPoints1, incidentEdge, -sideNormal, sideOffset1); + np = b2ClipSegmentToLine(clipPoints1, incidentEdge, -tangent, sideOffset1); if (np < 2) return; // Clip to negative box side 1 - np = ClipSegmentToLine(clipPoints2, clipPoints1, sideNormal, sideOffset2); + np = b2ClipSegmentToLine(clipPoints2, clipPoints1, tangent, sideOffset2); if (np < 2) + { return; + } // Now clipPoints2 contains the clipped points. - manifold->normal = flip ? -frontNormal : frontNormal; + manifold->localNormal = localNormal; + manifold->localPoint = planePoint; int32 pointCount = 0; for (int32 i = 0; i < b2_maxManifoldPoints; ++i) { - float32 separation = b2Dot(frontNormal, clipPoints2[i].v) - frontOffset; + float32 separation = b2Dot(normal, clipPoints2[i].v) - frontOffset; - if (separation <= 0.0f) + if (separation <= totalRadius) { b2ManifoldPoint* cp = manifold->points + pointCount; - cp->separation = separation; - cp->localPoint1 = b2MulT(xfA, clipPoints2[i].v); - cp->localPoint2 = b2MulT(xfB, clipPoints2[i].v); + cp->localPoint = b2MulT(xf2, clipPoints2[i].v); cp->id = clipPoints2[i].id; cp->id.features.flip = flip; ++pointCount; diff --git a/src/modules/physics/box2d/Box2D/Collision/b2Collision.cpp b/src/modules/physics/box2d/Box2D/Collision/b2Collision.cpp new file mode 100644 index 000000000..a86c7c5a8 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Collision/b2Collision.cpp @@ -0,0 +1,250 @@ +/* +* Copyright (c) 2007-2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include + +void b2WorldManifold::Initialize(const b2Manifold* manifold, + const b2Transform& xfA, float32 radiusA, + const b2Transform& xfB, float32 radiusB) +{ + if (manifold->pointCount == 0) + { + return; + } + + switch (manifold->type) + { + case b2Manifold::e_circles: + { + normal.Set(1.0f, 0.0f); + b2Vec2 pointA = b2Mul(xfA, manifold->localPoint); + b2Vec2 pointB = b2Mul(xfB, manifold->points[0].localPoint); + if (b2DistanceSquared(pointA, pointB) > b2_epsilon * b2_epsilon) + { + normal = pointB - pointA; + normal.Normalize(); + } + + b2Vec2 cA = pointA + radiusA * normal; + b2Vec2 cB = pointB - radiusB * normal; + points[0] = 0.5f * (cA + cB); + } + break; + + case b2Manifold::e_faceA: + { + normal = b2Mul(xfA.R, manifold->localNormal); + b2Vec2 planePoint = b2Mul(xfA, manifold->localPoint); + + for (int32 i = 0; i < manifold->pointCount; ++i) + { + b2Vec2 clipPoint = b2Mul(xfB, manifold->points[i].localPoint); + b2Vec2 cA = clipPoint + (radiusA - b2Dot(clipPoint - planePoint, normal)) * normal; + b2Vec2 cB = clipPoint - radiusB * normal; + points[i] = 0.5f * (cA + cB); + } + } + break; + + case b2Manifold::e_faceB: + { + normal = b2Mul(xfB.R, manifold->localNormal); + b2Vec2 planePoint = b2Mul(xfB, manifold->localPoint); + + for (int32 i = 0; i < manifold->pointCount; ++i) + { + b2Vec2 clipPoint = b2Mul(xfA, manifold->points[i].localPoint); + b2Vec2 cB = clipPoint + (radiusB - b2Dot(clipPoint - planePoint, normal)) * normal; + b2Vec2 cA = clipPoint - radiusA * normal; + points[i] = 0.5f * (cA + cB); + } + + // Ensure normal points from A to B. + normal = -normal; + } + break; + } +} + +void b2GetPointStates(b2PointState state1[b2_maxManifoldPoints], b2PointState state2[b2_maxManifoldPoints], + const b2Manifold* manifold1, const b2Manifold* manifold2) +{ + for (int32 i = 0; i < b2_maxManifoldPoints; ++i) + { + state1[i] = b2_nullState; + state2[i] = b2_nullState; + } + + // Detect persists and removes. + for (int32 i = 0; i < manifold1->pointCount; ++i) + { + b2ContactID id = manifold1->points[i].id; + + state1[i] = b2_removeState; + + for (int32 j = 0; j < manifold2->pointCount; ++j) + { + if (manifold2->points[j].id.key == id.key) + { + state1[i] = b2_persistState; + break; + } + } + } + + // Detect persists and adds. + for (int32 i = 0; i < manifold2->pointCount; ++i) + { + b2ContactID id = manifold2->points[i].id; + + state2[i] = b2_addState; + + for (int32 j = 0; j < manifold1->pointCount; ++j) + { + if (manifold1->points[j].id.key == id.key) + { + state2[i] = b2_persistState; + break; + } + } + } +} + +// From Real-time Collision Detection, p179. +bool b2AABB::RayCast(b2RayCastOutput* output, const b2RayCastInput& input) const +{ + float32 tmin = -b2_maxFloat; + float32 tmax = b2_maxFloat; + + b2Vec2 p = input.p1; + b2Vec2 d = input.p2 - input.p1; + b2Vec2 absD = b2Abs(d); + + b2Vec2 normal; + + for (int32 i = 0; i < 2; ++i) + { + if (absD(i) < b2_epsilon) + { + // Parallel. + if (p(i) < lowerBound(i) || upperBound(i) < p(i)) + { + return false; + } + } + else + { + float32 inv_d = 1.0f / d(i); + float32 t1 = (lowerBound(i) - p(i)) * inv_d; + float32 t2 = (upperBound(i) - p(i)) * inv_d; + + // Sign of the normal vector. + float32 s = -1.0f; + + if (t1 > t2) + { + b2Swap(t1, t2); + s = 1.0f; + } + + // Push the min up + if (t1 > tmin) + { + normal.SetZero(); + normal(i) = s; + tmin = t1; + } + + // Pull the max down + tmax = b2Min(tmax, t2); + + if (tmin > tmax) + { + return false; + } + } + } + + // Does the ray start inside the box? + // Does the ray intersect beyond the max fraction? + if (tmin < 0.0f || input.maxFraction < tmin) + { + return false; + } + + // Intersection. + output->fraction = tmin; + output->normal = normal; + return true; +} + +// Sutherland-Hodgman clipping. +int32 b2ClipSegmentToLine(b2ClipVertex vOut[2], const b2ClipVertex vIn[2], + const b2Vec2& normal, float32 offset) +{ + // Start with no output points + int32 numOut = 0; + + // Calculate the distance of end points to the line + float32 distance0 = b2Dot(normal, vIn[0].v) - offset; + float32 distance1 = b2Dot(normal, vIn[1].v) - offset; + + // If the points are behind the plane + if (distance0 <= 0.0f) vOut[numOut++] = vIn[0]; + if (distance1 <= 0.0f) vOut[numOut++] = vIn[1]; + + // If the points are on different sides of the plane + if (distance0 * distance1 < 0.0f) + { + // Find intersection point of edge and plane + float32 interp = distance0 / (distance0 - distance1); + vOut[numOut].v = vIn[0].v + interp * (vIn[1].v - vIn[0].v); + if (distance0 > 0.0f) + { + vOut[numOut].id = vIn[0].id; + } + else + { + vOut[numOut].id = vIn[1].id; + } + ++numOut; + } + + return numOut; +} + +bool b2TestOverlap(const b2Shape* shapeA, const b2Shape* shapeB, + const b2Transform& xfA, const b2Transform& xfB) +{ + b2DistanceInput input; + input.proxyA.Set(shapeA); + input.proxyB.Set(shapeB); + input.transformA = xfA; + input.transformB = xfB; + input.useRadii = true; + + b2SimplexCache cache; + cache.count = 0; + + b2DistanceOutput output; + + b2Distance(&output, &cache, &input); + + return output.distance < 10.0f * b2_epsilon; +} diff --git a/src/modules/physics/box2d/Box2D/Collision/b2Collision.h b/src/modules/physics/box2d/Box2D/Collision/b2Collision.h new file mode 100644 index 000000000..baffdbde0 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Collision/b2Collision.h @@ -0,0 +1,240 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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_COLLISION_H +#define B2_COLLISION_H + +#include +#include + +/// @file +/// Structures and functions used for computing contact points, distance +/// queries, and TOI queries. + +class b2Shape; +class b2CircleShape; +class b2PolygonShape; + +const uint8 b2_nullFeature = UCHAR_MAX; + +/// Contact ids to facilitate warm starting. +union b2ContactID +{ + /// The features that intersect to form the contact point + struct Features + { + uint8 referenceEdge; ///< The edge that defines the outward contact normal. + uint8 incidentEdge; ///< The edge most anti-parallel to the reference edge. + uint8 incidentVertex; ///< The vertex (0 or 1) on the incident edge that was clipped. + uint8 flip; ///< A value of 1 indicates that the reference edge is on shape2. + } features; + uint32 key; ///< Used to quickly compare contact ids. +}; + +/// A manifold point is a contact point belonging to a contact +/// manifold. It holds details related to the geometry and dynamics +/// of the contact points. +/// The local point usage depends on the manifold type: +/// -e_circles: the local center of circleB +/// -e_faceA: the local center of cirlceB or the clip point of polygonB +/// -e_faceB: the clip point of polygonA +/// This structure is stored across time steps, so we keep it small. +/// Note: the impulses are used for internal caching and may not +/// provide reliable contact forces, especially for high speed collisions. +struct b2ManifoldPoint +{ + b2Vec2 localPoint; ///< usage depends on manifold type + float32 normalImpulse; ///< the non-penetration impulse + float32 tangentImpulse; ///< the friction impulse + b2ContactID id; ///< uniquely identifies a contact point between two shapes +}; + +/// A manifold for two touching convex shapes. +/// Box2D supports multiple types of contact: +/// - clip point versus plane with radius +/// - point versus point with radius (circles) +/// The local point usage depends on the manifold type: +/// -e_circles: the local center of circleA +/// -e_faceA: the center of faceA +/// -e_faceB: the center of faceB +/// Similarly the local normal usage: +/// -e_circles: not used +/// -e_faceA: the normal on polygonA +/// -e_faceB: the normal on polygonB +/// We store contacts in this way so that position correction can +/// account for movement, which is critical for continuous physics. +/// All contact scenarios must be expressed in one of these types. +/// This structure is stored across time steps, so we keep it small. +struct b2Manifold +{ + enum Type + { + e_circles, + e_faceA, + e_faceB + }; + + b2ManifoldPoint points[b2_maxManifoldPoints]; ///< the points of contact + b2Vec2 localNormal; ///< not use for Type::e_points + b2Vec2 localPoint; ///< usage depends on manifold type + Type type; + int32 pointCount; ///< the number of manifold points +}; + +/// This is used to compute the current state of a contact manifold. +struct b2WorldManifold +{ + /// Evaluate the manifold with supplied transforms. This assumes + /// modest motion from the original state. This does not change the + /// point count, impulses, etc. The radii must come from the shapes + /// that generated the manifold. + void Initialize(const b2Manifold* manifold, + const b2Transform& xfA, float32 radiusA, + const b2Transform& xfB, float32 radiusB); + + b2Vec2 normal; ///< world vector pointing from A to B + b2Vec2 points[b2_maxManifoldPoints]; ///< world contact point (point of intersection) +}; + +/// This is used for determining the state of contact points. +enum b2PointState +{ + b2_nullState, ///< point does not exist + b2_addState, ///< point was added in the update + b2_persistState, ///< point persisted across the update + b2_removeState ///< point was removed in the update +}; + +/// Compute the point states given two manifolds. The states pertain to the transition from manifold1 +/// to manifold2. So state1 is either persist or remove while state2 is either add or persist. +void b2GetPointStates(b2PointState state1[b2_maxManifoldPoints], b2PointState state2[b2_maxManifoldPoints], + const b2Manifold* manifold1, const b2Manifold* manifold2); + +/// Used for computing contact manifolds. +struct b2ClipVertex +{ + b2Vec2 v; + b2ContactID id; +}; + +/// Ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1). +struct b2RayCastInput +{ + b2Vec2 p1, p2; + float32 maxFraction; +}; + +/// Ray-cast output data. The ray hits at p1 + fraction * (p2 - p1), where p1 and p2 +/// come from b2RayCastInput. +struct b2RayCastOutput +{ + b2Vec2 normal; + float32 fraction; +}; + +/// An axis aligned bounding box. +struct b2AABB +{ + /// Verify that the bounds are sorted. + bool IsValid() const; + + /// Get the center of the AABB. + b2Vec2 GetCenter() const + { + return 0.5f * (lowerBound + upperBound); + } + + /// Get the extents of the AABB (half-widths). + b2Vec2 GetExtents() const + { + return 0.5f * (upperBound - lowerBound); + } + + /// Combine two AABBs into this one. + void Combine(const b2AABB& aabb1, const b2AABB& aabb2) + { + lowerBound = b2Min(aabb1.lowerBound, aabb2.lowerBound); + upperBound = b2Max(aabb1.upperBound, aabb2.upperBound); + } + + /// Does this aabb contain the provided AABB. + bool Contains(const b2AABB& aabb) const + { + bool result = true; + result = result && lowerBound.x <= aabb.lowerBound.x; + result = result && lowerBound.y <= aabb.lowerBound.y; + result = result && aabb.upperBound.x <= upperBound.x; + result = result && aabb.upperBound.y <= upperBound.y; + return result; + } + + bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input) const; + + b2Vec2 lowerBound; ///< the lower vertex + b2Vec2 upperBound; ///< the upper vertex +}; + +/// Compute the collision manifold between two circles. +void b2CollideCircles(b2Manifold* manifold, + const b2CircleShape* circle1, const b2Transform& xf1, + const b2CircleShape* circle2, const b2Transform& xf2); + +/// Compute the collision manifold between a polygon and a circle. +void b2CollidePolygonAndCircle(b2Manifold* manifold, + const b2PolygonShape* polygon, const b2Transform& xf1, + const b2CircleShape* circle, const b2Transform& xf2); + +/// Compute the collision manifold between two polygons. +void b2CollidePolygons(b2Manifold* manifold, + const b2PolygonShape* polygon1, const b2Transform& xf1, + const b2PolygonShape* polygon2, const b2Transform& xf2); + +/// Clipping for contact manifolds. +int32 b2ClipSegmentToLine(b2ClipVertex vOut[2], const b2ClipVertex vIn[2], + const b2Vec2& normal, float32 offset); + +/// Determine if two generic shapes overlap. +bool b2TestOverlap(const b2Shape* shapeA, const b2Shape* shapeB, + const b2Transform& xfA, const b2Transform& xfB); + +// ---------------- Inline Functions ------------------------------------------ + +inline bool b2AABB::IsValid() const +{ + b2Vec2 d = upperBound - lowerBound; + bool valid = d.x >= 0.0f && d.y >= 0.0f; + valid = valid && lowerBound.IsValid() && upperBound.IsValid(); + return valid; +} + +inline bool b2TestOverlap(const b2AABB& a, const b2AABB& b) +{ + b2Vec2 d1, d2; + d1 = b.lowerBound - a.upperBound; + d2 = a.lowerBound - b.upperBound; + + if (d1.x > 0.0f || d1.y > 0.0f) + return false; + + if (d2.x > 0.0f || d2.y > 0.0f) + return false; + + return true; +} + +#endif diff --git a/src/modules/physics/box2d/Box2D/Collision/b2Distance.cpp b/src/modules/physics/box2d/Box2D/Collision/b2Distance.cpp new file mode 100644 index 000000000..f95c82f21 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Collision/b2Distance.cpp @@ -0,0 +1,571 @@ +/* +* Copyright (c) 2007-2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include + +// GJK using Voronoi regions (Christer Ericson) and Barycentric coordinates. +int32 b2_gjkCalls, b2_gjkIters, b2_gjkMaxIters; + +void b2DistanceProxy::Set(const b2Shape* shape) +{ + switch (shape->GetType()) + { + case b2Shape::e_circle: + { + const b2CircleShape* circle = (b2CircleShape*)shape; + m_vertices = &circle->m_p; + m_count = 1; + m_radius = circle->m_radius; + } + break; + + case b2Shape::e_polygon: + { + const b2PolygonShape* polygon = (b2PolygonShape*)shape; + m_vertices = polygon->m_vertices; + m_count = polygon->m_vertexCount; + m_radius = polygon->m_radius; + } + break; + + default: + b2Assert(false); + } +} + + +struct b2SimplexVertex +{ + b2Vec2 wA; // support point in proxyA + b2Vec2 wB; // support point in proxyB + b2Vec2 w; // wB - wA + float32 a; // barycentric coordinate for closest point + int32 indexA; // wA index + int32 indexB; // wB index +}; + +struct b2Simplex +{ + void ReadCache( const b2SimplexCache* cache, + const b2DistanceProxy* proxyA, const b2Transform& transformA, + const b2DistanceProxy* proxyB, const b2Transform& transformB) + { + b2Assert(cache->count <= 3); + + // Copy data from cache. + m_count = cache->count; + b2SimplexVertex* vertices = &m_v1; + for (int32 i = 0; i < m_count; ++i) + { + b2SimplexVertex* v = vertices + i; + v->indexA = cache->indexA[i]; + v->indexB = cache->indexB[i]; + b2Vec2 wALocal = proxyA->GetVertex(v->indexA); + b2Vec2 wBLocal = proxyB->GetVertex(v->indexB); + v->wA = b2Mul(transformA, wALocal); + v->wB = b2Mul(transformB, wBLocal); + v->w = v->wB - v->wA; + v->a = 0.0f; + } + + // Compute the new simplex metric, if it is substantially different than + // old metric then flush the simplex. + if (m_count > 1) + { + float32 metric1 = cache->metric; + float32 metric2 = GetMetric(); + if (metric2 < 0.5f * metric1 || 2.0f * metric1 < metric2 || metric2 < b2_epsilon) + { + // Reset the simplex. + m_count = 0; + } + } + + // If the cache is empty or invalid ... + if (m_count == 0) + { + b2SimplexVertex* v = vertices + 0; + v->indexA = 0; + v->indexB = 0; + b2Vec2 wALocal = proxyA->GetVertex(0); + b2Vec2 wBLocal = proxyB->GetVertex(0); + v->wA = b2Mul(transformA, wALocal); + v->wB = b2Mul(transformB, wBLocal); + v->w = v->wB - v->wA; + m_count = 1; + } + } + + void WriteCache(b2SimplexCache* cache) const + { + cache->metric = GetMetric(); + cache->count = uint16(m_count); + const b2SimplexVertex* vertices = &m_v1; + for (int32 i = 0; i < m_count; ++i) + { + cache->indexA[i] = uint8(vertices[i].indexA); + cache->indexB[i] = uint8(vertices[i].indexB); + } + } + + b2Vec2 GetSearchDirection() const + { + switch (m_count) + { + case 1: + return -m_v1.w; + + case 2: + { + b2Vec2 e12 = m_v2.w - m_v1.w; + float32 sgn = b2Cross(e12, -m_v1.w); + if (sgn > 0.0f) + { + // Origin is left of e12. + return b2Cross(1.0f, e12); + } + else + { + // Origin is right of e12. + return b2Cross(e12, 1.0f); + } + } + + default: + b2Assert(false); + return b2Vec2_zero; + } + } + + b2Vec2 GetClosestPoint() const + { + switch (m_count) + { + case 0: + b2Assert(false); + return b2Vec2_zero; + + case 1: + return m_v1.w; + + case 2: + return m_v1.a * m_v1.w + m_v2.a * m_v2.w; + + case 3: + return b2Vec2_zero; + + default: + b2Assert(false); + return b2Vec2_zero; + } + } + + void GetWitnessPoints(b2Vec2* pA, b2Vec2* pB) const + { + switch (m_count) + { + case 0: + b2Assert(false); + break; + + case 1: + *pA = m_v1.wA; + *pB = m_v1.wB; + break; + + case 2: + *pA = m_v1.a * m_v1.wA + m_v2.a * m_v2.wA; + *pB = m_v1.a * m_v1.wB + m_v2.a * m_v2.wB; + break; + + case 3: + *pA = m_v1.a * m_v1.wA + m_v2.a * m_v2.wA + m_v3.a * m_v3.wA; + *pB = *pA; + break; + + default: + b2Assert(false); + break; + } + } + + float32 GetMetric() const + { + switch (m_count) + { + case 0: + b2Assert(false); + return 0.0; + + case 1: + return 0.0f; + + case 2: + return b2Distance(m_v1.w, m_v2.w); + + case 3: + return b2Cross(m_v2.w - m_v1.w, m_v3.w - m_v1.w); + + default: + b2Assert(false); + return 0.0f; + } + } + + void Solve2(); + void Solve3(); + + b2SimplexVertex m_v1, m_v2, m_v3; + int32 m_count; +}; + + +// Solve a line segment using barycentric coordinates. +// +// p = a1 * w1 + a2 * w2 +// a1 + a2 = 1 +// +// The vector from the origin to the closest point on the line is +// perpendicular to the line. +// e12 = w2 - w1 +// dot(p, e) = 0 +// a1 * dot(w1, e) + a2 * dot(w2, e) = 0 +// +// 2-by-2 linear system +// [1 1 ][a1] = [1] +// [w1.e12 w2.e12][a2] = [0] +// +// Define +// d12_1 = dot(w2, e12) +// d12_2 = -dot(w1, e12) +// d12 = d12_1 + d12_2 +// +// Solution +// a1 = d12_1 / d12 +// a2 = d12_2 / d12 +void b2Simplex::Solve2() +{ + b2Vec2 w1 = m_v1.w; + b2Vec2 w2 = m_v2.w; + b2Vec2 e12 = w2 - w1; + + // w1 region + float32 d12_2 = -b2Dot(w1, e12); + if (d12_2 <= 0.0f) + { + // a2 <= 0, so we clamp it to 0 + m_v1.a = 1.0f; + m_count = 1; + return; + } + + // w2 region + float32 d12_1 = b2Dot(w2, e12); + if (d12_1 <= 0.0f) + { + // a1 <= 0, so we clamp it to 0 + m_v2.a = 1.0f; + m_count = 1; + m_v1 = m_v2; + return; + } + + // Must be in e12 region. + float32 inv_d12 = 1.0f / (d12_1 + d12_2); + m_v1.a = d12_1 * inv_d12; + m_v2.a = d12_2 * inv_d12; + m_count = 2; +} + +// Possible regions: +// - points[2] +// - edge points[0]-points[2] +// - edge points[1]-points[2] +// - inside the triangle +void b2Simplex::Solve3() +{ + b2Vec2 w1 = m_v1.w; + b2Vec2 w2 = m_v2.w; + b2Vec2 w3 = m_v3.w; + + // Edge12 + // [1 1 ][a1] = [1] + // [w1.e12 w2.e12][a2] = [0] + // a3 = 0 + b2Vec2 e12 = w2 - w1; + float32 w1e12 = b2Dot(w1, e12); + float32 w2e12 = b2Dot(w2, e12); + float32 d12_1 = w2e12; + float32 d12_2 = -w1e12; + + // Edge13 + // [1 1 ][a1] = [1] + // [w1.e13 w3.e13][a3] = [0] + // a2 = 0 + b2Vec2 e13 = w3 - w1; + float32 w1e13 = b2Dot(w1, e13); + float32 w3e13 = b2Dot(w3, e13); + float32 d13_1 = w3e13; + float32 d13_2 = -w1e13; + + // Edge23 + // [1 1 ][a2] = [1] + // [w2.e23 w3.e23][a3] = [0] + // a1 = 0 + b2Vec2 e23 = w3 - w2; + float32 w2e23 = b2Dot(w2, e23); + float32 w3e23 = b2Dot(w3, e23); + float32 d23_1 = w3e23; + float32 d23_2 = -w2e23; + + // Triangle123 + float32 n123 = b2Cross(e12, e13); + + float32 d123_1 = n123 * b2Cross(w2, w3); + float32 d123_2 = n123 * b2Cross(w3, w1); + float32 d123_3 = n123 * b2Cross(w1, w2); + + // w1 region + if (d12_2 <= 0.0f && d13_2 <= 0.0f) + { + m_v1.a = 1.0f; + m_count = 1; + return; + } + + // e12 + if (d12_1 > 0.0f && d12_2 > 0.0f && d123_3 <= 0.0f) + { + float32 inv_d12 = 1.0f / (d12_1 + d12_2); + m_v1.a = d12_1 * inv_d12; + m_v2.a = d12_2 * inv_d12; + m_count = 2; + return; + } + + // e13 + if (d13_1 > 0.0f && d13_2 > 0.0f && d123_2 <= 0.0f) + { + float32 inv_d13 = 1.0f / (d13_1 + d13_2); + m_v1.a = d13_1 * inv_d13; + m_v3.a = d13_2 * inv_d13; + m_count = 2; + m_v2 = m_v3; + return; + } + + // w2 region + if (d12_1 <= 0.0f && d23_2 <= 0.0f) + { + m_v2.a = 1.0f; + m_count = 1; + m_v1 = m_v2; + return; + } + + // w3 region + if (d13_1 <= 0.0f && d23_1 <= 0.0f) + { + m_v3.a = 1.0f; + m_count = 1; + m_v1 = m_v3; + return; + } + + // e23 + if (d23_1 > 0.0f && d23_2 > 0.0f && d123_1 <= 0.0f) + { + float32 inv_d23 = 1.0f / (d23_1 + d23_2); + m_v2.a = d23_1 * inv_d23; + m_v3.a = d23_2 * inv_d23; + m_count = 2; + m_v1 = m_v3; + return; + } + + // Must be in triangle123 + float32 inv_d123 = 1.0f / (d123_1 + d123_2 + d123_3); + m_v1.a = d123_1 * inv_d123; + m_v2.a = d123_2 * inv_d123; + m_v3.a = d123_3 * inv_d123; + m_count = 3; +} + +void b2Distance(b2DistanceOutput* output, + b2SimplexCache* cache, + const b2DistanceInput* input) +{ + ++b2_gjkCalls; + + const b2DistanceProxy* proxyA = &input->proxyA; + const b2DistanceProxy* proxyB = &input->proxyB; + + b2Transform transformA = input->transformA; + b2Transform transformB = input->transformB; + + // Initialize the simplex. + b2Simplex simplex; + simplex.ReadCache(cache, proxyA, transformA, proxyB, transformB); + + // Get simplex vertices as an array. + b2SimplexVertex* vertices = &simplex.m_v1; + const int32 k_maxIters = 20; + + // These store the vertices of the last simplex so that we + // can check for duplicates and prevent cycling. + int32 saveA[3], saveB[3]; + int32 saveCount = 0; + + b2Vec2 closestPoint = simplex.GetClosestPoint(); + float32 distanceSqr1 = closestPoint.LengthSquared(); + float32 distanceSqr2 = distanceSqr1; + + // Main iteration loop. + int32 iter = 0; + while (iter < k_maxIters) + { + // Copy simplex so we can identify duplicates. + saveCount = simplex.m_count; + for (int32 i = 0; i < saveCount; ++i) + { + saveA[i] = vertices[i].indexA; + saveB[i] = vertices[i].indexB; + } + + switch (simplex.m_count) + { + case 1: + break; + + case 2: + simplex.Solve2(); + break; + + case 3: + simplex.Solve3(); + break; + + default: + b2Assert(false); + } + + // If we have 3 points, then the origin is in the corresponding triangle. + if (simplex.m_count == 3) + { + break; + } + + // Compute closest point. + b2Vec2 p = simplex.GetClosestPoint(); + distanceSqr2 = p.LengthSquared(); + + // Ensure progress + if (distanceSqr2 >= distanceSqr1) + { + //break; + } + distanceSqr1 = distanceSqr2; + + // Get search direction. + b2Vec2 d = simplex.GetSearchDirection(); + + // Ensure the search direction is numerically fit. + if (d.LengthSquared() < b2_epsilon * b2_epsilon) + { + // The origin is probably contained by a line segment + // or triangle. Thus the shapes are overlapped. + + // We can't return zero here even though there may be overlap. + // In case the simplex is a point, segment, or triangle it is difficult + // to determine if the origin is contained in the CSO or very close to it. + break; + } + + // Compute a tentative new simplex vertex using support points. + b2SimplexVertex* vertex = vertices + simplex.m_count; + vertex->indexA = proxyA->GetSupport(b2MulT(transformA.R, -d)); + vertex->wA = b2Mul(transformA, proxyA->GetVertex(vertex->indexA)); + b2Vec2 wBLocal; + vertex->indexB = proxyB->GetSupport(b2MulT(transformB.R, d)); + vertex->wB = b2Mul(transformB, proxyB->GetVertex(vertex->indexB)); + vertex->w = vertex->wB - vertex->wA; + + // Iteration count is equated to the number of support point calls. + ++iter; + ++b2_gjkIters; + + // Check for duplicate support points. This is the main termination criteria. + bool duplicate = false; + for (int32 i = 0; i < saveCount; ++i) + { + if (vertex->indexA == saveA[i] && vertex->indexB == saveB[i]) + { + duplicate = true; + break; + } + } + + // If we found a duplicate support point we must exit to avoid cycling. + if (duplicate) + { + break; + } + + // New vertex is ok and needed. + ++simplex.m_count; + } + + b2_gjkMaxIters = b2Max(b2_gjkMaxIters, iter); + + // Prepare output. + simplex.GetWitnessPoints(&output->pointA, &output->pointB); + output->distance = b2Distance(output->pointA, output->pointB); + output->iterations = iter; + + // Cache the simplex. + simplex.WriteCache(cache); + + // Apply radii if requested. + if (input->useRadii) + { + float32 rA = proxyA->m_radius; + float32 rB = proxyB->m_radius; + + if (output->distance > rA + rB && output->distance > b2_epsilon) + { + // Shapes are still no overlapped. + // Move the witness points to the outer surface. + output->distance -= rA + rB; + b2Vec2 normal = output->pointB - output->pointA; + normal.Normalize(); + output->pointA += rA * normal; + output->pointB -= rB * normal; + } + else + { + // Shapes are overlapped when radii are considered. + // Move the witness points to the middle. + b2Vec2 p = 0.5f * (output->pointA + output->pointB); + output->pointA = p; + output->pointB = p; + output->distance = 0.0f; + } + } +} diff --git a/src/modules/physics/box2d/Box2D/Collision/b2Distance.h b/src/modules/physics/box2d/Box2D/Collision/b2Distance.h new file mode 100644 index 000000000..e56ea0a7b --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Collision/b2Distance.h @@ -0,0 +1,141 @@ + +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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_DISTANCE_H +#define B2_DISTANCE_H + +#include +#include + +class b2Shape; + +/// A distance proxy is used by the GJK algorithm. +/// It encapsulates any shape. +struct b2DistanceProxy +{ + b2DistanceProxy() : m_vertices(NULL), m_count(0), m_radius(0.0f) {} + + /// Initialize the proxy using the given shape. The shape + /// must remain in scope while the proxy is in use. + void Set(const b2Shape* shape); + + /// Get the supporting vertex index in the given direction. + int32 GetSupport(const b2Vec2& d) const; + + /// Get the supporting vertex in the given direction. + const b2Vec2& GetSupportVertex(const b2Vec2& d) const; + + /// Get the vertex count. + int32 GetVertexCount() const; + + /// Get a vertex by index. Used by b2Distance. + const b2Vec2& GetVertex(int32 index) const; + + const b2Vec2* m_vertices; + int32 m_count; + float32 m_radius; +}; + +/// Used to warm start b2Distance. +/// Set count to zero on first call. +struct b2SimplexCache +{ + float32 metric; ///< length or area + uint16 count; + uint8 indexA[3]; ///< vertices on shape A + uint8 indexB[3]; ///< vertices on shape B +}; + +/// Input for b2Distance. +/// You have to option to use the shape radii +/// in the computation. Even +struct b2DistanceInput +{ + b2DistanceProxy proxyA; + b2DistanceProxy proxyB; + b2Transform transformA; + b2Transform transformB; + bool useRadii; +}; + +/// Output for b2Distance. +struct b2DistanceOutput +{ + b2Vec2 pointA; ///< closest point on shapeA + b2Vec2 pointB; ///< closest point on shapeB + float32 distance; + int32 iterations; ///< number of GJK iterations used +}; + +/// Compute the closest points between two shapes. Supports any combination of: +/// b2CircleShape, b2PolygonShape, b2EdgeShape. The simplex cache is input/output. +/// On the first call set b2SimplexCache.count to zero. +void b2Distance(b2DistanceOutput* output, + b2SimplexCache* cache, + const b2DistanceInput* input); + + +////////////////////////////////////////////////////////////////////////// + +inline int32 b2DistanceProxy::GetVertexCount() const +{ + return m_count; +} + +inline const b2Vec2& b2DistanceProxy::GetVertex(int32 index) const +{ + b2Assert(0 <= index && index < m_count); + return m_vertices[index]; +} + +inline int32 b2DistanceProxy::GetSupport(const b2Vec2& d) const +{ + int32 bestIndex = 0; + float32 bestValue = b2Dot(m_vertices[0], d); + for (int32 i = 1; i < m_count; ++i) + { + float32 value = b2Dot(m_vertices[i], d); + if (value > bestValue) + { + bestIndex = i; + bestValue = value; + } + } + + return bestIndex; +} + +inline const b2Vec2& b2DistanceProxy::GetSupportVertex(const b2Vec2& d) const +{ + int32 bestIndex = 0; + float32 bestValue = b2Dot(m_vertices[0], d); + for (int32 i = 1; i < m_count; ++i) + { + float32 value = b2Dot(m_vertices[i], d); + if (value > bestValue) + { + bestIndex = i; + bestValue = value; + } + } + + return m_vertices[bestIndex]; +} + +#endif diff --git a/src/modules/physics/box2d/Box2D/Collision/b2DynamicTree.cpp b/src/modules/physics/box2d/Box2D/Collision/b2DynamicTree.cpp new file mode 100644 index 000000000..d8a05ebdf --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Collision/b2DynamicTree.cpp @@ -0,0 +1,365 @@ +/* +* Copyright (c) 2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include + +b2DynamicTree::b2DynamicTree() +{ + m_root = b2_nullNode; + + m_nodeCapacity = 16; + m_nodeCount = 0; + m_nodes = (b2DynamicTreeNode*)b2Alloc(m_nodeCapacity * sizeof(b2DynamicTreeNode)); + memset(m_nodes, 0, m_nodeCapacity * sizeof(b2DynamicTreeNode)); + + // Build a linked list for the free list. + for (int32 i = 0; i < m_nodeCapacity - 1; ++i) + { + m_nodes[i].next = i + 1; + } + m_nodes[m_nodeCapacity-1].next = b2_nullNode; + m_freeList = 0; + + m_path = 0; + + m_insertionCount = 0; +} + +b2DynamicTree::~b2DynamicTree() +{ + // This frees the entire tree in one shot. + b2Free(m_nodes); +} + +// Allocate a node from the pool. Grow the pool if necessary. +int32 b2DynamicTree::AllocateNode() +{ + // Expand the node pool as needed. + if (m_freeList == b2_nullNode) + { + b2Assert(m_nodeCount == m_nodeCapacity); + + // The free list is empty. Rebuild a bigger pool. + b2DynamicTreeNode* oldNodes = m_nodes; + m_nodeCapacity *= 2; + m_nodes = (b2DynamicTreeNode*)b2Alloc(m_nodeCapacity * sizeof(b2DynamicTreeNode)); + memcpy(m_nodes, oldNodes, m_nodeCount * sizeof(b2DynamicTreeNode)); + b2Free(oldNodes); + + // Build a linked list for the free list. The parent + // pointer becomes the "next" pointer. + for (int32 i = m_nodeCount; i < m_nodeCapacity - 1; ++i) + { + m_nodes[i].next = i + 1; + } + m_nodes[m_nodeCapacity-1].next = b2_nullNode; + m_freeList = m_nodeCount; + } + + // Peel a node off the free list. + int32 nodeId = m_freeList; + m_freeList = m_nodes[nodeId].next; + m_nodes[nodeId].parent = b2_nullNode; + m_nodes[nodeId].child1 = b2_nullNode; + m_nodes[nodeId].child2 = b2_nullNode; + ++m_nodeCount; + return nodeId; +} + +// Return a node to the pool. +void b2DynamicTree::FreeNode(int32 nodeId) +{ + b2Assert(0 <= nodeId && nodeId < m_nodeCapacity); + b2Assert(0 < m_nodeCount); + m_nodes[nodeId].next = m_freeList; + m_freeList = nodeId; + --m_nodeCount; +} + +// Create a proxy in the tree as a leaf node. We return the index +// of the node instead of a pointer so that we can grow +// the node pool. +int32 b2DynamicTree::CreateProxy(const b2AABB& aabb, void* userData) +{ + int32 proxyId = AllocateNode(); + + // Fatten the aabb. + b2Vec2 r(b2_aabbExtension, b2_aabbExtension); + m_nodes[proxyId].aabb.lowerBound = aabb.lowerBound - r; + m_nodes[proxyId].aabb.upperBound = aabb.upperBound + r; + m_nodes[proxyId].userData = userData; + + InsertLeaf(proxyId); + + // Rebalance if necessary. + int32 iterationCount = m_nodeCount >> 4; + int32 tryCount = 0; + int32 height = ComputeHeight(); + while (height > 64 && tryCount < 10) + { + Rebalance(iterationCount); + height = ComputeHeight(); + ++tryCount; + } + + return proxyId; +} + +void b2DynamicTree::DestroyProxy(int32 proxyId) +{ + b2Assert(0 <= proxyId && proxyId < m_nodeCapacity); + b2Assert(m_nodes[proxyId].IsLeaf()); + + RemoveLeaf(proxyId); + FreeNode(proxyId); +} + +bool b2DynamicTree::MoveProxy(int32 proxyId, const b2AABB& aabb, const b2Vec2& displacement) +{ + b2Assert(0 <= proxyId && proxyId < m_nodeCapacity); + + b2Assert(m_nodes[proxyId].IsLeaf()); + + if (m_nodes[proxyId].aabb.Contains(aabb)) + { + return false; + } + + RemoveLeaf(proxyId); + + // Extend AABB. + b2AABB b = aabb; + b2Vec2 r(b2_aabbExtension, b2_aabbExtension); + b.lowerBound = b.lowerBound - r; + b.upperBound = b.upperBound + r; + + // Predict AABB displacement. + b2Vec2 d = b2_aabbMultiplier * displacement; + + if (d.x < 0.0f) + { + b.lowerBound.x += d.x; + } + else + { + b.upperBound.x += d.x; + } + + if (d.y < 0.0f) + { + b.lowerBound.y += d.y; + } + else + { + b.upperBound.y += d.y; + } + + m_nodes[proxyId].aabb = b; + + InsertLeaf(proxyId); + return true; +} + +void b2DynamicTree::InsertLeaf(int32 leaf) +{ + ++m_insertionCount; + + if (m_root == b2_nullNode) + { + m_root = leaf; + m_nodes[m_root].parent = b2_nullNode; + return; + } + + // Find the best sibling for this node. + b2Vec2 center = m_nodes[leaf].aabb.GetCenter(); + int32 sibling = m_root; + if (m_nodes[sibling].IsLeaf() == false) + { + do + { + int32 child1 = m_nodes[sibling].child1; + int32 child2 = m_nodes[sibling].child2; + + b2Vec2 delta1 = b2Abs(m_nodes[child1].aabb.GetCenter() - center); + b2Vec2 delta2 = b2Abs(m_nodes[child2].aabb.GetCenter() - center); + + float32 norm1 = delta1.x + delta1.y; + float32 norm2 = delta2.x + delta2.y; + + if (norm1 < norm2) + { + sibling = child1; + } + else + { + sibling = child2; + } + + } + while(m_nodes[sibling].IsLeaf() == false); + } + + // Create a parent for the siblings. + int32 node1 = m_nodes[sibling].parent; + int32 node2 = AllocateNode(); + m_nodes[node2].parent = node1; + m_nodes[node2].userData = NULL; + m_nodes[node2].aabb.Combine(m_nodes[leaf].aabb, m_nodes[sibling].aabb); + + if (node1 != b2_nullNode) + { + if (m_nodes[m_nodes[sibling].parent].child1 == sibling) + { + m_nodes[node1].child1 = node2; + } + else + { + m_nodes[node1].child2 = node2; + } + + m_nodes[node2].child1 = sibling; + m_nodes[node2].child2 = leaf; + m_nodes[sibling].parent = node2; + m_nodes[leaf].parent = node2; + + do + { + if (m_nodes[node1].aabb.Contains(m_nodes[node2].aabb)) + { + break; + } + + m_nodes[node1].aabb.Combine(m_nodes[m_nodes[node1].child1].aabb, m_nodes[m_nodes[node1].child2].aabb); + node2 = node1; + node1 = m_nodes[node1].parent; + } + while(node1 != b2_nullNode); + } + else + { + m_nodes[node2].child1 = sibling; + m_nodes[node2].child2 = leaf; + m_nodes[sibling].parent = node2; + m_nodes[leaf].parent = node2; + m_root = node2; + } +} + +void b2DynamicTree::RemoveLeaf(int32 leaf) +{ + if (leaf == m_root) + { + m_root = b2_nullNode; + return; + } + + int32 node2 = m_nodes[leaf].parent; + int32 node1 = m_nodes[node2].parent; + int32 sibling; + if (m_nodes[node2].child1 == leaf) + { + sibling = m_nodes[node2].child2; + } + else + { + sibling = m_nodes[node2].child1; + } + + if (node1 != b2_nullNode) + { + // Destroy node2 and connect node1 to sibling. + if (m_nodes[node1].child1 == node2) + { + m_nodes[node1].child1 = sibling; + } + else + { + m_nodes[node1].child2 = sibling; + } + m_nodes[sibling].parent = node1; + FreeNode(node2); + + // Adjust ancestor bounds. + while (node1 != b2_nullNode) + { + b2AABB oldAABB = m_nodes[node1].aabb; + m_nodes[node1].aabb.Combine(m_nodes[m_nodes[node1].child1].aabb, m_nodes[m_nodes[node1].child2].aabb); + + if (oldAABB.Contains(m_nodes[node1].aabb)) + { + break; + } + + node1 = m_nodes[node1].parent; + } + } + else + { + m_root = sibling; + m_nodes[sibling].parent = b2_nullNode; + FreeNode(node2); + } +} + +void b2DynamicTree::Rebalance(int32 iterations) +{ + if (m_root == b2_nullNode) + { + return; + } + + for (int32 i = 0; i < iterations; ++i) + { + int32 node = m_root; + + uint32 bit = 0; + while (m_nodes[node].IsLeaf() == false) + { + int32* children = &m_nodes[node].child1; + node = children[(m_path >> bit) & 1]; + bit = (bit + 1) & (8* sizeof(uint32) - 1); + } + ++m_path; + + RemoveLeaf(node); + InsertLeaf(node); + } +} + +// Compute the height of a sub-tree. +int32 b2DynamicTree::ComputeHeight(int32 nodeId) const +{ + if (nodeId == b2_nullNode) + { + return 0; + } + + b2Assert(0 <= nodeId && nodeId < m_nodeCapacity); + b2DynamicTreeNode* node = m_nodes + nodeId; + int32 height1 = ComputeHeight(node->child1); + int32 height2 = ComputeHeight(node->child2); + return 1 + b2Max(height1, height2); +} + +int32 b2DynamicTree::ComputeHeight() const +{ + return ComputeHeight(m_root); +} diff --git a/src/modules/physics/box2d/Box2D/Collision/b2DynamicTree.h b/src/modules/physics/box2d/Box2D/Collision/b2DynamicTree.h new file mode 100644 index 000000000..b67686b5c --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Collision/b2DynamicTree.h @@ -0,0 +1,286 @@ +/* +* Copyright (c) 2009 Erin Catto http://www.gphysics.com +* +* 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_DYNAMIC_TREE_H +#define B2_DYNAMIC_TREE_H + +#include + +/// A dynamic AABB tree broad-phase, inspired by Nathanael Presson's btDbvt. + +#define b2_nullNode (-1) + +/// A node in the dynamic tree. The client does not interact with this directly. +struct b2DynamicTreeNode +{ + bool IsLeaf() const + { + return child1 == b2_nullNode; + } + + /// This is the fattened AABB. + b2AABB aabb; + + //int32 userData; + void* userData; + + union + { + int32 parent; + int32 next; + }; + + int32 child1; + int32 child2; +}; + +/// A dynamic tree arranges data in a binary tree to accelerate +/// queries such as volume queries and ray casts. Leafs are proxies +/// with an AABB. In the tree we expand the proxy AABB by b2_fatAABBFactor +/// so that the proxy AABB is bigger than the client object. This allows the client +/// object to move by small amounts without triggering a tree update. +/// +/// Nodes are pooled and relocatable, so we use node indices rather than pointers. +class b2DynamicTree +{ +public: + + /// Constructing the tree initializes the node pool. + b2DynamicTree(); + + /// Destroy the tree, freeing the node pool. + ~b2DynamicTree(); + + /// Create a proxy. Provide a tight fitting AABB and a userData pointer. + int32 CreateProxy(const b2AABB& aabb, void* userData); + + /// Destroy a proxy. This asserts if the id is invalid. + void DestroyProxy(int32 proxyId); + + /// Move a proxy with a swepted AABB. If the proxy has moved outside of its fattened AABB, + /// then the proxy is removed from the tree and re-inserted. Otherwise + /// the function returns immediately. + /// @return true if the proxy was re-inserted. + bool MoveProxy(int32 proxyId, const b2AABB& aabb1, const b2Vec2& displacement); + + /// Perform some iterations to re-balance the tree. + void Rebalance(int32 iterations); + + /// Get proxy user data. + /// @return the proxy user data or 0 if the id is invalid. + void* GetUserData(int32 proxyId) const; + + /// Get the fat AABB for a proxy. + const b2AABB& GetFatAABB(int32 proxyId) const; + + /// Compute the height of the tree. + int32 ComputeHeight() const; + + /// Query an AABB for overlapping proxies. The callback class + /// is called for each proxy that overlaps the supplied AABB. + template + void Query(T* callback, const b2AABB& aabb) const; + + /// Ray-cast against the proxies in the tree. This relies on the callback + /// to perform a exact ray-cast in the case were the proxy contains a shape. + /// The callback also performs the any collision filtering. This has performance + /// roughly equal to k * log(n), where k is the number of collisions and n is the + /// number of proxies in the tree. + /// @param input the ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1). + /// @param callback a callback class that is called for each proxy that is hit by the ray. + template + void RayCast(T* callback, const b2RayCastInput& input) const; + +private: + + int32 AllocateNode(); + void FreeNode(int32 node); + + void InsertLeaf(int32 node); + void RemoveLeaf(int32 node); + + int32 ComputeHeight(int32 nodeId) const; + + int32 m_root; + + b2DynamicTreeNode* m_nodes; + int32 m_nodeCount; + int32 m_nodeCapacity; + + int32 m_freeList; + + /// This is used incrementally traverse the tree for re-balancing. + uint32 m_path; + + int32 m_insertionCount; +}; + +inline void* b2DynamicTree::GetUserData(int32 proxyId) const +{ + b2Assert(0 <= proxyId && proxyId < m_nodeCapacity); + return m_nodes[proxyId].userData; +} + +inline const b2AABB& b2DynamicTree::GetFatAABB(int32 proxyId) const +{ + b2Assert(0 <= proxyId && proxyId < m_nodeCapacity); + return m_nodes[proxyId].aabb; +} + +template +inline void b2DynamicTree::Query(T* callback, const b2AABB& aabb) const +{ + const int32 k_stackSize = 128; + int32 stack[k_stackSize]; + + int32 count = 0; + stack[count++] = m_root; + + while (count > 0) + { + int32 nodeId = stack[--count]; + if (nodeId == b2_nullNode) + { + continue; + } + + const b2DynamicTreeNode* node = m_nodes + nodeId; + + if (b2TestOverlap(node->aabb, aabb)) + { + if (node->IsLeaf()) + { + bool proceed = callback->QueryCallback(nodeId); + if (proceed == false) + { + return; + } + } + else + { + if (count < k_stackSize) + { + stack[count++] = node->child1; + } + + if (count < k_stackSize) + { + stack[count++] = node->child2; + } + } + } + } +} + +template +inline void b2DynamicTree::RayCast(T* callback, const b2RayCastInput& input) const +{ + b2Vec2 p1 = input.p1; + b2Vec2 p2 = input.p2; + b2Vec2 r = p2 - p1; + b2Assert(r.LengthSquared() > 0.0f); + r.Normalize(); + + // v is perpendicular to the segment. + b2Vec2 v = b2Cross(1.0f, r); + b2Vec2 abs_v = b2Abs(v); + + // Separating axis for segment (Gino, p80). + // |dot(v, p1 - c)| > dot(|v|, h) + + float32 maxFraction = input.maxFraction; + + // Build a bounding box for the segment. + b2AABB segmentAABB; + { + b2Vec2 t = p1 + maxFraction * (p2 - p1); + segmentAABB.lowerBound = b2Min(p1, t); + segmentAABB.upperBound = b2Max(p1, t); + } + + const int32 k_stackSize = 128; + int32 stack[k_stackSize]; + + int32 count = 0; + stack[count++] = m_root; + + while (count > 0) + { + int32 nodeId = stack[--count]; + if (nodeId == b2_nullNode) + { + continue; + } + + const b2DynamicTreeNode* node = m_nodes + nodeId; + + if (b2TestOverlap(node->aabb, segmentAABB) == false) + { + continue; + } + + // Separating axis for segment (Gino, p80). + // |dot(v, p1 - c)| > dot(|v|, h) + b2Vec2 c = node->aabb.GetCenter(); + b2Vec2 h = node->aabb.GetExtents(); + float32 separation = b2Abs(b2Dot(v, p1 - c)) - b2Dot(abs_v, h); + if (separation > 0.0f) + { + continue; + } + + if (node->IsLeaf()) + { + b2RayCastInput subInput; + subInput.p1 = input.p1; + subInput.p2 = input.p2; + subInput.maxFraction = maxFraction; + + float32 value = callback->RayCastCallback(subInput, nodeId); + + if (value == 0.0f) + { + // The client has terminated the ray cast. + return; + } + + if (value > 0.0f) + { + // Update segment bounding box. + maxFraction = value; + b2Vec2 t = p1 + maxFraction * (p2 - p1); + segmentAABB.lowerBound = b2Min(p1, t); + segmentAABB.upperBound = b2Max(p1, t); + } + } + else + { + if (count < k_stackSize) + { + stack[count++] = node->child1; + } + + if (count < k_stackSize) + { + stack[count++] = node->child2; + } + } + } +} + +#endif diff --git a/src/modules/physics/box2d/Box2D/Collision/b2TimeOfImpact.cpp b/src/modules/physics/box2d/Box2D/Collision/b2TimeOfImpact.cpp new file mode 100644 index 000000000..b1f2f4e5a --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Collision/b2TimeOfImpact.cpp @@ -0,0 +1,483 @@ +/* +* Copyright (c) 2007-2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include +#include +#include + +#include + +int32 b2_toiCalls, b2_toiIters, b2_toiMaxIters; +int32 b2_toiRootIters, b2_toiMaxRootIters; + +int32 b2_toiMaxOptIters; + +struct b2SeparationFunction +{ + enum Type + { + e_points, + e_faceA, + e_faceB + }; + + // TODO_ERIN might not need to return the separation + + float32 Initialize(const b2SimplexCache* cache, + const b2DistanceProxy* proxyA, const b2Sweep& sweepA, + const b2DistanceProxy* proxyB, const b2Sweep& sweepB) + { + m_proxyA = proxyA; + m_proxyB = proxyB; + int32 count = cache->count; + b2Assert(0 < count && count < 3); + + m_sweepA = sweepA; + m_sweepB = sweepB; + + b2Transform xfA, xfB; + m_sweepA.GetTransform(&xfA, 0.0f); + m_sweepB.GetTransform(&xfB, 0.0f); + + if (count == 1) + { + m_type = e_points; + b2Vec2 localPointA = m_proxyA->GetVertex(cache->indexA[0]); + b2Vec2 localPointB = m_proxyB->GetVertex(cache->indexB[0]); + b2Vec2 pointA = b2Mul(xfA, localPointA); + b2Vec2 pointB = b2Mul(xfB, localPointB); + m_axis = pointB - pointA; + float32 s = m_axis.Normalize(); + return s; + } + else if (cache->indexA[0] == cache->indexA[1]) + { + // Two points on B and one on A. + m_type = e_faceB; + b2Vec2 localPointB1 = proxyB->GetVertex(cache->indexB[0]); + b2Vec2 localPointB2 = proxyB->GetVertex(cache->indexB[1]); + + m_axis = b2Cross(localPointB2 - localPointB1, 1.0f); + m_axis.Normalize(); + b2Vec2 normal = b2Mul(xfB.R, m_axis); + + m_localPoint = 0.5f * (localPointB1 + localPointB2); + b2Vec2 pointB = b2Mul(xfB, m_localPoint); + + b2Vec2 localPointA = proxyA->GetVertex(cache->indexA[0]); + b2Vec2 pointA = b2Mul(xfA, localPointA); + + float32 s = b2Dot(pointA - pointB, normal); + if (s < 0.0f) + { + m_axis = -m_axis; + s = -s; + } + return s; + } + else + { + // Two points on A and one or two points on B. + m_type = e_faceA; + b2Vec2 localPointA1 = m_proxyA->GetVertex(cache->indexA[0]); + b2Vec2 localPointA2 = m_proxyA->GetVertex(cache->indexA[1]); + + m_axis = b2Cross(localPointA2 - localPointA1, 1.0f); + m_axis.Normalize(); + b2Vec2 normal = b2Mul(xfA.R, m_axis); + + m_localPoint = 0.5f * (localPointA1 + localPointA2); + b2Vec2 pointA = b2Mul(xfA, m_localPoint); + + b2Vec2 localPointB = m_proxyB->GetVertex(cache->indexB[0]); + b2Vec2 pointB = b2Mul(xfB, localPointB); + + float32 s = b2Dot(pointB - pointA, normal); + if (s < 0.0f) + { + m_axis = -m_axis; + s = -s; + } + return s; + } + } + + float32 FindMinSeparation(int32* indexA, int32* indexB, float32 t) const + { + b2Transform xfA, xfB; + m_sweepA.GetTransform(&xfA, t); + m_sweepB.GetTransform(&xfB, t); + + switch (m_type) + { + case e_points: + { + b2Vec2 axisA = b2MulT(xfA.R, m_axis); + b2Vec2 axisB = b2MulT(xfB.R, -m_axis); + + *indexA = m_proxyA->GetSupport(axisA); + *indexB = m_proxyB->GetSupport(axisB); + + b2Vec2 localPointA = m_proxyA->GetVertex(*indexA); + b2Vec2 localPointB = m_proxyB->GetVertex(*indexB); + + b2Vec2 pointA = b2Mul(xfA, localPointA); + b2Vec2 pointB = b2Mul(xfB, localPointB); + + float32 separation = b2Dot(pointB - pointA, m_axis); + return separation; + } + + case e_faceA: + { + b2Vec2 normal = b2Mul(xfA.R, m_axis); + b2Vec2 pointA = b2Mul(xfA, m_localPoint); + + b2Vec2 axisB = b2MulT(xfB.R, -normal); + + *indexA = -1; + *indexB = m_proxyB->GetSupport(axisB); + + b2Vec2 localPointB = m_proxyB->GetVertex(*indexB); + b2Vec2 pointB = b2Mul(xfB, localPointB); + + float32 separation = b2Dot(pointB - pointA, normal); + return separation; + } + + case e_faceB: + { + b2Vec2 normal = b2Mul(xfB.R, m_axis); + b2Vec2 pointB = b2Mul(xfB, m_localPoint); + + b2Vec2 axisA = b2MulT(xfA.R, -normal); + + *indexB = -1; + *indexA = m_proxyA->GetSupport(axisA); + + b2Vec2 localPointA = m_proxyA->GetVertex(*indexA); + b2Vec2 pointA = b2Mul(xfA, localPointA); + + float32 separation = b2Dot(pointA - pointB, normal); + return separation; + } + + default: + b2Assert(false); + *indexA = -1; + *indexB = -1; + return 0.0f; + } + } + + float32 Evaluate(int32 indexA, int32 indexB, float32 t) const + { + b2Transform xfA, xfB; + m_sweepA.GetTransform(&xfA, t); + m_sweepB.GetTransform(&xfB, t); + + switch (m_type) + { + case e_points: + { + b2Vec2 axisA = b2MulT(xfA.R, m_axis); + b2Vec2 axisB = b2MulT(xfB.R, -m_axis); + + b2Vec2 localPointA = m_proxyA->GetVertex(indexA); + b2Vec2 localPointB = m_proxyB->GetVertex(indexB); + + b2Vec2 pointA = b2Mul(xfA, localPointA); + b2Vec2 pointB = b2Mul(xfB, localPointB); + float32 separation = b2Dot(pointB - pointA, m_axis); + + return separation; + } + + case e_faceA: + { + b2Vec2 normal = b2Mul(xfA.R, m_axis); + b2Vec2 pointA = b2Mul(xfA, m_localPoint); + + b2Vec2 axisB = b2MulT(xfB.R, -normal); + + b2Vec2 localPointB = m_proxyB->GetVertex(indexB); + b2Vec2 pointB = b2Mul(xfB, localPointB); + + float32 separation = b2Dot(pointB - pointA, normal); + return separation; + } + + case e_faceB: + { + b2Vec2 normal = b2Mul(xfB.R, m_axis); + b2Vec2 pointB = b2Mul(xfB, m_localPoint); + + b2Vec2 axisA = b2MulT(xfA.R, -normal); + + b2Vec2 localPointA = m_proxyA->GetVertex(indexA); + b2Vec2 pointA = b2Mul(xfA, localPointA); + + float32 separation = b2Dot(pointA - pointB, normal); + return separation; + } + + default: + b2Assert(false); + return 0.0f; + } + } + + const b2DistanceProxy* m_proxyA; + const b2DistanceProxy* m_proxyB; + b2Sweep m_sweepA, m_sweepB; + Type m_type; + b2Vec2 m_localPoint; + b2Vec2 m_axis; +}; + +// CCD via the local separating axis method. This seeks progression +// by computing the largest time at which separation is maintained. +void b2TimeOfImpact(b2TOIOutput* output, const b2TOIInput* input) +{ + ++b2_toiCalls; + + output->state = b2TOIOutput::e_unknown; + output->t = input->tMax; + + const b2DistanceProxy* proxyA = &input->proxyA; + const b2DistanceProxy* proxyB = &input->proxyB; + + b2Sweep sweepA = input->sweepA; + b2Sweep sweepB = input->sweepB; + + // Large rotations can make the root finder fail, so we normalize the + // sweep angles. + sweepA.Normalize(); + sweepB.Normalize(); + + float32 tMax = input->tMax; + + float32 totalRadius = proxyA->m_radius + proxyB->m_radius; + float32 target = b2Max(b2_linearSlop, totalRadius - 3.0f * b2_linearSlop); + float32 tolerance = 0.25f * b2_linearSlop; + b2Assert(target > tolerance); + + float32 t1 = 0.0f; + const int32 k_maxIterations = 20; // TODO_ERIN b2Settings + int32 iter = 0; + + // Prepare input for distance query. + b2SimplexCache cache; + cache.count = 0; + b2DistanceInput distanceInput; + distanceInput.proxyA = input->proxyA; + distanceInput.proxyB = input->proxyB; + distanceInput.useRadii = false; + + // The outer loop progressively attempts to compute new separating axes. + // This loop terminates when an axis is repeated (no progress is made). + for(;;) + { + b2Transform xfA, xfB; + sweepA.GetTransform(&xfA, t1); + sweepB.GetTransform(&xfB, t1); + + // Get the distance between shapes. We can also use the results + // to get a separating axis. + distanceInput.transformA = xfA; + distanceInput.transformB = xfB; + b2DistanceOutput distanceOutput; + b2Distance(&distanceOutput, &cache, &distanceInput); + + // If the shapes are overlapped, we give up on continuous collision. + if (distanceOutput.distance <= 0.0f) + { + // Failure! + output->state = b2TOIOutput::e_overlapped; + output->t = 0.0f; + break; + } + + if (distanceOutput.distance < target + tolerance) + { + // Victory! + output->state = b2TOIOutput::e_touching; + output->t = t1; + break; + } + + // Initialize the separating axis. + b2SeparationFunction fcn; + fcn.Initialize(&cache, proxyA, sweepA, proxyB, sweepB); +#if 0 + // Dump the curve seen by the root finder + { + const int32 N = 100; + float32 dx = 1.0f / N; + float32 xs[N+1]; + float32 fs[N+1]; + + float32 x = 0.0f; + + for (int32 i = 0; i <= N; ++i) + { + sweepA.GetTransform(&xfA, x); + sweepB.GetTransform(&xfB, x); + float32 f = fcn.Evaluate(xfA, xfB) - target; + + printf("%g %g\n", x, f); + + xs[i] = x; + fs[i] = f; + + x += dx; + } + } +#endif + + // Compute the TOI on the separating axis. We do this by successively + // resolving the deepest point. This loop is bounded by the number of vertices. + bool done = false; + float32 t2 = tMax; + int32 pushBackIter = 0; + for (;;) + { + // Find the deepest point at t2. Store the witness point indices. + int32 indexA, indexB; + float32 s2 = fcn.FindMinSeparation(&indexA, &indexB, t2); + + // Is the final configuration separated? + if (s2 > target + tolerance) + { + // Victory! + output->state = b2TOIOutput::e_separated; + output->t = tMax; + done = true; + break; + } + + // Has the separation reached tolerance? + if (s2 > target - tolerance) + { + // Advance the sweeps + t1 = t2; + break; + } + + // Compute the initial separation of the witness points. + float32 s1 = fcn.Evaluate(indexA, indexB, t1); + + // Check for initial overlap. This might happen if the root finder + // runs out of iterations. + if (s1 < target - tolerance) + { + output->state = b2TOIOutput::e_failed; + output->t = t1; + done = true; + break; + } + + // Check for touching + if (s1 <= target + tolerance) + { + // Victory! t1 should hold the TOI (could be 0.0). + output->state = b2TOIOutput::e_touching; + output->t = t1; + done = true; + break; + } + + // Compute 1D root of: f(x) - target = 0 + int32 rootIterCount = 0; + float32 a1 = t1, a2 = t2; + for (;;) + { + // Use a mix of the secant rule and bisection. + float32 t; + if (rootIterCount & 1) + { + // Secant rule to improve convergence. + t = a1 + (target - s1) * (a2 - a1) / (s2 - s1); + } + else + { + // Bisection to guarantee progress. + t = 0.5f * (a1 + a2); + } + + float32 s = fcn.Evaluate(indexA, indexB, t); + + if (b2Abs(s - target) < tolerance) + { + // t2 holds a tentative value for t1 + t2 = t; + break; + } + + // Ensure we continue to bracket the root. + if (s > target) + { + a1 = t; + s1 = s; + } + else + { + a2 = t; + s2 = s; + } + + ++rootIterCount; + ++b2_toiRootIters; + + if (rootIterCount == 50) + { + break; + } + } + + b2_toiMaxRootIters = b2Max(b2_toiMaxRootIters, rootIterCount); + + ++pushBackIter; + + if (pushBackIter == b2_maxPolygonVertices) + { + break; + } + } + + ++iter; + ++b2_toiIters; + + if (done) + { + break; + } + + if (iter == k_maxIterations) + { + // Root finder got stuck. Semi-victory. + output->state = b2TOIOutput::e_failed; + output->t = t1; + break; + } + } + + b2_toiMaxIters = b2Max(b2_toiMaxIters, iter); +} diff --git a/src/modules/physics/box2d/Box2D/Collision/b2TimeOfImpact.h b/src/modules/physics/box2d/Box2D/Collision/b2TimeOfImpact.h new file mode 100644 index 000000000..b59fb831c --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Collision/b2TimeOfImpact.h @@ -0,0 +1,59 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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_TIME_OF_IMPACT_H +#define B2_TIME_OF_IMPACT_H + +#include +#include +#include + +/// Input parameters for b2TimeOfImpact +struct b2TOIInput +{ + b2DistanceProxy proxyA; + b2DistanceProxy proxyB; + b2Sweep sweepA; + b2Sweep sweepB; + float32 tMax; // defines sweep interval [0, tMax] +}; + +// Output parameters for b2TimeOfImpact. +struct b2TOIOutput +{ + enum State + { + e_unknown, + e_failed, + e_overlapped, + e_touching, + e_separated + }; + + State state; + float32 t; +}; + +/// Compute the upper bound on time before two shapes penetrate. Time is represented as +/// a fraction between [0,tMax]. This uses a swept separating axis and may miss some intermediate, +/// non-tunneling collision. If you change the time interval, you should call this function +/// again. +/// Note: use b2Distance to compute the contact point and normal at the time of impact. +void b2TimeOfImpact(b2TOIOutput* output, const b2TOIInput* input); + +#endif diff --git a/src/modules/physics/box2d/Source/Common/b2BlockAllocator.cpp b/src/modules/physics/box2d/Box2D/Common/b2BlockAllocator.cpp similarity index 91% rename from src/modules/physics/box2d/Source/Common/b2BlockAllocator.cpp rename to src/modules/physics/box2d/Box2D/Common/b2BlockAllocator.cpp index 99c6dcd93..ba06f0494 100644 --- a/src/modules/physics/box2d/Source/Common/b2BlockAllocator.cpp +++ b/src/modules/physics/box2d/Box2D/Common/b2BlockAllocator.cpp @@ -1,5 +1,5 @@ /* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages @@ -16,11 +16,11 @@ * 3. This notice may not be removed or altered from any source distribution. */ -#include "b2BlockAllocator.h" +#include #include -#include #include -#include +#include +#include int32 b2BlockAllocator::s_blockSizes[b2_blockSizes] = { @@ -164,14 +164,13 @@ void b2BlockAllocator::Free(void* p, int32 size) // Verify the memory address and size is valid. int32 blockSize = s_blockSizes[index]; bool found = false; - int32 gap = (int32)((int8*)&m_chunks->blocks - (int8*)m_chunks); for (int32 i = 0; i < m_chunkCount; ++i) { b2Chunk* chunk = m_chunks + i; if (chunk->blockSize != blockSize) { b2Assert( (int8*)p + blockSize <= (int8*)chunk->blocks || - (int8*)chunk->blocks + b2_chunkSize + gap <= (int8*)p); + (int8*)chunk->blocks + b2_chunkSize <= (int8*)p); } else { diff --git a/src/modules/physics/box2d/Source/Common/b2BlockAllocator.h b/src/modules/physics/box2d/Box2D/Common/b2BlockAllocator.h similarity index 91% rename from src/modules/physics/box2d/Source/Common/b2BlockAllocator.h rename to src/modules/physics/box2d/Box2D/Common/b2BlockAllocator.h index fa137211c..93eb2e311 100644 --- a/src/modules/physics/box2d/Source/Common/b2BlockAllocator.h +++ b/src/modules/physics/box2d/Box2D/Common/b2BlockAllocator.h @@ -1,5 +1,5 @@ /* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages @@ -19,7 +19,7 @@ #ifndef B2_BLOCK_ALLOCATOR_H #define B2_BLOCK_ALLOCATOR_H -#include "b2Settings.h" +#include const int32 b2_chunkSize = 4096; const int32 b2_maxBlockSize = 640; diff --git a/src/modules/physics/box2d/Box2D/Common/b2Math.cpp b/src/modules/physics/box2d/Box2D/Common/b2Math.cpp new file mode 100644 index 000000000..f15a43bd5 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Common/b2Math.cpp @@ -0,0 +1,55 @@ +/* +* Copyright (c) 2007-2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include + +const b2Vec2 b2Vec2_zero(0.0f, 0.0f); +const b2Mat22 b2Mat22_identity(1.0f, 0.0f, 0.0f, 1.0f); +const b2Transform b2Transform_identity(b2Vec2_zero, b2Mat22_identity); + +/// Solve A * x = b, where b is a column vector. This is more efficient +/// than computing the inverse in one-shot cases. +b2Vec3 b2Mat33::Solve33(const b2Vec3& b) const +{ + float32 det = b2Dot(col1, b2Cross(col2, col3)); + if (det != 0.0f) + { + det = 1.0f / det; + } + b2Vec3 x; + x.x = det * b2Dot(b, b2Cross(col2, col3)); + x.y = det * b2Dot(col1, b2Cross(b, col3)); + x.z = det * b2Dot(col1, b2Cross(col2, b)); + return x; +} + +/// Solve A * x = b, where b is a column vector. This is more efficient +/// than computing the inverse in one-shot cases. +b2Vec2 b2Mat33::Solve22(const b2Vec2& b) const +{ + float32 a11 = col1.x, a12 = col2.x, a21 = col1.y, a22 = col2.y; + float32 det = a11 * a22 - a12 * a21; + if (det != 0.0f) + { + det = 1.0f / det; + } + b2Vec2 x; + x.x = det * (a22 * b.x - a12 * b.y); + x.y = det * (a11 * b.y - a21 * b.x); + return x; +} diff --git a/src/modules/physics/box2d/Source/Common/b2Math.h b/src/modules/physics/box2d/Box2D/Common/b2Math.h similarity index 60% rename from src/modules/physics/box2d/Source/Common/b2Math.h rename to src/modules/physics/box2d/Box2D/Common/b2Math.h index 3b1ad56c2..c29f59430 100644 --- a/src/modules/physics/box2d/Source/Common/b2Math.h +++ b/src/modules/physics/box2d/Box2D/Common/b2Math.h @@ -1,5 +1,5 @@ /* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages @@ -19,49 +19,25 @@ #ifndef B2_MATH_H #define B2_MATH_H -#include "b2Settings.h" +#include + #include #include -#include - -#include - -#ifdef TARGET_FLOAT32_IS_FIXED - -inline Fixed b2Min(const Fixed& a, const Fixed& b) -{ - return a < b ? a : b; -} - -inline Fixed b2Max(const Fixed& a, const Fixed& b) -{ - return a > b ? a : b; -} - -inline Fixed b2Clamp(Fixed a, Fixed low, Fixed high) -{ - return b2Max(low, b2Min(a, high)); -} - -inline bool b2IsValid(Fixed x) -{ - return true; -} - -#define b2Sqrt(x) sqrt(x) -#define b2Atan2(y, x) atan2(y, x) - -#else +#include +#include /// This function is used to ensure that a floating point number is /// not a NaN or infinity. inline bool b2IsValid(float32 x) { -#ifdef _MSC_VER - return _finite(x) != 0; -#else - return finite(x) != 0; -#endif + if (x != x) + { + // NaN. + return false; + } + + float32 infinity = std::numeric_limits::infinity(); + return -infinity < x && x < infinity; } /// This is a approximate yet fast inverse square-root. @@ -84,15 +60,12 @@ inline float32 b2InvSqrt(float32 x) #define b2Sqrt(x) sqrtf(x) #define b2Atan2(y, x) atan2f(y, x) -#endif - inline float32 b2Abs(float32 a) { return a > 0.0f ? a : -a; } /// A 2D column vector. - struct b2Vec2 { /// Default constructor does nothing (for performance). @@ -110,6 +83,18 @@ struct b2Vec2 /// Negate this vector. b2Vec2 operator -() const { b2Vec2 v; v.Set(-x, -y); return v; } + /// Read from and indexed element. + float32 operator () (int32 i) const + { + return (&x)[i]; + } + + /// Write to an indexed element. + float32& operator () (int32 i) + { + return (&x)[i]; + } + /// Add a vector to this vector. void operator += (const b2Vec2& v) { @@ -131,20 +116,7 @@ struct b2Vec2 /// Get the length of this vector (the norm). float32 Length() const { -#ifdef TARGET_FLOAT32_IS_FIXED - float est = b2Abs(x) + b2Abs(y); - if(est == 0.0f) { - return 0.0; - } else if(est < 0.1) { - return (1.0/256.0) * b2Vec2(x<<8, y<<8).Length(); - } else if(est < 180.0f) { - return b2Sqrt(x * x + y * y); - } else { - return 256.0 * (b2Vec2(x>>8, y>>8).Length()); - } -#else return b2Sqrt(x * x + y * y); -#endif } /// Get the length squared. For performance, use this instead of @@ -155,38 +127,10 @@ struct b2Vec2 } /// Convert this vector into a unit vector. Returns the length. -#ifdef TARGET_FLOAT32_IS_FIXED float32 Normalize() { float32 length = Length(); - if (length < B2_FLT_EPSILON) - { - return 0.0f; - } -#ifdef NORMALIZE_BY_INVERT_MULTIPLY - if (length < (1.0/16.0)) { - x = x << 4; - y = y << 4; - return (1.0/16.0)*Normalize(); - } else if(length > 16.0) { - x = x >> 4; - y = y >> 4; - return 16.0*Normalize(); - } - float32 invLength = 1.0f / length; - x *= invLength; - y *= invLength; -#else - x /= length; - y /= length; -#endif - return length; - } -#else - float32 Normalize() - { - float32 length = Length(); - if (length < B2_FLT_EPSILON) + if (length < b2_epsilon) { return 0.0f; } @@ -196,7 +140,6 @@ struct b2Vec2 return length; } -#endif /// Does this vector contain finite coordinates? bool IsValid() const @@ -207,6 +150,45 @@ struct b2Vec2 float32 x, y; }; +/// A 2D column vector with 3 elements. +struct b2Vec3 +{ + /// Default constructor does nothing (for performance). + b2Vec3() {} + + /// Construct using coordinates. + b2Vec3(float32 x, float32 y, float32 z) : x(x), y(y), z(z) {} + + /// Set this vector to all zeros. + void SetZero() { x = 0.0f; y = 0.0f; z = 0.0f; } + + /// Set this vector to some specified coordinates. + void Set(float32 x_, float32 y_, float32 z_) { x = x_; y = y_; z = z_; } + + /// Negate this vector. + b2Vec3 operator -() const { b2Vec3 v; v.Set(-x, -y, -z); return v; } + + /// Add a vector to this vector. + void operator += (const b2Vec3& v) + { + x += v.x; y += v.y; z += v.z; + } + + /// Subtract a vector from this vector. + void operator -= (const b2Vec3& v) + { + x -= v.x; y -= v.y; z -= v.z; + } + + /// Multiply this vector by a scalar. + void operator *= (float32 s) + { + x *= s; y *= s; z *= s; + } + + float32 x, y, z; +}; + /// A 2-by-2 matrix. Stored in column-major order. struct b2Mat22 { @@ -231,6 +213,7 @@ struct b2Mat22 /// an orthonormal rotation matrix. explicit b2Mat22(float32 angle) { + // TODO_ERIN compute sin+cos together. float32 c = cosf(angle), s = sinf(angle); col1.x = c; col2.x = -s; col1.y = s; col2.y = c; @@ -273,79 +256,15 @@ struct b2Mat22 return b2Atan2(col1.y, col1.x); } -#ifdef TARGET_FLOAT32_IS_FIXED - - /// Compute the inverse of this matrix, such that inv(A) * A = identity. - b2Mat22 Invert() const - { - float32 a = col1.x, b = col2.x, c = col1.y, d = col2.y; - float32 det = a * d - b * c; - b2Mat22 B; - int n = 0; - - if(b2Abs(det) <= (B2_FLT_EPSILON<<8)) - { - n = 3; - a = a<= 16.0)? 4 : 0; - b2Assert(det != 0.0f); - det = float32(1<> n; B.col2.x = (-det * b) >> n; - B.col1.y = (-det * c) >> n; B.col2.y = ( det * a) >> n; - } - - return B; - } - - // Solve A * x = b - b2Vec2 Solve(const b2Vec2& b) const - { - float32 a11 = col1.x, a12 = col2.x, a21 = col1.y, a22 = col2.y; - float32 det = a11 * a22 - a12 * a21; - int n = 0; - b2Vec2 x; - - - if(b2Abs(det) <= (B2_FLT_EPSILON<<8)) - { - n = 3; - a11 = col1.x<= 16.0) ? 4 : 0; - b2Assert(det != 0.0f); - det = float32(1<> n; - x.y = (det * (a11 * b.y - a21 * b.x)) >> n; - } - - return x; - } - -#else - b2Mat22 Invert() const + b2Mat22 GetInverse() const { float32 a = col1.x, b = col2.x, c = col1.y, d = col2.y; b2Mat22 B; float32 det = a * d - b * c; - b2Assert(det != 0.0f); - det = float32(1.0f) / det; + if (det != 0.0f) + { + det = 1.0f / det; + } B.col1.x = det * d; B.col2.x = -det * b; B.col1.y = -det * c; B.col2.y = det * a; return B; @@ -357,27 +276,62 @@ struct b2Mat22 { float32 a11 = col1.x, a12 = col2.x, a21 = col1.y, a22 = col2.y; float32 det = a11 * a22 - a12 * a21; - b2Assert(det != 0.0f); - det = 1.0f / det; + if (det != 0.0f) + { + det = 1.0f / det; + } b2Vec2 x; x.x = det * (a22 * b.x - a12 * b.y); x.y = det * (a11 * b.y - a21 * b.x); return x; } -#endif b2Vec2 col1, col2; }; -/// A transform contains translation and rotation. It is used to represent -/// the position and orientation of rigid frames. -struct b2XForm +/// A 3-by-3 matrix. Stored in column-major order. +struct b2Mat33 { /// The default constructor does nothing (for performance). - b2XForm() {} + b2Mat33() {} + + /// Construct this matrix using columns. + b2Mat33(const b2Vec3& c1, const b2Vec3& c2, const b2Vec3& c3) + { + col1 = c1; + col2 = c2; + col3 = c3; + } + + /// Set this matrix to all zeros. + void SetZero() + { + col1.SetZero(); + col2.SetZero(); + col3.SetZero(); + } + + /// Solve A * x = b, where b is a column vector. This is more efficient + /// than computing the inverse in one-shot cases. + b2Vec3 Solve33(const b2Vec3& b) const; + + /// Solve A * x = b, where b is a column vector. This is more efficient + /// than computing the inverse in one-shot cases. Solve only the upper + /// 2-by-2 matrix equation. + b2Vec2 Solve22(const b2Vec2& b) const; + + b2Vec3 col1, col2, col3; +}; + +/// A transform contains translation and rotation. It is used to represent +/// the position and orientation of rigid frames. +struct b2Transform +{ + /// The default constructor does nothing (for performance). + b2Transform() {} /// Initialize using a position vector and a rotation matrix. - b2XForm(const b2Vec2& position, const b2Mat22& R) : position(position), R(R) {} + b2Transform(const b2Vec2& position, const b2Mat22& R) : position(position), R(R) {} /// Set this to the identity transform. void SetIdentity() @@ -386,6 +340,19 @@ struct b2XForm R.SetIdentity(); } + /// Set this based on the position and angle. + void Set(const b2Vec2& p, float32 angle) + { + position = p; + R.Set(angle); + } + + /// Calculate the angle that the rotation matrix represents. + float32 GetAngle() const + { + return b2Atan2(R.col1.y, R.col1.x); + } + b2Vec2 position; b2Mat22 R; }; @@ -397,25 +364,27 @@ struct b2XForm struct b2Sweep { /// Get the interpolated transform at a specific time. - /// @param t the normalized time in [0,1]. - void GetXForm(b2XForm* xf, float32 t) const; + /// @param alpha is a factor in [0,1], where 0 indicates t0. + void GetTransform(b2Transform* xf, float32 alpha) const; /// Advance the sweep forward, yielding a new initial state. /// @param t the new initial time. void Advance(float32 t); + /// Normalize the angles. + void Normalize(); + b2Vec2 localCenter; ///< local center of mass position b2Vec2 c0, c; ///< center world positions float32 a0, a; ///< world angles - float32 t0; ///< time interval = [t0,1], where t0 is in [0,1] }; extern const b2Vec2 b2Vec2_zero; extern const b2Mat22 b2Mat22_identity; -extern const b2XForm b2XForm_identity; +extern const b2Transform b2Transform_identity; -/// Peform the dot product on two vectors. +/// Perform the dot product on two vectors. inline float32 b2Dot(const b2Vec2& a, const b2Vec2& b) { return a.x * b.x + a.y * b.y; @@ -431,54 +400,45 @@ inline float32 b2Cross(const b2Vec2& a, const b2Vec2& b) /// a vector. inline b2Vec2 b2Cross(const b2Vec2& a, float32 s) { - b2Vec2 v; v.Set(s * a.y, -s * a.x); - return v; + return b2Vec2(s * a.y, -s * a.x); } /// Perform the cross product on a scalar and a vector. In 2D this produces /// a vector. inline b2Vec2 b2Cross(float32 s, const b2Vec2& a) { - b2Vec2 v; v.Set(-s * a.y, s * a.x); - return v; + return b2Vec2(-s * a.y, s * a.x); } /// Multiply a matrix times a vector. If a rotation matrix is provided, /// then this transforms the vector from one frame to another. inline b2Vec2 b2Mul(const b2Mat22& A, const b2Vec2& v) { - b2Vec2 u; - u.Set(A.col1.x * v.x + A.col2.x * v.y, A.col1.y * v.x + A.col2.y * v.y); - return u; + return b2Vec2(A.col1.x * v.x + A.col2.x * v.y, A.col1.y * v.x + A.col2.y * v.y); } /// Multiply a matrix transpose times a vector. If a rotation matrix is provided, /// then this transforms the vector from one frame to another (inverse transform). inline b2Vec2 b2MulT(const b2Mat22& A, const b2Vec2& v) { - b2Vec2 u; - u.Set(b2Dot(v, A.col1), b2Dot(v, A.col2)); - return u; + return b2Vec2(b2Dot(v, A.col1), b2Dot(v, A.col2)); } /// Add two vectors component-wise. inline b2Vec2 operator + (const b2Vec2& a, const b2Vec2& b) { - b2Vec2 v; v.Set(a.x + b.x, a.y + b.y); - return v; + return b2Vec2(a.x + b.x, a.y + b.y); } /// Subtract two vectors component-wise. inline b2Vec2 operator - (const b2Vec2& a, const b2Vec2& b) { - b2Vec2 v; v.Set(a.x - b.x, a.y - b.y); - return v; + return b2Vec2(a.x - b.x, a.y - b.y); } inline b2Vec2 operator * (float32 s, const b2Vec2& a) { - b2Vec2 v; v.Set(s * a.x, s * a.y); - return v; + return b2Vec2(s * a.x, s * a.y); } inline bool operator == (const b2Vec2& a, const b2Vec2& b) @@ -498,52 +458,81 @@ inline float32 b2DistanceSquared(const b2Vec2& a, const b2Vec2& b) return b2Dot(c, c); } +inline b2Vec3 operator * (float32 s, const b2Vec3& a) +{ + return b2Vec3(s * a.x, s * a.y, s * a.z); +} + +/// Add two vectors component-wise. +inline b2Vec3 operator + (const b2Vec3& a, const b2Vec3& b) +{ + return b2Vec3(a.x + b.x, a.y + b.y, a.z + b.z); +} + +/// Subtract two vectors component-wise. +inline b2Vec3 operator - (const b2Vec3& a, const b2Vec3& b) +{ + return b2Vec3(a.x - b.x, a.y - b.y, a.z - b.z); +} + +/// Perform the dot product on two vectors. +inline float32 b2Dot(const b2Vec3& a, const b2Vec3& b) +{ + return a.x * b.x + a.y * b.y + a.z * b.z; +} + +/// Perform the cross product on two vectors. +inline b2Vec3 b2Cross(const b2Vec3& a, const b2Vec3& b) +{ + return b2Vec3(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x); +} + inline b2Mat22 operator + (const b2Mat22& A, const b2Mat22& B) { - b2Mat22 C; - C.Set(A.col1 + B.col1, A.col2 + B.col2); - return C; + return b2Mat22(A.col1 + B.col1, A.col2 + B.col2); } // A * B inline b2Mat22 b2Mul(const b2Mat22& A, const b2Mat22& B) { - b2Mat22 C; - C.Set(b2Mul(A, B.col1), b2Mul(A, B.col2)); - return C; + return b2Mat22(b2Mul(A, B.col1), b2Mul(A, B.col2)); } // A^T * B inline b2Mat22 b2MulT(const b2Mat22& A, const b2Mat22& B) { - b2Vec2 c1; c1.Set(b2Dot(A.col1, B.col1), b2Dot(A.col2, B.col1)); - b2Vec2 c2; c2.Set(b2Dot(A.col1, B.col2), b2Dot(A.col2, B.col2)); - b2Mat22 C; - C.Set(c1, c2); - return C; + b2Vec2 c1(b2Dot(A.col1, B.col1), b2Dot(A.col2, B.col1)); + b2Vec2 c2(b2Dot(A.col1, B.col2), b2Dot(A.col2, B.col2)); + return b2Mat22(c1, c2); } -inline b2Vec2 b2Mul(const b2XForm& T, const b2Vec2& v) +/// Multiply a matrix times a vector. +inline b2Vec3 b2Mul(const b2Mat33& A, const b2Vec3& v) { - return T.position + b2Mul(T.R, v); + return v.x * A.col1 + v.y * A.col2 + v.z * A.col3; } -inline b2Vec2 b2MulT(const b2XForm& T, const b2Vec2& v) +inline b2Vec2 b2Mul(const b2Transform& T, const b2Vec2& v) +{ + float32 x = T.position.x + T.R.col1.x * v.x + T.R.col2.x * v.y; + float32 y = T.position.y + T.R.col1.y * v.x + T.R.col2.y * v.y; + + return b2Vec2(x, y); +} + +inline b2Vec2 b2MulT(const b2Transform& T, const b2Vec2& v) { return b2MulT(T.R, v - T.position); } inline b2Vec2 b2Abs(const b2Vec2& a) { - b2Vec2 b; b.Set(b2Abs(a.x), b2Abs(a.y)); - return b; + return b2Vec2(b2Abs(a.x), b2Abs(a.y)); } inline b2Mat22 b2Abs(const b2Mat22& A) { - b2Mat22 B; - B.Set(b2Abs(A.col1), b2Abs(A.col2)); - return B; + return b2Mat22(b2Abs(A.col1), b2Abs(A.col2)); } template @@ -554,10 +543,7 @@ inline T b2Min(T a, T b) inline b2Vec2 b2Min(const b2Vec2& a, const b2Vec2& b) { - b2Vec2 c; - c.x = b2Min(a.x, b.x); - c.y = b2Min(a.y, b.y); - return c; + return b2Vec2(b2Min(a.x, b.x), b2Min(a.y, b.y)); } template @@ -568,10 +554,7 @@ inline T b2Max(T a, T b) inline b2Vec2 b2Max(const b2Vec2& a, const b2Vec2& b) { - b2Vec2 c; - c.x = b2Max(a.x, b.x); - c.y = b2Max(a.y, b.y); - return c; + return b2Vec2(b2Max(a.x, b.x), b2Max(a.y, b.y)); } template @@ -592,26 +575,6 @@ template inline void b2Swap(T& a, T& b) b = tmp; } -#define RAND_LIMIT 32767 - -// Random number in range [-1,1] -inline float32 b2Random() -{ - float32 r = (float32)(rand() & (RAND_LIMIT)); - r /= RAND_LIMIT; - r = 2.0f * r - 1.0f; - return r; -} - -/// Random floating point number in range [lo, hi] -inline float32 b2Random(float32 lo, float32 hi) -{ - float32 r = (float32)(rand() & (RAND_LIMIT)); - r /= RAND_LIMIT; - r = (hi - lo) * r + lo; - return r; -} - /// "Next Largest Power of 2 /// Given a binary integer value x, the next largest power of 2 can be computed by a SWAR algorithm /// that recursively "folds" the upper bits into the lower bits. This process yields a bit vector with @@ -633,4 +596,29 @@ inline bool b2IsPowerOfTwo(uint32 x) return result; } +inline void b2Sweep::GetTransform(b2Transform* xf, float32 alpha) const +{ + xf->position = (1.0f - alpha) * c0 + alpha * c; + float32 angle = (1.0f - alpha) * a0 + alpha * a; + xf->R.Set(angle); + + // Shift to origin + xf->position -= b2Mul(xf->R, localCenter); +} + +inline void b2Sweep::Advance(float32 t) +{ + c0 = (1.0f - t) * c0 + t * c; + a0 = (1.0f - t) * a0 + t * a; +} + +/// Normalize an angle in radians to be between -pi and pi +inline void b2Sweep::Normalize() +{ + float32 twoPi = 2.0f * b2_pi; + float32 d = twoPi * floorf(a0 / twoPi); + a0 -= d; + a -= d; +} + #endif diff --git a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2NullContact.h b/src/modules/physics/box2d/Box2D/Common/b2Settings.cpp similarity index 70% rename from src/modules/physics/box2d/Source/Dynamics/Contacts/b2NullContact.h rename to src/modules/physics/box2d/Box2D/Common/b2Settings.cpp index ce62d8b0b..da308149f 100644 --- a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2NullContact.h +++ b/src/modules/physics/box2d/Box2D/Common/b2Settings.cpp @@ -1,5 +1,5 @@ /* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages @@ -16,18 +16,18 @@ * 3. This notice may not be removed or altered from any source distribution. */ -#ifndef B2_NULL_CONTACT_H -#define B2_NULL_CONTACT_H +#include +#include -#include "../../Common/b2Math.h" -#include "b2Contact.h" +b2Version b2_version = {2, 1, 2}; -class b2NullContact : public b2Contact +// Memory allocators. Modify these to use your own allocator. +void* b2Alloc(int32 size) { -public: - b2NullContact() {} - void Evaluate(b2ContactListener*) {} - b2Manifold* GetManifolds() { return NULL; } -}; + return malloc(size); +} -#endif +void b2Free(void* mem) +{ + free(mem); +} diff --git a/src/modules/physics/box2d/Source/Common/b2Settings.h b/src/modules/physics/box2d/Box2D/Common/b2Settings.h similarity index 57% rename from src/modules/physics/box2d/Source/Common/b2Settings.h rename to src/modules/physics/box2d/Box2D/Common/b2Settings.h index 22866b0ef..1aa8c2661 100644 --- a/src/modules/physics/box2d/Source/Common/b2Settings.h +++ b/src/modules/physics/box2d/Box2D/Common/b2Settings.h @@ -1,5 +1,5 @@ /* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages @@ -19,23 +19,11 @@ #ifndef B2_SETTINGS_H #define B2_SETTINGS_H -#include -//#include +#include #include -#define B2_NOT_USED(x) x +#define B2_NOT_USED(x) ((void)(x)) #define b2Assert(A) assert(A) -//#define b2Assert(A) {if(!(A)) throw love::Exception("Box2D error: " #A);} - - -// need to include NDS jtypes.h instead of -// usual typedefs because NDS jtypes defines -// them slightly differently, oh well. -#ifdef TARGET_IS_NDS - -#include "jtypes.h" - -#else typedef signed char int8; typedef signed short int16; @@ -43,108 +31,93 @@ typedef signed int int32; typedef unsigned char uint8; typedef unsigned short uint16; typedef unsigned int uint32; - -#endif - -#ifdef TARGET_FLOAT32_IS_FIXED - -#include "Fixed.h" - -typedef Fixed float32; -#define B2_FLT_MAX FIXED_MAX -#define B2_FLT_EPSILON FIXED_EPSILON -#define B2FORCE_SCALE(x) ((x)<<7) -#define B2FORCE_INV_SCALE(x) ((x)>>7) - -#else - typedef float float32; -#define B2_FLT_MAX FLT_MAX -#define B2_FLT_EPSILON FLT_EPSILON -#define B2FORCE_SCALE(x) (x) -#define B2FORCE_INV_SCALE(x) (x) -#endif - -const float32 b2_pi = 3.14159265359f; +#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 -const int32 b2_maxManifoldPoints = 2; -const int32 b2_maxPolygonVertices = 8; -const int32 b2_maxProxies = 2048; // this must be a power of two -const int32 b2_maxPairs = 8 * b2_maxProxies; // this must be a power of two -// Dynamics +/// The maximum number of contact points between two convex shapes. +#define b2_maxManifoldPoints 2 + +/// The maximum number of vertices on a convex polygon. +#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. -const float32 b2_linearSlop = 0.005f; // 0.5 cm +#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. -const float32 b2_angularSlop = 2.0f / 180.0f * b2_pi; // 2 degrees +#define b2_angularSlop (2.0f / 180.0f * b2_pi) -/// Continuous collision detection (CCD) works with core, shrunken shapes. This is the -/// amount by which shapes are automatically shrunk to work with CCD. This must be -/// larger than b2_linearSlop. -const float32 b2_toiSlop = 8.0f * b2_linearSlop; +/// 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 contacts to be handled to solve a TOI island. -const int32 b2_maxTOIContactsPerIsland = 32; + +// 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. -const float32 b2_velocityThreshold = 1.0f; // 1 m/s +#define b2_velocityThreshold 1.0f /// The maximum linear position correction used when solving constraints. This helps to /// prevent overshoot. -const float32 b2_maxLinearCorrection = 0.2f; // 20 cm +#define b2_maxLinearCorrection 0.2f /// The maximum angular position correction used when solving constraints. This helps to /// prevent overshoot. -const float32 b2_maxAngularCorrection = 8.0f / 180.0f * b2_pi; // 8 degrees +#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. -#ifdef TARGET_FLOAT32_IS_FIXED -const float32 b2_maxLinearVelocity = 100.0f; -#else -const float32 b2_maxLinearVelocity = 200.0f; -const float32 b2_maxLinearVelocitySquared = b2_maxLinearVelocity * b2_maxLinearVelocity; -#endif +#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. -const float32 b2_maxAngularVelocity = 250.0f; -#ifndef TARGET_FLOAT32_IS_FIXED -const float32 b2_maxAngularVelocitySquared = b2_maxAngularVelocity * b2_maxAngularVelocity; -#endif +#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. -const float32 b2_contactBaumgarte = 0.2f; +#define b2_contactBaumgarte 0.2f // Sleep /// The time that a body must be still before it will go to sleep. -const float32 b2_timeToSleep = 0.5f; // half a second +#define b2_timeToSleep 0.5f /// A body cannot sleep if its linear velocity is above this tolerance. -const float32 b2_linearSleepTolerance = 0.01f; // 1 cm/s +#define b2_linearSleepTolerance 0.01f /// A body cannot sleep if its angular velocity is above this tolerance. -const float32 b2_angularSleepTolerance = 2.0f / 180.0f; // 2 degrees/s +#define b2_angularSleepTolerance (2.0f / 180.0f * b2_pi) // Memory Allocation -/// The current number of bytes allocated through b2Alloc. -extern int32 b2_byteCount; - /// Implement this function to use your own memory allocator. void* b2Alloc(int32 size); diff --git a/src/modules/physics/box2d/Source/Common/b2StackAllocator.cpp b/src/modules/physics/box2d/Box2D/Common/b2StackAllocator.cpp similarity index 89% rename from src/modules/physics/box2d/Source/Common/b2StackAllocator.cpp rename to src/modules/physics/box2d/Box2D/Common/b2StackAllocator.cpp index c58c97af0..cb2c42e01 100644 --- a/src/modules/physics/box2d/Source/Common/b2StackAllocator.cpp +++ b/src/modules/physics/box2d/Box2D/Common/b2StackAllocator.cpp @@ -1,5 +1,5 @@ /* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages @@ -16,8 +16,8 @@ * 3. This notice may not be removed or altered from any source distribution. */ -#include "b2StackAllocator.h" -#include "b2Math.h" +#include +#include b2StackAllocator::b2StackAllocator() { diff --git a/src/modules/physics/box2d/Source/Common/b2StackAllocator.h b/src/modules/physics/box2d/Box2D/Common/b2StackAllocator.h similarity index 90% rename from src/modules/physics/box2d/Source/Common/b2StackAllocator.h rename to src/modules/physics/box2d/Box2D/Common/b2StackAllocator.h index e8faa840b..315cc02ff 100644 --- a/src/modules/physics/box2d/Source/Common/b2StackAllocator.h +++ b/src/modules/physics/box2d/Box2D/Common/b2StackAllocator.h @@ -1,5 +1,5 @@ /* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages @@ -19,7 +19,7 @@ #ifndef B2_STACK_ALLOCATOR_H #define B2_STACK_ALLOCATOR_H -#include "b2Settings.h" +#include const int32 b2_stackSize = 100 * 1024; // 100k const int32 b2_maxStackEntries = 32; diff --git a/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2CircleContact.cpp b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2CircleContact.cpp new file mode 100644 index 000000000..6df009125 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2CircleContact.cpp @@ -0,0 +1,52 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include +#include +#include +#include + +#include + +b2Contact* b2CircleContact::Create(b2Fixture* fixtureA, b2Fixture* fixtureB, b2BlockAllocator* allocator) +{ + void* mem = allocator->Allocate(sizeof(b2CircleContact)); + return new (mem) b2CircleContact(fixtureA, fixtureB); +} + +void b2CircleContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator) +{ + ((b2CircleContact*)contact)->~b2CircleContact(); + allocator->Free(contact, sizeof(b2CircleContact)); +} + +b2CircleContact::b2CircleContact(b2Fixture* fixtureA, b2Fixture* fixtureB) + : b2Contact(fixtureA, fixtureB) +{ + b2Assert(m_fixtureA->GetType() == b2Shape::e_circle); + b2Assert(m_fixtureB->GetType() == b2Shape::e_circle); +} + +void b2CircleContact::Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB) +{ + b2CollideCircles(manifold, + (b2CircleShape*)m_fixtureA->GetShape(), xfA, + (b2CircleShape*)m_fixtureB->GetShape(), xfB); +} diff --git a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2CircleContact.h b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2CircleContact.h similarity index 66% rename from src/modules/physics/box2d/Source/Dynamics/Contacts/b2CircleContact.h rename to src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2CircleContact.h index ba2afbdcf..afc277aa0 100644 --- a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2CircleContact.h +++ b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2CircleContact.h @@ -1,5 +1,5 @@ /* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages @@ -16,31 +16,23 @@ * 3. This notice may not be removed or altered from any source distribution. */ -#ifndef CIRCLE_CONTACT_H -#define CIRCLE_CONTACT_H +#ifndef B2_CIRCLE_CONTACT_H +#define B2_CIRCLE_CONTACT_H -#include "../../Common/b2Math.h" -#include "../../Collision/b2Collision.h" -#include "b2Contact.h" +#include class b2BlockAllocator; class b2CircleContact : public b2Contact { public: - static b2Contact* Create(b2Shape* shape1, b2Shape* shape2, b2BlockAllocator* allocator); + static b2Contact* Create(b2Fixture* fixtureA, b2Fixture* fixtureB, b2BlockAllocator* allocator); static void Destroy(b2Contact* contact, b2BlockAllocator* allocator); - b2CircleContact(b2Shape* shape1, b2Shape* shape2); + b2CircleContact(b2Fixture* fixtureA, b2Fixture* fixtureB); ~b2CircleContact() {} - void Evaluate(b2ContactListener* listener); - b2Manifold* GetManifolds() - { - return &m_manifold; - } - - b2Manifold m_manifold; + void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB); }; #endif diff --git a/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2Contact.cpp b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2Contact.cpp new file mode 100644 index 000000000..e7ad1ca5b --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2Contact.cpp @@ -0,0 +1,226 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +b2ContactRegister b2Contact::s_registers[b2Shape::e_typeCount][b2Shape::e_typeCount]; +bool b2Contact::s_initialized = false; + +void b2Contact::InitializeRegisters() +{ + AddType(b2CircleContact::Create, b2CircleContact::Destroy, b2Shape::e_circle, b2Shape::e_circle); + AddType(b2PolygonAndCircleContact::Create, b2PolygonAndCircleContact::Destroy, b2Shape::e_polygon, b2Shape::e_circle); + AddType(b2PolygonContact::Create, b2PolygonContact::Destroy, b2Shape::e_polygon, b2Shape::e_polygon); +} + +void b2Contact::AddType(b2ContactCreateFcn* createFcn, b2ContactDestroyFcn* destoryFcn, + b2Shape::Type type1, b2Shape::Type type2) +{ + b2Assert(b2Shape::e_unknown < type1 && type1 < b2Shape::e_typeCount); + b2Assert(b2Shape::e_unknown < type2 && type2 < b2Shape::e_typeCount); + + s_registers[type1][type2].createFcn = createFcn; + s_registers[type1][type2].destroyFcn = destoryFcn; + s_registers[type1][type2].primary = true; + + if (type1 != type2) + { + s_registers[type2][type1].createFcn = createFcn; + s_registers[type2][type1].destroyFcn = destoryFcn; + s_registers[type2][type1].primary = false; + } +} + +b2Contact* b2Contact::Create(b2Fixture* fixtureA, b2Fixture* fixtureB, b2BlockAllocator* allocator) +{ + if (s_initialized == false) + { + InitializeRegisters(); + s_initialized = true; + } + + b2Shape::Type type1 = fixtureA->GetType(); + b2Shape::Type type2 = fixtureB->GetType(); + + b2Assert(b2Shape::e_unknown < type1 && type1 < b2Shape::e_typeCount); + b2Assert(b2Shape::e_unknown < type2 && type2 < b2Shape::e_typeCount); + + b2ContactCreateFcn* createFcn = s_registers[type1][type2].createFcn; + if (createFcn) + { + if (s_registers[type1][type2].primary) + { + return createFcn(fixtureA, fixtureB, allocator); + } + else + { + return createFcn(fixtureB, fixtureA, allocator); + } + } + else + { + return NULL; + } +} + +void b2Contact::Destroy(b2Contact* contact, b2BlockAllocator* allocator) +{ + b2Assert(s_initialized == true); + + if (contact->m_manifold.pointCount > 0) + { + contact->GetFixtureA()->GetBody()->SetAwake(true); + contact->GetFixtureB()->GetBody()->SetAwake(true); + } + + b2Shape::Type typeA = contact->GetFixtureA()->GetType(); + b2Shape::Type typeB = contact->GetFixtureB()->GetType(); + + b2Assert(b2Shape::e_unknown < typeA && typeB < b2Shape::e_typeCount); + b2Assert(b2Shape::e_unknown < typeA && typeB < b2Shape::e_typeCount); + + b2ContactDestroyFcn* destroyFcn = s_registers[typeA][typeB].destroyFcn; + destroyFcn(contact, allocator); +} + +b2Contact::b2Contact(b2Fixture* fA, b2Fixture* fB) +{ + m_flags = e_enabledFlag; + + m_fixtureA = fA; + m_fixtureB = fB; + + m_manifold.pointCount = 0; + + m_prev = NULL; + m_next = NULL; + + m_nodeA.contact = NULL; + m_nodeA.prev = NULL; + m_nodeA.next = NULL; + m_nodeA.other = NULL; + + m_nodeB.contact = NULL; + m_nodeB.prev = NULL; + m_nodeB.next = NULL; + m_nodeB.other = NULL; + + m_toiCount = 0; +} + +// Update the contact manifold and touching status. +// Note: do not assume the fixture AABBs are overlapping or are valid. +void b2Contact::Update(b2ContactListener* listener) +{ + b2Manifold oldManifold = m_manifold; + + // Re-enable this contact. + m_flags |= e_enabledFlag; + + bool touching = false; + bool wasTouching = (m_flags & e_touchingFlag) == e_touchingFlag; + + bool sensorA = m_fixtureA->IsSensor(); + bool sensorB = m_fixtureB->IsSensor(); + bool sensor = sensorA || sensorB; + + b2Body* bodyA = m_fixtureA->GetBody(); + b2Body* bodyB = m_fixtureB->GetBody(); + const b2Transform& xfA = bodyA->GetTransform(); + const b2Transform& xfB = bodyB->GetTransform(); + + // Is this contact a sensor? + if (sensor) + { + const b2Shape* shapeA = m_fixtureA->GetShape(); + const b2Shape* shapeB = m_fixtureB->GetShape(); + touching = b2TestOverlap(shapeA, shapeB, xfA, xfB); + + // Sensors don't generate manifolds. + m_manifold.pointCount = 0; + } + else + { + Evaluate(&m_manifold, xfA, xfB); + touching = m_manifold.pointCount > 0; + + // Match old contact ids to new contact ids and copy the + // stored impulses to warm start the solver. + for (int32 i = 0; i < m_manifold.pointCount; ++i) + { + b2ManifoldPoint* mp2 = m_manifold.points + i; + mp2->normalImpulse = 0.0f; + mp2->tangentImpulse = 0.0f; + b2ContactID id2 = mp2->id; + + for (int32 j = 0; j < oldManifold.pointCount; ++j) + { + b2ManifoldPoint* mp1 = oldManifold.points + j; + + if (mp1->id.key == id2.key) + { + mp2->normalImpulse = mp1->normalImpulse; + mp2->tangentImpulse = mp1->tangentImpulse; + break; + } + } + } + + if (touching != wasTouching) + { + bodyA->SetAwake(true); + bodyB->SetAwake(true); + } + } + + if (touching) + { + m_flags |= e_touchingFlag; + } + else + { + m_flags &= ~e_touchingFlag; + } + + if (wasTouching == false && touching == true && listener) + { + listener->BeginContact(this); + } + + if (wasTouching == true && touching == false && listener) + { + listener->EndContact(this); + } + + if (sensor == false && touching && listener) + { + listener->PreSolve(this, &oldManifold); + } +} diff --git a/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2Contact.h b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2Contact.h new file mode 100644 index 000000000..a6add3dc4 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2Contact.h @@ -0,0 +1,242 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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_CONTACT_H +#define B2_CONTACT_H + +#include +#include +#include +#include +#include + +class b2Body; +class b2Contact; +class b2Fixture; +class b2World; +class b2BlockAllocator; +class b2StackAllocator; +class b2ContactListener; + +typedef b2Contact* b2ContactCreateFcn(b2Fixture* fixtureA, b2Fixture* fixtureB, b2BlockAllocator* allocator); +typedef void b2ContactDestroyFcn(b2Contact* contact, b2BlockAllocator* allocator); + +struct b2ContactRegister +{ + b2ContactCreateFcn* createFcn; + b2ContactDestroyFcn* destroyFcn; + bool primary; +}; + +/// A contact edge is used to connect bodies and contacts together +/// in a contact graph where each body is a node and each contact +/// is an edge. A contact edge belongs to a doubly linked list +/// maintained in each attached body. Each contact has two contact +/// nodes, one for each attached body. +struct b2ContactEdge +{ + b2Body* other; ///< provides quick access to the other body attached. + b2Contact* contact; ///< the contact + b2ContactEdge* prev; ///< the previous contact edge in the body's contact list + b2ContactEdge* next; ///< the next contact edge in the body's contact list +}; + +/// The class manages contact between two shapes. A contact exists for each overlapping +/// AABB in the broad-phase (except if filtered). Therefore a contact object may exist +/// that has no contact points. +class b2Contact +{ +public: + + /// Get the contact manifold. Do not modify the manifold unless you understand the + /// internals of Box2D. + b2Manifold* GetManifold(); + const b2Manifold* GetManifold() const; + + /// Get the world manifold. + void GetWorldManifold(b2WorldManifold* worldManifold) const; + + /// Is this contact touching? + bool IsTouching() const; + + /// Enable/disable this contact. This can be used inside the pre-solve + /// contact listener. The contact is only disabled for the current + /// time step (or sub-step in continuous collisions). + void SetEnabled(bool flag); + + /// Has this contact been disabled? + bool IsEnabled() const; + + /// Get the next contact in the world's contact list. + b2Contact* GetNext(); + const b2Contact* GetNext() const; + + /// Get the first fixture in this contact. + b2Fixture* GetFixtureA(); + const b2Fixture* GetFixtureA() const; + + /// Get the second fixture in this contact. + b2Fixture* GetFixtureB(); + const b2Fixture* GetFixtureB() const; + + /// Evaluate this contact with your own manifold and transforms. + virtual void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB) = 0; + +protected: + friend class b2ContactManager; + friend class b2World; + friend class b2ContactSolver; + friend class b2Body; + friend class b2Fixture; + + // Flags stored in m_flags + enum + { + // Used when crawling contact graph when forming islands. + e_islandFlag = 0x0001, + + // Set when the shapes are touching. + e_touchingFlag = 0x0002, + + // This contact can be disabled (by user) + e_enabledFlag = 0x0004, + + // This contact needs filtering because a fixture filter was changed. + e_filterFlag = 0x0008, + + // This bullet contact had a TOI event + e_bulletHitFlag = 0x0010, + + }; + + /// Flag this contact for filtering. Filtering will occur the next time step. + void FlagForFiltering(); + + static void AddType(b2ContactCreateFcn* createFcn, b2ContactDestroyFcn* destroyFcn, + b2Shape::Type typeA, b2Shape::Type typeB); + static void InitializeRegisters(); + static b2Contact* Create(b2Fixture* fixtureA, b2Fixture* fixtureB, b2BlockAllocator* allocator); + static void Destroy(b2Contact* contact, b2Shape::Type typeA, b2Shape::Type typeB, b2BlockAllocator* allocator); + static void Destroy(b2Contact* contact, b2BlockAllocator* allocator); + + b2Contact() : m_fixtureA(NULL), m_fixtureB(NULL) {} + b2Contact(b2Fixture* fixtureA, b2Fixture* fixtureB); + virtual ~b2Contact() {} + + void Update(b2ContactListener* listener); + + static b2ContactRegister s_registers[b2Shape::e_typeCount][b2Shape::e_typeCount]; + static bool s_initialized; + + uint32 m_flags; + + // World pool and list pointers. + b2Contact* m_prev; + b2Contact* m_next; + + // Nodes for connecting bodies. + b2ContactEdge m_nodeA; + b2ContactEdge m_nodeB; + + b2Fixture* m_fixtureA; + b2Fixture* m_fixtureB; + + b2Manifold m_manifold; + + int32 m_toiCount; +// float32 m_toi; +}; + +inline b2Manifold* b2Contact::GetManifold() +{ + return &m_manifold; +} + +inline const b2Manifold* b2Contact::GetManifold() const +{ + return &m_manifold; +} + +inline void b2Contact::GetWorldManifold(b2WorldManifold* worldManifold) const +{ + const b2Body* bodyA = m_fixtureA->GetBody(); + const b2Body* bodyB = m_fixtureB->GetBody(); + const b2Shape* shapeA = m_fixtureA->GetShape(); + const b2Shape* shapeB = m_fixtureB->GetShape(); + + worldManifold->Initialize(&m_manifold, bodyA->GetTransform(), shapeA->m_radius, bodyB->GetTransform(), shapeB->m_radius); +} + +inline void b2Contact::SetEnabled(bool flag) +{ + if (flag) + { + m_flags |= e_enabledFlag; + } + else + { + m_flags &= ~e_enabledFlag; + } +} + +inline bool b2Contact::IsEnabled() const +{ + return (m_flags & e_enabledFlag) == e_enabledFlag; +} + +inline bool b2Contact::IsTouching() const +{ + return (m_flags & e_touchingFlag) == e_touchingFlag; +} + +inline b2Contact* b2Contact::GetNext() +{ + return m_next; +} + +inline const b2Contact* b2Contact::GetNext() const +{ + return m_next; +} + +inline b2Fixture* b2Contact::GetFixtureA() +{ + return m_fixtureA; +} + +inline const b2Fixture* b2Contact::GetFixtureA() const +{ + return m_fixtureA; +} + +inline b2Fixture* b2Contact::GetFixtureB() +{ + return m_fixtureB; +} + +inline const b2Fixture* b2Contact::GetFixtureB() const +{ + return m_fixtureB; +} + +inline void b2Contact::FlagForFiltering() +{ + m_flags |= e_filterFlag; +} + +#endif diff --git a/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2ContactSolver.cpp b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2ContactSolver.cpp new file mode 100644 index 000000000..f65fb60ee --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2ContactSolver.cpp @@ -0,0 +1,623 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include +#include +#include +#include + +#define B2_DEBUG_SOLVER 0 + +b2ContactSolver::b2ContactSolver(b2Contact** contacts, int32 contactCount, + b2StackAllocator* allocator, float32 impulseRatio) +{ + m_allocator = allocator; + + m_constraintCount = contactCount; + m_constraints = (b2ContactConstraint*)m_allocator->Allocate(m_constraintCount * sizeof(b2ContactConstraint)); + + for (int32 i = 0; i < m_constraintCount; ++i) + { + b2Contact* contact = contacts[i]; + + b2Fixture* fixtureA = contact->m_fixtureA; + b2Fixture* fixtureB = contact->m_fixtureB; + b2Shape* shapeA = fixtureA->GetShape(); + b2Shape* shapeB = fixtureB->GetShape(); + float32 radiusA = shapeA->m_radius; + float32 radiusB = shapeB->m_radius; + b2Body* bodyA = fixtureA->GetBody(); + b2Body* bodyB = fixtureB->GetBody(); + b2Manifold* manifold = contact->GetManifold(); + + float32 friction = b2MixFriction(fixtureA->GetFriction(), fixtureB->GetFriction()); + float32 restitution = b2MixRestitution(fixtureA->GetRestitution(), fixtureB->GetRestitution()); + + b2Vec2 vA = bodyA->m_linearVelocity; + b2Vec2 vB = bodyB->m_linearVelocity; + float32 wA = bodyA->m_angularVelocity; + float32 wB = bodyB->m_angularVelocity; + + b2Assert(manifold->pointCount > 0); + + b2WorldManifold worldManifold; + worldManifold.Initialize(manifold, bodyA->m_xf, radiusA, bodyB->m_xf, radiusB); + + b2ContactConstraint* cc = m_constraints + i; + cc->bodyA = bodyA; + cc->bodyB = bodyB; + cc->manifold = manifold; + cc->normal = worldManifold.normal; + cc->pointCount = manifold->pointCount; + cc->friction = friction; + + cc->localNormal = manifold->localNormal; + cc->localPoint = manifold->localPoint; + cc->radius = radiusA + radiusB; + cc->type = manifold->type; + + for (int32 j = 0; j < cc->pointCount; ++j) + { + b2ManifoldPoint* cp = manifold->points + j; + b2ContactConstraintPoint* ccp = cc->points + j; + + ccp->normalImpulse = impulseRatio * cp->normalImpulse; + ccp->tangentImpulse = impulseRatio * cp->tangentImpulse; + + ccp->localPoint = cp->localPoint; + + ccp->rA = worldManifold.points[j] - bodyA->m_sweep.c; + ccp->rB = worldManifold.points[j] - bodyB->m_sweep.c; + + float32 rnA = b2Cross(ccp->rA, cc->normal); + float32 rnB = b2Cross(ccp->rB, cc->normal); + rnA *= rnA; + rnB *= rnB; + + float32 kNormal = bodyA->m_invMass + bodyB->m_invMass + bodyA->m_invI * rnA + bodyB->m_invI * rnB; + + b2Assert(kNormal > b2_epsilon); + ccp->normalMass = 1.0f / kNormal; + + b2Vec2 tangent = b2Cross(cc->normal, 1.0f); + + float32 rtA = b2Cross(ccp->rA, tangent); + float32 rtB = b2Cross(ccp->rB, tangent); + rtA *= rtA; + rtB *= rtB; + + float32 kTangent = bodyA->m_invMass + bodyB->m_invMass + bodyA->m_invI * rtA + bodyB->m_invI * rtB; + + b2Assert(kTangent > b2_epsilon); + ccp->tangentMass = 1.0f / kTangent; + + // Setup a velocity bias for restitution. + ccp->velocityBias = 0.0f; + float32 vRel = b2Dot(cc->normal, vB + b2Cross(wB, ccp->rB) - vA - b2Cross(wA, ccp->rA)); + if (vRel < -b2_velocityThreshold) + { + ccp->velocityBias = -restitution * vRel; + } + } + + // If we have two points, then prepare the block solver. + if (cc->pointCount == 2) + { + b2ContactConstraintPoint* ccp1 = cc->points + 0; + b2ContactConstraintPoint* ccp2 = cc->points + 1; + + float32 invMassA = bodyA->m_invMass; + float32 invIA = bodyA->m_invI; + float32 invMassB = bodyB->m_invMass; + float32 invIB = bodyB->m_invI; + + float32 rn1A = b2Cross(ccp1->rA, cc->normal); + float32 rn1B = b2Cross(ccp1->rB, cc->normal); + float32 rn2A = b2Cross(ccp2->rA, cc->normal); + float32 rn2B = b2Cross(ccp2->rB, cc->normal); + + float32 k11 = invMassA + invMassB + invIA * rn1A * rn1A + invIB * rn1B * rn1B; + float32 k22 = invMassA + invMassB + invIA * rn2A * rn2A + invIB * rn2B * rn2B; + float32 k12 = invMassA + invMassB + invIA * rn1A * rn2A + invIB * rn1B * rn2B; + + // Ensure a reasonable condition number. + const float32 k_maxConditionNumber = 100.0f; + if (k11 * k11 < k_maxConditionNumber * (k11 * k22 - k12 * k12)) + { + // K is safe to invert. + cc->K.col1.Set(k11, k12); + cc->K.col2.Set(k12, k22); + cc->normalMass = cc->K.GetInverse(); + } + else + { + // The constraints are redundant, just use one. + // TODO_ERIN use deepest? + cc->pointCount = 1; + } + } + } +} + +b2ContactSolver::~b2ContactSolver() +{ + m_allocator->Free(m_constraints); +} + +void b2ContactSolver::WarmStart() +{ + // Warm start. + for (int32 i = 0; i < m_constraintCount; ++i) + { + b2ContactConstraint* c = m_constraints + i; + + b2Body* bodyA = c->bodyA; + b2Body* bodyB = c->bodyB; + float32 invMassA = bodyA->m_invMass; + float32 invIA = bodyA->m_invI; + float32 invMassB = bodyB->m_invMass; + float32 invIB = bodyB->m_invI; + b2Vec2 normal = c->normal; + b2Vec2 tangent = b2Cross(normal, 1.0f); + + for (int32 j = 0; j < c->pointCount; ++j) + { + b2ContactConstraintPoint* ccp = c->points + j; + b2Vec2 P = ccp->normalImpulse * normal + ccp->tangentImpulse * tangent; + bodyA->m_angularVelocity -= invIA * b2Cross(ccp->rA, P); + bodyA->m_linearVelocity -= invMassA * P; + bodyB->m_angularVelocity += invIB * b2Cross(ccp->rB, P); + bodyB->m_linearVelocity += invMassB * P; + } + } +} + +void b2ContactSolver::SolveVelocityConstraints() +{ + for (int32 i = 0; i < m_constraintCount; ++i) + { + b2ContactConstraint* c = m_constraints + i; + b2Body* bodyA = c->bodyA; + b2Body* bodyB = c->bodyB; + float32 wA = bodyA->m_angularVelocity; + float32 wB = bodyB->m_angularVelocity; + b2Vec2 vA = bodyA->m_linearVelocity; + b2Vec2 vB = bodyB->m_linearVelocity; + float32 invMassA = bodyA->m_invMass; + float32 invIA = bodyA->m_invI; + float32 invMassB = bodyB->m_invMass; + float32 invIB = bodyB->m_invI; + b2Vec2 normal = c->normal; + b2Vec2 tangent = b2Cross(normal, 1.0f); + float32 friction = c->friction; + + b2Assert(c->pointCount == 1 || c->pointCount == 2); + + // Solve tangent constraints + for (int32 j = 0; j < c->pointCount; ++j) + { + b2ContactConstraintPoint* ccp = c->points + j; + + // Relative velocity at contact + b2Vec2 dv = vB + b2Cross(wB, ccp->rB) - vA - b2Cross(wA, ccp->rA); + + // Compute tangent force + float32 vt = b2Dot(dv, tangent); + float32 lambda = ccp->tangentMass * (-vt); + + // b2Clamp the accumulated force + float32 maxFriction = friction * ccp->normalImpulse; + float32 newImpulse = b2Clamp(ccp->tangentImpulse + lambda, -maxFriction, maxFriction); + lambda = newImpulse - ccp->tangentImpulse; + + // Apply contact impulse + b2Vec2 P = lambda * tangent; + + vA -= invMassA * P; + wA -= invIA * b2Cross(ccp->rA, P); + + vB += invMassB * P; + wB += invIB * b2Cross(ccp->rB, P); + + ccp->tangentImpulse = newImpulse; + } + + // Solve normal constraints + if (c->pointCount == 1) + { + b2ContactConstraintPoint* ccp = c->points + 0; + + // Relative velocity at contact + b2Vec2 dv = vB + b2Cross(wB, ccp->rB) - vA - b2Cross(wA, ccp->rA); + + // Compute normal impulse + float32 vn = b2Dot(dv, normal); + float32 lambda = -ccp->normalMass * (vn - ccp->velocityBias); + + // b2Clamp the accumulated impulse + float32 newImpulse = b2Max(ccp->normalImpulse + lambda, 0.0f); + lambda = newImpulse - ccp->normalImpulse; + + // Apply contact impulse + b2Vec2 P = lambda * normal; + vA -= invMassA * P; + wA -= invIA * b2Cross(ccp->rA, P); + + vB += invMassB * P; + wB += invIB * b2Cross(ccp->rB, P); + ccp->normalImpulse = newImpulse; + } + else + { + // Block solver developed in collaboration with Dirk Gregorius (back in 01/07 on Box2D_Lite). + // Build the mini LCP for this contact patch + // + // vn = A * x + b, vn >= 0, , vn >= 0, x >= 0 and vn_i * x_i = 0 with i = 1..2 + // + // A = J * W * JT and J = ( -n, -r1 x n, n, r2 x n ) + // b = vn_0 - velocityBias + // + // The system is solved using the "Total enumeration method" (s. Murty). The complementary constraint vn_i * x_i + // implies that we must have in any solution either vn_i = 0 or x_i = 0. So for the 2D contact problem the cases + // vn1 = 0 and vn2 = 0, x1 = 0 and x2 = 0, x1 = 0 and vn2 = 0, x2 = 0 and vn1 = 0 need to be tested. The first valid + // solution that satisfies the problem is chosen. + // + // In order to account of the accumulated impulse 'a' (because of the iterative nature of the solver which only requires + // that the accumulated impulse is clamped and not the incremental impulse) we change the impulse variable (x_i). + // + // Substitute: + // + // x = x' - a + // + // Plug into above equation: + // + // vn = A * x + b + // = A * (x' - a) + b + // = A * x' + b - A * a + // = A * x' + b' + // b' = b - A * a; + + b2ContactConstraintPoint* cp1 = c->points + 0; + b2ContactConstraintPoint* cp2 = c->points + 1; + + b2Vec2 a(cp1->normalImpulse, cp2->normalImpulse); + b2Assert(a.x >= 0.0f && a.y >= 0.0f); + + // Relative velocity at contact + b2Vec2 dv1 = vB + b2Cross(wB, cp1->rB) - vA - b2Cross(wA, cp1->rA); + b2Vec2 dv2 = vB + b2Cross(wB, cp2->rB) - vA - b2Cross(wA, cp2->rA); + + // Compute normal velocity + float32 vn1 = b2Dot(dv1, normal); + float32 vn2 = b2Dot(dv2, normal); + + b2Vec2 b; + b.x = vn1 - cp1->velocityBias; + b.y = vn2 - cp2->velocityBias; + b -= b2Mul(c->K, a); + + const float32 k_errorTol = 1e-3f; + B2_NOT_USED(k_errorTol); + + for (;;) + { + // + // Case 1: vn = 0 + // + // 0 = A * x' + b' + // + // Solve for x': + // + // x' = - inv(A) * b' + // + b2Vec2 x = - b2Mul(c->normalMass, b); + + if (x.x >= 0.0f && x.y >= 0.0f) + { + // Resubstitute for the incremental impulse + b2Vec2 d = x - a; + + // Apply incremental impulse + b2Vec2 P1 = d.x * normal; + b2Vec2 P2 = d.y * normal; + vA -= invMassA * (P1 + P2); + wA -= invIA * (b2Cross(cp1->rA, P1) + b2Cross(cp2->rA, P2)); + + vB += invMassB * (P1 + P2); + wB += invIB * (b2Cross(cp1->rB, P1) + b2Cross(cp2->rB, P2)); + + // Accumulate + cp1->normalImpulse = x.x; + cp2->normalImpulse = x.y; + +#if B2_DEBUG_SOLVER == 1 + // Postconditions + dv1 = vB + b2Cross(wB, cp1->rB) - vA - b2Cross(wA, cp1->rA); + dv2 = vB + b2Cross(wB, cp2->rB) - vA - b2Cross(wA, cp2->rA); + + // Compute normal velocity + vn1 = b2Dot(dv1, normal); + vn2 = b2Dot(dv2, normal); + + b2Assert(b2Abs(vn1 - cp1->velocityBias) < k_errorTol); + b2Assert(b2Abs(vn2 - cp2->velocityBias) < k_errorTol); +#endif + break; + } + + // + // Case 2: vn1 = 0 and x2 = 0 + // + // 0 = a11 * x1' + a12 * 0 + b1' + // vn2 = a21 * x1' + a22 * 0 + b2' + // + x.x = - cp1->normalMass * b.x; + x.y = 0.0f; + vn1 = 0.0f; + vn2 = c->K.col1.y * x.x + b.y; + + if (x.x >= 0.0f && vn2 >= 0.0f) + { + // Resubstitute for the incremental impulse + b2Vec2 d = x - a; + + // Apply incremental impulse + b2Vec2 P1 = d.x * normal; + b2Vec2 P2 = d.y * normal; + vA -= invMassA * (P1 + P2); + wA -= invIA * (b2Cross(cp1->rA, P1) + b2Cross(cp2->rA, P2)); + + vB += invMassB * (P1 + P2); + wB += invIB * (b2Cross(cp1->rB, P1) + b2Cross(cp2->rB, P2)); + + // Accumulate + cp1->normalImpulse = x.x; + cp2->normalImpulse = x.y; + +#if B2_DEBUG_SOLVER == 1 + // Postconditions + dv1 = vB + b2Cross(wB, cp1->rB) - vA - b2Cross(wA, cp1->rA); + + // Compute normal velocity + vn1 = b2Dot(dv1, normal); + + b2Assert(b2Abs(vn1 - cp1->velocityBias) < k_errorTol); +#endif + break; + } + + + // + // Case 3: vn2 = 0 and x1 = 0 + // + // vn1 = a11 * 0 + a12 * x2' + b1' + // 0 = a21 * 0 + a22 * x2' + b2' + // + x.x = 0.0f; + x.y = - cp2->normalMass * b.y; + vn1 = c->K.col2.x * x.y + b.x; + vn2 = 0.0f; + + if (x.y >= 0.0f && vn1 >= 0.0f) + { + // Resubstitute for the incremental impulse + b2Vec2 d = x - a; + + // Apply incremental impulse + b2Vec2 P1 = d.x * normal; + b2Vec2 P2 = d.y * normal; + vA -= invMassA * (P1 + P2); + wA -= invIA * (b2Cross(cp1->rA, P1) + b2Cross(cp2->rA, P2)); + + vB += invMassB * (P1 + P2); + wB += invIB * (b2Cross(cp1->rB, P1) + b2Cross(cp2->rB, P2)); + + // Accumulate + cp1->normalImpulse = x.x; + cp2->normalImpulse = x.y; + +#if B2_DEBUG_SOLVER == 1 + // Postconditions + dv2 = vB + b2Cross(wB, cp2->rB) - vA - b2Cross(wA, cp2->rA); + + // Compute normal velocity + vn2 = b2Dot(dv2, normal); + + b2Assert(b2Abs(vn2 - cp2->velocityBias) < k_errorTol); +#endif + break; + } + + // + // Case 4: x1 = 0 and x2 = 0 + // + // vn1 = b1 + // vn2 = b2; + x.x = 0.0f; + x.y = 0.0f; + vn1 = b.x; + vn2 = b.y; + + if (vn1 >= 0.0f && vn2 >= 0.0f ) + { + // Resubstitute for the incremental impulse + b2Vec2 d = x - a; + + // Apply incremental impulse + b2Vec2 P1 = d.x * normal; + b2Vec2 P2 = d.y * normal; + vA -= invMassA * (P1 + P2); + wA -= invIA * (b2Cross(cp1->rA, P1) + b2Cross(cp2->rA, P2)); + + vB += invMassB * (P1 + P2); + wB += invIB * (b2Cross(cp1->rB, P1) + b2Cross(cp2->rB, P2)); + + // Accumulate + cp1->normalImpulse = x.x; + cp2->normalImpulse = x.y; + + break; + } + + // No solution, give up. This is hit sometimes, but it doesn't seem to matter. + break; + } + } + + bodyA->m_linearVelocity = vA; + bodyA->m_angularVelocity = wA; + bodyB->m_linearVelocity = vB; + bodyB->m_angularVelocity = wB; + } +} + +void b2ContactSolver::StoreImpulses() +{ + for (int32 i = 0; i < m_constraintCount; ++i) + { + b2ContactConstraint* c = m_constraints + i; + b2Manifold* m = c->manifold; + + for (int32 j = 0; j < c->pointCount; ++j) + { + m->points[j].normalImpulse = c->points[j].normalImpulse; + m->points[j].tangentImpulse = c->points[j].tangentImpulse; + } + } +} + +struct b2PositionSolverManifold +{ + void Initialize(b2ContactConstraint* cc, int32 index) + { + b2Assert(cc->pointCount > 0); + + switch (cc->type) + { + case b2Manifold::e_circles: + { + b2Vec2 pointA = cc->bodyA->GetWorldPoint(cc->localPoint); + b2Vec2 pointB = cc->bodyB->GetWorldPoint(cc->points[0].localPoint); + if (b2DistanceSquared(pointA, pointB) > b2_epsilon * b2_epsilon) + { + normal = pointB - pointA; + normal.Normalize(); + } + else + { + normal.Set(1.0f, 0.0f); + } + + point = 0.5f * (pointA + pointB); + separation = b2Dot(pointB - pointA, normal) - cc->radius; + } + break; + + case b2Manifold::e_faceA: + { + normal = cc->bodyA->GetWorldVector(cc->localNormal); + b2Vec2 planePoint = cc->bodyA->GetWorldPoint(cc->localPoint); + + b2Vec2 clipPoint = cc->bodyB->GetWorldPoint(cc->points[index].localPoint); + separation = b2Dot(clipPoint - planePoint, normal) - cc->radius; + point = clipPoint; + } + break; + + case b2Manifold::e_faceB: + { + normal = cc->bodyB->GetWorldVector(cc->localNormal); + b2Vec2 planePoint = cc->bodyB->GetWorldPoint(cc->localPoint); + + b2Vec2 clipPoint = cc->bodyA->GetWorldPoint(cc->points[index].localPoint); + separation = b2Dot(clipPoint - planePoint, normal) - cc->radius; + point = clipPoint; + + // Ensure normal points from A to B + normal = -normal; + } + break; + } + } + + b2Vec2 normal; + b2Vec2 point; + float32 separation; +}; + +// Sequential solver. +bool b2ContactSolver::SolvePositionConstraints(float32 baumgarte) +{ + float32 minSeparation = 0.0f; + + for (int32 i = 0; i < m_constraintCount; ++i) + { + b2ContactConstraint* c = m_constraints + i; + b2Body* bodyA = c->bodyA; + b2Body* bodyB = c->bodyB; + + float32 invMassA = bodyA->m_mass * bodyA->m_invMass; + float32 invIA = bodyA->m_mass * bodyA->m_invI; + float32 invMassB = bodyB->m_mass * bodyB->m_invMass; + float32 invIB = bodyB->m_mass * bodyB->m_invI; + + // Solve normal constraints + for (int32 j = 0; j < c->pointCount; ++j) + { + b2PositionSolverManifold psm; + psm.Initialize(c, j); + b2Vec2 normal = psm.normal; + + b2Vec2 point = psm.point; + float32 separation = psm.separation; + + b2Vec2 rA = point - bodyA->m_sweep.c; + b2Vec2 rB = point - bodyB->m_sweep.c; + + // Track max constraint error. + minSeparation = b2Min(minSeparation, separation); + + // Prevent large corrections and allow slop. + float32 C = b2Clamp(baumgarte * (separation + b2_linearSlop), -b2_maxLinearCorrection, 0.0f); + + // Compute the effective mass. + float32 rnA = b2Cross(rA, normal); + float32 rnB = b2Cross(rB, normal); + float32 K = invMassA + invMassB + invIA * rnA * rnA + invIB * rnB * rnB; + + // Compute normal impulse + float32 impulse = K > 0.0f ? - C / K : 0.0f; + + b2Vec2 P = impulse * normal; + + bodyA->m_sweep.c -= invMassA * P; + bodyA->m_sweep.a -= invIA * b2Cross(rA, P); + bodyA->SynchronizeTransform(); + + bodyB->m_sweep.c += invMassB * P; + bodyB->m_sweep.a += invIB * b2Cross(rB, P); + bodyB->SynchronizeTransform(); + } + } + + // We can't expect minSpeparation >= -b2_linearSlop because we don't + // push the separation above -b2_linearSlop. + return minSeparation >= -1.5f * b2_linearSlop; +} diff --git a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2ContactSolver.h b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2ContactSolver.h similarity index 67% rename from src/modules/physics/box2d/Source/Dynamics/Contacts/b2ContactSolver.h rename to src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2ContactSolver.h index 04118c79e..b8555bbb4 100644 --- a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2ContactSolver.h +++ b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2ContactSolver.h @@ -1,5 +1,5 @@ /* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages @@ -16,59 +16,60 @@ * 3. This notice may not be removed or altered from any source distribution. */ -#ifndef CONTACT_SOLVER_H -#define CONTACT_SOLVER_H +#ifndef B2_CONTACT_SOLVER_H +#define B2_CONTACT_SOLVER_H -#include "../../Common/b2Math.h" -#include "../../Collision/b2Collision.h" -#include "../b2World.h" +#include +#include +#include class b2Contact; class b2Body; -class b2Island; class b2StackAllocator; struct b2ContactConstraintPoint { - b2Vec2 localAnchor1; - b2Vec2 localAnchor2; - b2Vec2 r1; - b2Vec2 r2; + b2Vec2 localPoint; + b2Vec2 rA; + b2Vec2 rB; float32 normalImpulse; float32 tangentImpulse; - float32 positionImpulse; float32 normalMass; float32 tangentMass; - float32 equalizedMass; - float32 separation; float32 velocityBias; }; struct b2ContactConstraint { b2ContactConstraintPoint points[b2_maxManifoldPoints]; + b2Vec2 localNormal; + b2Vec2 localPoint; b2Vec2 normal; - b2Manifold* manifold; - b2Body* body1; - b2Body* body2; + b2Mat22 normalMass; + b2Mat22 K; + b2Body* bodyA; + b2Body* bodyB; + b2Manifold::Type type; + float32 radius; float32 friction; - float32 restitution; int32 pointCount; + b2Manifold* manifold; }; class b2ContactSolver { public: - b2ContactSolver(const b2TimeStep& step, b2Contact** contacts, int32 contactCount, b2StackAllocator* allocator); + b2ContactSolver(b2Contact** contacts, int32 contactCount, + b2StackAllocator* allocator, float32 impulseRatio); + ~b2ContactSolver(); - void InitVelocityConstraints(const b2TimeStep& step); + void WarmStart(); void SolveVelocityConstraints(); - void FinalizeVelocityConstraints(); + void StoreImpulses(); bool SolvePositionConstraints(float32 baumgarte); - b2TimeStep m_step; b2StackAllocator* m_allocator; b2ContactConstraint* m_constraints; int m_constraintCount; diff --git a/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.cpp b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.cpp new file mode 100644 index 000000000..837722d92 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.cpp @@ -0,0 +1,52 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include +#include +#include +#include + +#include + +b2Contact* b2PolygonAndCircleContact::Create(b2Fixture* fixtureA, b2Fixture* fixtureB, b2BlockAllocator* allocator) +{ + void* mem = allocator->Allocate(sizeof(b2PolygonAndCircleContact)); + return new (mem) b2PolygonAndCircleContact(fixtureA, fixtureB); +} + +void b2PolygonAndCircleContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator) +{ + ((b2PolygonAndCircleContact*)contact)->~b2PolygonAndCircleContact(); + allocator->Free(contact, sizeof(b2PolygonAndCircleContact)); +} + +b2PolygonAndCircleContact::b2PolygonAndCircleContact(b2Fixture* fixtureA, b2Fixture* fixtureB) +: b2Contact(fixtureA, fixtureB) +{ + b2Assert(m_fixtureA->GetType() == b2Shape::e_polygon); + b2Assert(m_fixtureB->GetType() == b2Shape::e_circle); +} + +void b2PolygonAndCircleContact::Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB) +{ + b2CollidePolygonAndCircle( manifold, + (b2PolygonShape*)m_fixtureA->GetShape(), xfA, + (b2CircleShape*)m_fixtureB->GetShape(), xfB); +} diff --git a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2PolyAndCircleContact.h b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.h similarity index 63% rename from src/modules/physics/box2d/Source/Dynamics/Contacts/b2PolyAndCircleContact.h rename to src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.h index 47b3cb87c..684b2ae04 100644 --- a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2PolyAndCircleContact.h +++ b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.h @@ -1,5 +1,5 @@ /* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages @@ -16,29 +16,23 @@ * 3. This notice may not be removed or altered from any source distribution. */ -#ifndef POLY_AND_CIRCLE_CONTACT_H -#define POLY_AND_CIRCLE_CONTACT_H +#ifndef B2_POLYGON_AND_CIRCLE_CONTACT_H +#define B2_POLYGON_AND_CIRCLE_CONTACT_H -#include "b2Contact.h" +#include class b2BlockAllocator; -class b2PolyAndCircleContact : public b2Contact +class b2PolygonAndCircleContact : public b2Contact { public: - static b2Contact* Create(b2Shape* shape1, b2Shape* shape2, b2BlockAllocator* allocator); + static b2Contact* Create(b2Fixture* fixtureA, b2Fixture* fixtureB, b2BlockAllocator* allocator); static void Destroy(b2Contact* contact, b2BlockAllocator* allocator); - b2PolyAndCircleContact(b2Shape* shape1, b2Shape* shape2); - ~b2PolyAndCircleContact() {} + b2PolygonAndCircleContact(b2Fixture* fixtureA, b2Fixture* fixtureB); + ~b2PolygonAndCircleContact() {} - void Evaluate(b2ContactListener* listener); - b2Manifold* GetManifolds() - { - return &m_manifold; - } - - b2Manifold m_manifold; + void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB); }; #endif diff --git a/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2PolygonContact.cpp b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2PolygonContact.cpp new file mode 100644 index 000000000..eab2af579 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2PolygonContact.cpp @@ -0,0 +1,52 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include +#include +#include +#include + +#include + +b2Contact* b2PolygonContact::Create(b2Fixture* fixtureA, b2Fixture* fixtureB, b2BlockAllocator* allocator) +{ + void* mem = allocator->Allocate(sizeof(b2PolygonContact)); + return new (mem) b2PolygonContact(fixtureA, fixtureB); +} + +void b2PolygonContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator) +{ + ((b2PolygonContact*)contact)->~b2PolygonContact(); + allocator->Free(contact, sizeof(b2PolygonContact)); +} + +b2PolygonContact::b2PolygonContact(b2Fixture* fixtureA, b2Fixture* fixtureB) + : b2Contact(fixtureA, fixtureB) +{ + b2Assert(m_fixtureA->GetType() == b2Shape::e_polygon); + b2Assert(m_fixtureB->GetType() == b2Shape::e_polygon); +} + +void b2PolygonContact::Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB) +{ + b2CollidePolygons( manifold, + (b2PolygonShape*)m_fixtureA->GetShape(), xfA, + (b2PolygonShape*)m_fixtureB->GetShape(), xfB); +} diff --git a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2PolyContact.h b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2PolygonContact.h similarity index 69% rename from src/modules/physics/box2d/Source/Dynamics/Contacts/b2PolyContact.h rename to src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2PolygonContact.h index b8a3e73c0..af544c2e7 100644 --- a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2PolyContact.h +++ b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2PolygonContact.h @@ -1,5 +1,5 @@ /* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages @@ -16,29 +16,23 @@ * 3. This notice may not be removed or altered from any source distribution. */ -#ifndef POLYCONTACT_H -#define POLYCONTACT_H +#ifndef B2_POLYGON_CONTACT_H +#define B2_POLYGON_CONTACT_H -#include "b2Contact.h" +#include class b2BlockAllocator; class b2PolygonContact : public b2Contact { public: - static b2Contact* Create(b2Shape* shape1, b2Shape* shape2, b2BlockAllocator* allocator); + static b2Contact* Create(b2Fixture* fixtureA, b2Fixture* fixtureB, b2BlockAllocator* allocator); static void Destroy(b2Contact* contact, b2BlockAllocator* allocator); - b2PolygonContact(b2Shape* shape1, b2Shape* shape2); + b2PolygonContact(b2Fixture* fixtureA, b2Fixture* fixtureB); ~b2PolygonContact() {} - void Evaluate(b2ContactListener* listener); - b2Manifold* GetManifolds() - { - return &m_manifold; - } - - b2Manifold m_manifold; + void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB); }; #endif diff --git a/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2TOISolver.cpp b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2TOISolver.cpp new file mode 100644 index 000000000..567cd7125 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2TOISolver.cpp @@ -0,0 +1,231 @@ +/* +* Copyright (c) 2006-2010 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include +#include +#include + +struct b2TOIConstraint +{ + b2Vec2 localPoints[b2_maxManifoldPoints]; + b2Vec2 localNormal; + b2Vec2 localPoint; + b2Manifold::Type type; + float32 radius; + int32 pointCount; + b2Body* bodyA; + b2Body* bodyB; +}; + +b2TOISolver::b2TOISolver(b2StackAllocator* allocator) +{ + m_allocator = allocator; + m_constraints = NULL; + m_count = NULL; + m_toiBody = NULL; +} + +b2TOISolver::~b2TOISolver() +{ + Clear(); +} + +void b2TOISolver::Clear() +{ + if (m_allocator && m_constraints) + { + m_allocator->Free(m_constraints); + m_constraints = NULL; + } +} + +void b2TOISolver::Initialize(b2Contact** contacts, int32 count, b2Body* toiBody) +{ + Clear(); + + m_count = count; + m_toiBody = toiBody; + + m_constraints = (b2TOIConstraint*) m_allocator->Allocate(m_count * sizeof(b2TOIConstraint)); + + for (int32 i = 0; i < m_count; ++i) + { + b2Contact* contact = contacts[i]; + + b2Fixture* fixtureA = contact->GetFixtureA(); + b2Fixture* fixtureB = contact->GetFixtureB(); + b2Shape* shapeA = fixtureA->GetShape(); + b2Shape* shapeB = fixtureB->GetShape(); + float32 radiusA = shapeA->m_radius; + float32 radiusB = shapeB->m_radius; + b2Body* bodyA = fixtureA->GetBody(); + b2Body* bodyB = fixtureB->GetBody(); + b2Manifold* manifold = contact->GetManifold(); + + b2Assert(manifold->pointCount > 0); + + b2TOIConstraint* constraint = m_constraints + i; + constraint->bodyA = bodyA; + constraint->bodyB = bodyB; + constraint->localNormal = manifold->localNormal; + constraint->localPoint = manifold->localPoint; + constraint->type = manifold->type; + constraint->pointCount = manifold->pointCount; + constraint->radius = radiusA + radiusB; + + for (int32 j = 0; j < constraint->pointCount; ++j) + { + b2ManifoldPoint* cp = manifold->points + j; + constraint->localPoints[j] = cp->localPoint; + } + } +} + +struct b2TOISolverManifold +{ + void Initialize(b2TOIConstraint* cc, int32 index) + { + b2Assert(cc->pointCount > 0); + + switch (cc->type) + { + case b2Manifold::e_circles: + { + b2Vec2 pointA = cc->bodyA->GetWorldPoint(cc->localPoint); + b2Vec2 pointB = cc->bodyB->GetWorldPoint(cc->localPoints[0]); + if (b2DistanceSquared(pointA, pointB) > b2_epsilon * b2_epsilon) + { + normal = pointB - pointA; + normal.Normalize(); + } + else + { + normal.Set(1.0f, 0.0f); + } + + point = 0.5f * (pointA + pointB); + separation = b2Dot(pointB - pointA, normal) - cc->radius; + } + break; + + case b2Manifold::e_faceA: + { + normal = cc->bodyA->GetWorldVector(cc->localNormal); + b2Vec2 planePoint = cc->bodyA->GetWorldPoint(cc->localPoint); + + b2Vec2 clipPoint = cc->bodyB->GetWorldPoint(cc->localPoints[index]); + separation = b2Dot(clipPoint - planePoint, normal) - cc->radius; + point = clipPoint; + } + break; + + case b2Manifold::e_faceB: + { + normal = cc->bodyB->GetWorldVector(cc->localNormal); + b2Vec2 planePoint = cc->bodyB->GetWorldPoint(cc->localPoint); + + b2Vec2 clipPoint = cc->bodyA->GetWorldPoint(cc->localPoints[index]); + separation = b2Dot(clipPoint - planePoint, normal) - cc->radius; + point = clipPoint; + + // Ensure normal points from A to B + normal = -normal; + } + break; + } + } + + b2Vec2 normal; + b2Vec2 point; + float32 separation; +}; + +// Push out the toi body to provide clearance for further simulation. +bool b2TOISolver::Solve(float32 baumgarte) +{ + float32 minSeparation = 0.0f; + + for (int32 i = 0; i < m_count; ++i) + { + b2TOIConstraint* c = m_constraints + i; + b2Body* bodyA = c->bodyA; + b2Body* bodyB = c->bodyB; + + float32 massA = bodyA->m_mass; + float32 massB = bodyB->m_mass; + + // Only the TOI body should move. + if (bodyA == m_toiBody) + { + massB = 0.0f; + } + else + { + massA = 0.0f; + } + + float32 invMassA = massA * bodyA->m_invMass; + float32 invIA = massA * bodyA->m_invI; + float32 invMassB = massB * bodyB->m_invMass; + float32 invIB = massB * bodyB->m_invI; + + // Solve normal constraints + for (int32 j = 0; j < c->pointCount; ++j) + { + b2TOISolverManifold psm; + psm.Initialize(c, j); + b2Vec2 normal = psm.normal; + + b2Vec2 point = psm.point; + float32 separation = psm.separation; + + b2Vec2 rA = point - bodyA->m_sweep.c; + b2Vec2 rB = point - bodyB->m_sweep.c; + + // Track max constraint error. + minSeparation = b2Min(minSeparation, separation); + + // Prevent large corrections and allow slop. + float32 C = b2Clamp(baumgarte * (separation + b2_linearSlop), -b2_maxLinearCorrection, 0.0f); + + // Compute the effective mass. + float32 rnA = b2Cross(rA, normal); + float32 rnB = b2Cross(rB, normal); + float32 K = invMassA + invMassB + invIA * rnA * rnA + invIB * rnB * rnB; + + // Compute normal impulse + float32 impulse = K > 0.0f ? - C / K : 0.0f; + + b2Vec2 P = impulse * normal; + + bodyA->m_sweep.c -= invMassA * P; + bodyA->m_sweep.a -= invIA * b2Cross(rA, P); + bodyA->SynchronizeTransform(); + + bodyB->m_sweep.c += invMassB * P; + bodyB->m_sweep.a += invIB * b2Cross(rB, P); + bodyB->SynchronizeTransform(); + } + } + + // We can't expect minSpeparation >= -b2_linearSlop because we don't + // push the separation above -b2_linearSlop. + return minSeparation >= -1.5f * b2_linearSlop; +} diff --git a/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2TOISolver.h b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2TOISolver.h new file mode 100644 index 000000000..c092e2a81 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/Contacts/b2TOISolver.h @@ -0,0 +1,51 @@ +/* +* Copyright (c) 2006-2010 Erin Catto http://www.gphysics.com +* +* 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_TOI_SOLVER_H +#define B2_TOI_SOLVER_H + +#include + +class b2Contact; +class b2Body; +struct b2TOIConstraint; +class b2StackAllocator; + +/// This is a pure position solver for a single movable body in contact with +/// multiple non-moving bodies. +class b2TOISolver +{ +public: + b2TOISolver(b2StackAllocator* allocator); + ~b2TOISolver(); + + void Initialize(b2Contact** contacts, int32 contactCount, b2Body* toiBody); + void Clear(); + + // Perform one solver iteration. Returns true if converged. + bool Solve(float32 baumgarte); + +private: + + b2TOIConstraint* m_constraints; + int32 m_count; + b2Body* m_toiBody; + b2StackAllocator* m_allocator; +}; + +#endif diff --git a/src/modules/physics/box2d/Source/Dynamics/Joints/b2DistanceJoint.cpp b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2DistanceJoint.cpp similarity index 67% rename from src/modules/physics/box2d/Source/Dynamics/Joints/b2DistanceJoint.cpp rename to src/modules/physics/box2d/Box2D/Dynamics/Joints/b2DistanceJoint.cpp index a52e2f971..3469bd9e1 100644 --- a/src/modules/physics/box2d/Source/Dynamics/Joints/b2DistanceJoint.cpp +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2DistanceJoint.cpp @@ -16,9 +16,9 @@ * 3. This notice may not be removed or altered from any source distribution. */ -#include "b2DistanceJoint.h" -#include "../b2Body.h" -#include "../b2World.h" +#include +#include +#include // 1-D constrained system // m (v2 - v1) = lambda @@ -38,10 +38,10 @@ void b2DistanceJointDef::Initialize(b2Body* b1, b2Body* b2, const b2Vec2& anchor1, const b2Vec2& anchor2) { - body1 = b1; - body2 = b2; - localAnchor1 = body1->GetLocalPoint(anchor1); - localAnchor2 = body2->GetLocalPoint(anchor2); + bodyA = b1; + bodyB = b2; + localAnchorA = bodyA->GetLocalPoint(anchor1); + localAnchorB = bodyB->GetLocalPoint(anchor2); b2Vec2 d = anchor2 - anchor1; length = d.Length(); } @@ -50,27 +50,24 @@ void b2DistanceJointDef::Initialize(b2Body* b1, b2Body* b2, b2DistanceJoint::b2DistanceJoint(const b2DistanceJointDef* def) : b2Joint(def) { - m_localAnchor1 = def->localAnchor1; - m_localAnchor2 = def->localAnchor2; + m_localAnchor1 = def->localAnchorA; + m_localAnchor2 = def->localAnchorB; m_length = def->length; m_frequencyHz = def->frequencyHz; m_dampingRatio = def->dampingRatio; m_impulse = 0.0f; m_gamma = 0.0f; m_bias = 0.0f; - m_inv_dt = 0.0f; } void b2DistanceJoint::InitVelocityConstraints(const b2TimeStep& step) { - m_inv_dt = step.inv_dt; - - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; // Compute the effective mass matrix. - b2Vec2 r1 = b2Mul(b1->GetXForm().R, m_localAnchor1 - b1->GetLocalCenter()); - b2Vec2 r2 = b2Mul(b2->GetXForm().R, m_localAnchor2 - b2->GetLocalCenter()); + b2Vec2 r1 = b2Mul(b1->GetTransform().R, m_localAnchor1 - b1->GetLocalCenter()); + b2Vec2 r2 = b2Mul(b2->GetTransform().R, m_localAnchor2 - b2->GetLocalCenter()); m_u = b2->m_sweep.c + r2 - b1->m_sweep.c - r1; // Handle singularity. @@ -87,8 +84,8 @@ void b2DistanceJoint::InitVelocityConstraints(const b2TimeStep& step) float32 cr1u = b2Cross(r1, m_u); float32 cr2u = b2Cross(r2, m_u); float32 invMass = b1->m_invMass + b1->m_invI * cr1u * cr1u + b2->m_invMass + b2->m_invI * cr2u * cr2u; - b2Assert(invMass > B2_FLT_EPSILON); - m_mass = 1.0f / invMass; + + m_mass = invMass != 0.0f ? 1.0f / invMass : 0.0f; if (m_frequencyHz > 0.0f) { @@ -104,15 +101,19 @@ void b2DistanceJoint::InitVelocityConstraints(const b2TimeStep& step) float32 k = m_mass * omega * omega; // magic formulas - m_gamma = 1.0f / (step.dt * (d + step.dt * k)); + m_gamma = step.dt * (d + step.dt * k); + m_gamma = m_gamma != 0.0f ? 1.0f / m_gamma : 0.0f; m_bias = C * step.dt * k * m_gamma; - m_mass = 1.0f / (invMass + m_gamma); + m_mass = invMass + m_gamma; + m_mass = m_mass != 0.0f ? 1.0f / m_mass : 0.0f; } if (step.warmStarting) { + // Scale the impulse to support a variable time step. m_impulse *= step.dtRatio; + b2Vec2 P = m_impulse * m_u; b1->m_linearVelocity -= b1->m_invMass * P; b1->m_angularVelocity -= b1->m_invI * b2Cross(r1, P); @@ -129,11 +130,11 @@ void b2DistanceJoint::SolveVelocityConstraints(const b2TimeStep& step) { B2_NOT_USED(step); - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; - b2Vec2 r1 = b2Mul(b1->GetXForm().R, m_localAnchor1 - b1->GetLocalCenter()); - b2Vec2 r2 = b2Mul(b2->GetXForm().R, m_localAnchor2 - b2->GetLocalCenter()); + b2Vec2 r1 = b2Mul(b1->GetTransform().R, m_localAnchor1 - b1->GetLocalCenter()); + b2Vec2 r2 = b2Mul(b2->GetTransform().R, m_localAnchor2 - b2->GetLocalCenter()); // Cdot = dot(u, v + cross(w, r)) b2Vec2 v1 = b1->m_linearVelocity + b2Cross(b1->m_angularVelocity, r1); @@ -150,18 +151,21 @@ void b2DistanceJoint::SolveVelocityConstraints(const b2TimeStep& step) b2->m_angularVelocity += b2->m_invI * b2Cross(r2, P); } -bool b2DistanceJoint::SolvePositionConstraints() +bool b2DistanceJoint::SolvePositionConstraints(float32 baumgarte) { + B2_NOT_USED(baumgarte); + if (m_frequencyHz > 0.0f) { + // There is no position correction for soft distance constraints. return true; } - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; - b2Vec2 r1 = b2Mul(b1->GetXForm().R, m_localAnchor1 - b1->GetLocalCenter()); - b2Vec2 r2 = b2Mul(b2->GetXForm().R, m_localAnchor2 - b2->GetLocalCenter()); + b2Vec2 r1 = b2Mul(b1->GetTransform().R, m_localAnchor1 - b1->GetLocalCenter()); + b2Vec2 r2 = b2Mul(b2->GetTransform().R, m_localAnchor2 - b2->GetLocalCenter()); b2Vec2 d = b2->m_sweep.c + r2 - b1->m_sweep.c - r1; @@ -184,23 +188,24 @@ bool b2DistanceJoint::SolvePositionConstraints() return b2Abs(C) < b2_linearSlop; } -b2Vec2 b2DistanceJoint::GetAnchor1() const +b2Vec2 b2DistanceJoint::GetAnchorA() const { - return m_body1->GetWorldPoint(m_localAnchor1); + return m_bodyA->GetWorldPoint(m_localAnchor1); } -b2Vec2 b2DistanceJoint::GetAnchor2() const +b2Vec2 b2DistanceJoint::GetAnchorB() const { - return m_body2->GetWorldPoint(m_localAnchor2); + return m_bodyB->GetWorldPoint(m_localAnchor2); } -b2Vec2 b2DistanceJoint::GetReactionForce() const +b2Vec2 b2DistanceJoint::GetReactionForce(float32 inv_dt) const { - b2Vec2 F = (m_inv_dt * m_impulse) * m_u; + b2Vec2 F = (inv_dt * m_impulse) * m_u; return F; } -float32 b2DistanceJoint::GetReactionTorque() const +float32 b2DistanceJoint::GetReactionTorque(float32 inv_dt) const { + B2_NOT_USED(inv_dt); return 0.0f; } diff --git a/src/modules/physics/box2d/Source/Dynamics/Joints/b2DistanceJoint.h b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2DistanceJoint.h similarity index 59% rename from src/modules/physics/box2d/Source/Dynamics/Joints/b2DistanceJoint.h rename to src/modules/physics/box2d/Box2D/Dynamics/Joints/b2DistanceJoint.h index b97aad8b7..448faa668 100644 --- a/src/modules/physics/box2d/Source/Dynamics/Joints/b2DistanceJoint.h +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2DistanceJoint.h @@ -19,7 +19,7 @@ #ifndef B2_DISTANCE_JOINT_H #define B2_DISTANCE_JOINT_H -#include "b2Joint.h" +#include /// Distance joint definition. This requires defining an /// anchor point on both bodies and the non-zero length of the @@ -32,8 +32,8 @@ struct b2DistanceJointDef : public b2JointDef b2DistanceJointDef() { type = e_distanceJoint; - localAnchor1.Set(0.0f, 0.0f); - localAnchor2.Set(0.0f, 0.0f); + localAnchorA.Set(0.0f, 0.0f); + localAnchorB.Set(0.0f, 0.0f); length = 1.0f; frequencyHz = 0.0f; dampingRatio = 0.0f; @@ -41,19 +41,19 @@ struct b2DistanceJointDef : public b2JointDef /// Initialize the bodies, anchors, and length using the world /// anchors. - void Initialize(b2Body* body1, b2Body* body2, - const b2Vec2& anchor1, const b2Vec2& anchor2); + void Initialize(b2Body* bodyA, b2Body* bodyB, + const b2Vec2& anchorA, const b2Vec2& anchorB); /// The local anchor point relative to body1's origin. - b2Vec2 localAnchor1; + b2Vec2 localAnchorA; /// The local anchor point relative to body2's origin. - b2Vec2 localAnchor2; + b2Vec2 localAnchorB; - /// The equilibrium length between the anchor points. + /// The natural length between the anchor points. float32 length; - /// The response speed. + /// The mass-spring-damper frequency in Hertz. float32 frequencyHz; /// The damping ratio. 0 = no damping, 1 = critical damping. @@ -67,19 +67,33 @@ class b2DistanceJoint : public b2Joint { public: - b2Vec2 GetAnchor1() const; - b2Vec2 GetAnchor2() const; + b2Vec2 GetAnchorA() const; + b2Vec2 GetAnchorB() const; - b2Vec2 GetReactionForce() const; - float32 GetReactionTorque() const; + b2Vec2 GetReactionForce(float32 inv_dt) const; + float32 GetReactionTorque(float32 inv_dt) const; - //--------------- Internals Below ------------------- + /// Set/get the natural length. + /// Manipulating the length can lead to non-physical behavior when the frequency is zero. + void SetLength(float32 length); + float32 GetLength() const; + // Set/get frequency in Hz. + void SetFrequency(float32 hz); + float32 GetFrequency() const; + + // Set/get damping ratio. + void SetDampingRatio(float32 ratio); + float32 GetDampingRatio() const; + +protected: + + friend class b2Joint; b2DistanceJoint(const b2DistanceJointDef* data); void InitVelocityConstraints(const b2TimeStep& step); void SolveVelocityConstraints(const b2TimeStep& step); - bool SolvePositionConstraints(); + bool SolvePositionConstraints(float32 baumgarte); b2Vec2 m_localAnchor1; b2Vec2 m_localAnchor2; @@ -89,8 +103,38 @@ public: float32 m_gamma; float32 m_bias; float32 m_impulse; - float32 m_mass; // effective mass for the constraint. + float32 m_mass; float32 m_length; }; +inline void b2DistanceJoint::SetLength(float32 length) +{ + m_length = length; +} + +inline float32 b2DistanceJoint::GetLength() const +{ + return m_length; +} + +inline void b2DistanceJoint::SetFrequency(float32 hz) +{ + m_frequencyHz = hz; +} + +inline float32 b2DistanceJoint::GetFrequency() const +{ + return m_frequencyHz; +} + +inline void b2DistanceJoint::SetDampingRatio(float32 ratio) +{ + m_dampingRatio = ratio; +} + +inline float32 b2DistanceJoint::GetDampingRatio() const +{ + return m_dampingRatio; +} + #endif diff --git a/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2FrictionJoint.cpp b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2FrictionJoint.cpp new file mode 100644 index 000000000..9097deec3 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2FrictionJoint.cpp @@ -0,0 +1,229 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include + +// Point-to-point constraint +// Cdot = v2 - v1 +// = v2 + cross(w2, r2) - v1 - cross(w1, r1) +// J = [-I -r1_skew I r2_skew ] +// Identity used: +// w k % (rx i + ry j) = w * (-ry i + rx j) + +// Angle constraint +// Cdot = w2 - w1 +// J = [0 0 -1 0 0 1] +// K = invI1 + invI2 + +void b2FrictionJointDef::Initialize(b2Body* bA, b2Body* bB, const b2Vec2& anchor) +{ + bodyA = bA; + bodyB = bB; + localAnchorA = bodyA->GetLocalPoint(anchor); + localAnchorB = bodyB->GetLocalPoint(anchor); +} + +b2FrictionJoint::b2FrictionJoint(const b2FrictionJointDef* def) +: b2Joint(def) +{ + m_localAnchorA = def->localAnchorA; + m_localAnchorB = def->localAnchorB; + + m_linearImpulse.SetZero(); + m_angularImpulse = 0.0f; + + m_maxForce = def->maxForce; + m_maxTorque = def->maxTorque; +} + +void b2FrictionJoint::InitVelocityConstraints(const b2TimeStep& step) +{ + b2Body* bA = m_bodyA; + b2Body* bB = m_bodyB; + + // Compute the effective mass matrix. + b2Vec2 rA = b2Mul(bA->GetTransform().R, m_localAnchorA - bA->GetLocalCenter()); + b2Vec2 rB = b2Mul(bB->GetTransform().R, m_localAnchorB - bB->GetLocalCenter()); + + // J = [-I -r1_skew I r2_skew] + // [ 0 -1 0 1] + // r_skew = [-ry; rx] + + // Matlab + // K = [ mA+r1y^2*iA+mB+r2y^2*iB, -r1y*iA*r1x-r2y*iB*r2x, -r1y*iA-r2y*iB] + // [ -r1y*iA*r1x-r2y*iB*r2x, mA+r1x^2*iA+mB+r2x^2*iB, r1x*iA+r2x*iB] + // [ -r1y*iA-r2y*iB, r1x*iA+r2x*iB, iA+iB] + + float32 mA = bA->m_invMass, mB = bB->m_invMass; + float32 iA = bA->m_invI, iB = bB->m_invI; + + b2Mat22 K1; + K1.col1.x = mA + mB; K1.col2.x = 0.0f; + K1.col1.y = 0.0f; K1.col2.y = mA + mB; + + b2Mat22 K2; + K2.col1.x = iA * rA.y * rA.y; K2.col2.x = -iA * rA.x * rA.y; + K2.col1.y = -iA * rA.x * rA.y; K2.col2.y = iA * rA.x * rA.x; + + b2Mat22 K3; + K3.col1.x = iB * rB.y * rB.y; K3.col2.x = -iB * rB.x * rB.y; + K3.col1.y = -iB * rB.x * rB.y; K3.col2.y = iB * rB.x * rB.x; + + b2Mat22 K = K1 + K2 + K3; + m_linearMass = K.GetInverse(); + + m_angularMass = iA + iB; + if (m_angularMass > 0.0f) + { + m_angularMass = 1.0f / m_angularMass; + } + + if (step.warmStarting) + { + // Scale impulses to support a variable time step. + m_linearImpulse *= step.dtRatio; + m_angularImpulse *= step.dtRatio; + + b2Vec2 P(m_linearImpulse.x, m_linearImpulse.y); + + bA->m_linearVelocity -= mA * P; + bA->m_angularVelocity -= iA * (b2Cross(rA, P) + m_angularImpulse); + + bB->m_linearVelocity += mB * P; + bB->m_angularVelocity += iB * (b2Cross(rB, P) + m_angularImpulse); + } + else + { + m_linearImpulse.SetZero(); + m_angularImpulse = 0.0f; + } +} + +void b2FrictionJoint::SolveVelocityConstraints(const b2TimeStep& step) +{ + B2_NOT_USED(step); + + b2Body* bA = m_bodyA; + b2Body* bB = m_bodyB; + + b2Vec2 vA = bA->m_linearVelocity; + float32 wA = bA->m_angularVelocity; + b2Vec2 vB = bB->m_linearVelocity; + float32 wB = bB->m_angularVelocity; + + float32 mA = bA->m_invMass, mB = bB->m_invMass; + float32 iA = bA->m_invI, iB = bB->m_invI; + + b2Vec2 rA = b2Mul(bA->GetTransform().R, m_localAnchorA - bA->GetLocalCenter()); + b2Vec2 rB = b2Mul(bB->GetTransform().R, m_localAnchorB - bB->GetLocalCenter()); + + // Solve angular friction + { + float32 Cdot = wB - wA; + float32 impulse = -m_angularMass * Cdot; + + float32 oldImpulse = m_angularImpulse; + float32 maxImpulse = step.dt * m_maxTorque; + m_angularImpulse = b2Clamp(m_angularImpulse + impulse, -maxImpulse, maxImpulse); + impulse = m_angularImpulse - oldImpulse; + + wA -= iA * impulse; + wB += iB * impulse; + } + + // Solve linear friction + { + b2Vec2 Cdot = vB + b2Cross(wB, rB) - vA - b2Cross(wA, rA); + + b2Vec2 impulse = -b2Mul(m_linearMass, Cdot); + b2Vec2 oldImpulse = m_linearImpulse; + m_linearImpulse += impulse; + + float32 maxImpulse = step.dt * m_maxForce; + + if (m_linearImpulse.LengthSquared() > maxImpulse * maxImpulse) + { + m_linearImpulse.Normalize(); + m_linearImpulse *= maxImpulse; + } + + impulse = m_linearImpulse - oldImpulse; + + vA -= mA * impulse; + wA -= iA * b2Cross(rA, impulse); + + vB += mB * impulse; + wB += iB * b2Cross(rB, impulse); + } + + bA->m_linearVelocity = vA; + bA->m_angularVelocity = wA; + bB->m_linearVelocity = vB; + bB->m_angularVelocity = wB; +} + +bool b2FrictionJoint::SolvePositionConstraints(float32 baumgarte) +{ + B2_NOT_USED(baumgarte); + + return true; +} + +b2Vec2 b2FrictionJoint::GetAnchorA() const +{ + return m_bodyA->GetWorldPoint(m_localAnchorA); +} + +b2Vec2 b2FrictionJoint::GetAnchorB() const +{ + return m_bodyB->GetWorldPoint(m_localAnchorB); +} + +b2Vec2 b2FrictionJoint::GetReactionForce(float32 inv_dt) const +{ + return inv_dt * m_linearImpulse; +} + +float32 b2FrictionJoint::GetReactionTorque(float32 inv_dt) const +{ + return inv_dt * m_angularImpulse; +} + +void b2FrictionJoint::SetMaxForce(float32 force) +{ + b2Assert(b2IsValid(force) && force >= 0.0f); + m_maxForce = force; +} + +float32 b2FrictionJoint::GetMaxForce() const +{ + return m_maxForce; +} + +void b2FrictionJoint::SetMaxTorque(float32 torque) +{ + b2Assert(b2IsValid(torque) && torque >= 0.0f); + m_maxTorque = torque; +} + +float32 b2FrictionJoint::GetMaxTorque() const +{ + return m_maxTorque; +} diff --git a/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2FrictionJoint.h b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2FrictionJoint.h new file mode 100644 index 000000000..b4c4af261 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2FrictionJoint.h @@ -0,0 +1,99 @@ +/* +* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* +* 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_FRICTION_JOINT_H +#define B2_FRICTION_JOINT_H + +#include + +/// Friction joint definition. +struct b2FrictionJointDef : public b2JointDef +{ + b2FrictionJointDef() + { + type = e_frictionJoint; + localAnchorA.SetZero(); + localAnchorB.SetZero(); + maxForce = 0.0f; + maxTorque = 0.0f; + } + + /// Initialize the bodies, anchors, axis, and reference angle using the world + /// anchor and world axis. + void Initialize(b2Body* bodyA, b2Body* bodyB, const b2Vec2& anchor); + + /// The local anchor point relative to bodyA's origin. + b2Vec2 localAnchorA; + + /// The local anchor point relative to bodyB's origin. + b2Vec2 localAnchorB; + + /// The maximum friction force in N. + float32 maxForce; + + /// The maximum friction torque in N-m. + float32 maxTorque; +}; + +/// Friction joint. This is used for top-down friction. +/// It provides 2D translational friction and angular friction. +class b2FrictionJoint : public b2Joint +{ +public: + b2Vec2 GetAnchorA() const; + b2Vec2 GetAnchorB() const; + + b2Vec2 GetReactionForce(float32 inv_dt) const; + float32 GetReactionTorque(float32 inv_dt) const; + + /// Set the maximum friction force in N. + void SetMaxForce(float32 force); + + /// Get the maximum friction force in N. + float32 GetMaxForce() const; + + /// Set the maximum friction torque in N*m. + void SetMaxTorque(float32 torque); + + /// Get the maximum friction torque in N*m. + float32 GetMaxTorque() const; + +protected: + + friend class b2Joint; + + b2FrictionJoint(const b2FrictionJointDef* def); + + void InitVelocityConstraints(const b2TimeStep& step); + void SolveVelocityConstraints(const b2TimeStep& step); + bool SolvePositionConstraints(float32 baumgarte); + + b2Vec2 m_localAnchorA; + b2Vec2 m_localAnchorB; + + b2Mat22 m_linearMass; + float32 m_angularMass; + + b2Vec2 m_linearImpulse; + float32 m_angularImpulse; + + float32 m_maxForce; + float32 m_maxTorque; +}; + +#endif diff --git a/src/modules/physics/box2d/Source/Dynamics/Joints/b2GearJoint.cpp b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2GearJoint.cpp similarity index 57% rename from src/modules/physics/box2d/Source/Dynamics/Joints/b2GearJoint.cpp rename to src/modules/physics/box2d/Box2D/Dynamics/Joints/b2GearJoint.cpp index 08eda2d52..89b17ee2c 100644 --- a/src/modules/physics/box2d/Source/Dynamics/Joints/b2GearJoint.cpp +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2GearJoint.cpp @@ -16,11 +16,11 @@ * 3. This notice may not be removed or altered from any source distribution. */ -#include "b2GearJoint.h" -#include "b2RevoluteJoint.h" -#include "b2PrismaticJoint.h" -#include "../b2Body.h" -#include "../b2World.h" +#include +#include +#include +#include +#include // Gear Joint: // C0 = (coordinate1 + ratio * coordinate2)_initial @@ -50,8 +50,8 @@ b2GearJoint::b2GearJoint(const b2GearJointDef* def) b2Assert(type1 == e_revoluteJoint || type1 == e_prismaticJoint); b2Assert(type2 == e_revoluteJoint || type2 == e_prismaticJoint); - b2Assert(def->joint1->GetBody1()->IsStatic()); - b2Assert(def->joint2->GetBody1()->IsStatic()); + b2Assert(def->joint1->GetBodyA()->GetType() == b2_staticBody); + b2Assert(def->joint2->GetBodyA()->GetType() == b2_staticBody); m_revolute1 = NULL; m_prismatic1 = NULL; @@ -60,8 +60,8 @@ b2GearJoint::b2GearJoint(const b2GearJointDef* def) float32 coordinate1, coordinate2; - m_ground1 = def->joint1->GetBody1(); - m_body1 = def->joint1->GetBody2(); + m_ground1 = def->joint1->GetBodyA(); + m_bodyA = def->joint1->GetBodyB(); if (type1 == e_revoluteJoint) { m_revolute1 = (b2RevoluteJoint*)def->joint1; @@ -77,8 +77,8 @@ b2GearJoint::b2GearJoint(const b2GearJointDef* def) coordinate1 = m_prismatic1->GetJointTranslation(); } - m_ground2 = def->joint2->GetBody1(); - m_body2 = def->joint2->GetBody2(); + m_ground2 = def->joint2->GetBodyA(); + m_bodyB = def->joint2->GetBodyB(); if (type2 == e_revoluteJoint) { m_revolute2 = (b2RevoluteJoint*)def->joint2; @@ -98,92 +98,93 @@ b2GearJoint::b2GearJoint(const b2GearJointDef* def) m_constant = coordinate1 + m_ratio * coordinate2; - m_force = 0.0f; + m_impulse = 0.0f; } void b2GearJoint::InitVelocityConstraints(const b2TimeStep& step) { b2Body* g1 = m_ground1; b2Body* g2 = m_ground2; - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; float32 K = 0.0f; m_J.SetZero(); if (m_revolute1) { - m_J.angular1 = -1.0f; + m_J.angularA = -1.0f; K += b1->m_invI; } else { - b2Vec2 ug = b2Mul(g1->GetXForm().R, m_prismatic1->m_localXAxis1); - b2Vec2 r = b2Mul(b1->GetXForm().R, m_localAnchor1 - b1->GetLocalCenter()); + b2Vec2 ug = b2Mul(g1->GetTransform().R, m_prismatic1->m_localXAxis1); + b2Vec2 r = b2Mul(b1->GetTransform().R, m_localAnchor1 - b1->GetLocalCenter()); float32 crug = b2Cross(r, ug); - m_J.linear1 = -ug; - m_J.angular1 = -crug; + m_J.linearA = -ug; + m_J.angularA = -crug; K += b1->m_invMass + b1->m_invI * crug * crug; } if (m_revolute2) { - m_J.angular2 = -m_ratio; + m_J.angularB = -m_ratio; K += m_ratio * m_ratio * b2->m_invI; } else { - b2Vec2 ug = b2Mul(g2->GetXForm().R, m_prismatic2->m_localXAxis1); - b2Vec2 r = b2Mul(b2->GetXForm().R, m_localAnchor2 - b2->GetLocalCenter()); + b2Vec2 ug = b2Mul(g2->GetTransform().R, m_prismatic2->m_localXAxis1); + b2Vec2 r = b2Mul(b2->GetTransform().R, m_localAnchor2 - b2->GetLocalCenter()); float32 crug = b2Cross(r, ug); - m_J.linear2 = -m_ratio * ug; - m_J.angular2 = -m_ratio * crug; + m_J.linearB = -m_ratio * ug; + m_J.angularB = -m_ratio * crug; K += m_ratio * m_ratio * (b2->m_invMass + b2->m_invI * crug * crug); } // Compute effective mass. - b2Assert(K > 0.0f); - m_mass = 1.0f / K; + m_mass = K > 0.0f ? 1.0f / K : 0.0f; if (step.warmStarting) { // Warm starting. - float32 P = B2FORCE_SCALE(step.dt) * m_force; - b1->m_linearVelocity += b1->m_invMass * P * m_J.linear1; - b1->m_angularVelocity += b1->m_invI * P * m_J.angular1; - b2->m_linearVelocity += b2->m_invMass * P * m_J.linear2; - b2->m_angularVelocity += b2->m_invI * P * m_J.angular2; + b1->m_linearVelocity += b1->m_invMass * m_impulse * m_J.linearA; + b1->m_angularVelocity += b1->m_invI * m_impulse * m_J.angularA; + b2->m_linearVelocity += b2->m_invMass * m_impulse * m_J.linearB; + b2->m_angularVelocity += b2->m_invI * m_impulse * m_J.angularB; } else { - m_force = 0.0f; + m_impulse = 0.0f; } } void b2GearJoint::SolveVelocityConstraints(const b2TimeStep& step) { - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; + B2_NOT_USED(step); + + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; float32 Cdot = m_J.Compute( b1->m_linearVelocity, b1->m_angularVelocity, b2->m_linearVelocity, b2->m_angularVelocity); - float32 force = -B2FORCE_INV_SCALE(step.inv_dt) * m_mass * Cdot; - m_force += force; + float32 impulse = m_mass * (-Cdot); + m_impulse += impulse; - float32 P = B2FORCE_SCALE(step.dt) * force; - b1->m_linearVelocity += b1->m_invMass * P * m_J.linear1; - b1->m_angularVelocity += b1->m_invI * P * m_J.angular1; - b2->m_linearVelocity += b2->m_invMass * P * m_J.linear2; - b2->m_angularVelocity += b2->m_invI * P * m_J.angular2; + b1->m_linearVelocity += b1->m_invMass * impulse * m_J.linearA; + b1->m_angularVelocity += b1->m_invI * impulse * m_J.angularA; + b2->m_linearVelocity += b2->m_invMass * impulse * m_J.linearB; + b2->m_angularVelocity += b2->m_invI * impulse * m_J.angularB; } -bool b2GearJoint::SolvePositionConstraints() +bool b2GearJoint::SolvePositionConstraints(float32 baumgarte) { + B2_NOT_USED(baumgarte); + float32 linearError = 0.0f; - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; float32 coordinate1, coordinate2; if (m_revolute1) @@ -206,48 +207,53 @@ bool b2GearJoint::SolvePositionConstraints() float32 C = m_constant - (coordinate1 + m_ratio * coordinate2); - float32 impulse = -m_mass * C; + float32 impulse = m_mass * (-C); - b1->m_sweep.c += b1->m_invMass * impulse * m_J.linear1; - b1->m_sweep.a += b1->m_invI * impulse * m_J.angular1; - b2->m_sweep.c += b2->m_invMass * impulse * m_J.linear2; - b2->m_sweep.a += b2->m_invI * impulse * m_J.angular2; + b1->m_sweep.c += b1->m_invMass * impulse * m_J.linearA; + b1->m_sweep.a += b1->m_invI * impulse * m_J.angularA; + b2->m_sweep.c += b2->m_invMass * impulse * m_J.linearB; + b2->m_sweep.a += b2->m_invI * impulse * m_J.angularB; b1->SynchronizeTransform(); b2->SynchronizeTransform(); + // TODO_ERIN not implemented return linearError < b2_linearSlop; } -b2Vec2 b2GearJoint::GetAnchor1() const +b2Vec2 b2GearJoint::GetAnchorA() const { - return m_body1->GetWorldPoint(m_localAnchor1); + return m_bodyA->GetWorldPoint(m_localAnchor1); } -b2Vec2 b2GearJoint::GetAnchor2() const +b2Vec2 b2GearJoint::GetAnchorB() const { - return m_body2->GetWorldPoint(m_localAnchor2); + return m_bodyB->GetWorldPoint(m_localAnchor2); } -b2Vec2 b2GearJoint::GetReactionForce() const +b2Vec2 b2GearJoint::GetReactionForce(float32 inv_dt) const { // TODO_ERIN not tested - b2Vec2 F = B2FORCE_SCALE(m_force) * m_J.linear2; - return F; + b2Vec2 P = m_impulse * m_J.linearB; + return inv_dt * P; } -float32 b2GearJoint::GetReactionTorque() const +float32 b2GearJoint::GetReactionTorque(float32 inv_dt) const { // TODO_ERIN not tested - b2Vec2 r = b2Mul(m_body2->GetXForm().R, m_localAnchor2 - m_body2->GetLocalCenter()); - b2Vec2 F = m_force * m_J.linear2; - float32 T = B2FORCE_SCALE(m_force * m_J.angular2 - b2Cross(r, F)); - return T; + b2Vec2 r = b2Mul(m_bodyB->GetTransform().R, m_localAnchor2 - m_bodyB->GetLocalCenter()); + b2Vec2 P = m_impulse * m_J.linearB; + float32 L = m_impulse * m_J.angularB - b2Cross(r, P); + return inv_dt * L; +} + +void b2GearJoint::SetRatio(float32 ratio) +{ + b2Assert(b2IsValid(ratio)); + m_ratio = ratio; } float32 b2GearJoint::GetRatio() const { return m_ratio; } - - diff --git a/src/modules/physics/box2d/Source/Dynamics/Joints/b2GearJoint.h b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2GearJoint.h similarity index 85% rename from src/modules/physics/box2d/Source/Dynamics/Joints/b2GearJoint.h rename to src/modules/physics/box2d/Box2D/Dynamics/Joints/b2GearJoint.h index f48f53c44..eccca0da0 100644 --- a/src/modules/physics/box2d/Source/Dynamics/Joints/b2GearJoint.h +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2GearJoint.h @@ -19,7 +19,7 @@ #ifndef B2_GEAR_JOINT_H #define B2_GEAR_JOINT_H -#include "b2Joint.h" +#include class b2RevoluteJoint; class b2PrismaticJoint; @@ -60,22 +60,24 @@ struct b2GearJointDef : public b2JointDef class b2GearJoint : public b2Joint { public: - b2Vec2 GetAnchor1() const; - b2Vec2 GetAnchor2() const; + b2Vec2 GetAnchorA() const; + b2Vec2 GetAnchorB() const; - b2Vec2 GetReactionForce() const; - float32 GetReactionTorque() const; + b2Vec2 GetReactionForce(float32 inv_dt) const; + float32 GetReactionTorque(float32 inv_dt) const; - /// Get the gear ratio. + /// Set/Get the gear ratio. + void SetRatio(float32 ratio); float32 GetRatio() const; - //--------------- Internals Below ------------------- +protected: + friend class b2Joint; b2GearJoint(const b2GearJointDef* data); void InitVelocityConstraints(const b2TimeStep& step); void SolveVelocityConstraints(const b2TimeStep& step); - bool SolvePositionConstraints(); + bool SolvePositionConstraints(float32 baumgarte); b2Body* m_ground1; b2Body* m_ground2; @@ -103,7 +105,7 @@ public: float32 m_mass; // Impulse for accumulation/warm starting. - float32 m_force; + float32 m_impulse; }; #endif diff --git a/src/modules/physics/box2d/Source/Dynamics/Joints/b2Joint.cpp b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2Joint.cpp similarity index 61% rename from src/modules/physics/box2d/Source/Dynamics/Joints/b2Joint.cpp rename to src/modules/physics/box2d/Box2D/Dynamics/Joints/b2Joint.cpp index 77dcef47f..a7e19d34d 100644 --- a/src/modules/physics/box2d/Source/Dynamics/Joints/b2Joint.cpp +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2Joint.cpp @@ -16,17 +16,19 @@ * 3. This notice may not be removed or altered from any source distribution. */ -#include "b2Joint.h" -#include "b2DistanceJoint.h" -#include "b2MouseJoint.h" -#include "b2RevoluteJoint.h" -#include "b2PrismaticJoint.h" -#include "b2PulleyJoint.h" -#include "b2GearJoint.h" -#include "../b2Body.h" -#include "../b2World.h" -#include "../../Common/b2BlockAllocator.h" -#include "../../Collision/b2BroadPhase.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include @@ -78,6 +80,27 @@ b2Joint* b2Joint::Create(const b2JointDef* def, b2BlockAllocator* allocator) } break; + case e_lineJoint: + { + void* mem = allocator->Allocate(sizeof(b2LineJoint)); + joint = new (mem) b2LineJoint((b2LineJointDef*)def); + } + break; + + case e_weldJoint: + { + void* mem = allocator->Allocate(sizeof(b2WeldJoint)); + joint = new (mem) b2WeldJoint((b2WeldJointDef*)def); + } + break; + + case e_frictionJoint: + { + void* mem = allocator->Allocate(sizeof(b2FrictionJoint)); + joint = new (mem) b2FrictionJoint((b2FrictionJointDef*)def); + } + break; + default: b2Assert(false); break; @@ -115,6 +138,18 @@ void b2Joint::Destroy(b2Joint* joint, b2BlockAllocator* allocator) allocator->Free(joint, sizeof(b2GearJoint)); break; + case e_lineJoint: + allocator->Free(joint, sizeof(b2LineJoint)); + break; + + case e_weldJoint: + allocator->Free(joint, sizeof(b2WeldJoint)); + break; + + case e_frictionJoint: + allocator->Free(joint, sizeof(b2FrictionJoint)); + break; + default: b2Assert(false); break; @@ -123,12 +158,29 @@ void b2Joint::Destroy(b2Joint* joint, b2BlockAllocator* allocator) b2Joint::b2Joint(const b2JointDef* def) { + b2Assert(def->bodyA != def->bodyB); + m_type = def->type; m_prev = NULL; m_next = NULL; - m_body1 = def->body1; - m_body2 = def->body2; + m_bodyA = def->bodyA; + m_bodyB = def->bodyB; m_collideConnected = def->collideConnected; m_islandFlag = false; m_userData = def->userData; + + m_edgeA.joint = NULL; + m_edgeA.other = NULL; + m_edgeA.prev = NULL; + m_edgeA.next = NULL; + + m_edgeB.joint = NULL; + m_edgeB.other = NULL; + m_edgeB.prev = NULL; + m_edgeB.next = NULL; +} + +bool b2Joint::IsActive() const +{ + return m_bodyA->IsActive() && m_bodyB->IsActive(); } diff --git a/src/modules/physics/box2d/Source/Dynamics/Joints/b2Joint.h b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2Joint.h similarity index 69% rename from src/modules/physics/box2d/Source/Dynamics/Joints/b2Joint.h rename to src/modules/physics/box2d/Box2D/Dynamics/Joints/b2Joint.h index 03dcfdebc..213ad7d1d 100644 --- a/src/modules/physics/box2d/Source/Dynamics/Joints/b2Joint.h +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2Joint.h @@ -16,10 +16,10 @@ * 3. This notice may not be removed or altered from any source distribution. */ -#ifndef JOINT_H -#define JOINT_H +#ifndef B2_JOINT_H +#define B2_JOINT_H -#include "../../Common/b2Math.h" +#include class b2Body; class b2Joint; @@ -34,7 +34,10 @@ enum b2JointType e_distanceJoint, e_pulleyJoint, e_mouseJoint, - e_gearJoint + e_gearJoint, + e_lineJoint, + e_weldJoint, + e_frictionJoint, }; enum b2LimitState @@ -47,10 +50,10 @@ enum b2LimitState struct b2Jacobian { - b2Vec2 linear1; - float32 angular1; - b2Vec2 linear2; - float32 angular2; + b2Vec2 linearA; + float32 angularA; + b2Vec2 linearB; + float32 angularB; void SetZero(); void Set(const b2Vec2& x1, float32 a1, const b2Vec2& x2, float32 a2); @@ -77,8 +80,8 @@ struct b2JointDef { type = e_unknownJoint; userData = NULL; - body1 = NULL; - body2 = NULL; + bodyA = NULL; + bodyB = NULL; collideConnected = false; } @@ -89,10 +92,10 @@ struct b2JointDef void* userData; /// The first attached body. - b2Body* body1; + b2Body* bodyA; /// The second attached body. - b2Body* body2; + b2Body* bodyB; /// Set this flag to true if the attached bodies should collide. bool collideConnected; @@ -108,33 +111,35 @@ public: b2JointType GetType() const; /// Get the first body attached to this joint. - b2Body* GetBody1(); + b2Body* GetBodyA(); /// Get the second body attached to this joint. - b2Body* GetBody2(); + b2Body* GetBodyB(); - /// Get the anchor point on body1 in world coordinates. - virtual b2Vec2 GetAnchor1() const = 0; + /// Get the anchor point on bodyA in world coordinates. + virtual b2Vec2 GetAnchorA() const = 0; - /// Get the anchor point on body2 in world coordinates. - virtual b2Vec2 GetAnchor2() const = 0; + /// Get the anchor point on bodyB in world coordinates. + virtual b2Vec2 GetAnchorB() const = 0; - /// Get the reaction force on body2 at the joint anchor. - virtual b2Vec2 GetReactionForce() const = 0; + /// Get the reaction force on body2 at the joint anchor in Newtons. + virtual b2Vec2 GetReactionForce(float32 inv_dt) const = 0; - /// Get the reaction torque on body2. - virtual float32 GetReactionTorque() const = 0; + /// Get the reaction torque on body2 in N*m. + virtual float32 GetReactionTorque(float32 inv_dt) const = 0; /// Get the next joint the world joint list. b2Joint* GetNext(); /// Get the user data pointer. - void* GetUserData(); + void* GetUserData() const; /// Set the user data pointer. void SetUserData(void* data); - //--------------- Internals Below ------------------- + /// Short-cut function to determine if either body is inactive. + bool IsActive() const; + protected: friend class b2World; friend class b2Body; @@ -150,42 +155,42 @@ protected: virtual void SolveVelocityConstraints(const b2TimeStep& step) = 0; // This returns true if the position errors are within tolerance. - virtual void InitPositionConstraints() {} - virtual bool SolvePositionConstraints() = 0; + virtual bool SolvePositionConstraints(float32 baumgarte) = 0; b2JointType m_type; b2Joint* m_prev; b2Joint* m_next; - b2JointEdge m_node1; - b2JointEdge m_node2; - b2Body* m_body1; - b2Body* m_body2; - - float32 m_inv_dt; + b2JointEdge m_edgeA; + b2JointEdge m_edgeB; + b2Body* m_bodyA; + b2Body* m_bodyB; bool m_islandFlag; - + bool m_collideConnected; void* m_userData; -public: - bool m_collideConnected; + + // Cache here per time step to reduce cache misses. + b2Vec2 m_localCenterA, m_localCenterB; + float32 m_invMassA, m_invIA; + float32 m_invMassB, m_invIB; }; inline void b2Jacobian::SetZero() { - linear1.SetZero(); angular1 = 0.0f; - linear2.SetZero(); angular2 = 0.0f; + linearA.SetZero(); angularA = 0.0f; + linearB.SetZero(); angularB = 0.0f; } inline void b2Jacobian::Set(const b2Vec2& x1, float32 a1, const b2Vec2& x2, float32 a2) { - linear1 = x1; angular1 = a1; - linear2 = x2; angular2 = a2; + linearA = x1; angularA = a1; + linearB = x2; angularB = a2; } inline float32 b2Jacobian::Compute(const b2Vec2& x1, float32 a1, const b2Vec2& x2, float32 a2) { - return b2Dot(linear1, x1) + angular1 * a1 + b2Dot(linear2, x2) + angular2 * a2; + return b2Dot(linearA, x1) + angularA * a1 + b2Dot(linearB, x2) + angularB * a2; } inline b2JointType b2Joint::GetType() const @@ -193,14 +198,14 @@ inline b2JointType b2Joint::GetType() const return m_type; } -inline b2Body* b2Joint::GetBody1() +inline b2Body* b2Joint::GetBodyA() { - return m_body1; + return m_bodyA; } -inline b2Body* b2Joint::GetBody2() +inline b2Body* b2Joint::GetBodyB() { - return m_body2; + return m_bodyB; } inline b2Joint* b2Joint::GetNext() @@ -208,7 +213,7 @@ inline b2Joint* b2Joint::GetNext() return m_next; } -inline void* b2Joint::GetUserData() +inline void* b2Joint::GetUserData() const { return m_userData; } diff --git a/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2LineJoint.cpp b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2LineJoint.cpp new file mode 100644 index 000000000..b6b0a1cb2 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2LineJoint.cpp @@ -0,0 +1,591 @@ +/* +* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include + +// Linear constraint (point-to-line) +// d = p2 - p1 = x2 + r2 - x1 - r1 +// C = dot(perp, d) +// Cdot = dot(d, cross(w1, perp)) + dot(perp, v2 + cross(w2, r2) - v1 - cross(w1, r1)) +// = -dot(perp, v1) - dot(cross(d + r1, perp), w1) + dot(perp, v2) + dot(cross(r2, perp), v2) +// J = [-perp, -cross(d + r1, perp), perp, cross(r2,perp)] +// +// K = J * invM * JT +// +// J = [-a -s1 a s2] +// a = perp +// s1 = cross(d + r1, a) = cross(p2 - x1, a) +// s2 = cross(r2, a) = cross(p2 - x2, a) + + +// Motor/Limit linear constraint +// C = dot(ax1, d) +// Cdot = = -dot(ax1, v1) - dot(cross(d + r1, ax1), w1) + dot(ax1, v2) + dot(cross(r2, ax1), v2) +// J = [-ax1 -cross(d+r1,ax1) ax1 cross(r2,ax1)] + +// Block Solver +// We develop a block solver that includes the joint limit. This makes the limit stiff (inelastic) even +// when the mass has poor distribution (leading to large torques about the joint anchor points). +// +// The Jacobian has 3 rows: +// J = [-uT -s1 uT s2] // linear +// [-vT -a1 vT a2] // limit +// +// u = perp +// v = axis +// s1 = cross(d + r1, u), s2 = cross(r2, u) +// a1 = cross(d + r1, v), a2 = cross(r2, v) + +// M * (v2 - v1) = JT * df +// J * v2 = bias +// +// v2 = v1 + invM * JT * df +// J * (v1 + invM * JT * df) = bias +// K * df = bias - J * v1 = -Cdot +// K = J * invM * JT +// Cdot = J * v1 - bias +// +// Now solve for f2. +// df = f2 - f1 +// K * (f2 - f1) = -Cdot +// f2 = invK * (-Cdot) + f1 +// +// Clamp accumulated limit impulse. +// lower: f2(2) = max(f2(2), 0) +// upper: f2(2) = min(f2(2), 0) +// +// Solve for correct f2(1) +// K(1,1) * f2(1) = -Cdot(1) - K(1,2) * f2(2) + K(1,1:2) * f1 +// = -Cdot(1) - K(1,2) * f2(2) + K(1,1) * f1(1) + K(1,2) * f1(2) +// K(1,1) * f2(1) = -Cdot(1) - K(1,2) * (f2(2) - f1(2)) + K(1,1) * f1(1) +// f2(1) = invK(1,1) * (-Cdot(1) - K(1,2) * (f2(2) - f1(2))) + f1(1) +// +// Now compute impulse to be applied: +// df = f2 - f1 + +void b2LineJointDef::Initialize(b2Body* b1, b2Body* b2, const b2Vec2& anchor, const b2Vec2& axis) +{ + bodyA = b1; + bodyB = b2; + localAnchorA = bodyA->GetLocalPoint(anchor); + localAnchorB = bodyB->GetLocalPoint(anchor); + localAxisA = bodyA->GetLocalVector(axis); +} + +b2LineJoint::b2LineJoint(const b2LineJointDef* def) +: b2Joint(def) +{ + m_localAnchor1 = def->localAnchorA; + m_localAnchor2 = def->localAnchorB; + m_localXAxis1 = def->localAxisA; + m_localYAxis1 = b2Cross(1.0f, m_localXAxis1); + + m_impulse.SetZero(); + m_motorMass = 0.0; + m_motorImpulse = 0.0f; + + m_lowerTranslation = def->lowerTranslation; + m_upperTranslation = def->upperTranslation; + m_maxMotorForce = def->maxMotorForce; + m_motorSpeed = def->motorSpeed; + m_enableLimit = def->enableLimit; + m_enableMotor = def->enableMotor; + m_limitState = e_inactiveLimit; + + m_axis.SetZero(); + m_perp.SetZero(); +} + +void b2LineJoint::InitVelocityConstraints(const b2TimeStep& step) +{ + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; + + m_localCenterA = b1->GetLocalCenter(); + m_localCenterB = b2->GetLocalCenter(); + + b2Transform xf1 = b1->GetTransform(); + b2Transform xf2 = b2->GetTransform(); + + // Compute the effective masses. + b2Vec2 r1 = b2Mul(xf1.R, m_localAnchor1 - m_localCenterA); + b2Vec2 r2 = b2Mul(xf2.R, m_localAnchor2 - m_localCenterB); + b2Vec2 d = b2->m_sweep.c + r2 - b1->m_sweep.c - r1; + + m_invMassA = b1->m_invMass; + m_invIA = b1->m_invI; + m_invMassB = b2->m_invMass; + m_invIB = b2->m_invI; + + // Compute motor Jacobian and effective mass. + { + m_axis = b2Mul(xf1.R, m_localXAxis1); + m_a1 = b2Cross(d + r1, m_axis); + m_a2 = b2Cross(r2, m_axis); + + m_motorMass = m_invMassA + m_invMassB + m_invIA * m_a1 * m_a1 + m_invIB * m_a2 * m_a2; + if (m_motorMass > b2_epsilon) + { + m_motorMass = 1.0f / m_motorMass; + } + else + { + m_motorMass = 0.0f; + } + } + + // Prismatic constraint. + { + m_perp = b2Mul(xf1.R, m_localYAxis1); + + m_s1 = b2Cross(d + r1, m_perp); + m_s2 = b2Cross(r2, m_perp); + + float32 m1 = m_invMassA, m2 = m_invMassB; + float32 i1 = m_invIA, i2 = m_invIB; + + float32 k11 = m1 + m2 + i1 * m_s1 * m_s1 + i2 * m_s2 * m_s2; + float32 k12 = i1 * m_s1 * m_a1 + i2 * m_s2 * m_a2; + float32 k22 = m1 + m2 + i1 * m_a1 * m_a1 + i2 * m_a2 * m_a2; + + m_K.col1.Set(k11, k12); + m_K.col2.Set(k12, k22); + } + + // Compute motor and limit terms. + if (m_enableLimit) + { + float32 jointTranslation = b2Dot(m_axis, d); + if (b2Abs(m_upperTranslation - m_lowerTranslation) < 2.0f * b2_linearSlop) + { + m_limitState = e_equalLimits; + } + else if (jointTranslation <= m_lowerTranslation) + { + if (m_limitState != e_atLowerLimit) + { + m_limitState = e_atLowerLimit; + m_impulse.y = 0.0f; + } + } + else if (jointTranslation >= m_upperTranslation) + { + if (m_limitState != e_atUpperLimit) + { + m_limitState = e_atUpperLimit; + m_impulse.y = 0.0f; + } + } + else + { + m_limitState = e_inactiveLimit; + m_impulse.y = 0.0f; + } + } + else + { + m_limitState = e_inactiveLimit; + } + + if (m_enableMotor == false) + { + m_motorImpulse = 0.0f; + } + + if (step.warmStarting) + { + // Account for variable time step. + m_impulse *= step.dtRatio; + m_motorImpulse *= step.dtRatio; + + b2Vec2 P = m_impulse.x * m_perp + (m_motorImpulse + m_impulse.y) * m_axis; + float32 L1 = m_impulse.x * m_s1 + (m_motorImpulse + m_impulse.y) * m_a1; + float32 L2 = m_impulse.x * m_s2 + (m_motorImpulse + m_impulse.y) * m_a2; + + b1->m_linearVelocity -= m_invMassA * P; + b1->m_angularVelocity -= m_invIA * L1; + + b2->m_linearVelocity += m_invMassB * P; + b2->m_angularVelocity += m_invIB * L2; + } + else + { + m_impulse.SetZero(); + m_motorImpulse = 0.0f; + } +} + +void b2LineJoint::SolveVelocityConstraints(const b2TimeStep& step) +{ + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; + + b2Vec2 v1 = b1->m_linearVelocity; + float32 w1 = b1->m_angularVelocity; + b2Vec2 v2 = b2->m_linearVelocity; + float32 w2 = b2->m_angularVelocity; + + // Solve linear motor constraint. + if (m_enableMotor && m_limitState != e_equalLimits) + { + float32 Cdot = b2Dot(m_axis, v2 - v1) + m_a2 * w2 - m_a1 * w1; + float32 impulse = m_motorMass * (m_motorSpeed - Cdot); + float32 oldImpulse = m_motorImpulse; + float32 maxImpulse = step.dt * m_maxMotorForce; + m_motorImpulse = b2Clamp(m_motorImpulse + impulse, -maxImpulse, maxImpulse); + impulse = m_motorImpulse - oldImpulse; + + b2Vec2 P = impulse * m_axis; + float32 L1 = impulse * m_a1; + float32 L2 = impulse * m_a2; + + v1 -= m_invMassA * P; + w1 -= m_invIA * L1; + + v2 += m_invMassB * P; + w2 += m_invIB * L2; + } + + float32 Cdot1 = b2Dot(m_perp, v2 - v1) + m_s2 * w2 - m_s1 * w1; + + if (m_enableLimit && m_limitState != e_inactiveLimit) + { + // Solve prismatic and limit constraint in block form. + float32 Cdot2 = b2Dot(m_axis, v2 - v1) + m_a2 * w2 - m_a1 * w1; + b2Vec2 Cdot(Cdot1, Cdot2); + + b2Vec2 f1 = m_impulse; + b2Vec2 df = m_K.Solve(-Cdot); + m_impulse += df; + + if (m_limitState == e_atLowerLimit) + { + m_impulse.y = b2Max(m_impulse.y, 0.0f); + } + else if (m_limitState == e_atUpperLimit) + { + m_impulse.y = b2Min(m_impulse.y, 0.0f); + } + + // f2(1) = invK(1,1) * (-Cdot(1) - K(1,2) * (f2(2) - f1(2))) + f1(1) + float32 b = -Cdot1 - (m_impulse.y - f1.y) * m_K.col2.x; + float32 f2r; + if (m_K.col1.x != 0.0f) + { + f2r = b / m_K.col1.x + f1.x; + } + else + { + f2r = f1.x; + } + + m_impulse.x = f2r; + + df = m_impulse - f1; + + b2Vec2 P = df.x * m_perp + df.y * m_axis; + float32 L1 = df.x * m_s1 + df.y * m_a1; + float32 L2 = df.x * m_s2 + df.y * m_a2; + + v1 -= m_invMassA * P; + w1 -= m_invIA * L1; + + v2 += m_invMassB * P; + w2 += m_invIB * L2; + } + else + { + // Limit is inactive, just solve the prismatic constraint in block form. + float32 df; + if (m_K.col1.x != 0.0f) + { + df = - Cdot1 / m_K.col1.x; + } + else + { + df = 0.0f; + } + m_impulse.x += df; + + b2Vec2 P = df * m_perp; + float32 L1 = df * m_s1; + float32 L2 = df * m_s2; + + v1 -= m_invMassA * P; + w1 -= m_invIA * L1; + + v2 += m_invMassB * P; + w2 += m_invIB * L2; + } + + b1->m_linearVelocity = v1; + b1->m_angularVelocity = w1; + b2->m_linearVelocity = v2; + b2->m_angularVelocity = w2; +} + +bool b2LineJoint::SolvePositionConstraints(float32 baumgarte) +{ + B2_NOT_USED(baumgarte); + + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; + + b2Vec2 c1 = b1->m_sweep.c; + float32 a1 = b1->m_sweep.a; + + b2Vec2 c2 = b2->m_sweep.c; + float32 a2 = b2->m_sweep.a; + + // Solve linear limit constraint. + float32 linearError = 0.0f, angularError = 0.0f; + bool active = false; + float32 C2 = 0.0f; + + b2Mat22 R1(a1), R2(a2); + + b2Vec2 r1 = b2Mul(R1, m_localAnchor1 - m_localCenterA); + b2Vec2 r2 = b2Mul(R2, m_localAnchor2 - m_localCenterB); + b2Vec2 d = c2 + r2 - c1 - r1; + + if (m_enableLimit) + { + m_axis = b2Mul(R1, m_localXAxis1); + + m_a1 = b2Cross(d + r1, m_axis); + m_a2 = b2Cross(r2, m_axis); + + float32 translation = b2Dot(m_axis, d); + if (b2Abs(m_upperTranslation - m_lowerTranslation) < 2.0f * b2_linearSlop) + { + // Prevent large angular corrections + C2 = b2Clamp(translation, -b2_maxLinearCorrection, b2_maxLinearCorrection); + linearError = b2Abs(translation); + active = true; + } + else if (translation <= m_lowerTranslation) + { + // Prevent large linear corrections and allow some slop. + C2 = b2Clamp(translation - m_lowerTranslation + b2_linearSlop, -b2_maxLinearCorrection, 0.0f); + linearError = m_lowerTranslation - translation; + active = true; + } + else if (translation >= m_upperTranslation) + { + // Prevent large linear corrections and allow some slop. + C2 = b2Clamp(translation - m_upperTranslation - b2_linearSlop, 0.0f, b2_maxLinearCorrection); + linearError = translation - m_upperTranslation; + active = true; + } + } + + m_perp = b2Mul(R1, m_localYAxis1); + + m_s1 = b2Cross(d + r1, m_perp); + m_s2 = b2Cross(r2, m_perp); + + b2Vec2 impulse; + float32 C1; + C1 = b2Dot(m_perp, d); + + linearError = b2Max(linearError, b2Abs(C1)); + angularError = 0.0f; + + if (active) + { + float32 m1 = m_invMassA, m2 = m_invMassB; + float32 i1 = m_invIA, i2 = m_invIB; + + float32 k11 = m1 + m2 + i1 * m_s1 * m_s1 + i2 * m_s2 * m_s2; + float32 k12 = i1 * m_s1 * m_a1 + i2 * m_s2 * m_a2; + float32 k22 = m1 + m2 + i1 * m_a1 * m_a1 + i2 * m_a2 * m_a2; + + m_K.col1.Set(k11, k12); + m_K.col2.Set(k12, k22); + + b2Vec2 C; + C.x = C1; + C.y = C2; + + impulse = m_K.Solve(-C); + } + else + { + float32 m1 = m_invMassA, m2 = m_invMassB; + float32 i1 = m_invIA, i2 = m_invIB; + + float32 k11 = m1 + m2 + i1 * m_s1 * m_s1 + i2 * m_s2 * m_s2; + + float32 impulse1; + if (k11 != 0.0f) + { + impulse1 = - C1 / k11; + } + else + { + impulse1 = 0.0f; + } + + impulse.x = impulse1; + impulse.y = 0.0f; + } + + b2Vec2 P = impulse.x * m_perp + impulse.y * m_axis; + float32 L1 = impulse.x * m_s1 + impulse.y * m_a1; + float32 L2 = impulse.x * m_s2 + impulse.y * m_a2; + + c1 -= m_invMassA * P; + a1 -= m_invIA * L1; + c2 += m_invMassB * P; + a2 += m_invIB * L2; + + // TODO_ERIN remove need for this. + b1->m_sweep.c = c1; + b1->m_sweep.a = a1; + b2->m_sweep.c = c2; + b2->m_sweep.a = a2; + b1->SynchronizeTransform(); + b2->SynchronizeTransform(); + + return linearError <= b2_linearSlop && angularError <= b2_angularSlop; +} + +b2Vec2 b2LineJoint::GetAnchorA() const +{ + return m_bodyA->GetWorldPoint(m_localAnchor1); +} + +b2Vec2 b2LineJoint::GetAnchorB() const +{ + return m_bodyB->GetWorldPoint(m_localAnchor2); +} + +b2Vec2 b2LineJoint::GetReactionForce(float32 inv_dt) const +{ + return inv_dt * (m_impulse.x * m_perp + (m_motorImpulse + m_impulse.y) * m_axis); +} + +float32 b2LineJoint::GetReactionTorque(float32 inv_dt) const +{ + B2_NOT_USED(inv_dt); + return 0.0f; +} + +float32 b2LineJoint::GetJointTranslation() const +{ + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; + + b2Vec2 p1 = b1->GetWorldPoint(m_localAnchor1); + b2Vec2 p2 = b2->GetWorldPoint(m_localAnchor2); + b2Vec2 d = p2 - p1; + b2Vec2 axis = b1->GetWorldVector(m_localXAxis1); + + float32 translation = b2Dot(d, axis); + return translation; +} + +float32 b2LineJoint::GetJointSpeed() const +{ + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; + + b2Vec2 r1 = b2Mul(b1->GetTransform().R, m_localAnchor1 - b1->GetLocalCenter()); + b2Vec2 r2 = b2Mul(b2->GetTransform().R, m_localAnchor2 - b2->GetLocalCenter()); + b2Vec2 p1 = b1->m_sweep.c + r1; + b2Vec2 p2 = b2->m_sweep.c + r2; + b2Vec2 d = p2 - p1; + b2Vec2 axis = b1->GetWorldVector(m_localXAxis1); + + b2Vec2 v1 = b1->m_linearVelocity; + b2Vec2 v2 = b2->m_linearVelocity; + float32 w1 = b1->m_angularVelocity; + float32 w2 = b2->m_angularVelocity; + + float32 speed = b2Dot(d, b2Cross(w1, axis)) + b2Dot(axis, v2 + b2Cross(w2, r2) - v1 - b2Cross(w1, r1)); + return speed; +} + +bool b2LineJoint::IsLimitEnabled() const +{ + return m_enableLimit; +} + +void b2LineJoint::EnableLimit(bool flag) +{ + m_bodyA->SetAwake(true); + m_bodyB->SetAwake(true); + m_enableLimit = flag; +} + +float32 b2LineJoint::GetLowerLimit() const +{ + return m_lowerTranslation; +} + +float32 b2LineJoint::GetUpperLimit() const +{ + return m_upperTranslation; +} + +void b2LineJoint::SetLimits(float32 lower, float32 upper) +{ + b2Assert(lower <= upper); + m_bodyA->SetAwake(true); + m_bodyB->SetAwake(true); + m_lowerTranslation = lower; + m_upperTranslation = upper; +} + +bool b2LineJoint::IsMotorEnabled() const +{ + return m_enableMotor; +} + +void b2LineJoint::EnableMotor(bool flag) +{ + m_bodyA->SetAwake(true); + m_bodyB->SetAwake(true); + m_enableMotor = flag; +} + +void b2LineJoint::SetMotorSpeed(float32 speed) +{ + m_bodyA->SetAwake(true); + m_bodyB->SetAwake(true); + m_motorSpeed = speed; +} + +void b2LineJoint::SetMaxMotorForce(float32 force) +{ + m_bodyA->SetAwake(true); + m_bodyB->SetAwake(true); + m_maxMotorForce = force; +} + +float32 b2LineJoint::GetMotorForce() const +{ + return m_motorImpulse; +} + + + + + diff --git a/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2LineJoint.h b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2LineJoint.h new file mode 100644 index 000000000..803e4c12d --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2LineJoint.h @@ -0,0 +1,170 @@ +/* +* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* +* 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_LINE_JOINT_H +#define B2_LINE_JOINT_H + +#include + +/// Line joint definition. This requires defining a line of +/// motion using an axis and an anchor point. The definition uses local +/// anchor points and a local axis so that the initial configuration +/// can violate the constraint slightly. The joint translation is zero +/// when the local anchor points coincide in world space. Using local +/// anchors and a local axis helps when saving and loading a game. +struct b2LineJointDef : public b2JointDef +{ + b2LineJointDef() + { + type = e_lineJoint; + localAnchorA.SetZero(); + localAnchorB.SetZero(); + localAxisA.Set(1.0f, 0.0f); + enableLimit = false; + lowerTranslation = 0.0f; + upperTranslation = 0.0f; + enableMotor = false; + maxMotorForce = 0.0f; + motorSpeed = 0.0f; + } + + /// Initialize the bodies, anchors, axis, and reference angle using the world + /// anchor and world axis. + void Initialize(b2Body* bodyA, b2Body* bodyB, const b2Vec2& anchor, const b2Vec2& axis); + + /// The local anchor point relative to body1's origin. + b2Vec2 localAnchorA; + + /// The local anchor point relative to body2's origin. + b2Vec2 localAnchorB; + + /// The local translation axis in body1. + b2Vec2 localAxisA; + + /// Enable/disable the joint limit. + bool enableLimit; + + /// The lower translation limit, usually in meters. + float32 lowerTranslation; + + /// The upper translation limit, usually in meters. + float32 upperTranslation; + + /// Enable/disable the joint motor. + bool enableMotor; + + /// The maximum motor torque, usually in N-m. + float32 maxMotorForce; + + /// The desired motor speed in radians per second. + float32 motorSpeed; +}; + +/// A line joint. This joint provides two degrees of freedom: translation +/// along an axis fixed in body1 and rotation in the plane. You can use a +/// joint limit to restrict the range of motion and a joint motor to drive +/// the motion or to model joint friction. +class b2LineJoint : public b2Joint +{ +public: + b2Vec2 GetAnchorA() const; + b2Vec2 GetAnchorB() const; + + b2Vec2 GetReactionForce(float32 inv_dt) const; + float32 GetReactionTorque(float32 inv_dt) const; + + /// Get the current joint translation, usually in meters. + float32 GetJointTranslation() const; + + /// Get the current joint translation speed, usually in meters per second. + float32 GetJointSpeed() const; + + /// Is the joint limit enabled? + bool IsLimitEnabled() const; + + /// Enable/disable the joint limit. + void EnableLimit(bool flag); + + /// Get the lower joint limit, usually in meters. + float32 GetLowerLimit() const; + + /// Get the upper joint limit, usually in meters. + float32 GetUpperLimit() const; + + /// Set the joint limits, usually in meters. + void SetLimits(float32 lower, float32 upper); + + /// Is the joint motor enabled? + bool IsMotorEnabled() const; + + /// Enable/disable the joint motor. + void EnableMotor(bool flag); + + /// Set the motor speed, usually in meters per second. + void SetMotorSpeed(float32 speed); + + /// Get the motor speed, usually in meters per second. + float32 GetMotorSpeed() const; + + /// Set/Get the maximum motor force, usually in N. + void SetMaxMotorForce(float32 force); + float32 GetMaxMotorForce() const; + + /// Get the current motor force, usually in N. + float32 GetMotorForce() const; + +protected: + + friend class b2Joint; + b2LineJoint(const b2LineJointDef* def); + + void InitVelocityConstraints(const b2TimeStep& step); + void SolveVelocityConstraints(const b2TimeStep& step); + bool SolvePositionConstraints(float32 baumgarte); + + b2Vec2 m_localAnchor1; + b2Vec2 m_localAnchor2; + b2Vec2 m_localXAxis1; + b2Vec2 m_localYAxis1; + + b2Vec2 m_axis, m_perp; + float32 m_s1, m_s2; + float32 m_a1, m_a2; + + b2Mat22 m_K; + b2Vec2 m_impulse; + + float32 m_motorMass; // effective mass for motor/limit translational constraint. + float32 m_motorImpulse; + + float32 m_lowerTranslation; + float32 m_upperTranslation; + float32 m_maxMotorForce; + float32 m_motorSpeed; + + bool m_enableLimit; + bool m_enableMotor; + b2LimitState m_limitState; +}; + +inline float32 b2LineJoint::GetMotorSpeed() const +{ + return m_motorSpeed; +} + +#endif diff --git a/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2MouseJoint.cpp b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2MouseJoint.cpp new file mode 100644 index 000000000..b72ac5f30 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2MouseJoint.cpp @@ -0,0 +1,197 @@ +/* +* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include + +// p = attached point, m = mouse point +// C = p - m +// Cdot = v +// = v + cross(w, r) +// J = [I r_skew] +// Identity used: +// w k % (rx i + ry j) = w * (-ry i + rx j) + +b2MouseJoint::b2MouseJoint(const b2MouseJointDef* def) +: b2Joint(def) +{ + b2Assert(def->target.IsValid()); + b2Assert(b2IsValid(def->maxForce) && def->maxForce >= 0.0f); + b2Assert(b2IsValid(def->frequencyHz) && def->frequencyHz >= 0.0f); + b2Assert(b2IsValid(def->dampingRatio) && def->dampingRatio >= 0.0f); + + m_target = def->target; + m_localAnchor = b2MulT(m_bodyB->GetTransform(), m_target); + + m_maxForce = def->maxForce; + m_impulse.SetZero(); + + m_frequencyHz = def->frequencyHz; + m_dampingRatio = def->dampingRatio; + + m_beta = 0.0f; + m_gamma = 0.0f; +} + +void b2MouseJoint::SetTarget(const b2Vec2& target) +{ + if (m_bodyB->IsAwake() == false) + { + m_bodyB->SetAwake(true); + } + m_target = target; +} + +const b2Vec2& b2MouseJoint::GetTarget() const +{ + return m_target; +} + +void b2MouseJoint::SetMaxForce(float32 force) +{ + m_maxForce = force; +} + +float32 b2MouseJoint::GetMaxForce() const +{ + return m_maxForce; +} + +void b2MouseJoint::SetFrequency(float32 hz) +{ + m_frequencyHz = hz; +} + +float32 b2MouseJoint::GetFrequency() const +{ + return m_frequencyHz; +} + +void b2MouseJoint::SetDampingRatio(float32 ratio) +{ + m_dampingRatio = ratio; +} + +float32 b2MouseJoint::GetDampingRatio() const +{ + return m_dampingRatio; +} + +void b2MouseJoint::InitVelocityConstraints(const b2TimeStep& step) +{ + b2Body* b = m_bodyB; + + float32 mass = b->GetMass(); + + // Frequency + float32 omega = 2.0f * b2_pi * m_frequencyHz; + + // Damping coefficient + float32 d = 2.0f * mass * m_dampingRatio * omega; + + // Spring stiffness + float32 k = mass * (omega * omega); + + // magic formulas + // gamma has units of inverse mass. + // beta has units of inverse time. + b2Assert(d + step.dt * k > b2_epsilon); + m_gamma = step.dt * (d + step.dt * k); + if (m_gamma != 0.0f) + { + m_gamma = 1.0f / m_gamma; + } + m_beta = step.dt * k * m_gamma; + + // Compute the effective mass matrix. + b2Vec2 r = b2Mul(b->GetTransform().R, m_localAnchor - b->GetLocalCenter()); + + // K = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)] + // = [1/m1+1/m2 0 ] + invI1 * [r1.y*r1.y -r1.x*r1.y] + invI2 * [r1.y*r1.y -r1.x*r1.y] + // [ 0 1/m1+1/m2] [-r1.x*r1.y r1.x*r1.x] [-r1.x*r1.y r1.x*r1.x] + float32 invMass = b->m_invMass; + float32 invI = b->m_invI; + + b2Mat22 K1; + K1.col1.x = invMass; K1.col2.x = 0.0f; + K1.col1.y = 0.0f; K1.col2.y = invMass; + + b2Mat22 K2; + K2.col1.x = invI * r.y * r.y; K2.col2.x = -invI * r.x * r.y; + K2.col1.y = -invI * r.x * r.y; K2.col2.y = invI * r.x * r.x; + + b2Mat22 K = K1 + K2; + K.col1.x += m_gamma; + K.col2.y += m_gamma; + + m_mass = K.GetInverse(); + + m_C = b->m_sweep.c + r - m_target; + + // Cheat with some damping + b->m_angularVelocity *= 0.98f; + + // Warm starting. + m_impulse *= step.dtRatio; + b->m_linearVelocity += invMass * m_impulse; + b->m_angularVelocity += invI * b2Cross(r, m_impulse); +} + +void b2MouseJoint::SolveVelocityConstraints(const b2TimeStep& step) +{ + b2Body* b = m_bodyB; + + b2Vec2 r = b2Mul(b->GetTransform().R, m_localAnchor - b->GetLocalCenter()); + + // Cdot = v + cross(w, r) + b2Vec2 Cdot = b->m_linearVelocity + b2Cross(b->m_angularVelocity, r); + b2Vec2 impulse = b2Mul(m_mass, -(Cdot + m_beta * m_C + m_gamma * m_impulse)); + + b2Vec2 oldImpulse = m_impulse; + m_impulse += impulse; + float32 maxImpulse = step.dt * m_maxForce; + if (m_impulse.LengthSquared() > maxImpulse * maxImpulse) + { + m_impulse *= maxImpulse / m_impulse.Length(); + } + impulse = m_impulse - oldImpulse; + + b->m_linearVelocity += b->m_invMass * impulse; + b->m_angularVelocity += b->m_invI * b2Cross(r, impulse); +} + +b2Vec2 b2MouseJoint::GetAnchorA() const +{ + return m_target; +} + +b2Vec2 b2MouseJoint::GetAnchorB() const +{ + return m_bodyB->GetWorldPoint(m_localAnchor); +} + +b2Vec2 b2MouseJoint::GetReactionForce(float32 inv_dt) const +{ + return inv_dt * m_impulse; +} + +float32 b2MouseJoint::GetReactionTorque(float32 inv_dt) const +{ + return inv_dt * 0.0f; +} diff --git a/src/modules/physics/box2d/Source/Dynamics/Joints/b2MouseJoint.h b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2MouseJoint.h similarity index 70% rename from src/modules/physics/box2d/Source/Dynamics/Joints/b2MouseJoint.h rename to src/modules/physics/box2d/Box2D/Dynamics/Joints/b2MouseJoint.h index 3d9e59005..cd1959a42 100644 --- a/src/modules/physics/box2d/Source/Dynamics/Joints/b2MouseJoint.h +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2MouseJoint.h @@ -19,7 +19,7 @@ #ifndef B2_MOUSE_JOINT_H #define B2_MOUSE_JOINT_H -#include "b2Joint.h" +#include /// Mouse joint definition. This requires a world target point, /// tuning parameters, and the time step. @@ -32,7 +32,6 @@ struct b2MouseJointDef : public b2JointDef maxForce = 0.0f; frequencyHz = 5.0f; dampingRatio = 0.7f; - timeStep = 1.0f / 60.0f; } /// The initial world target point. This is assumed @@ -49,44 +48,55 @@ struct b2MouseJointDef : public b2JointDef /// The damping ratio. 0 = no damping, 1 = critical damping. float32 dampingRatio; - - /// The time step used in the simulation. - float32 timeStep; }; /// A mouse joint is used to make a point on a body track a /// specified world point. This a soft constraint with a maximum /// force. This allows the constraint to stretch and without /// applying huge forces. +/// NOTE: this joint is not documented in the manual because it was +/// developed to be used in the testbed. If you want to learn how to +/// use the mouse joint, look at the testbed. class b2MouseJoint : public b2Joint { public: /// Implements b2Joint. - b2Vec2 GetAnchor1() const; + b2Vec2 GetAnchorA() const; /// Implements b2Joint. - b2Vec2 GetAnchor2() const; + b2Vec2 GetAnchorB() const; /// Implements b2Joint. - b2Vec2 GetReactionForce() const; + b2Vec2 GetReactionForce(float32 inv_dt) const; /// Implements b2Joint. - float32 GetReactionTorque() const; + float32 GetReactionTorque(float32 inv_dt) const; /// Use this to update the target point. void SetTarget(const b2Vec2& target); + const b2Vec2& GetTarget() const; - //--------------- Internals Below ------------------- + /// Set/get the maximum force in Newtons. + void SetMaxForce(float32 force); + float32 GetMaxForce() const; + + /// Set/get the frequency in Hertz. + void SetFrequency(float32 hz); + float32 GetFrequency() const; + + /// Set/get the damping ratio (dimensionless). + void SetDampingRatio(float32 ratio); + float32 GetDampingRatio() const; + +protected: + friend class b2Joint; b2MouseJoint(const b2MouseJointDef* def); void InitVelocityConstraints(const b2TimeStep& step); void SolveVelocityConstraints(const b2TimeStep& step); - bool SolvePositionConstraints() - { - return true; - } + bool SolvePositionConstraints(float32 baumgarte) { B2_NOT_USED(baumgarte); return true; } b2Vec2 m_localAnchor; b2Vec2 m_target; @@ -95,8 +105,10 @@ public: b2Mat22 m_mass; // effective mass for point-to-point constraint. b2Vec2 m_C; // position error float32 m_maxForce; - float32 m_beta; // bias factor - float32 m_gamma; // softness + float32 m_frequencyHz; + float32 m_dampingRatio; + float32 m_beta; + float32 m_gamma; }; #endif diff --git a/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2PrismaticJoint.cpp b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2PrismaticJoint.cpp new file mode 100644 index 000000000..a019888a4 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2PrismaticJoint.cpp @@ -0,0 +1,586 @@ +/* +* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include + +// Linear constraint (point-to-line) +// d = p2 - p1 = x2 + r2 - x1 - r1 +// C = dot(perp, d) +// Cdot = dot(d, cross(w1, perp)) + dot(perp, v2 + cross(w2, r2) - v1 - cross(w1, r1)) +// = -dot(perp, v1) - dot(cross(d + r1, perp), w1) + dot(perp, v2) + dot(cross(r2, perp), v2) +// J = [-perp, -cross(d + r1, perp), perp, cross(r2,perp)] +// +// Angular constraint +// C = a2 - a1 + a_initial +// Cdot = w2 - w1 +// J = [0 0 -1 0 0 1] +// +// K = J * invM * JT +// +// J = [-a -s1 a s2] +// [0 -1 0 1] +// a = perp +// s1 = cross(d + r1, a) = cross(p2 - x1, a) +// s2 = cross(r2, a) = cross(p2 - x2, a) + + +// Motor/Limit linear constraint +// C = dot(ax1, d) +// Cdot = = -dot(ax1, v1) - dot(cross(d + r1, ax1), w1) + dot(ax1, v2) + dot(cross(r2, ax1), v2) +// J = [-ax1 -cross(d+r1,ax1) ax1 cross(r2,ax1)] + +// Block Solver +// We develop a block solver that includes the joint limit. This makes the limit stiff (inelastic) even +// when the mass has poor distribution (leading to large torques about the joint anchor points). +// +// The Jacobian has 3 rows: +// J = [-uT -s1 uT s2] // linear +// [0 -1 0 1] // angular +// [-vT -a1 vT a2] // limit +// +// u = perp +// v = axis +// s1 = cross(d + r1, u), s2 = cross(r2, u) +// a1 = cross(d + r1, v), a2 = cross(r2, v) + +// M * (v2 - v1) = JT * df +// J * v2 = bias +// +// v2 = v1 + invM * JT * df +// J * (v1 + invM * JT * df) = bias +// K * df = bias - J * v1 = -Cdot +// K = J * invM * JT +// Cdot = J * v1 - bias +// +// Now solve for f2. +// df = f2 - f1 +// K * (f2 - f1) = -Cdot +// f2 = invK * (-Cdot) + f1 +// +// Clamp accumulated limit impulse. +// lower: f2(3) = max(f2(3), 0) +// upper: f2(3) = min(f2(3), 0) +// +// Solve for correct f2(1:2) +// K(1:2, 1:2) * f2(1:2) = -Cdot(1:2) - K(1:2,3) * f2(3) + K(1:2,1:3) * f1 +// = -Cdot(1:2) - K(1:2,3) * f2(3) + K(1:2,1:2) * f1(1:2) + K(1:2,3) * f1(3) +// K(1:2, 1:2) * f2(1:2) = -Cdot(1:2) - K(1:2,3) * (f2(3) - f1(3)) + K(1:2,1:2) * f1(1:2) +// f2(1:2) = invK(1:2,1:2) * (-Cdot(1:2) - K(1:2,3) * (f2(3) - f1(3))) + f1(1:2) +// +// Now compute impulse to be applied: +// df = f2 - f1 + +void b2PrismaticJointDef::Initialize(b2Body* b1, b2Body* b2, const b2Vec2& anchor, const b2Vec2& axis) +{ + bodyA = b1; + bodyB = b2; + localAnchorA = bodyA->GetLocalPoint(anchor); + localAnchorB = bodyB->GetLocalPoint(anchor); + localAxis1 = bodyA->GetLocalVector(axis); + referenceAngle = bodyB->GetAngle() - bodyA->GetAngle(); +} + +b2PrismaticJoint::b2PrismaticJoint(const b2PrismaticJointDef* def) +: b2Joint(def) +{ + m_localAnchor1 = def->localAnchorA; + m_localAnchor2 = def->localAnchorB; + m_localXAxis1 = def->localAxis1; + m_localYAxis1 = b2Cross(1.0f, m_localXAxis1); + m_refAngle = def->referenceAngle; + + m_impulse.SetZero(); + m_motorMass = 0.0; + m_motorImpulse = 0.0f; + + m_lowerTranslation = def->lowerTranslation; + m_upperTranslation = def->upperTranslation; + m_maxMotorForce = def->maxMotorForce; + m_motorSpeed = def->motorSpeed; + m_enableLimit = def->enableLimit; + m_enableMotor = def->enableMotor; + m_limitState = e_inactiveLimit; + + m_axis.SetZero(); + m_perp.SetZero(); +} + +void b2PrismaticJoint::InitVelocityConstraints(const b2TimeStep& step) +{ + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; + + m_localCenterA = b1->GetLocalCenter(); + m_localCenterB = b2->GetLocalCenter(); + + b2Transform xf1 = b1->GetTransform(); + b2Transform xf2 = b2->GetTransform(); + + // Compute the effective masses. + b2Vec2 r1 = b2Mul(xf1.R, m_localAnchor1 - m_localCenterA); + b2Vec2 r2 = b2Mul(xf2.R, m_localAnchor2 - m_localCenterB); + b2Vec2 d = b2->m_sweep.c + r2 - b1->m_sweep.c - r1; + + m_invMassA = b1->m_invMass; + m_invIA = b1->m_invI; + m_invMassB = b2->m_invMass; + m_invIB = b2->m_invI; + + // Compute motor Jacobian and effective mass. + { + m_axis = b2Mul(xf1.R, m_localXAxis1); + m_a1 = b2Cross(d + r1, m_axis); + m_a2 = b2Cross(r2, m_axis); + + m_motorMass = m_invMassA + m_invMassB + m_invIA * m_a1 * m_a1 + m_invIB * m_a2 * m_a2; + if (m_motorMass > b2_epsilon) + { + m_motorMass = 1.0f / m_motorMass; + } + } + + // Prismatic constraint. + { + m_perp = b2Mul(xf1.R, m_localYAxis1); + + m_s1 = b2Cross(d + r1, m_perp); + m_s2 = b2Cross(r2, m_perp); + + float32 m1 = m_invMassA, m2 = m_invMassB; + float32 i1 = m_invIA, i2 = m_invIB; + + float32 k11 = m1 + m2 + i1 * m_s1 * m_s1 + i2 * m_s2 * m_s2; + float32 k12 = i1 * m_s1 + i2 * m_s2; + float32 k13 = i1 * m_s1 * m_a1 + i2 * m_s2 * m_a2; + float32 k22 = i1 + i2; + float32 k23 = i1 * m_a1 + i2 * m_a2; + float32 k33 = m1 + m2 + i1 * m_a1 * m_a1 + i2 * m_a2 * m_a2; + + m_K.col1.Set(k11, k12, k13); + m_K.col2.Set(k12, k22, k23); + m_K.col3.Set(k13, k23, k33); + } + + // Compute motor and limit terms. + if (m_enableLimit) + { + float32 jointTranslation = b2Dot(m_axis, d); + if (b2Abs(m_upperTranslation - m_lowerTranslation) < 2.0f * b2_linearSlop) + { + m_limitState = e_equalLimits; + } + else if (jointTranslation <= m_lowerTranslation) + { + if (m_limitState != e_atLowerLimit) + { + m_limitState = e_atLowerLimit; + m_impulse.z = 0.0f; + } + } + else if (jointTranslation >= m_upperTranslation) + { + if (m_limitState != e_atUpperLimit) + { + m_limitState = e_atUpperLimit; + m_impulse.z = 0.0f; + } + } + else + { + m_limitState = e_inactiveLimit; + m_impulse.z = 0.0f; + } + } + else + { + m_limitState = e_inactiveLimit; + m_impulse.z = 0.0f; + } + + if (m_enableMotor == false) + { + m_motorImpulse = 0.0f; + } + + if (step.warmStarting) + { + // Account for variable time step. + m_impulse *= step.dtRatio; + m_motorImpulse *= step.dtRatio; + + b2Vec2 P = m_impulse.x * m_perp + (m_motorImpulse + m_impulse.z) * m_axis; + float32 L1 = m_impulse.x * m_s1 + m_impulse.y + (m_motorImpulse + m_impulse.z) * m_a1; + float32 L2 = m_impulse.x * m_s2 + m_impulse.y + (m_motorImpulse + m_impulse.z) * m_a2; + + b1->m_linearVelocity -= m_invMassA * P; + b1->m_angularVelocity -= m_invIA * L1; + + b2->m_linearVelocity += m_invMassB * P; + b2->m_angularVelocity += m_invIB * L2; + } + else + { + m_impulse.SetZero(); + m_motorImpulse = 0.0f; + } +} + +void b2PrismaticJoint::SolveVelocityConstraints(const b2TimeStep& step) +{ + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; + + b2Vec2 v1 = b1->m_linearVelocity; + float32 w1 = b1->m_angularVelocity; + b2Vec2 v2 = b2->m_linearVelocity; + float32 w2 = b2->m_angularVelocity; + + // Solve linear motor constraint. + if (m_enableMotor && m_limitState != e_equalLimits) + { + float32 Cdot = b2Dot(m_axis, v2 - v1) + m_a2 * w2 - m_a1 * w1; + float32 impulse = m_motorMass * (m_motorSpeed - Cdot); + float32 oldImpulse = m_motorImpulse; + float32 maxImpulse = step.dt * m_maxMotorForce; + m_motorImpulse = b2Clamp(m_motorImpulse + impulse, -maxImpulse, maxImpulse); + impulse = m_motorImpulse - oldImpulse; + + b2Vec2 P = impulse * m_axis; + float32 L1 = impulse * m_a1; + float32 L2 = impulse * m_a2; + + v1 -= m_invMassA * P; + w1 -= m_invIA * L1; + + v2 += m_invMassB * P; + w2 += m_invIB * L2; + } + + b2Vec2 Cdot1; + Cdot1.x = b2Dot(m_perp, v2 - v1) + m_s2 * w2 - m_s1 * w1; + Cdot1.y = w2 - w1; + + if (m_enableLimit && m_limitState != e_inactiveLimit) + { + // Solve prismatic and limit constraint in block form. + float32 Cdot2; + Cdot2 = b2Dot(m_axis, v2 - v1) + m_a2 * w2 - m_a1 * w1; + b2Vec3 Cdot(Cdot1.x, Cdot1.y, Cdot2); + + b2Vec3 f1 = m_impulse; + b2Vec3 df = m_K.Solve33(-Cdot); + m_impulse += df; + + if (m_limitState == e_atLowerLimit) + { + m_impulse.z = b2Max(m_impulse.z, 0.0f); + } + else if (m_limitState == e_atUpperLimit) + { + m_impulse.z = b2Min(m_impulse.z, 0.0f); + } + + // f2(1:2) = invK(1:2,1:2) * (-Cdot(1:2) - K(1:2,3) * (f2(3) - f1(3))) + f1(1:2) + b2Vec2 b = -Cdot1 - (m_impulse.z - f1.z) * b2Vec2(m_K.col3.x, m_K.col3.y); + b2Vec2 f2r = m_K.Solve22(b) + b2Vec2(f1.x, f1.y); + m_impulse.x = f2r.x; + m_impulse.y = f2r.y; + + df = m_impulse - f1; + + b2Vec2 P = df.x * m_perp + df.z * m_axis; + float32 L1 = df.x * m_s1 + df.y + df.z * m_a1; + float32 L2 = df.x * m_s2 + df.y + df.z * m_a2; + + v1 -= m_invMassA * P; + w1 -= m_invIA * L1; + + v2 += m_invMassB * P; + w2 += m_invIB * L2; + } + else + { + // Limit is inactive, just solve the prismatic constraint in block form. + b2Vec2 df = m_K.Solve22(-Cdot1); + m_impulse.x += df.x; + m_impulse.y += df.y; + + b2Vec2 P = df.x * m_perp; + float32 L1 = df.x * m_s1 + df.y; + float32 L2 = df.x * m_s2 + df.y; + + v1 -= m_invMassA * P; + w1 -= m_invIA * L1; + + v2 += m_invMassB * P; + w2 += m_invIB * L2; + } + + b1->m_linearVelocity = v1; + b1->m_angularVelocity = w1; + b2->m_linearVelocity = v2; + b2->m_angularVelocity = w2; +} + +bool b2PrismaticJoint::SolvePositionConstraints(float32 baumgarte) +{ + B2_NOT_USED(baumgarte); + + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; + + b2Vec2 c1 = b1->m_sweep.c; + float32 a1 = b1->m_sweep.a; + + b2Vec2 c2 = b2->m_sweep.c; + float32 a2 = b2->m_sweep.a; + + // Solve linear limit constraint. + float32 linearError = 0.0f, angularError = 0.0f; + bool active = false; + float32 C2 = 0.0f; + + b2Mat22 R1(a1), R2(a2); + + b2Vec2 r1 = b2Mul(R1, m_localAnchor1 - m_localCenterA); + b2Vec2 r2 = b2Mul(R2, m_localAnchor2 - m_localCenterB); + b2Vec2 d = c2 + r2 - c1 - r1; + + if (m_enableLimit) + { + m_axis = b2Mul(R1, m_localXAxis1); + + m_a1 = b2Cross(d + r1, m_axis); + m_a2 = b2Cross(r2, m_axis); + + float32 translation = b2Dot(m_axis, d); + if (b2Abs(m_upperTranslation - m_lowerTranslation) < 2.0f * b2_linearSlop) + { + // Prevent large angular corrections + C2 = b2Clamp(translation, -b2_maxLinearCorrection, b2_maxLinearCorrection); + linearError = b2Abs(translation); + active = true; + } + else if (translation <= m_lowerTranslation) + { + // Prevent large linear corrections and allow some slop. + C2 = b2Clamp(translation - m_lowerTranslation + b2_linearSlop, -b2_maxLinearCorrection, 0.0f); + linearError = m_lowerTranslation - translation; + active = true; + } + else if (translation >= m_upperTranslation) + { + // Prevent large linear corrections and allow some slop. + C2 = b2Clamp(translation - m_upperTranslation - b2_linearSlop, 0.0f, b2_maxLinearCorrection); + linearError = translation - m_upperTranslation; + active = true; + } + } + + m_perp = b2Mul(R1, m_localYAxis1); + + m_s1 = b2Cross(d + r1, m_perp); + m_s2 = b2Cross(r2, m_perp); + + b2Vec3 impulse; + b2Vec2 C1; + C1.x = b2Dot(m_perp, d); + C1.y = a2 - a1 - m_refAngle; + + linearError = b2Max(linearError, b2Abs(C1.x)); + angularError = b2Abs(C1.y); + + if (active) + { + float32 m1 = m_invMassA, m2 = m_invMassB; + float32 i1 = m_invIA, i2 = m_invIB; + + float32 k11 = m1 + m2 + i1 * m_s1 * m_s1 + i2 * m_s2 * m_s2; + float32 k12 = i1 * m_s1 + i2 * m_s2; + float32 k13 = i1 * m_s1 * m_a1 + i2 * m_s2 * m_a2; + float32 k22 = i1 + i2; + float32 k23 = i1 * m_a1 + i2 * m_a2; + float32 k33 = m1 + m2 + i1 * m_a1 * m_a1 + i2 * m_a2 * m_a2; + + m_K.col1.Set(k11, k12, k13); + m_K.col2.Set(k12, k22, k23); + m_K.col3.Set(k13, k23, k33); + + b2Vec3 C; + C.x = C1.x; + C.y = C1.y; + C.z = C2; + + impulse = m_K.Solve33(-C); + } + else + { + float32 m1 = m_invMassA, m2 = m_invMassB; + float32 i1 = m_invIA, i2 = m_invIB; + + float32 k11 = m1 + m2 + i1 * m_s1 * m_s1 + i2 * m_s2 * m_s2; + float32 k12 = i1 * m_s1 + i2 * m_s2; + float32 k22 = i1 + i2; + + m_K.col1.Set(k11, k12, 0.0f); + m_K.col2.Set(k12, k22, 0.0f); + + b2Vec2 impulse1 = m_K.Solve22(-C1); + impulse.x = impulse1.x; + impulse.y = impulse1.y; + impulse.z = 0.0f; + } + + b2Vec2 P = impulse.x * m_perp + impulse.z * m_axis; + float32 L1 = impulse.x * m_s1 + impulse.y + impulse.z * m_a1; + float32 L2 = impulse.x * m_s2 + impulse.y + impulse.z * m_a2; + + c1 -= m_invMassA * P; + a1 -= m_invIA * L1; + c2 += m_invMassB * P; + a2 += m_invIB * L2; + + // TODO_ERIN remove need for this. + b1->m_sweep.c = c1; + b1->m_sweep.a = a1; + b2->m_sweep.c = c2; + b2->m_sweep.a = a2; + b1->SynchronizeTransform(); + b2->SynchronizeTransform(); + + return linearError <= b2_linearSlop && angularError <= b2_angularSlop; +} + +b2Vec2 b2PrismaticJoint::GetAnchorA() const +{ + return m_bodyA->GetWorldPoint(m_localAnchor1); +} + +b2Vec2 b2PrismaticJoint::GetAnchorB() const +{ + return m_bodyB->GetWorldPoint(m_localAnchor2); +} + +b2Vec2 b2PrismaticJoint::GetReactionForce(float32 inv_dt) const +{ + return inv_dt * (m_impulse.x * m_perp + (m_motorImpulse + m_impulse.z) * m_axis); +} + +float32 b2PrismaticJoint::GetReactionTorque(float32 inv_dt) const +{ + return inv_dt * m_impulse.y; +} + +float32 b2PrismaticJoint::GetJointTranslation() const +{ + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; + + b2Vec2 p1 = b1->GetWorldPoint(m_localAnchor1); + b2Vec2 p2 = b2->GetWorldPoint(m_localAnchor2); + b2Vec2 d = p2 - p1; + b2Vec2 axis = b1->GetWorldVector(m_localXAxis1); + + float32 translation = b2Dot(d, axis); + return translation; +} + +float32 b2PrismaticJoint::GetJointSpeed() const +{ + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; + + b2Vec2 r1 = b2Mul(b1->GetTransform().R, m_localAnchor1 - b1->GetLocalCenter()); + b2Vec2 r2 = b2Mul(b2->GetTransform().R, m_localAnchor2 - b2->GetLocalCenter()); + b2Vec2 p1 = b1->m_sweep.c + r1; + b2Vec2 p2 = b2->m_sweep.c + r2; + b2Vec2 d = p2 - p1; + b2Vec2 axis = b1->GetWorldVector(m_localXAxis1); + + b2Vec2 v1 = b1->m_linearVelocity; + b2Vec2 v2 = b2->m_linearVelocity; + float32 w1 = b1->m_angularVelocity; + float32 w2 = b2->m_angularVelocity; + + float32 speed = b2Dot(d, b2Cross(w1, axis)) + b2Dot(axis, v2 + b2Cross(w2, r2) - v1 - b2Cross(w1, r1)); + return speed; +} + +bool b2PrismaticJoint::IsLimitEnabled() const +{ + return m_enableLimit; +} + +void b2PrismaticJoint::EnableLimit(bool flag) +{ + m_bodyA->SetAwake(true); + m_bodyB->SetAwake(true); + m_enableLimit = flag; +} + +float32 b2PrismaticJoint::GetLowerLimit() const +{ + return m_lowerTranslation; +} + +float32 b2PrismaticJoint::GetUpperLimit() const +{ + return m_upperTranslation; +} + +void b2PrismaticJoint::SetLimits(float32 lower, float32 upper) +{ + b2Assert(lower <= upper); + m_bodyA->SetAwake(true); + m_bodyB->SetAwake(true); + m_lowerTranslation = lower; + m_upperTranslation = upper; +} + +bool b2PrismaticJoint::IsMotorEnabled() const +{ + return m_enableMotor; +} + +void b2PrismaticJoint::EnableMotor(bool flag) +{ + m_bodyA->SetAwake(true); + m_bodyB->SetAwake(true); + m_enableMotor = flag; +} + +void b2PrismaticJoint::SetMotorSpeed(float32 speed) +{ + m_bodyA->SetAwake(true); + m_bodyB->SetAwake(true); + m_motorSpeed = speed; +} + +void b2PrismaticJoint::SetMaxMotorForce(float32 force) +{ + m_bodyA->SetAwake(true); + m_bodyB->SetAwake(true); + m_maxMotorForce = force; +} + +float32 b2PrismaticJoint::GetMotorForce() const +{ + return m_motorImpulse; +} diff --git a/src/modules/physics/box2d/Source/Dynamics/Joints/b2PrismaticJoint.h b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2PrismaticJoint.h similarity index 83% rename from src/modules/physics/box2d/Source/Dynamics/Joints/b2PrismaticJoint.h rename to src/modules/physics/box2d/Box2D/Dynamics/Joints/b2PrismaticJoint.h index 23a1a07db..7a12c5df8 100644 --- a/src/modules/physics/box2d/Source/Dynamics/Joints/b2PrismaticJoint.h +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2PrismaticJoint.h @@ -19,7 +19,7 @@ #ifndef B2_PRISMATIC_JOINT_H #define B2_PRISMATIC_JOINT_H -#include "b2Joint.h" +#include /// Prismatic joint definition. This requires defining a line of /// motion using an axis and an anchor point. The definition uses local @@ -27,13 +27,14 @@ /// can violate the constraint slightly. The joint translation is zero /// when the local anchor points coincide in world space. Using local /// anchors and a local axis helps when saving and loading a game. +/// @warning at least one body should by dynamic with a non-fixed rotation. struct b2PrismaticJointDef : public b2JointDef { b2PrismaticJointDef() { type = e_prismaticJoint; - localAnchor1.SetZero(); - localAnchor2.SetZero(); + localAnchorA.SetZero(); + localAnchorB.SetZero(); localAxis1.Set(1.0f, 0.0f); referenceAngle = 0.0f; enableLimit = false; @@ -46,13 +47,13 @@ struct b2PrismaticJointDef : public b2JointDef /// Initialize the bodies, anchors, axis, and reference angle using the world /// anchor and world axis. - void Initialize(b2Body* body1, b2Body* body2, const b2Vec2& anchor, const b2Vec2& axis); + void Initialize(b2Body* bodyA, b2Body* bodyB, const b2Vec2& anchor, const b2Vec2& axis); /// The local anchor point relative to body1's origin. - b2Vec2 localAnchor1; + b2Vec2 localAnchorA; /// The local anchor point relative to body2's origin. - b2Vec2 localAnchor2; + b2Vec2 localAnchorB; /// The local translation axis in body1. b2Vec2 localAxis1; @@ -86,11 +87,11 @@ struct b2PrismaticJointDef : public b2JointDef class b2PrismaticJoint : public b2Joint { public: - b2Vec2 GetAnchor1() const; - b2Vec2 GetAnchor2() const; + b2Vec2 GetAnchorA() const; + b2Vec2 GetAnchorB() const; - b2Vec2 GetReactionForce() const; - float32 GetReactionTorque() const; + b2Vec2 GetReactionForce(float32 inv_dt) const; + float32 GetReactionTorque(float32 inv_dt) const; /// Get the current joint translation, usually in meters. float32 GetJointTranslation() const; @@ -131,13 +132,14 @@ public: /// Get the current motor force, usually in N. float32 GetMotorForce() const; - //--------------- Internals Below ------------------- - +protected: + friend class b2Joint; + friend class b2GearJoint; b2PrismaticJoint(const b2PrismaticJointDef* def); void InitVelocityConstraints(const b2TimeStep& step); void SolveVelocityConstraints(const b2TimeStep& step); - bool SolvePositionConstraints(); + bool SolvePositionConstraints(float32 baumgarte); b2Vec2 m_localAnchor1; b2Vec2 m_localAnchor2; @@ -145,18 +147,15 @@ public: b2Vec2 m_localYAxis1; float32 m_refAngle; - b2Jacobian m_linearJacobian; - float32 m_linearMass; // effective mass for point-to-line constraint. - float32 m_force; - - float32 m_angularMass; // effective mass for angular constraint. - float32 m_torque; + b2Vec2 m_axis, m_perp; + float32 m_s1, m_s2; + float32 m_a1, m_a2; + + b2Mat33 m_K; + b2Vec3 m_impulse; - b2Jacobian m_motorJacobian; float32 m_motorMass; // effective mass for motor/limit translational constraint. - float32 m_motorForce; - float32 m_limitForce; - float32 m_limitPositionImpulse; + float32 m_motorImpulse; float32 m_lowerTranslation; float32 m_upperTranslation; diff --git a/src/modules/physics/box2d/Source/Dynamics/Joints/b2PulleyJoint.cpp b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2PulleyJoint.cpp similarity index 57% rename from src/modules/physics/box2d/Source/Dynamics/Joints/b2PulleyJoint.cpp rename to src/modules/physics/box2d/Box2D/Dynamics/Joints/b2PulleyJoint.cpp index 3311910cf..beb7db8fb 100644 --- a/src/modules/physics/box2d/Source/Dynamics/Joints/b2PulleyJoint.cpp +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2PulleyJoint.cpp @@ -16,9 +16,9 @@ * 3. This notice may not be removed or altered from any source distribution. */ -#include "b2PulleyJoint.h" -#include "../b2Body.h" -#include "../b2World.h" +#include +#include +#include // Pulley: // length1 = norm(p1 - s1) @@ -44,58 +44,57 @@ void b2PulleyJointDef::Initialize(b2Body* b1, b2Body* b2, const b2Vec2& anchor1, const b2Vec2& anchor2, float32 r) { - body1 = b1; - body2 = b2; - groundAnchor1 = ga1; - groundAnchor2 = ga2; - localAnchor1 = body1->GetLocalPoint(anchor1); - localAnchor2 = body2->GetLocalPoint(anchor2); + bodyA = b1; + bodyB = b2; + groundAnchorA = ga1; + groundAnchorB = ga2; + localAnchorA = bodyA->GetLocalPoint(anchor1); + localAnchorB = bodyB->GetLocalPoint(anchor2); b2Vec2 d1 = anchor1 - ga1; - length1 = d1.Length(); + lengthA = d1.Length(); b2Vec2 d2 = anchor2 - ga2; - length2 = d2.Length(); + lengthB = d2.Length(); ratio = r; - b2Assert(ratio > B2_FLT_EPSILON); - float32 C = length1 + ratio * length2; - maxLength1 = C - ratio * b2_minPulleyLength; - maxLength2 = (C - b2_minPulleyLength) / ratio; + b2Assert(ratio > b2_epsilon); + float32 C = lengthA + ratio * lengthB; + maxLengthA = C - ratio * b2_minPulleyLength; + maxLengthB = (C - b2_minPulleyLength) / ratio; } b2PulleyJoint::b2PulleyJoint(const b2PulleyJointDef* def) : b2Joint(def) { - m_ground = m_body1->GetWorld()->GetGroundBody(); - m_groundAnchor1 = def->groundAnchor1 - m_ground->GetXForm().position; - m_groundAnchor2 = def->groundAnchor2 - m_ground->GetXForm().position; - m_localAnchor1 = def->localAnchor1; - m_localAnchor2 = def->localAnchor2; + m_groundAnchor1 = def->groundAnchorA; + m_groundAnchor2 = def->groundAnchorB; + m_localAnchor1 = def->localAnchorA; + m_localAnchor2 = def->localAnchorB; b2Assert(def->ratio != 0.0f); m_ratio = def->ratio; - m_constant = def->length1 + m_ratio * def->length2; + m_constant = def->lengthA + m_ratio * def->lengthB; - m_maxLength1 = b2Min(def->maxLength1, m_constant - m_ratio * b2_minPulleyLength); - m_maxLength2 = b2Min(def->maxLength2, (m_constant - b2_minPulleyLength) / m_ratio); + m_maxLength1 = b2Min(def->maxLengthA, m_constant - m_ratio * b2_minPulleyLength); + m_maxLength2 = b2Min(def->maxLengthB, (m_constant - b2_minPulleyLength) / m_ratio); - m_force = 0.0f; - m_limitForce1 = 0.0f; - m_limitForce2 = 0.0f; + m_impulse = 0.0f; + m_limitImpulse1 = 0.0f; + m_limitImpulse2 = 0.0f; } void b2PulleyJoint::InitVelocityConstraints(const b2TimeStep& step) { - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; - b2Vec2 r1 = b2Mul(b1->GetXForm().R, m_localAnchor1 - b1->GetLocalCenter()); - b2Vec2 r2 = b2Mul(b2->GetXForm().R, m_localAnchor2 - b2->GetLocalCenter()); + b2Vec2 r1 = b2Mul(b1->GetTransform().R, m_localAnchor1 - b1->GetLocalCenter()); + b2Vec2 r2 = b2Mul(b2->GetTransform().R, m_localAnchor2 - b2->GetLocalCenter()); b2Vec2 p1 = b1->m_sweep.c + r1; b2Vec2 p2 = b2->m_sweep.c + r2; - b2Vec2 s1 = m_ground->GetXForm().position + m_groundAnchor1; - b2Vec2 s2 = m_ground->GetXForm().position + m_groundAnchor2; + b2Vec2 s1 = m_groundAnchor1; + b2Vec2 s2 = m_groundAnchor2; // Get the pulley axes. m_u1 = p1 - s1; @@ -126,34 +125,31 @@ void b2PulleyJoint::InitVelocityConstraints(const b2TimeStep& step) if (C > 0.0f) { m_state = e_inactiveLimit; - m_force = 0.0f; + m_impulse = 0.0f; } else { m_state = e_atUpperLimit; - m_positionImpulse = 0.0f; } if (length1 < m_maxLength1) { m_limitState1 = e_inactiveLimit; - m_limitForce1 = 0.0f; + m_limitImpulse1 = 0.0f; } else { m_limitState1 = e_atUpperLimit; - m_limitPositionImpulse1 = 0.0f; } if (length2 < m_maxLength2) { m_limitState2 = e_inactiveLimit; - m_limitForce2 = 0.0f; + m_limitImpulse2 = 0.0f; } else { m_limitState2 = e_atUpperLimit; - m_limitPositionImpulse2 = 0.0f; } // Compute effective mass. @@ -163,18 +159,23 @@ void b2PulleyJoint::InitVelocityConstraints(const b2TimeStep& step) m_limitMass1 = b1->m_invMass + b1->m_invI * cr1u1 * cr1u1; m_limitMass2 = b2->m_invMass + b2->m_invI * cr2u2 * cr2u2; m_pulleyMass = m_limitMass1 + m_ratio * m_ratio * m_limitMass2; - b2Assert(m_limitMass1 > B2_FLT_EPSILON); - b2Assert(m_limitMass2 > B2_FLT_EPSILON); - b2Assert(m_pulleyMass > B2_FLT_EPSILON); + b2Assert(m_limitMass1 > b2_epsilon); + b2Assert(m_limitMass2 > b2_epsilon); + b2Assert(m_pulleyMass > b2_epsilon); m_limitMass1 = 1.0f / m_limitMass1; m_limitMass2 = 1.0f / m_limitMass2; m_pulleyMass = 1.0f / m_pulleyMass; if (step.warmStarting) { + // Scale impulses to support variable time steps. + m_impulse *= step.dtRatio; + m_limitImpulse1 *= step.dtRatio; + m_limitImpulse2 *= step.dtRatio; + // Warm starting. - b2Vec2 P1 = B2FORCE_SCALE(step.dt) * (-m_force - m_limitForce1) * m_u1; - b2Vec2 P2 = B2FORCE_SCALE(step.dt) * (-m_ratio * m_force - m_limitForce2) * m_u2; + b2Vec2 P1 = -(m_impulse + m_limitImpulse1) * m_u1; + b2Vec2 P2 = (-m_ratio * m_impulse - m_limitImpulse2) * m_u2; b1->m_linearVelocity += b1->m_invMass * P1; b1->m_angularVelocity += b1->m_invI * b2Cross(r1, P1); b2->m_linearVelocity += b2->m_invMass * P2; @@ -182,19 +183,21 @@ void b2PulleyJoint::InitVelocityConstraints(const b2TimeStep& step) } else { - m_force = 0.0f; - m_limitForce1 = 0.0f; - m_limitForce2 = 0.0f; + m_impulse = 0.0f; + m_limitImpulse1 = 0.0f; + m_limitImpulse2 = 0.0f; } } void b2PulleyJoint::SolveVelocityConstraints(const b2TimeStep& step) { - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; + B2_NOT_USED(step); - b2Vec2 r1 = b2Mul(b1->GetXForm().R, m_localAnchor1 - b1->GetLocalCenter()); - b2Vec2 r2 = b2Mul(b2->GetXForm().R, m_localAnchor2 - b2->GetLocalCenter()); + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; + + b2Vec2 r1 = b2Mul(b1->GetTransform().R, m_localAnchor1 - b1->GetLocalCenter()); + b2Vec2 r2 = b2Mul(b2->GetTransform().R, m_localAnchor2 - b2->GetLocalCenter()); if (m_state == e_atUpperLimit) { @@ -202,13 +205,13 @@ void b2PulleyJoint::SolveVelocityConstraints(const b2TimeStep& step) b2Vec2 v2 = b2->m_linearVelocity + b2Cross(b2->m_angularVelocity, r2); float32 Cdot = -b2Dot(m_u1, v1) - m_ratio * b2Dot(m_u2, v2); - float32 force = -B2FORCE_INV_SCALE(step.inv_dt) * m_pulleyMass * Cdot; - float32 oldForce = m_force; - m_force = b2Max(0.0f, m_force + force); - force = m_force - oldForce; + float32 impulse = m_pulleyMass * (-Cdot); + float32 oldImpulse = m_impulse; + m_impulse = b2Max(0.0f, m_impulse + impulse); + impulse = m_impulse - oldImpulse; - b2Vec2 P1 = -B2FORCE_SCALE(step.dt) * force * m_u1; - b2Vec2 P2 = -B2FORCE_SCALE(step.dt) * m_ratio * force * m_u2; + b2Vec2 P1 = -impulse * m_u1; + b2Vec2 P2 = -m_ratio * impulse * m_u2; b1->m_linearVelocity += b1->m_invMass * P1; b1->m_angularVelocity += b1->m_invI * b2Cross(r1, P1); b2->m_linearVelocity += b2->m_invMass * P2; @@ -220,12 +223,12 @@ void b2PulleyJoint::SolveVelocityConstraints(const b2TimeStep& step) b2Vec2 v1 = b1->m_linearVelocity + b2Cross(b1->m_angularVelocity, r1); float32 Cdot = -b2Dot(m_u1, v1); - float32 force = -B2FORCE_INV_SCALE(step.inv_dt) * m_limitMass1 * Cdot; - float32 oldForce = m_limitForce1; - m_limitForce1 = b2Max(0.0f, m_limitForce1 + force); - force = m_limitForce1 - oldForce; + float32 impulse = -m_limitMass1 * Cdot; + float32 oldImpulse = m_limitImpulse1; + m_limitImpulse1 = b2Max(0.0f, m_limitImpulse1 + impulse); + impulse = m_limitImpulse1 - oldImpulse; - b2Vec2 P1 = -B2FORCE_SCALE(step.dt) * force * m_u1; + b2Vec2 P1 = -impulse * m_u1; b1->m_linearVelocity += b1->m_invMass * P1; b1->m_angularVelocity += b1->m_invI * b2Cross(r1, P1); } @@ -235,31 +238,33 @@ void b2PulleyJoint::SolveVelocityConstraints(const b2TimeStep& step) b2Vec2 v2 = b2->m_linearVelocity + b2Cross(b2->m_angularVelocity, r2); float32 Cdot = -b2Dot(m_u2, v2); - float32 force = -B2FORCE_INV_SCALE(step.inv_dt) * m_limitMass2 * Cdot; - float32 oldForce = m_limitForce2; - m_limitForce2 = b2Max(0.0f, m_limitForce2 + force); - force = m_limitForce2 - oldForce; + float32 impulse = -m_limitMass2 * Cdot; + float32 oldImpulse = m_limitImpulse2; + m_limitImpulse2 = b2Max(0.0f, m_limitImpulse2 + impulse); + impulse = m_limitImpulse2 - oldImpulse; - b2Vec2 P2 = -B2FORCE_SCALE(step.dt) * force * m_u2; + b2Vec2 P2 = -impulse * m_u2; b2->m_linearVelocity += b2->m_invMass * P2; b2->m_angularVelocity += b2->m_invI * b2Cross(r2, P2); } } -bool b2PulleyJoint::SolvePositionConstraints() +bool b2PulleyJoint::SolvePositionConstraints(float32 baumgarte) { - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; + B2_NOT_USED(baumgarte); - b2Vec2 s1 = m_ground->GetXForm().position + m_groundAnchor1; - b2Vec2 s2 = m_ground->GetXForm().position + m_groundAnchor2; + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; + + b2Vec2 s1 = m_groundAnchor1; + b2Vec2 s2 = m_groundAnchor2; float32 linearError = 0.0f; if (m_state == e_atUpperLimit) { - b2Vec2 r1 = b2Mul(b1->GetXForm().R, m_localAnchor1 - b1->GetLocalCenter()); - b2Vec2 r2 = b2Mul(b2->GetXForm().R, m_localAnchor2 - b2->GetLocalCenter()); + b2Vec2 r1 = b2Mul(b1->GetTransform().R, m_localAnchor1 - b1->GetLocalCenter()); + b2Vec2 r2 = b2Mul(b2->GetTransform().R, m_localAnchor2 - b2->GetLocalCenter()); b2Vec2 p1 = b1->m_sweep.c + r1; b2Vec2 p2 = b2->m_sweep.c + r2; @@ -294,9 +299,6 @@ bool b2PulleyJoint::SolvePositionConstraints() C = b2Clamp(C + b2_linearSlop, -b2_maxLinearCorrection, 0.0f); float32 impulse = -m_pulleyMass * C; - float32 oldImpulse = m_positionImpulse; - m_positionImpulse = b2Max(0.0f, m_positionImpulse + impulse); - impulse = m_positionImpulse - oldImpulse; b2Vec2 P1 = -impulse * m_u1; b2Vec2 P2 = -m_ratio * impulse * m_u2; @@ -312,7 +314,7 @@ bool b2PulleyJoint::SolvePositionConstraints() if (m_limitState1 == e_atUpperLimit) { - b2Vec2 r1 = b2Mul(b1->GetXForm().R, m_localAnchor1 - b1->GetLocalCenter()); + b2Vec2 r1 = b2Mul(b1->GetTransform().R, m_localAnchor1 - b1->GetLocalCenter()); b2Vec2 p1 = b1->m_sweep.c + r1; m_u1 = p1 - s1; @@ -331,9 +333,6 @@ bool b2PulleyJoint::SolvePositionConstraints() linearError = b2Max(linearError, -C); C = b2Clamp(C + b2_linearSlop, -b2_maxLinearCorrection, 0.0f); float32 impulse = -m_limitMass1 * C; - float32 oldLimitPositionImpulse = m_limitPositionImpulse1; - m_limitPositionImpulse1 = b2Max(0.0f, m_limitPositionImpulse1 + impulse); - impulse = m_limitPositionImpulse1 - oldLimitPositionImpulse; b2Vec2 P1 = -impulse * m_u1; b1->m_sweep.c += b1->m_invMass * P1; @@ -344,7 +343,7 @@ bool b2PulleyJoint::SolvePositionConstraints() if (m_limitState2 == e_atUpperLimit) { - b2Vec2 r2 = b2Mul(b2->GetXForm().R, m_localAnchor2 - b2->GetLocalCenter()); + b2Vec2 r2 = b2Mul(b2->GetTransform().R, m_localAnchor2 - b2->GetLocalCenter()); b2Vec2 p2 = b2->m_sweep.c + r2; m_u2 = p2 - s2; @@ -363,9 +362,6 @@ bool b2PulleyJoint::SolvePositionConstraints() linearError = b2Max(linearError, -C); C = b2Clamp(C + b2_linearSlop, -b2_maxLinearCorrection, 0.0f); float32 impulse = -m_limitMass2 * C; - float32 oldLimitPositionImpulse = m_limitPositionImpulse2; - m_limitPositionImpulse2 = b2Max(0.0f, m_limitPositionImpulse2 + impulse); - impulse = m_limitPositionImpulse2 - oldLimitPositionImpulse; b2Vec2 P2 = -impulse * m_u2; b2->m_sweep.c += b2->m_invMass * P2; @@ -377,49 +373,50 @@ bool b2PulleyJoint::SolvePositionConstraints() return linearError < b2_linearSlop; } -b2Vec2 b2PulleyJoint::GetAnchor1() const +b2Vec2 b2PulleyJoint::GetAnchorA() const { - return m_body1->GetWorldPoint(m_localAnchor1); + return m_bodyA->GetWorldPoint(m_localAnchor1); } -b2Vec2 b2PulleyJoint::GetAnchor2() const +b2Vec2 b2PulleyJoint::GetAnchorB() const { - return m_body2->GetWorldPoint(m_localAnchor2); + return m_bodyB->GetWorldPoint(m_localAnchor2); } -b2Vec2 b2PulleyJoint::GetReactionForce() const +b2Vec2 b2PulleyJoint::GetReactionForce(float32 inv_dt) const { - b2Vec2 F = B2FORCE_SCALE(m_force) * m_u2; - return F; + b2Vec2 P = m_impulse * m_u2; + return inv_dt * P; } -float32 b2PulleyJoint::GetReactionTorque() const +float32 b2PulleyJoint::GetReactionTorque(float32 inv_dt) const { + B2_NOT_USED(inv_dt); return 0.0f; } -b2Vec2 b2PulleyJoint::GetGroundAnchor1() const +b2Vec2 b2PulleyJoint::GetGroundAnchorA() const { - return m_ground->GetXForm().position + m_groundAnchor1; + return m_groundAnchor1; } -b2Vec2 b2PulleyJoint::GetGroundAnchor2() const +b2Vec2 b2PulleyJoint::GetGroundAnchorB() const { - return m_ground->GetXForm().position + m_groundAnchor2; + return m_groundAnchor2; } float32 b2PulleyJoint::GetLength1() const { - b2Vec2 p = m_body1->GetWorldPoint(m_localAnchor1); - b2Vec2 s = m_ground->GetXForm().position + m_groundAnchor1; + b2Vec2 p = m_bodyA->GetWorldPoint(m_localAnchor1); + b2Vec2 s = m_groundAnchor1; b2Vec2 d = p - s; return d.Length(); } float32 b2PulleyJoint::GetLength2() const { - b2Vec2 p = m_body2->GetWorldPoint(m_localAnchor2); - b2Vec2 s = m_ground->GetXForm().position + m_groundAnchor2; + b2Vec2 p = m_bodyB->GetWorldPoint(m_localAnchor2); + b2Vec2 s = m_groundAnchor2; b2Vec2 d = p - s; return d.Length(); } diff --git a/src/modules/physics/box2d/Source/Dynamics/Joints/b2PulleyJoint.h b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2PulleyJoint.h similarity index 65% rename from src/modules/physics/box2d/Source/Dynamics/Joints/b2PulleyJoint.h rename to src/modules/physics/box2d/Box2D/Dynamics/Joints/b2PulleyJoint.h index fb65797ea..189decb31 100644 --- a/src/modules/physics/box2d/Source/Dynamics/Joints/b2PulleyJoint.h +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2PulleyJoint.h @@ -19,7 +19,7 @@ #ifndef B2_PULLEY_JOINT_H #define B2_PULLEY_JOINT_H -#include "b2Joint.h" +#include const float32 b2_minPulleyLength = 2.0f; @@ -31,47 +31,47 @@ struct b2PulleyJointDef : public b2JointDef b2PulleyJointDef() { type = e_pulleyJoint; - groundAnchor1.Set(-1.0f, 1.0f); - groundAnchor2.Set(1.0f, 1.0f); - localAnchor1.Set(-1.0f, 0.0f); - localAnchor2.Set(1.0f, 0.0f); - length1 = 0.0f; - maxLength1 = 0.0f; - length2 = 0.0f; - maxLength2 = 0.0f; + groundAnchorA.Set(-1.0f, 1.0f); + groundAnchorB.Set(1.0f, 1.0f); + localAnchorA.Set(-1.0f, 0.0f); + localAnchorB.Set(1.0f, 0.0f); + lengthA = 0.0f; + maxLengthA = 0.0f; + lengthB = 0.0f; + maxLengthB = 0.0f; ratio = 1.0f; collideConnected = true; } /// Initialize the bodies, anchors, lengths, max lengths, and ratio using the world anchors. - void Initialize(b2Body* body1, b2Body* body2, - const b2Vec2& groundAnchor1, const b2Vec2& groundAnchor2, - const b2Vec2& anchor1, const b2Vec2& anchor2, + void Initialize(b2Body* bodyA, b2Body* bodyB, + const b2Vec2& groundAnchorA, const b2Vec2& groundAnchorB, + const b2Vec2& anchorA, const b2Vec2& anchorB, float32 ratio); /// The first ground anchor in world coordinates. This point never moves. - b2Vec2 groundAnchor1; + b2Vec2 groundAnchorA; /// The second ground anchor in world coordinates. This point never moves. - b2Vec2 groundAnchor2; + b2Vec2 groundAnchorB; - /// The local anchor point relative to body1's origin. - b2Vec2 localAnchor1; + /// The local anchor point relative to bodyA's origin. + b2Vec2 localAnchorA; - /// The local anchor point relative to body2's origin. - b2Vec2 localAnchor2; + /// The local anchor point relative to bodyB's origin. + b2Vec2 localAnchorB; - /// The a reference length for the segment attached to body1. - float32 length1; + /// The a reference length for the segment attached to bodyA. + float32 lengthA; - /// The maximum length of the segment attached to body1. - float32 maxLength1; + /// The maximum length of the segment attached to bodyA. + float32 maxLengthA; - /// The a reference length for the segment attached to body2. - float32 length2; + /// The a reference length for the segment attached to bodyB. + float32 lengthB; - /// The maximum length of the segment attached to body2. - float32 maxLength2; + /// The maximum length of the segment attached to bodyB. + float32 maxLengthB; /// The pulley ratio, used to simulate a block-and-tackle. float32 ratio; @@ -86,17 +86,17 @@ struct b2PulleyJointDef : public b2JointDef class b2PulleyJoint : public b2Joint { public: - b2Vec2 GetAnchor1() const; - b2Vec2 GetAnchor2() const; + b2Vec2 GetAnchorA() const; + b2Vec2 GetAnchorB() const; - b2Vec2 GetReactionForce() const; - float32 GetReactionTorque() const; + b2Vec2 GetReactionForce(float32 inv_dt) const; + float32 GetReactionTorque(float32 inv_dt) const; /// Get the first ground anchor. - b2Vec2 GetGroundAnchor1() const; + b2Vec2 GetGroundAnchorA() const; /// Get the second ground anchor. - b2Vec2 GetGroundAnchor2() const; + b2Vec2 GetGroundAnchorB() const; /// Get the current length of the segment attached to body1. float32 GetLength1() const; @@ -107,15 +107,15 @@ public: /// Get the pulley ratio. float32 GetRatio() const; - //--------------- Internals Below ------------------- +protected: + friend class b2Joint; b2PulleyJoint(const b2PulleyJointDef* data); void InitVelocityConstraints(const b2TimeStep& step); void SolveVelocityConstraints(const b2TimeStep& step); - bool SolvePositionConstraints(); + bool SolvePositionConstraints(float32 baumgarte); - b2Body* m_ground; b2Vec2 m_groundAnchor1; b2Vec2 m_groundAnchor2; b2Vec2 m_localAnchor1; @@ -136,14 +136,9 @@ public: float32 m_limitMass2; // Impulses for accumulation/warm starting. - float32 m_force; - float32 m_limitForce1; - float32 m_limitForce2; - - // Position impulses for accumulation. - float32 m_positionImpulse; - float32 m_limitPositionImpulse1; - float32 m_limitPositionImpulse2; + float32 m_impulse; + float32 m_limitImpulse1; + float32 m_limitImpulse2; b2LimitState m_state; b2LimitState m_limitState1; diff --git a/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2RevoluteJoint.cpp b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2RevoluteJoint.cpp new file mode 100644 index 000000000..f9845265a --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2RevoluteJoint.cpp @@ -0,0 +1,478 @@ +/* +* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include + +// Point-to-point constraint +// C = p2 - p1 +// Cdot = v2 - v1 +// = v2 + cross(w2, r2) - v1 - cross(w1, r1) +// J = [-I -r1_skew I r2_skew ] +// Identity used: +// w k % (rx i + ry j) = w * (-ry i + rx j) + +// Motor constraint +// Cdot = w2 - w1 +// J = [0 0 -1 0 0 1] +// K = invI1 + invI2 + +void b2RevoluteJointDef::Initialize(b2Body* b1, b2Body* b2, const b2Vec2& anchor) +{ + bodyA = b1; + bodyB = b2; + localAnchorA = bodyA->GetLocalPoint(anchor); + localAnchorB = bodyB->GetLocalPoint(anchor); + referenceAngle = bodyB->GetAngle() - bodyA->GetAngle(); +} + +b2RevoluteJoint::b2RevoluteJoint(const b2RevoluteJointDef* def) +: b2Joint(def) +{ + m_localAnchor1 = def->localAnchorA; + m_localAnchor2 = def->localAnchorB; + m_referenceAngle = def->referenceAngle; + + m_impulse.SetZero(); + m_motorImpulse = 0.0f; + + m_lowerAngle = def->lowerAngle; + m_upperAngle = def->upperAngle; + m_maxMotorTorque = def->maxMotorTorque; + m_motorSpeed = def->motorSpeed; + m_enableLimit = def->enableLimit; + m_enableMotor = def->enableMotor; + m_limitState = e_inactiveLimit; +} + +void b2RevoluteJoint::InitVelocityConstraints(const b2TimeStep& step) +{ + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; + + if (m_enableMotor || m_enableLimit) + { + // You cannot create a rotation limit between bodies that + // both have fixed rotation. + b2Assert(b1->m_invI > 0.0f || b2->m_invI > 0.0f); + } + + // Compute the effective mass matrix. + b2Vec2 r1 = b2Mul(b1->GetTransform().R, m_localAnchor1 - b1->GetLocalCenter()); + b2Vec2 r2 = b2Mul(b2->GetTransform().R, m_localAnchor2 - b2->GetLocalCenter()); + + // J = [-I -r1_skew I r2_skew] + // [ 0 -1 0 1] + // r_skew = [-ry; rx] + + // Matlab + // K = [ m1+r1y^2*i1+m2+r2y^2*i2, -r1y*i1*r1x-r2y*i2*r2x, -r1y*i1-r2y*i2] + // [ -r1y*i1*r1x-r2y*i2*r2x, m1+r1x^2*i1+m2+r2x^2*i2, r1x*i1+r2x*i2] + // [ -r1y*i1-r2y*i2, r1x*i1+r2x*i2, i1+i2] + + float32 m1 = b1->m_invMass, m2 = b2->m_invMass; + float32 i1 = b1->m_invI, i2 = b2->m_invI; + + m_mass.col1.x = m1 + m2 + r1.y * r1.y * i1 + r2.y * r2.y * i2; + m_mass.col2.x = -r1.y * r1.x * i1 - r2.y * r2.x * i2; + m_mass.col3.x = -r1.y * i1 - r2.y * i2; + m_mass.col1.y = m_mass.col2.x; + m_mass.col2.y = m1 + m2 + r1.x * r1.x * i1 + r2.x * r2.x * i2; + m_mass.col3.y = r1.x * i1 + r2.x * i2; + m_mass.col1.z = m_mass.col3.x; + m_mass.col2.z = m_mass.col3.y; + m_mass.col3.z = i1 + i2; + + m_motorMass = i1 + i2; + if (m_motorMass > 0.0f) + { + m_motorMass = 1.0f / m_motorMass; + } + + if (m_enableMotor == false) + { + m_motorImpulse = 0.0f; + } + + if (m_enableLimit) + { + float32 jointAngle = b2->m_sweep.a - b1->m_sweep.a - m_referenceAngle; + if (b2Abs(m_upperAngle - m_lowerAngle) < 2.0f * b2_angularSlop) + { + m_limitState = e_equalLimits; + } + else if (jointAngle <= m_lowerAngle) + { + if (m_limitState != e_atLowerLimit) + { + m_impulse.z = 0.0f; + } + m_limitState = e_atLowerLimit; + } + else if (jointAngle >= m_upperAngle) + { + if (m_limitState != e_atUpperLimit) + { + m_impulse.z = 0.0f; + } + m_limitState = e_atUpperLimit; + } + else + { + m_limitState = e_inactiveLimit; + m_impulse.z = 0.0f; + } + } + else + { + m_limitState = e_inactiveLimit; + } + + if (step.warmStarting) + { + // Scale impulses to support a variable time step. + m_impulse *= step.dtRatio; + m_motorImpulse *= step.dtRatio; + + b2Vec2 P(m_impulse.x, m_impulse.y); + + b1->m_linearVelocity -= m1 * P; + b1->m_angularVelocity -= i1 * (b2Cross(r1, P) + m_motorImpulse + m_impulse.z); + + b2->m_linearVelocity += m2 * P; + b2->m_angularVelocity += i2 * (b2Cross(r2, P) + m_motorImpulse + m_impulse.z); + } + else + { + m_impulse.SetZero(); + m_motorImpulse = 0.0f; + } +} + +void b2RevoluteJoint::SolveVelocityConstraints(const b2TimeStep& step) +{ + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; + + b2Vec2 v1 = b1->m_linearVelocity; + float32 w1 = b1->m_angularVelocity; + b2Vec2 v2 = b2->m_linearVelocity; + float32 w2 = b2->m_angularVelocity; + + float32 m1 = b1->m_invMass, m2 = b2->m_invMass; + float32 i1 = b1->m_invI, i2 = b2->m_invI; + + // Solve motor constraint. + if (m_enableMotor && m_limitState != e_equalLimits) + { + float32 Cdot = w2 - w1 - m_motorSpeed; + float32 impulse = m_motorMass * (-Cdot); + float32 oldImpulse = m_motorImpulse; + float32 maxImpulse = step.dt * m_maxMotorTorque; + m_motorImpulse = b2Clamp(m_motorImpulse + impulse, -maxImpulse, maxImpulse); + impulse = m_motorImpulse - oldImpulse; + + w1 -= i1 * impulse; + w2 += i2 * impulse; + } + + // Solve limit constraint. + if (m_enableLimit && m_limitState != e_inactiveLimit) + { + b2Vec2 r1 = b2Mul(b1->GetTransform().R, m_localAnchor1 - b1->GetLocalCenter()); + b2Vec2 r2 = b2Mul(b2->GetTransform().R, m_localAnchor2 - b2->GetLocalCenter()); + + // Solve point-to-point constraint + b2Vec2 Cdot1 = v2 + b2Cross(w2, r2) - v1 - b2Cross(w1, r1); + float32 Cdot2 = w2 - w1; + b2Vec3 Cdot(Cdot1.x, Cdot1.y, Cdot2); + + b2Vec3 impulse = m_mass.Solve33(-Cdot); + + if (m_limitState == e_equalLimits) + { + m_impulse += impulse; + } + else if (m_limitState == e_atLowerLimit) + { + float32 newImpulse = m_impulse.z + impulse.z; + if (newImpulse < 0.0f) + { + b2Vec2 reduced = m_mass.Solve22(-Cdot1); + impulse.x = reduced.x; + impulse.y = reduced.y; + impulse.z = -m_impulse.z; + m_impulse.x += reduced.x; + m_impulse.y += reduced.y; + m_impulse.z = 0.0f; + } + } + else if (m_limitState == e_atUpperLimit) + { + float32 newImpulse = m_impulse.z + impulse.z; + if (newImpulse > 0.0f) + { + b2Vec2 reduced = m_mass.Solve22(-Cdot1); + impulse.x = reduced.x; + impulse.y = reduced.y; + impulse.z = -m_impulse.z; + m_impulse.x += reduced.x; + m_impulse.y += reduced.y; + m_impulse.z = 0.0f; + } + } + + b2Vec2 P(impulse.x, impulse.y); + + v1 -= m1 * P; + w1 -= i1 * (b2Cross(r1, P) + impulse.z); + + v2 += m2 * P; + w2 += i2 * (b2Cross(r2, P) + impulse.z); + } + else + { + b2Vec2 r1 = b2Mul(b1->GetTransform().R, m_localAnchor1 - b1->GetLocalCenter()); + b2Vec2 r2 = b2Mul(b2->GetTransform().R, m_localAnchor2 - b2->GetLocalCenter()); + + // Solve point-to-point constraint + b2Vec2 Cdot = v2 + b2Cross(w2, r2) - v1 - b2Cross(w1, r1); + b2Vec2 impulse = m_mass.Solve22(-Cdot); + + m_impulse.x += impulse.x; + m_impulse.y += impulse.y; + + v1 -= m1 * impulse; + w1 -= i1 * b2Cross(r1, impulse); + + v2 += m2 * impulse; + w2 += i2 * b2Cross(r2, impulse); + } + + b1->m_linearVelocity = v1; + b1->m_angularVelocity = w1; + b2->m_linearVelocity = v2; + b2->m_angularVelocity = w2; +} + +bool b2RevoluteJoint::SolvePositionConstraints(float32 baumgarte) +{ + // TODO_ERIN block solve with limit. + + B2_NOT_USED(baumgarte); + + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; + + float32 angularError = 0.0f; + float32 positionError = 0.0f; + + // Solve angular limit constraint. + if (m_enableLimit && m_limitState != e_inactiveLimit) + { + float32 angle = b2->m_sweep.a - b1->m_sweep.a - m_referenceAngle; + float32 limitImpulse = 0.0f; + + if (m_limitState == e_equalLimits) + { + // Prevent large angular corrections + float32 C = b2Clamp(angle - m_lowerAngle, -b2_maxAngularCorrection, b2_maxAngularCorrection); + limitImpulse = -m_motorMass * C; + angularError = b2Abs(C); + } + else if (m_limitState == e_atLowerLimit) + { + float32 C = angle - m_lowerAngle; + angularError = -C; + + // Prevent large angular corrections and allow some slop. + C = b2Clamp(C + b2_angularSlop, -b2_maxAngularCorrection, 0.0f); + limitImpulse = -m_motorMass * C; + } + else if (m_limitState == e_atUpperLimit) + { + float32 C = angle - m_upperAngle; + angularError = C; + + // Prevent large angular corrections and allow some slop. + C = b2Clamp(C - b2_angularSlop, 0.0f, b2_maxAngularCorrection); + limitImpulse = -m_motorMass * C; + } + + b1->m_sweep.a -= b1->m_invI * limitImpulse; + b2->m_sweep.a += b2->m_invI * limitImpulse; + + b1->SynchronizeTransform(); + b2->SynchronizeTransform(); + } + + // Solve point-to-point constraint. + { + b2Vec2 r1 = b2Mul(b1->GetTransform().R, m_localAnchor1 - b1->GetLocalCenter()); + b2Vec2 r2 = b2Mul(b2->GetTransform().R, m_localAnchor2 - b2->GetLocalCenter()); + + b2Vec2 C = b2->m_sweep.c + r2 - b1->m_sweep.c - r1; + positionError = C.Length(); + + float32 invMass1 = b1->m_invMass, invMass2 = b2->m_invMass; + float32 invI1 = b1->m_invI, invI2 = b2->m_invI; + + // Handle large detachment. + const float32 k_allowedStretch = 10.0f * b2_linearSlop; + if (C.LengthSquared() > k_allowedStretch * k_allowedStretch) + { + // Use a particle solution (no rotation). + b2Vec2 u = C; u.Normalize(); + float32 m = invMass1 + invMass2; + if (m > 0.0f) + { + m = 1.0f / m; + } + b2Vec2 impulse = m * (-C); + const float32 k_beta = 0.5f; + b1->m_sweep.c -= k_beta * invMass1 * impulse; + b2->m_sweep.c += k_beta * invMass2 * impulse; + + C = b2->m_sweep.c + r2 - b1->m_sweep.c - r1; + } + + b2Mat22 K1; + K1.col1.x = invMass1 + invMass2; K1.col2.x = 0.0f; + K1.col1.y = 0.0f; K1.col2.y = invMass1 + invMass2; + + b2Mat22 K2; + K2.col1.x = invI1 * r1.y * r1.y; K2.col2.x = -invI1 * r1.x * r1.y; + K2.col1.y = -invI1 * r1.x * r1.y; K2.col2.y = invI1 * r1.x * r1.x; + + b2Mat22 K3; + K3.col1.x = invI2 * r2.y * r2.y; K3.col2.x = -invI2 * r2.x * r2.y; + K3.col1.y = -invI2 * r2.x * r2.y; K3.col2.y = invI2 * r2.x * r2.x; + + b2Mat22 K = K1 + K2 + K3; + b2Vec2 impulse = K.Solve(-C); + + b1->m_sweep.c -= b1->m_invMass * impulse; + b1->m_sweep.a -= b1->m_invI * b2Cross(r1, impulse); + + b2->m_sweep.c += b2->m_invMass * impulse; + b2->m_sweep.a += b2->m_invI * b2Cross(r2, impulse); + + b1->SynchronizeTransform(); + b2->SynchronizeTransform(); + } + + return positionError <= b2_linearSlop && angularError <= b2_angularSlop; +} + +b2Vec2 b2RevoluteJoint::GetAnchorA() const +{ + return m_bodyA->GetWorldPoint(m_localAnchor1); +} + +b2Vec2 b2RevoluteJoint::GetAnchorB() const +{ + return m_bodyB->GetWorldPoint(m_localAnchor2); +} + +b2Vec2 b2RevoluteJoint::GetReactionForce(float32 inv_dt) const +{ + b2Vec2 P(m_impulse.x, m_impulse.y); + return inv_dt * P; +} + +float32 b2RevoluteJoint::GetReactionTorque(float32 inv_dt) const +{ + return inv_dt * m_impulse.z; +} + +float32 b2RevoluteJoint::GetJointAngle() const +{ + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; + return b2->m_sweep.a - b1->m_sweep.a - m_referenceAngle; +} + +float32 b2RevoluteJoint::GetJointSpeed() const +{ + b2Body* b1 = m_bodyA; + b2Body* b2 = m_bodyB; + return b2->m_angularVelocity - b1->m_angularVelocity; +} + +bool b2RevoluteJoint::IsMotorEnabled() const +{ + return m_enableMotor; +} + +void b2RevoluteJoint::EnableMotor(bool flag) +{ + m_bodyA->SetAwake(true); + m_bodyB->SetAwake(true); + m_enableMotor = flag; +} + +float32 b2RevoluteJoint::GetMotorTorque() const +{ + return m_motorImpulse; +} + +void b2RevoluteJoint::SetMotorSpeed(float32 speed) +{ + m_bodyA->SetAwake(true); + m_bodyB->SetAwake(true); + m_motorSpeed = speed; +} + +void b2RevoluteJoint::SetMaxMotorTorque(float32 torque) +{ + m_bodyA->SetAwake(true); + m_bodyB->SetAwake(true); + m_maxMotorTorque = torque; +} + +bool b2RevoluteJoint::IsLimitEnabled() const +{ + return m_enableLimit; +} + +void b2RevoluteJoint::EnableLimit(bool flag) +{ + m_bodyA->SetAwake(true); + m_bodyB->SetAwake(true); + m_enableLimit = flag; +} + +float32 b2RevoluteJoint::GetLowerLimit() const +{ + return m_lowerAngle; +} + +float32 b2RevoluteJoint::GetUpperLimit() const +{ + return m_upperAngle; +} + +void b2RevoluteJoint::SetLimits(float32 lower, float32 upper) +{ + b2Assert(lower <= upper); + m_bodyA->SetAwake(true); + m_bodyB->SetAwake(true); + m_lowerAngle = lower; + m_upperAngle = upper; +} diff --git a/src/modules/physics/box2d/Source/Dynamics/Joints/b2RevoluteJoint.h b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2RevoluteJoint.h similarity index 82% rename from src/modules/physics/box2d/Source/Dynamics/Joints/b2RevoluteJoint.h rename to src/modules/physics/box2d/Box2D/Dynamics/Joints/b2RevoluteJoint.h index ebec2f5ef..c0180beba 100644 --- a/src/modules/physics/box2d/Source/Dynamics/Joints/b2RevoluteJoint.h +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2RevoluteJoint.h @@ -19,7 +19,7 @@ #ifndef B2_REVOLUTE_JOINT_H #define B2_REVOLUTE_JOINT_H -#include "b2Joint.h" +#include /// Revolute joint definition. This requires defining an /// anchor point where the bodies are joined. The definition @@ -37,8 +37,8 @@ struct b2RevoluteJointDef : public b2JointDef b2RevoluteJointDef() { type = e_revoluteJoint; - localAnchor1.Set(0.0f, 0.0f); - localAnchor2.Set(0.0f, 0.0f); + localAnchorA.Set(0.0f, 0.0f); + localAnchorB.Set(0.0f, 0.0f); referenceAngle = 0.0f; lowerAngle = 0.0f; upperAngle = 0.0f; @@ -48,15 +48,15 @@ struct b2RevoluteJointDef : public b2JointDef enableMotor = false; } - /// Initialize the bodies, anchors, and reference angle using the world - /// anchor. - void Initialize(b2Body* body1, b2Body* body2, const b2Vec2& anchor); + /// Initialize the bodies, anchors, and reference angle using a world + /// anchor point. + void Initialize(b2Body* bodyA, b2Body* bodyB, const b2Vec2& anchor); /// The local anchor point relative to body1's origin. - b2Vec2 localAnchor1; + b2Vec2 localAnchorA; /// The local anchor point relative to body2's origin. - b2Vec2 localAnchor2; + b2Vec2 localAnchorB; /// The body2 angle minus body1 angle in the reference state (radians). float32 referenceAngle; @@ -81,7 +81,7 @@ struct b2RevoluteJointDef : public b2JointDef float32 maxMotorTorque; }; -/// A revolute joint constrains to bodies to share a common point while they +/// A revolute joint constrains two bodies to share a common point while they /// are free to rotate about the point. The relative rotation about the shared /// point is the joint angle. You can limit the relative rotation with /// a joint limit that specifies a lower and upper angle. You can use a motor @@ -90,11 +90,11 @@ struct b2RevoluteJointDef : public b2JointDef class b2RevoluteJoint : public b2Joint { public: - b2Vec2 GetAnchor1() const; - b2Vec2 GetAnchor2() const; + b2Vec2 GetAnchorA() const; + b2Vec2 GetAnchorB() const; - b2Vec2 GetReactionForce() const; - float32 GetReactionTorque() const; + b2Vec2 GetReactionForce(float32 inv_dt) const; + float32 GetReactionTorque(float32 inv_dt) const; /// Get the current joint angle in radians. float32 GetJointAngle() const; @@ -135,22 +135,24 @@ public: /// Get the current motor torque, usually in N-m. float32 GetMotorTorque() const; - //--------------- Internals Below ------------------- +protected: + + friend class b2Joint; + friend class b2GearJoint; + b2RevoluteJoint(const b2RevoluteJointDef* def); void InitVelocityConstraints(const b2TimeStep& step); void SolveVelocityConstraints(const b2TimeStep& step); - bool SolvePositionConstraints(); + bool SolvePositionConstraints(float32 baumgarte); b2Vec2 m_localAnchor1; // relative b2Vec2 m_localAnchor2; - b2Vec2 m_pivotForce; - float32 m_motorForce; - float32 m_limitForce; - float32 m_limitPositionImpulse; + b2Vec3 m_impulse; + float32 m_motorImpulse; - b2Mat22 m_pivotMass; // effective mass for point-to-point constraint. + b2Mat33 m_mass; // effective mass for point-to-point constraint. float32 m_motorMass; // effective mass for motor/limit angular constraint. bool m_enableMotor; diff --git a/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2WeldJoint.cpp b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2WeldJoint.cpp new file mode 100644 index 000000000..49b5513ba --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2WeldJoint.cpp @@ -0,0 +1,219 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include + +// Point-to-point constraint +// C = p2 - p1 +// Cdot = v2 - v1 +// = v2 + cross(w2, r2) - v1 - cross(w1, r1) +// J = [-I -r1_skew I r2_skew ] +// Identity used: +// w k % (rx i + ry j) = w * (-ry i + rx j) + +// Angle constraint +// C = angle2 - angle1 - referenceAngle +// Cdot = w2 - w1 +// J = [0 0 -1 0 0 1] +// K = invI1 + invI2 + +void b2WeldJointDef::Initialize(b2Body* bA, b2Body* bB, const b2Vec2& anchor) +{ + bodyA = bA; + bodyB = bB; + localAnchorA = bodyA->GetLocalPoint(anchor); + localAnchorB = bodyB->GetLocalPoint(anchor); + referenceAngle = bodyB->GetAngle() - bodyA->GetAngle(); +} + +b2WeldJoint::b2WeldJoint(const b2WeldJointDef* def) +: b2Joint(def) +{ + m_localAnchorA = def->localAnchorA; + m_localAnchorB = def->localAnchorB; + m_referenceAngle = def->referenceAngle; + + m_impulse.SetZero(); +} + +void b2WeldJoint::InitVelocityConstraints(const b2TimeStep& step) +{ + b2Body* bA = m_bodyA; + b2Body* bB = m_bodyB; + + // Compute the effective mass matrix. + b2Vec2 rA = b2Mul(bA->GetTransform().R, m_localAnchorA - bA->GetLocalCenter()); + b2Vec2 rB = b2Mul(bB->GetTransform().R, m_localAnchorB - bB->GetLocalCenter()); + + // J = [-I -r1_skew I r2_skew] + // [ 0 -1 0 1] + // r_skew = [-ry; rx] + + // Matlab + // K = [ mA+r1y^2*iA+mB+r2y^2*iB, -r1y*iA*r1x-r2y*iB*r2x, -r1y*iA-r2y*iB] + // [ -r1y*iA*r1x-r2y*iB*r2x, mA+r1x^2*iA+mB+r2x^2*iB, r1x*iA+r2x*iB] + // [ -r1y*iA-r2y*iB, r1x*iA+r2x*iB, iA+iB] + + float32 mA = bA->m_invMass, mB = bB->m_invMass; + float32 iA = bA->m_invI, iB = bB->m_invI; + + m_mass.col1.x = mA + mB + rA.y * rA.y * iA + rB.y * rB.y * iB; + m_mass.col2.x = -rA.y * rA.x * iA - rB.y * rB.x * iB; + m_mass.col3.x = -rA.y * iA - rB.y * iB; + m_mass.col1.y = m_mass.col2.x; + m_mass.col2.y = mA + mB + rA.x * rA.x * iA + rB.x * rB.x * iB; + m_mass.col3.y = rA.x * iA + rB.x * iB; + m_mass.col1.z = m_mass.col3.x; + m_mass.col2.z = m_mass.col3.y; + m_mass.col3.z = iA + iB; + + if (step.warmStarting) + { + // Scale impulses to support a variable time step. + m_impulse *= step.dtRatio; + + b2Vec2 P(m_impulse.x, m_impulse.y); + + bA->m_linearVelocity -= mA * P; + bA->m_angularVelocity -= iA * (b2Cross(rA, P) + m_impulse.z); + + bB->m_linearVelocity += mB * P; + bB->m_angularVelocity += iB * (b2Cross(rB, P) + m_impulse.z); + } + else + { + m_impulse.SetZero(); + } +} + +void b2WeldJoint::SolveVelocityConstraints(const b2TimeStep& step) +{ + B2_NOT_USED(step); + + b2Body* bA = m_bodyA; + b2Body* bB = m_bodyB; + + b2Vec2 vA = bA->m_linearVelocity; + float32 wA = bA->m_angularVelocity; + b2Vec2 vB = bB->m_linearVelocity; + float32 wB = bB->m_angularVelocity; + + float32 mA = bA->m_invMass, mB = bB->m_invMass; + float32 iA = bA->m_invI, iB = bB->m_invI; + + b2Vec2 rA = b2Mul(bA->GetTransform().R, m_localAnchorA - bA->GetLocalCenter()); + b2Vec2 rB = b2Mul(bB->GetTransform().R, m_localAnchorB - bB->GetLocalCenter()); + + // Solve point-to-point constraint + b2Vec2 Cdot1 = vB + b2Cross(wB, rB) - vA - b2Cross(wA, rA); + float32 Cdot2 = wB - wA; + b2Vec3 Cdot(Cdot1.x, Cdot1.y, Cdot2); + + b2Vec3 impulse = m_mass.Solve33(-Cdot); + m_impulse += impulse; + + b2Vec2 P(impulse.x, impulse.y); + + vA -= mA * P; + wA -= iA * (b2Cross(rA, P) + impulse.z); + + vB += mB * P; + wB += iB * (b2Cross(rB, P) + impulse.z); + + bA->m_linearVelocity = vA; + bA->m_angularVelocity = wA; + bB->m_linearVelocity = vB; + bB->m_angularVelocity = wB; +} + +bool b2WeldJoint::SolvePositionConstraints(float32 baumgarte) +{ + B2_NOT_USED(baumgarte); + + b2Body* bA = m_bodyA; + b2Body* bB = m_bodyB; + + float32 mA = bA->m_invMass, mB = bB->m_invMass; + float32 iA = bA->m_invI, iB = bB->m_invI; + + b2Vec2 rA = b2Mul(bA->GetTransform().R, m_localAnchorA - bA->GetLocalCenter()); + b2Vec2 rB = b2Mul(bB->GetTransform().R, m_localAnchorB - bB->GetLocalCenter()); + + b2Vec2 C1 = bB->m_sweep.c + rB - bA->m_sweep.c - rA; + float32 C2 = bB->m_sweep.a - bA->m_sweep.a - m_referenceAngle; + + // Handle large detachment. + const float32 k_allowedStretch = 10.0f * b2_linearSlop; + float32 positionError = C1.Length(); + float32 angularError = b2Abs(C2); + if (positionError > k_allowedStretch) + { + iA *= 1.0f; + iB *= 1.0f; + } + + m_mass.col1.x = mA + mB + rA.y * rA.y * iA + rB.y * rB.y * iB; + m_mass.col2.x = -rA.y * rA.x * iA - rB.y * rB.x * iB; + m_mass.col3.x = -rA.y * iA - rB.y * iB; + m_mass.col1.y = m_mass.col2.x; + m_mass.col2.y = mA + mB + rA.x * rA.x * iA + rB.x * rB.x * iB; + m_mass.col3.y = rA.x * iA + rB.x * iB; + m_mass.col1.z = m_mass.col3.x; + m_mass.col2.z = m_mass.col3.y; + m_mass.col3.z = iA + iB; + + b2Vec3 C(C1.x, C1.y, C2); + + b2Vec3 impulse = m_mass.Solve33(-C); + + b2Vec2 P(impulse.x, impulse.y); + + bA->m_sweep.c -= mA * P; + bA->m_sweep.a -= iA * (b2Cross(rA, P) + impulse.z); + + bB->m_sweep.c += mB * P; + bB->m_sweep.a += iB * (b2Cross(rB, P) + impulse.z); + + bA->SynchronizeTransform(); + bB->SynchronizeTransform(); + + return positionError <= b2_linearSlop && angularError <= b2_angularSlop; +} + +b2Vec2 b2WeldJoint::GetAnchorA() const +{ + return m_bodyA->GetWorldPoint(m_localAnchorA); +} + +b2Vec2 b2WeldJoint::GetAnchorB() const +{ + return m_bodyB->GetWorldPoint(m_localAnchorB); +} + +b2Vec2 b2WeldJoint::GetReactionForce(float32 inv_dt) const +{ + b2Vec2 P(m_impulse.x, m_impulse.y); + return inv_dt * P; +} + +float32 b2WeldJoint::GetReactionTorque(float32 inv_dt) const +{ + return inv_dt * m_impulse.z; +} diff --git a/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2WeldJoint.h b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2WeldJoint.h new file mode 100644 index 000000000..4e63b6aa6 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/Joints/b2WeldJoint.h @@ -0,0 +1,82 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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_WELD_JOINT_H +#define B2_WELD_JOINT_H + +#include + +/// Weld joint definition. You need to specify local anchor points +/// where they are attached and the relative body angle. The position +/// of the anchor points is important for computing the reaction torque. +struct b2WeldJointDef : public b2JointDef +{ + b2WeldJointDef() + { + type = e_weldJoint; + localAnchorA.Set(0.0f, 0.0f); + localAnchorB.Set(0.0f, 0.0f); + referenceAngle = 0.0f; + } + + /// Initialize the bodies, anchors, and reference angle using a world + /// anchor point. + void Initialize(b2Body* body1, b2Body* body2, const b2Vec2& anchor); + + /// The local anchor point relative to body1's origin. + b2Vec2 localAnchorA; + + /// The local anchor point relative to body2's origin. + b2Vec2 localAnchorB; + + /// The body2 angle minus body1 angle in the reference state (radians). + float32 referenceAngle; +}; + +/// A weld joint essentially glues two bodies together. A weld joint may +/// distort somewhat because the island constraint solver is approximate. +class b2WeldJoint : public b2Joint +{ +public: + b2Vec2 GetAnchorA() const; + b2Vec2 GetAnchorB() const; + + b2Vec2 GetReactionForce(float32 inv_dt) const; + float32 GetReactionTorque(float32 inv_dt) const; + +protected: + + friend class b2Joint; + + b2WeldJoint(const b2WeldJointDef* def); + + void InitVelocityConstraints(const b2TimeStep& step); + void SolveVelocityConstraints(const b2TimeStep& step); + + bool SolvePositionConstraints(float32 baumgarte); + + b2Vec2 m_localAnchorA; + b2Vec2 m_localAnchorB; + float32 m_referenceAngle; + + b2Vec3 m_impulse; + + b2Mat33 m_mass; +}; + +#endif diff --git a/src/modules/physics/box2d/Box2D/Dynamics/b2Body.cpp b/src/modules/physics/box2d/Box2D/Dynamics/b2Body.cpp new file mode 100644 index 000000000..4b8865148 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/b2Body.cpp @@ -0,0 +1,470 @@ +/* +* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include +#include +#include + +b2Body::b2Body(const b2BodyDef* bd, b2World* world) +{ + b2Assert(bd->position.IsValid()); + b2Assert(bd->linearVelocity.IsValid()); + b2Assert(b2IsValid(bd->angle)); + b2Assert(b2IsValid(bd->angularVelocity)); + b2Assert(b2IsValid(bd->inertiaScale) && bd->inertiaScale >= 0.0f); + b2Assert(b2IsValid(bd->angularDamping) && bd->angularDamping >= 0.0f); + b2Assert(b2IsValid(bd->linearDamping) && bd->linearDamping >= 0.0f); + + m_flags = 0; + + if (bd->bullet) + { + m_flags |= e_bulletFlag; + } + if (bd->fixedRotation) + { + m_flags |= e_fixedRotationFlag; + } + if (bd->allowSleep) + { + m_flags |= e_autoSleepFlag; + } + if (bd->awake) + { + m_flags |= e_awakeFlag; + } + if (bd->active) + { + m_flags |= e_activeFlag; + } + + m_world = world; + + m_xf.position = bd->position; + m_xf.R.Set(bd->angle); + + m_sweep.localCenter.SetZero(); + m_sweep.a0 = m_sweep.a = bd->angle; + m_sweep.c0 = m_sweep.c = b2Mul(m_xf, m_sweep.localCenter); + + m_jointList = NULL; + m_contactList = NULL; + m_prev = NULL; + m_next = NULL; + + m_linearVelocity = bd->linearVelocity; + m_angularVelocity = bd->angularVelocity; + + m_linearDamping = bd->linearDamping; + m_angularDamping = bd->angularDamping; + + m_force.SetZero(); + m_torque = 0.0f; + + m_sleepTime = 0.0f; + + m_type = bd->type; + + if (m_type == b2_dynamicBody) + { + m_mass = 1.0f; + m_invMass = 1.0f; + } + else + { + m_mass = 0.0f; + m_invMass = 0.0f; + } + + m_I = 0.0f; + m_invI = 0.0f; + + m_userData = bd->userData; + + m_fixtureList = NULL; + m_fixtureCount = 0; +} + +b2Body::~b2Body() +{ + // shapes and joints are destroyed in b2World::Destroy +} + +void b2Body::SetType(b2BodyType type) +{ + if (m_type == type) + { + return; + } + + m_type = type; + + ResetMassData(); + + if (m_type == b2_staticBody) + { + m_linearVelocity.SetZero(); + m_angularVelocity = 0.0f; + } + + SetAwake(true); + + m_force.SetZero(); + m_torque = 0.0f; + + // Since the body type changed, we need to flag contacts for filtering. + for (b2ContactEdge* ce = m_contactList; ce; ce = ce->next) + { + ce->contact->FlagForFiltering(); + } +} + +b2Fixture* b2Body::CreateFixture(const b2FixtureDef* def) +{ + b2Assert(m_world->IsLocked() == false); + if (m_world->IsLocked() == true) + { + return NULL; + } + + b2BlockAllocator* allocator = &m_world->m_blockAllocator; + + void* memory = allocator->Allocate(sizeof(b2Fixture)); + b2Fixture* fixture = new (memory) b2Fixture; + fixture->Create(allocator, this, def); + + if (m_flags & e_activeFlag) + { + b2BroadPhase* broadPhase = &m_world->m_contactManager.m_broadPhase; + fixture->CreateProxy(broadPhase, m_xf); + } + + fixture->m_next = m_fixtureList; + m_fixtureList = fixture; + ++m_fixtureCount; + + fixture->m_body = this; + + // Adjust mass properties if needed. + if (fixture->m_density > 0.0f) + { + ResetMassData(); + } + + // Let the world know we have a new fixture. This will cause new contacts + // to be created at the beginning of the next time step. + m_world->m_flags |= b2World::e_newFixture; + + return fixture; +} + +b2Fixture* b2Body::CreateFixture(const b2Shape* shape, float32 density) +{ + b2FixtureDef def; + def.shape = shape; + def.density = density; + + return CreateFixture(&def); +} + +void b2Body::DestroyFixture(b2Fixture* fixture) +{ + b2Assert(m_world->IsLocked() == false); + if (m_world->IsLocked() == true) + { + return; + } + + b2Assert(fixture->m_body == this); + + // Remove the fixture from this body's singly linked list. + b2Assert(m_fixtureCount > 0); + b2Fixture** node = &m_fixtureList; + bool found = false; + while (*node != NULL) + { + if (*node == fixture) + { + *node = fixture->m_next; + found = true; + break; + } + + node = &(*node)->m_next; + } + + // You tried to remove a shape that is not attached to this body. + b2Assert(found); + + // Destroy any contacts associated with the fixture. + b2ContactEdge* edge = m_contactList; + while (edge) + { + b2Contact* c = edge->contact; + edge = edge->next; + + b2Fixture* fixtureA = c->GetFixtureA(); + b2Fixture* fixtureB = c->GetFixtureB(); + + if (fixture == fixtureA || fixture == fixtureB) + { + // This destroys the contact and removes it from + // this body's contact list. + m_world->m_contactManager.Destroy(c); + } + } + + b2BlockAllocator* allocator = &m_world->m_blockAllocator; + + if (m_flags & e_activeFlag) + { + b2Assert(fixture->m_proxyId != b2BroadPhase::e_nullProxy); + b2BroadPhase* broadPhase = &m_world->m_contactManager.m_broadPhase; + fixture->DestroyProxy(broadPhase); + } + else + { + b2Assert(fixture->m_proxyId == b2BroadPhase::e_nullProxy); + } + + fixture->Destroy(allocator); + fixture->m_body = NULL; + fixture->m_next = NULL; + fixture->~b2Fixture(); + allocator->Free(fixture, sizeof(b2Fixture)); + + --m_fixtureCount; + + // Reset the mass data. + ResetMassData(); +} + +void b2Body::ResetMassData() +{ + // Compute mass data from shapes. Each shape has its own density. + m_mass = 0.0f; + m_invMass = 0.0f; + m_I = 0.0f; + m_invI = 0.0f; + m_sweep.localCenter.SetZero(); + + // Static and kinematic bodies have zero mass. + if (m_type == b2_staticBody || m_type == b2_kinematicBody) + { + m_sweep.c0 = m_sweep.c = m_xf.position; + return; + } + + b2Assert(m_type == b2_dynamicBody); + + // Accumulate mass over all fixtures. + b2Vec2 center = b2Vec2_zero; + for (b2Fixture* f = m_fixtureList; f; f = f->m_next) + { + if (f->m_density == 0.0f) + { + continue; + } + + b2MassData massData; + f->GetMassData(&massData); + m_mass += massData.mass; + center += massData.mass * massData.center; + m_I += massData.I; + } + + // Compute center of mass. + if (m_mass > 0.0f) + { + m_invMass = 1.0f / m_mass; + center *= m_invMass; + } + else + { + // Force all dynamic bodies to have a positive mass. + m_mass = 1.0f; + m_invMass = 1.0f; + } + + if (m_I > 0.0f && (m_flags & e_fixedRotationFlag) == 0) + { + // Center the inertia about the center of mass. + m_I -= m_mass * b2Dot(center, center); + b2Assert(m_I > 0.0f); + m_invI = 1.0f / m_I; + + } + else + { + m_I = 0.0f; + m_invI = 0.0f; + } + + // Move center of mass. + b2Vec2 oldCenter = m_sweep.c; + m_sweep.localCenter = center; + m_sweep.c0 = m_sweep.c = b2Mul(m_xf, m_sweep.localCenter); + + // Update center of mass velocity. + m_linearVelocity += b2Cross(m_angularVelocity, m_sweep.c - oldCenter); +} + +void b2Body::SetMassData(const b2MassData* massData) +{ + b2Assert(m_world->IsLocked() == false); + if (m_world->IsLocked() == true) + { + return; + } + + if (m_type != b2_dynamicBody) + { + return; + } + + m_invMass = 0.0f; + m_I = 0.0f; + m_invI = 0.0f; + + m_mass = massData->mass; + if (m_mass <= 0.0f) + { + m_mass = 1.0f; + } + + m_invMass = 1.0f / m_mass; + + if (massData->I > 0.0f && (m_flags & b2Body::e_fixedRotationFlag) == 0) + { + m_I = massData->I - m_mass * b2Dot(massData->center, massData->center); + b2Assert(m_I > 0.0f); + m_invI = 1.0f / m_I; + } + + // Move center of mass. + b2Vec2 oldCenter = m_sweep.c; + m_sweep.localCenter = massData->center; + m_sweep.c0 = m_sweep.c = b2Mul(m_xf, m_sweep.localCenter); + + // Update center of mass velocity. + m_linearVelocity += b2Cross(m_angularVelocity, m_sweep.c - oldCenter); +} + +bool b2Body::ShouldCollide(const b2Body* other) const +{ + // At least one body should be dynamic. + if (m_type != b2_dynamicBody && other->m_type != b2_dynamicBody) + { + return false; + } + + // Does a joint prevent collision? + for (b2JointEdge* jn = m_jointList; jn; jn = jn->next) + { + if (jn->other == other) + { + if (jn->joint->m_collideConnected == false) + { + return false; + } + } + } + + return true; +} + +void b2Body::SetTransform(const b2Vec2& position, float32 angle) +{ + b2Assert(m_world->IsLocked() == false); + if (m_world->IsLocked() == true) + { + return; + } + + m_xf.R.Set(angle); + m_xf.position = position; + + m_sweep.c0 = m_sweep.c = b2Mul(m_xf, m_sweep.localCenter); + m_sweep.a0 = m_sweep.a = angle; + + b2BroadPhase* broadPhase = &m_world->m_contactManager.m_broadPhase; + for (b2Fixture* f = m_fixtureList; f; f = f->m_next) + { + f->Synchronize(broadPhase, m_xf, m_xf); + } + + m_world->m_contactManager.FindNewContacts(); +} + +void b2Body::SynchronizeFixtures() +{ + b2Transform xf1; + xf1.R.Set(m_sweep.a0); + xf1.position = m_sweep.c0 - b2Mul(xf1.R, m_sweep.localCenter); + + b2BroadPhase* broadPhase = &m_world->m_contactManager.m_broadPhase; + for (b2Fixture* f = m_fixtureList; f; f = f->m_next) + { + f->Synchronize(broadPhase, xf1, m_xf); + } +} + +void b2Body::SetActive(bool flag) +{ + if (flag == IsActive()) + { + return; + } + + if (flag) + { + m_flags |= e_activeFlag; + + // Create all proxies. + b2BroadPhase* broadPhase = &m_world->m_contactManager.m_broadPhase; + for (b2Fixture* f = m_fixtureList; f; f = f->m_next) + { + f->CreateProxy(broadPhase, m_xf); + } + + // Contacts are created the next time step. + } + else + { + m_flags &= ~e_activeFlag; + + // Destroy all proxies. + b2BroadPhase* broadPhase = &m_world->m_contactManager.m_broadPhase; + for (b2Fixture* f = m_fixtureList; f; f = f->m_next) + { + f->DestroyProxy(broadPhase); + } + + // Destroy the attached contacts. + b2ContactEdge* ce = m_contactList; + while (ce) + { + b2ContactEdge* ce0 = ce; + ce = ce->next; + m_world->m_contactManager.Destroy(ce0->contact); + } + m_contactList = NULL; + } +} \ No newline at end of file diff --git a/src/modules/physics/box2d/Box2D/Dynamics/b2Body.h b/src/modules/physics/box2d/Box2D/Dynamics/b2Body.h new file mode 100644 index 000000000..f2f915faa --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/b2Body.h @@ -0,0 +1,802 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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_BODY_H +#define B2_BODY_H + +#include +#include +#include + +class b2Fixture; +class b2Joint; +class b2Contact; +class b2Controller; +class b2World; +struct b2FixtureDef; +struct b2JointEdge; +struct b2ContactEdge; + +/// The body type. +/// static: zero mass, zero velocity, may be manually moved +/// kinematic: zero mass, non-zero velocity set by user, moved by solver +/// dynamic: positive mass, non-zero velocity determined by forces, moved by solver +enum b2BodyType +{ + b2_staticBody = 0, + b2_kinematicBody, + b2_dynamicBody, +}; + +/// A body definition holds all the data needed to construct a rigid body. +/// You can safely re-use body definitions. Shapes are added to a body after construction. +struct b2BodyDef +{ + /// This constructor sets the body definition default values. + b2BodyDef() + { + userData = NULL; + position.Set(0.0f, 0.0f); + angle = 0.0f; + linearVelocity.Set(0.0f, 0.0f); + angularVelocity = 0.0f; + linearDamping = 0.0f; + angularDamping = 0.0f; + allowSleep = true; + awake = true; + fixedRotation = false; + bullet = false; + type = b2_staticBody; + active = true; + inertiaScale = 1.0f; + } + + /// The body type: static, kinematic, or dynamic. + /// Note: if a dynamic body would have zero mass, the mass is set to one. + b2BodyType type; + + /// The world position of the body. Avoid creating bodies at the origin + /// since this can lead to many overlapping shapes. + b2Vec2 position; + + /// The world angle of the body in radians. + float32 angle; + + /// The linear velocity of the body's origin in world co-ordinates. + b2Vec2 linearVelocity; + + /// The angular velocity of the body. + float32 angularVelocity; + + /// Linear damping is use to reduce the linear velocity. The damping parameter + /// can be larger than 1.0f but the damping effect becomes sensitive to the + /// time step when the damping parameter is large. + float32 linearDamping; + + /// Angular damping is use to reduce the angular velocity. The damping parameter + /// can be larger than 1.0f but the damping effect becomes sensitive to the + /// time step when the damping parameter is large. + float32 angularDamping; + + /// Set this flag to false if this body should never fall asleep. Note that + /// this increases CPU usage. + bool allowSleep; + + /// Is this body initially awake or sleeping? + bool awake; + + /// Should this body be prevented from rotating? Useful for characters. + bool fixedRotation; + + /// Is this a fast moving body that should be prevented from tunneling through + /// other moving bodies? Note that all bodies are prevented from tunneling through + /// kinematic and static bodies. This setting is only considered on dynamic bodies. + /// @warning You should use this flag sparingly since it increases processing time. + bool bullet; + + /// Does this body start out active? + bool active; + + /// Use this to store application specific body data. + void* userData; + + /// Experimental: scales the inertia tensor. + float32 inertiaScale; +}; + +/// A rigid body. These are created via b2World::CreateBody. +class b2Body +{ +public: + /// Creates a fixture and attach it to this body. Use this function if you need + /// to set some fixture parameters, like friction. Otherwise you can create the + /// fixture directly from a shape. + /// If the density is non-zero, this function automatically updates the mass of the body. + /// Contacts are not created until the next time step. + /// @param def the fixture definition. + /// @warning This function is locked during callbacks. + b2Fixture* CreateFixture(const b2FixtureDef* def); + + /// Creates a fixture from a shape and attach it to this body. + /// This is a convenience function. Use b2FixtureDef if you need to set parameters + /// like friction, restitution, user data, or filtering. + /// If the density is non-zero, this function automatically updates the mass of the body. + /// @param shape the shape to be cloned. + /// @param density the shape density (set to zero for static bodies). + /// @warning This function is locked during callbacks. + b2Fixture* CreateFixture(const b2Shape* shape, float32 density); + + /// Destroy a fixture. This removes the fixture from the broad-phase and + /// destroys all contacts associated with this fixture. This will + /// automatically adjust the mass of the body if the body is dynamic and the + /// fixture has positive density. + /// All fixtures attached to a body are implicitly destroyed when the body is destroyed. + /// @param fixture the fixture to be removed. + /// @warning This function is locked during callbacks. + void DestroyFixture(b2Fixture* fixture); + + /// Set the position of the body's origin and rotation. + /// This breaks any contacts and wakes the other bodies. + /// Manipulating a body's transform may cause non-physical behavior. + /// @param position the world position of the body's local origin. + /// @param angle the world rotation in radians. + void SetTransform(const b2Vec2& position, float32 angle); + + /// Get the body transform for the body's origin. + /// @return the world transform of the body's origin. + const b2Transform& GetTransform() const; + + /// Get the world body origin position. + /// @return the world position of the body's origin. + const b2Vec2& GetPosition() const; + + /// Get the angle in radians. + /// @return the current world rotation angle in radians. + float32 GetAngle() const; + + /// Get the world position of the center of mass. + const b2Vec2& GetWorldCenter() const; + + /// Get the local position of the center of mass. + const b2Vec2& GetLocalCenter() const; + + /// Set the linear velocity of the center of mass. + /// @param v the new linear velocity of the center of mass. + void SetLinearVelocity(const b2Vec2& v); + + /// Get the linear velocity of the center of mass. + /// @return the linear velocity of the center of mass. + b2Vec2 GetLinearVelocity() const; + + /// Set the angular velocity. + /// @param omega the new angular velocity in radians/second. + void SetAngularVelocity(float32 omega); + + /// Get the angular velocity. + /// @return the angular velocity in radians/second. + float32 GetAngularVelocity() const; + + /// Apply a force at a world point. If the force is not + /// applied at the center of mass, it will generate a torque and + /// affect the angular velocity. This wakes up the body. + /// @param force the world force vector, usually in Newtons (N). + /// @param point the world position of the point of application. + void ApplyForce(const b2Vec2& force, const b2Vec2& point); + + /// Apply a torque. This affects the angular velocity + /// without affecting the linear velocity of the center of mass. + /// This wakes up the body. + /// @param torque about the z-axis (out of the screen), usually in N-m. + void ApplyTorque(float32 torque); + + /// Apply an impulse at a point. This immediately modifies the velocity. + /// It also modifies the angular velocity if the point of application + /// is not at the center of mass. This wakes up the body. + /// @param impulse the world impulse vector, usually in N-seconds or kg-m/s. + /// @param point the world position of the point of application. + void ApplyLinearImpulse(const b2Vec2& impulse, const b2Vec2& point); + + /// Apply an angular impulse. + /// @param impulse the angular impulse in units of kg*m*m/s + void ApplyAngularImpulse(float32 impulse); + + /// Get the total mass of the body. + /// @return the mass, usually in kilograms (kg). + float32 GetMass() const; + + /// Get the rotational inertia of the body about the local origin. + /// @return the rotational inertia, usually in kg-m^2. + float32 GetInertia() const; + + /// Get the mass data of the body. + /// @return a struct containing the mass, inertia and center of the body. + void GetMassData(b2MassData* data) const; + + /// Set the mass properties to override the mass properties of the fixtures. + /// Note that this changes the center of mass position. + /// Note that creating or destroying fixtures can also alter the mass. + /// This function has no effect if the body isn't dynamic. + /// @param massData the mass properties. + void SetMassData(const b2MassData* data); + + /// This resets the mass properties to the sum of the mass properties of the fixtures. + /// This normally does not need to be called unless you called SetMassData to override + /// the mass and you later want to reset the mass. + void ResetMassData(); + + /// Get the world coordinates of a point given the local coordinates. + /// @param localPoint a point on the body measured relative the the body's origin. + /// @return the same point expressed in world coordinates. + b2Vec2 GetWorldPoint(const b2Vec2& localPoint) const; + + /// Get the world coordinates of a vector given the local coordinates. + /// @param localVector a vector fixed in the body. + /// @return the same vector expressed in world coordinates. + b2Vec2 GetWorldVector(const b2Vec2& localVector) const; + + /// Gets a local point relative to the body's origin given a world point. + /// @param a point in world coordinates. + /// @return the corresponding local point relative to the body's origin. + b2Vec2 GetLocalPoint(const b2Vec2& worldPoint) const; + + /// Gets a local vector given a world vector. + /// @param a vector in world coordinates. + /// @return the corresponding local vector. + b2Vec2 GetLocalVector(const b2Vec2& worldVector) const; + + /// Get the world linear velocity of a world point attached to this body. + /// @param a point in world coordinates. + /// @return the world velocity of a point. + b2Vec2 GetLinearVelocityFromWorldPoint(const b2Vec2& worldPoint) const; + + /// Get the world velocity of a local point. + /// @param a point in local coordinates. + /// @return the world velocity of a point. + b2Vec2 GetLinearVelocityFromLocalPoint(const b2Vec2& localPoint) const; + + /// Get the linear damping of the body. + float32 GetLinearDamping() const; + + /// Set the linear damping of the body. + void SetLinearDamping(float32 linearDamping); + + /// Get the angular damping of the body. + float32 GetAngularDamping() const; + + /// Set the angular damping of the body. + void SetAngularDamping(float32 angularDamping); + + /// Set the type of this body. This may alter the mass and velocity. + void SetType(b2BodyType type); + + /// Get the type of this body. + b2BodyType GetType() const; + + /// Should this body be treated like a bullet for continuous collision detection? + void SetBullet(bool flag); + + /// Is this body treated like a bullet for continuous collision detection? + bool IsBullet() const; + + /// You can disable sleeping on this body. If you disable sleeping, the + /// body will be woken. + void SetSleepingAllowed(bool flag); + + /// Is this body allowed to sleep + bool IsSleepingAllowed() const; + + /// Set the sleep state of the body. A sleeping body has very + /// low CPU cost. + /// @param flag set to true to put body to sleep, false to wake it. + void SetAwake(bool flag); + + /// Get the sleeping state of this body. + /// @return true if the body is sleeping. + bool IsAwake() const; + + /// Set the active state of the body. An inactive body is not + /// simulated and cannot be collided with or woken up. + /// If you pass a flag of true, all fixtures will be added to the + /// broad-phase. + /// If you pass a flag of false, all fixtures will be removed from + /// the broad-phase and all contacts will be destroyed. + /// Fixtures and joints are otherwise unaffected. You may continue + /// to create/destroy fixtures and joints on inactive bodies. + /// Fixtures on an inactive body are implicitly inactive and will + /// not participate in collisions, ray-casts, or queries. + /// Joints connected to an inactive body are implicitly inactive. + /// An inactive body is still owned by a b2World object and remains + /// in the body list. + void SetActive(bool flag); + + /// Get the active state of the body. + bool IsActive() const; + + /// Set this body to have fixed rotation. This causes the mass + /// to be reset. + void SetFixedRotation(bool flag); + + /// Does this body have fixed rotation? + bool IsFixedRotation() const; + + /// Get the list of all fixtures attached to this body. + b2Fixture* GetFixtureList(); + const b2Fixture* GetFixtureList() const; + + /// Get the list of all joints attached to this body. + b2JointEdge* GetJointList(); + const b2JointEdge* GetJointList() const; + + /// Get the list of all contacts attached to this body. + /// @warning this list changes during the time step and you may + /// miss some collisions if you don't use b2ContactListener. + b2ContactEdge* GetContactList(); + const b2ContactEdge* GetContactList() const; + + /// Get the next body in the world's body list. + b2Body* GetNext(); + const b2Body* GetNext() const; + + /// Get the user data pointer that was provided in the body definition. + void* GetUserData() const; + + /// Set the user data. Use this to store your application specific data. + void SetUserData(void* data); + + /// Get the parent world of this body. + b2World* GetWorld(); + const b2World* GetWorld() const; + +private: + + friend class b2World; + friend class b2Island; + friend class b2ContactManager; + friend class b2ContactSolver; + friend class b2TOISolver; + + friend class b2DistanceJoint; + friend class b2GearJoint; + friend class b2LineJoint; + friend class b2MouseJoint; + friend class b2PrismaticJoint; + friend class b2PulleyJoint; + friend class b2RevoluteJoint; + friend class b2WeldJoint; + friend class b2FrictionJoint; + + // m_flags + enum + { + e_islandFlag = 0x0001, + e_awakeFlag = 0x0002, + e_autoSleepFlag = 0x0004, + e_bulletFlag = 0x0008, + e_fixedRotationFlag = 0x0010, + e_activeFlag = 0x0020, + e_toiFlag = 0x0040, + }; + + b2Body(const b2BodyDef* bd, b2World* world); + ~b2Body(); + + void SynchronizeFixtures(); + void SynchronizeTransform(); + + // This is used to prevent connected bodies from colliding. + // It may lie, depending on the collideConnected flag. + bool ShouldCollide(const b2Body* other) const; + + void Advance(float32 t); + + b2BodyType m_type; + + uint16 m_flags; + + int32 m_islandIndex; + + b2Transform m_xf; // the body origin transform + b2Sweep m_sweep; // the swept motion for CCD + + b2Vec2 m_linearVelocity; + float32 m_angularVelocity; + + b2Vec2 m_force; + float32 m_torque; + + b2World* m_world; + b2Body* m_prev; + b2Body* m_next; + + b2Fixture* m_fixtureList; + int32 m_fixtureCount; + + b2JointEdge* m_jointList; + b2ContactEdge* m_contactList; + + float32 m_mass, m_invMass; + + // Rotational inertia about the center of mass. + float32 m_I, m_invI; + + float32 m_linearDamping; + float32 m_angularDamping; + + float32 m_sleepTime; + + void* m_userData; +}; + +inline b2BodyType b2Body::GetType() const +{ + return m_type; +} + +inline const b2Transform& b2Body::GetTransform() const +{ + return m_xf; +} + +inline const b2Vec2& b2Body::GetPosition() const +{ + return m_xf.position; +} + +inline float32 b2Body::GetAngle() const +{ + return m_sweep.a; +} + +inline const b2Vec2& b2Body::GetWorldCenter() const +{ + return m_sweep.c; +} + +inline const b2Vec2& b2Body::GetLocalCenter() const +{ + return m_sweep.localCenter; +} + +inline void b2Body::SetLinearVelocity(const b2Vec2& v) +{ + if (m_type == b2_staticBody) + { + return; + } + + if (b2Dot(v,v) > 0.0f) + { + SetAwake(true); + } + + m_linearVelocity = v; +} + +inline b2Vec2 b2Body::GetLinearVelocity() const +{ + return m_linearVelocity; +} + +inline void b2Body::SetAngularVelocity(float32 w) +{ + if (m_type == b2_staticBody) + { + return; + } + + if (w * w > 0.0f) + { + SetAwake(true); + } + + m_angularVelocity = w; +} + +inline float32 b2Body::GetAngularVelocity() const +{ + return m_angularVelocity; +} + +inline float32 b2Body::GetMass() const +{ + return m_mass; +} + +inline float32 b2Body::GetInertia() const +{ + return m_I + m_mass * b2Dot(m_sweep.localCenter, m_sweep.localCenter); +} + +inline void b2Body::GetMassData(b2MassData* data) const +{ + data->mass = m_mass; + data->I = m_I + m_mass * b2Dot(m_sweep.localCenter, m_sweep.localCenter); + data->center = m_sweep.localCenter; +} + +inline b2Vec2 b2Body::GetWorldPoint(const b2Vec2& localPoint) const +{ + return b2Mul(m_xf, localPoint); +} + +inline b2Vec2 b2Body::GetWorldVector(const b2Vec2& localVector) const +{ + return b2Mul(m_xf.R, localVector); +} + +inline b2Vec2 b2Body::GetLocalPoint(const b2Vec2& worldPoint) const +{ + return b2MulT(m_xf, worldPoint); +} + +inline b2Vec2 b2Body::GetLocalVector(const b2Vec2& worldVector) const +{ + return b2MulT(m_xf.R, worldVector); +} + +inline b2Vec2 b2Body::GetLinearVelocityFromWorldPoint(const b2Vec2& worldPoint) const +{ + return m_linearVelocity + b2Cross(m_angularVelocity, worldPoint - m_sweep.c); +} + +inline b2Vec2 b2Body::GetLinearVelocityFromLocalPoint(const b2Vec2& localPoint) const +{ + return GetLinearVelocityFromWorldPoint(GetWorldPoint(localPoint)); +} + +inline float32 b2Body::GetLinearDamping() const +{ + return m_linearDamping; +} + +inline void b2Body::SetLinearDamping(float32 linearDamping) +{ + m_linearDamping = linearDamping; +} + +inline float32 b2Body::GetAngularDamping() const +{ + return m_angularDamping; +} + +inline void b2Body::SetAngularDamping(float32 angularDamping) +{ + m_angularDamping = angularDamping; +} + +inline void b2Body::SetBullet(bool flag) +{ + if (flag) + { + m_flags |= e_bulletFlag; + } + else + { + m_flags &= ~e_bulletFlag; + } +} + +inline bool b2Body::IsBullet() const +{ + return (m_flags & e_bulletFlag) == e_bulletFlag; +} + +inline void b2Body::SetAwake(bool flag) +{ + if (flag) + { + if ((m_flags & e_awakeFlag) == 0) + { + m_flags |= e_awakeFlag; + m_sleepTime = 0.0f; + } + } + else + { + m_flags &= ~e_awakeFlag; + m_sleepTime = 0.0f; + m_linearVelocity.SetZero(); + m_angularVelocity = 0.0f; + m_force.SetZero(); + m_torque = 0.0f; + } +} + +inline bool b2Body::IsAwake() const +{ + return (m_flags & e_awakeFlag) == e_awakeFlag; +} + +inline bool b2Body::IsActive() const +{ + return (m_flags & e_activeFlag) == e_activeFlag; +} + +inline void b2Body::SetFixedRotation(bool flag) +{ + if (flag) + { + m_flags |= e_fixedRotationFlag; + } + else + { + m_flags &= ~e_fixedRotationFlag; + } + + ResetMassData(); +} + +inline bool b2Body::IsFixedRotation() const +{ + return (m_flags & e_fixedRotationFlag) == e_fixedRotationFlag; +} + +inline void b2Body::SetSleepingAllowed(bool flag) +{ + if (flag) + { + m_flags |= e_autoSleepFlag; + } + else + { + m_flags &= ~e_autoSleepFlag; + SetAwake(true); + } +} + +inline bool b2Body::IsSleepingAllowed() const +{ + return (m_flags & e_autoSleepFlag) == e_autoSleepFlag; +} + +inline b2Fixture* b2Body::GetFixtureList() +{ + return m_fixtureList; +} + +inline const b2Fixture* b2Body::GetFixtureList() const +{ + return m_fixtureList; +} + +inline b2JointEdge* b2Body::GetJointList() +{ + return m_jointList; +} + +inline const b2JointEdge* b2Body::GetJointList() const +{ + return m_jointList; +} + +inline b2ContactEdge* b2Body::GetContactList() +{ + return m_contactList; +} + +inline const b2ContactEdge* b2Body::GetContactList() const +{ + return m_contactList; +} + +inline b2Body* b2Body::GetNext() +{ + return m_next; +} + +inline const b2Body* b2Body::GetNext() const +{ + return m_next; +} + +inline void b2Body::SetUserData(void* data) +{ + m_userData = data; +} + +inline void* b2Body::GetUserData() const +{ + return m_userData; +} + +inline void b2Body::ApplyForce(const b2Vec2& force, const b2Vec2& point) +{ + if (m_type != b2_dynamicBody) + { + return; + } + + if (IsAwake() == false) + { + SetAwake(true); + } + + m_force += force; + m_torque += b2Cross(point - m_sweep.c, force); +} + +inline void b2Body::ApplyTorque(float32 torque) +{ + if (m_type != b2_dynamicBody) + { + return; + } + + if (IsAwake() == false) + { + SetAwake(true); + } + + m_torque += torque; +} + +inline void b2Body::ApplyLinearImpulse(const b2Vec2& impulse, const b2Vec2& point) +{ + if (m_type != b2_dynamicBody) + { + return; + } + + if (IsAwake() == false) + { + SetAwake(true); + } + m_linearVelocity += m_invMass * impulse; + m_angularVelocity += m_invI * b2Cross(point - m_sweep.c, impulse); +} + +inline void b2Body::ApplyAngularImpulse(float32 impulse) +{ + if (m_type != b2_dynamicBody) + { + return; + } + + if (IsAwake() == false) + { + SetAwake(true); + } + m_angularVelocity += m_invI * impulse; +} + +inline void b2Body::SynchronizeTransform() +{ + m_xf.R.Set(m_sweep.a); + m_xf.position = m_sweep.c - b2Mul(m_xf.R, m_sweep.localCenter); +} + +inline void b2Body::Advance(float32 t) +{ + // Advance to the new safe time. + m_sweep.Advance(t); + m_sweep.c = m_sweep.c0; + m_sweep.a = m_sweep.a0; + SynchronizeTransform(); +} + +inline b2World* b2Body::GetWorld() +{ + return m_world; +} + +inline const b2World* b2Body::GetWorld() const +{ + return m_world; +} + +#endif diff --git a/src/modules/physics/box2d/Box2D/Dynamics/b2ContactManager.cpp b/src/modules/physics/box2d/Box2D/Dynamics/b2ContactManager.cpp new file mode 100644 index 000000000..d8d96ddbc --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/b2ContactManager.cpp @@ -0,0 +1,266 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include +#include +#include + +b2ContactFilter b2_defaultFilter; +b2ContactListener b2_defaultListener; + +b2ContactManager::b2ContactManager() +{ + m_contactList = NULL; + m_contactCount = 0; + m_contactFilter = &b2_defaultFilter; + m_contactListener = &b2_defaultListener; + m_allocator = NULL; +} + +void b2ContactManager::Destroy(b2Contact* c) +{ + b2Fixture* fixtureA = c->GetFixtureA(); + b2Fixture* fixtureB = c->GetFixtureB(); + b2Body* bodyA = fixtureA->GetBody(); + b2Body* bodyB = fixtureB->GetBody(); + + if (m_contactListener && c->IsTouching()) + { + m_contactListener->EndContact(c); + } + + // Remove from the world. + if (c->m_prev) + { + c->m_prev->m_next = c->m_next; + } + + if (c->m_next) + { + c->m_next->m_prev = c->m_prev; + } + + if (c == m_contactList) + { + m_contactList = c->m_next; + } + + // Remove from body 1 + if (c->m_nodeA.prev) + { + c->m_nodeA.prev->next = c->m_nodeA.next; + } + + if (c->m_nodeA.next) + { + c->m_nodeA.next->prev = c->m_nodeA.prev; + } + + if (&c->m_nodeA == bodyA->m_contactList) + { + bodyA->m_contactList = c->m_nodeA.next; + } + + // Remove from body 2 + if (c->m_nodeB.prev) + { + c->m_nodeB.prev->next = c->m_nodeB.next; + } + + if (c->m_nodeB.next) + { + c->m_nodeB.next->prev = c->m_nodeB.prev; + } + + if (&c->m_nodeB == bodyB->m_contactList) + { + bodyB->m_contactList = c->m_nodeB.next; + } + + // Call the factory. + b2Contact::Destroy(c, m_allocator); + --m_contactCount; +} + +// This is the top level collision call for the time step. Here +// all the narrow phase collision is processed for the world +// contact list. +void b2ContactManager::Collide() +{ + // Update awake contacts. + b2Contact* c = m_contactList; + while (c) + { + b2Fixture* fixtureA = c->GetFixtureA(); + b2Fixture* fixtureB = c->GetFixtureB(); + b2Body* bodyA = fixtureA->GetBody(); + b2Body* bodyB = fixtureB->GetBody(); + + if (bodyA->IsAwake() == false && bodyB->IsAwake() == false) + { + c = c->GetNext(); + continue; + } + + // Is this contact flagged for filtering? + if (c->m_flags & b2Contact::e_filterFlag) + { + // Should these bodies collide? + if (bodyB->ShouldCollide(bodyA) == false) + { + b2Contact* cNuke = c; + c = cNuke->GetNext(); + Destroy(cNuke); + continue; + } + + // Check user filtering. + if (m_contactFilter && m_contactFilter->ShouldCollide(fixtureA, fixtureB) == false) + { + b2Contact* cNuke = c; + c = cNuke->GetNext(); + Destroy(cNuke); + continue; + } + + // Clear the filtering flag. + c->m_flags &= ~b2Contact::e_filterFlag; + } + + int32 proxyIdA = fixtureA->m_proxyId; + int32 proxyIdB = fixtureB->m_proxyId; + bool overlap = m_broadPhase.TestOverlap(proxyIdA, proxyIdB); + + // Here we destroy contacts that cease to overlap in the broad-phase. + if (overlap == false) + { + b2Contact* cNuke = c; + c = cNuke->GetNext(); + Destroy(cNuke); + continue; + } + + // The contact persists. + c->Update(m_contactListener); + c = c->GetNext(); + } +} + +void b2ContactManager::FindNewContacts() +{ + m_broadPhase.UpdatePairs(this); +} + +void b2ContactManager::AddPair(void* proxyUserDataA, void* proxyUserDataB) +{ + b2Fixture* fixtureA = (b2Fixture*)proxyUserDataA; + b2Fixture* fixtureB = (b2Fixture*)proxyUserDataB; + + b2Body* bodyA = fixtureA->GetBody(); + b2Body* bodyB = fixtureB->GetBody(); + + // Are the fixtures on the same body? + if (bodyA == bodyB) + { + return; + } + + // Does a contact already exist? + b2ContactEdge* edge = bodyB->GetContactList(); + while (edge) + { + if (edge->other == bodyA) + { + b2Fixture* fA = edge->contact->GetFixtureA(); + b2Fixture* fB = edge->contact->GetFixtureB(); + if (fA == fixtureA && fB == fixtureB) + { + // A contact already exists. + return; + } + + if (fA == fixtureB && fB == fixtureA) + { + // A contact already exists. + return; + } + } + + edge = edge->next; + } + + // Does a joint override collision? Is at least one body dynamic? + if (bodyB->ShouldCollide(bodyA) == false) + { + return; + } + + // Check user filtering. + if (m_contactFilter && m_contactFilter->ShouldCollide(fixtureA, fixtureB) == false) + { + return; + } + + // Call the factory. + b2Contact* c = b2Contact::Create(fixtureA, fixtureB, m_allocator); + + // Contact creation may swap fixtures. + fixtureA = c->GetFixtureA(); + fixtureB = c->GetFixtureB(); + bodyA = fixtureA->GetBody(); + bodyB = fixtureB->GetBody(); + + // Insert into the world. + c->m_prev = NULL; + c->m_next = m_contactList; + if (m_contactList != NULL) + { + m_contactList->m_prev = c; + } + m_contactList = c; + + // Connect to island graph. + + // Connect to body A + c->m_nodeA.contact = c; + c->m_nodeA.other = bodyB; + + c->m_nodeA.prev = NULL; + c->m_nodeA.next = bodyA->m_contactList; + if (bodyA->m_contactList != NULL) + { + bodyA->m_contactList->prev = &c->m_nodeA; + } + bodyA->m_contactList = &c->m_nodeA; + + // Connect to body B + c->m_nodeB.contact = c; + c->m_nodeB.other = bodyA; + + c->m_nodeB.prev = NULL; + c->m_nodeB.next = bodyB->m_contactList; + if (bodyB->m_contactList != NULL) + { + bodyB->m_contactList->prev = &c->m_nodeB; + } + bodyB->m_contactList = &c->m_nodeB; + + ++m_contactCount; +} diff --git a/src/modules/physics/box2d/Source/Dynamics/b2ContactManager.h b/src/modules/physics/box2d/Box2D/Dynamics/b2ContactManager.h similarity index 58% rename from src/modules/physics/box2d/Source/Dynamics/b2ContactManager.h rename to src/modules/physics/box2d/Box2D/Dynamics/b2ContactManager.h index 7bba1a103..fcba54ae7 100644 --- a/src/modules/physics/box2d/Source/Dynamics/b2ContactManager.h +++ b/src/modules/physics/box2d/Box2D/Dynamics/b2ContactManager.h @@ -1,5 +1,5 @@ /* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages @@ -19,36 +19,34 @@ #ifndef B2_CONTACT_MANAGER_H #define B2_CONTACT_MANAGER_H -#include "../Collision/b2BroadPhase.h" -#include "../Dynamics/Contacts/b2NullContact.h" +#include -class b2World; class b2Contact; -struct b2TimeStep; +class b2ContactFilter; +class b2ContactListener; +class b2BlockAllocator; // Delegate of b2World. -class b2ContactManager : public b2PairCallback +class b2ContactManager { public: - b2ContactManager() : m_world(NULL), m_destroyImmediate(false) {} + b2ContactManager(); - // Implements PairCallback - void* PairAdded(void* proxyUserData1, void* proxyUserData2); + // Broad-phase callback. + void AddPair(void* proxyUserDataA, void* proxyUserDataB); - // Implements PairCallback - void PairRemoved(void* proxyUserData1, void* proxyUserData2, void* pairUserData); + void FindNewContacts(); void Destroy(b2Contact* c); void Collide(); - - b2World* m_world; - - // This lets us provide broadphase proxy pair user data for - // contacts that shouldn't exist. - b2NullContact m_nullContact; - - bool m_destroyImmediate; + + b2BroadPhase m_broadPhase; + b2Contact* m_contactList; + int32 m_contactCount; + b2ContactFilter* m_contactFilter; + b2ContactListener* m_contactListener; + b2BlockAllocator* m_allocator; }; #endif diff --git a/src/modules/physics/box2d/Box2D/Dynamics/b2Fixture.cpp b/src/modules/physics/box2d/Box2D/Dynamics/b2Fixture.cpp new file mode 100644 index 000000000..31355b572 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/b2Fixture.cpp @@ -0,0 +1,163 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include +#include +#include +#include +#include + + +b2Fixture::b2Fixture() +{ + m_userData = NULL; + m_body = NULL; + m_next = NULL; + m_proxyId = b2BroadPhase::e_nullProxy; + m_shape = NULL; + m_density = 0.0f; +} + +b2Fixture::~b2Fixture() +{ + b2Assert(m_shape == NULL); + b2Assert(m_proxyId == b2BroadPhase::e_nullProxy); +} + +void b2Fixture::Create(b2BlockAllocator* allocator, b2Body* body, const b2FixtureDef* def) +{ + m_userData = def->userData; + m_friction = def->friction; + m_restitution = def->restitution; + + m_body = body; + m_next = NULL; + + m_filter = def->filter; + + m_isSensor = def->isSensor; + + m_shape = def->shape->Clone(allocator); + + m_density = def->density; +} + +void b2Fixture::Destroy(b2BlockAllocator* allocator) +{ + // The proxy must be destroyed before calling this. + b2Assert(m_proxyId == b2BroadPhase::e_nullProxy); + + // Free the child shape. + switch (m_shape->m_type) + { + case b2Shape::e_circle: + { + b2CircleShape* s = (b2CircleShape*)m_shape; + s->~b2CircleShape(); + allocator->Free(s, sizeof(b2CircleShape)); + } + break; + + case b2Shape::e_polygon: + { + b2PolygonShape* s = (b2PolygonShape*)m_shape; + s->~b2PolygonShape(); + allocator->Free(s, sizeof(b2PolygonShape)); + } + break; + + default: + b2Assert(false); + break; + } + + m_shape = NULL; +} + +void b2Fixture::CreateProxy(b2BroadPhase* broadPhase, const b2Transform& xf) +{ + b2Assert(m_proxyId == b2BroadPhase::e_nullProxy); + + // Create proxy in the broad-phase. + m_shape->ComputeAABB(&m_aabb, xf); + m_proxyId = broadPhase->CreateProxy(m_aabb, this); +} + +void b2Fixture::DestroyProxy(b2BroadPhase* broadPhase) +{ + if (m_proxyId == b2BroadPhase::e_nullProxy) + { + return; + } + + // Destroy proxy in the broad-phase. + broadPhase->DestroyProxy(m_proxyId); + m_proxyId = b2BroadPhase::e_nullProxy; +} + +void b2Fixture::Synchronize(b2BroadPhase* broadPhase, const b2Transform& transform1, const b2Transform& transform2) +{ + if (m_proxyId == b2BroadPhase::e_nullProxy) + { + return; + } + + // Compute an AABB that covers the swept shape (may miss some rotation effect). + b2AABB aabb1, aabb2; + m_shape->ComputeAABB(&aabb1, transform1); + m_shape->ComputeAABB(&aabb2, transform2); + + m_aabb.Combine(aabb1, aabb2); + + b2Vec2 displacement = transform2.position - transform1.position; + + broadPhase->MoveProxy(m_proxyId, m_aabb, displacement); +} + +void b2Fixture::SetFilterData(const b2Filter& filter) +{ + m_filter = filter; + + if (m_body == NULL) + { + return; + } + + // Flag associated contacts for filtering. + b2ContactEdge* edge = m_body->GetContactList(); + while (edge) + { + b2Contact* contact = edge->contact; + b2Fixture* fixtureA = contact->GetFixtureA(); + b2Fixture* fixtureB = contact->GetFixtureB(); + if (fixtureA == this || fixtureB == this) + { + contact->FlagForFiltering(); + } + + edge = edge->next; + } +} + +void b2Fixture::SetSensor(bool sensor) +{ + m_isSensor = sensor; +} + diff --git a/src/modules/physics/box2d/Box2D/Dynamics/b2Fixture.h b/src/modules/physics/box2d/Box2D/Dynamics/b2Fixture.h new file mode 100644 index 000000000..d9d325554 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/b2Fixture.h @@ -0,0 +1,326 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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_FIXTURE_H +#define B2_FIXTURE_H + +#include +#include +#include + +class b2BlockAllocator; +class b2Body; +class b2BroadPhase; + +/// This holds contact filtering data. +struct b2Filter +{ + /// The collision category bits. Normally you would just set one bit. + uint16 categoryBits; + + /// The collision mask bits. This states the categories that this + /// shape would accept for collision. + uint16 maskBits; + + /// Collision groups allow a certain group of objects to never collide (negative) + /// or always collide (positive). Zero means no collision group. Non-zero group + /// filtering always wins against the mask bits. + int16 groupIndex; +}; + +/// A fixture definition is used to create a fixture. This class defines an +/// abstract fixture definition. You can reuse fixture definitions safely. +struct b2FixtureDef +{ + /// The constructor sets the default fixture definition values. + b2FixtureDef() + { + shape = NULL; + userData = NULL; + friction = 0.2f; + restitution = 0.0f; + density = 0.0f; + filter.categoryBits = 0x0001; + filter.maskBits = 0xFFFF; + filter.groupIndex = 0; + isSensor = false; + } + + virtual ~b2FixtureDef() {} + + /// The shape, this must be set. The shape will be cloned, so you + /// can create the shape on the stack. + const b2Shape* shape; + + /// Use this to store application specific fixture data. + void* userData; + + /// The friction coefficient, usually in the range [0,1]. + float32 friction; + + /// The restitution (elasticity) usually in the range [0,1]. + float32 restitution; + + /// The density, usually in kg/m^2. + float32 density; + + /// A sensor shape collects contact information but never generates a collision + /// response. + bool isSensor; + + /// Contact filtering data. + b2Filter filter; +}; + + +/// A fixture is used to attach a shape to a body for collision detection. A fixture +/// inherits its transform from its parent. Fixtures hold additional non-geometric data +/// such as friction, collision filters, etc. +/// Fixtures are created via b2Body::CreateFixture. +/// @warning you cannot reuse fixtures. +class b2Fixture +{ +public: + /// Get the type of the child shape. You can use this to down cast to the concrete shape. + /// @return the shape type. + b2Shape::Type GetType() const; + + /// Get the child shape. You can modify the child shape, however you should not change the + /// number of vertices because this will crash some collision caching mechanisms. + /// Manipulating the shape may lead to non-physical behavior. + b2Shape* GetShape(); + const b2Shape* GetShape() const; + + /// Set if this fixture is a sensor. + void SetSensor(bool sensor); + + /// Is this fixture a sensor (non-solid)? + /// @return the true if the shape is a sensor. + bool IsSensor() const; + + /// Set the contact filtering data. This will not update contacts until the next time + /// step when either parent body is active and awake. + void SetFilterData(const b2Filter& filter); + + /// Get the contact filtering data. + const b2Filter& GetFilterData() const; + + /// Get the parent body of this fixture. This is NULL if the fixture is not attached. + /// @return the parent body. + b2Body* GetBody(); + const b2Body* GetBody() const; + + /// Get the next fixture in the parent body's fixture list. + /// @return the next shape. + b2Fixture* GetNext(); + const b2Fixture* GetNext() const; + + /// Get the user data that was assigned in the fixture definition. Use this to + /// store your application specific data. + void* GetUserData() const; + + /// Set the user data. Use this to store your application specific data. + void SetUserData(void* data); + + /// Test a point for containment in this fixture. + /// @param xf the shape world transform. + /// @param p a point in world coordinates. + bool TestPoint(const b2Vec2& p) const; + + /// Cast a ray against this shape. + /// @param output the ray-cast results. + /// @param input the ray-cast input parameters. + bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input) const; + + /// Get the mass data for this fixture. The mass data is based on the density and + /// the shape. The rotational inertia is about the shape's origin. This operation + /// may be expensive. + void GetMassData(b2MassData* massData) const; + + /// Set the density of this fixture. This will _not_ automatically adjust the mass + /// of the body. You must call b2Body::ResetMassData to update the body's mass. + void SetDensity(float32 density); + + /// Get the density of this fixture. + float32 GetDensity() const; + + /// Get the coefficient of friction. + float32 GetFriction() const; + + /// Set the coefficient of friction. + void SetFriction(float32 friction); + + /// Get the coefficient of restitution. + float32 GetRestitution() const; + + /// Set the coefficient of restitution. + void SetRestitution(float32 restitution); + + /// Get the fixture's AABB. This AABB may be enlarge and/or stale. + /// If you need a more accurate AABB, compute it using the shape and + /// the body transform. + const b2AABB& GetAABB() const; + +protected: + + friend class b2Body; + friend class b2World; + friend class b2Contact; + friend class b2ContactManager; + + b2Fixture(); + ~b2Fixture(); + + // We need separation create/destroy functions from the constructor/destructor because + // the destructor cannot access the allocator (no destructor arguments allowed by C++). + void Create(b2BlockAllocator* allocator, b2Body* body, const b2FixtureDef* def); + void Destroy(b2BlockAllocator* allocator); + + // These support body activation/deactivation. + void CreateProxy(b2BroadPhase* broadPhase, const b2Transform& xf); + void DestroyProxy(b2BroadPhase* broadPhase); + + void Synchronize(b2BroadPhase* broadPhase, const b2Transform& xf1, const b2Transform& xf2); + + b2AABB m_aabb; + + float32 m_density; + + b2Fixture* m_next; + b2Body* m_body; + + b2Shape* m_shape; + + float32 m_friction; + float32 m_restitution; + + int32 m_proxyId; + b2Filter m_filter; + + bool m_isSensor; + + void* m_userData; +}; + +inline b2Shape::Type b2Fixture::GetType() const +{ + return m_shape->GetType(); +} + +inline b2Shape* b2Fixture::GetShape() +{ + return m_shape; +} + +inline const b2Shape* b2Fixture::GetShape() const +{ + return m_shape; +} + +inline bool b2Fixture::IsSensor() const +{ + return m_isSensor; +} + +inline const b2Filter& b2Fixture::GetFilterData() const +{ + return m_filter; +} + +inline void* b2Fixture::GetUserData() const +{ + return m_userData; +} + +inline void b2Fixture::SetUserData(void* data) +{ + m_userData = data; +} + +inline b2Body* b2Fixture::GetBody() +{ + return m_body; +} + +inline const b2Body* b2Fixture::GetBody() const +{ + return m_body; +} + +inline b2Fixture* b2Fixture::GetNext() +{ + return m_next; +} + +inline const b2Fixture* b2Fixture::GetNext() const +{ + return m_next; +} + +inline void b2Fixture::SetDensity(float32 density) +{ + b2Assert(b2IsValid(density) && density >= 0.0f); + m_density = density; +} + +inline float32 b2Fixture::GetDensity() const +{ + return m_density; +} + +inline float32 b2Fixture::GetFriction() const +{ + return m_friction; +} + +inline void b2Fixture::SetFriction(float32 friction) +{ + m_friction = friction; +} + +inline float32 b2Fixture::GetRestitution() const +{ + return m_restitution; +} + +inline void b2Fixture::SetRestitution(float32 restitution) +{ + m_restitution = restitution; +} + +inline bool b2Fixture::TestPoint(const b2Vec2& p) const +{ + return m_shape->TestPoint(m_body->GetTransform(), p); +} + +inline bool b2Fixture::RayCast(b2RayCastOutput* output, const b2RayCastInput& input) const +{ + return m_shape->RayCast(output, input, m_body->GetTransform()); +} + +inline void b2Fixture::GetMassData(b2MassData* massData) const +{ + m_shape->ComputeMass(massData, m_density); +} + +inline const b2AABB& b2Fixture::GetAABB() const +{ + return m_aabb; +} + +#endif diff --git a/src/modules/physics/box2d/Source/Dynamics/b2Island.cpp b/src/modules/physics/box2d/Box2D/Dynamics/b2Island.cpp similarity index 62% rename from src/modules/physics/box2d/Source/Dynamics/b2Island.cpp rename to src/modules/physics/box2d/Box2D/Dynamics/b2Island.cpp index 4096c1ba3..009249979 100644 --- a/src/modules/physics/box2d/Source/Dynamics/b2Island.cpp +++ b/src/modules/physics/box2d/Box2D/Dynamics/b2Island.cpp @@ -1,5 +1,5 @@ /* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages @@ -16,13 +16,14 @@ * 3. This notice may not be removed or altered from any source distribution. */ -#include "b2Island.h" -#include "b2Body.h" -#include "b2World.h" -#include "Contacts/b2Contact.h" -#include "Contacts/b2ContactSolver.h" -#include "Joints/b2Joint.h" -#include "../Common/b2StackAllocator.h" +#include +#include +#include +#include +#include +#include +#include +#include /* Position Correction Notes @@ -103,6 +104,45 @@ probably default to the slower Full NGS and let the user select the faster Baumgarte method in performance critical scenarios. */ +/* +Cache Performance + +The Box2D solvers are dominated by cache misses. Data structures are designed +to increase the number of cache hits. Much of misses are due to random access +to body data. The constraint structures are iterated over linearly, which leads +to few cache misses. + +The bodies are not accessed during iteration. Instead read only data, such as +the mass values are stored with the constraints. The mutable data are the constraint +impulses and the bodies velocities/positions. The impulses are held inside the +constraint structures. The body velocities/positions are held in compact, temporary +arrays to increase the number of cache hits. Linear and angular velocity are +stored in a single array since multiple arrays lead to multiple misses. +*/ + +/* +2D Rotation + +R = [cos(theta) -sin(theta)] + [sin(theta) cos(theta) ] + +thetaDot = omega + +Let q1 = cos(theta), q2 = sin(theta). +R = [q1 -q2] + [q2 q1] + +q1Dot = -thetaDot * q2 +q2Dot = thetaDot * q1 + +q1_new = q1_old - dt * w * q2 +q2_new = q2_old + dt * w * q1 +then normalize. + +This might be faster than computing sin+cos. +However, we can compute sin+cos of the same angle fast. +*/ + b2Island::b2Island( int32 bodyCapacity, int32 contactCapacity, @@ -124,35 +164,36 @@ b2Island::b2Island( m_contacts = (b2Contact**)m_allocator->Allocate(contactCapacity * sizeof(b2Contact*)); m_joints = (b2Joint**)m_allocator->Allocate(jointCapacity * sizeof(b2Joint*)); - m_positionIterationCount = 0; + m_velocities = (b2Velocity*)m_allocator->Allocate(m_bodyCapacity * sizeof(b2Velocity)); + m_positions = (b2Position*)m_allocator->Allocate(m_bodyCapacity * sizeof(b2Position)); } b2Island::~b2Island() { // Warning: the order should reverse the constructor order. + m_allocator->Free(m_positions); + m_allocator->Free(m_velocities); m_allocator->Free(m_joints); m_allocator->Free(m_contacts); m_allocator->Free(m_bodies); } -void b2Island::Solve(const b2TimeStep& step, const b2Vec2& gravity, bool correctPositions, bool allowSleep) +void b2Island::Solve(const b2TimeStep& step, const b2Vec2& gravity, bool allowSleep) { // Integrate velocities and apply damping. for (int32 i = 0; i < m_bodyCount; ++i) { b2Body* b = m_bodies[i]; - if (b->IsStatic()) + if (b->GetType() != b2_dynamicBody) + { continue; + } // Integrate velocities. b->m_linearVelocity += step.dt * (gravity + b->m_invMass * b->m_force); b->m_angularVelocity += step.dt * b->m_invI * b->m_torque; - // Reset forces. - b->m_force.Set(0.0f, 0.0f); - b->m_torque = 0.0f; - // Apply damping. // ODE: dv/dt + c * v = 0 // Solution: v(t) = v0 * exp(-c * t) @@ -162,72 +203,70 @@ void b2Island::Solve(const b2TimeStep& step, const b2Vec2& gravity, bool correct // v2 = (1.0f - c * dt) * v1 b->m_linearVelocity *= b2Clamp(1.0f - step.dt * b->m_linearDamping, 0.0f, 1.0f); b->m_angularVelocity *= b2Clamp(1.0f - step.dt * b->m_angularDamping, 0.0f, 1.0f); - - // Check for large velocities. -#ifdef TARGET_FLOAT32_IS_FIXED - // Fixed point code written this way to prevent - // overflows, float code is optimized for speed - - float32 vMagnitude = b->m_linearVelocity.Length(); - if(vMagnitude > b2_maxLinearVelocity) { - b->m_linearVelocity *= b2_maxLinearVelocity/vMagnitude; - } - b->m_angularVelocity = b2Clamp(b->m_angularVelocity, - -b2_maxAngularVelocity, b2_maxAngularVelocity); - -#else - - if (b2Dot(b->m_linearVelocity, b->m_linearVelocity) > b2_maxLinearVelocitySquared) - { - b->m_linearVelocity.Normalize(); - b->m_linearVelocity *= b2_maxLinearVelocity; - } - if (b->m_angularVelocity * b->m_angularVelocity > b2_maxAngularVelocitySquared) - { - if (b->m_angularVelocity < 0.0f) - { - b->m_angularVelocity = -b2_maxAngularVelocity; - } - else - { - b->m_angularVelocity = b2_maxAngularVelocity; - } - } -#endif - } - b2ContactSolver contactSolver(step, m_contacts, m_contactCount, m_allocator); + // Partition contacts so that contacts with static bodies are solved last. + int32 i1 = -1; + for (int32 i2 = 0; i2 < m_contactCount; ++i2) + { + b2Fixture* fixtureA = m_contacts[i2]->GetFixtureA(); + b2Fixture* fixtureB = m_contacts[i2]->GetFixtureB(); + b2Body* bodyA = fixtureA->GetBody(); + b2Body* bodyB = fixtureB->GetBody(); + bool nonStatic = bodyA->GetType() != b2_staticBody && bodyB->GetType() != b2_staticBody; + if (nonStatic) + { + ++i1; + b2Swap(m_contacts[i1], m_contacts[i2]); + } + } // Initialize velocity constraints. - contactSolver.InitVelocityConstraints(step); - + b2ContactSolver contactSolver(m_contacts, m_contactCount, m_allocator, step.dtRatio); + contactSolver.WarmStart(); for (int32 i = 0; i < m_jointCount; ++i) { m_joints[i]->InitVelocityConstraints(step); } // Solve velocity constraints. - for (int32 i = 0; i < step.maxIterations; ++i) + for (int32 i = 0; i < step.velocityIterations; ++i) { - contactSolver.SolveVelocityConstraints(); - for (int32 j = 0; j < m_jointCount; ++j) { m_joints[j]->SolveVelocityConstraints(step); } + + contactSolver.SolveVelocityConstraints(); } // Post-solve (store impulses for warm starting). - contactSolver.FinalizeVelocityConstraints(); + contactSolver.StoreImpulses(); // Integrate positions. for (int32 i = 0; i < m_bodyCount; ++i) { b2Body* b = m_bodies[i]; - if (b->IsStatic()) + if (b->GetType() == b2_staticBody) + { continue; + } + + // Check for large velocities. + b2Vec2 translation = step.dt * b->m_linearVelocity; + if (b2Dot(translation, translation) > b2_maxTranslationSquared) + { + float32 ratio = b2_maxTranslation / translation.Length(); + b->m_linearVelocity *= ratio; + } + + float32 rotation = step.dt * b->m_angularVelocity; + if (rotation * rotation > b2_maxRotationSquared) + { + float32 ratio = b2_maxRotation / b2Abs(rotation); + b->m_angularVelocity *= ratio; + } // Store positions for continuous collision. b->m_sweep.c0 = b->m_sweep.c; @@ -243,31 +282,22 @@ void b2Island::Solve(const b2TimeStep& step, const b2Vec2& gravity, bool correct // Note: shapes are synchronized later. } - if (correctPositions) + // Iterate over constraints. + for (int32 i = 0; i < step.positionIterations; ++i) { - // Initialize position constraints. - // Contacts don't need initialization. + bool contactsOkay = contactSolver.SolvePositionConstraints(b2_contactBaumgarte); + + bool jointsOkay = true; for (int32 i = 0; i < m_jointCount; ++i) { - m_joints[i]->InitPositionConstraints(); + bool jointOkay = m_joints[i]->SolvePositionConstraints(b2_contactBaumgarte); + jointsOkay = jointsOkay && jointOkay; } - // Iterate over constraints. - for (m_positionIterationCount = 0; m_positionIterationCount < step.maxIterations; ++m_positionIterationCount) + if (contactsOkay && jointsOkay) { - bool contactsOkay = contactSolver.SolvePositionConstraints(b2_contactBaumgarte); - - bool jointsOkay = true; - for (int i = 0; i < m_jointCount; ++i) - { - bool jointOkay = m_joints[i]->SolvePositionConstraints(); - jointsOkay = jointsOkay && jointOkay; - } - - if (contactsOkay && jointsOkay) - { - break; - } + // Exit early if the position errors are small. + break; } } @@ -275,36 +305,28 @@ void b2Island::Solve(const b2TimeStep& step, const b2Vec2& gravity, bool correct if (allowSleep) { - float32 minSleepTime = B2_FLT_MAX; + float32 minSleepTime = b2_maxFloat; -#ifndef TARGET_FLOAT32_IS_FIXED const float32 linTolSqr = b2_linearSleepTolerance * b2_linearSleepTolerance; const float32 angTolSqr = b2_angularSleepTolerance * b2_angularSleepTolerance; -#endif for (int32 i = 0; i < m_bodyCount; ++i) { b2Body* b = m_bodies[i]; - if (b->m_invMass == 0.0f) + if (b->GetType() == b2_staticBody) { continue; } - if ((b->m_flags & b2Body::e_allowSleepFlag) == 0) + if ((b->m_flags & b2Body::e_autoSleepFlag) == 0) { b->m_sleepTime = 0.0f; minSleepTime = 0.0f; } - if ((b->m_flags & b2Body::e_allowSleepFlag) == 0 || -#ifdef TARGET_FLOAT32_IS_FIXED - b2Abs(b->m_angularVelocity) > b2_angularSleepTolerance || - b2Abs(b->m_linearVelocity.x) > b2_linearSleepTolerance || - b2Abs(b->m_linearVelocity.y) > b2_linearSleepTolerance) -#else + if ((b->m_flags & b2Body::e_autoSleepFlag) == 0 || b->m_angularVelocity * b->m_angularVelocity > angTolSqr || b2Dot(b->m_linearVelocity, b->m_linearVelocity) > linTolSqr) -#endif { b->m_sleepTime = 0.0f; minSleepTime = 0.0f; @@ -321,66 +343,13 @@ void b2Island::Solve(const b2TimeStep& step, const b2Vec2& gravity, bool correct for (int32 i = 0; i < m_bodyCount; ++i) { b2Body* b = m_bodies[i]; - b->m_flags |= b2Body::e_sleepFlag; - b->m_linearVelocity = b2Vec2_zero; - b->m_angularVelocity = 0.0f; + b->SetAwake(false); } } } } -void b2Island::SolveTOI(const b2TimeStep& subStep) -{ - b2ContactSolver contactSolver(subStep, m_contacts, m_contactCount, m_allocator); - - // No warm starting needed for TOI events. - - // Solve velocity constraints. - for (int32 i = 0; i < subStep.maxIterations; ++i) - { - contactSolver.SolveVelocityConstraints(); - } - - // Don't store the TOI contact forces for warm starting - // because they can be quite large. - - // Integrate positions. - for (int32 i = 0; i < m_bodyCount; ++i) - { - b2Body* b = m_bodies[i]; - - if (b->IsStatic()) - continue; - - // Store positions for continuous collision. - b->m_sweep.c0 = b->m_sweep.c; - b->m_sweep.a0 = b->m_sweep.a; - - // Integrate - b->m_sweep.c += subStep.dt * b->m_linearVelocity; - b->m_sweep.a += subStep.dt * b->m_angularVelocity; - - // Compute new transform - b->SynchronizeTransform(); - - // Note: shapes are synchronized later. - } - - // Solve position constraints. - const float32 k_toiBaumgarte = 0.75f; - for (int32 i = 0; i < subStep.maxIterations; ++i) - { - bool contactsOkay = contactSolver.SolvePositionConstraints(k_toiBaumgarte); - if (contactsOkay) - { - break; - } - } - - Report(contactSolver.m_constraints); -} - -void b2Island::Report(b2ContactConstraint* constraints) +void b2Island::Report(const b2ContactConstraint* constraints) { if (m_listener == NULL) { @@ -390,31 +359,16 @@ void b2Island::Report(b2ContactConstraint* constraints) for (int32 i = 0; i < m_contactCount; ++i) { b2Contact* c = m_contacts[i]; - b2ContactConstraint* cc = constraints + i; - b2ContactResult cr; - cr.shape1 = c->GetShape1(); - cr.shape2 = c->GetShape2(); - b2Body* b1 = cr.shape1->GetBody(); - int32 manifoldCount = c->GetManifoldCount(); - b2Manifold* manifolds = c->GetManifolds(); - for (int32 j = 0; j < manifoldCount; ++j) + + const b2ContactConstraint* cc = constraints + i; + + b2ContactImpulse impulse; + for (int32 j = 0; j < cc->pointCount; ++j) { - b2Manifold* manifold = manifolds + j; - cr.normal = manifold->normal; - for (int32 k = 0; k < manifold->pointCount; ++k) - { - b2ManifoldPoint* point = manifold->points + k; - b2ContactConstraintPoint* ccp = cc->points + k; - cr.position = b1->GetWorldPoint(point->localPoint1); - - // TOI constraint results are not stored, so get - // the result from the constraint. - cr.normalImpulse = ccp->normalImpulse; - cr.tangentImpulse = ccp->tangentImpulse; - cr.id = point->id; - - m_listener->Result(&cr); - } + impulse.normalImpulses[j] = cc->points[j].normalImpulse; + impulse.tangentImpulses[j] = cc->points[j].tangentImpulse; } + + m_listener->PostSolve(c, &impulse); } } diff --git a/src/modules/physics/box2d/Source/Dynamics/b2Island.h b/src/modules/physics/box2d/Box2D/Dynamics/b2Island.h similarity index 75% rename from src/modules/physics/box2d/Source/Dynamics/b2Island.h rename to src/modules/physics/box2d/Box2D/Dynamics/b2Island.h index eb62fd98e..3a5fd1131 100644 --- a/src/modules/physics/box2d/Source/Dynamics/b2Island.h +++ b/src/modules/physics/box2d/Box2D/Dynamics/b2Island.h @@ -1,5 +1,5 @@ /* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages @@ -19,16 +19,31 @@ #ifndef B2_ISLAND_H #define B2_ISLAND_H -#include "../Common/b2Math.h" +#include +#include +#include class b2Contact; -class b2Body; class b2Joint; class b2StackAllocator; class b2ContactListener; struct b2ContactConstraint; -struct b2TimeStep; +/// This is an internal structure. +struct b2Position +{ + b2Vec2 x; + float32 a; +}; + +/// This is an internal structure. +struct b2Velocity +{ + b2Vec2 v; + float32 w; +}; + +/// This is an internal class. class b2Island { public: @@ -43,13 +58,12 @@ public: m_jointCount = 0; } - void Solve(const b2TimeStep& step, const b2Vec2& gravity, bool correctPositions, bool allowSleep); - - void SolveTOI(const b2TimeStep& subStep); + void Solve(const b2TimeStep& step, const b2Vec2& gravity, bool allowSleep); void Add(b2Body* body) { b2Assert(m_bodyCount < m_bodyCapacity); + body->m_islandIndex = m_bodyCount; m_bodies[m_bodyCount++] = body; } @@ -65,7 +79,7 @@ public: m_joints[m_jointCount++] = joint; } - void Report(b2ContactConstraint* constraints); + void Report(const b2ContactConstraint* constraints); b2StackAllocator* m_allocator; b2ContactListener* m_listener; @@ -74,6 +88,9 @@ public: b2Contact** m_contacts; b2Joint** m_joints; + b2Position* m_positions; + b2Velocity* m_velocities; + int32 m_bodyCount; int32 m_jointCount; int32 m_contactCount; diff --git a/src/modules/physics/box2d/Source/Common/b2Settings.cpp b/src/modules/physics/box2d/Box2D/Dynamics/b2TimeStep.h similarity index 57% rename from src/modules/physics/box2d/Source/Common/b2Settings.cpp rename to src/modules/physics/box2d/Box2D/Dynamics/b2TimeStep.h index 060a810dc..f59245dd6 100644 --- a/src/modules/physics/box2d/Source/Common/b2Settings.cpp +++ b/src/modules/physics/box2d/Box2D/Dynamics/b2TimeStep.h @@ -1,5 +1,5 @@ /* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages @@ -16,36 +16,20 @@ * 3. This notice may not be removed or altered from any source distribution. */ -#include "b2Settings.h" -#include +#ifndef B2_TIME_STEP_H +#define B2_TIME_STEP_H -b2Version b2_version = {2, 0, 1}; +#include -int32 b2_byteCount = 0; +/// This is an internal structure. +struct b2TimeStep +{ + float32 dt; // time step + float32 inv_dt; // inverse time step (0 if dt == 0). + float32 dtRatio; // dt * inv_dt0 + int32 velocityIterations; + int32 positionIterations; + bool warmStarting; +}; - - -// Memory allocators. Modify these to use your own allocator. -void* b2Alloc(int32 size) -{ - size += 4; - b2_byteCount += size; - char* bytes = (char*)malloc(size); - *(int32*)bytes = size; - return bytes + 4; -} - -void b2Free(void* mem) -{ - if (mem == NULL) - { - return; - } - - char* bytes = (char*)mem; - bytes -= 4; - int32 size = *(int32*)bytes; - b2Assert(b2_byteCount >= size); - b2_byteCount -= size; - free(bytes); -} +#endif diff --git a/src/modules/physics/box2d/Box2D/Dynamics/b2World.cpp b/src/modules/physics/box2d/Box2D/Dynamics/b2World.cpp new file mode 100644 index 000000000..d3b9e0038 --- /dev/null +++ b/src/modules/physics/box2d/Box2D/Dynamics/b2World.cpp @@ -0,0 +1,1076 @@ +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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. +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +b2World::b2World(const b2Vec2& gravity, bool doSleep) +{ + m_destructionListener = NULL; + m_debugDraw = NULL; + + m_bodyList = NULL; + m_jointList = NULL; + + m_bodyCount = 0; + m_jointCount = 0; + + m_warmStarting = true; + m_continuousPhysics = true; + + m_allowSleep = doSleep; + m_gravity = gravity; + + m_flags = e_clearForces; + + m_inv_dt0 = 0.0f; + + m_contactManager.m_allocator = &m_blockAllocator; +} + +b2World::~b2World() +{ +} + +void b2World::SetDestructionListener(b2DestructionListener* listener) +{ + m_destructionListener = listener; +} + +void b2World::SetContactFilter(b2ContactFilter* filter) +{ + m_contactManager.m_contactFilter = filter; +} + +void b2World::SetContactListener(b2ContactListener* listener) +{ + m_contactManager.m_contactListener = listener; +} + +void b2World::SetDebugDraw(b2DebugDraw* debugDraw) +{ + m_debugDraw = debugDraw; +} + +b2Body* b2World::CreateBody(const b2BodyDef* def) +{ + b2Assert(IsLocked() == false); + if (IsLocked()) + { + return NULL; + } + + void* mem = m_blockAllocator.Allocate(sizeof(b2Body)); + b2Body* b = new (mem) b2Body(def, this); + + // Add to world doubly linked list. + b->m_prev = NULL; + b->m_next = m_bodyList; + if (m_bodyList) + { + m_bodyList->m_prev = b; + } + m_bodyList = b; + ++m_bodyCount; + + return b; +} + +void b2World::DestroyBody(b2Body* b) +{ + b2Assert(m_bodyCount > 0); + b2Assert(IsLocked() == false); + if (IsLocked()) + { + return; + } + + // Delete the attached joints. + b2JointEdge* je = b->m_jointList; + while (je) + { + b2JointEdge* je0 = je; + je = je->next; + + if (m_destructionListener) + { + m_destructionListener->SayGoodbye(je0->joint); + } + + DestroyJoint(je0->joint); + } + b->m_jointList = NULL; + + // Delete the attached contacts. + b2ContactEdge* ce = b->m_contactList; + while (ce) + { + b2ContactEdge* ce0 = ce; + ce = ce->next; + m_contactManager.Destroy(ce0->contact); + } + b->m_contactList = NULL; + + // Delete the attached fixtures. This destroys broad-phase proxies. + b2Fixture* f = b->m_fixtureList; + while (f) + { + b2Fixture* f0 = f; + f = f->m_next; + + if (m_destructionListener) + { + m_destructionListener->SayGoodbye(f0); + } + + f0->DestroyProxy(&m_contactManager.m_broadPhase); + f0->Destroy(&m_blockAllocator); + f0->~b2Fixture(); + m_blockAllocator.Free(f0, sizeof(b2Fixture)); + } + b->m_fixtureList = NULL; + b->m_fixtureCount = 0; + + // Remove world body list. + if (b->m_prev) + { + b->m_prev->m_next = b->m_next; + } + + if (b->m_next) + { + b->m_next->m_prev = b->m_prev; + } + + if (b == m_bodyList) + { + m_bodyList = b->m_next; + } + + --m_bodyCount; + b->~b2Body(); + m_blockAllocator.Free(b, sizeof(b2Body)); +} + +b2Joint* b2World::CreateJoint(const b2JointDef* def) +{ + b2Assert(IsLocked() == false); + if (IsLocked()) + { + return NULL; + } + + b2Joint* j = b2Joint::Create(def, &m_blockAllocator); + + // Connect to the world list. + j->m_prev = NULL; + j->m_next = m_jointList; + if (m_jointList) + { + m_jointList->m_prev = j; + } + m_jointList = j; + ++m_jointCount; + + // Connect to the bodies' doubly linked lists. + j->m_edgeA.joint = j; + j->m_edgeA.other = j->m_bodyB; + j->m_edgeA.prev = NULL; + j->m_edgeA.next = j->m_bodyA->m_jointList; + if (j->m_bodyA->m_jointList) j->m_bodyA->m_jointList->prev = &j->m_edgeA; + j->m_bodyA->m_jointList = &j->m_edgeA; + + j->m_edgeB.joint = j; + j->m_edgeB.other = j->m_bodyA; + j->m_edgeB.prev = NULL; + j->m_edgeB.next = j->m_bodyB->m_jointList; + if (j->m_bodyB->m_jointList) j->m_bodyB->m_jointList->prev = &j->m_edgeB; + j->m_bodyB->m_jointList = &j->m_edgeB; + + b2Body* bodyA = def->bodyA; + b2Body* bodyB = def->bodyB; + + // If the joint prevents collisions, then flag any contacts for filtering. + if (def->collideConnected == false) + { + b2ContactEdge* edge = bodyB->GetContactList(); + while (edge) + { + if (edge->other == bodyA) + { + // Flag the contact for filtering at the next time step (where either + // body is awake). + edge->contact->FlagForFiltering(); + } + + edge = edge->next; + } + } + + // Note: creating a joint doesn't wake the bodies. + + return j; +} + +void b2World::DestroyJoint(b2Joint* j) +{ + b2Assert(IsLocked() == false); + if (IsLocked()) + { + return; + } + + bool collideConnected = j->m_collideConnected; + + // Remove from the doubly linked list. + if (j->m_prev) + { + j->m_prev->m_next = j->m_next; + } + + if (j->m_next) + { + j->m_next->m_prev = j->m_prev; + } + + if (j == m_jointList) + { + m_jointList = j->m_next; + } + + // Disconnect from island graph. + b2Body* bodyA = j->m_bodyA; + b2Body* bodyB = j->m_bodyB; + + // Wake up connected bodies. + bodyA->SetAwake(true); + bodyB->SetAwake(true); + + // Remove from body 1. + if (j->m_edgeA.prev) + { + j->m_edgeA.prev->next = j->m_edgeA.next; + } + + if (j->m_edgeA.next) + { + j->m_edgeA.next->prev = j->m_edgeA.prev; + } + + if (&j->m_edgeA == bodyA->m_jointList) + { + bodyA->m_jointList = j->m_edgeA.next; + } + + j->m_edgeA.prev = NULL; + j->m_edgeA.next = NULL; + + // Remove from body 2 + if (j->m_edgeB.prev) + { + j->m_edgeB.prev->next = j->m_edgeB.next; + } + + if (j->m_edgeB.next) + { + j->m_edgeB.next->prev = j->m_edgeB.prev; + } + + if (&j->m_edgeB == bodyB->m_jointList) + { + bodyB->m_jointList = j->m_edgeB.next; + } + + j->m_edgeB.prev = NULL; + j->m_edgeB.next = NULL; + + b2Joint::Destroy(j, &m_blockAllocator); + + b2Assert(m_jointCount > 0); + --m_jointCount; + + // If the joint prevents collisions, then flag any contacts for filtering. + if (collideConnected == false) + { + b2ContactEdge* edge = bodyB->GetContactList(); + while (edge) + { + if (edge->other == bodyA) + { + // Flag the contact for filtering at the next time step (where either + // body is awake). + edge->contact->FlagForFiltering(); + } + + edge = edge->next; + } + } +} + +// Find islands, integrate and solve constraints, solve position constraints +void b2World::Solve(const b2TimeStep& step) +{ + // Size the island for the worst case. + b2Island island(m_bodyCount, + m_contactManager.m_contactCount, + m_jointCount, + &m_stackAllocator, + m_contactManager.m_contactListener); + + // Clear all the island flags. + for (b2Body* b = m_bodyList; b; b = b->m_next) + { + b->m_flags &= ~b2Body::e_islandFlag; + } + for (b2Contact* c = m_contactManager.m_contactList; c; c = c->m_next) + { + c->m_flags &= ~b2Contact::e_islandFlag; + } + for (b2Joint* j = m_jointList; j; j = j->m_next) + { + j->m_islandFlag = false; + } + + // Build and simulate all awake islands. + int32 stackSize = m_bodyCount; + b2Body** stack = (b2Body**)m_stackAllocator.Allocate(stackSize * sizeof(b2Body*)); + for (b2Body* seed = m_bodyList; seed; seed = seed->m_next) + { + if (seed->m_flags & b2Body::e_islandFlag) + { + continue; + } + + if (seed->IsAwake() == false || seed->IsActive() == false) + { + continue; + } + + // The seed can be dynamic or kinematic. + if (seed->GetType() == b2_staticBody) + { + continue; + } + + // Reset island and stack. + island.Clear(); + int32 stackCount = 0; + stack[stackCount++] = seed; + seed->m_flags |= b2Body::e_islandFlag; + + // Perform a depth first search (DFS) on the constraint graph. + while (stackCount > 0) + { + // Grab the next body off the stack and add it to the island. + b2Body* b = stack[--stackCount]; + b2Assert(b->IsActive() == true); + island.Add(b); + + // Make sure the body is awake. + b->SetAwake(true); + + // To keep islands as small as possible, we don't + // propagate islands across static bodies. + if (b->GetType() == b2_staticBody) + { + continue; + } + + // Search all contacts connected to this body. + for (b2ContactEdge* ce = b->m_contactList; ce; ce = ce->next) + { + b2Contact* contact = ce->contact; + + // Has this contact already been added to an island? + if (contact->m_flags & b2Contact::e_islandFlag) + { + continue; + } + + // Is this contact solid and touching? + if (contact->IsEnabled() == false || + contact->IsTouching() == false) + { + continue; + } + + // Skip sensors. + bool sensorA = contact->m_fixtureA->m_isSensor; + bool sensorB = contact->m_fixtureB->m_isSensor; + if (sensorA || sensorB) + { + continue; + } + + island.Add(contact); + contact->m_flags |= b2Contact::e_islandFlag; + + b2Body* other = ce->other; + + // Was the other body already added to this island? + if (other->m_flags & b2Body::e_islandFlag) + { + continue; + } + + b2Assert(stackCount < stackSize); + stack[stackCount++] = other; + other->m_flags |= b2Body::e_islandFlag; + } + + // Search all joints connect to this body. + for (b2JointEdge* je = b->m_jointList; je; je = je->next) + { + if (je->joint->m_islandFlag == true) + { + continue; + } + + b2Body* other = je->other; + + // Don't simulate joints connected to inactive bodies. + if (other->IsActive() == false) + { + continue; + } + + island.Add(je->joint); + je->joint->m_islandFlag = true; + + if (other->m_flags & b2Body::e_islandFlag) + { + continue; + } + + b2Assert(stackCount < stackSize); + stack[stackCount++] = other; + other->m_flags |= b2Body::e_islandFlag; + } + } + + island.Solve(step, m_gravity, m_allowSleep); + + // Post solve cleanup. + for (int32 i = 0; i < island.m_bodyCount; ++i) + { + // Allow static bodies to participate in other islands. + b2Body* b = island.m_bodies[i]; + if (b->GetType() == b2_staticBody) + { + b->m_flags &= ~b2Body::e_islandFlag; + } + } + } + + m_stackAllocator.Free(stack); + + // Synchronize fixtures, check for out of range bodies. + for (b2Body* b = m_bodyList; b; b = b->GetNext()) + { + // If a body was not in an island then it did not move. + if ((b->m_flags & b2Body::e_islandFlag) == 0) + { + continue; + } + + if (b->GetType() == b2_staticBody) + { + continue; + } + + // Update fixtures (for broad-phase). + b->SynchronizeFixtures(); + } + + // Look for new contacts. + m_contactManager.FindNewContacts(); +} + +// Advance a dynamic body to its first time of contact +// and adjust the position to ensure clearance. +void b2World::SolveTOI(b2Body* body) +{ + // Find the minimum contact. + b2Contact* toiContact = NULL; + float32 toi = 1.0f; + b2Body* toiOther = NULL; + bool found; + int32 count; + int32 iter = 0; + + bool bullet = body->IsBullet(); + + // Iterate until all contacts agree on the minimum TOI. We have + // to iterate because the TOI algorithm may skip some intermediate + // collisions when objects rotate through each other. + do + { + count = 0; + found = false; + for (b2ContactEdge* ce = body->m_contactList; ce; ce = ce->next) + { + if (ce->contact == toiContact) + { + continue; + } + + b2Body* other = ce->other; + b2BodyType type = other->GetType(); + + // Only bullets perform TOI with dynamic bodies. + if (bullet == true) + { + // Bullets only perform TOI with bodies that have their TOI resolved. + if ((other->m_flags & b2Body::e_toiFlag) == 0) + { + continue; + } + + // No repeated hits on non-static bodies + if (type != b2_staticBody && (ce->contact->m_flags & b2Contact::e_bulletHitFlag) != 0) + { + continue; + } + } + else if (type == b2_dynamicBody) + { + continue; + } + + // Check for a disabled contact. + b2Contact* contact = ce->contact; + if (contact->IsEnabled() == false) + { + continue; + } + + // Prevent infinite looping. + if (contact->m_toiCount > 10) + { + continue; + } + + b2Fixture* fixtureA = contact->m_fixtureA; + b2Fixture* fixtureB = contact->m_fixtureB; + + // Cull sensors. + if (fixtureA->IsSensor() || fixtureB->IsSensor()) + { + continue; + } + + b2Body* bodyA = fixtureA->m_body; + b2Body* bodyB = fixtureB->m_body; + + // Compute the time of impact in interval [0, minTOI] + b2TOIInput input; + input.proxyA.Set(fixtureA->GetShape()); + input.proxyB.Set(fixtureB->GetShape()); + input.sweepA = bodyA->m_sweep; + input.sweepB = bodyB->m_sweep; + input.tMax = toi; + + b2TOIOutput output; + b2TimeOfImpact(&output, &input); + + if (output.state == b2TOIOutput::e_touching && output.t < toi) + { + toiContact = contact; + toi = output.t; + toiOther = other; + found = true; + } + + ++count; + } + + ++iter; + } while (found && count > 1 && iter < 50); + + if (toiContact == NULL) + { + body->Advance(1.0f); + return; + } + + b2Sweep backup = body->m_sweep; + body->Advance(toi); + toiContact->Update(m_contactManager.m_contactListener); + if (toiContact->IsEnabled() == false) + { + // Contact disabled. Backup and recurse. + body->m_sweep = backup; + SolveTOI(body); + } + + ++toiContact->m_toiCount; + + // Update all the valid contacts on this body and build a contact island. + b2Contact* contacts[b2_maxTOIContacts]; + count = 0; + for (b2ContactEdge* ce = body->m_contactList; ce && count < b2_maxTOIContacts; ce = ce->next) + { + b2Body* other = ce->other; + b2BodyType type = other->GetType(); + + // Only perform correction with static bodies, so the + // body won't get pushed out of the world. + if (type == b2_dynamicBody) + { + continue; + } + + // Check for a disabled contact. + b2Contact* contact = ce->contact; + if (contact->IsEnabled() == false) + { + continue; + } + + b2Fixture* fixtureA = contact->m_fixtureA; + b2Fixture* fixtureB = contact->m_fixtureB; + + // Cull sensors. + if (fixtureA->IsSensor() || fixtureB->IsSensor()) + { + continue; + } + + // The contact likely has some new contact points. The listener + // gives the user a chance to disable the contact. + if (contact != toiContact) + { + contact->Update(m_contactManager.m_contactListener); + } + + // Did the user disable the contact? + if (contact->IsEnabled() == false) + { + // Skip this contact. + continue; + } + + if (contact->IsTouching() == false) + { + continue; + } + + contacts[count] = contact; + ++count; + } + + // Reduce the TOI body's overlap with the contact island. + b2TOISolver solver(&m_stackAllocator); + solver.Initialize(contacts, count, body); + + const float32 k_toiBaumgarte = 0.75f; + bool solved = false; + for (int32 i = 0; i < 20; ++i) + { + bool contactsOkay = solver.Solve(k_toiBaumgarte); + if (contactsOkay) + { + solved = true; + break; + } + } + + if (toiOther->GetType() != b2_staticBody) + { + toiContact->m_flags |= b2Contact::e_bulletHitFlag; + } +} + +// Sequentially solve TOIs for each body. We bring each +// body to the time of contact and perform some position correction. +// Time is not conserved. +void b2World::SolveTOI() +{ + // Prepare all contacts. + for (b2Contact* c = m_contactManager.m_contactList; c; c = c->m_next) + { + // Enable the contact + c->m_flags |= b2Contact::e_enabledFlag; + + // Set the number of TOI events for this contact to zero. + c->m_toiCount = 0; + } + + // Initialize the TOI flag. + for (b2Body* body = m_bodyList; body; body = body->m_next) + { + // Kinematic, and static bodies will not be affected by the TOI event. + // If a body was not in an island then it did not move. + if ((body->m_flags & b2Body::e_islandFlag) == 0 || body->GetType() == b2_kinematicBody || body->GetType() == b2_staticBody) + { + body->m_flags |= b2Body::e_toiFlag; + } + else + { + body->m_flags &= ~b2Body::e_toiFlag; + } + } + + // Collide non-bullets. + for (b2Body* body = m_bodyList; body; body = body->m_next) + { + if (body->m_flags & b2Body::e_toiFlag) + { + continue; + } + + if (body->IsBullet() == true) + { + continue; + } + + SolveTOI(body); + + body->m_flags |= b2Body::e_toiFlag; + } + + // Collide bullets. + for (b2Body* body = m_bodyList; body; body = body->m_next) + { + if (body->m_flags & b2Body::e_toiFlag) + { + continue; + } + + if (body->IsBullet() == false) + { + continue; + } + + SolveTOI(body); + + body->m_flags |= b2Body::e_toiFlag; + } +} + +void b2World::Step(float32 dt, int32 velocityIterations, int32 positionIterations) +{ + // If new fixtures were added, we need to find the new contacts. + if (m_flags & e_newFixture) + { + m_contactManager.FindNewContacts(); + m_flags &= ~e_newFixture; + } + + m_flags |= e_locked; + + b2TimeStep step; + step.dt = dt; + step.velocityIterations = velocityIterations; + step.positionIterations = positionIterations; + if (dt > 0.0f) + { + step.inv_dt = 1.0f / dt; + } + else + { + step.inv_dt = 0.0f; + } + + step.dtRatio = m_inv_dt0 * dt; + + step.warmStarting = m_warmStarting; + + // Update contacts. This is where some contacts are destroyed. + m_contactManager.Collide(); + + // Integrate velocities, solve velocity constraints, and integrate positions. + if (step.dt > 0.0f) + { + Solve(step); + } + + // Handle TOI events. + if (m_continuousPhysics && step.dt > 0.0f) + { + SolveTOI(); + } + + if (step.dt > 0.0f) + { + m_inv_dt0 = step.inv_dt; + } + + if (m_flags & e_clearForces) + { + ClearForces(); + } + + m_flags &= ~e_locked; +} + +void b2World::ClearForces() +{ + for (b2Body* body = m_bodyList; body; body = body->GetNext()) + { + body->m_force.SetZero(); + body->m_torque = 0.0f; + } +} + +struct b2WorldQueryWrapper +{ + bool QueryCallback(int32 proxyId) + { + b2Fixture* fixture = (b2Fixture*)broadPhase->GetUserData(proxyId); + return callback->ReportFixture(fixture); + } + + const b2BroadPhase* broadPhase; + b2QueryCallback* callback; +}; + +void b2World::QueryAABB(b2QueryCallback* callback, const b2AABB& aabb) const +{ + b2WorldQueryWrapper wrapper; + wrapper.broadPhase = &m_contactManager.m_broadPhase; + wrapper.callback = callback; + m_contactManager.m_broadPhase.Query(&wrapper, aabb); +} + +struct b2WorldRayCastWrapper +{ + float32 RayCastCallback(const b2RayCastInput& input, int32 proxyId) + { + void* userData = broadPhase->GetUserData(proxyId); + b2Fixture* fixture = (b2Fixture*)userData; + b2RayCastOutput output; + bool hit = fixture->RayCast(&output, input); + + if (hit) + { + float32 fraction = output.fraction; + b2Vec2 point = (1.0f - fraction) * input.p1 + fraction * input.p2; + return callback->ReportFixture(fixture, point, output.normal, fraction); + } + + return input.maxFraction; + } + + const b2BroadPhase* broadPhase; + b2RayCastCallback* callback; +}; + +void b2World::RayCast(b2RayCastCallback* callback, const b2Vec2& point1, const b2Vec2& point2) const +{ + b2WorldRayCastWrapper wrapper; + wrapper.broadPhase = &m_contactManager.m_broadPhase; + wrapper.callback = callback; + b2RayCastInput input; + input.maxFraction = 1.0f; + input.p1 = point1; + input.p2 = point2; + m_contactManager.m_broadPhase.RayCast(&wrapper, input); +} + +void b2World::DrawShape(b2Fixture* fixture, const b2Transform& xf, const b2Color& color) +{ + switch (fixture->GetType()) + { + case b2Shape::e_circle: + { + b2CircleShape* circle = (b2CircleShape*)fixture->GetShape(); + + b2Vec2 center = b2Mul(xf, circle->m_p); + float32 radius = circle->m_radius; + b2Vec2 axis = xf.R.col1; + + m_debugDraw->DrawSolidCircle(center, radius, axis, color); + } + break; + + case b2Shape::e_polygon: + { + b2PolygonShape* poly = (b2PolygonShape*)fixture->GetShape(); + int32 vertexCount = poly->m_vertexCount; + b2Assert(vertexCount <= b2_maxPolygonVertices); + b2Vec2 vertices[b2_maxPolygonVertices]; + + for (int32 i = 0; i < vertexCount; ++i) + { + vertices[i] = b2Mul(xf, poly->m_vertices[i]); + } + + m_debugDraw->DrawSolidPolygon(vertices, vertexCount, color); + } + break; + } +} + +void b2World::DrawJoint(b2Joint* joint) +{ + b2Body* bodyA = joint->GetBodyA(); + b2Body* bodyB = joint->GetBodyB(); + const b2Transform& xf1 = bodyA->GetTransform(); + const b2Transform& xf2 = bodyB->GetTransform(); + b2Vec2 x1 = xf1.position; + b2Vec2 x2 = xf2.position; + b2Vec2 p1 = joint->GetAnchorA(); + b2Vec2 p2 = joint->GetAnchorB(); + + b2Color color(0.5f, 0.8f, 0.8f); + + switch (joint->GetType()) + { + case e_distanceJoint: + m_debugDraw->DrawSegment(p1, p2, color); + break; + + case e_pulleyJoint: + { + 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); + } + break; + + case e_mouseJoint: + // don't draw this + break; + + default: + m_debugDraw->DrawSegment(x1, p1, color); + m_debugDraw->DrawSegment(p1, p2, color); + m_debugDraw->DrawSegment(x2, p2, color); + } +} + +void b2World::DrawDebugData() +{ + if (m_debugDraw == NULL) + { + return; + } + + uint32 flags = m_debugDraw->GetFlags(); + + if (flags & b2DebugDraw::e_shapeBit) + { + for (b2Body* b = m_bodyList; b; b = b->GetNext()) + { + const b2Transform& xf = b->GetTransform(); + for (b2Fixture* f = b->GetFixtureList(); f; f = f->GetNext()) + { + if (b->IsActive() == false) + { + DrawShape(f, xf, b2Color(0.5f, 0.5f, 0.3f)); + } + else if (b->GetType() == b2_staticBody) + { + DrawShape(f, xf, b2Color(0.5f, 0.9f, 0.5f)); + } + else if (b->GetType() == b2_kinematicBody) + { + DrawShape(f, xf, b2Color(0.5f, 0.5f, 0.9f)); + } + else if (b->IsAwake() == false) + { + DrawShape(f, xf, b2Color(0.6f, 0.6f, 0.6f)); + } + else + { + DrawShape(f, xf, b2Color(0.9f, 0.7f, 0.7f)); + } + } + } + } + + if (flags & b2DebugDraw::e_jointBit) + { + for (b2Joint* j = m_jointList; j; j = j->GetNext()) + { + DrawJoint(j); + } + } + + if (flags & b2DebugDraw::e_pairBit) + { + b2Color color(0.3f, 0.9f, 0.9f); + for (b2Contact* c = m_contactManager.m_contactList; c; c = c->GetNext()) + { + b2Fixture* fixtureA = c->GetFixtureA(); + b2Fixture* fixtureB = c->GetFixtureB(); + + b2Vec2 cA = fixtureA->GetAABB().GetCenter(); + b2Vec2 cB = fixtureB->GetAABB().GetCenter(); + + m_debugDraw->DrawSegment(cA, cB, color); + } + } + + if (flags & b2DebugDraw::e_aabbBit) + { + b2Color color(0.9f, 0.3f, 0.9f); + b2BroadPhase* bp = &m_contactManager.m_broadPhase; + + for (b2Body* b = m_bodyList; b; b = b->GetNext()) + { + if (b->IsActive() == false) + { + continue; + } + + for (b2Fixture* f = b->GetFixtureList(); f; f = f->GetNext()) + { + b2AABB aabb = bp->GetFatAABB(f->m_proxyId); + b2Vec2 vs[4]; + vs[0].Set(aabb.lowerBound.x, aabb.lowerBound.y); + vs[1].Set(aabb.upperBound.x, aabb.lowerBound.y); + vs[2].Set(aabb.upperBound.x, aabb.upperBound.y); + vs[3].Set(aabb.lowerBound.x, aabb.upperBound.y); + + m_debugDraw->DrawPolygon(vs, 4, color); + } + } + } + + if (flags & b2DebugDraw::e_centerOfMassBit) + { + for (b2Body* b = m_bodyList; b; b = b->GetNext()) + { + b2Transform xf = b->GetTransform(); + xf.position = b->GetWorldCenter(); + m_debugDraw->DrawTransform(xf); + } + } +} + +int32 b2World::GetProxyCount() const +{ + return m_contactManager.m_broadPhase.GetProxyCount(); +} diff --git a/src/modules/physics/box2d/Source/Dynamics/b2World.h b/src/modules/physics/box2d/Box2D/Dynamics/b2World.h similarity index 57% rename from src/modules/physics/box2d/Source/Dynamics/b2World.h rename to src/modules/physics/box2d/Box2D/Dynamics/b2World.h index 02c87a631..bff14272f 100644 --- a/src/modules/physics/box2d/Source/Dynamics/b2World.h +++ b/src/modules/physics/box2d/Box2D/Dynamics/b2World.h @@ -1,253 +1,285 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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_WORLD_H -#define B2_WORLD_H - -#include "../Common/b2Math.h" -#include "../Common/b2BlockAllocator.h" -#include "../Common/b2StackAllocator.h" -#include "b2ContactManager.h" -#include "b2WorldCallbacks.h" - -struct b2AABB; -struct b2ShapeDef; -struct b2BodyDef; -struct b2JointDef; -class b2Body; -class b2Joint; -class b2Shape; -class b2Contact; -class b2BroadPhase; - -struct b2TimeStep -{ - float32 dt; // time step - float32 inv_dt; // inverse time step (0 if dt == 0). - float32 dtRatio; // dt * inv_dt0 - int32 maxIterations; - bool warmStarting; - bool positionCorrection; -}; - -/// The world class manages all physics entities, dynamic simulation, -/// and asynchronous queries. The world also contains efficient memory -/// management facilities. -class b2World -{ -public: - /// Construct a world object. - /// @param worldAABB a bounding box that completely encompasses all your shapes. - /// @param gravity the world gravity vector. - /// @param doSleep improve performance by not simulating inactive bodies. - b2World(const b2AABB& worldAABB, const b2Vec2& gravity, bool doSleep); - - /// Destruct the world. All physics entities are destroyed and all heap memory is released. - ~b2World(); - - /// Register a destruction listener. - void SetDestructionListener(b2DestructionListener* listener); - - /// Register a broad-phase boundary listener. - void SetBoundaryListener(b2BoundaryListener* listener); - - /// Register a contact filter to provide specific control over collision. - /// Otherwise the default filter is used (b2_defaultFilter). - void SetContactFilter(b2ContactFilter* filter); - - /// Register a contact event listener - void SetContactListener(b2ContactListener* listener); - - /// Register a routine for debug drawing. The debug draw functions are called - /// inside the b2World::Step method, so make sure your renderer is ready to - /// consume draw commands when you call Step(). - void SetDebugDraw(b2DebugDraw* debugDraw); - - /// Create a rigid body given a definition. No reference to the definition - /// is retained. - /// @warning This function is locked during callbacks. - b2Body* CreateBody(const b2BodyDef* def); - - /// Destroy a rigid body given a definition. No reference to the definition - /// is retained. This function is locked during callbacks. - /// @warning This automatically deletes all associated shapes and joints. - /// @warning This function is locked during callbacks. - void DestroyBody(b2Body* body); - - /// Create a joint to constrain bodies together. No reference to the definition - /// is retained. This may cause the connected bodies to cease colliding. - /// @warning This function is locked during callbacks. - b2Joint* CreateJoint(const b2JointDef* def); - - /// Destroy a joint. This may cause the connected bodies to begin colliding. - /// @warning This function is locked during callbacks. - void DestroyJoint(b2Joint* joint); - - /// The world provides a single static ground body with no collision shapes. - /// You can use this to simplify the creation of joints and static shapes. - b2Body* GetGroundBody(); - - /// Take a time step. This performs collision detection, integration, - /// and constraint solution. - /// @param timeStep the amount of time to simulate, this should not vary. - /// @param iterations the number of iterations to be used by the constraint solver. - void Step(float32 timeStep, int32 iterations); - - /// Query the world for all shapes that potentially overlap the - /// provided AABB. You provide a shape pointer buffer of specified - /// size. The number of shapes found is returned. - /// @param aabb the query box. - /// @param shapes a user allocated shape pointer array of size maxCount (or greater). - /// @param maxCount the capacity of the shapes array. - /// @return the number of shapes found in aabb. - int32 Query(const b2AABB& aabb, b2Shape** shapes, int32 maxCount); - - /// Get the world body list. With the returned body, use b2Body::GetNext to get - /// the next body in the world list. A NULL body indicates the end of the list. - /// @return the head of the world body list. - b2Body* GetBodyList(); - - /// Get the world joint list. With the returned joint, use b2Joint::GetNext to get - /// the next joint in the world list. A NULL joint indicates the end of the list. - /// @return the head of the world joint list. - b2Joint* GetJointList(); - - /// Re-filter a shape. This re-runs contact filtering on a shape. - void Refilter(b2Shape* shape); - - /// Enable/disable warm starting. For testing. - void SetWarmStarting(bool flag) { m_warmStarting = flag; } - - /// Enable/disable position correction. For testing. - void SetPositionCorrection(bool flag) { m_positionCorrection = flag; } - - /// Enable/disable continuous physics. For testing. - void SetContinuousPhysics(bool flag) { m_continuousPhysics = flag; } - - /// Perform validation of internal data structures. - void Validate(); - - /// Get the number of broad-phase proxies. - int32 GetProxyCount() const; - - /// Get the number of broad-phase pairs. - int32 GetPairCount() const; - - /// Get the number of bodies. - int32 GetBodyCount() const; - - /// Get the number joints. - int32 GetJointCount() const; - - /// Get the number of contacts (each may have 0 or more contact points). - int32 GetContactCount() const; - - /// Change the global gravity vector. - void SetGravity(const b2Vec2& gravity); - -public: - - friend class b2Body; - friend class b2ContactManager; - - void Solve(const b2TimeStep& step); - void SolveTOI(const b2TimeStep& step); - - void DrawJoint(b2Joint* joint); - void DrawShape(b2Shape* shape, const b2XForm& xf, const b2Color& color, bool core); - void DrawDebugData(); - - b2BlockAllocator m_blockAllocator; - b2StackAllocator m_stackAllocator; - - bool m_lock; - - b2BroadPhase* m_broadPhase; - b2ContactManager m_contactManager; - - b2Body* m_bodyList; - b2Joint* m_jointList; - - // Do not access - b2Contact* m_contactList; - - int32 m_bodyCount; - int32 m_contactCount; - int32 m_jointCount; - - b2Vec2 m_gravity; - bool m_allowSleep; - - b2Body* m_groundBody; - - b2DestructionListener* m_destructionListener; - b2BoundaryListener* m_boundaryListener; - b2ContactFilter* m_contactFilter; - b2ContactListener* m_contactListener; - b2DebugDraw* m_debugDraw; - - float32 m_inv_dt0; - - int32 m_positionIterationCount; - - // This is for debugging the solver. - bool m_positionCorrection; - - // This is for debugging the solver. - bool m_warmStarting; - - // This is for debugging the solver. - bool m_continuousPhysics; -}; - -inline b2Body* b2World::GetGroundBody() -{ - return m_groundBody; -} - -inline b2Body* b2World::GetBodyList() -{ - return m_bodyList; -} - -inline b2Joint* b2World::GetJointList() -{ - return m_jointList; -} - -inline int32 b2World::GetBodyCount() const -{ - return m_bodyCount; -} - -inline int32 b2World::GetJointCount() const -{ - return m_jointCount; -} - -inline int32 b2World::GetContactCount() const -{ - return m_contactCount; -} - -inline void b2World::SetGravity(const b2Vec2& gravity) -{ - m_gravity = gravity; -} - -#endif +/* +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com +* +* 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_WORLD_H +#define B2_WORLD_H + +#include +#include +#include +#include +#include + +struct b2AABB; +struct b2BodyDef; +struct b2JointDef; +struct b2TimeStep; +class b2Body; +class b2Fixture; +class b2Joint; + +/// The world class manages all physics entities, dynamic simulation, +/// and asynchronous queries. The world also contains efficient memory +/// management facilities. +class b2World +{ +public: + /// Construct a world object. + /// @param gravity the world gravity vector. + /// @param doSleep improve performance by not simulating inactive bodies. + b2World(const b2Vec2& gravity, bool doSleep); + + /// Destruct the world. All physics entities are destroyed and all heap memory is released. + ~b2World(); + + /// Register a destruction listener. The listener is owned by you and must + /// remain in scope. + void SetDestructionListener(b2DestructionListener* listener); + + /// Register a contact filter to provide specific control over collision. + /// Otherwise the default filter is used (b2_defaultFilter). The listener is + /// owned by you and must remain in scope. + void SetContactFilter(b2ContactFilter* filter); + + /// Register a contact event listener. The listener is owned by you and must + /// remain in scope. + void SetContactListener(b2ContactListener* listener); + + /// Register a routine for debug drawing. The debug draw functions are called + /// inside with b2World::DrawDebugData method. The debug draw object is owned + /// by you and must remain in scope. + void SetDebugDraw(b2DebugDraw* debugDraw); + + /// Create a rigid body given a definition. No reference to the definition + /// is retained. + /// @warning This function is locked during callbacks. + b2Body* CreateBody(const b2BodyDef* def); + + /// Destroy a rigid body given a definition. No reference to the definition + /// is retained. This function is locked during callbacks. + /// @warning This automatically deletes all associated shapes and joints. + /// @warning This function is locked during callbacks. + void DestroyBody(b2Body* body); + + /// Create a joint to constrain bodies together. No reference to the definition + /// is retained. This may cause the connected bodies to cease colliding. + /// @warning This function is locked during callbacks. + b2Joint* CreateJoint(const b2JointDef* def); + + /// Destroy a joint. This may cause the connected bodies to begin colliding. + /// @warning This function is locked during callbacks. + void DestroyJoint(b2Joint* joint); + + /// Take a time step. This performs collision detection, integration, + /// and constraint solution. + /// @param timeStep the amount of time to simulate, this should not vary. + /// @param velocityIterations for the velocity constraint solver. + /// @param positionIterations for the position constraint solver. + void Step( float32 timeStep, + int32 velocityIterations, + int32 positionIterations); + + /// Call this after you are done with time steps to clear the forces. You normally + /// call this after each call to Step, unless you are performing sub-steps. By default, + /// forces will be automatically cleared, so you don't need to call this function. + /// @see SetAutoClearForces + void ClearForces(); + + /// Call this to draw shapes and other debug draw data. + void DrawDebugData(); + + /// Query the world for all fixtures that potentially overlap the + /// provided AABB. + /// @param callback a user implemented callback class. + /// @param aabb the query box. + void QueryAABB(b2QueryCallback* callback, const b2AABB& aabb) const; + + /// Ray-cast the world for all fixtures in the path of the ray. Your callback + /// controls whether you get the closest point, any point, or n-points. + /// The ray-cast ignores shapes that contain the starting point. + /// @param callback a user implemented callback class. + /// @param point1 the ray starting point + /// @param point2 the ray ending point + void RayCast(b2RayCastCallback* callback, const b2Vec2& point1, const b2Vec2& point2) const; + + /// Get the world body list. With the returned body, use b2Body::GetNext to get + /// the next body in the world list. A NULL body indicates the end of the list. + /// @return the head of the world body list. + b2Body* GetBodyList(); + + /// Get the world joint list. With the returned joint, use b2Joint::GetNext to get + /// the next joint in the world list. A NULL joint indicates the end of the list. + /// @return the head of the world joint list. + b2Joint* GetJointList(); + + /// Get the world contact list. With the returned contact, use b2Contact::GetNext to get + /// the next contact in the world list. A NULL contact indicates the end of the list. + /// @return the head of the world contact list. + /// @warning contacts are + b2Contact* GetContactList(); + + /// Enable/disable warm starting. For testing. + void SetWarmStarting(bool flag) { m_warmStarting = flag; } + + /// Enable/disable continuous physics. For testing. + void SetContinuousPhysics(bool flag) { m_continuousPhysics = flag; } + + /// Get the number of broad-phase proxies. + int32 GetProxyCount() const; + + /// Get the number of bodies. + int32 GetBodyCount() const; + + /// Get the number of joints. + int32 GetJointCount() const; + + /// Get the number of contacts (each may have 0 or more contact points). + int32 GetContactCount() const; + + /// Change the global gravity vector. + void SetGravity(const b2Vec2& gravity); + + /// Get the global gravity vector. + b2Vec2 GetGravity() const; + + /// Is the world locked (in the middle of a time step). + bool IsLocked() const; + + /// Set flag to control automatic clearing of forces after each time step. + void SetAutoClearForces(bool flag); + + /// Get the flag that controls automatic clearing of forces after each time step. + bool GetAutoClearForces() const; + +private: + + // m_flags + enum + { + e_newFixture = 0x0001, + e_locked = 0x0002, + e_clearForces = 0x0004, + }; + + friend class b2Body; + friend class b2ContactManager; + friend class b2Controller; + + void Solve(const b2TimeStep& step); + void SolveTOI(); + void SolveTOI(b2Body* body); + + void DrawJoint(b2Joint* joint); + void DrawShape(b2Fixture* shape, const b2Transform& xf, const b2Color& color); + + b2BlockAllocator m_blockAllocator; + b2StackAllocator m_stackAllocator; + + int32 m_flags; + + b2ContactManager m_contactManager; + + b2Body* m_bodyList; + b2Joint* m_jointList; + + int32 m_bodyCount; + int32 m_jointCount; + + b2Vec2 m_gravity; + bool m_allowSleep; + + b2Body* m_groundBody; + + b2DestructionListener* m_destructionListener; + b2DebugDraw* m_debugDraw; + + // This is used to compute the time step ratio to + // support a variable time step. + float32 m_inv_dt0; + + // This is for debugging the solver. + bool m_warmStarting; + + // This is for debugging the solver. + bool m_continuousPhysics; +}; + +inline b2Body* b2World::GetBodyList() +{ + return m_bodyList; +} + +inline b2Joint* b2World::GetJointList() +{ + return m_jointList; +} + +inline b2Contact* b2World::GetContactList() +{ + return m_contactManager.m_contactList; +} + +inline int32 b2World::GetBodyCount() const +{ + return m_bodyCount; +} + +inline int32 b2World::GetJointCount() const +{ + return m_jointCount; +} + +inline int32 b2World::GetContactCount() const +{ + return m_contactManager.m_contactCount; +} + +inline void b2World::SetGravity(const b2Vec2& gravity) +{ + m_gravity = gravity; +} + +inline b2Vec2 b2World::GetGravity() const +{ + return m_gravity; +} + +inline bool b2World::IsLocked() const +{ + return (m_flags & e_locked) == e_locked; +} + +inline void b2World::SetAutoClearForces(bool flag) +{ + if (flag) + { + m_flags |= e_clearForces; + } + else + { + m_flags &= ~e_clearForces; + } +} + +/// Get the flag that controls automatic clearing of forces after each time step. +inline bool b2World::GetAutoClearForces() const +{ + return (m_flags & e_clearForces) == e_clearForces; +} + +#endif diff --git a/src/modules/physics/box2d/Source/Dynamics/b2WorldCallbacks.cpp b/src/modules/physics/box2d/Box2D/Dynamics/b2WorldCallbacks.cpp similarity index 68% rename from src/modules/physics/box2d/Source/Dynamics/b2WorldCallbacks.cpp rename to src/modules/physics/box2d/Box2D/Dynamics/b2WorldCallbacks.cpp index 614324f63..bc5fefbdf 100644 --- a/src/modules/physics/box2d/Source/Dynamics/b2WorldCallbacks.cpp +++ b/src/modules/physics/box2d/Box2D/Dynamics/b2WorldCallbacks.cpp @@ -1,5 +1,5 @@ /* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages @@ -16,24 +16,22 @@ * 3. This notice may not be removed or altered from any source distribution. */ -#include "b2WorldCallbacks.h" -#include "../Collision/Shapes/b2Shape.h" - -b2ContactFilter b2_defaultFilter; +#include +#include // Return true if contact calculations should be performed between these two shapes. // If you implement your own collision filter you may want to build from this implementation. -bool b2ContactFilter::ShouldCollide(b2Shape* shape1, b2Shape* shape2) +bool b2ContactFilter::ShouldCollide(b2Fixture* fixtureA, b2Fixture* fixtureB) { - const b2FilterData& filter1 = shape1->GetFilterData(); - const b2FilterData& filter2 = shape2->GetFilterData(); + const b2Filter& filterA = fixtureA->GetFilterData(); + const b2Filter& filterB = fixtureB->GetFilterData(); - if (filter1.groupIndex == filter2.groupIndex && filter1.groupIndex != 0) + if (filterA.groupIndex == filterB.groupIndex && filterA.groupIndex != 0) { - return filter1.groupIndex > 0; + return filterA.groupIndex > 0; } - bool collide = (filter1.maskBits & filter2.categoryBits) != 0 && (filter1.categoryBits & filter2.maskBits) != 0; + bool collide = (filterA.maskBits & filterB.categoryBits) != 0 && (filterA.categoryBits & filterB.maskBits) != 0; return collide; } diff --git a/src/modules/physics/box2d/Source/Dynamics/b2WorldCallbacks.h b/src/modules/physics/box2d/Box2D/Dynamics/b2WorldCallbacks.h similarity index 50% rename from src/modules/physics/box2d/Source/Dynamics/b2WorldCallbacks.h rename to src/modules/physics/box2d/Box2D/Dynamics/b2WorldCallbacks.h index 5c03321de..82ee67ea0 100644 --- a/src/modules/physics/box2d/Source/Dynamics/b2WorldCallbacks.h +++ b/src/modules/physics/box2d/Box2D/Dynamics/b2WorldCallbacks.h @@ -1,5 +1,5 @@ /* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com * * This software is provided 'as-is', without any express or implied * warranty. In no event will the authors be held liable for any damages @@ -19,18 +19,19 @@ #ifndef B2_WORLD_CALLBACKS_H #define B2_WORLD_CALLBACKS_H -#include "../Common/b2Settings.h" +#include struct b2Vec2; -struct b2XForm; -class b2Shape; +struct b2Transform; +class b2Fixture; class b2Body; class b2Joint; class b2Contact; struct b2ContactPoint; struct b2ContactResult; +struct b2Manifold; -/// Joints and shapes are destroyed when their associated +/// Joints and fixtures are destroyed when their associated /// body is destroyed. Implement this listener so that you /// may nullify references to these joints and shapes. class b2DestructionListener @@ -42,24 +43,11 @@ public: /// to the destruction of one of its attached bodies. virtual void SayGoodbye(b2Joint* joint) = 0; - /// Called when any shape is about to be destroyed due + /// Called when any fixture is about to be destroyed due /// to the destruction of its parent body. - virtual void SayGoodbye(b2Shape* shape) = 0; + virtual void SayGoodbye(b2Fixture* fixture) = 0; }; - -/// This is called when a body's shape passes outside of the world boundary. -class b2BoundaryListener -{ -public: - virtual ~b2BoundaryListener() {} - - /// This is called for each body that leaves the world boundary. - /// @warning you can't modify the world inside this callback. - virtual void Violation(b2Body* body) = 0; -}; - - /// Implement this class to provide collision filtering. In other words, you can implement /// this class if you want finer control over contact creation. class b2ContactFilter @@ -69,13 +57,19 @@ public: /// Return true if contact calculations should be performed between these two shapes. /// @warning for performance reasons this is only called when the AABBs begin to overlap. - virtual bool ShouldCollide(b2Shape* shape1, b2Shape* shape2); + virtual bool ShouldCollide(b2Fixture* fixtureA, b2Fixture* fixtureB); }; -/// The default contact filter. -extern b2ContactFilter b2_defaultFilter; +/// Contact impulses for reporting. Impulses are used instead of forces because +/// sub-step forces may approach infinity for rigid body collisions. These +/// match up one-to-one with the contact points in b2Manifold. +struct b2ContactImpulse +{ + float32 normalImpulses[b2_maxManifoldPoints]; + float32 tangentImpulses[b2_maxManifoldPoints]; +}; -/// Implement this class to get collision results. You can use these results for +/// Implement this class to get contact information. You can use these results for /// things like sounds and game logic. You can also get contact results by /// traversing the contact lists after the time step. However, you might miss /// some contacts because continuous physics leads to sub-stepping. @@ -83,27 +77,79 @@ extern b2ContactFilter b2_defaultFilter; /// single time step. /// You should strive to make your callbacks efficient because there may be /// many callbacks per time step. -/// @warning The contact separation is the last computed value. /// @warning You cannot create/destroy Box2D entities inside these callbacks. class b2ContactListener { public: virtual ~b2ContactListener() {} - /// Called when a contact point is added. This includes the geometry - /// and the forces. - virtual void Add(const b2ContactPoint* point) { } + /// Called when two fixtures begin to touch. + virtual void BeginContact(b2Contact* contact) { B2_NOT_USED(contact); } - /// Called when a contact point persists. This includes the geometry - /// and the forces. - virtual void Persist(const b2ContactPoint* point) { } + /// Called when two fixtures cease to touch. + virtual void EndContact(b2Contact* contact) { B2_NOT_USED(contact); } - /// Called when a contact point is removed. This includes the last - /// computed geometry and forces. - virtual void Remove(const b2ContactPoint* point) { } + /// This is called after a contact is updated. This allows you to inspect a + /// contact before it goes to the solver. If you are careful, you can modify the + /// contact manifold (e.g. disable contact). + /// A copy of the old manifold is provided so that you can detect changes. + /// Note: this is called only for awake bodies. + /// Note: this is called even when the number of contact points is zero. + /// Note: this is not called for sensors. + /// Note: if you set the number of contact points to zero, you will not + /// get an EndContact callback. However, you may get a BeginContact callback + /// the next step. + virtual void PreSolve(b2Contact* contact, const b2Manifold* oldManifold) + { + B2_NOT_USED(contact); + B2_NOT_USED(oldManifold); + } - /// Called after a contact point is solved. - virtual void Result(const b2ContactResult* point) { } + /// This lets you inspect a contact after the solver is finished. This is useful + /// for inspecting impulses. + /// Note: the contact manifold does not include time of impact impulses, which can be + /// arbitrarily large if the sub-step is small. Hence the impulse is provided explicitly + /// in a separate data structure. + /// Note: this is only called for contacts that are touching, solid, and awake. + virtual void PostSolve(b2Contact* contact, const b2ContactImpulse* impulse) + { + B2_NOT_USED(contact); + B2_NOT_USED(impulse); + } +}; + +/// Callback class for AABB queries. +/// See b2World::Query +class b2QueryCallback +{ +public: + virtual ~b2QueryCallback() {} + + /// Called for each fixture found in the query AABB. + /// @return false to terminate the query. + virtual bool ReportFixture(b2Fixture* fixture) = 0; +}; + +/// Callback class for ray casts. +/// See b2World::RayCast +class b2RayCastCallback +{ +public: + virtual ~b2RayCastCallback() {} + + /// Called for each fixture found in the query. You control how the ray cast + /// proceeds by returning a float: + /// return -1: ignore this fixture and continue + /// return 0: terminate the ray cast + /// return fraction: clip the ray to this point + /// return 1: don't clip the ray and continue + /// @param fixture the fixture hit by the ray + /// @param point the point of initial intersection + /// @param normal the normal vector at the point of intersection + /// @return -1 to filter, 0 to terminate, fraction to clip the ray for + /// closest hit, 1 to continue + virtual float32 ReportFixture( b2Fixture* fixture, const b2Vec2& point, + const b2Vec2& normal, float32 fraction) = 0; }; /// Color for debug drawing. Each value has the range [0,1]. @@ -111,6 +157,7 @@ struct b2Color { b2Color() {} b2Color(float32 r, float32 g, float32 b) : r(r), g(g), b(b) {} + void Set(float32 ri, float32 gi, float32 bi) { r = ri; g = gi; b = bi; } float32 r, g, b; }; @@ -127,11 +174,9 @@ public: { e_shapeBit = 0x0001, ///< draw shapes e_jointBit = 0x0002, ///< draw joint connections - e_coreShapeBit = 0x0004, ///< draw core (TOI) shapes - e_aabbBit = 0x0008, ///< draw axis aligned bounding boxes - e_obbBit = 0x0010, ///< draw oriented bounding boxes - e_pairBit = 0x0020, ///< draw broad-phase pairs - e_centerOfMassBit = 0x0040, ///< draw center of mass frame + e_aabbBit = 0x0004, ///< draw axis aligned bounding boxes + e_pairBit = 0x0008, ///< draw broad-phase pairs + e_centerOfMassBit = 0x0010, ///< draw center of mass frame }; /// Set the drawing flags. @@ -163,7 +208,7 @@ public: /// Draw a transform. Choose your own length scale. /// @param xf a transform. - virtual void DrawXForm(const b2XForm& xf) = 0; + virtual void DrawTransform(const b2Transform& xf) = 0; protected: uint32 m_drawFlags; diff --git a/src/modules/physics/box2d/Contact.h b/src/modules/physics/box2d/Contact.h index 7f1972850..c5e8aa292 100644 --- a/src/modules/physics/box2d/Contact.h +++ b/src/modules/physics/box2d/Contact.h @@ -27,7 +27,7 @@ #include "World.h" // Box2D -#include "Include/Box2D.h" +#include namespace love { diff --git a/src/modules/physics/box2d/Include/Box2D.h b/src/modules/physics/box2d/Include/Box2D.h deleted file mode 100644 index a49a3cd27..000000000 --- a/src/modules/physics/box2d/Include/Box2D.h +++ /dev/null @@ -1,52 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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 BOX2D_H -#define BOX2D_H - -/** -\mainpage Box2D API Documentation - -\section intro_sec Getting Started - -For tutorials please see http://www.box2d.org/manual.html - -For discussion please visit http://www.box2d.org/forum -*/ - -// These include files constitute the main Box2D API - -#include "../Source/Common/b2Settings.h" - -#include "../Source/Collision/Shapes/b2CircleShape.h" -#include "../Source/Collision/Shapes/b2PolygonShape.h" -#include "../Source/Collision/b2BroadPhase.h" -#include "../Source/Dynamics/b2WorldCallbacks.h" -#include "../Source/Dynamics/b2World.h" -#include "../Source/Dynamics/b2Body.h" - -#include "../Source/Dynamics/Contacts/b2Contact.h" - -#include "../Source/Dynamics/Joints/b2DistanceJoint.h" -#include "../Source/Dynamics/Joints/b2MouseJoint.h" -#include "../Source/Dynamics/Joints/b2PrismaticJoint.h" -#include "../Source/Dynamics/Joints/b2RevoluteJoint.h" -#include "../Source/Dynamics/Joints/b2PulleyJoint.h" -#include "../Source/Dynamics/Joints/b2GearJoint.h" - -#endif diff --git a/src/modules/physics/box2d/Joint.h b/src/modules/physics/box2d/Joint.h index b1396e3f5..6393f0dcb 100644 --- a/src/modules/physics/box2d/Joint.h +++ b/src/modules/physics/box2d/Joint.h @@ -26,7 +26,7 @@ #include // Box2D -#include "Include/Box2D.h" +#include namespace love { diff --git a/src/modules/physics/box2d/Shape.h b/src/modules/physics/box2d/Shape.h index c1902a9c3..254465167 100644 --- a/src/modules/physics/box2d/Shape.h +++ b/src/modules/physics/box2d/Shape.h @@ -27,7 +27,7 @@ #include // Box2D -#include "Include/Box2D.h" +#include namespace love { diff --git a/src/modules/physics/box2d/Source/Collision/Shapes/b2CircleShape.cpp b/src/modules/physics/box2d/Source/Collision/Shapes/b2CircleShape.cpp deleted file mode 100644 index 1a3ebe79b..000000000 --- a/src/modules/physics/box2d/Source/Collision/Shapes/b2CircleShape.cpp +++ /dev/null @@ -1,120 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2CircleShape.h" - -b2CircleShape::b2CircleShape(const b2ShapeDef* def) -: b2Shape(def) -{ - b2Assert(def->type == e_circleShape); - const b2CircleDef* circleDef = (const b2CircleDef*)def; - - m_type = e_circleShape; - m_localPosition = circleDef->localPosition; - m_radius = circleDef->radius; -} - -void b2CircleShape::UpdateSweepRadius(const b2Vec2& center) -{ - // Update the sweep radius (maximum radius) as measured from - // a local center point. - b2Vec2 d = m_localPosition - center; - m_sweepRadius = d.Length() + m_radius - b2_toiSlop; -} - -bool b2CircleShape::TestPoint(const b2XForm& transform, const b2Vec2& p) const -{ - b2Vec2 center = transform.position + b2Mul(transform.R, m_localPosition); - b2Vec2 d = p - center; - return b2Dot(d, d) <= m_radius * m_radius; -} - -// Collision Detection in Interactive 3D Environments by Gino van den Bergen -// From Section 3.1.2 -// x = s + a * r -// norm(x) = radius -bool b2CircleShape::TestSegment(const b2XForm& transform, - float32* lambda, - b2Vec2* normal, - const b2Segment& segment, - float32 maxLambda) const -{ - b2Vec2 position = transform.position + b2Mul(transform.R, m_localPosition); - b2Vec2 s = segment.p1 - position; - float32 b = b2Dot(s, s) - m_radius * m_radius; - - // Does the segment start inside the circle? - if (b < 0.0f) - { - return false; - } - - // Solve quadratic equation. - b2Vec2 r = segment.p2 - segment.p1; - float32 c = b2Dot(s, r); - float32 rr = b2Dot(r, r); - float32 sigma = c * c - rr * b; - - // Check for negative discriminant and short segment. - if (sigma < 0.0f || rr < B2_FLT_EPSILON) - { - return false; - } - - // Find the point of intersection of the line with the circle. - float32 a = -(c + b2Sqrt(sigma)); - - // Is the intersection point on the segment? - if (0.0f <= a && a <= maxLambda * rr) - { - a /= rr; - *lambda = a; - *normal = s + a * r; - normal->Normalize(); - return true; - } - - return false; -} - -void b2CircleShape::ComputeAABB(b2AABB* aabb, const b2XForm& transform) const -{ - b2Vec2 p = transform.position + b2Mul(transform.R, m_localPosition); - aabb->lowerBound.Set(p.x - m_radius, p.y - m_radius); - aabb->upperBound.Set(p.x + m_radius, p.y + m_radius); -} - -void b2CircleShape::ComputeSweptAABB(b2AABB* aabb, const b2XForm& transform1, const b2XForm& transform2) const -{ - b2Vec2 p1 = transform1.position + b2Mul(transform1.R, m_localPosition); - b2Vec2 p2 = transform2.position + b2Mul(transform2.R, m_localPosition); - b2Vec2 lower = b2Min(p1, p2); - b2Vec2 upper = b2Max(p1, p2); - - aabb->lowerBound.Set(lower.x - m_radius, lower.y - m_radius); - aabb->upperBound.Set(upper.x + m_radius, upper.y + m_radius); -} - -void b2CircleShape::ComputeMass(b2MassData* massData) const -{ - massData->mass = m_density * b2_pi * m_radius * m_radius; - massData->center = m_localPosition; - - // inertia about the local origin - massData->I = massData->mass * (0.5f * m_radius * m_radius + b2Dot(m_localPosition, m_localPosition)); -} diff --git a/src/modules/physics/box2d/Source/Collision/Shapes/b2CircleShape.h b/src/modules/physics/box2d/Source/Collision/Shapes/b2CircleShape.h deleted file mode 100644 index f05d64276..000000000 --- a/src/modules/physics/box2d/Source/Collision/Shapes/b2CircleShape.h +++ /dev/null @@ -1,92 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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_CIRCLE_SHAPE_H -#define B2_CIRCLE_SHAPE_H - -#include "b2Shape.h" - -/// This structure is used to build circle shapes. -struct b2CircleDef : public b2ShapeDef -{ - b2CircleDef() - { - type = e_circleShape; - localPosition.SetZero(); - radius = 1.0f; - } - - b2Vec2 localPosition; - float32 radius; -}; - -/// A circle shape. -class b2CircleShape : public b2Shape -{ -public: - /// @see b2Shape::TestPoint - bool TestPoint(const b2XForm& transform, const b2Vec2& p) const; - - /// @see b2Shape::TestSegment - bool TestSegment( const b2XForm& transform, - float32* lambda, - b2Vec2* normal, - const b2Segment& segment, - float32 maxLambda) const; - - /// @see b2Shape::ComputeAABB - void ComputeAABB(b2AABB* aabb, const b2XForm& transform) const; - - /// @see b2Shape::ComputeSweptAABB - void ComputeSweptAABB( b2AABB* aabb, - const b2XForm& transform1, - const b2XForm& transform2) const; - - /// @see b2Shape::ComputeMass - void ComputeMass(b2MassData* massData) const; - - /// Get the local position of this circle in its parent body. - const b2Vec2& GetLocalPosition() const; - - /// Get the radius of this circle. - float32 GetRadius() const; - -private: - - friend class b2Shape; - - b2CircleShape(const b2ShapeDef* def); - - void UpdateSweepRadius(const b2Vec2& center); - - // Local position in parent body - b2Vec2 m_localPosition; - float32 m_radius; -}; - -inline const b2Vec2& b2CircleShape::GetLocalPosition() const -{ - return m_localPosition; -} - -inline float32 b2CircleShape::GetRadius() const -{ - return m_radius; -} - -#endif diff --git a/src/modules/physics/box2d/Source/Collision/Shapes/b2PolygonShape.cpp b/src/modules/physics/box2d/Source/Collision/Shapes/b2PolygonShape.cpp deleted file mode 100644 index 75ca1970e..000000000 --- a/src/modules/physics/box2d/Source/Collision/Shapes/b2PolygonShape.cpp +++ /dev/null @@ -1,449 +0,0 @@ - -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2PolygonShape.h" - -void b2PolygonDef::SetAsBox(float32 hx, float32 hy) -{ - vertexCount = 4; - vertices[0].Set(-hx, -hy); - vertices[1].Set( hx, -hy); - vertices[2].Set( hx, hy); - vertices[3].Set(-hx, hy); -} - -void b2PolygonDef::SetAsBox(float32 hx, float32 hy, const b2Vec2& center, float32 angle) -{ - SetAsBox(hx, hy); - b2XForm xf; - xf.position = center; - xf.R.Set(angle); - - for (int32 i = 0; i < vertexCount; ++i) - { - vertices[i] = b2Mul(xf, vertices[i]); - } -} - -static b2Vec2 ComputeCentroid(const b2Vec2* vs, int32 count) -{ - b2Assert(count >= 3); - - b2Vec2 c; c.Set(0.0f, 0.0f); - float32 area = 0.0f; - - // pRef is the reference point for forming triangles. - // It's location doesn't change the result (except for rounding error). - b2Vec2 pRef(0.0f, 0.0f); -#if 0 - // This code would put the reference point inside the polygon. - for (int32 i = 0; i < count; ++i) - { - pRef += vs[i]; - } - pRef *= 1.0f / count; -#endif - - const float32 inv3 = 1.0f / 3.0f; - - for (int32 i = 0; i < count; ++i) - { - // Triangle vertices. - b2Vec2 p1 = pRef; - b2Vec2 p2 = vs[i]; - b2Vec2 p3 = i + 1 < count ? vs[i+1] : vs[0]; - - b2Vec2 e1 = p2 - p1; - b2Vec2 e2 = p3 - p1; - - float32 D = b2Cross(e1, e2); - - float32 triangleArea = 0.5f * D; - area += triangleArea; - - // Area weighted centroid - c += triangleArea * inv3 * (p1 + p2 + p3); - } - - // Centroid - b2Assert(area > B2_FLT_EPSILON); - c *= 1.0f / area; - return c; -} - -// http://www.geometrictools.com/Documentation/MinimumAreaRectangle.pdf -static void ComputeOBB(b2OBB* obb, const b2Vec2* vs, int32 count) -{ - b2Assert(count <= b2_maxPolygonVertices); - b2Vec2 p[b2_maxPolygonVertices + 1]; - for (int32 i = 0; i < count; ++i) - { - p[i] = vs[i]; - } - p[count] = p[0]; - - float32 minArea = B2_FLT_MAX; - - for (int32 i = 1; i <= count; ++i) - { - b2Vec2 root = p[i-1]; - b2Vec2 ux = p[i] - root; - float32 length = ux.Normalize(); - b2Assert(length > B2_FLT_EPSILON); - b2Vec2 uy(-ux.y, ux.x); - b2Vec2 lower(B2_FLT_MAX, B2_FLT_MAX); - b2Vec2 upper(-B2_FLT_MAX, -B2_FLT_MAX); - - for (int32 j = 0; j < count; ++j) - { - b2Vec2 d = p[j] - root; - b2Vec2 r; - r.x = b2Dot(ux, d); - r.y = b2Dot(uy, d); - lower = b2Min(lower, r); - upper = b2Max(upper, r); - } - - float32 area = (upper.x - lower.x) * (upper.y - lower.y); - if (area < 0.95f * minArea) - { - minArea = area; - obb->R.col1 = ux; - obb->R.col2 = uy; - b2Vec2 center = 0.5f * (lower + upper); - obb->center = root + b2Mul(obb->R, center); - obb->extents = 0.5f * (upper - lower); - } - } - - b2Assert(minArea < B2_FLT_MAX); -} - -b2PolygonShape::b2PolygonShape(const b2ShapeDef* def) - : b2Shape(def) -{ - b2Assert(def->type == e_polygonShape); - m_type = e_polygonShape; - const b2PolygonDef* poly = (const b2PolygonDef*)def; - - // Get the vertices transformed into the body frame. - m_vertexCount = poly->vertexCount; - b2Assert(3 <= m_vertexCount && m_vertexCount <= b2_maxPolygonVertices); - - // Copy vertices. - for (int32 i = 0; i < m_vertexCount; ++i) - { - m_vertices[i] = poly->vertices[i]; - } - - // Compute normals. Ensure the edges have non-zero length. - for (int32 i = 0; i < m_vertexCount; ++i) - { - int32 i1 = i; - int32 i2 = i + 1 < m_vertexCount ? i + 1 : 0; - b2Vec2 edge = m_vertices[i2] - m_vertices[i1]; - b2Assert(edge.LengthSquared() > B2_FLT_EPSILON * B2_FLT_EPSILON); - m_normals[i] = b2Cross(edge, 1.0f); - m_normals[i].Normalize(); - } - -#ifdef _DEBUG - // Ensure the polygon is convex. - for (int32 i = 0; i < m_vertexCount; ++i) - { - for (int32 j = 0; j < m_vertexCount; ++j) - { - // Don't check vertices on the current edge. - if (j == i || j == (i + 1) % m_vertexCount) - { - continue; - } - - // Your polygon is non-convex (it has an indentation). - // Or your polygon is too skinny. - float32 s = b2Dot(m_normals[i], m_vertices[j] - m_vertices[i]); - b2Assert(s < -b2_linearSlop); - } - } - - // Ensure the polygon is counter-clockwise. - for (int32 i = 1; i < m_vertexCount; ++i) - { - float32 cross = b2Cross(m_normals[i-1], m_normals[i]); - - // Keep asinf happy. - cross = b2Clamp(cross, -1.0f, 1.0f); - - // You have consecutive edges that are almost parallel on your polygon. - float32 angle = asinf(cross); - b2Assert(angle > b2_angularSlop); - } -#endif - - // Compute the polygon centroid. - m_centroid = ComputeCentroid(poly->vertices, poly->vertexCount); - - // Compute the oriented bounding box. - ComputeOBB(&m_obb, m_vertices, m_vertexCount); - - // Create core polygon shape by shifting edges inward. - // Also compute the min/max radius for CCD. - for (int32 i = 0; i < m_vertexCount; ++i) - { - int32 i1 = i - 1 >= 0 ? i - 1 : m_vertexCount - 1; - int32 i2 = i; - - b2Vec2 n1 = m_normals[i1]; - b2Vec2 n2 = m_normals[i2]; - b2Vec2 v = m_vertices[i] - m_centroid;; - - b2Vec2 d; - d.x = b2Dot(n1, v) - b2_toiSlop; - d.y = b2Dot(n2, v) - b2_toiSlop; - - // Shifting the edge inward by b2_toiSlop should - // not cause the plane to pass the centroid. - - // Your shape has a radius/extent less than b2_toiSlop. - b2Assert(d.x >= 0.0f); - b2Assert(d.y >= 0.0f); - b2Mat22 A; - A.col1.x = n1.x; A.col2.x = n1.y; - A.col1.y = n2.x; A.col2.y = n2.y; - m_coreVertices[i] = A.Solve(d) + m_centroid; - } -} - -void b2PolygonShape::UpdateSweepRadius(const b2Vec2& center) -{ - // Update the sweep radius (maximum radius) as measured from - // a local center point. - m_sweepRadius = 0.0f; - for (int32 i = 0; i < m_vertexCount; ++i) - { - b2Vec2 d = m_coreVertices[i] - center; - m_sweepRadius = b2Max(m_sweepRadius, d.Length()); - } -} - -bool b2PolygonShape::TestPoint(const b2XForm& xf, const b2Vec2& p) const -{ - b2Vec2 pLocal = b2MulT(xf.R, p - xf.position); - - for (int32 i = 0; i < m_vertexCount; ++i) - { - float32 dot = b2Dot(m_normals[i], pLocal - m_vertices[i]); - if (dot > 0.0f) - { - return false; - } - } - - return true; -} - -bool b2PolygonShape::TestSegment( - const b2XForm& xf, - float32* lambda, - b2Vec2* normal, - const b2Segment& segment, - float32 maxLambda) const -{ - float32 lower = 0.0f, upper = maxLambda; - - b2Vec2 p1 = b2MulT(xf.R, segment.p1 - xf.position); - b2Vec2 p2 = b2MulT(xf.R, segment.p2 - xf.position); - b2Vec2 d = p2 - p1; - int32 index = -1; - - for (int32 i = 0; i < m_vertexCount; ++i) - { - // p = p1 + a * d - // dot(normal, p - v) = 0 - // dot(normal, p1 - v) + a * dot(normal, d) = 0 - float32 numerator = b2Dot(m_normals[i], m_vertices[i] - p1); - float32 denominator = b2Dot(m_normals[i], d); - - // Note: we want this predicate without division: - // lower < numerator / denominator, where denominator < 0 - // Since denominator < 0, we have to flip the inequality: - // lower < numerator / denominator <==> denominator * lower > numerator. - - if (denominator < 0.0f && numerator < lower * denominator) - { - // Increase lower. - // The segment enters this half-space. - lower = numerator / denominator; - index = i; - } - else if (denominator > 0.0f && numerator < upper * denominator) - { - // Decrease upper. - // The segment exits this half-space. - upper = numerator / denominator; - } - - if (upper < lower) - { - return false; - } - } - - b2Assert(0.0f <= lower && lower <= maxLambda); - - if (index >= 0) - { - *lambda = lower; - *normal = b2Mul(xf.R, m_normals[index]); - return true; - } - - return false; -} - -void b2PolygonShape::ComputeAABB(b2AABB* aabb, const b2XForm& xf) const -{ - b2Mat22 R = b2Mul(xf.R, m_obb.R); - b2Mat22 absR = b2Abs(R); - b2Vec2 h = b2Mul(absR, m_obb.extents); - b2Vec2 position = xf.position + b2Mul(xf.R, m_obb.center); - aabb->lowerBound = position - h; - aabb->upperBound = position + h; -} - -void b2PolygonShape::ComputeSweptAABB(b2AABB* aabb, - const b2XForm& transform1, - const b2XForm& transform2) const -{ - b2AABB aabb1, aabb2; - ComputeAABB(&aabb1, transform1); - ComputeAABB(&aabb2, transform2); - aabb->lowerBound = b2Min(aabb1.lowerBound, aabb2.lowerBound); - aabb->upperBound = b2Max(aabb1.upperBound, aabb2.upperBound); -} - -void b2PolygonShape::ComputeMass(b2MassData* massData) const -{ - // Polygon mass, centroid, and inertia. - // Let rho be the polygon density in mass per unit area. - // Then: - // mass = rho * int(dA) - // centroid.x = (1/mass) * rho * int(x * dA) - // centroid.y = (1/mass) * rho * int(y * dA) - // I = rho * int((x*x + y*y) * dA) - // - // We can compute these integrals by summing all the integrals - // for each triangle of the polygon. To evaluate the integral - // for a single triangle, we make a change of variables to - // the (u,v) coordinates of the triangle: - // x = x0 + e1x * u + e2x * v - // y = y0 + e1y * u + e2y * v - // where 0 <= u && 0 <= v && u + v <= 1. - // - // We integrate u from [0,1-v] and then v from [0,1]. - // We also need to use the Jacobian of the transformation: - // D = cross(e1, e2) - // - // Simplification: triangle centroid = (1/3) * (p1 + p2 + p3) - // - // The rest of the derivation is handled by computer algebra. - - b2Assert(m_vertexCount >= 3); - - b2Vec2 center; center.Set(0.0f, 0.0f); - float32 area = 0.0f; - float32 I = 0.0f; - - // pRef is the reference point for forming triangles. - // It's location doesn't change the result (except for rounding error). - b2Vec2 pRef(0.0f, 0.0f); -#if 0 - // This code would put the reference point inside the polygon. - for (int32 i = 0; i < m_vertexCount; ++i) - { - pRef += m_vertices[i]; - } - pRef *= 1.0f / count; -#endif - - const float32 k_inv3 = 1.0f / 3.0f; - - for (int32 i = 0; i < m_vertexCount; ++i) - { - // Triangle vertices. - b2Vec2 p1 = pRef; - b2Vec2 p2 = m_vertices[i]; - b2Vec2 p3 = i + 1 < m_vertexCount ? m_vertices[i+1] : m_vertices[0]; - - b2Vec2 e1 = p2 - p1; - b2Vec2 e2 = p3 - p1; - - float32 D = b2Cross(e1, e2); - - float32 triangleArea = 0.5f * D; - area += triangleArea; - - // Area weighted centroid - center += triangleArea * k_inv3 * (p1 + p2 + p3); - - float32 px = p1.x, py = p1.y; - float32 ex1 = e1.x, ey1 = e1.y; - float32 ex2 = e2.x, ey2 = e2.y; - - float32 intx2 = k_inv3 * (0.25f * (ex1*ex1 + ex2*ex1 + ex2*ex2) + (px*ex1 + px*ex2)) + 0.5f*px*px; - float32 inty2 = k_inv3 * (0.25f * (ey1*ey1 + ey2*ey1 + ey2*ey2) + (py*ey1 + py*ey2)) + 0.5f*py*py; - - I += D * (intx2 + inty2); - } - - // Total mass - massData->mass = m_density * area; - - // Center of mass - b2Assert(area > B2_FLT_EPSILON); - center *= 1.0f / area; - massData->center = center; - - // Inertia tensor relative to the local origin. - massData->I = m_density * I; -} - -b2Vec2 b2PolygonShape::Centroid(const b2XForm& xf) const -{ - return b2Mul(xf, m_centroid); -} - -b2Vec2 b2PolygonShape::Support(const b2XForm& xf, const b2Vec2& d) const -{ - b2Vec2 dLocal = b2MulT(xf.R, d); - - int32 bestIndex = 0; - float32 bestValue = b2Dot(m_coreVertices[0], dLocal); - for (int32 i = 1; i < m_vertexCount; ++i) - { - float32 value = b2Dot(m_coreVertices[i], dLocal); - if (value > bestValue) - { - bestIndex = i; - bestValue = value; - } - } - - return b2Mul(xf, m_coreVertices[bestIndex]); -} diff --git a/src/modules/physics/box2d/Source/Collision/Shapes/b2PolygonShape.h b/src/modules/physics/box2d/Source/Collision/Shapes/b2PolygonShape.h deleted file mode 100644 index 238614e2a..000000000 --- a/src/modules/physics/box2d/Source/Collision/Shapes/b2PolygonShape.h +++ /dev/null @@ -1,163 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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_POLYGON_SHAPE_H -#define B2_POLYGON_SHAPE_H - -#include "b2Shape.h" - -/// Convex polygon. The vertices must be in CCW order for a right-handed -/// coordinate system with the z-axis coming out of the screen. -struct b2PolygonDef : public b2ShapeDef -{ - b2PolygonDef() - { - type = e_polygonShape; - vertexCount = 0; - } - - /// Build vertices to represent an axis-aligned box. - /// @param hx the half-width. - /// @param hy the half-height. - void SetAsBox(float32 hx, float32 hy); - - /// Build vertices to represent an oriented box. - /// @param hx the half-width. - /// @param hy the half-height. - /// @param center the center of the box in local coordinates. - /// @param angle the rotation of the box in local coordinates. - void SetAsBox(float32 hx, float32 hy, const b2Vec2& center, float32 angle); - - /// The polygon vertices in local coordinates. - b2Vec2 vertices[b2_maxPolygonVertices]; - - /// The number of polygon vertices. - int32 vertexCount; -}; - - -/// A convex polygon. -class b2PolygonShape : public b2Shape -{ -public: - /// @see b2Shape::TestPoint - bool TestPoint(const b2XForm& transform, const b2Vec2& p) const; - - /// @see b2Shape::TestSegment - bool TestSegment( const b2XForm& transform, - float32* lambda, - b2Vec2* normal, - const b2Segment& segment, - float32 maxLambda) const; - - /// @see b2Shape::ComputeAABB - void ComputeAABB(b2AABB* aabb, const b2XForm& transform) const; - - /// @see b2Shape::ComputeSweptAABB - void ComputeSweptAABB( b2AABB* aabb, - const b2XForm& transform1, - const b2XForm& transform2) const; - - /// @see b2Shape::ComputeMass - void ComputeMass(b2MassData* massData) const; - - /// Get the oriented bounding box relative to the parent body. - const b2OBB& GetOBB() const; - - /// Get local centroid relative to the parent body. - const b2Vec2& GetCentroid() const; - - /// Get the vertex count. - int32 GetVertexCount() const; - - /// Get the vertices in local coordinates. - const b2Vec2* GetVertices() const; - - /// Get the core vertices in local coordinates. These vertices - /// represent a smaller polygon that is used for time of impact - /// computations. - const b2Vec2* GetCoreVertices() const; - - /// Get the edge normal vectors. There is one for each vertex. - const b2Vec2* GetNormals() const; - - /// Get the first vertex and apply the supplied transform. - b2Vec2 GetFirstVertex(const b2XForm& xf) const; - - /// Get the centroid and apply the supplied transform. - b2Vec2 Centroid(const b2XForm& xf) const; - - /// Get the support point in the given world direction. - /// Use the supplied transform. - b2Vec2 Support(const b2XForm& xf, const b2Vec2& d) const; - -private: - - friend class b2Shape; - - b2PolygonShape(const b2ShapeDef* def); - - void UpdateSweepRadius(const b2Vec2& center); - - // Local position of the polygon centroid. - b2Vec2 m_centroid; - - b2OBB m_obb; - - b2Vec2 m_vertices[b2_maxPolygonVertices]; - b2Vec2 m_normals[b2_maxPolygonVertices]; - b2Vec2 m_coreVertices[b2_maxPolygonVertices]; - int32 m_vertexCount; -}; - -inline b2Vec2 b2PolygonShape::GetFirstVertex(const b2XForm& xf) const -{ - return b2Mul(xf, m_coreVertices[0]); -} - -inline const b2OBB& b2PolygonShape::GetOBB() const -{ - return m_obb; -} - -inline const b2Vec2& b2PolygonShape::GetCentroid() const -{ - return m_centroid; -} - -inline int32 b2PolygonShape::GetVertexCount() const -{ - return m_vertexCount; -} - -inline const b2Vec2* b2PolygonShape::GetVertices() const -{ - return m_vertices; -} - -inline const b2Vec2* b2PolygonShape::GetCoreVertices() const -{ - return m_coreVertices; -} - -inline const b2Vec2* b2PolygonShape::GetNormals() const -{ - return m_normals; -} - -#endif diff --git a/src/modules/physics/box2d/Source/Collision/Shapes/b2Shape.cpp b/src/modules/physics/box2d/Source/Collision/Shapes/b2Shape.cpp deleted file mode 100644 index 618c7ee5c..000000000 --- a/src/modules/physics/box2d/Source/Collision/Shapes/b2Shape.cpp +++ /dev/null @@ -1,167 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2Shape.h" -#include "b2CircleShape.h" -#include "b2PolygonShape.h" -#include "../b2Collision.h" -#include "../b2BroadPhase.h" -#include "../../Common/b2BlockAllocator.h" - -#include - -b2Shape* b2Shape::Create(const b2ShapeDef* def, b2BlockAllocator* allocator) -{ - switch (def->type) - { - case e_circleShape: - { - void* mem = allocator->Allocate(sizeof(b2CircleShape)); - return new (mem) b2CircleShape(def); - } - - case e_polygonShape: - { - void* mem = allocator->Allocate(sizeof(b2PolygonShape)); - return new (mem) b2PolygonShape(def); - } - - default: - b2Assert(false); - return NULL; - } -} - -void b2Shape::Destroy(b2Shape* s, b2BlockAllocator* allocator) -{ - switch (s->GetType()) - { - case e_circleShape: - s->~b2Shape(); - allocator->Free(s, sizeof(b2CircleShape)); - break; - - case e_polygonShape: - s->~b2Shape(); - allocator->Free(s, sizeof(b2PolygonShape)); - break; - - default: - b2Assert(false); - } -} - -b2Shape::b2Shape(const b2ShapeDef* def) -{ - m_userData = def->userData; - m_friction = def->friction; - m_restitution = def->restitution; - m_density = def->density; - m_body = NULL; - m_sweepRadius = 0.0f; - - m_next = NULL; - - m_proxyId = b2_nullProxy; - - m_filter = def->filter; - - m_isSensor = def->isSensor; -} - -b2Shape::~b2Shape() -{ - b2Assert(m_proxyId == b2_nullProxy); -} - -void b2Shape::CreateProxy(b2BroadPhase* broadPhase, const b2XForm& transform) -{ - b2Assert(m_proxyId == b2_nullProxy); - - b2AABB aabb; - ComputeAABB(&aabb, transform); - - bool inRange = broadPhase->InRange(aabb); - - // You are creating a shape outside the world box. - b2Assert(inRange); - - if (inRange) - { - m_proxyId = broadPhase->CreateProxy(aabb, this); - } - else - { - m_proxyId = b2_nullProxy; - } -} - -void b2Shape::DestroyProxy(b2BroadPhase* broadPhase) -{ - if (m_proxyId != b2_nullProxy) - { - broadPhase->DestroyProxy(m_proxyId); - m_proxyId = b2_nullProxy; - } -} - -bool b2Shape::Synchronize(b2BroadPhase* broadPhase, const b2XForm& transform1, const b2XForm& transform2) -{ - if (m_proxyId == b2_nullProxy) - { - return false; - } - - // Compute an AABB that covers the swept shape (may miss some rotation effect). - b2AABB aabb; - ComputeSweptAABB(&aabb, transform1, transform2); - - if (broadPhase->InRange(aabb)) - { - broadPhase->MoveProxy(m_proxyId, aabb); - return true; - } - else - { - return false; - } -} - -void b2Shape::RefilterProxy(b2BroadPhase* broadPhase, const b2XForm& transform) -{ - if (m_proxyId == b2_nullProxy) - { - return; - } - - broadPhase->DestroyProxy(m_proxyId); - - b2AABB aabb; - ComputeAABB(&aabb, transform); - - bool inRange = broadPhase->InRange(aabb); - - if (inRange) - { - m_proxyId = broadPhase->CreateProxy(aabb, this); - } - else - { - m_proxyId = b2_nullProxy; - } -} diff --git a/src/modules/physics/box2d/Source/Collision/Shapes/b2Shape.h b/src/modules/physics/box2d/Source/Collision/Shapes/b2Shape.h deleted file mode 100644 index fdc431e87..000000000 --- a/src/modules/physics/box2d/Source/Collision/Shapes/b2Shape.h +++ /dev/null @@ -1,286 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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_SHAPE_H -#define B2_SHAPE_H - -#include "../../Common/b2Math.h" -#include "../b2Collision.h" - -class b2BlockAllocator; -class b2Body; -class b2BroadPhase; - -/// This holds the mass data computed for a shape. -struct b2MassData -{ - /// The mass of the shape, usually in kilograms. - float32 mass; - - /// The position of the shape's centroid relative to the shape's origin. - b2Vec2 center; - - /// The rotational inertia of the shape. - float32 I; -}; - -/// This holds contact filtering data. -struct b2FilterData -{ - /// The collision category bits. Normally you would just set one bit. - uint16 categoryBits; - - /// The collision mask bits. This states the categories that this - /// shape would accept for collision. - uint16 maskBits; - - /// Collision groups allow a certain group of objects to never collide (negative) - /// or always collide (positive). Zero means no collision group. Non-zero group - /// filtering always wins against the mask bits. - int16 groupIndex; -}; - -/// The various collision shape types supported by Box2D. -enum b2ShapeType -{ - e_unknownShape = -1, - e_circleShape, - e_polygonShape, - e_shapeTypeCount, -}; - -/// A shape definition is used to construct a shape. This class defines an -/// abstract shape definition. You can reuse shape definitions safely. -struct b2ShapeDef -{ - /// The constructor sets the default shape definition values. - b2ShapeDef() - { - type = e_unknownShape; - userData = NULL; - friction = 0.2f; - restitution = 0.0f; - density = 0.0f; - filter.categoryBits = 0x0001; - filter.maskBits = 0xFFFF; - filter.groupIndex = 0; - isSensor = false; - } - - virtual ~b2ShapeDef() {} - - /// Holds the shape type for down-casting. - b2ShapeType type; - - /// Use this to store application specify shape data. - void* userData; - - /// The shape's friction coefficient, usually in the range [0,1]. - float32 friction; - - /// The shape's restitution (elasticity) usually in the range [0,1]. - float32 restitution; - - /// The shape's density, usually in kg/m^2. - float32 density; - - /// A sensor shape collects contact information but never generates a collision - /// response. - bool isSensor; - - /// Contact filtering data. - b2FilterData filter; -}; - -/// A shape is used for collision detection. Shapes are created in b2World. -/// You can use shape for collision detection before they are attached to the world. -/// @warning you cannot reuse shapes. -class b2Shape -{ -public: - /// Get the type of this shape. You can use this to down cast to the concrete shape. - /// @return the shape type. - b2ShapeType GetType() const; - - /// Is this shape a sensor (non-solid)? - /// @return the true if the shape is a sensor. - bool IsSensor() const; - - /// Set the contact filtering data. You must call b2World::Refilter to correct - /// existing contacts/non-contacts. - void SetFilterData(const b2FilterData& filter); - - /// Get the contact filtering data. - const b2FilterData& GetFilterData() const; - - /// Get the parent body of this shape. This is NULL if the shape is not attached. - /// @return the parent body. - b2Body* GetBody(); - - /// Get the next shape in the parent body's shape list. - /// @return the next shape. - b2Shape* GetNext(); - - /// Get the user data that was assigned in the shape definition. Use this to - /// store your application specific data. - void* GetUserData(); - - /// Set the user data. Use this to store your application specific data. - void SetUserData(void* data); - - /// Test a point for containment in this shape. This only works for convex shapes. - /// @param xf the shape world transform. - /// @param p a point in world coordinates. - virtual bool TestPoint(const b2XForm& xf, const b2Vec2& p) const = 0; - - /// Perform a ray cast against this shape. - /// @param xf the shape world transform. - /// @param lambda returns the hit fraction. You can use this to compute the contact point - /// p = (1 - lambda) * segment.p1 + lambda * segment.p2. - /// @param normal returns the normal at the contact point. If there is no intersection, the normal - /// is not set. - /// @param segment defines the begin and end point of the ray cast. - /// @param maxLambda a number typically in the range [0,1]. - /// @return true if there was an intersection. - virtual bool TestSegment( const b2XForm& xf, - float32* lambda, - b2Vec2* normal, - const b2Segment& segment, - float32 maxLambda) const = 0; - - /// Given a transform, compute the associated axis aligned bounding box for this shape. - /// @param aabb returns the axis aligned box. - /// @param xf the world transform of the shape. - virtual void ComputeAABB(b2AABB* aabb, const b2XForm& xf) const = 0; - - /// Given two transforms, compute the associated swept axis aligned bounding box for this shape. - /// @param aabb returns the axis aligned box. - /// @param xf1 the starting shape world transform. - /// @param xf2 the ending shape world transform. - virtual void ComputeSweptAABB( b2AABB* aabb, - const b2XForm& xf1, - const b2XForm& xf2) const = 0; - - /// Compute the mass properties of this shape using its dimensions and density. - /// The inertia tensor is computed about the local origin, not the centroid. - /// @param massData returns the mass data for this shape. - virtual void ComputeMass(b2MassData* massData) const = 0; - - /// Get the maximum radius about the parent body's center of mass. - float32 GetSweepRadius() const; - - /// Get the coefficient of friction. - float32 GetFriction() const; - - /// Get the coefficient of restitution. - float32 GetRestitution() const; - - float32 m_density; - float32 m_friction; - float32 m_restitution; - bool m_isSensor; - -protected: - - friend class b2Body; - friend class b2World; - - static b2Shape* Create(const b2ShapeDef* def, b2BlockAllocator* allocator); - static void Destroy(b2Shape* shape, b2BlockAllocator* allocator); - - b2Shape(const b2ShapeDef* def); - virtual ~b2Shape(); - - void CreateProxy(b2BroadPhase* broadPhase, const b2XForm& xf); - void DestroyProxy(b2BroadPhase* broadPhase); - bool Synchronize(b2BroadPhase* broadPhase, const b2XForm& xf1, const b2XForm& xf2); - void RefilterProxy(b2BroadPhase* broadPhase, const b2XForm& xf); - - virtual void UpdateSweepRadius(const b2Vec2& center) = 0; - - b2ShapeType m_type; - b2Shape* m_next; - b2Body* m_body; - - // Sweep radius relative to the parent body's center of mass. - float32 m_sweepRadius; - - uint16 m_proxyId; - b2FilterData m_filter; - - - - void* m_userData; -}; - -inline b2ShapeType b2Shape::GetType() const -{ - return m_type; -} - -inline bool b2Shape::IsSensor() const -{ - return m_isSensor; -} - -inline void b2Shape::SetFilterData(const b2FilterData& filter) -{ - m_filter = filter; -} - -inline const b2FilterData& b2Shape::GetFilterData() const -{ - return m_filter; -} - -inline void* b2Shape::GetUserData() -{ - return m_userData; -} - -inline void b2Shape::SetUserData(void* data) -{ - m_userData = data; -} - -inline b2Body* b2Shape::GetBody() -{ - return m_body; -} - -inline b2Shape* b2Shape::GetNext() -{ - return m_next; -} - -inline float32 b2Shape::GetSweepRadius() const -{ - return m_sweepRadius; -} - -inline float32 b2Shape::GetFriction() const -{ - return m_friction; -} - -inline float32 b2Shape::GetRestitution() const -{ - return m_restitution; -} - -#endif diff --git a/src/modules/physics/box2d/Source/Collision/b2BroadPhase.cpp b/src/modules/physics/box2d/Source/Collision/b2BroadPhase.cpp deleted file mode 100644 index ab2092130..000000000 --- a/src/modules/physics/box2d/Source/Collision/b2BroadPhase.cpp +++ /dev/null @@ -1,668 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2BroadPhase.h" -#include -#include - -// Notes: -// - we use bound arrays instead of linked lists for cache coherence. -// - we use quantized integral values for fast compares. -// - we use short indices rather than pointers to save memory. -// - we use a stabbing count for fast overlap queries (less than order N). -// - we also use a time stamp on each proxy to speed up the registration of -// overlap query results. -// - where possible, we compare bound indices instead of values to reduce -// cache misses (TODO_ERIN). -// - no broadphase is perfect and neither is this one: it is not great for huge -// worlds (use a multi-SAP instead), it is not great for large objects. - -bool b2BroadPhase::s_validate = false; - -struct b2BoundValues -{ - uint16 lowerValues[2]; - uint16 upperValues[2]; -}; - -static int32 BinarySearch(b2Bound* bounds, int32 count, uint16 value) -{ - int32 low = 0; - int32 high = count - 1; - while (low <= high) - { - int32 mid = (low + high) >> 1; - if (bounds[mid].value > value) - { - high = mid - 1; - } - else if (bounds[mid].value < value) - { - low = mid + 1; - } - else - { - return (uint16)mid; - } - } - - return low; -} - -b2BroadPhase::b2BroadPhase(const b2AABB& worldAABB, b2PairCallback* callback) -{ - m_pairManager.Initialize(this, callback); - - b2Assert(worldAABB.IsValid()); - m_worldAABB = worldAABB; - m_proxyCount = 0; - - b2Vec2 d = worldAABB.upperBound - worldAABB.lowerBound; - m_quantizationFactor.x = float32(B2BROADPHASE_MAX) / d.x; - m_quantizationFactor.y = float32(B2BROADPHASE_MAX) / d.y; - - for (uint16 i = 0; i < b2_maxProxies - 1; ++i) - { - m_proxyPool[i].SetNext(i + 1); - m_proxyPool[i].timeStamp = 0; - m_proxyPool[i].overlapCount = b2_invalid; - m_proxyPool[i].userData = NULL; - } - m_proxyPool[b2_maxProxies-1].SetNext(b2_nullProxy); - m_proxyPool[b2_maxProxies-1].timeStamp = 0; - m_proxyPool[b2_maxProxies-1].overlapCount = b2_invalid; - m_proxyPool[b2_maxProxies-1].userData = NULL; - m_freeProxy = 0; - - m_timeStamp = 1; - m_queryResultCount = 0; -} - -b2BroadPhase::~b2BroadPhase() -{ -} - -// This one is only used for validation. -bool b2BroadPhase::TestOverlap(b2Proxy* p1, b2Proxy* p2) -{ - for (int32 axis = 0; axis < 2; ++axis) - { - b2Bound* bounds = m_bounds[axis]; - - b2Assert(p1->lowerBounds[axis] < 2 * m_proxyCount); - b2Assert(p1->upperBounds[axis] < 2 * m_proxyCount); - b2Assert(p2->lowerBounds[axis] < 2 * m_proxyCount); - b2Assert(p2->upperBounds[axis] < 2 * m_proxyCount); - - if (bounds[p1->lowerBounds[axis]].value > bounds[p2->upperBounds[axis]].value) - return false; - - if (bounds[p1->upperBounds[axis]].value < bounds[p2->lowerBounds[axis]].value) - return false; - } - - return true; -} - -bool b2BroadPhase::TestOverlap(const b2BoundValues& b, b2Proxy* p) -{ - for (int32 axis = 0; axis < 2; ++axis) - { - b2Bound* bounds = m_bounds[axis]; - - b2Assert(p->lowerBounds[axis] < 2 * m_proxyCount); - b2Assert(p->upperBounds[axis] < 2 * m_proxyCount); - - if (b.lowerValues[axis] > bounds[p->upperBounds[axis]].value) - return false; - - if (b.upperValues[axis] < bounds[p->lowerBounds[axis]].value) - return false; - } - - return true; -} - -void b2BroadPhase::ComputeBounds(uint16* lowerValues, uint16* upperValues, const b2AABB& aabb) -{ - b2Assert(aabb.upperBound.x > aabb.lowerBound.x); - b2Assert(aabb.upperBound.y > aabb.lowerBound.y); - - b2Vec2 minVertex = b2Clamp(aabb.lowerBound, m_worldAABB.lowerBound, m_worldAABB.upperBound); - b2Vec2 maxVertex = b2Clamp(aabb.upperBound, m_worldAABB.lowerBound, m_worldAABB.upperBound); - - // Bump lower bounds downs and upper bounds up. This ensures correct sorting of - // lower/upper bounds that would have equal values. - // TODO_ERIN implement fast float to uint16 conversion. - lowerValues[0] = (uint16)(m_quantizationFactor.x * (minVertex.x - m_worldAABB.lowerBound.x)) & (B2BROADPHASE_MAX - 1); - upperValues[0] = (uint16)(m_quantizationFactor.x * (maxVertex.x - m_worldAABB.lowerBound.x)) | 1; - - lowerValues[1] = (uint16)(m_quantizationFactor.y * (minVertex.y - m_worldAABB.lowerBound.y)) & (B2BROADPHASE_MAX - 1); - upperValues[1] = (uint16)(m_quantizationFactor.y * (maxVertex.y - m_worldAABB.lowerBound.y)) | 1; -} - -void b2BroadPhase::IncrementTimeStamp() -{ - if (m_timeStamp == B2BROADPHASE_MAX) - { - for (uint16 i = 0; i < b2_maxProxies; ++i) - { - m_proxyPool[i].timeStamp = 0; - } - m_timeStamp = 1; - } - else - { - ++m_timeStamp; - } -} - -void b2BroadPhase::IncrementOverlapCount(int32 proxyId) -{ - b2Proxy* proxy = m_proxyPool + proxyId; - if (proxy->timeStamp < m_timeStamp) - { - proxy->timeStamp = m_timeStamp; - proxy->overlapCount = 1; - } - else - { - proxy->overlapCount = 2; - b2Assert(m_queryResultCount < b2_maxProxies); - m_queryResults[m_queryResultCount] = (uint16)proxyId; - ++m_queryResultCount; - } -} - -void b2BroadPhase::Query(int32* lowerQueryOut, int32* upperQueryOut, - uint16 lowerValue, uint16 upperValue, - b2Bound* bounds, int32 boundCount, int32 axis) -{ - int32 lowerQuery = BinarySearch(bounds, boundCount, lowerValue); - int32 upperQuery = BinarySearch(bounds, boundCount, upperValue); - - // Easy case: lowerQuery <= lowerIndex(i) < upperQuery - // Solution: search query range for min bounds. - for (int32 i = lowerQuery; i < upperQuery; ++i) - { - if (bounds[i].IsLower()) - { - IncrementOverlapCount(bounds[i].proxyId); - } - } - - // Hard case: lowerIndex(i) < lowerQuery < upperIndex(i) - // Solution: use the stabbing count to search down the bound array. - if (lowerQuery > 0) - { - int32 i = lowerQuery - 1; - int32 s = bounds[i].stabbingCount; - - // Find the s overlaps. - while (s) - { - b2Assert(i >= 0); - - if (bounds[i].IsLower()) - { - b2Proxy* proxy = m_proxyPool + bounds[i].proxyId; - if (lowerQuery <= proxy->upperBounds[axis]) - { - IncrementOverlapCount(bounds[i].proxyId); - --s; - } - } - --i; - } - } - - *lowerQueryOut = lowerQuery; - *upperQueryOut = upperQuery; -} - -uint16 b2BroadPhase::CreateProxy(const b2AABB& aabb, void* userData) -{ - b2Assert(m_proxyCount < b2_maxProxies); - b2Assert(m_freeProxy != b2_nullProxy); - - uint16 proxyId = m_freeProxy; - b2Proxy* proxy = m_proxyPool + proxyId; - m_freeProxy = proxy->GetNext(); - - proxy->overlapCount = 0; - proxy->userData = userData; - - int32 boundCount = 2 * m_proxyCount; - - uint16 lowerValues[2], upperValues[2]; - ComputeBounds(lowerValues, upperValues, aabb); - - for (int32 axis = 0; axis < 2; ++axis) - { - b2Bound* bounds = m_bounds[axis]; - int32 lowerIndex, upperIndex; - Query(&lowerIndex, &upperIndex, lowerValues[axis], upperValues[axis], bounds, boundCount, axis); - - memmove(bounds + upperIndex + 2, bounds + upperIndex, (boundCount - upperIndex) * sizeof(b2Bound)); - memmove(bounds + lowerIndex + 1, bounds + lowerIndex, (upperIndex - lowerIndex) * sizeof(b2Bound)); - - // The upper index has increased because of the lower bound insertion. - ++upperIndex; - - // Copy in the new bounds. - bounds[lowerIndex].value = lowerValues[axis]; - bounds[lowerIndex].proxyId = proxyId; - bounds[upperIndex].value = upperValues[axis]; - bounds[upperIndex].proxyId = proxyId; - - bounds[lowerIndex].stabbingCount = lowerIndex == 0 ? 0 : bounds[lowerIndex-1].stabbingCount; - bounds[upperIndex].stabbingCount = bounds[upperIndex-1].stabbingCount; - - // Adjust the stabbing count between the new bounds. - for (int32 index = lowerIndex; index < upperIndex; ++index) - { - ++bounds[index].stabbingCount; - } - - // Adjust the all the affected bound indices. - for (int32 index = lowerIndex; index < boundCount + 2; ++index) - { - b2Proxy* proxy = m_proxyPool + bounds[index].proxyId; - if (bounds[index].IsLower()) - { - proxy->lowerBounds[axis] = (uint16)index; - } - else - { - proxy->upperBounds[axis] = (uint16)index; - } - } - } - - ++m_proxyCount; - - b2Assert(m_queryResultCount < b2_maxProxies); - - // Create pairs if the AABB is in range. - for (int32 i = 0; i < m_queryResultCount; ++i) - { - b2Assert(m_queryResults[i] < b2_maxProxies); - b2Assert(m_proxyPool[m_queryResults[i]].IsValid()); - - m_pairManager.AddBufferedPair(proxyId, m_queryResults[i]); - } - - m_pairManager.Commit(); - - if (s_validate) - { - Validate(); - } - - // Prepare for next query. - m_queryResultCount = 0; - IncrementTimeStamp(); - - return proxyId; -} - -void b2BroadPhase::DestroyProxy(int32 proxyId) -{ - b2Assert(0 < m_proxyCount && m_proxyCount <= b2_maxProxies); - b2Proxy* proxy = m_proxyPool + proxyId; - b2Assert(proxy->IsValid()); - - int32 boundCount = 2 * m_proxyCount; - - for (int32 axis = 0; axis < 2; ++axis) - { - b2Bound* bounds = m_bounds[axis]; - - int32 lowerIndex = proxy->lowerBounds[axis]; - int32 upperIndex = proxy->upperBounds[axis]; - uint16 lowerValue = bounds[lowerIndex].value; - uint16 upperValue = bounds[upperIndex].value; - - memmove(bounds + lowerIndex, bounds + lowerIndex + 1, (upperIndex - lowerIndex - 1) * sizeof(b2Bound)); - memmove(bounds + upperIndex-1, bounds + upperIndex + 1, (boundCount - upperIndex - 1) * sizeof(b2Bound)); - - // Fix bound indices. - for (int32 index = lowerIndex; index < boundCount - 2; ++index) - { - b2Proxy* proxy = m_proxyPool + bounds[index].proxyId; - if (bounds[index].IsLower()) - { - proxy->lowerBounds[axis] = (uint16)index; - } - else - { - proxy->upperBounds[axis] = (uint16)index; - } - } - - // Fix stabbing count. - for (int32 index = lowerIndex; index < upperIndex - 1; ++index) - { - --bounds[index].stabbingCount; - } - - // Query for pairs to be removed. lowerIndex and upperIndex are not needed. - Query(&lowerIndex, &upperIndex, lowerValue, upperValue, bounds, boundCount - 2, axis); - } - - b2Assert(m_queryResultCount < b2_maxProxies); - - for (int32 i = 0; i < m_queryResultCount; ++i) - { - b2Assert(m_proxyPool[m_queryResults[i]].IsValid()); - m_pairManager.RemoveBufferedPair(proxyId, m_queryResults[i]); - } - - m_pairManager.Commit(); - - // Prepare for next query. - m_queryResultCount = 0; - IncrementTimeStamp(); - - // Return the proxy to the pool. - proxy->userData = NULL; - proxy->overlapCount = b2_invalid; - proxy->lowerBounds[0] = b2_invalid; - proxy->lowerBounds[1] = b2_invalid; - proxy->upperBounds[0] = b2_invalid; - proxy->upperBounds[1] = b2_invalid; - - proxy->SetNext(m_freeProxy); - m_freeProxy = (uint16)proxyId; - --m_proxyCount; - - if (s_validate) - { - Validate(); - } -} - -void b2BroadPhase::MoveProxy(int32 proxyId, const b2AABB& aabb) -{ - if (proxyId == b2_nullProxy || b2_maxProxies <= proxyId) - { - b2Assert(false); - return; - } - - if (aabb.IsValid() == false) - { - b2Assert(false); - return; - } - - int32 boundCount = 2 * m_proxyCount; - - b2Proxy* proxy = m_proxyPool + proxyId; - - // Get new bound values - b2BoundValues newValues; - ComputeBounds(newValues.lowerValues, newValues.upperValues, aabb); - - // Get old bound values - b2BoundValues oldValues; - for (int32 axis = 0; axis < 2; ++axis) - { - oldValues.lowerValues[axis] = m_bounds[axis][proxy->lowerBounds[axis]].value; - oldValues.upperValues[axis] = m_bounds[axis][proxy->upperBounds[axis]].value; - } - - for (int32 axis = 0; axis < 2; ++axis) - { - b2Bound* bounds = m_bounds[axis]; - - int32 lowerIndex = proxy->lowerBounds[axis]; - int32 upperIndex = proxy->upperBounds[axis]; - - uint16 lowerValue = newValues.lowerValues[axis]; - uint16 upperValue = newValues.upperValues[axis]; - - int32 deltaLower = lowerValue - bounds[lowerIndex].value; - int32 deltaUpper = upperValue - bounds[upperIndex].value; - - bounds[lowerIndex].value = lowerValue; - bounds[upperIndex].value = upperValue; - - // - // Expanding adds overlaps - // - - // Should we move the lower bound down? - if (deltaLower < 0) - { - int32 index = lowerIndex; - while (index > 0 && lowerValue < bounds[index-1].value) - { - b2Bound* bound = bounds + index; - b2Bound* prevBound = bound - 1; - - int32 prevProxyId = prevBound->proxyId; - b2Proxy* prevProxy = m_proxyPool + prevBound->proxyId; - - ++prevBound->stabbingCount; - - if (prevBound->IsUpper() == true) - { - if (TestOverlap(newValues, prevProxy)) - { - m_pairManager.AddBufferedPair(proxyId, prevProxyId); - } - - ++prevProxy->upperBounds[axis]; - ++bound->stabbingCount; - } - else - { - ++prevProxy->lowerBounds[axis]; - --bound->stabbingCount; - } - - --proxy->lowerBounds[axis]; - b2Swap(*bound, *prevBound); - --index; - } - } - - // Should we move the upper bound up? - if (deltaUpper > 0) - { - int32 index = upperIndex; - while (index < boundCount-1 && bounds[index+1].value <= upperValue) - { - b2Bound* bound = bounds + index; - b2Bound* nextBound = bound + 1; - int32 nextProxyId = nextBound->proxyId; - b2Proxy* nextProxy = m_proxyPool + nextProxyId; - - ++nextBound->stabbingCount; - - if (nextBound->IsLower() == true) - { - if (TestOverlap(newValues, nextProxy)) - { - m_pairManager.AddBufferedPair(proxyId, nextProxyId); - } - - --nextProxy->lowerBounds[axis]; - ++bound->stabbingCount; - } - else - { - --nextProxy->upperBounds[axis]; - --bound->stabbingCount; - } - - ++proxy->upperBounds[axis]; - b2Swap(*bound, *nextBound); - ++index; - } - } - - // - // Shrinking removes overlaps - // - - // Should we move the lower bound up? - if (deltaLower > 0) - { - int32 index = lowerIndex; - while (index < boundCount-1 && bounds[index+1].value <= lowerValue) - { - b2Bound* bound = bounds + index; - b2Bound* nextBound = bound + 1; - - int32 nextProxyId = nextBound->proxyId; - b2Proxy* nextProxy = m_proxyPool + nextProxyId; - - --nextBound->stabbingCount; - - if (nextBound->IsUpper()) - { - if (TestOverlap(oldValues, nextProxy)) - { - m_pairManager.RemoveBufferedPair(proxyId, nextProxyId); - } - - --nextProxy->upperBounds[axis]; - --bound->stabbingCount; - } - else - { - --nextProxy->lowerBounds[axis]; - ++bound->stabbingCount; - } - - ++proxy->lowerBounds[axis]; - b2Swap(*bound, *nextBound); - ++index; - } - } - - // Should we move the upper bound down? - if (deltaUpper < 0) - { - int32 index = upperIndex; - while (index > 0 && upperValue < bounds[index-1].value) - { - b2Bound* bound = bounds + index; - b2Bound* prevBound = bound - 1; - - int32 prevProxyId = prevBound->proxyId; - b2Proxy* prevProxy = m_proxyPool + prevProxyId; - - --prevBound->stabbingCount; - - if (prevBound->IsLower() == true) - { - if (TestOverlap(oldValues, prevProxy)) - { - m_pairManager.RemoveBufferedPair(proxyId, prevProxyId); - } - - ++prevProxy->lowerBounds[axis]; - --bound->stabbingCount; - } - else - { - ++prevProxy->upperBounds[axis]; - ++bound->stabbingCount; - } - - --proxy->upperBounds[axis]; - b2Swap(*bound, *prevBound); - --index; - } - } - } - - if (s_validate) - { - Validate(); - } -} - -void b2BroadPhase::Commit() -{ - m_pairManager.Commit(); -} - -int32 b2BroadPhase::Query(const b2AABB& aabb, void** userData, int32 maxCount) -{ - uint16 lowerValues[2]; - uint16 upperValues[2]; - ComputeBounds(lowerValues, upperValues, aabb); - - int32 lowerIndex, upperIndex; - - Query(&lowerIndex, &upperIndex, lowerValues[0], upperValues[0], m_bounds[0], 2*m_proxyCount, 0); - Query(&lowerIndex, &upperIndex, lowerValues[1], upperValues[1], m_bounds[1], 2*m_proxyCount, 1); - - b2Assert(m_queryResultCount < b2_maxProxies); - - int32 count = 0; - for (int32 i = 0; i < m_queryResultCount && count < maxCount; ++i, ++count) - { - b2Assert(m_queryResults[i] < b2_maxProxies); - b2Proxy* proxy = m_proxyPool + m_queryResults[i]; - b2Assert(proxy->IsValid()); - userData[i] = proxy->userData; - } - - // Prepare for next query. - m_queryResultCount = 0; - IncrementTimeStamp(); - - return count; -} - -void b2BroadPhase::Validate() -{ - for (int32 axis = 0; axis < 2; ++axis) - { - b2Bound* bounds = m_bounds[axis]; - - int32 boundCount = 2 * m_proxyCount; - uint16 stabbingCount = 0; - - for (int32 i = 0; i < boundCount; ++i) - { - b2Bound* bound = bounds + i; - b2Assert(i == 0 || bounds[i-1].value <= bound->value); - b2Assert(bound->proxyId != b2_nullProxy); - b2Assert(m_proxyPool[bound->proxyId].IsValid()); - - if (bound->IsLower() == true) - { - b2Assert(m_proxyPool[bound->proxyId].lowerBounds[axis] == i); - ++stabbingCount; - } - else - { - b2Assert(m_proxyPool[bound->proxyId].upperBounds[axis] == i); - --stabbingCount; - } - - b2Assert(bound->stabbingCount == stabbingCount); - } - } -} diff --git a/src/modules/physics/box2d/Source/Collision/b2BroadPhase.h b/src/modules/physics/box2d/Source/Collision/b2BroadPhase.h deleted file mode 100644 index aa3ea1bed..000000000 --- a/src/modules/physics/box2d/Source/Collision/b2BroadPhase.h +++ /dev/null @@ -1,146 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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_BROAD_PHASE_H -#define B2_BROAD_PHASE_H - -/* -This broad phase uses the Sweep and Prune algorithm as described in: -Collision Detection in Interactive 3D Environments by Gino van den Bergen -Also, some ideas, such as using integral values for fast compares comes from -Bullet (http:/www.bulletphysics.com). -*/ - -#include "../Common/b2Settings.h" -#include "b2Collision.h" -#include "b2PairManager.h" -#include - -#ifdef TARGET_FLOAT32_IS_FIXED -#define B2BROADPHASE_MAX (USHRT_MAX/2) -#else -#define B2BROADPHASE_MAX USHRT_MAX - -#endif - -const uint16 b2_invalid = B2BROADPHASE_MAX; -const uint16 b2_nullEdge = B2BROADPHASE_MAX; -struct b2BoundValues; - -struct b2Bound -{ - bool IsLower() const { return (value & 1) == 0; } - bool IsUpper() const { return (value & 1) == 1; } - - uint16 value; - uint16 proxyId; - uint16 stabbingCount; -}; - -struct b2Proxy -{ - uint16 GetNext() const { return lowerBounds[0]; } - void SetNext(uint16 next) { lowerBounds[0] = next; } - bool IsValid() const { return overlapCount != b2_invalid; } - - uint16 lowerBounds[2], upperBounds[2]; - uint16 overlapCount; - uint16 timeStamp; - void* userData; -}; - -class b2BroadPhase -{ -public: - b2BroadPhase(const b2AABB& worldAABB, b2PairCallback* callback); - ~b2BroadPhase(); - - // Use this to see if your proxy is in range. If it is not in range, - // it should be destroyed. Otherwise you may get O(m^2) pairs, where m - // is the number of proxies that are out of range. - bool InRange(const b2AABB& aabb) const; - - // Create and destroy proxies. These call Flush first. - uint16 CreateProxy(const b2AABB& aabb, void* userData); - void DestroyProxy(int32 proxyId); - - // Call MoveProxy as many times as you like, then when you are done - // call Commit to finalized the proxy pairs (for your time step). - void MoveProxy(int32 proxyId, const b2AABB& aabb); - void Commit(); - - // Get a single proxy. Returns NULL if the id is invalid. - b2Proxy* GetProxy(int32 proxyId); - - // Query an AABB for overlapping proxies, returns the user data and - // the count, up to the supplied maximum count. - int32 Query(const b2AABB& aabb, void** userData, int32 maxCount); - - void Validate(); - void ValidatePairs(); - -private: - void ComputeBounds(uint16* lowerValues, uint16* upperValues, const b2AABB& aabb); - - bool TestOverlap(b2Proxy* p1, b2Proxy* p2); - bool TestOverlap(const b2BoundValues& b, b2Proxy* p); - - void Query(int32* lowerIndex, int32* upperIndex, uint16 lowerValue, uint16 upperValue, - b2Bound* bounds, int32 boundCount, int32 axis); - void IncrementOverlapCount(int32 proxyId); - void IncrementTimeStamp(); - -public: - friend class b2PairManager; - - b2PairManager m_pairManager; - - b2Proxy m_proxyPool[b2_maxProxies]; - uint16 m_freeProxy; - - b2Bound m_bounds[2][2*b2_maxProxies]; - - uint16 m_queryResults[b2_maxProxies]; - int32 m_queryResultCount; - - b2AABB m_worldAABB; - b2Vec2 m_quantizationFactor; - int32 m_proxyCount; - uint16 m_timeStamp; - - static bool s_validate; -}; - - -inline bool b2BroadPhase::InRange(const b2AABB& aabb) const -{ - b2Vec2 d = b2Max(aabb.lowerBound - m_worldAABB.upperBound, m_worldAABB.lowerBound - aabb.upperBound); - return b2Max(d.x, d.y) < 0.0f; -} - -inline b2Proxy* b2BroadPhase::GetProxy(int32 proxyId) -{ - if (proxyId == b2_nullProxy || m_proxyPool[proxyId].IsValid() == false) - { - return NULL; - } - - return m_proxyPool + proxyId; -} - -#endif diff --git a/src/modules/physics/box2d/Source/Collision/b2CollideCircle.cpp b/src/modules/physics/box2d/Source/Collision/b2CollideCircle.cpp deleted file mode 100644 index 9384e15f4..000000000 --- a/src/modules/physics/box2d/Source/Collision/b2CollideCircle.cpp +++ /dev/null @@ -1,168 +0,0 @@ -/* -* Copyright (c) 2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2Collision.h" -#include "Shapes/b2CircleShape.h" -#include "Shapes/b2PolygonShape.h" - -void b2CollideCircles( - b2Manifold* manifold, - const b2CircleShape* circle1, const b2XForm& xf1, - const b2CircleShape* circle2, const b2XForm& xf2) -{ - manifold->pointCount = 0; - - b2Vec2 p1 = b2Mul(xf1, circle1->GetLocalPosition()); - b2Vec2 p2 = b2Mul(xf2, circle2->GetLocalPosition()); - - b2Vec2 d = p2 - p1; - float32 distSqr = b2Dot(d, d); - float32 r1 = circle1->GetRadius(); - float32 r2 = circle2->GetRadius(); - float32 radiusSum = r1 + r2; - if (distSqr > radiusSum * radiusSum) - { - return; - } - - float32 separation; - if (distSqr < B2_FLT_EPSILON) - { - separation = -radiusSum; - manifold->normal.Set(0.0f, 1.0f); - } - else - { - float32 dist = b2Sqrt(distSqr); - separation = dist - radiusSum; - float32 a = 1.0f / dist; - manifold->normal.x = a * d.x; - manifold->normal.y = a * d.y; - } - - manifold->pointCount = 1; - manifold->points[0].id.key = 0; - manifold->points[0].separation = separation; - - p1 += r1 * manifold->normal; - p2 -= r2 * manifold->normal; - - b2Vec2 p = 0.5f * (p1 + p2); - - manifold->points[0].localPoint1 = b2MulT(xf1, p); - manifold->points[0].localPoint2 = b2MulT(xf2, p); -} - -void b2CollidePolygonAndCircle( - b2Manifold* manifold, - const b2PolygonShape* polygon, const b2XForm& xf1, - const b2CircleShape* circle, const b2XForm& xf2) -{ - manifold->pointCount = 0; - - // Compute circle position in the frame of the polygon. - b2Vec2 c = b2Mul(xf2, circle->GetLocalPosition()); - b2Vec2 cLocal = b2MulT(xf1, c); - - // Find the min separating edge. - int32 normalIndex = 0; - float32 separation = -B2_FLT_MAX; - float32 radius = circle->GetRadius(); - int32 vertexCount = polygon->GetVertexCount(); - const b2Vec2* vertices = polygon->GetVertices(); - const b2Vec2* normals = polygon->GetNormals(); - - for (int32 i = 0; i < vertexCount; ++i) - { - float32 s = b2Dot(normals[i], cLocal - vertices[i]); - - if (s > radius) - { - // Early out. - return; - } - - if (s > separation) - { - separation = s; - normalIndex = i; - } - } - - // If the center is inside the polygon ... - if (separation < B2_FLT_EPSILON) - { - manifold->pointCount = 1; - manifold->normal = b2Mul(xf1.R, normals[normalIndex]); - manifold->points[0].id.features.incidentEdge = (uint8)normalIndex; - manifold->points[0].id.features.incidentVertex = b2_nullFeature; - manifold->points[0].id.features.referenceEdge = 0; - manifold->points[0].id.features.flip = 0; - b2Vec2 position = c - radius * manifold->normal; - manifold->points[0].localPoint1 = b2MulT(xf1, position); - manifold->points[0].localPoint2 = b2MulT(xf2, position); - manifold->points[0].separation = separation - radius; - return; - } - - // Project the circle center onto the edge segment. - int32 vertIndex1 = normalIndex; - int32 vertIndex2 = vertIndex1 + 1 < vertexCount ? vertIndex1 + 1 : 0; - b2Vec2 e = vertices[vertIndex2] - vertices[vertIndex1]; - - float32 length = e.Normalize(); - b2Assert(length > B2_FLT_EPSILON); - - // Project the center onto the edge. - float32 u = b2Dot(cLocal - vertices[vertIndex1], e); - b2Vec2 p; - if (u <= 0.0f) - { - p = vertices[vertIndex1]; - manifold->points[0].id.features.incidentEdge = b2_nullFeature; - manifold->points[0].id.features.incidentVertex = (uint8)vertIndex1; - } - else if (u >= length) - { - p = vertices[vertIndex2]; - manifold->points[0].id.features.incidentEdge = b2_nullFeature; - manifold->points[0].id.features.incidentVertex = (uint8)vertIndex2; - } - else - { - p = vertices[vertIndex1] + u * e; - manifold->points[0].id.features.incidentEdge = (uint8)normalIndex; - manifold->points[0].id.features.incidentVertex = 0; - } - - b2Vec2 d = cLocal - p; - float32 dist = d.Normalize(); - if (dist > radius) - { - return; - } - - manifold->pointCount = 1; - manifold->normal = b2Mul(xf1.R, d); - b2Vec2 position = c - radius * manifold->normal; - manifold->points[0].localPoint1 = b2MulT(xf1, position); - manifold->points[0].localPoint2 = b2MulT(xf2, position); - manifold->points[0].separation = dist - radius; - manifold->points[0].id.features.referenceEdge = 0; - manifold->points[0].id.features.flip = 0; -} diff --git a/src/modules/physics/box2d/Source/Collision/b2Collision.cpp b/src/modules/physics/box2d/Source/Collision/b2Collision.cpp deleted file mode 100644 index 7b6b59c42..000000000 --- a/src/modules/physics/box2d/Source/Collision/b2Collision.cpp +++ /dev/null @@ -1,72 +0,0 @@ -/* -* Copyright (c) 2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2Collision.h" - -// Collision Detection in Interactive 3D Environments by Gino van den Bergen -// From Section 3.4.1 -// x = mu1 * p1 + mu2 * p2 -// mu1 + mu2 = 1 && mu1 >= 0 && mu2 >= 0 -// mu1 = 1 - mu2; -// x = (1 - mu2) * p1 + mu2 * p2 -// = p1 + mu2 * (p2 - p1) -// x = s + a * r (s := start, r := end - start) -// s + a * r = p1 + mu2 * d (d := p2 - p1) -// -a * r + mu2 * d = b (b := s - p1) -// [-r d] * [a; mu2] = b -// Cramer's rule: -// denom = det[-r d] -// a = det[b d] / denom -// mu2 = det[-r b] / denom -bool b2Segment::TestSegment(float32* lambda, b2Vec2* normal, const b2Segment& segment, float32 maxLambda) const -{ - b2Vec2 s = segment.p1; - b2Vec2 r = segment.p2 - s; - b2Vec2 d = p2 - p1; - b2Vec2 n = b2Cross(d, 1.0f); - - const float32 k_slop = 100.0f * B2_FLT_EPSILON; - float32 denom = -b2Dot(r, n); - - // Cull back facing collision and ignore parallel segments. - if (denom > k_slop) - { - // Does the segment intersect the infinite line associated with this segment? - b2Vec2 b = s - p1; - float32 a = b2Dot(b, n); - - if (0.0f <= a && a <= maxLambda * denom) - { - float32 mu2 = -r.x * b.y + r.y * b.x; - - // Does the segment intersect this segment? - if (-k_slop * denom <= mu2 && mu2 <= denom * (1.0f + k_slop)) - { - a /= denom; - n.Normalize(); - *lambda = a; - *normal = n; - return true; - } - } - } - - return false; -} - - diff --git a/src/modules/physics/box2d/Source/Collision/b2Collision.h b/src/modules/physics/box2d/Source/Collision/b2Collision.h deleted file mode 100644 index a7bb64237..000000000 --- a/src/modules/physics/box2d/Source/Collision/b2Collision.h +++ /dev/null @@ -1,154 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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_COLLISION_H -#define B2_COLLISION_H - -#include "../Common/b2Math.h" -#include - -/// @file -/// Structures and functions used for computing contact points, distance -/// queries, and TOI queries. - -class b2Shape; -class b2CircleShape; -class b2PolygonShape; - -const uint8 b2_nullFeature = UCHAR_MAX; - -/// Contact ids to facilitate warm starting. -union b2ContactID -{ - /// The features that intersect to form the contact point - struct Features - { - uint8 referenceEdge; ///< The edge that defines the outward contact normal. - uint8 incidentEdge; ///< The edge most anti-parallel to the reference edge. - uint8 incidentVertex; ///< The vertex (0 or 1) on the incident edge that was clipped. - uint8 flip; ///< A value of 1 indicates that the reference edge is on shape2. - } features; - uint32 key; ///< Used to quickly compare contact ids. -}; - -/// A manifold point is a contact point belonging to a contact -/// manifold. It holds details related to the geometry and dynamics -/// of the contact points. -/// The point is stored in local coordinates because CCD -/// requires sub-stepping in which the separation is stale. -struct b2ManifoldPoint -{ - b2Vec2 localPoint1; ///< local position of the contact point in body1 - b2Vec2 localPoint2; ///< local position of the contact point in body2 - float32 separation; ///< the separation of the shapes along the normal vector - float32 normalImpulse; ///< the non-penetration impulse - float32 tangentImpulse; ///< the friction impulse - b2ContactID id; ///< uniquely identifies a contact point between two shapes -}; - -/// A manifold for two touching convex shapes. -struct b2Manifold -{ - b2ManifoldPoint points[b2_maxManifoldPoints]; ///< the points of contact - b2Vec2 normal; ///< the shared unit normal vector - int32 pointCount; ///< the number of manifold points -}; - -/// A line segment. -struct b2Segment -{ - /// Ray cast against this segment with another segment. - bool TestSegment(float32* lambda, b2Vec2* normal, const b2Segment& segment, float32 maxLambda) const; - - b2Vec2 p1; ///< the starting point - b2Vec2 p2; ///< the ending point -}; - -/// An axis aligned bounding box. -struct b2AABB -{ - /// Verify that the bounds are sorted. - bool IsValid() const; - - b2Vec2 lowerBound; ///< the lower vertex - b2Vec2 upperBound; ///< the upper vertex -}; - -/// An oriented bounding box. -struct b2OBB -{ - b2Mat22 R; ///< the rotation matrix - b2Vec2 center; ///< the local centroid - b2Vec2 extents; ///< the half-widths -}; - -/// Compute the collision manifold between two circles. -void b2CollideCircles(b2Manifold* manifold, - const b2CircleShape* circle1, const b2XForm& xf1, - const b2CircleShape* circle2, const b2XForm& xf2); - -/// Compute the collision manifold between a polygon and a circle. -void b2CollidePolygonAndCircle(b2Manifold* manifold, - const b2PolygonShape* polygon, const b2XForm& xf1, - const b2CircleShape* circle, const b2XForm& xf2); - -/// Compute the collision manifold between two circles. -void b2CollidePolygons(b2Manifold* manifold, - const b2PolygonShape* polygon1, const b2XForm& xf1, - const b2PolygonShape* polygon2, const b2XForm& xf2); - -/// Compute the distance between two shapes and the closest points. -/// @return the distance between the shapes or zero if they are overlapped/touching. -float32 b2Distance(b2Vec2* x1, b2Vec2* x2, - const b2Shape* shape1, const b2XForm& xf1, - const b2Shape* shape2, const b2XForm& xf2); - -/// Compute the time when two shapes begin to touch or touch at a closer distance. -/// @warning the sweeps must have the same time interval. -/// @return the fraction between [0,1] in which the shapes first touch. -/// fraction=0 means the shapes begin touching/overlapped, and fraction=1 means the shapes don't touch. -float32 b2TimeOfImpact(const b2Shape* shape1, const b2Sweep& sweep1, - const b2Shape* shape2, const b2Sweep& sweep2); - - -// ---------------- Inline Functions ------------------------------------------ - -inline bool b2AABB::IsValid() const -{ - b2Vec2 d = upperBound - lowerBound; - bool valid = d.x >= 0.0f && d.y >= 0.0f; - valid = valid && lowerBound.IsValid() && upperBound.IsValid(); - return valid; -} - -inline bool b2TestOverlap(const b2AABB& a, const b2AABB& b) -{ - b2Vec2 d1, d2; - d1 = b.lowerBound - a.upperBound; - d2 = a.lowerBound - b.upperBound; - - if (d1.x > 0.0f || d1.y > 0.0f) - return false; - - if (d2.x > 0.0f || d2.y > 0.0f) - return false; - - return true; -} - -#endif diff --git a/src/modules/physics/box2d/Source/Collision/b2Distance.cpp b/src/modules/physics/box2d/Source/Collision/b2Distance.cpp deleted file mode 100644 index a423d3f1b..000000000 --- a/src/modules/physics/box2d/Source/Collision/b2Distance.cpp +++ /dev/null @@ -1,364 +0,0 @@ -/* -* Copyright (c) 2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2Collision.h" -#include "Shapes/b2CircleShape.h" -#include "Shapes/b2PolygonShape.h" - -int32 g_GJK_Iterations = 0; - -// GJK using Voronoi regions (Christer Ericson) and region selection -// optimizations (Casey Muratori). - -// The origin is either in the region of points[1] or in the edge region. The origin is -// not in region of points[0] because that is the old point. -static int32 ProcessTwo(b2Vec2* x1, b2Vec2* x2, b2Vec2* p1s, b2Vec2* p2s, b2Vec2* points) -{ - // If in point[1] region - b2Vec2 r = -points[1]; - b2Vec2 d = points[0] - points[1]; - float32 length = d.Normalize(); - float32 lambda = b2Dot(r, d); - if (lambda <= 0.0f || length < B2_FLT_EPSILON) - { - // The simplex is reduced to a point. - *x1 = p1s[1]; - *x2 = p2s[1]; - p1s[0] = p1s[1]; - p2s[0] = p2s[1]; - points[0] = points[1]; - return 1; - } - - // Else in edge region - lambda /= length; - *x1 = p1s[1] + lambda * (p1s[0] - p1s[1]); - *x2 = p2s[1] + lambda * (p2s[0] - p2s[1]); - return 2; -} - -// Possible regions: -// - points[2] -// - edge points[0]-points[2] -// - edge points[1]-points[2] -// - inside the triangle -static int32 ProcessThree(b2Vec2* x1, b2Vec2* x2, b2Vec2* p1s, b2Vec2* p2s, b2Vec2* points) -{ - b2Vec2 a = points[0]; - b2Vec2 b = points[1]; - b2Vec2 c = points[2]; - - b2Vec2 ab = b - a; - b2Vec2 ac = c - a; - b2Vec2 bc = c - b; - - float32 sn = -b2Dot(a, ab), sd = b2Dot(b, ab); - float32 tn = -b2Dot(a, ac), td = b2Dot(c, ac); - float32 un = -b2Dot(b, bc), ud = b2Dot(c, bc); - - // In vertex c region? - if (td <= 0.0f && ud <= 0.0f) - { - // Single point - *x1 = p1s[2]; - *x2 = p2s[2]; - p1s[0] = p1s[2]; - p2s[0] = p2s[2]; - points[0] = points[2]; - return 1; - } - - // Should not be in vertex a or b region. - B2_NOT_USED(sd); - B2_NOT_USED(sn); - b2Assert(sn > 0.0f || tn > 0.0f); - b2Assert(sd > 0.0f || un > 0.0f); - - float32 n = b2Cross(ab, ac); - -#ifdef TARGET_FLOAT32_IS_FIXED - n = (n < 0.0)? -1.0 : ((n > 0.0)? 1.0 : 0.0); -#endif - - // Should not be in edge ab region. - float32 vc = n * b2Cross(a, b); - b2Assert(vc > 0.0f || sn > 0.0f || sd > 0.0f); - - // In edge bc region? - float32 va = n * b2Cross(b, c); - if (va <= 0.0f && un >= 0.0f && ud >= 0.0f && (un+ud) > 0.0f) - { - b2Assert(un + ud > 0.0f); - float32 lambda = un / (un + ud); - *x1 = p1s[1] + lambda * (p1s[2] - p1s[1]); - *x2 = p2s[1] + lambda * (p2s[2] - p2s[1]); - p1s[0] = p1s[2]; - p2s[0] = p2s[2]; - points[0] = points[2]; - return 2; - } - - // In edge ac region? - float32 vb = n * b2Cross(c, a); - if (vb <= 0.0f && tn >= 0.0f && td >= 0.0f && (tn+td) > 0.0f) - { - b2Assert(tn + td > 0.0f); - float32 lambda = tn / (tn + td); - *x1 = p1s[0] + lambda * (p1s[2] - p1s[0]); - *x2 = p2s[0] + lambda * (p2s[2] - p2s[0]); - p1s[1] = p1s[2]; - p2s[1] = p2s[2]; - points[1] = points[2]; - return 2; - } - - // Inside the triangle, compute barycentric coordinates - float32 denom = va + vb + vc; - b2Assert(denom > 0.0f); - denom = 1.0f / denom; - -#ifdef TARGET_FLOAT32_IS_FIXED - *x1 = denom * (va * p1s[0] + vb * p1s[1] + vc * p1s[2]); - *x2 = denom * (va * p2s[0] + vb * p2s[1] + vc * p2s[2]); -#else - float32 u = va * denom; - float32 v = vb * denom; - float32 w = 1.0f - u - v; - *x1 = u * p1s[0] + v * p1s[1] + w * p1s[2]; - *x2 = u * p2s[0] + v * p2s[1] + w * p2s[2]; -#endif - return 3; -} - -static bool InPoints(const b2Vec2& w, const b2Vec2* points, int32 pointCount) -{ - const float32 k_tolerance = 100.0f * B2_FLT_EPSILON; - for (int32 i = 0; i < pointCount; ++i) - { - b2Vec2 d = b2Abs(w - points[i]); - b2Vec2 m = b2Max(b2Abs(w), b2Abs(points[i])); - - if (d.x < k_tolerance * (m.x + 1.0f) && - d.y < k_tolerance * (m.y + 1.0f)) - { - return true; - } - } - - return false; -} - -template -float32 DistanceGeneric(b2Vec2* x1, b2Vec2* x2, - const T1* shape1, const b2XForm& xf1, - const T2* shape2, const b2XForm& xf2) -{ - b2Vec2 p1s[3], p2s[3]; - b2Vec2 points[3]; - int32 pointCount = 0; - - *x1 = shape1->GetFirstVertex(xf1); - *x2 = shape2->GetFirstVertex(xf2); - - float32 vSqr = 0.0f; - const int32 maxIterations = 20; - for (int32 iter = 0; iter < maxIterations; ++iter) - { - b2Vec2 v = *x2 - *x1; - b2Vec2 w1 = shape1->Support(xf1, v); - b2Vec2 w2 = shape2->Support(xf2, -v); - - vSqr = b2Dot(v, v); - b2Vec2 w = w2 - w1; - float32 vw = b2Dot(v, w); - if (vSqr - vw <= 0.01f * vSqr || InPoints(w, points, pointCount)) // or w in points - { - if (pointCount == 0) - { - *x1 = w1; - *x2 = w2; - } - g_GJK_Iterations = iter; - return b2Sqrt(vSqr); - } - - switch (pointCount) - { - case 0: - p1s[0] = w1; - p2s[0] = w2; - points[0] = w; - *x1 = p1s[0]; - *x2 = p2s[0]; - ++pointCount; - break; - - case 1: - p1s[1] = w1; - p2s[1] = w2; - points[1] = w; - pointCount = ProcessTwo(x1, x2, p1s, p2s, points); - break; - - case 2: - p1s[2] = w1; - p2s[2] = w2; - points[2] = w; - pointCount = ProcessThree(x1, x2, p1s, p2s, points); - break; - } - - // If we have three points, then the origin is in the corresponding triangle. - if (pointCount == 3) - { - g_GJK_Iterations = iter; - return 0.0f; - } - - float32 maxSqr = -B2_FLT_MAX; - for (int32 i = 0; i < pointCount; ++i) - { - maxSqr = b2Max(maxSqr, b2Dot(points[i], points[i])); - } - -#ifdef TARGET_FLOAT32_IS_FIXED - if (pointCount == 3 || vSqr <= 5.0*B2_FLT_EPSILON * maxSqr) -#else - if (pointCount == 3 || vSqr <= 100.0f * B2_FLT_EPSILON * maxSqr) -#endif - { - g_GJK_Iterations = iter; - v = *x2 - *x1; - vSqr = b2Dot(v, v); - return b2Sqrt(vSqr); - } - } - - g_GJK_Iterations = maxIterations; - return b2Sqrt(vSqr); -} - -static float32 DistanceCC( - b2Vec2* x1, b2Vec2* x2, - const b2CircleShape* circle1, const b2XForm& xf1, - const b2CircleShape* circle2, const b2XForm& xf2) -{ - b2Vec2 p1 = b2Mul(xf1, circle1->GetLocalPosition()); - b2Vec2 p2 = b2Mul(xf2, circle2->GetLocalPosition()); - - b2Vec2 d = p2 - p1; - float32 dSqr = b2Dot(d, d); - float32 r1 = circle1->GetRadius() - b2_toiSlop; - float32 r2 = circle2->GetRadius() - b2_toiSlop; - float32 r = r1 + r2; - if (dSqr > r * r) - { - float32 dLen = d.Normalize(); - float32 distance = dLen - r; - *x1 = p1 + r1 * d; - *x2 = p2 - r2 * d; - return distance; - } - else if (dSqr > B2_FLT_EPSILON * B2_FLT_EPSILON) - { - d.Normalize(); - *x1 = p1 + r1 * d; - *x2 = *x1; - return 0.0f; - } - - *x1 = p1; - *x2 = *x1; - return 0.0f; -} - -// This is used for polygon-vs-circle distance. -struct Point -{ - b2Vec2 Support(const b2XForm&, const b2Vec2&) const - { - return p; - } - - b2Vec2 GetFirstVertex(const b2XForm&) const - { - return p; - } - - b2Vec2 p; -}; - -// GJK is more robust with polygon-vs-point than polygon-vs-circle. -// So we convert polygon-vs-circle to polygon-vs-point. -static float32 DistancePC( - b2Vec2* x1, b2Vec2* x2, - const b2PolygonShape* polygon, const b2XForm& xf1, - const b2CircleShape* circle, const b2XForm& xf2) -{ - Point point; - point.p = b2Mul(xf2, circle->GetLocalPosition()); - - float32 distance = DistanceGeneric(x1, x2, polygon, xf1, &point, b2XForm_identity); - - float32 r = circle->GetRadius() - b2_toiSlop; - - if (distance > r) - { - distance -= r; - b2Vec2 d = *x2 - *x1; - d.Normalize(); - *x2 -= r * d; - } - else - { - distance = 0.0f; - *x2 = *x1; - } - - return distance; -} - -float32 b2Distance(b2Vec2* x1, b2Vec2* x2, - const b2Shape* shape1, const b2XForm& xf1, - const b2Shape* shape2, const b2XForm& xf2) -{ - b2ShapeType type1 = shape1->GetType(); - b2ShapeType type2 = shape2->GetType(); - - if (type1 == e_circleShape && type2 == e_circleShape) - { - return DistanceCC(x1, x2, (b2CircleShape*)shape1, xf1, (b2CircleShape*)shape2, xf2); - } - - if (type1 == e_polygonShape && type2 == e_circleShape) - { - return DistancePC(x1, x2, (b2PolygonShape*)shape1, xf1, (b2CircleShape*)shape2, xf2); - } - - if (type1 == e_circleShape && type2 == e_polygonShape) - { - return DistancePC(x2, x1, (b2PolygonShape*)shape2, xf2, (b2CircleShape*)shape1, xf1); - } - - if (type1 == e_polygonShape && type2 == e_polygonShape) - { - return DistanceGeneric(x1, x2, (b2PolygonShape*)shape1, xf1, (b2PolygonShape*)shape2, xf2); - } - - return 0.0f; -} diff --git a/src/modules/physics/box2d/Source/Collision/b2PairManager.cpp b/src/modules/physics/box2d/Source/Collision/b2PairManager.cpp deleted file mode 100644 index 909894491..000000000 --- a/src/modules/physics/box2d/Source/Collision/b2PairManager.cpp +++ /dev/null @@ -1,396 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2PairManager.h" -#include "b2BroadPhase.h" - -#include - -// Thomas Wang's hash, see: http://www.concentric.net/~Ttwang/tech/inthash.htm -// This assumes proxyId1 and proxyId2 are 16-bit. -inline uint32 Hash(uint32 proxyId1, uint32 proxyId2) -{ - uint32 key = (proxyId2 << 16) | proxyId1; - key = ~key + (key << 15); - key = key ^ (key >> 12); - key = key + (key << 2); - key = key ^ (key >> 4); - key = key * 2057; - key = key ^ (key >> 16); - return key; -} - -inline bool Equals(const b2Pair& pair, int32 proxyId1, int32 proxyId2) -{ - return pair.proxyId1 == proxyId1 && pair.proxyId2 == proxyId2; -} - -inline bool Equals(const b2BufferedPair& pair1, const b2BufferedPair& pair2) -{ - return pair1.proxyId1 == pair2.proxyId1 && pair1.proxyId2 == pair2.proxyId2; -} - -// For sorting. -inline bool operator < (const b2BufferedPair& pair1, const b2BufferedPair& pair2) -{ - if (pair1.proxyId1 < pair2.proxyId1) - { - return true; - } - - if (pair1.proxyId1 == pair2.proxyId1) - { - return pair1.proxyId2 < pair2.proxyId2; - } - - return false; -} - - -b2PairManager::b2PairManager() -{ - b2Assert(b2IsPowerOfTwo(b2_tableCapacity) == true); - b2Assert(b2_tableCapacity >= b2_maxPairs); - for (int32 i = 0; i < b2_tableCapacity; ++i) - { - m_hashTable[i] = b2_nullPair; - } - m_freePair = 0; - for (int32 i = 0; i < b2_maxPairs; ++i) - { - m_pairs[i].proxyId1 = b2_nullProxy; - m_pairs[i].proxyId2 = b2_nullProxy; - m_pairs[i].userData = NULL; - m_pairs[i].status = 0; - m_pairs[i].next = uint16(i + 1); - } - m_pairs[b2_maxPairs-1].next = b2_nullPair; - m_pairCount = 0; - m_pairBufferCount = 0; -} - -void b2PairManager::Initialize(b2BroadPhase* broadPhase, b2PairCallback* callback) -{ - m_broadPhase = broadPhase; - m_callback = callback; -} - -b2Pair* b2PairManager::Find(int32 proxyId1, int32 proxyId2, uint32 hash) -{ - int32 index = m_hashTable[hash]; - - while (index != b2_nullPair && Equals(m_pairs[index], proxyId1, proxyId2) == false) - { - index = m_pairs[index].next; - } - - if (index == b2_nullPair) - { - return NULL; - } - - b2Assert(index < b2_maxPairs); - - return m_pairs + index; -} - -b2Pair* b2PairManager::Find(int32 proxyId1, int32 proxyId2) -{ - if (proxyId1 > proxyId2) b2Swap(proxyId1, proxyId2); - - int32 hash = Hash(proxyId1, proxyId2) & b2_tableMask; - - return Find(proxyId1, proxyId2, hash); -} - -// Returns existing pair or creates a new one. -b2Pair* b2PairManager::AddPair(int32 proxyId1, int32 proxyId2) -{ - if (proxyId1 > proxyId2) b2Swap(proxyId1, proxyId2); - - int32 hash = Hash(proxyId1, proxyId2) & b2_tableMask; - - b2Pair* pair = Find(proxyId1, proxyId2, hash); - if (pair != NULL) - { - return pair; - } - - b2Assert(m_pairCount < b2_maxPairs && m_freePair != b2_nullPair); - - uint16 pairIndex = m_freePair; - pair = m_pairs + pairIndex; - m_freePair = pair->next; - - pair->proxyId1 = (uint16)proxyId1; - pair->proxyId2 = (uint16)proxyId2; - pair->status = 0; - pair->userData = NULL; - pair->next = m_hashTable[hash]; - - m_hashTable[hash] = pairIndex; - - ++m_pairCount; - - return pair; -} - -// Removes a pair. The pair must exist. -void* b2PairManager::RemovePair(int32 proxyId1, int32 proxyId2) -{ - b2Assert(m_pairCount > 0); - - if (proxyId1 > proxyId2) b2Swap(proxyId1, proxyId2); - - int32 hash = Hash(proxyId1, proxyId2) & b2_tableMask; - - uint16* node = &m_hashTable[hash]; - while (*node != b2_nullPair) - { - if (Equals(m_pairs[*node], proxyId1, proxyId2)) - { - uint16 index = *node; - *node = m_pairs[*node].next; - - b2Pair* pair = m_pairs + index; - void* userData = pair->userData; - - // Scrub - pair->next = m_freePair; - pair->proxyId1 = b2_nullProxy; - pair->proxyId2 = b2_nullProxy; - pair->userData = NULL; - pair->status = 0; - - m_freePair = index; - --m_pairCount; - return userData; - } - else - { - node = &m_pairs[*node].next; - } - } - - b2Assert(false); - return NULL; -} - -/* -As proxies are created and moved, many pairs are created and destroyed. Even worse, the same -pair may be added and removed multiple times in a single time step of the physics engine. To reduce -traffic in the pair manager, we try to avoid destroying pairs in the pair manager until the -end of the physics step. This is done by buffering all the RemovePair requests. AddPair -requests are processed immediately because we need the hash table entry for quick lookup. - -All user user callbacks are delayed until the buffered pairs are confirmed in Commit. -This is very important because the user callbacks may be very expensive and client logic -may be harmed if pairs are added and removed within the same time step. - -Buffer a pair for addition. -We may add a pair that is not in the pair manager or pair buffer. -We may add a pair that is already in the pair manager and pair buffer. -If the added pair is not a new pair, then it must be in the pair buffer (because RemovePair was called). -*/ -void b2PairManager::AddBufferedPair(int32 id1, int32 id2) -{ - b2Assert(id1 != b2_nullProxy && id2 != b2_nullProxy); - b2Assert(m_pairBufferCount < b2_maxPairs); - - b2Pair* pair = AddPair(id1, id2); - - // If this pair is not in the pair buffer ... - if (pair->IsBuffered() == false) - { - // This must be a newly added pair. - b2Assert(pair->IsFinal() == false); - - // Add it to the pair buffer. - pair->SetBuffered(); - m_pairBuffer[m_pairBufferCount].proxyId1 = pair->proxyId1; - m_pairBuffer[m_pairBufferCount].proxyId2 = pair->proxyId2; - ++m_pairBufferCount; - - b2Assert(m_pairBufferCount <= m_pairCount); - } - - // Confirm this pair for the subsequent call to Commit. - pair->ClearRemoved(); - - if (b2BroadPhase::s_validate) - { - ValidateBuffer(); - } -} - -// Buffer a pair for removal. -void b2PairManager::RemoveBufferedPair(int32 id1, int32 id2) -{ - b2Assert(id1 != b2_nullProxy && id2 != b2_nullProxy); - b2Assert(m_pairBufferCount < b2_maxPairs); - - b2Pair* pair = Find(id1, id2); - - if (pair == NULL) - { - // The pair never existed. This is legal (due to collision filtering). - return; - } - - // If this pair is not in the pair buffer ... - if (pair->IsBuffered() == false) - { - // This must be an old pair. - b2Assert(pair->IsFinal() == true); - - pair->SetBuffered(); - m_pairBuffer[m_pairBufferCount].proxyId1 = pair->proxyId1; - m_pairBuffer[m_pairBufferCount].proxyId2 = pair->proxyId2; - ++m_pairBufferCount; - - b2Assert(m_pairBufferCount <= m_pairCount); - } - - pair->SetRemoved(); - - if (b2BroadPhase::s_validate) - { - ValidateBuffer(); - } -} - -void b2PairManager::Commit() -{ - int32 removeCount = 0; - - b2Proxy* proxies = m_broadPhase->m_proxyPool; - - for (int32 i = 0; i < m_pairBufferCount; ++i) - { - b2Pair* pair = Find(m_pairBuffer[i].proxyId1, m_pairBuffer[i].proxyId2); - b2Assert(pair->IsBuffered()); - pair->ClearBuffered(); - - b2Assert(pair->proxyId1 < b2_maxProxies && pair->proxyId2 < b2_maxProxies); - - b2Proxy* proxy1 = proxies + pair->proxyId1; - b2Proxy* proxy2 = proxies + pair->proxyId2; - - b2Assert(proxy1->IsValid()); - b2Assert(proxy2->IsValid()); - - if (pair->IsRemoved()) - { - // It is possible a pair was added then removed before a commit. Therefore, - // we should be careful not to tell the user the pair was removed when the - // the user didn't receive a matching add. - if (pair->IsFinal() == true) - { - m_callback->PairRemoved(proxy1->userData, proxy2->userData, pair->userData); - } - - // Store the ids so we can actually remove the pair below. - m_pairBuffer[removeCount].proxyId1 = pair->proxyId1; - m_pairBuffer[removeCount].proxyId2 = pair->proxyId2; - ++removeCount; - } - else - { - b2Assert(m_broadPhase->TestOverlap(proxy1, proxy2) == true); - - if (pair->IsFinal() == false) - { - pair->userData = m_callback->PairAdded(proxy1->userData, proxy2->userData); - pair->SetFinal(); - } - } - } - - for (int32 i = 0; i < removeCount; ++i) - { - RemovePair(m_pairBuffer[i].proxyId1, m_pairBuffer[i].proxyId2); - } - - m_pairBufferCount = 0; - - if (b2BroadPhase::s_validate) - { - ValidateTable(); - } -} - -void b2PairManager::ValidateBuffer() -{ -#ifdef _DEBUG - b2Assert(m_pairBufferCount <= m_pairCount); - - std::sort(m_pairBuffer, m_pairBuffer + m_pairBufferCount); - - for (int32 i = 0; i < m_pairBufferCount; ++i) - { - if (i > 0) - { - b2Assert(Equals(m_pairBuffer[i], m_pairBuffer[i-1]) == false); - } - - b2Pair* pair = Find(m_pairBuffer[i].proxyId1, m_pairBuffer[i].proxyId2); - b2Assert(pair->IsBuffered()); - - b2Assert(pair->proxyId1 != pair->proxyId2); - b2Assert(pair->proxyId1 < b2_maxProxies); - b2Assert(pair->proxyId2 < b2_maxProxies); - - b2Proxy* proxy1 = m_broadPhase->m_proxyPool + pair->proxyId1; - b2Proxy* proxy2 = m_broadPhase->m_proxyPool + pair->proxyId2; - - b2Assert(proxy1->IsValid() == true); - b2Assert(proxy2->IsValid() == true); - } -#endif -} - -void b2PairManager::ValidateTable() -{ -#ifdef _DEBUG - for (int32 i = 0; i < b2_tableCapacity; ++i) - { - uint16 index = m_hashTable[i]; - while (index != b2_nullPair) - { - b2Pair* pair = m_pairs + index; - b2Assert(pair->IsBuffered() == false); - b2Assert(pair->IsFinal() == true); - b2Assert(pair->IsRemoved() == false); - - b2Assert(pair->proxyId1 != pair->proxyId2); - b2Assert(pair->proxyId1 < b2_maxProxies); - b2Assert(pair->proxyId2 < b2_maxProxies); - - b2Proxy* proxy1 = m_broadPhase->m_proxyPool + pair->proxyId1; - b2Proxy* proxy2 = m_broadPhase->m_proxyPool + pair->proxyId2; - - b2Assert(proxy1->IsValid() == true); - b2Assert(proxy2->IsValid() == true); - - b2Assert(m_broadPhase->TestOverlap(proxy1, proxy2) == true); - - index = pair->next; - } - } -#endif -} diff --git a/src/modules/physics/box2d/Source/Collision/b2PairManager.h b/src/modules/physics/box2d/Source/Collision/b2PairManager.h deleted file mode 100644 index 236034435..000000000 --- a/src/modules/physics/box2d/Source/Collision/b2PairManager.h +++ /dev/null @@ -1,121 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -// The pair manager is used by the broad-phase to quickly add/remove/find pairs -// of overlapping proxies. It is based closely on code provided by Pierre Terdiman. -// http://www.codercorner.com/IncrementalSAP.txt - -#ifndef B2_PAIR_MANAGER_H -#define B2_PAIR_MANAGER_H - -#include "../Common/b2Settings.h" -#include "../Common/b2Math.h" - -#include - -class b2BroadPhase; -struct b2Proxy; - -const uint16 b2_nullPair = USHRT_MAX; -const uint16 b2_nullProxy = USHRT_MAX; -const int32 b2_tableCapacity = b2_maxPairs; // must be a power of two -const int32 b2_tableMask = b2_tableCapacity - 1; - -struct b2Pair -{ - enum - { - e_pairBuffered = 0x0001, - e_pairRemoved = 0x0002, - e_pairFinal = 0x0004, - }; - - void SetBuffered() { status |= e_pairBuffered; } - void ClearBuffered() { status &= ~e_pairBuffered; } - bool IsBuffered() { return (status & e_pairBuffered) == e_pairBuffered; } - - void SetRemoved() { status |= e_pairRemoved; } - void ClearRemoved() { status &= ~e_pairRemoved; } - bool IsRemoved() { return (status & e_pairRemoved) == e_pairRemoved; } - - void SetFinal() { status |= e_pairFinal; } - bool IsFinal() { return (status & e_pairFinal) == e_pairFinal; } - - void* userData; - uint16 proxyId1; - uint16 proxyId2; - uint16 next; - uint16 status; -}; - -struct b2BufferedPair -{ - uint16 proxyId1; - uint16 proxyId2; -}; - -class b2PairCallback -{ -public: - virtual ~b2PairCallback() {} - - // This should return the new pair user data. It is ok if the - // user data is null. - virtual void* PairAdded(void* proxyUserData1, void* proxyUserData2) = 0; - - // This should free the pair's user data. In extreme circumstances, it is possible - // this will be called with null pairUserData because the pair never existed. - virtual void PairRemoved(void* proxyUserData1, void* proxyUserData2, void* pairUserData) = 0; -}; - -class b2PairManager -{ -public: - b2PairManager(); - - void Initialize(b2BroadPhase* broadPhase, b2PairCallback* callback); - - void AddBufferedPair(int32 proxyId1, int32 proxyId2); - void RemoveBufferedPair(int32 proxyId1, int32 proxyId2); - - void Commit(); - -private: - b2Pair* Find(int32 proxyId1, int32 proxyId2); - b2Pair* Find(int32 proxyId1, int32 proxyId2, uint32 hashValue); - - b2Pair* AddPair(int32 proxyId1, int32 proxyId2); - void* RemovePair(int32 proxyId1, int32 proxyId2); - - void ValidateBuffer(); - void ValidateTable(); - -public: - b2BroadPhase *m_broadPhase; - b2PairCallback *m_callback; - b2Pair m_pairs[b2_maxPairs]; - uint16 m_freePair; - int32 m_pairCount; - - b2BufferedPair m_pairBuffer[b2_maxPairs]; - int32 m_pairBufferCount; - - uint16 m_hashTable[b2_tableCapacity]; -}; - -#endif diff --git a/src/modules/physics/box2d/Source/Collision/b2TimeOfImpact.cpp b/src/modules/physics/box2d/Source/Collision/b2TimeOfImpact.cpp deleted file mode 100644 index 448c5d225..000000000 --- a/src/modules/physics/box2d/Source/Collision/b2TimeOfImpact.cpp +++ /dev/null @@ -1,112 +0,0 @@ -/* -* Copyright (c) 2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2Collision.h" -#include "Shapes/b2Shape.h" - -// This algorithm uses conservative advancement to compute the time of -// impact (TOI) of two shapes. -// Refs: Bullet, Young Kim -float32 b2TimeOfImpact(const b2Shape* shape1, const b2Sweep& sweep1, - const b2Shape* shape2, const b2Sweep& sweep2) -{ - float32 r1 = shape1->GetSweepRadius(); - float32 r2 = shape2->GetSweepRadius(); - - b2Assert(sweep1.t0 == sweep2.t0); - b2Assert(1.0f - sweep1.t0 > B2_FLT_EPSILON); - - float32 t0 = sweep1.t0; - b2Vec2 v1 = sweep1.c - sweep1.c0; - b2Vec2 v2 = sweep2.c - sweep2.c0; - float32 omega1 = sweep1.a - sweep1.a0; - float32 omega2 = sweep2.a - sweep2.a0; - - float32 alpha = 0.0f; - - b2Vec2 p1, p2; - const int32 k_maxIterations = 20; // TODO_ERIN b2Settings - int32 iter = 0; - b2Vec2 normal = b2Vec2_zero; - float32 distance = 0.0f; - float32 targetDistance = 0.0f; - for(;;) - { - float32 t = (1.0f - alpha) * t0 + alpha; - b2XForm xf1, xf2; - sweep1.GetXForm(&xf1, t); - sweep2.GetXForm(&xf2, t); - - // Get the distance between shapes. - distance = b2Distance(&p1, &p2, shape1, xf1, shape2, xf2); - - if (iter == 0) - { - // Compute a reasonable target distance to give some breathing room - // for conservative advancement. - if (distance > 2.0f * b2_toiSlop) - { - targetDistance = 1.5f * b2_toiSlop; - } - else - { - targetDistance = b2Max(0.05f * b2_toiSlop, distance - 0.5f * b2_toiSlop); - } - } - - if (distance - targetDistance < 0.05f * b2_toiSlop || iter == k_maxIterations) - { - break; - } - - normal = p2 - p1; - normal.Normalize(); - - // Compute upper bound on remaining movement. - float32 approachVelocityBound = b2Dot(normal, v1 - v2) + b2Abs(omega1) * r1 + b2Abs(omega2) * r2; - if (b2Abs(approachVelocityBound) < B2_FLT_EPSILON) - { - alpha = 1.0f; - break; - } - - // Get the conservative time increment. Don't advance all the way. - float32 dAlpha = (distance - targetDistance) / approachVelocityBound; - //float32 dt = (distance - 0.5f * b2_linearSlop) / approachVelocityBound; - float32 newAlpha = alpha + dAlpha; - - // The shapes may be moving apart or a safe distance apart. - if (newAlpha < 0.0f || 1.0f < newAlpha) - { - alpha = 1.0f; - break; - } - - // Ensure significant advancement. - if (newAlpha < (1.0f + 100.0f * B2_FLT_EPSILON) * alpha) - { - break; - } - - alpha = newAlpha; - - ++iter; - } - - return alpha; -} diff --git a/src/modules/physics/box2d/Source/Common/Fixed.h b/src/modules/physics/box2d/Source/Common/Fixed.h deleted file mode 100644 index b4d4d3be7..000000000 --- a/src/modules/physics/box2d/Source/Common/Fixed.h +++ /dev/null @@ -1,477 +0,0 @@ -/* -Copyright (c) 2006 Henry Strickland & Ryan Seto - 2007-2008 Tobias Weyand (modifications and extensions) - -Permission is hereby granted, free of charge, to any person obtaining a -copy of this software and associated documentation files (the "Software"), -to deal in the Software without restriction, including without limitation -the rights to use, copy, modify, merge, publish, distribute, sublicense, -and/or sell copies of the Software, and to permit persons to whom the -Software is furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included -in all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL -THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR -OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, -ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR -OTHER DEALINGS IN THE SOFTWARE. - - (* http://www.opensource.org/licenses/mit-license.php *) -*/ - -#ifndef _FIXED_H_ -#define _FIXED_H_ - -#include - -#ifdef TARGET_IS_NDS - -#include "nds.h" - -#endif - -#define FIXED_BP 16 -#define FIXED_MAX ((1<<(32-FIXED_BP-1))-1) -#define FIXED_MIN (-(1<<(32-FIXED_BP-1))) -#define FIXED_EPSILON (Fixed(0.00007f)) - -#define G_1_DIV_PI 20861 - -class Fixed { - - private: - - int g; // the guts - - const static int BP= FIXED_BP; // how many low bits are right of Binary Point - const static int BP2= BP*2; // how many low bits are right of Binary Point - const static int BPhalf= BP/2; // how many low bits are right of Binary Point - - double STEP(); // smallest step we can represent - - // for private construction via guts - enum FixedRaw { RAW }; - Fixed(FixedRaw, int guts); - - public: - - Fixed(); - Fixed(const Fixed &a); - Fixed(float a); - Fixed(double a); - Fixed(int a); - Fixed(long a); - - Fixed& operator =(const Fixed a); - Fixed& operator =(float a); - Fixed& operator =(double a); - Fixed& operator =(int a); - Fixed& operator =(long a); - - operator float(); - operator double(); - operator int(); - operator long(); - operator unsigned short(); - - operator float() const; - - Fixed operator +() const; - Fixed operator -() const; - - Fixed operator +(const Fixed a) const; - Fixed operator -(const Fixed a) const; -#if 1 - // more acurate, using long long - Fixed operator *(const Fixed a) const; -#else - // faster, but with only half as many bits right of binary point - Fixed operator *(const Fixed a) const; -#endif - Fixed operator /(const Fixed a) const; - - Fixed operator *(unsigned short a) const; - Fixed operator *(int a) const; - - Fixed operator +(float a) const; - Fixed operator -(float a) const; - Fixed operator *(float a) const; - Fixed operator /(float a) const; - - Fixed operator +(double a) const; - Fixed operator -(double a) const; - Fixed operator *(double a) const; - Fixed operator /(double a) const; - - Fixed operator >>(int a) const; - Fixed operator <<(int a) const; - - Fixed& operator +=(Fixed a); - Fixed& operator -=(Fixed a); - Fixed& operator *=(Fixed a); - Fixed& operator /=(Fixed a); - - Fixed& operator +=(int a); - Fixed& operator -=(int a); - Fixed& operator *=(int a); - Fixed& operator /=(int a); - - Fixed& operator +=(long a); - Fixed& operator -=(long a); - Fixed& operator *=(long a); - Fixed& operator /=(long a); - - Fixed& operator +=(float a); - Fixed& operator -=(float a); - Fixed& operator *=(float a); - Fixed& operator /=(float a); - - Fixed& operator +=(double a); - Fixed& operator -=(double a); - Fixed& operator *=(double a); - Fixed& operator /=(double a); - - bool operator ==(const Fixed a) const; - bool operator !=(const Fixed a) const; - bool operator <=(const Fixed a) const; - bool operator >=(const Fixed a) const; - bool operator <(const Fixed a) const; - bool operator >(const Fixed a) const; - - bool operator ==(float a) const; - bool operator !=(float a) const; - bool operator <=(float a) const; - bool operator >=(float a) const; - bool operator <(float a) const; - bool operator >(float a) const; - - bool operator ==(double a) const; - bool operator !=(double a) const; - bool operator <=(double a) const; - bool operator >=(double a) const; - bool operator <(double a) const; - bool operator >(double a) const; - - bool operator >(int a) const; - bool operator <(int a) const; - bool operator >=(int a) const; - bool operator <=(int a) const; - - Fixed abs(); - Fixed sqrt(); -#ifdef TARGET_IS_NDS - Fixed cosf(); - Fixed sinf(); - Fixed tanf(); -#endif -}; - -// -// Implementation -// - -inline double Fixed::STEP() { return 1.0 / (1<>BP; } -inline Fixed::operator long() { return g>>BP; } -//#pragma warning(disable: 4244) //HARDWIRE added pragma to prevent VS2005 compilation error -inline Fixed::operator unsigned short() { return g>>BP; } -inline Fixed::operator float() const { return g / (float)(1<> BP)); } - -#elif 0 - -// check for overflow and figure out where. Must specify -rdynamic in linker -#include -#include -#include - -inline Fixed Fixed::operator *(const Fixed a) const { - long long x = ((long long)g * (long long)a.g ); - if(x > 0x7fffffffffffLL || x < -0x7fffffffffffLL) { - printf("overflow"); - void *array[2]; - int nSize = backtrace(array, 2); - char **symbols = backtrace_symbols(array, nSize); - for(int i=0; i>BP)); -} - -#else -// faster, but with only half as many bits right of binary point -inline Fixed Fixed::operator *(const Fixed a) const { return Fixed(RAW, (g>>BPhalf) * (a.g>>BPhalf) ); } -#endif - - -#ifdef TARGET_IS_NDS -// Division using the DS's maths coprocessor -inline Fixed Fixed::operator /(const Fixed a) const -{ - //printf("%d %d\n", (long long)g << BP, a.g); - return Fixed(RAW, int( div64((long long)g << BP, a.g) ) ); -} -#else -inline Fixed Fixed::operator /(const Fixed a) const -{ - return Fixed(RAW, int( (((long long)g << BP2) / (long long)(a.g)) >> BP) ); - //return Fixed(RAW, int( (((long long)g << BP) / (long long)(a.g)) ) ); -} -#endif - -inline Fixed Fixed::operator *(unsigned short a) const { return operator*(Fixed(a)); } -inline Fixed Fixed::operator *(int a) const { return operator*(Fixed(a)); } - -inline Fixed Fixed::operator +(float a) const { return Fixed(RAW, g + Fixed(a).g); } -inline Fixed Fixed::operator -(float a) const { return Fixed(RAW, g - Fixed(a).g); } -inline Fixed Fixed::operator *(float a) const { return Fixed(RAW, (g>>BPhalf) * (Fixed(a).g>>BPhalf) ); } -//inline Fixed Fixed::operator /(float a) const { return Fixed(RAW, int( (((long long)g << BP2) / (long long)(Fixed(a).g)) >> BP) ); } -inline Fixed Fixed::operator /(float a) const { return operator/(Fixed(a)); } - -inline Fixed Fixed::operator +(double a) const { return Fixed(RAW, g + Fixed(a).g); } -inline Fixed Fixed::operator -(double a) const { return Fixed(RAW, g - Fixed(a).g); } -inline Fixed Fixed::operator *(double a) const { return Fixed(RAW, (g>>BPhalf) * (Fixed(a).g>>BPhalf) ); } -//inline Fixed Fixed::operator /(double a) const { return Fixed(RAW, int( (((long long)g << BP2) / (long long)(Fixed(a).g)) >> BP) ); } -inline Fixed Fixed::operator /(double a) const { return operator/(Fixed(a)); } - -inline Fixed Fixed::operator >>(int a) const { return Fixed(RAW, g >> a); } -inline Fixed Fixed::operator <<(int a) const { return Fixed(RAW, g << a); } - -inline Fixed& Fixed::operator +=(Fixed a) { return *this = *this + a; } -inline Fixed& Fixed::operator -=(Fixed a) { return *this = *this - a; } -inline Fixed& Fixed::operator *=(Fixed a) { return *this = *this * a; } -//inline Fixed& Fixed::operator /=(Fixed a) { return *this = *this / a; } -inline Fixed& Fixed::operator /=(Fixed a) { return *this = operator/(a); } - -inline Fixed& Fixed::operator +=(int a) { return *this = *this + (Fixed)a; } -inline Fixed& Fixed::operator -=(int a) { return *this = *this - (Fixed)a; } -inline Fixed& Fixed::operator *=(int a) { return *this = *this * (Fixed)a; } -//inline Fixed& Fixed::operator /=(int a) { return *this = *this / (Fixed)a; } -inline Fixed& Fixed::operator /=(int a) { return *this = operator/((Fixed)a); } - -inline Fixed& Fixed::operator +=(long a) { return *this = *this + (Fixed)a; } -inline Fixed& Fixed::operator -=(long a) { return *this = *this - (Fixed)a; } -inline Fixed& Fixed::operator *=(long a) { return *this = *this * (Fixed)a; } -//inline Fixed& Fixed::operator /=(long a) { return *this = *this / (Fixed)a; } -inline Fixed& Fixed::operator /=(long a) { return *this = operator/((Fixed)a); } - -inline Fixed& Fixed::operator +=(float a) { return *this = *this + a; } -inline Fixed& Fixed::operator -=(float a) { return *this = *this - a; } -inline Fixed& Fixed::operator *=(float a) { return *this = *this * a; } -//inline Fixed& Fixed::operator /=(float a) { return *this = *this / a; } -inline Fixed& Fixed::operator /=(float a) { return *this = operator/(a); } - -inline Fixed& Fixed::operator +=(double a) { return *this = *this + a; } -inline Fixed& Fixed::operator -=(double a) { return *this = *this - a; } -inline Fixed& Fixed::operator *=(double a) { return *this = *this * a; } -//inline Fixed& Fixed::operator /=(double a) { return *this = *this / a; } -inline Fixed& Fixed::operator /=(double a) { return *this = operator/(a); } - -inline Fixed operator +(int a, const Fixed b) { return Fixed(a)+b; } -inline Fixed operator -(int a, const Fixed b) { return Fixed(a)-b; } -inline Fixed operator *(int a, const Fixed b) { return Fixed(a)*b; } -inline Fixed operator /(int a, const Fixed b) { return Fixed(a)/b; }; - -inline Fixed operator +(float a, const Fixed b) { return Fixed(a)+b; } -inline Fixed operator -(float a, const Fixed b) { return Fixed(a)-b; } -inline Fixed operator *(float a, const Fixed b) { return Fixed(a)*b; } -inline Fixed operator /(float a, const Fixed b) { return Fixed(a)/b; } - -inline bool Fixed::operator ==(const Fixed a) const { return g == a.g; } -inline bool Fixed::operator !=(const Fixed a) const { return g != a.g; } -inline bool Fixed::operator <=(const Fixed a) const { return g <= a.g; } -inline bool Fixed::operator >=(const Fixed a) const { return g >= a.g; } -inline bool Fixed::operator <(const Fixed a) const { return g < a.g; } -inline bool Fixed::operator >(const Fixed a) const { return g > a.g; } - -inline bool Fixed::operator ==(float a) const { return g == Fixed(a).g; } -inline bool Fixed::operator !=(float a) const { return g != Fixed(a).g; } -inline bool Fixed::operator <=(float a) const { return g <= Fixed(a).g; } -inline bool Fixed::operator >=(float a) const { return g >= Fixed(a).g; } -inline bool Fixed::operator <(float a) const { return g < Fixed(a).g; } -inline bool Fixed::operator >(float a) const { return g > Fixed(a).g; } - -inline bool Fixed::operator ==(double a) const { return g == Fixed(a).g; } -inline bool Fixed::operator !=(double a) const { return g != Fixed(a).g; } -inline bool Fixed::operator <=(double a) const { return g <= Fixed(a).g; } -inline bool Fixed::operator >=(double a) const { return g >= Fixed(a).g; } -inline bool Fixed::operator <(double a) const { return g < Fixed(a).g; } -inline bool Fixed::operator >(double a) const { return g > Fixed(a).g; } - -inline bool Fixed::operator >(int a) const { return g > Fixed(a).g; } -inline bool Fixed::operator <(int a) const { return g < Fixed(a).g; } -inline bool Fixed::operator >=(int a) const{ return g >= Fixed(a).g; }; -inline bool Fixed::operator <=(int a) const{ return g <= Fixed(a).g; }; - -inline bool operator ==(float a, const Fixed b) { return Fixed(a) == b; } -inline bool operator !=(float a, const Fixed b) { return Fixed(a) != b; } -inline bool operator <=(float a, const Fixed b) { return Fixed(a) <= b; } -inline bool operator >=(float a, const Fixed b) { return Fixed(a) >= b; } -inline bool operator <(float a, const Fixed b) { return Fixed(a) < b; } -inline bool operator >(float a, const Fixed b) { return Fixed(a) > b; } - -inline Fixed operator +(double a, const Fixed b) { return Fixed(a)+b; } -inline Fixed operator -(double a, const Fixed b) { return Fixed(a)-b; } -inline Fixed operator *(double a, const Fixed b) { return Fixed(a)*b; } -inline Fixed operator /(double a, const Fixed b) { return Fixed(a)/b; } - -inline bool operator ==(double a, const Fixed b) { return Fixed(a) == b; } -inline bool operator !=(double a, const Fixed b) { return Fixed(a) != b; } -inline bool operator <=(double a, const Fixed b) { return Fixed(a) <= b; } -inline bool operator >=(double a, const Fixed b) { return Fixed(a) >= b; } -inline bool operator <(double a, const Fixed b) { return Fixed(a) < b; } -inline bool operator >(double a, const Fixed b) { return Fixed(a) > b; } - -inline bool operator ==(int a, const Fixed b) { return Fixed(a) == b; } -inline bool operator !=(int a, const Fixed b) { return Fixed(a) != b; } -inline bool operator <=(int a, const Fixed b) { return Fixed(a) <= b; } -inline bool operator >=(int a, const Fixed b) { return Fixed(a) >= b; } -inline bool operator <(int a, const Fixed b) { return Fixed(a) < b; } -inline bool operator >(int a, const Fixed b) { return Fixed(a) > b; } - -inline int& operator +=(int& a, const Fixed b) { a = (Fixed)a + b; return a; } -inline int& operator -=(int& a, const Fixed b) { a = (Fixed)a - b; return a; } -inline int& operator *=(int& a, const Fixed b) { a = (Fixed)a * b; return a; } -inline int& operator /=(int& a, const Fixed b) { a = (Fixed)a / b; return a; } - -inline long& operator +=(long& a, const Fixed b) { a = (Fixed)a + b; return a; } -inline long& operator -=(long& a, const Fixed b) { a = (Fixed)a - b; return a; } -inline long& operator *=(long& a, const Fixed b) { a = (Fixed)a * b; return a; } -inline long& operator /=(long& a, const Fixed b) { a = (Fixed)a / b; return a; } - -inline float& operator +=(float& a, const Fixed b) { a = a + b; return a; } -inline float& operator -=(float& a, const Fixed b) { a = a - b; return a; } -inline float& operator *=(float& a, const Fixed b) { a = a * b; return a; } -inline float& operator /=(float& a, const Fixed b) { a = a / b; return a; } - -inline double& operator +=(double& a, const Fixed b) { a = a + b; return a; } -inline double& operator -=(double& a, const Fixed b) { a = a - b; return a; } -inline double& operator *=(double& a, const Fixed b) { a = a * b; return a; } -inline double& operator /=(double& a, const Fixed b) { a = a / b; return a; } - -inline Fixed Fixed::abs() { return (g>0) ? Fixed(RAW, g) : Fixed(RAW, -g); } -inline Fixed abs(Fixed f) { return f.abs(); } - -//inline Fixed atan2(Fixed a, Fixed b) { return atan2f((float) a, (float) b); } -inline Fixed atan2(Fixed y, Fixed x) -{ - Fixed abs_y = y.abs() + FIXED_EPSILON; // avoid 0/0 - Fixed r, angle; - - if(x >= 0.0f) { - r = (x - abs_y) / (x + abs_y); - angle = 3.1415926/4.0; - } else { - r = (x + abs_y) / (abs_y - x); - angle = 3.0*3.1415926/4.0; - } - angle += Fixed(0.1963) * (r * r * r) - Fixed(0.9817) * r; - return (y < 0) ? -angle : angle; -} - -#if TARGET_IS_NDS - -static inline long nds_sqrt64(long long a) -{ - SQRT_CR = SQRT_64; - while(SQRT_CR & SQRT_BUSY); - SQRT_PARAM64 = a; - while(SQRT_CR & SQRT_BUSY); - - return SQRT_RESULT32; -} - -static inline int32 div6464(int64 num, int64 den) -{ - DIV_CR = DIV_64_64; - while(DIV_CR & DIV_BUSY); - DIV_NUMERATOR64 = num; - DIV_DENOMINATOR64 = den; - while(DIV_CR & DIV_BUSY); - - return (DIV_RESULT32); -} - -inline Fixed Fixed::sqrt() -{ - return Fixed(RAW, nds_sqrt64(((long long)(g))<>= 2 ) - { - if ( ( left & -m ) > root ) - left -= ( root += m ), root += m; - root >>= 1; - } - return Fixed(RAW, root); -} -#endif - -inline Fixed sqrt(Fixed a) { return a.sqrt(); } -inline Fixed sqrtf(Fixed a) { return a.sqrt(); } - -#endif - -#ifdef TARGET_IS_NDS -// Use the libnds lookup tables for trigonometry functions -inline Fixed Fixed::cosf() { - int idx = (((long long)g*(long long)G_1_DIV_PI)>>24)%512; - if(idx < 0) - idx += 512; - return Fixed(RAW, COS_bin[idx] << 4); -} -inline Fixed cosf(Fixed x) { return x.cosf(); } -inline Fixed Fixed::sinf() { - int idx = (((long long)g*(long long)G_1_DIV_PI)>>24)%512; - if(idx < 0) - idx += 512; - return Fixed(RAW, SIN_bin[idx] << 4); -} -inline Fixed sinf(Fixed x) { return x.sinf(); } -inline Fixed Fixed::tanf() { - int idx = (((long long)g*(long long)G_1_DIV_PI)>>24)%512; - if(idx < 0) - idx += 512; - return Fixed(RAW, TAN_bin[idx] << 4); -} -inline Fixed tanf(Fixed x) { return x.tanf(); } - - -#endif diff --git a/src/modules/physics/box2d/Source/Common/b2Math.cpp b/src/modules/physics/box2d/Source/Common/b2Math.cpp deleted file mode 100644 index 69162449a..000000000 --- a/src/modules/physics/box2d/Source/Common/b2Math.cpp +++ /dev/null @@ -1,54 +0,0 @@ -/* -* Copyright (c) 2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2Math.h" - -const b2Vec2 b2Vec2_zero(0.0f, 0.0f); -const b2Mat22 b2Mat22_identity(1.0f, 0.0f, 0.0f, 1.0f); -const b2XForm b2XForm_identity(b2Vec2_zero, b2Mat22_identity); - -void b2Sweep::GetXForm(b2XForm* xf, float32 t) const -{ - // center = p + R * localCenter - if (1.0f - t0 > B2_FLT_EPSILON) - { - float32 alpha = (t - t0) / (1.0f - t0); - xf->position = (1.0f - alpha) * c0 + alpha * c; - float32 angle = (1.0f - alpha) * a0 + alpha * a; - xf->R.Set(angle); - } - else - { - xf->position = c; - xf->R.Set(a); - } - - // Shift to origin - xf->position -= b2Mul(xf->R, localCenter); -} - -void b2Sweep::Advance(float32 t) -{ - if (t0 < t && 1.0f - t0 > B2_FLT_EPSILON) - { - float32 alpha = (t - t0) / (1.0f - t0); - c0 = (1.0f - alpha) * c0 + alpha * c; - a0 = (1.0f - alpha) * a0 + alpha * a; - t0 = t; - } -} diff --git a/src/modules/physics/box2d/Source/Common/jtypes.h b/src/modules/physics/box2d/Source/Common/jtypes.h deleted file mode 100644 index 3747ce54d..000000000 --- a/src/modules/physics/box2d/Source/Common/jtypes.h +++ /dev/null @@ -1,139 +0,0 @@ -/*--------------------------------------------------------------------------------- - $Id: jtypes.h,v 1.17 2007/07/18 05:20:45 wntrmute Exp $ - - jtypes.h -- Common types (and a few useful macros) - - Copyright (C) 2005 - Michael Noland (joat) - Jason Rogers (dovoto) - Dave Murphy (WinterMute) - Chris Double (doublec) - - 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 NDS_JTYPES_INCLUDE -#define NDS_JTYPES_INCLUDE -//--------------------------------------------------------------------------------- - - -#define PACKED __attribute__ ((packed)) -#define packed_struct struct PACKED - -//--------------------------------------------------------------------------------- -// libgba compatible section macros -//--------------------------------------------------------------------------------- -#define ITCM_CODE __attribute__((section(".itcm"), long_call)) - -#define DTCM_DATA __attribute__((section(".dtcm"))) -#define DTCM_BSS __attribute__((section(".sbss"))) -#define ALIGN(m) __attribute__((aligned (m))) - -#define PACKED __attribute__ ((packed)) -#define packed_struct struct PACKED - -//--------------------------------------------------------------------------------- -// These are linked to the bin2o macro in the Makefile -//--------------------------------------------------------------------------------- -#define GETRAW(name) (name) -#define GETRAWSIZE(name) ((int)name##_size) -#define GETRAWEND(name) ((int)name##_end) - -#ifndef TRUE -#define TRUE 1 -#define FALSE 0 -#endif - -#define BIT(n) (1 << (n)) - -// define libnds types in terms of stdint -#include - -typedef uint8_t uint8; -typedef uint16_t uint16; -typedef uint32_t uint32; -typedef uint64_t uint64; - -typedef int8_t int8; -typedef int16_t int16; -typedef int32_t int32; -typedef int64_t int64; - -//typedef float float32; -typedef double float64; - -typedef volatile uint8_t vuint8; -typedef volatile uint16_t vuint16; -typedef volatile uint32_t vuint32; -typedef volatile uint64_t vuint64; - -typedef volatile int8_t vint8; -typedef volatile int16_t vint16; -typedef volatile int32_t vint32; -typedef volatile int64_t vint64; - -typedef volatile float vfloat32; -typedef volatile float64 vfloat64; - -typedef uint8_t byte; - -typedef uint8_t u8; -typedef uint16_t u16; -typedef uint32_t u32; -typedef uint64_t u64; - -typedef int8_t s8; -typedef int16_t s16; -typedef int32_t s32; -typedef int64_t s64; - -typedef volatile u8 vu8; -typedef volatile u16 vu16; -typedef volatile u32 vu32; -typedef volatile u64 vu64; - -typedef volatile s8 vs8; -typedef volatile s16 vs16; -typedef volatile s32 vs32; -typedef volatile s64 vs64; - -typedef struct touchPosition { - int16 x; - int16 y; - int16 px; - int16 py; - int16 z1; - int16 z2; -} touchPosition; - - -#ifndef __cplusplus -/** C++ compatible bool for C - -*/ -typedef enum { false, true } bool; -#endif - -// Handy function pointer typedefs -typedef void ( * IntFn)(void); -typedef void (* VoidFunctionPointer)(void); -typedef void (* fp)(void); - -//--------------------------------------------------------------------------------- -#endif -//--------------------------------------------------------------------------------- diff --git a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2CircleContact.cpp b/src/modules/physics/box2d/Source/Dynamics/Contacts/b2CircleContact.cpp deleted file mode 100644 index 8b73cb350..000000000 --- a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2CircleContact.cpp +++ /dev/null @@ -1,122 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2CircleContact.h" -#include "../b2Body.h" -#include "../b2WorldCallbacks.h" -#include "../../Common/b2BlockAllocator.h" - -#include -#include - -b2Contact* b2CircleContact::Create(b2Shape* shape1, b2Shape* shape2, b2BlockAllocator* allocator) -{ - void* mem = allocator->Allocate(sizeof(b2CircleContact)); - return new (mem) b2CircleContact(shape1, shape2); -} - -void b2CircleContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator) -{ - ((b2CircleContact*)contact)->~b2CircleContact(); - allocator->Free(contact, sizeof(b2CircleContact)); -} - -b2CircleContact::b2CircleContact(b2Shape* s1, b2Shape* s2) -: b2Contact(s1, s2) -{ - b2Assert(m_shape1->GetType() == e_circleShape); - b2Assert(m_shape2->GetType() == e_circleShape); - m_manifold.pointCount = 0; - m_manifold.points[0].normalImpulse = 0.0f; - m_manifold.points[0].tangentImpulse = 0.0f; -} - -void b2CircleContact::Evaluate(b2ContactListener* listener) -{ - b2Body* b1 = m_shape1->GetBody(); - b2Body* b2 = m_shape2->GetBody(); - - b2Manifold m0; - memcpy(&m0, &m_manifold, sizeof(b2Manifold)); - - b2CollideCircles(&m_manifold, (b2CircleShape*)m_shape1, b1->GetXForm(), (b2CircleShape*)m_shape2, b2->GetXForm()); - - b2ContactPoint cp; - cp.shape1 = m_shape1; - cp.shape2 = m_shape2; - cp.friction = m_friction; - cp.restitution = m_restitution; - - if (m_manifold.pointCount > 0) - { - m_manifoldCount = 1; - b2ManifoldPoint* mp = m_manifold.points + 0; - - if (m0.pointCount == 0) - { - mp->normalImpulse = 0.0f; - mp->tangentImpulse = 0.0f; - - if (listener) - { - cp.position = b1->GetWorldPoint(mp->localPoint1); - b2Vec2 v1 = b1->GetLinearVelocityFromLocalPoint(mp->localPoint1); - b2Vec2 v2 = b2->GetLinearVelocityFromLocalPoint(mp->localPoint2); - cp.velocity = v2 - v1; - cp.normal = m_manifold.normal; - cp.separation = mp->separation; - cp.id = mp->id; - listener->Add(&cp); - } - } - else - { - b2ManifoldPoint* mp0 = m0.points + 0; - mp->normalImpulse = mp0->normalImpulse; - mp->tangentImpulse = mp0->tangentImpulse; - - if (listener) - { - cp.position = b1->GetWorldPoint(mp->localPoint1); - b2Vec2 v1 = b1->GetLinearVelocityFromLocalPoint(mp->localPoint1); - b2Vec2 v2 = b2->GetLinearVelocityFromLocalPoint(mp->localPoint2); - cp.velocity = v2 - v1; - cp.normal = m_manifold.normal; - cp.separation = mp->separation; - cp.id = mp->id; - listener->Persist(&cp); - } - } - } - else - { - m_manifoldCount = 0; - if (m0.pointCount > 0 && listener) - { - b2ManifoldPoint* mp0 = m0.points + 0; - cp.position = b1->GetWorldPoint(mp0->localPoint1); - b2Vec2 v1 = b1->GetLinearVelocityFromLocalPoint(mp0->localPoint1); - b2Vec2 v2 = b2->GetLinearVelocityFromLocalPoint(mp0->localPoint2); - cp.velocity = v2 - v1; - cp.normal = m0.normal; - cp.separation = mp0->separation; - cp.id = mp0->id; - listener->Remove(&cp); - } - } -} diff --git a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2Contact.cpp b/src/modules/physics/box2d/Source/Dynamics/Contacts/b2Contact.cpp deleted file mode 100644 index 3de5057fa..000000000 --- a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2Contact.cpp +++ /dev/null @@ -1,172 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2Contact.h" -#include "b2CircleContact.h" -#include "b2PolyAndCircleContact.h" -#include "b2PolyContact.h" -#include "b2ContactSolver.h" -#include "../../Collision/b2Collision.h" -#include "../../Collision/Shapes/b2Shape.h" -#include "../../Common/b2BlockAllocator.h" -#include "../../Dynamics/b2World.h" -#include "../../Dynamics/b2Body.h" - -b2ContactRegister b2Contact::s_registers[e_shapeTypeCount][e_shapeTypeCount]; -bool b2Contact::s_initialized = false; - -void b2Contact::InitializeRegisters() -{ - AddType(b2CircleContact::Create, b2CircleContact::Destroy, e_circleShape, e_circleShape); - AddType(b2PolyAndCircleContact::Create, b2PolyAndCircleContact::Destroy, e_polygonShape, e_circleShape); - AddType(b2PolygonContact::Create, b2PolygonContact::Destroy, e_polygonShape, e_polygonShape); -} - -void b2Contact::AddType(b2ContactCreateFcn* createFcn, b2ContactDestroyFcn* destoryFcn, - b2ShapeType type1, b2ShapeType type2) -{ - b2Assert(e_unknownShape < type1 && type1 < e_shapeTypeCount); - b2Assert(e_unknownShape < type2 && type2 < e_shapeTypeCount); - - s_registers[type1][type2].createFcn = createFcn; - s_registers[type1][type2].destroyFcn = destoryFcn; - s_registers[type1][type2].primary = true; - - if (type1 != type2) - { - s_registers[type2][type1].createFcn = createFcn; - s_registers[type2][type1].destroyFcn = destoryFcn; - s_registers[type2][type1].primary = false; - } -} - -b2Contact* b2Contact::Create(b2Shape* shape1, b2Shape* shape2, b2BlockAllocator* allocator) -{ - if (s_initialized == false) - { - InitializeRegisters(); - s_initialized = true; - } - - b2ShapeType type1 = shape1->GetType(); - b2ShapeType type2 = shape2->GetType(); - - b2Assert(e_unknownShape < type1 && type1 < e_shapeTypeCount); - b2Assert(e_unknownShape < type2 && type2 < e_shapeTypeCount); - - b2ContactCreateFcn* createFcn = s_registers[type1][type2].createFcn; - if (createFcn) - { - if (s_registers[type1][type2].primary) - { - return createFcn(shape1, shape2, allocator); - } - else - { - b2Contact* c = createFcn(shape2, shape1, allocator); - for (int32 i = 0; i < c->GetManifoldCount(); ++i) - { - b2Manifold* m = c->GetManifolds() + i; - m->normal = -m->normal; - } - return c; - } - } - else - { - return NULL; - } -} - -void b2Contact::Destroy(b2Contact* contact, b2BlockAllocator* allocator) -{ - b2Assert(s_initialized == true); - - if (contact->GetManifoldCount() > 0) - { - contact->GetShape1()->GetBody()->WakeUp(); - contact->GetShape2()->GetBody()->WakeUp(); - } - - b2ShapeType type1 = contact->GetShape1()->GetType(); - b2ShapeType type2 = contact->GetShape2()->GetType(); - - b2Assert(e_unknownShape < type1 && type1 < e_shapeTypeCount); - b2Assert(e_unknownShape < type2 && type2 < e_shapeTypeCount); - - b2ContactDestroyFcn* destroyFcn = s_registers[type1][type2].destroyFcn; - destroyFcn(contact, allocator); -} - -b2Contact::b2Contact(b2Shape* s1, b2Shape* s2) -{ - m_flags = 0; - - if (s1->IsSensor() || s2->IsSensor()) - { - m_flags |= e_nonSolidFlag; - } - - m_shape1 = s1; - m_shape2 = s2; - - m_manifoldCount = 0; - - m_friction = b2MixFriction(m_shape1->GetFriction(), m_shape2->GetFriction()); - m_restitution = b2MixRestitution(m_shape1->GetRestitution(), m_shape2->GetRestitution()); - m_prev = NULL; - m_next = NULL; - - m_node1.contact = NULL; - m_node1.prev = NULL; - m_node1.next = NULL; - m_node1.other = NULL; - - m_node2.contact = NULL; - m_node2.prev = NULL; - m_node2.next = NULL; - m_node2.other = NULL; -} - -void b2Contact::Update(b2ContactListener* listener) -{ - int32 oldCount = GetManifoldCount(); - - Evaluate(listener); - - int32 newCount = GetManifoldCount(); - - b2Body* body1 = m_shape1->GetBody(); - b2Body* body2 = m_shape2->GetBody(); - - if (newCount == 0 && oldCount > 0) - { - body1->WakeUp(); - body2->WakeUp(); - } - - // Slow contacts don't generate TOI events. - if (body1->IsStatic() || body1->IsBullet() || body2->IsStatic() || body2->IsBullet()) - { - m_flags &= ~e_slowFlag; - } - else - { - m_flags |= e_slowFlag; - } -} diff --git a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2Contact.h b/src/modules/physics/box2d/Source/Dynamics/Contacts/b2Contact.h deleted file mode 100644 index 3d6f0dae4..000000000 --- a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2Contact.h +++ /dev/null @@ -1,183 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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 CONTACT_H -#define CONTACT_H - -#include "../../Common/b2Math.h" -#include "../../Collision/b2Collision.h" -#include "../../Collision/Shapes/b2Shape.h" - -class b2Body; -class b2Contact; -class b2World; -class b2BlockAllocator; -class b2StackAllocator; -class b2ContactListener; - -typedef b2Contact* b2ContactCreateFcn(b2Shape* shape1, b2Shape* shape2, b2BlockAllocator* allocator); -typedef void b2ContactDestroyFcn(b2Contact* contact, b2BlockAllocator* allocator); - -struct b2ContactRegister -{ - b2ContactCreateFcn* createFcn; - b2ContactDestroyFcn* destroyFcn; - bool primary; -}; - -/// A contact edge is used to connect bodies and contacts together -/// in a contact graph where each body is a node and each contact -/// is an edge. A contact edge belongs to a doubly linked list -/// maintained in each attached body. Each contact has two contact -/// nodes, one for each attached body. -struct b2ContactEdge -{ - b2Body* other; ///< provides quick access to the other body attached. - b2Contact* contact; ///< the contact - b2ContactEdge* prev; ///< the previous contact edge in the body's contact list - b2ContactEdge* next; ///< the next contact edge in the body's contact list -}; - -/// This structure is used to report contact points. -struct b2ContactPoint -{ - b2Shape* shape1; ///< the first shape - b2Shape* shape2; ///< the second shape - b2Vec2 position; ///< position in world coordinates - b2Vec2 velocity; ///< velocity of point on body2 relative to point on body1 (pre-solver) - b2Vec2 normal; ///< points from shape1 to shape2 - float32 separation; ///< the separation is negative when shapes are touching - float32 friction; ///< the combined friction coefficient - float32 restitution; ///< the combined restitution coefficient - b2ContactID id; ///< the contact id identifies the features in contact -}; - -/// This structure is used to report contact point results. -struct b2ContactResult -{ - b2Shape* shape1; ///< the first shape - b2Shape* shape2; ///< the second shape - b2Vec2 position; ///< position in world coordinates - b2Vec2 normal; ///< points from shape1 to shape2 - float32 normalImpulse; ///< the normal impulse applied to body2 - float32 tangentImpulse; ///< the tangent impulse applied to body2 - b2ContactID id; ///< the contact id identifies the features in contact -}; - -/// The class manages contact between two shapes. A contact exists for each overlapping -/// AABB in the broad-phase (except if filtered). Therefore a contact object may exist -/// that has no contact points. -class b2Contact -{ -public: - - /// Get the manifold array. - virtual b2Manifold* GetManifolds() = 0; - - /// Get the number of manifolds. This is 0 or 1 between convex shapes. - /// This may be greater than 1 for convex-vs-concave shapes. Each - /// manifold holds up to two contact points with a shared contact normal. - int32 GetManifoldCount() const; - - /// Is this contact solid? - /// @return true if this contact should generate a response. - bool IsSolid() const; - - /// Get the next contact in the world's contact list. - b2Contact* GetNext(); - - /// Get the first shape in this contact. - b2Shape* GetShape1(); - - /// Get the second shape in this contact. - b2Shape* GetShape2(); - - //--------------- Internals Below ------------------- -public: - - // m_flags - enum - { - e_nonSolidFlag = 0x0001, - e_slowFlag = 0x0002, - e_islandFlag = 0x0004, - e_toiFlag = 0x0008, - }; - - static void AddType(b2ContactCreateFcn* createFcn, b2ContactDestroyFcn* destroyFcn, - b2ShapeType type1, b2ShapeType type2); - static void InitializeRegisters(); - static b2Contact* Create(b2Shape* shape1, b2Shape* shape2, b2BlockAllocator* allocator); - static void Destroy(b2Contact* contact, b2BlockAllocator* allocator); - - b2Contact() : m_shape1(NULL), m_shape2(NULL) {} - b2Contact(b2Shape* shape1, b2Shape* shape2); - virtual ~b2Contact() {} - - void Update(b2ContactListener* listener); - virtual void Evaluate(b2ContactListener* listener) = 0; - static b2ContactRegister s_registers[e_shapeTypeCount][e_shapeTypeCount]; - static bool s_initialized; - - uint32 m_flags; - int32 m_manifoldCount; - - // World pool and list pointers. - b2Contact* m_prev; - b2Contact* m_next; - - // Nodes for connecting bodies. - b2ContactEdge m_node1; - b2ContactEdge m_node2; - - b2Shape* m_shape1; - b2Shape* m_shape2; - - // Combined friction - float32 m_friction; - float32 m_restitution; - - float32 m_toi; -}; - -inline int32 b2Contact::GetManifoldCount() const -{ - return m_manifoldCount; -} - -inline bool b2Contact::IsSolid() const -{ - return (m_flags & e_nonSolidFlag) == 0; -} - -inline b2Contact* b2Contact::GetNext() -{ - return m_next; -} - -inline b2Shape* b2Contact::GetShape1() -{ - return m_shape1; -} - -inline b2Shape* b2Contact::GetShape2() -{ - return m_shape2; -} - -#endif diff --git a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2ContactSolver.cpp b/src/modules/physics/box2d/Source/Dynamics/Contacts/b2ContactSolver.cpp deleted file mode 100644 index bc82d2558..000000000 --- a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2ContactSolver.cpp +++ /dev/null @@ -1,360 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2ContactSolver.h" -#include "b2Contact.h" -#include "../b2Body.h" -#include "../b2World.h" -#include "../../Common/b2StackAllocator.h" - -b2ContactSolver::b2ContactSolver(const b2TimeStep& step, b2Contact** contacts, int32 contactCount, b2StackAllocator* allocator) -{ - m_step = step; - m_allocator = allocator; - - m_constraintCount = 0; - for (int32 i = 0; i < contactCount; ++i) - { - b2Assert(contacts[i]->IsSolid()); - m_constraintCount += contacts[i]->GetManifoldCount(); - } - - m_constraints = (b2ContactConstraint*)m_allocator->Allocate(m_constraintCount * sizeof(b2ContactConstraint)); - - int32 count = 0; - for (int32 i = 0; i < contactCount; ++i) - { - b2Contact* contact = contacts[i]; - - b2Body* b1 = contact->m_shape1->GetBody(); - b2Body* b2 = contact->m_shape2->GetBody(); - int32 manifoldCount = contact->GetManifoldCount(); - b2Manifold* manifolds = contact->GetManifolds(); - float32 friction = contact->m_friction; - float32 restitution = contact->m_restitution; - - b2Vec2 v1 = b1->m_linearVelocity; - b2Vec2 v2 = b2->m_linearVelocity; - float32 w1 = b1->m_angularVelocity; - float32 w2 = b2->m_angularVelocity; - - for (int32 j = 0; j < manifoldCount; ++j) - { - b2Manifold* manifold = manifolds + j; - - b2Assert(manifold->pointCount > 0); - - const b2Vec2 normal = manifold->normal; - - b2Assert(count < m_constraintCount); - b2ContactConstraint* c = m_constraints + count; - c->body1 = b1; - c->body2 = b2; - c->manifold = manifold; - c->normal = normal; - c->pointCount = manifold->pointCount; - c->friction = friction; - c->restitution = restitution; - - for (int32 k = 0; k < c->pointCount; ++k) - { - b2ManifoldPoint* cp = manifold->points + k; - b2ContactConstraintPoint* ccp = c->points + k; - - ccp->normalImpulse = cp->normalImpulse; - ccp->tangentImpulse = cp->tangentImpulse; - ccp->separation = cp->separation; - ccp->positionImpulse = 0.0f; - - ccp->localAnchor1 = cp->localPoint1; - ccp->localAnchor2 = cp->localPoint2; - ccp->r1 = b2Mul(b1->GetXForm().R, cp->localPoint1 - b1->GetLocalCenter()); - ccp->r2 = b2Mul(b2->GetXForm().R, cp->localPoint2 - b2->GetLocalCenter()); - - float32 r1Sqr = b2Dot(ccp->r1, ccp->r1); - float32 r2Sqr = b2Dot(ccp->r2, ccp->r2); - float32 rn1 = b2Dot(ccp->r1, normal); - float32 rn2 = b2Dot(ccp->r2, normal); - - float32 kNormal = b1->m_invMass + b2->m_invMass; - kNormal += b1->m_invI * (r1Sqr - rn1 * rn1) + b2->m_invI * (r2Sqr - rn2 * rn2); - - b2Assert(kNormal > B2_FLT_EPSILON); - ccp->normalMass = 1.0f / kNormal; - - float32 kEqualized = b1->m_mass * b1->m_invMass + b2->m_mass * b2->m_invMass; - kEqualized += b1->m_mass * b1->m_invI * (r1Sqr - rn1 * rn1) + b2->m_mass * b2->m_invI * (r2Sqr - rn2 * rn2); - - b2Assert(kEqualized > B2_FLT_EPSILON); - ccp->equalizedMass = 1.0f / kEqualized; - - b2Vec2 tangent = b2Cross(normal, 1.0f); - - float32 rt1 = b2Dot(ccp->r1, tangent); - float32 rt2 = b2Dot(ccp->r2, tangent); - float32 kTangent = b1->m_invMass + b2->m_invMass; - kTangent += b1->m_invI * (r1Sqr - rt1 * rt1) + b2->m_invI * (r2Sqr - rt2 * rt2); - - b2Assert(kTangent > B2_FLT_EPSILON); - ccp->tangentMass = 1.0f / kTangent; - - // Setup a velocity bias for restitution. - ccp->velocityBias = 0.0f; - if (ccp->separation > 0.0f) - { - ccp->velocityBias = -60.0f * ccp->separation; // TODO_ERIN b2TimeStep - } - - float32 vRel = b2Dot(c->normal, v2 + b2Cross(w2, ccp->r2) - v1 - b2Cross(w1, ccp->r1)); - if (vRel < -b2_velocityThreshold) - { - ccp->velocityBias += -c->restitution * vRel; - } - } - - ++count; - } - } - - b2Assert(count == m_constraintCount); -} - -b2ContactSolver::~b2ContactSolver() -{ - m_allocator->Free(m_constraints); -} - -void b2ContactSolver::InitVelocityConstraints(const b2TimeStep& step) -{ - // Warm start. - for (int32 i = 0; i < m_constraintCount; ++i) - { - b2ContactConstraint* c = m_constraints + i; - - b2Body* b1 = c->body1; - b2Body* b2 = c->body2; - float32 invMass1 = b1->m_invMass; - float32 invI1 = b1->m_invI; - float32 invMass2 = b2->m_invMass; - float32 invI2 = b2->m_invI; - b2Vec2 normal = c->normal; - b2Vec2 tangent = b2Cross(normal, 1.0f); - - if (step.warmStarting) - { - for (int32 j = 0; j < c->pointCount; ++j) - { - b2ContactConstraintPoint* ccp = c->points + j; - ccp->normalImpulse *= step.dtRatio; - ccp->tangentImpulse *= step.dtRatio; - b2Vec2 P = ccp->normalImpulse * normal + ccp->tangentImpulse * tangent; - b1->m_angularVelocity -= invI1 * b2Cross(ccp->r1, P); - b1->m_linearVelocity -= invMass1 * P; - b2->m_angularVelocity += invI2 * b2Cross(ccp->r2, P); - b2->m_linearVelocity += invMass2 * P; - } - } - else - { - for (int32 j = 0; j < c->pointCount; ++j) - { - b2ContactConstraintPoint* ccp = c->points + j; - ccp->normalImpulse = 0.0f; - ccp->tangentImpulse = 0.0f; - } - } - } -} - -void b2ContactSolver::SolveVelocityConstraints() -{ - for (int32 i = 0; i < m_constraintCount; ++i) - { - b2ContactConstraint* c = m_constraints + i; - b2Body* b1 = c->body1; - b2Body* b2 = c->body2; - float32 w1 = b1->m_angularVelocity; - float32 w2 = b2->m_angularVelocity; - b2Vec2 v1 = b1->m_linearVelocity; - b2Vec2 v2 = b2->m_linearVelocity; - float32 invMass1 = b1->m_invMass; - float32 invI1 = b1->m_invI; - float32 invMass2 = b2->m_invMass; - float32 invI2 = b2->m_invI; - b2Vec2 normal = c->normal; - b2Vec2 tangent = b2Cross(normal, 1.0f); - float32 friction = c->friction; -//#define DEFERRED_UPDATE -#ifdef DEFERRED_UPDATE - b2Vec2 b1_linearVelocity = b1->m_linearVelocity; - float32 b1_angularVelocity = b1->m_angularVelocity; - b2Vec2 b2_linearVelocity = b2->m_linearVelocity; - float32 b2_angularVelocity = b2->m_angularVelocity; -#endif - // Solve normal constraints - for (int32 j = 0; j < c->pointCount; ++j) - { - b2ContactConstraintPoint* ccp = c->points + j; - - // Relative velocity at contact - b2Vec2 dv = v2 + b2Cross(w2, ccp->r2) - v1 - b2Cross(w1, ccp->r1); - - // Compute normal impulse - float32 vn = b2Dot(dv, normal); - float32 lambda = -ccp->normalMass * (vn - ccp->velocityBias); - - // b2Clamp the accumulated impulse - float32 newImpulse = b2Max(ccp->normalImpulse + lambda, 0.0f); - lambda = newImpulse - ccp->normalImpulse; - - // Apply contact impulse - b2Vec2 P = lambda * normal; -#ifdef DEFERRED_UPDATE - b1_linearVelocity -= invMass1 * P; - b1_angularVelocity -= invI1 * b2Cross(r1, P); - - b2_linearVelocity += invMass2 * P; - b2_angularVelocity += invI2 * b2Cross(r2, P); -#else - v1 -= invMass1 * P; - w1 -= invI1 * b2Cross(ccp->r1, P); - - v2 += invMass2 * P; - w2 += invI2 * b2Cross(ccp->r2, P); -#endif - ccp->normalImpulse = newImpulse; - } - -#ifdef DEFERRED_UPDATE - b1->m_linearVelocity = b1_linearVelocity; - b1->m_angularVelocity = b1_angularVelocity; - b2->m_linearVelocity = b2_linearVelocity; - b2->m_angularVelocity = b2_angularVelocity; -#endif - // Solve tangent constraints - for (int32 j = 0; j < c->pointCount; ++j) - { - b2ContactConstraintPoint* ccp = c->points + j; - - // Relative velocity at contact - b2Vec2 dv = v2 + b2Cross(w2, ccp->r2) - v1 - b2Cross(w1, ccp->r1); - - // Compute tangent force - float32 vt = b2Dot(dv, tangent); - float32 lambda = ccp->tangentMass * (-vt); - - // b2Clamp the accumulated force - float32 maxFriction = friction * ccp->normalImpulse; - float32 newImpulse = b2Clamp(ccp->tangentImpulse + lambda, -maxFriction, maxFriction); - lambda = newImpulse - ccp->tangentImpulse; - - // Apply contact impulse - b2Vec2 P = lambda * tangent; - - v1 -= invMass1 * P; - w1 -= invI1 * b2Cross(ccp->r1, P); - - v2 += invMass2 * P; - w2 += invI2 * b2Cross(ccp->r2, P); - - ccp->tangentImpulse = newImpulse; - } - - b1->m_linearVelocity = v1; - b1->m_angularVelocity = w1; - b2->m_linearVelocity = v2; - b2->m_angularVelocity = w2; - } -} - -void b2ContactSolver::FinalizeVelocityConstraints() -{ - for (int32 i = 0; i < m_constraintCount; ++i) - { - b2ContactConstraint* c = m_constraints + i; - b2Manifold* m = c->manifold; - - for (int32 j = 0; j < c->pointCount; ++j) - { - m->points[j].normalImpulse = c->points[j].normalImpulse; - m->points[j].tangentImpulse = c->points[j].tangentImpulse; - } - } -} - -bool b2ContactSolver::SolvePositionConstraints(float32 baumgarte) -{ - float32 minSeparation = 0.0f; - - for (int32 i = 0; i < m_constraintCount; ++i) - { - b2ContactConstraint* c = m_constraints + i; - b2Body* b1 = c->body1; - b2Body* b2 = c->body2; - float32 invMass1 = b1->m_mass * b1->m_invMass; - float32 invI1 = b1->m_mass * b1->m_invI; - float32 invMass2 = b2->m_mass * b2->m_invMass; - float32 invI2 = b2->m_mass * b2->m_invI; - - b2Vec2 normal = c->normal; - - // Solver normal constraints - for (int32 j = 0; j < c->pointCount; ++j) - { - b2ContactConstraintPoint* ccp = c->points + j; - - b2Vec2 r1 = b2Mul(b1->GetXForm().R, ccp->localAnchor1 - b1->GetLocalCenter()); - b2Vec2 r2 = b2Mul(b2->GetXForm().R, ccp->localAnchor2 - b2->GetLocalCenter()); - - b2Vec2 p1 = b1->m_sweep.c + r1; - b2Vec2 p2 = b2->m_sweep.c + r2; - b2Vec2 dp = p2 - p1; - - // Approximate the current separation. - float32 separation = b2Dot(dp, normal) + ccp->separation; - - // Track max constraint error. - minSeparation = b2Min(minSeparation, separation); - - // Prevent large corrections and allow slop. - float32 C = baumgarte * b2Clamp(separation + b2_linearSlop, -b2_maxLinearCorrection, 0.0f); - - // Compute normal impulse - float32 dImpulse = -ccp->equalizedMass * C; - - // b2Clamp the accumulated impulse - float32 impulse0 = ccp->positionImpulse; - ccp->positionImpulse = b2Max(impulse0 + dImpulse, 0.0f); - dImpulse = ccp->positionImpulse - impulse0; - - b2Vec2 impulse = dImpulse * normal; - - b1->m_sweep.c -= invMass1 * impulse; - b1->m_sweep.a -= invI1 * b2Cross(r1, impulse); - b1->SynchronizeTransform(); - - b2->m_sweep.c += invMass2 * impulse; - b2->m_sweep.a += invI2 * b2Cross(r2, impulse); - b2->SynchronizeTransform(); - } - } - - // We can't expect minSpeparation >= -b2_linearSlop because we don't - // push the separation above -b2_linearSlop. - return minSeparation >= -1.5f * b2_linearSlop; -} diff --git a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2PolyAndCircleContact.cpp b/src/modules/physics/box2d/Source/Dynamics/Contacts/b2PolyAndCircleContact.cpp deleted file mode 100644 index 2d0047854..000000000 --- a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2PolyAndCircleContact.cpp +++ /dev/null @@ -1,158 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2PolyAndCircleContact.h" -#include "../b2Body.h" -#include "../b2WorldCallbacks.h" -#include "../../Common/b2BlockAllocator.h" - -#include -#include - -b2Contact* b2PolyAndCircleContact::Create(b2Shape* shape1, b2Shape* shape2, b2BlockAllocator* allocator) -{ - void* mem = allocator->Allocate(sizeof(b2PolyAndCircleContact)); - return new (mem) b2PolyAndCircleContact(shape1, shape2); -} - -void b2PolyAndCircleContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator) -{ - ((b2PolyAndCircleContact*)contact)->~b2PolyAndCircleContact(); - allocator->Free(contact, sizeof(b2PolyAndCircleContact)); -} - -b2PolyAndCircleContact::b2PolyAndCircleContact(b2Shape* s1, b2Shape* s2) -: b2Contact(s1, s2) -{ - b2Assert(m_shape1->GetType() == e_polygonShape); - b2Assert(m_shape2->GetType() == e_circleShape); - m_manifold.pointCount = 0; - m_manifold.points[0].normalImpulse = 0.0f; - m_manifold.points[0].tangentImpulse = 0.0f; -} - -void b2PolyAndCircleContact::Evaluate(b2ContactListener* listener) -{ - b2Body* b1 = m_shape1->GetBody(); - b2Body* b2 = m_shape2->GetBody(); - - b2Manifold m0; - memcpy(&m0, &m_manifold, sizeof(b2Manifold)); - - b2CollidePolygonAndCircle(&m_manifold, (b2PolygonShape*)m_shape1, b1->GetXForm(), (b2CircleShape*)m_shape2, b2->GetXForm()); - - bool persisted[b2_maxManifoldPoints] = {false, false}; - - b2ContactPoint cp; - cp.shape1 = m_shape1; - cp.shape2 = m_shape2; - cp.friction = m_friction; - cp.restitution = m_restitution; - - // Match contact ids to facilitate warm starting. - if (m_manifold.pointCount > 0) - { - // Match old contact ids to new contact ids and copy the - // stored impulses to warm start the solver. - for (int32 i = 0; i < m_manifold.pointCount; ++i) - { - b2ManifoldPoint* mp = m_manifold.points + i; - mp->normalImpulse = 0.0f; - mp->tangentImpulse = 0.0f; - bool found = false; - b2ContactID id = mp->id; - - for (int32 j = 0; j < m0.pointCount; ++j) - { - if (persisted[j] == true) - { - continue; - } - - b2ManifoldPoint* mp0 = m0.points + j; - - if (mp0->id.key == id.key) - { - persisted[j] = true; - mp->normalImpulse = mp0->normalImpulse; - mp->tangentImpulse = mp0->tangentImpulse; - - // A persistent point. - found = true; - - // Report persistent point. - if (listener != NULL) - { - cp.position = b1->GetWorldPoint(mp->localPoint1); - b2Vec2 v1 = b1->GetLinearVelocityFromLocalPoint(mp->localPoint1); - b2Vec2 v2 = b2->GetLinearVelocityFromLocalPoint(mp->localPoint2); - cp.velocity = v2 - v1; - cp.normal = m_manifold.normal; - cp.separation = mp->separation; - cp.id = id; - listener->Persist(&cp); - } - break; - } - } - - // Report added point. - if (found == false && listener != NULL) - { - cp.position = b1->GetWorldPoint(mp->localPoint1); - b2Vec2 v1 = b1->GetLinearVelocityFromLocalPoint(mp->localPoint1); - b2Vec2 v2 = b2->GetLinearVelocityFromLocalPoint(mp->localPoint2); - cp.velocity = v2 - v1; - cp.normal = m_manifold.normal; - cp.separation = mp->separation; - cp.id = id; - listener->Add(&cp); - } - } - - m_manifoldCount = 1; - } - else - { - m_manifoldCount = 0; - } - - if (listener == NULL) - { - return; - } - - // Report removed points. - for (int32 i = 0; i < m0.pointCount; ++i) - { - if (persisted[i]) - { - continue; - } - - b2ManifoldPoint* mp0 = m0.points + i; - cp.position = b1->GetWorldPoint(mp0->localPoint1); - b2Vec2 v1 = b1->GetLinearVelocityFromLocalPoint(mp0->localPoint1); - b2Vec2 v2 = b2->GetLinearVelocityFromLocalPoint(mp0->localPoint2); - cp.velocity = v2 - v1; - cp.normal = m0.normal; - cp.separation = mp0->separation; - cp.id = mp0->id; - listener->Remove(&cp); - } -} diff --git a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2PolyContact.cpp b/src/modules/physics/box2d/Source/Dynamics/Contacts/b2PolyContact.cpp deleted file mode 100644 index 258882200..000000000 --- a/src/modules/physics/box2d/Source/Dynamics/Contacts/b2PolyContact.cpp +++ /dev/null @@ -1,157 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2PolyContact.h" -#include "../b2Body.h" -#include "../b2WorldCallbacks.h" -#include "../../Common/b2BlockAllocator.h" - -#include -#include -#include - -b2Contact* b2PolygonContact::Create(b2Shape* shape1, b2Shape* shape2, b2BlockAllocator* allocator) -{ - void* mem = allocator->Allocate(sizeof(b2PolygonContact)); - return new (mem) b2PolygonContact(shape1, shape2); -} - -void b2PolygonContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator) -{ - ((b2PolygonContact*)contact)->~b2PolygonContact(); - allocator->Free(contact, sizeof(b2PolygonContact)); -} - -b2PolygonContact::b2PolygonContact(b2Shape* s1, b2Shape* s2) - : b2Contact(s1, s2) -{ - b2Assert(m_shape1->GetType() == e_polygonShape); - b2Assert(m_shape2->GetType() == e_polygonShape); - m_manifold.pointCount = 0; -} - -void b2PolygonContact::Evaluate(b2ContactListener* listener) -{ - b2Body* b1 = m_shape1->GetBody(); - b2Body* b2 = m_shape2->GetBody(); - - b2Manifold m0; - memcpy(&m0, &m_manifold, sizeof(b2Manifold)); - - b2CollidePolygons(&m_manifold, (b2PolygonShape*)m_shape1, b1->GetXForm(), (b2PolygonShape*)m_shape2, b2->GetXForm()); - - bool persisted[b2_maxManifoldPoints] = {false, false}; - - b2ContactPoint cp; - cp.shape1 = m_shape1; - cp.shape2 = m_shape2; - cp.friction = m_friction; - cp.restitution = m_restitution; - - // Match contact ids to facilitate warm starting. - if (m_manifold.pointCount > 0) - { - // Match old contact ids to new contact ids and copy the - // stored impulses to warm start the solver. - for (int32 i = 0; i < m_manifold.pointCount; ++i) - { - b2ManifoldPoint* mp = m_manifold.points + i; - mp->normalImpulse = 0.0f; - mp->tangentImpulse = 0.0f; - bool found = false; - b2ContactID id = mp->id; - - for (int32 j = 0; j < m0.pointCount; ++j) - { - if (persisted[j] == true) - { - continue; - } - - b2ManifoldPoint* mp0 = m0.points + j; - - if (mp0->id.key == id.key) - { - persisted[j] = true; - mp->normalImpulse = mp0->normalImpulse; - mp->tangentImpulse = mp0->tangentImpulse; - - // A persistent point. - found = true; - - // Report persistent point. - if (listener != NULL) - { - cp.position = b1->GetWorldPoint(mp->localPoint1); - b2Vec2 v1 = b1->GetLinearVelocityFromLocalPoint(mp->localPoint1); - b2Vec2 v2 = b2->GetLinearVelocityFromLocalPoint(mp->localPoint2); - cp.velocity = v2 - v1; - cp.normal = m_manifold.normal; - cp.separation = mp->separation; - cp.id = id; - listener->Persist(&cp); - } - break; - } - } - - // Report added point. - if (found == false && listener != NULL) - { - cp.position = b1->GetWorldPoint(mp->localPoint1); - b2Vec2 v1 = b1->GetLinearVelocityFromLocalPoint(mp->localPoint1); - b2Vec2 v2 = b2->GetLinearVelocityFromLocalPoint(mp->localPoint2); - cp.velocity = v2 - v1; - cp.normal = m_manifold.normal; - cp.separation = mp->separation; - cp.id = id; - listener->Add(&cp); - } - } - - m_manifoldCount = 1; - } - else - { - m_manifoldCount = 0; - } - - if (listener == NULL) - { - return; - } - - // Report removed points. - for (int32 i = 0; i < m0.pointCount; ++i) - { - if (persisted[i]) - { - continue; - } - - b2ManifoldPoint* mp0 = m0.points + i; - cp.position = b1->GetWorldPoint(mp0->localPoint1); - b2Vec2 v1 = b1->GetLinearVelocityFromLocalPoint(mp0->localPoint1); - b2Vec2 v2 = b2->GetLinearVelocityFromLocalPoint(mp0->localPoint2); - cp.velocity = v2 - v1; - cp.normal = m0.normal; - cp.separation = mp0->separation; - cp.id = mp0->id; - listener->Remove(&cp); - } -} diff --git a/src/modules/physics/box2d/Source/Dynamics/Joints/b2MouseJoint.cpp b/src/modules/physics/box2d/Source/Dynamics/Joints/b2MouseJoint.cpp deleted file mode 100644 index 02bbefebc..000000000 --- a/src/modules/physics/box2d/Source/Dynamics/Joints/b2MouseJoint.cpp +++ /dev/null @@ -1,146 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2MouseJoint.h" -#include "../b2Body.h" -#include "../b2World.h" - -// p = attached point, m = mouse point -// C = p - m -// Cdot = v -// = v + cross(w, r) -// J = [I r_skew] -// Identity used: -// w k % (rx i + ry j) = w * (-ry i + rx j) - -b2MouseJoint::b2MouseJoint(const b2MouseJointDef* def) -: b2Joint(def) -{ - m_target = def->target; - m_localAnchor = b2MulT(m_body2->GetXForm(), m_target); - - m_maxForce = B2FORCE_INV_SCALE(def->maxForce); - m_impulse.SetZero(); - - float32 mass = m_body2->m_mass; - - // Frequency - float32 omega = 2.0f * b2_pi * def->frequencyHz; - - // Damping coefficient - float32 d = 2.0f * mass * def->dampingRatio * omega; - - // Spring stiffness - float32 k = (def->timeStep * mass) * (omega * omega); - - // magic formulas - b2Assert(d + k > B2_FLT_EPSILON); - m_gamma = 1.0f / (d + k); - m_beta = k / (d + k); -} - -void b2MouseJoint::SetTarget(const b2Vec2& target) -{ - if (m_body2->IsSleeping()) - { - m_body2->WakeUp(); - } - m_target = target; -} - -void b2MouseJoint::InitVelocityConstraints(const b2TimeStep& step) -{ - b2Body* b = m_body2; - - // Compute the effective mass matrix. - b2Vec2 r = b2Mul(b->GetXForm().R, m_localAnchor - b->GetLocalCenter()); - - // K = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)] - // = [1/m1+1/m2 0 ] + invI1 * [r1.y*r1.y -r1.x*r1.y] + invI2 * [r1.y*r1.y -r1.x*r1.y] - // [ 0 1/m1+1/m2] [-r1.x*r1.y r1.x*r1.x] [-r1.x*r1.y r1.x*r1.x] - float32 invMass = b->m_invMass; - float32 invI = b->m_invI; - - b2Mat22 K1; - K1.col1.x = invMass; K1.col2.x = 0.0f; - K1.col1.y = 0.0f; K1.col2.y = invMass; - - b2Mat22 K2; - K2.col1.x = invI * r.y * r.y; K2.col2.x = -invI * r.x * r.y; - K2.col1.y = -invI * r.x * r.y; K2.col2.y = invI * r.x * r.x; - - b2Mat22 K = K1 + K2; - K.col1.x += m_gamma; - K.col2.y += m_gamma; - - m_mass = K.Invert(); - - m_C = b->m_sweep.c + r - m_target; - - // Cheat with some damping - b->m_angularVelocity *= 0.98f; - - // Warm starting. - b2Vec2 P = B2FORCE_SCALE(step.dt) * m_impulse; - b->m_linearVelocity += invMass * P; - b->m_angularVelocity += invI * b2Cross(r, P); -} - -void b2MouseJoint::SolveVelocityConstraints(const b2TimeStep& step) -{ - b2Body* b = m_body2; - - b2Vec2 r = b2Mul(b->GetXForm().R, m_localAnchor - b->GetLocalCenter()); - - // Cdot = v + cross(w, r) - b2Vec2 Cdot = b->m_linearVelocity + b2Cross(b->m_angularVelocity, r); - b2Vec2 force = -B2FORCE_INV_SCALE(step.inv_dt) * b2Mul(m_mass, Cdot + (m_beta * step.inv_dt) * m_C + B2FORCE_SCALE(step.dt) * (m_gamma * m_impulse)); - - b2Vec2 oldForce = m_impulse; - m_impulse += force; - float32 forceMagnitude = m_impulse.Length(); - if (forceMagnitude > m_maxForce) - { - m_impulse *= m_maxForce / forceMagnitude; - } - force = m_impulse - oldForce; - - b2Vec2 P = B2FORCE_SCALE(step.dt) * force; - b->m_linearVelocity += b->m_invMass * P; - b->m_angularVelocity += b->m_invI * b2Cross(r, P); -} - -b2Vec2 b2MouseJoint::GetAnchor1() const -{ - return m_target; -} - -b2Vec2 b2MouseJoint::GetAnchor2() const -{ - return m_body2->GetWorldPoint(m_localAnchor); -} - -b2Vec2 b2MouseJoint::GetReactionForce() const -{ - return B2FORCE_SCALE(float32(1.0))*m_impulse; -} - -float32 b2MouseJoint::GetReactionTorque() const -{ - return 0.0f; -} diff --git a/src/modules/physics/box2d/Source/Dynamics/Joints/b2PrismaticJoint.cpp b/src/modules/physics/box2d/Source/Dynamics/Joints/b2PrismaticJoint.cpp deleted file mode 100644 index 758f4409d..000000000 --- a/src/modules/physics/box2d/Source/Dynamics/Joints/b2PrismaticJoint.cpp +++ /dev/null @@ -1,478 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2PrismaticJoint.h" -#include "../b2Body.h" -#include "../b2World.h" - -// Linear constraint (point-to-line) -// d = p2 - p1 = x2 + r2 - x1 - r1 -// C = dot(ay1, d) -// Cdot = dot(d, cross(w1, ay1)) + dot(ay1, v2 + cross(w2, r2) - v1 - cross(w1, r1)) -// = -dot(ay1, v1) - dot(cross(d + r1, ay1), w1) + dot(ay1, v2) + dot(cross(r2, ay1), v2) -// J = [-ay1 -cross(d+r1,ay1) ay1 cross(r2,ay1)] -// -// Angular constraint -// C = a2 - a1 + a_initial -// Cdot = w2 - w1 -// J = [0 0 -1 0 0 1] - -// Motor/Limit linear constraint -// C = dot(ax1, d) -// Cdot = = -dot(ax1, v1) - dot(cross(d + r1, ax1), w1) + dot(ax1, v2) + dot(cross(r2, ax1), v2) -// J = [-ax1 -cross(d+r1,ax1) ax1 cross(r2,ax1)] - -void b2PrismaticJointDef::Initialize(b2Body* b1, b2Body* b2, const b2Vec2& anchor, const b2Vec2& axis) -{ - body1 = b1; - body2 = b2; - localAnchor1 = body1->GetLocalPoint(anchor); - localAnchor2 = body2->GetLocalPoint(anchor); - localAxis1 = body1->GetLocalVector(axis); - referenceAngle = body2->GetAngle() - body1->GetAngle(); -} - -b2PrismaticJoint::b2PrismaticJoint(const b2PrismaticJointDef* def) -: b2Joint(def) -{ - m_localAnchor1 = def->localAnchor1; - m_localAnchor2 = def->localAnchor2; - m_localXAxis1 = def->localAxis1; - m_localYAxis1 = b2Cross(1.0f, m_localXAxis1); - m_refAngle = def->referenceAngle; - - m_linearJacobian.SetZero(); - m_linearMass = 0.0f; - m_force = 0.0f; - - m_angularMass = 0.0f; - m_torque = 0.0f; - - m_motorJacobian.SetZero(); - m_motorMass = 0.0; - m_motorForce = 0.0f; - m_limitForce = 0.0f; - m_limitPositionImpulse = 0.0f; - - m_lowerTranslation = def->lowerTranslation; - m_upperTranslation = def->upperTranslation; - m_maxMotorForce = B2FORCE_INV_SCALE(def->maxMotorForce); - m_motorSpeed = def->motorSpeed; - m_enableLimit = def->enableLimit; - m_enableMotor = def->enableMotor; -} - -void b2PrismaticJoint::InitVelocityConstraints(const b2TimeStep& step) -{ - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; - - // Compute the effective masses. - b2Vec2 r1 = b2Mul(b1->GetXForm().R, m_localAnchor1 - b1->GetLocalCenter()); - b2Vec2 r2 = b2Mul(b2->GetXForm().R, m_localAnchor2 - b2->GetLocalCenter()); - - float32 invMass1 = b1->m_invMass, invMass2 = b2->m_invMass; - float32 invI1 = b1->m_invI, invI2 = b2->m_invI; - - // Compute point to line constraint effective mass. - // J = [-ay1 -cross(d+r1,ay1) ay1 cross(r2,ay1)] - b2Vec2 ay1 = b2Mul(b1->GetXForm().R, m_localYAxis1); - b2Vec2 e = b2->m_sweep.c + r2 - b1->m_sweep.c; // e = d + r1 - - m_linearJacobian.Set(-ay1, -b2Cross(e, ay1), ay1, b2Cross(r2, ay1)); - m_linearMass = invMass1 + invI1 * m_linearJacobian.angular1 * m_linearJacobian.angular1 + - invMass2 + invI2 * m_linearJacobian.angular2 * m_linearJacobian.angular2; - b2Assert(m_linearMass > B2_FLT_EPSILON); - m_linearMass = 1.0f / m_linearMass; - - // Compute angular constraint effective mass. - m_angularMass = invI1 + invI2; - if (m_angularMass > B2_FLT_EPSILON) - { - m_angularMass = 1.0f / m_angularMass; - } - - // Compute motor and limit terms. - if (m_enableLimit || m_enableMotor) - { - // The motor and limit share a Jacobian and effective mass. - b2Vec2 ax1 = b2Mul(b1->GetXForm().R, m_localXAxis1); - m_motorJacobian.Set(-ax1, -b2Cross(e, ax1), ax1, b2Cross(r2, ax1)); - m_motorMass = invMass1 + invI1 * m_motorJacobian.angular1 * m_motorJacobian.angular1 + - invMass2 + invI2 * m_motorJacobian.angular2 * m_motorJacobian.angular2; - b2Assert(m_motorMass > B2_FLT_EPSILON); - m_motorMass = 1.0f / m_motorMass; - - if (m_enableLimit) - { - b2Vec2 d = e - r1; // p2 - p1 - float32 jointTranslation = b2Dot(ax1, d); - if (b2Abs(m_upperTranslation - m_lowerTranslation) < 2.0f * b2_linearSlop) - { - m_limitState = e_equalLimits; - } - else if (jointTranslation <= m_lowerTranslation) - { - if (m_limitState != e_atLowerLimit) - { - m_limitForce = 0.0f; - } - m_limitState = e_atLowerLimit; - } - else if (jointTranslation >= m_upperTranslation) - { - if (m_limitState != e_atUpperLimit) - { - m_limitForce = 0.0f; - } - m_limitState = e_atUpperLimit; - } - else - { - m_limitState = e_inactiveLimit; - m_limitForce = 0.0f; - } - } - } - - if (m_enableMotor == false) - { - m_motorForce = 0.0f; - } - - if (m_enableLimit == false) - { - m_limitForce = 0.0f; - } - - if (step.warmStarting) - { - b2Vec2 P1 = B2FORCE_SCALE(step.dt) * (m_force * m_linearJacobian.linear1 + (m_motorForce + m_limitForce) * m_motorJacobian.linear1); - b2Vec2 P2 = B2FORCE_SCALE(step.dt) * (m_force * m_linearJacobian.linear2 + (m_motorForce + m_limitForce) * m_motorJacobian.linear2); - float32 L1 = B2FORCE_SCALE(step.dt) * (m_force * m_linearJacobian.angular1 - m_torque + (m_motorForce + m_limitForce) * m_motorJacobian.angular1); - float32 L2 = B2FORCE_SCALE(step.dt) * (m_force * m_linearJacobian.angular2 + m_torque + (m_motorForce + m_limitForce) * m_motorJacobian.angular2); - - b1->m_linearVelocity += invMass1 * P1; - b1->m_angularVelocity += invI1 * L1; - - b2->m_linearVelocity += invMass2 * P2; - b2->m_angularVelocity += invI2 * L2; - } - else - { - m_force = 0.0f; - m_torque = 0.0f; - m_limitForce = 0.0f; - m_motorForce = 0.0f; - } - - m_limitPositionImpulse = 0.0f; -} - -void b2PrismaticJoint::SolveVelocityConstraints(const b2TimeStep& step) -{ - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; - - float32 invMass1 = b1->m_invMass, invMass2 = b2->m_invMass; - float32 invI1 = b1->m_invI, invI2 = b2->m_invI; - - // Solve linear constraint. - float32 linearCdot = m_linearJacobian.Compute(b1->m_linearVelocity, b1->m_angularVelocity, b2->m_linearVelocity, b2->m_angularVelocity); - float32 force = -B2FORCE_INV_SCALE(step.inv_dt) * m_linearMass * linearCdot; - m_force += force; - - float32 P = B2FORCE_SCALE(step.dt) * force; - b1->m_linearVelocity += (invMass1 * P) * m_linearJacobian.linear1; - b1->m_angularVelocity += invI1 * P * m_linearJacobian.angular1; - - b2->m_linearVelocity += (invMass2 * P) * m_linearJacobian.linear2; - b2->m_angularVelocity += invI2 * P * m_linearJacobian.angular2; - - // Solve angular constraint. - float32 angularCdot = b2->m_angularVelocity - b1->m_angularVelocity; - float32 torque = -B2FORCE_INV_SCALE(step.inv_dt) * m_angularMass * angularCdot; - m_torque += torque; - - float32 L = B2FORCE_SCALE(step.dt) * torque; - b1->m_angularVelocity -= invI1 * L; - b2->m_angularVelocity += invI2 * L; - - // Solve linear motor constraint. - if (m_enableMotor && m_limitState != e_equalLimits) - { - float32 motorCdot = m_motorJacobian.Compute(b1->m_linearVelocity, b1->m_angularVelocity, b2->m_linearVelocity, b2->m_angularVelocity) - m_motorSpeed; - float32 motorForce = -B2FORCE_INV_SCALE(step.inv_dt) * m_motorMass * motorCdot; - float32 oldMotorForce = m_motorForce; - m_motorForce = b2Clamp(m_motorForce + motorForce, -m_maxMotorForce, m_maxMotorForce); - motorForce = m_motorForce - oldMotorForce; - - float32 P = B2FORCE_SCALE(step.dt) * motorForce; - b1->m_linearVelocity += (invMass1 * P) * m_motorJacobian.linear1; - b1->m_angularVelocity += invI1 * P * m_motorJacobian.angular1; - - b2->m_linearVelocity += (invMass2 * P) * m_motorJacobian.linear2; - b2->m_angularVelocity += invI2 * P * m_motorJacobian.angular2; - } - - // Solve linear limit constraint. - if (m_enableLimit && m_limitState != e_inactiveLimit) - { - float32 limitCdot = m_motorJacobian.Compute(b1->m_linearVelocity, b1->m_angularVelocity, b2->m_linearVelocity, b2->m_angularVelocity); - float32 limitForce = -B2FORCE_INV_SCALE(step.inv_dt) * m_motorMass * limitCdot; - - if (m_limitState == e_equalLimits) - { - m_limitForce += limitForce; - } - else if (m_limitState == e_atLowerLimit) - { - float32 oldLimitForce = m_limitForce; - m_limitForce = b2Max(m_limitForce + limitForce, 0.0f); - limitForce = m_limitForce - oldLimitForce; - } - else if (m_limitState == e_atUpperLimit) - { - float32 oldLimitForce = m_limitForce; - m_limitForce = b2Min(m_limitForce + limitForce, 0.0f); - limitForce = m_limitForce - oldLimitForce; - } - - float32 P = B2FORCE_SCALE(step.dt) * limitForce; - - b1->m_linearVelocity += (invMass1 * P) * m_motorJacobian.linear1; - b1->m_angularVelocity += invI1 * P * m_motorJacobian.angular1; - - b2->m_linearVelocity += (invMass2 * P) * m_motorJacobian.linear2; - b2->m_angularVelocity += invI2 * P * m_motorJacobian.angular2; - } -} - -bool b2PrismaticJoint::SolvePositionConstraints() -{ - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; - - float32 invMass1 = b1->m_invMass, invMass2 = b2->m_invMass; - float32 invI1 = b1->m_invI, invI2 = b2->m_invI; - - b2Vec2 r1 = b2Mul(b1->GetXForm().R, m_localAnchor1 - b1->GetLocalCenter()); - b2Vec2 r2 = b2Mul(b2->GetXForm().R, m_localAnchor2 - b2->GetLocalCenter()); - b2Vec2 p1 = b1->m_sweep.c + r1; - b2Vec2 p2 = b2->m_sweep.c + r2; - b2Vec2 d = p2 - p1; - b2Vec2 ay1 = b2Mul(b1->GetXForm().R, m_localYAxis1); - - // Solve linear (point-to-line) constraint. - float32 linearC = b2Dot(ay1, d); - // Prevent overly large corrections. - linearC = b2Clamp(linearC, -b2_maxLinearCorrection, b2_maxLinearCorrection); - float32 linearImpulse = -m_linearMass * linearC; - - b1->m_sweep.c += (invMass1 * linearImpulse) * m_linearJacobian.linear1; - b1->m_sweep.a += invI1 * linearImpulse * m_linearJacobian.angular1; - //b1->SynchronizeTransform(); // updated by angular constraint - b2->m_sweep.c += (invMass2 * linearImpulse) * m_linearJacobian.linear2; - b2->m_sweep.a += invI2 * linearImpulse * m_linearJacobian.angular2; - //b2->SynchronizeTransform(); // updated by angular constraint - - float32 positionError = b2Abs(linearC); - - // Solve angular constraint. - float32 angularC = b2->m_sweep.a - b1->m_sweep.a - m_refAngle; - // Prevent overly large corrections. - angularC = b2Clamp(angularC, -b2_maxAngularCorrection, b2_maxAngularCorrection); - float32 angularImpulse = -m_angularMass * angularC; - - b1->m_sweep.a -= b1->m_invI * angularImpulse; - b2->m_sweep.a += b2->m_invI * angularImpulse; - - b1->SynchronizeTransform(); - b2->SynchronizeTransform(); - - float32 angularError = b2Abs(angularC); - - // Solve linear limit constraint. - if (m_enableLimit && m_limitState != e_inactiveLimit) - { - b2Vec2 r1 = b2Mul(b1->GetXForm().R, m_localAnchor1 - b1->GetLocalCenter()); - b2Vec2 r2 = b2Mul(b2->GetXForm().R, m_localAnchor2 - b2->GetLocalCenter()); - b2Vec2 p1 = b1->m_sweep.c + r1; - b2Vec2 p2 = b2->m_sweep.c + r2; - b2Vec2 d = p2 - p1; - b2Vec2 ax1 = b2Mul(b1->GetXForm().R, m_localXAxis1); - - float32 translation = b2Dot(ax1, d); - float32 limitImpulse = 0.0f; - - if (m_limitState == e_equalLimits) - { - // Prevent large angular corrections - float32 limitC = b2Clamp(translation, -b2_maxLinearCorrection, b2_maxLinearCorrection); - limitImpulse = -m_motorMass * limitC; - positionError = b2Max(positionError, b2Abs(angularC)); - } - else if (m_limitState == e_atLowerLimit) - { - float32 limitC = translation - m_lowerTranslation; - positionError = b2Max(positionError, -limitC); - - // Prevent large linear corrections and allow some slop. - limitC = b2Clamp(limitC + b2_linearSlop, -b2_maxLinearCorrection, 0.0f); - limitImpulse = -m_motorMass * limitC; - float32 oldLimitImpulse = m_limitPositionImpulse; - m_limitPositionImpulse = b2Max(m_limitPositionImpulse + limitImpulse, 0.0f); - limitImpulse = m_limitPositionImpulse - oldLimitImpulse; - } - else if (m_limitState == e_atUpperLimit) - { - float32 limitC = translation - m_upperTranslation; - positionError = b2Max(positionError, limitC); - - // Prevent large linear corrections and allow some slop. - limitC = b2Clamp(limitC - b2_linearSlop, 0.0f, b2_maxLinearCorrection); - limitImpulse = -m_motorMass * limitC; - float32 oldLimitImpulse = m_limitPositionImpulse; - m_limitPositionImpulse = b2Min(m_limitPositionImpulse + limitImpulse, 0.0f); - limitImpulse = m_limitPositionImpulse - oldLimitImpulse; - } - - b1->m_sweep.c += (invMass1 * limitImpulse) * m_motorJacobian.linear1; - b1->m_sweep.a += invI1 * limitImpulse * m_motorJacobian.angular1; - b2->m_sweep.c += (invMass2 * limitImpulse) * m_motorJacobian.linear2; - b2->m_sweep.a += invI2 * limitImpulse * m_motorJacobian.angular2; - - b1->SynchronizeTransform(); - b2->SynchronizeTransform(); - } - - return positionError <= b2_linearSlop && angularError <= b2_angularSlop; -} - -b2Vec2 b2PrismaticJoint::GetAnchor1() const -{ - return m_body1->GetWorldPoint(m_localAnchor1); -} - -b2Vec2 b2PrismaticJoint::GetAnchor2() const -{ - return m_body2->GetWorldPoint(m_localAnchor2); -} - -b2Vec2 b2PrismaticJoint::GetReactionForce() const -{ - b2Vec2 ax1 = b2Mul(m_body1->GetXForm().R, m_localXAxis1); - b2Vec2 ay1 = b2Mul(m_body1->GetXForm().R, m_localYAxis1); - - return B2FORCE_SCALE(float32(1.0))*(m_limitForce * ax1 + m_force * ay1); -} - -float32 b2PrismaticJoint::GetReactionTorque() const -{ - return B2FORCE_SCALE(m_torque); -} - -float32 b2PrismaticJoint::GetJointTranslation() const -{ - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; - - b2Vec2 p1 = b1->GetWorldPoint(m_localAnchor1); - b2Vec2 p2 = b2->GetWorldPoint(m_localAnchor2); - b2Vec2 d = p2 - p1; - b2Vec2 axis = b1->GetWorldVector(m_localXAxis1); - - float32 translation = b2Dot(d, axis); - return translation; -} - -float32 b2PrismaticJoint::GetJointSpeed() const -{ - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; - - b2Vec2 r1 = b2Mul(b1->GetXForm().R, m_localAnchor1 - b1->GetLocalCenter()); - b2Vec2 r2 = b2Mul(b2->GetXForm().R, m_localAnchor2 - b2->GetLocalCenter()); - b2Vec2 p1 = b1->m_sweep.c + r1; - b2Vec2 p2 = b2->m_sweep.c + r2; - b2Vec2 d = p2 - p1; - b2Vec2 axis = b1->GetWorldVector(m_localXAxis1); - - b2Vec2 v1 = b1->m_linearVelocity; - b2Vec2 v2 = b2->m_linearVelocity; - float32 w1 = b1->m_angularVelocity; - float32 w2 = b2->m_angularVelocity; - - float32 speed = b2Dot(d, b2Cross(w1, axis)) + b2Dot(axis, v2 + b2Cross(w2, r2) - v1 - b2Cross(w1, r1)); - return speed; -} - -bool b2PrismaticJoint::IsLimitEnabled() const -{ - return m_enableLimit; -} - -void b2PrismaticJoint::EnableLimit(bool flag) -{ - m_enableLimit = flag; -} - -float32 b2PrismaticJoint::GetLowerLimit() const -{ - return m_lowerTranslation; -} - -float32 b2PrismaticJoint::GetUpperLimit() const -{ - return m_upperTranslation; -} - -void b2PrismaticJoint::SetLimits(float32 lower, float32 upper) -{ - b2Assert(lower <= upper); - m_lowerTranslation = lower; - m_upperTranslation = upper; -} - -bool b2PrismaticJoint::IsMotorEnabled() const -{ - return m_enableMotor; -} - -void b2PrismaticJoint::EnableMotor(bool flag) -{ - m_enableMotor = flag; -} - -void b2PrismaticJoint::SetMotorSpeed(float32 speed) -{ - m_motorSpeed = speed; -} - -void b2PrismaticJoint::SetMaxMotorForce(float32 force) -{ - m_maxMotorForce = B2FORCE_SCALE(float32(1.0))*force; -} - -float32 b2PrismaticJoint::GetMotorForce() const -{ - return m_motorForce; -} - - - diff --git a/src/modules/physics/box2d/Source/Dynamics/Joints/b2RevoluteJoint.cpp b/src/modules/physics/box2d/Source/Dynamics/Joints/b2RevoluteJoint.cpp deleted file mode 100644 index e83d59942..000000000 --- a/src/modules/physics/box2d/Source/Dynamics/Joints/b2RevoluteJoint.cpp +++ /dev/null @@ -1,399 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2RevoluteJoint.h" -#include "../b2Body.h" -#include "../b2World.h" - -#include "../b2Island.h" - -// Point-to-point constraint -// C = p2 - p1 -// Cdot = v2 - v1 -// = v2 + cross(w2, r2) - v1 - cross(w1, r1) -// J = [-I -r1_skew I r2_skew ] -// Identity used: -// w k % (rx i + ry j) = w * (-ry i + rx j) - -// Motor constraint -// Cdot = w2 - w1 -// J = [0 0 -1 0 0 1] -// K = invI1 + invI2 - -void b2RevoluteJointDef::Initialize(b2Body* b1, b2Body* b2, const b2Vec2& anchor) -{ - body1 = b1; - body2 = b2; - localAnchor1 = body1->GetLocalPoint(anchor); - localAnchor2 = body2->GetLocalPoint(anchor); - referenceAngle = body2->GetAngle() - body1->GetAngle(); -} - -b2RevoluteJoint::b2RevoluteJoint(const b2RevoluteJointDef* def) -: b2Joint(def) -{ - m_localAnchor1 = def->localAnchor1; - m_localAnchor2 = def->localAnchor2; - m_referenceAngle = def->referenceAngle; - - m_pivotForce.Set(0.0f, 0.0f); - m_motorForce = 0.0f; - m_limitForce = 0.0f; - m_limitPositionImpulse = 0.0f; - - m_lowerAngle = def->lowerAngle; - m_upperAngle = def->upperAngle; - m_maxMotorTorque = def->maxMotorTorque; - m_motorSpeed = def->motorSpeed; - m_enableLimit = def->enableLimit; - m_enableMotor = def->enableMotor; -} - -void b2RevoluteJoint::InitVelocityConstraints(const b2TimeStep& step) -{ - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; - - // Compute the effective mass matrix. - b2Vec2 r1 = b2Mul(b1->GetXForm().R, m_localAnchor1 - b1->GetLocalCenter()); - b2Vec2 r2 = b2Mul(b2->GetXForm().R, m_localAnchor2 - b2->GetLocalCenter()); - - // K = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)] - // = [1/m1+1/m2 0 ] + invI1 * [r1.y*r1.y -r1.x*r1.y] + invI2 * [r1.y*r1.y -r1.x*r1.y] - // [ 0 1/m1+1/m2] [-r1.x*r1.y r1.x*r1.x] [-r1.x*r1.y r1.x*r1.x] - float32 invMass1 = b1->m_invMass, invMass2 = b2->m_invMass; - float32 invI1 = b1->m_invI, invI2 = b2->m_invI; - - b2Mat22 K1; - K1.col1.x = invMass1 + invMass2; K1.col2.x = 0.0f; - K1.col1.y = 0.0f; K1.col2.y = invMass1 + invMass2; - - b2Mat22 K2; - K2.col1.x = invI1 * r1.y * r1.y; K2.col2.x = -invI1 * r1.x * r1.y; - K2.col1.y = -invI1 * r1.x * r1.y; K2.col2.y = invI1 * r1.x * r1.x; - - b2Mat22 K3; - K3.col1.x = invI2 * r2.y * r2.y; K3.col2.x = -invI2 * r2.x * r2.y; - K3.col1.y = -invI2 * r2.x * r2.y; K3.col2.y = invI2 * r2.x * r2.x; - - b2Mat22 K = K1 + K2 + K3; - m_pivotMass = K.Invert(); - - m_motorMass = 1.0f / (invI1 + invI2); - - if (m_enableMotor == false) - { - m_motorForce = 0.0f; - } - - if (m_enableLimit) - { - float32 jointAngle = b2->m_sweep.a - b1->m_sweep.a - m_referenceAngle; - if (b2Abs(m_upperAngle - m_lowerAngle) < 2.0f * b2_angularSlop) - { - m_limitState = e_equalLimits; - } - else if (jointAngle <= m_lowerAngle) - { - if (m_limitState != e_atLowerLimit) - { - m_limitForce = 0.0f; - } - m_limitState = e_atLowerLimit; - } - else if (jointAngle >= m_upperAngle) - { - if (m_limitState != e_atUpperLimit) - { - m_limitForce = 0.0f; - } - m_limitState = e_atUpperLimit; - } - else - { - m_limitState = e_inactiveLimit; - m_limitForce = 0.0f; - } - } - else - { - m_limitForce = 0.0f; - } - - if (step.warmStarting) - { - b1->m_linearVelocity -= B2FORCE_SCALE(step.dt) * invMass1 * m_pivotForce; - b1->m_angularVelocity -= B2FORCE_SCALE(step.dt) * invI1 * (b2Cross(r1, m_pivotForce) + B2FORCE_INV_SCALE(m_motorForce + m_limitForce)); - - b2->m_linearVelocity += B2FORCE_SCALE(step.dt) * invMass2 * m_pivotForce; - b2->m_angularVelocity += B2FORCE_SCALE(step.dt) * invI2 * (b2Cross(r2, m_pivotForce) + B2FORCE_INV_SCALE(m_motorForce + m_limitForce)); - } - else - { - m_pivotForce.SetZero(); - m_motorForce = 0.0f; - m_limitForce = 0.0f; - } - - m_limitPositionImpulse = 0.0f; -} - -void b2RevoluteJoint::SolveVelocityConstraints(const b2TimeStep& step) -{ - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; - - b2Vec2 r1 = b2Mul(b1->GetXForm().R, m_localAnchor1 - b1->GetLocalCenter()); - b2Vec2 r2 = b2Mul(b2->GetXForm().R, m_localAnchor2 - b2->GetLocalCenter()); - - // Solve point-to-point constraint - b2Vec2 pivotCdot = b2->m_linearVelocity + b2Cross(b2->m_angularVelocity, r2) - b1->m_linearVelocity - b2Cross(b1->m_angularVelocity, r1); - b2Vec2 pivotForce = -B2FORCE_INV_SCALE(step.inv_dt) * b2Mul(m_pivotMass, pivotCdot); - m_pivotForce += pivotForce; - - b2Vec2 P = B2FORCE_SCALE(step.dt) * pivotForce; - b1->m_linearVelocity -= b1->m_invMass * P; - b1->m_angularVelocity -= b1->m_invI * b2Cross(r1, P); - - b2->m_linearVelocity += b2->m_invMass * P; - b2->m_angularVelocity += b2->m_invI * b2Cross(r2, P); - - if (m_enableMotor && m_limitState != e_equalLimits) - { - float32 motorCdot = b2->m_angularVelocity - b1->m_angularVelocity - m_motorSpeed; - float32 motorForce = -step.inv_dt * m_motorMass * motorCdot; - float32 oldMotorForce = m_motorForce; - m_motorForce = b2Clamp(m_motorForce + motorForce, -m_maxMotorTorque, m_maxMotorTorque); - motorForce = m_motorForce - oldMotorForce; - - float32 P = step.dt * motorForce; - b1->m_angularVelocity -= b1->m_invI * P; - b2->m_angularVelocity += b2->m_invI * P; - } - - if (m_enableLimit && m_limitState != e_inactiveLimit) - { - float32 limitCdot = b2->m_angularVelocity - b1->m_angularVelocity; - float32 limitForce = -step.inv_dt * m_motorMass * limitCdot; - - if (m_limitState == e_equalLimits) - { - m_limitForce += limitForce; - } - else if (m_limitState == e_atLowerLimit) - { - float32 oldLimitForce = m_limitForce; - m_limitForce = b2Max(m_limitForce + limitForce, 0.0f); - limitForce = m_limitForce - oldLimitForce; - } - else if (m_limitState == e_atUpperLimit) - { - float32 oldLimitForce = m_limitForce; - m_limitForce = b2Min(m_limitForce + limitForce, 0.0f); - limitForce = m_limitForce - oldLimitForce; - } - - float32 P = step.dt * limitForce; - b1->m_angularVelocity -= b1->m_invI * P; - b2->m_angularVelocity += b2->m_invI * P; - } -} - -bool b2RevoluteJoint::SolvePositionConstraints() -{ - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; - - float32 positionError = 0.0f; - - // Solve point-to-point position error. - b2Vec2 r1 = b2Mul(b1->GetXForm().R, m_localAnchor1 - b1->GetLocalCenter()); - b2Vec2 r2 = b2Mul(b2->GetXForm().R, m_localAnchor2 - b2->GetLocalCenter()); - - b2Vec2 p1 = b1->m_sweep.c + r1; - b2Vec2 p2 = b2->m_sweep.c + r2; - b2Vec2 ptpC = p2 - p1; - - positionError = ptpC.Length(); - - // Prevent overly large corrections. - //b2Vec2 dpMax(b2_maxLinearCorrection, b2_maxLinearCorrection); - //ptpC = b2Clamp(ptpC, -dpMax, dpMax); - - float32 invMass1 = b1->m_invMass, invMass2 = b2->m_invMass; - float32 invI1 = b1->m_invI, invI2 = b2->m_invI; - - b2Mat22 K1; - K1.col1.x = invMass1 + invMass2; K1.col2.x = 0.0f; - K1.col1.y = 0.0f; K1.col2.y = invMass1 + invMass2; - - b2Mat22 K2; - K2.col1.x = invI1 * r1.y * r1.y; K2.col2.x = -invI1 * r1.x * r1.y; - K2.col1.y = -invI1 * r1.x * r1.y; K2.col2.y = invI1 * r1.x * r1.x; - - b2Mat22 K3; - K3.col1.x = invI2 * r2.y * r2.y; K3.col2.x = -invI2 * r2.x * r2.y; - K3.col1.y = -invI2 * r2.x * r2.y; K3.col2.y = invI2 * r2.x * r2.x; - - b2Mat22 K = K1 + K2 + K3; - b2Vec2 impulse = K.Solve(-ptpC); - - b1->m_sweep.c -= b1->m_invMass * impulse; - b1->m_sweep.a -= b1->m_invI * b2Cross(r1, impulse); - - b2->m_sweep.c += b2->m_invMass * impulse; - b2->m_sweep.a += b2->m_invI * b2Cross(r2, impulse); - - b1->SynchronizeTransform(); - b2->SynchronizeTransform(); - - // Handle limits. - float32 angularError = 0.0f; - - if (m_enableLimit && m_limitState != e_inactiveLimit) - { - float32 angle = b2->m_sweep.a - b1->m_sweep.a - m_referenceAngle; - float32 limitImpulse = 0.0f; - - if (m_limitState == e_equalLimits) - { - // Prevent large angular corrections - float32 limitC = b2Clamp(angle, -b2_maxAngularCorrection, b2_maxAngularCorrection); - limitImpulse = -m_motorMass * limitC; - angularError = b2Abs(limitC); - } - else if (m_limitState == e_atLowerLimit) - { - float32 limitC = angle - m_lowerAngle; - angularError = b2Max(0.0f, -limitC); - - // Prevent large angular corrections and allow some slop. - limitC = b2Clamp(limitC + b2_angularSlop, -b2_maxAngularCorrection, 0.0f); - limitImpulse = -m_motorMass * limitC; - float32 oldLimitImpulse = m_limitPositionImpulse; - m_limitPositionImpulse = b2Max(m_limitPositionImpulse + limitImpulse, 0.0f); - limitImpulse = m_limitPositionImpulse - oldLimitImpulse; - } - else if (m_limitState == e_atUpperLimit) - { - float32 limitC = angle - m_upperAngle; - angularError = b2Max(0.0f, limitC); - - // Prevent large angular corrections and allow some slop. - limitC = b2Clamp(limitC - b2_angularSlop, 0.0f, b2_maxAngularCorrection); - limitImpulse = -m_motorMass * limitC; - float32 oldLimitImpulse = m_limitPositionImpulse; - m_limitPositionImpulse = b2Min(m_limitPositionImpulse + limitImpulse, 0.0f); - limitImpulse = m_limitPositionImpulse - oldLimitImpulse; - } - - b1->m_sweep.a -= b1->m_invI * limitImpulse; - b2->m_sweep.a += b2->m_invI * limitImpulse; - - b1->SynchronizeTransform(); - b2->SynchronizeTransform(); - } - - return positionError <= b2_linearSlop && angularError <= b2_angularSlop; -} - -b2Vec2 b2RevoluteJoint::GetAnchor1() const -{ - return m_body1->GetWorldPoint(m_localAnchor1); -} - -b2Vec2 b2RevoluteJoint::GetAnchor2() const -{ - return m_body2->GetWorldPoint(m_localAnchor2); -} - -b2Vec2 b2RevoluteJoint::GetReactionForce() const -{ - return B2FORCE_SCALE(float32(1.0))*m_pivotForce; -} - -float32 b2RevoluteJoint::GetReactionTorque() const -{ - return m_limitForce; -} - -float32 b2RevoluteJoint::GetJointAngle() const -{ - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; - return b2->m_sweep.a - b1->m_sweep.a - m_referenceAngle; -} - -float32 b2RevoluteJoint::GetJointSpeed() const -{ - b2Body* b1 = m_body1; - b2Body* b2 = m_body2; - return b2->m_angularVelocity - b1->m_angularVelocity; -} - -bool b2RevoluteJoint::IsMotorEnabled() const -{ - return m_enableMotor; -} - -void b2RevoluteJoint::EnableMotor(bool flag) -{ - m_enableMotor = flag; -} - -float32 b2RevoluteJoint::GetMotorTorque() const -{ - return m_motorForce; -} - -void b2RevoluteJoint::SetMotorSpeed(float32 speed) -{ - m_motorSpeed = speed; -} - -void b2RevoluteJoint::SetMaxMotorTorque(float32 torque) -{ - m_maxMotorTorque = torque; -} - -bool b2RevoluteJoint::IsLimitEnabled() const -{ - return m_enableLimit; -} - -void b2RevoluteJoint::EnableLimit(bool flag) -{ - m_enableLimit = flag; -} - -float32 b2RevoluteJoint::GetLowerLimit() const -{ - return m_lowerAngle; -} - -float32 b2RevoluteJoint::GetUpperLimit() const -{ - return m_upperAngle; -} - -void b2RevoluteJoint::SetLimits(float32 lower, float32 upper) -{ - b2Assert(lower <= upper); - m_lowerAngle = lower; - m_upperAngle = upper; -} diff --git a/src/modules/physics/box2d/Source/Dynamics/b2Body.cpp b/src/modules/physics/box2d/Source/Dynamics/b2Body.cpp deleted file mode 100644 index d2b206a0a..000000000 --- a/src/modules/physics/box2d/Source/Dynamics/b2Body.cpp +++ /dev/null @@ -1,394 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2Body.h" -#include "b2World.h" -#include "Joints/b2Joint.h" -#include "../Collision/Shapes/b2Shape.h" - -b2Body::b2Body(const b2BodyDef* bd, b2World* world) -{ - b2Assert(world->m_lock == false); - - m_flags = 0; - - if (bd->isBullet) - { - m_flags |= e_bulletFlag; - } - if (bd->fixedRotation) - { - m_flags |= e_fixedRotationFlag; - } - if (bd->allowSleep) - { - m_flags |= e_allowSleepFlag; - } - if (bd->isSleeping) - { - m_flags |= e_sleepFlag; - } - - m_world = world; - - m_xf.position = bd->position; - m_xf.R.Set(bd->angle); - - m_sweep.localCenter = bd->massData.center; - m_sweep.t0 = 1.0f; - m_sweep.a0 = m_sweep.a = bd->angle; - m_sweep.c0 = m_sweep.c = b2Mul(m_xf, m_sweep.localCenter); - - m_jointList = NULL; - m_contactList = NULL; - m_prev = NULL; - m_next = NULL; - - m_linearDamping = bd->linearDamping; - m_angularDamping = bd->angularDamping; - - m_force.Set(0.0f, 0.0f); - m_torque = 0.0f; - - m_linearVelocity.SetZero(); - m_angularVelocity = 0.0f; - - m_sleepTime = 0.0f; - - m_invMass = 0.0f; - m_I = 0.0f; - m_invI = 0.0f; - - m_mass = bd->massData.mass; - - if (m_mass > 0.0f) - { - m_invMass = 1.0f / m_mass; - } - - if ((m_flags & b2Body::e_fixedRotationFlag) == 0) - { - m_I = bd->massData.I; - } - - if (m_I > 0.0f) - { - m_invI = 1.0f / m_I; - } - - if (m_invMass == 0.0f && m_invI == 0.0f) - { - m_type = e_staticType; - } - else - { - m_type = e_dynamicType; - } - - m_userData = bd->userData; - - m_shapeList = NULL; - m_shapeCount = 0; -} - -b2Body::~b2Body() -{ - b2Assert(m_world->m_lock == false); - // shapes and joints are destroyed in b2World::Destroy -} - -b2Shape* b2Body::CreateShape(b2ShapeDef* def) -{ - b2Assert(m_world->m_lock == false); - if (m_world->m_lock == true) - { - return NULL; - } - - b2Shape* s = b2Shape::Create(def, &m_world->m_blockAllocator); - - s->m_next = m_shapeList; - m_shapeList = s; - ++m_shapeCount; - - s->m_body = this; - - // Add the shape to the world's broad-phase. - s->CreateProxy(m_world->m_broadPhase, m_xf); - - // Compute the sweep radius for CCD. - s->UpdateSweepRadius(m_sweep.localCenter); - - return s; -} - -void b2Body::DestroyShape(b2Shape* s) -{ - b2Assert(m_world->m_lock == false); - if (m_world->m_lock == true) - { - return; - } - - b2Assert(s->GetBody() == this); - s->DestroyProxy(m_world->m_broadPhase); - - b2Assert(m_shapeCount > 0); - b2Shape** node = &m_shapeList; - bool found = false; - while (*node != NULL) - { - if (*node == s) - { - *node = s->m_next; - found = true; - break; - } - - node = &(*node)->m_next; - } - - // You tried to remove a shape that is not attached to this body. - b2Assert(found); - - s->m_body = NULL; - s->m_next = NULL; - - --m_shapeCount; - - b2Shape::Destroy(s, &m_world->m_blockAllocator); -} - -// TODO_ERIN adjust linear velocity and torque to account for movement of center. -void b2Body::SetMass(const b2MassData* massData) -{ - b2Assert(m_world->m_lock == false); - if (m_world->m_lock == true) - { - return; - } - - m_invMass = 0.0f; - m_I = 0.0f; - m_invI = 0.0f; - - m_mass = massData->mass; - - if (m_mass > 0.0f) - { - m_invMass = 1.0f / m_mass; - } - - if ((m_flags & b2Body::e_fixedRotationFlag) == 0) - { - m_I = massData->I; - } - - if (m_I > 0.0f) - { - m_invI = 1.0f / m_I; - } - - // Move center of mass. - m_sweep.localCenter = massData->center; - m_sweep.c0 = m_sweep.c = b2Mul(m_xf, m_sweep.localCenter); - - // Update the sweep radii of all child shapes. - for (b2Shape* s = m_shapeList; s; s = s->m_next) - { - s->UpdateSweepRadius(m_sweep.localCenter); - } - - int16 oldType = m_type; - if (m_invMass == 0.0f && m_invI == 0.0f) - { - m_type = e_staticType; - } - else - { - m_type = e_dynamicType; - } - - // If the body type changed, we need to refilter the broad-phase proxies. - if (oldType != m_type) - { - for (b2Shape* s = m_shapeList; s; s = s->m_next) - { - s->RefilterProxy(m_world->m_broadPhase, m_xf); - } - } -} - -// TODO_ERIN adjust linear velocity and torque to account for movement of center. -void b2Body::SetMassFromShapes() -{ - b2Assert(m_world->m_lock == false); - if (m_world->m_lock == true) - { - return; - } - - // Compute mass data from shapes. Each shape has its own density. - m_mass = 0.0f; - m_invMass = 0.0f; - m_I = 0.0f; - m_invI = 0.0f; - - b2Vec2 center = b2Vec2_zero; - for (b2Shape* s = m_shapeList; s; s = s->m_next) - { - b2MassData massData; - s->ComputeMass(&massData); - m_mass += massData.mass; - center += massData.mass * massData.center; - m_I += massData.I; - } - - // Compute center of mass, and shift the origin to the COM. - if (m_mass > 0.0f) - { - m_invMass = 1.0f / m_mass; - center *= m_invMass; - } - - if (m_I > 0.0f && (m_flags & e_fixedRotationFlag) == 0) - { - // Center the inertia about the center of mass. - m_I -= m_mass * b2Dot(center, center); - b2Assert(m_I > 0.0f); - m_invI = 1.0f / m_I; - } - else - { - m_I = 0.0f; - m_invI = 0.0f; - } - - // Move center of mass. - m_sweep.localCenter = center; - m_sweep.c0 = m_sweep.c = b2Mul(m_xf, m_sweep.localCenter); - - // Update the sweep radii of all child shapes. - for (b2Shape* s = m_shapeList; s; s = s->m_next) - { - s->UpdateSweepRadius(m_sweep.localCenter); - } - - int16 oldType = m_type; - if (m_invMass == 0.0f && m_invI == 0.0f) - { - m_type = e_staticType; - } - else - { - m_type = e_dynamicType; - } - - // If the body type changed, we need to refilter the broad-phase proxies. - if (oldType != m_type) - { - for (b2Shape* s = m_shapeList; s; s = s->m_next) - { - s->RefilterProxy(m_world->m_broadPhase, m_xf); - } - } -} - -bool b2Body::SetXForm(const b2Vec2& position, float32 angle) -{ - b2Assert(m_world->m_lock == false); - if (m_world->m_lock == true) - { - return true; - } - - if (IsFrozen()) - { - return false; - } - - m_xf.R.Set(angle); - m_xf.position = position; - - m_sweep.c0 = m_sweep.c = b2Mul(m_xf, m_sweep.localCenter); - m_sweep.a0 = m_sweep.a = angle; - - bool freeze = false; - for (b2Shape* s = m_shapeList; s; s = s->m_next) - { - bool inRange = s->Synchronize(m_world->m_broadPhase, m_xf, m_xf); - - if (inRange == false) - { - freeze = true; - break; - } - } - - if (freeze == true) - { - m_flags |= e_frozenFlag; - m_linearVelocity.SetZero(); - m_angularVelocity = 0.0f; - for (b2Shape* s = m_shapeList; s; s = s->m_next) - { - s->DestroyProxy(m_world->m_broadPhase); - } - - // Failure - return false; - } - - // Success - m_world->m_broadPhase->Commit(); - return true; -} - -bool b2Body::SynchronizeShapes() -{ - b2XForm xf1; - xf1.R.Set(m_sweep.a0); - xf1.position = m_sweep.c0 - b2Mul(xf1.R, m_sweep.localCenter); - - bool inRange = true; - for (b2Shape* s = m_shapeList; s; s = s->m_next) - { - inRange = s->Synchronize(m_world->m_broadPhase, xf1, m_xf); - if (inRange == false) - { - break; - } - } - - if (inRange == false) - { - m_flags |= e_frozenFlag; - m_linearVelocity.SetZero(); - m_angularVelocity = 0.0f; - for (b2Shape* s = m_shapeList; s; s = s->m_next) - { - s->DestroyProxy(m_world->m_broadPhase); - } - - // Failure - return false; - } - - // Success - return true; -} diff --git a/src/modules/physics/box2d/Source/Dynamics/b2Body.h b/src/modules/physics/box2d/Source/Dynamics/b2Body.h deleted file mode 100644 index f2efda73a..000000000 --- a/src/modules/physics/box2d/Source/Dynamics/b2Body.h +++ /dev/null @@ -1,587 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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_BODY_H -#define B2_BODY_H - -#include "../Common/b2Math.h" -#include "../Collision/Shapes/b2Shape.h" -#include "Joints/b2Joint.h" - -#include - -class b2Joint; -class b2Contact; -class b2World; -struct b2JointEdge; -struct b2ContactEdge; - -/// A body definition holds all the data needed to construct a rigid body. -/// You can safely re-use body definitions. -struct b2BodyDef -{ - /// This constructor sets the body definition default values. - b2BodyDef() - { - massData.center.SetZero(); - massData.mass = 0.0f; - massData.I = 0.0f; - userData = NULL; - position.Set(0.0f, 0.0f); - angle = 0.0f; - linearDamping = 0.0f; - angularDamping = 0.0f; - allowSleep = true; - isSleeping = false; - fixedRotation = false; - isBullet = false; - } - - /// You can use this to initialized the mass properties of the body. - /// If you prefer, you can set the mass properties after the shapes - /// have been added using b2Body::SetMassFromShapes. - b2MassData massData; - - /// Use this to store application specific body data. - void* userData; - - /// The world position of the body. Avoid creating bodies at the origin - /// since this can lead to many overlapping shapes. - b2Vec2 position; - - /// The world angle of the body in radians. - float32 angle; - - /// Linear damping is use to reduce the linear velocity. The damping parameter - /// can be larger than 1.0f but the damping effect becomes sensitive to the - /// time step when the damping parameter is large. - float32 linearDamping; - - /// Angular damping is use to reduce the angular velocity. The damping parameter - /// can be larger than 1.0f but the damping effect becomes sensitive to the - /// time step when the damping parameter is large. - float32 angularDamping; - - /// Set this flag to false if this body should never fall asleep. Note that - /// this increases CPU usage. - bool allowSleep; - - /// Is this body initially sleeping? - bool isSleeping; - - /// Should this body be prevented from rotating? Useful for characters. - bool fixedRotation; - - /// Is this a fast moving body that should be prevented from tunneling through - /// other moving bodies? Note that all bodies are prevented from tunneling through - /// static bodies. - /// @warning You should use this flag sparingly since it increases processing time. - bool isBullet; -}; - -/// A rigid body. -class b2Body -{ -public: - /// Creates a shape and attach it to this body. - /// @param shapeDef the shape definition. - /// @warning This function is locked during callbacks. - b2Shape* CreateShape(b2ShapeDef* shapeDef); - - /// Destroy a shape. This removes the shape from the broad-phase and - /// therefore destroys any contacts associated with this shape. All shapes - /// attached to a body are implicitly destroyed when the body is destroyed. - /// @param shape the shape to be removed. - /// @warning This function is locked during callbacks. - void DestroyShape(b2Shape* shape); - - /// Set the mass properties. Note that this changes the center of mass position. - /// If you are not sure how to compute mass properties, use SetMassFromShapes. - /// The inertia tensor is assumed to be relative to the center of mass. - /// @param massData the mass properties. - void SetMass(const b2MassData* massData); - - /// Compute the mass properties from the attached shapes. You typically call this - /// after adding all the shapes. If you add or remove shapes later, you may want - /// to call this again. Note that this changes the center of mass position. - void SetMassFromShapes(); - - /// Set the position of the body's origin and rotation (radians). - /// This breaks any contacts and wakes the other bodies. - /// @param position the new world position of the body's origin (not necessarily - /// the center of mass). - /// @param angle the new world rotation angle of the body in radians. - /// @return false if the movement put a shape outside the world. In this case the - /// body is automatically frozen. - bool SetXForm(const b2Vec2& position, float32 angle); - - /// Get the body transform for the body's origin. - /// @return the world transform of the body's origin. - const b2XForm& GetXForm() const; - - /// Get the world body origin position. - /// @return the world position of the body's origin. - const b2Vec2& GetPosition() const; - - /// Get the angle in radians. - /// @return the current world rotation angle in radians. - float32 GetAngle() const; - - /// Get the world position of the center of mass. - const b2Vec2& GetWorldCenter() const; - - /// Get the local position of the center of mass. - const b2Vec2& GetLocalCenter() const; - - /// Set the linear velocity of the center of mass. - /// @param v the new linear velocity of the center of mass. - void SetLinearVelocity(const b2Vec2& v); - - /// Get the linear velocity of the center of mass. - /// @return the linear velocity of the center of mass. - b2Vec2 GetLinearVelocity() const; - - /// Set the angular velocity. - /// @param omega the new angular velocity in radians/second. - void SetAngularVelocity(float32 omega); - - /// Get the angular velocity. - /// @return the angular velocity in radians/second. - float32 GetAngularVelocity() const; - - /// Apply a force at a world point. If the force is not - /// applied at the center of mass, it will generate a torque and - /// affect the angular velocity. This wakes up the body. - /// @param force the world force vector, usually in Newtons (N). - /// @param point the world position of the point of application. - void ApplyForce(const b2Vec2& force, const b2Vec2& point); - - /// Apply a torque. This affects the angular velocity - /// without affecting the linear velocity of the center of mass. - /// This wakes up the body. - /// @param torque about the z-axis (out of the screen), usually in N-m. - void ApplyTorque(float32 torque); - - /// Apply an impulse at a point. This immediately modifies the velocity. - /// It also modifies the angular velocity if the point of application - /// is not at the center of mass. This wakes up the body. - /// @param impulse the world impulse vector, usually in N-seconds or kg-m/s. - /// @param point the world position of the point of application. - void ApplyImpulse(const b2Vec2& impulse, const b2Vec2& point); - - /// Get the total mass of the body. - /// @return the mass, usually in kilograms (kg). - float32 GetMass() const; - - /// Get the central rotational inertia of the body. - /// @return the rotational inertia, usually in kg-m^2. - float32 GetInertia() const; - - /// Get the world coordinates of a point given the local coordinates. - /// @param localPoint a point on the body measured relative the the body's origin. - /// @return the same point expressed in world coordinates. - b2Vec2 GetWorldPoint(const b2Vec2& localPoint) const; - - /// Get the world coordinates of a vector given the local coordinates. - /// @param localVector a vector fixed in the body. - /// @return the same vector expressed in world coordinates. - b2Vec2 GetWorldVector(const b2Vec2& localVector) const; - - /// Gets a local point relative to the body's origin given a world point. - /// @param a point in world coordinates. - /// @return the corresponding local point relative to the body's origin. - b2Vec2 GetLocalPoint(const b2Vec2& worldPoint) const; - - /// Gets a local vector given a world vector. - /// @param a vector in world coordinates. - /// @return the corresponding local vector. - b2Vec2 GetLocalVector(const b2Vec2& worldVector) const; - - /// Get the world linear velocity of a world point attached to this body. - /// @param a point in world coordinates. - /// @return the world velocity of a point. - b2Vec2 GetLinearVelocityFromWorldPoint(const b2Vec2& worldPoint) const; - - /// Get the world velocity of a local point. - /// @param a point in local coordinates. - /// @return the world velocity of a point. - b2Vec2 GetLinearVelocityFromLocalPoint(const b2Vec2& localPoint) const; - - /// Is this body treated like a bullet for continuous collision detection? - bool IsBullet() const; - - /// Should this body be treated like a bullet for continuous collision detection? - void SetBullet(bool flag); - - /// Is this body static (immovable)? - bool IsStatic() const; - - /// Is this body dynamic (movable)? - bool IsDynamic() const; - - /// Is this body frozen? - bool IsFrozen() const; - - /// Is this body sleeping (not simulating). - bool IsSleeping() const; - - /// You can disable sleeping on this body. - void AllowSleeping(bool flag); - - /// Wake up this body so it will begin simulating. - void WakeUp(); - - /// Put this body to sleep so it will stop simulating. - /// This also sets the velocity to zero. - void PutToSleep(); - - /// Get the list of all shapes attached to this body. - b2Shape* GetShapeList(); - - /// Get the list of all joints attached to this body. - b2JointEdge* GetJointList(); - - /// Get the next body in the world's body list. - b2Body* GetNext(); - - /// Get the user data pointer that was provided in the body definition. - void* GetUserData(); - - /// Set the user data. Use this to store your application specific data. - void SetUserData(void* data); - - /// Get the parent world of this body. - b2World* GetWorld(); - -public: - - friend class b2World; - friend class b2Island; - friend class b2ContactManager; - friend class b2ContactSolver; - - friend class b2DistanceJoint; - friend class b2GearJoint; - friend class b2MouseJoint; - friend class b2PrismaticJoint; - friend class b2PulleyJoint; - friend class b2RevoluteJoint; - - // m_flags - enum - { - e_frozenFlag = 0x0002, - e_islandFlag = 0x0004, - e_sleepFlag = 0x0008, - e_allowSleepFlag = 0x0010, - e_bulletFlag = 0x0020, - e_fixedRotationFlag = 0x0040, - }; - - // m_type - enum - { - e_staticType, - e_dynamicType, - e_maxTypes, - }; - - b2Body(const b2BodyDef* bd, b2World* world); - ~b2Body(); - - bool SynchronizeShapes(); - - void SynchronizeTransform(); - - // This is used to prevent connected bodies from colliding. - // It may lie, depending on the collideConnected flag. - bool IsConnected(const b2Body* other) const; - - void Advance(float32 t); - - uint16 m_flags; - int16 m_type; - - b2XForm m_xf; // the body origin transform - - b2Sweep m_sweep; // the swept motion for CCD - - b2Vec2 m_linearVelocity; - float32 m_angularVelocity; - - b2Vec2 m_force; - float32 m_torque; - - b2World* m_world; - b2Body* m_prev; - b2Body* m_next; - - b2Shape* m_shapeList; - int32 m_shapeCount; - - b2JointEdge* m_jointList; - b2ContactEdge* m_contactList; - - float32 m_mass, m_invMass; - float32 m_I, m_invI; - - float32 m_linearDamping; - float32 m_angularDamping; - - float32 m_sleepTime; - - void* m_userData; -}; - -inline const b2XForm& b2Body::GetXForm() const -{ - return m_xf; -} - -inline const b2Vec2& b2Body::GetPosition() const -{ - return m_xf.position; -} - -inline float32 b2Body::GetAngle() const -{ - return m_sweep.a; -} - -inline const b2Vec2& b2Body::GetWorldCenter() const -{ - return m_sweep.c; -} - -inline const b2Vec2& b2Body::GetLocalCenter() const -{ - return m_sweep.localCenter; -} - -inline void b2Body::SetLinearVelocity(const b2Vec2& v) -{ - m_linearVelocity = v; -} - -inline b2Vec2 b2Body::GetLinearVelocity() const -{ - return m_linearVelocity; -} - -inline void b2Body::SetAngularVelocity(float32 w) -{ - m_angularVelocity = w; -} - -inline float32 b2Body::GetAngularVelocity() const -{ - return m_angularVelocity; -} - -inline float32 b2Body::GetMass() const -{ - return m_mass; -} - -inline float32 b2Body::GetInertia() const -{ - return m_I; -} - -inline b2Vec2 b2Body::GetWorldPoint(const b2Vec2& localPoint) const -{ - return b2Mul(m_xf, localPoint); -} - -inline b2Vec2 b2Body::GetWorldVector(const b2Vec2& localVector) const -{ - return b2Mul(m_xf.R, localVector); -} - -inline b2Vec2 b2Body::GetLocalPoint(const b2Vec2& worldPoint) const -{ - return b2MulT(m_xf, worldPoint); -} - -inline b2Vec2 b2Body::GetLocalVector(const b2Vec2& worldVector) const -{ - return b2MulT(m_xf.R, worldVector); -} - -inline b2Vec2 b2Body::GetLinearVelocityFromWorldPoint(const b2Vec2& worldPoint) const -{ - return m_linearVelocity + b2Cross(m_angularVelocity, worldPoint - m_sweep.c); -} - -inline b2Vec2 b2Body::GetLinearVelocityFromLocalPoint(const b2Vec2& localPoint) const -{ - return GetLinearVelocityFromWorldPoint(GetWorldPoint(localPoint)); -} - -inline bool b2Body::IsBullet() const -{ - return (m_flags & e_bulletFlag) == e_bulletFlag; -} - -inline void b2Body::SetBullet(bool flag) -{ - if (flag) - { - m_flags |= e_bulletFlag; - } - else - { - m_flags &= ~e_bulletFlag; - } -} - -inline bool b2Body::IsStatic() const -{ - return m_type == e_staticType; -} - -inline bool b2Body::IsDynamic() const -{ - return m_type == e_dynamicType; -} - -inline bool b2Body::IsFrozen() const -{ - return (m_flags & e_frozenFlag) == e_frozenFlag; -} - -inline bool b2Body::IsSleeping() const -{ - return (m_flags & e_sleepFlag) == e_sleepFlag; -} - -inline void b2Body::AllowSleeping(bool flag) -{ - if (flag) - { - m_flags |= e_allowSleepFlag; - } - else - { - m_flags &= ~e_allowSleepFlag; - WakeUp(); - } -} - -inline void b2Body::WakeUp() -{ - m_flags &= ~e_sleepFlag; - m_sleepTime = 0.0f; -} - -inline void b2Body::PutToSleep() -{ - m_flags |= e_sleepFlag; - m_sleepTime = 0.0f; - m_linearVelocity.SetZero(); - m_angularVelocity = 0.0f; - m_force.SetZero(); - m_torque = 0.0f; -} - -inline b2Shape* b2Body::GetShapeList() -{ - return m_shapeList; -} - -inline b2JointEdge* b2Body::GetJointList() -{ - return m_jointList; -} - -inline b2Body* b2Body::GetNext() -{ - return m_next; -} - -inline void* b2Body::GetUserData() -{ - return m_userData; -} - -inline void b2Body::SetUserData(void* data) -{ - m_userData = data; -} - -inline bool b2Body::IsConnected(const b2Body* other) const -{ - for (b2JointEdge* jn = m_jointList; jn; jn = jn->next) - { - if (jn->other == other) - return jn->joint->m_collideConnected == false; - } - - return false; -} - -inline void b2Body::ApplyForce(const b2Vec2& force, const b2Vec2& point) -{ - if (IsSleeping()) - { - WakeUp(); - } - m_force += force; - m_torque += b2Cross(point - m_sweep.c, force); -} - -inline void b2Body::ApplyTorque(float32 torque) -{ - if (IsSleeping()) - { - WakeUp(); - } - m_torque += torque; -} - -inline void b2Body::ApplyImpulse(const b2Vec2& impulse, const b2Vec2& point) -{ - if (IsSleeping()) - { - WakeUp(); - } - m_linearVelocity += m_invMass * impulse; - m_angularVelocity += m_invI * b2Cross(point - m_sweep.c, impulse); -} - -inline void b2Body::SynchronizeTransform() -{ - m_xf.R.Set(m_sweep.a); - m_xf.position = m_sweep.c - b2Mul(m_xf.R, m_sweep.localCenter); -} - -inline void b2Body::Advance(float32 t) -{ - // Advance to the new safe time. - m_sweep.Advance(t); - m_sweep.c = m_sweep.c0; - m_sweep.a = m_sweep.a0; - SynchronizeTransform(); -} - -inline b2World* b2Body::GetWorld() -{ - return m_world; -} - -#endif diff --git a/src/modules/physics/box2d/Source/Dynamics/b2ContactManager.cpp b/src/modules/physics/box2d/Source/Dynamics/b2ContactManager.cpp deleted file mode 100644 index 4fc73c2fd..000000000 --- a/src/modules/physics/box2d/Source/Dynamics/b2ContactManager.cpp +++ /dev/null @@ -1,240 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2ContactManager.h" -#include "b2World.h" -#include "b2Body.h" - -// This is a callback from the broadphase when two AABB proxies begin -// to overlap. We create a b2Contact to manage the narrow phase. -void* b2ContactManager::PairAdded(void* proxyUserData1, void* proxyUserData2) -{ - b2Shape* shape1 = (b2Shape*)proxyUserData1; - b2Shape* shape2 = (b2Shape*)proxyUserData2; - - b2Body* body1 = shape1->GetBody(); - b2Body* body2 = shape2->GetBody(); - - if (body1->IsStatic() && body2->IsStatic()) - { - return &m_nullContact; - } - - if (shape1->GetBody() == shape2->GetBody()) - { - return &m_nullContact; - } - - if (body2->IsConnected(body1)) - { - return &m_nullContact; - } - - if (m_world->m_contactFilter != NULL && m_world->m_contactFilter->ShouldCollide(shape1, shape2) == false) - { - return &m_nullContact; - } - - // Call the factory. - b2Contact* c = b2Contact::Create(shape1, shape2, &m_world->m_blockAllocator); - - if (c == NULL) - { - return &m_nullContact; - } - - // Contact creation may swap shapes. - shape1 = c->GetShape1(); - shape2 = c->GetShape2(); - body1 = shape1->GetBody(); - body2 = shape2->GetBody(); - - // Insert into the world. - c->m_prev = NULL; - c->m_next = m_world->m_contactList; - if (m_world->m_contactList != NULL) - { - m_world->m_contactList->m_prev = c; - } - m_world->m_contactList = c; - - // Connect to island graph. - - // Connect to body 1 - c->m_node1.contact = c; - c->m_node1.other = body2; - - c->m_node1.prev = NULL; - c->m_node1.next = body1->m_contactList; - if (body1->m_contactList != NULL) - { - body1->m_contactList->prev = &c->m_node1; - } - body1->m_contactList = &c->m_node1; - - // Connect to body 2 - c->m_node2.contact = c; - c->m_node2.other = body1; - - c->m_node2.prev = NULL; - c->m_node2.next = body2->m_contactList; - if (body2->m_contactList != NULL) - { - body2->m_contactList->prev = &c->m_node2; - } - body2->m_contactList = &c->m_node2; - - ++m_world->m_contactCount; - return c; -} - -// This is a callback from the broadphase when two AABB proxies cease -// to overlap. We retire the b2Contact. -void b2ContactManager::PairRemoved(void* proxyUserData1, void* proxyUserData2, void* pairUserData) -{ - B2_NOT_USED(proxyUserData1); - B2_NOT_USED(proxyUserData2); - - if (pairUserData == NULL) - { - return; - } - - b2Contact* c = (b2Contact*)pairUserData; - if (c == &m_nullContact) - { - return; - } - - // An attached body is being destroyed, we must destroy this contact - // immediately to avoid orphaned shape pointers. - Destroy(c); -} - -void b2ContactManager::Destroy(b2Contact* c) -{ - b2Shape* shape1 = c->GetShape1(); - b2Shape* shape2 = c->GetShape2(); - - // Inform the user that this contact is ending. - int32 manifoldCount = c->GetManifoldCount(); - if (manifoldCount > 0 && m_world->m_contactListener) - { - b2Body* b1 = shape1->GetBody(); - b2Body* b2 = shape2->GetBody(); - - b2Manifold* manifolds = c->GetManifolds(); - b2ContactPoint cp; - cp.shape1 = c->GetShape1(); - cp.shape2 = c->GetShape2(); - cp.friction = c->m_friction; - cp.restitution = c->m_restitution; - - for (int32 i = 0; i < manifoldCount; ++i) - { - b2Manifold* manifold = manifolds + i; - cp.normal = manifold->normal; - - for (int32 j = 0; j < manifold->pointCount; ++j) - { - b2ManifoldPoint* mp = manifold->points + j; - cp.position = b1->GetWorldPoint(mp->localPoint1); - b2Vec2 v1 = b1->GetLinearVelocityFromLocalPoint(mp->localPoint1); - b2Vec2 v2 = b2->GetLinearVelocityFromLocalPoint(mp->localPoint2); - cp.velocity = v2 - v1; - cp.separation = mp->separation; - cp.id = mp->id; - m_world->m_contactListener->Remove(&cp); - } - } - } - - // Remove from the world. - if (c->m_prev) - { - c->m_prev->m_next = c->m_next; - } - - if (c->m_next) - { - c->m_next->m_prev = c->m_prev; - } - - if (c == m_world->m_contactList) - { - m_world->m_contactList = c->m_next; - } - - b2Body* body1 = shape1->GetBody(); - b2Body* body2 = shape2->GetBody(); - - // Remove from body 1 - if (c->m_node1.prev) - { - c->m_node1.prev->next = c->m_node1.next; - } - - if (c->m_node1.next) - { - c->m_node1.next->prev = c->m_node1.prev; - } - - if (&c->m_node1 == body1->m_contactList) - { - body1->m_contactList = c->m_node1.next; - } - - // Remove from body 2 - if (c->m_node2.prev) - { - c->m_node2.prev->next = c->m_node2.next; - } - - if (c->m_node2.next) - { - c->m_node2.next->prev = c->m_node2.prev; - } - - if (&c->m_node2 == body2->m_contactList) - { - body2->m_contactList = c->m_node2.next; - } - - // Call the factory. - b2Contact::Destroy(c, &m_world->m_blockAllocator); - --m_world->m_contactCount; -} - -// This is the top level collision call for the time step. Here -// all the narrow phase collision is processed for the world -// contact list. -void b2ContactManager::Collide() -{ - // Update awake contacts. - for (b2Contact* c = m_world->m_contactList; c; c = c->GetNext()) - { - b2Body* body1 = c->GetShape1()->GetBody(); - b2Body* body2 = c->GetShape2()->GetBody(); - if (body1->IsSleeping() && body2->IsSleeping()) - { - continue; - } - - c->Update(m_world->m_contactListener); - } -} diff --git a/src/modules/physics/box2d/Source/Dynamics/b2World.cpp b/src/modules/physics/box2d/Source/Dynamics/b2World.cpp deleted file mode 100644 index ab752807c..000000000 --- a/src/modules/physics/box2d/Source/Dynamics/b2World.cpp +++ /dev/null @@ -1,1064 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com -* -* 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. -*/ - -#include "b2World.h" -#include "b2Body.h" -#include "b2Island.h" -#include "Joints/b2PulleyJoint.h" -#include "Contacts/b2Contact.h" -#include "Contacts/b2ContactSolver.h" -#include "../Collision/b2Collision.h" -#include "../Collision/Shapes/b2CircleShape.h" -#include "../Collision/Shapes/b2PolygonShape.h" -#include - -b2World::b2World(const b2AABB& worldAABB, const b2Vec2& gravity, bool doSleep) -{ - m_destructionListener = NULL; - m_boundaryListener = NULL; - m_contactFilter = &b2_defaultFilter; - m_contactListener = NULL; - m_debugDraw = NULL; - - m_bodyList = NULL; - m_contactList = NULL; - m_jointList = NULL; - - m_bodyCount = 0; - m_contactCount = 0; - m_jointCount = 0; - - m_positionCorrection = true; - m_warmStarting = true; - m_continuousPhysics = true; - - m_allowSleep = doSleep; - m_gravity = gravity; - - m_lock = false; - - m_inv_dt0 = 0.0f; - - m_contactManager.m_world = this; - void* mem = b2Alloc(sizeof(b2BroadPhase)); - m_broadPhase = new (mem) b2BroadPhase(worldAABB, &m_contactManager); - - b2BodyDef bd; - m_groundBody = CreateBody(&bd); -} - -b2World::~b2World() -{ - DestroyBody(m_groundBody); - m_broadPhase->~b2BroadPhase(); - b2Free(m_broadPhase); -} - -void b2World::SetDestructionListener(b2DestructionListener* listener) -{ - m_destructionListener = listener; -} - -void b2World::SetBoundaryListener(b2BoundaryListener* listener) -{ - m_boundaryListener = listener; -} - -void b2World::SetContactFilter(b2ContactFilter* filter) -{ - m_contactFilter = filter; -} - -void b2World::SetContactListener(b2ContactListener* listener) -{ - m_contactListener = listener; -} - -void b2World::SetDebugDraw(b2DebugDraw* debugDraw) -{ - m_debugDraw = debugDraw; -} - -b2Body* b2World::CreateBody(const b2BodyDef* def) -{ - b2Assert(m_lock == false); - if (m_lock == true) - { - return NULL; - } - - void* mem = m_blockAllocator.Allocate(sizeof(b2Body)); - b2Body* b = new (mem) b2Body(def, this); - - // Add to world doubly linked list. - b->m_prev = NULL; - b->m_next = m_bodyList; - if (m_bodyList) - { - m_bodyList->m_prev = b; - } - m_bodyList = b; - ++m_bodyCount; - - return b; -} - -void b2World::DestroyBody(b2Body* b) -{ - b2Assert(m_bodyCount > 0); - b2Assert(m_lock == false); - if (m_lock == true) - { - return; - } - - // Delete the attached joints. - b2JointEdge* jn = b->m_jointList; - while (jn) - { - b2JointEdge* jn0 = jn; - jn = jn->next; - - if (m_destructionListener) - { - m_destructionListener->SayGoodbye(jn0->joint); - } - - DestroyJoint(jn0->joint); - } - - // Delete the attached shapes. This destroys broad-phase - // proxies and pairs, leading to the destruction of contacts. - b2Shape* s = b->m_shapeList; - while (s) - { - b2Shape* s0 = s; - s = s->m_next; - - if (m_destructionListener) - { - m_destructionListener->SayGoodbye(s0); - } - - s0->DestroyProxy(m_broadPhase); - b2Shape::Destroy(s0, &m_blockAllocator); - } - - // Remove world body list. - if (b->m_prev) - { - b->m_prev->m_next = b->m_next; - } - - if (b->m_next) - { - b->m_next->m_prev = b->m_prev; - } - - if (b == m_bodyList) - { - m_bodyList = b->m_next; - } - - --m_bodyCount; - b->~b2Body(); - m_blockAllocator.Free(b, sizeof(b2Body)); -} - -b2Joint* b2World::CreateJoint(const b2JointDef* def) -{ - b2Assert(m_lock == false); - - b2Joint* j = b2Joint::Create(def, &m_blockAllocator); - - // Connect to the world list. - j->m_prev = NULL; - j->m_next = m_jointList; - if (m_jointList) - { - m_jointList->m_prev = j; - } - m_jointList = j; - ++m_jointCount; - - // Connect to the bodies' doubly linked lists. - j->m_node1.joint = j; - j->m_node1.other = j->m_body2; - j->m_node1.prev = NULL; - j->m_node1.next = j->m_body1->m_jointList; - if (j->m_body1->m_jointList) j->m_body1->m_jointList->prev = &j->m_node1; - j->m_body1->m_jointList = &j->m_node1; - - j->m_node2.joint = j; - j->m_node2.other = j->m_body1; - j->m_node2.prev = NULL; - j->m_node2.next = j->m_body2->m_jointList; - if (j->m_body2->m_jointList) j->m_body2->m_jointList->prev = &j->m_node2; - j->m_body2->m_jointList = &j->m_node2; - - // If the joint prevents collisions, then reset collision filtering. - if (def->collideConnected == false) - { - // Reset the proxies on the body with the minimum number of shapes. - b2Body* b = def->body1->m_shapeCount < def->body2->m_shapeCount ? def->body1 : def->body2; - for (b2Shape* s = b->m_shapeList; s; s = s->m_next) - { - s->RefilterProxy(m_broadPhase, b->GetXForm()); - } - } - - return j; -} - -void b2World::DestroyJoint(b2Joint* j) -{ - b2Assert(m_lock == false); - - bool collideConnected = j->m_collideConnected; - - // Remove from the doubly linked list. - if (j->m_prev) - { - j->m_prev->m_next = j->m_next; - } - - if (j->m_next) - { - j->m_next->m_prev = j->m_prev; - } - - if (j == m_jointList) - { - m_jointList = j->m_next; - } - - // Disconnect from island graph. - b2Body* body1 = j->m_body1; - b2Body* body2 = j->m_body2; - - // Wake up connected bodies. - body1->WakeUp(); - body2->WakeUp(); - - // Remove from body 1. - if (j->m_node1.prev) - { - j->m_node1.prev->next = j->m_node1.next; - } - - if (j->m_node1.next) - { - j->m_node1.next->prev = j->m_node1.prev; - } - - if (&j->m_node1 == body1->m_jointList) - { - body1->m_jointList = j->m_node1.next; - } - - j->m_node1.prev = NULL; - j->m_node1.next = NULL; - - // Remove from body 2 - if (j->m_node2.prev) - { - j->m_node2.prev->next = j->m_node2.next; - } - - if (j->m_node2.next) - { - j->m_node2.next->prev = j->m_node2.prev; - } - - if (&j->m_node2 == body2->m_jointList) - { - body2->m_jointList = j->m_node2.next; - } - - j->m_node2.prev = NULL; - j->m_node2.next = NULL; - - b2Joint::Destroy(j, &m_blockAllocator); - - b2Assert(m_jointCount > 0); - --m_jointCount; - - // If the joint prevents collisions, then reset collision filtering. - if (collideConnected == false) - { - // Reset the proxies on the body with the minimum number of shapes. - b2Body* b = body1->m_shapeCount < body2->m_shapeCount ? body1 : body2; - for (b2Shape* s = b->m_shapeList; s; s = s->m_next) - { - s->RefilterProxy(m_broadPhase, b->GetXForm()); - } - } -} - -void b2World::Refilter(b2Shape* shape) -{ - shape->RefilterProxy(m_broadPhase, shape->GetBody()->GetXForm()); -} - -// Find islands, integrate and solve constraints, solve position constraints -void b2World::Solve(const b2TimeStep& step) -{ - m_positionIterationCount = 0; - - // Size the island for the worst case. - b2Island island(m_bodyCount, m_contactCount, m_jointCount, &m_stackAllocator, m_contactListener); - - // Clear all the island flags. - for (b2Body* b = m_bodyList; b; b = b->m_next) - { - b->m_flags &= ~b2Body::e_islandFlag; - } - for (b2Contact* c = m_contactList; c; c = c->m_next) - { - c->m_flags &= ~b2Contact::e_islandFlag; - } - for (b2Joint* j = m_jointList; j; j = j->m_next) - { - j->m_islandFlag = false; - } - - // Build and simulate all awake islands. - int32 stackSize = m_bodyCount; - b2Body** stack = (b2Body**)m_stackAllocator.Allocate(stackSize * sizeof(b2Body*)); - for (b2Body* seed = m_bodyList; seed; seed = seed->m_next) - { - if (seed->m_flags & (b2Body::e_islandFlag | b2Body::e_sleepFlag | b2Body::e_frozenFlag)) - { - continue; - } - - if (seed->IsStatic()) - { - continue; - } - - // Reset island and stack. - island.Clear(); - int32 stackCount = 0; - stack[stackCount++] = seed; - seed->m_flags |= b2Body::e_islandFlag; - - // Perform a depth first search (DFS) on the constraint graph. - while (stackCount > 0) - { - // Grab the next body off the stack and add it to the island. - b2Body* b = stack[--stackCount]; - island.Add(b); - - // Make sure the body is awake. - b->m_flags &= ~b2Body::e_sleepFlag; - - // To keep islands as small as possible, we don't - // propagate islands across static bodies. - if (b->IsStatic()) - { - continue; - } - - // Search all contacts connected to this body. - for (b2ContactEdge* cn = b->m_contactList; cn; cn = cn->next) - { - // Has this contact already been added to an island? - if (cn->contact->m_flags & (b2Contact::e_islandFlag | b2Contact::e_nonSolidFlag)) - { - continue; - } - - // Is this contact touching? - if (cn->contact->GetManifoldCount() == 0) - { - continue; - } - - island.Add(cn->contact); - cn->contact->m_flags |= b2Contact::e_islandFlag; - - b2Body* other = cn->other; - - // Was the other body already added to this island? - if (other->m_flags & b2Body::e_islandFlag) - { - continue; - } - - b2Assert(stackCount < stackSize); - stack[stackCount++] = other; - other->m_flags |= b2Body::e_islandFlag; - } - - // Search all joints connect to this body. - for (b2JointEdge* jn = b->m_jointList; jn; jn = jn->next) - { - if (jn->joint->m_islandFlag == true) - { - continue; - } - - island.Add(jn->joint); - jn->joint->m_islandFlag = true; - - b2Body* other = jn->other; - if (other->m_flags & b2Body::e_islandFlag) - { - continue; - } - - b2Assert(stackCount < stackSize); - stack[stackCount++] = other; - other->m_flags |= b2Body::e_islandFlag; - } - } - - island.Solve(step, m_gravity, m_positionCorrection, m_allowSleep); - m_positionIterationCount = b2Max(m_positionIterationCount, island.m_positionIterationCount); - - // Post solve cleanup. - for (int32 i = 0; i < island.m_bodyCount; ++i) - { - // Allow static bodies to participate in other islands. - b2Body* b = island.m_bodies[i]; - if (b->IsStatic()) - { - b->m_flags &= ~b2Body::e_islandFlag; - } - } - } - - m_stackAllocator.Free(stack); - - // Synchronize shapes, check for out of range bodies. - for (b2Body* b = m_bodyList; b; b = b->GetNext()) - { - if (b->m_flags & (b2Body::e_sleepFlag | b2Body::e_frozenFlag)) - { - continue; - } - - if (b->IsStatic()) - { - continue; - } - - // Update shapes (for broad-phase). If the shapes go out of - // the world AABB then shapes and contacts may be destroyed, - // including contacts that are - bool inRange = b->SynchronizeShapes(); - - // Did the body's shapes leave the world? - if (inRange == false && m_boundaryListener != NULL) - { - m_boundaryListener->Violation(b); - } - } - - // Commit shape proxy movements to the broad-phase so that new contacts are created. - // Also, some contacts can be destroyed. - m_broadPhase->Commit(); -} - -// Find TOI contacts and solve them. -void b2World::SolveTOI(const b2TimeStep& step) -{ - // Reserve an island and a stack for TOI island solution. - b2Island island(m_bodyCount, b2_maxTOIContactsPerIsland, 0, &m_stackAllocator, m_contactListener); - int32 stackSize = m_bodyCount; - b2Body** stack = (b2Body**)m_stackAllocator.Allocate(stackSize * sizeof(b2Body*)); - - for (b2Body* b = m_bodyList; b; b = b->m_next) - { - b->m_flags &= ~b2Body::e_islandFlag; - b->m_sweep.t0 = 0.0f; - } - - for (b2Contact* c = m_contactList; c; c = c->m_next) - { - // Invalidate TOI - c->m_flags &= ~(b2Contact::e_toiFlag | b2Contact::e_islandFlag); - } - - // Find TOI events and solve them. - for (;;) - { - // Find the first TOI. - b2Contact* minContact = NULL; - float32 minTOI = 1.0f; - - for (b2Contact* c = m_contactList; c; c = c->m_next) - { - if (c->m_flags & (b2Contact::e_slowFlag | b2Contact::e_nonSolidFlag)) - { - continue; - } - - // TODO_ERIN keep a counter on the contact, only respond to M TOIs per contact. - - float32 toi = 1.0f; - if (c->m_flags & b2Contact::e_toiFlag) - { - // This contact has a valid cached TOI. - toi = c->m_toi; - } - else - { - // Compute the TOI for this contact. - b2Shape* s1 = c->GetShape1(); - b2Shape* s2 = c->GetShape2(); - b2Body* b1 = s1->GetBody(); - b2Body* b2 = s2->GetBody(); - - if ((b1->IsStatic() || b1->IsSleeping()) && (b2->IsStatic() || b2->IsSleeping())) - { - continue; - } - - // Put the sweeps onto the same time interval. - float32 t0 = b1->m_sweep.t0; - - if (b1->m_sweep.t0 < b2->m_sweep.t0) - { - t0 = b2->m_sweep.t0; - b1->m_sweep.Advance(t0); - } - else if (b2->m_sweep.t0 < b1->m_sweep.t0) - { - t0 = b1->m_sweep.t0; - b2->m_sweep.Advance(t0); - } - - b2Assert(t0 < 1.0f); - - // Compute the time of impact. - toi = b2TimeOfImpact(c->m_shape1, b1->m_sweep, c->m_shape2, b2->m_sweep); - - b2Assert(0.0f <= toi && toi <= 1.0f); - - if (toi > 0.0f && toi < 1.0f) - { - toi = b2Min((1.0f - toi) * t0 + toi, 1.0f); - } - - - c->m_toi = toi; - c->m_flags |= b2Contact::e_toiFlag; - } - - if (B2_FLT_EPSILON < toi && toi < minTOI) - { - // This is the minimum TOI found so far. - minContact = c; - minTOI = toi; - } - } - - if (minContact == NULL || 1.0f - 100.0f * B2_FLT_EPSILON < minTOI) - { - // No more TOI events. Done! - break; - } - - // Advance the bodies to the TOI. - b2Shape* s1 = minContact->GetShape1(); - b2Shape* s2 = minContact->GetShape2(); - b2Body* b1 = s1->GetBody(); - b2Body* b2 = s2->GetBody(); - b1->Advance(minTOI); - b2->Advance(minTOI); - - // The TOI contact likely has some new contact points. - minContact->Update(m_contactListener); - minContact->m_flags &= ~b2Contact::e_toiFlag; - - if (minContact->GetManifoldCount() == 0) - { - // This shouldn't happen. Numerical error? - //b2Assert(false); - continue; - } - - // Build the TOI island. We need a dynamic seed. - b2Body* seed = b1; - if (seed->IsStatic()) - { - seed = b2; - } - - // Reset island and stack. - island.Clear(); - int32 stackCount = 0; - stack[stackCount++] = seed; - seed->m_flags |= b2Body::e_islandFlag; - - // Perform a depth first search (DFS) on the contact graph. - while (stackCount > 0) - { - // Grab the next body off the stack and add it to the island. - b2Body* b = stack[--stackCount]; - island.Add(b); - - // Make sure the body is awake. - b->m_flags &= ~b2Body::e_sleepFlag; - - // To keep islands as small as possible, we don't - // propagate islands across static bodies. - if (b->IsStatic()) - { - continue; - } - - // Search all contacts connected to this body. - for (b2ContactEdge* cn = b->m_contactList; cn; cn = cn->next) - { - // Does the TOI island still have space for contacts? - if (island.m_contactCount == island.m_contactCapacity) - { - continue; - } - - // Has this contact already been added to an island? Skip slow or non-solid contacts. - if (cn->contact->m_flags & (b2Contact::e_islandFlag | b2Contact::e_slowFlag | b2Contact::e_nonSolidFlag)) - { - continue; - } - - // Is this contact touching? For performance we are not updating this contact. - if (cn->contact->GetManifoldCount() == 0) - { - continue; - } - - island.Add(cn->contact); - cn->contact->m_flags |= b2Contact::e_islandFlag; - - // Update other body. - b2Body* other = cn->other; - - // Was the other body already added to this island? - if (other->m_flags & b2Body::e_islandFlag) - { - continue; - } - - // March forward, this can do no harm since this is the min TOI. - if (other->IsStatic() == false) - { - other->Advance(minTOI); - other->WakeUp(); - } - - b2Assert(stackCount < stackSize); - stack[stackCount++] = other; - other->m_flags |= b2Body::e_islandFlag; - } - } - - b2TimeStep subStep; - subStep.dt = (1.0f - minTOI) * step.dt; - b2Assert(subStep.dt > B2_FLT_EPSILON); - subStep.inv_dt = 1.0f / subStep.dt; - subStep.maxIterations = step.maxIterations; - - island.SolveTOI(subStep); - - // Post solve cleanup. - for (int32 i = 0; i < island.m_bodyCount; ++i) - { - // Allow bodies to participate in future TOI islands. - b2Body* b = island.m_bodies[i]; - b->m_flags &= ~b2Body::e_islandFlag; - - if (b->m_flags & (b2Body::e_sleepFlag | b2Body::e_frozenFlag)) - { - continue; - } - - if (b->IsStatic()) - { - continue; - } - - // Update shapes (for broad-phase). If the shapes go out of - // the world AABB then shapes and contacts may be destroyed, - // including contacts that are - bool inRange = b->SynchronizeShapes(); - - // Did the body's shapes leave the world? - if (inRange == false && m_boundaryListener != NULL) - { - m_boundaryListener->Violation(b); - } - - // Invalidate all contact TOIs associated with this body. Some of these - // may not be in the island because they were not touching. - for (b2ContactEdge* cn = b->m_contactList; cn; cn = cn->next) - { - cn->contact->m_flags &= ~b2Contact::e_toiFlag; - } - } - - for (int32 i = 0; i < island.m_contactCount; ++i) - { - // Allow contacts to participate in future TOI islands. - b2Contact* c = island.m_contacts[i]; - c->m_flags &= ~(b2Contact::e_toiFlag | b2Contact::e_islandFlag); - } - - // Commit shape proxy movements to the broad-phase so that new contacts are created. - // Also, some contacts can be destroyed. - m_broadPhase->Commit(); - } - - m_stackAllocator.Free(stack); -} - -void b2World::Step(float32 dt, int32 iterations) -{ - m_lock = true; - - b2TimeStep step; - step.dt = dt; - step.maxIterations = iterations; - if (dt > 0.0f) - { - step.inv_dt = 1.0f / dt; - } - else - { - step.inv_dt = 0.0f; - } - - step.dtRatio = m_inv_dt0 * dt; - - step.positionCorrection = m_positionCorrection; - step.warmStarting = m_warmStarting; - - // Update contacts. - m_contactManager.Collide(); - - // Integrate velocities, solve velocity constraints, and integrate positions. - if (step.dt > 0.0f) - { - Solve(step); - } - - // Handle TOI events. - if (m_continuousPhysics && step.dt > 0.0f) - { - SolveTOI(step); - } - - // Draw debug information. - DrawDebugData(); - - m_inv_dt0 = step.inv_dt; - m_lock = false; -} - -int32 b2World::Query(const b2AABB& aabb, b2Shape** shapes, int32 maxCount) -{ - void** results = (void**)m_stackAllocator.Allocate(maxCount * sizeof(void*)); - - int32 count = m_broadPhase->Query(aabb, results, maxCount); - - for (int32 i = 0; i < count; ++i) - { - shapes[i] = (b2Shape*)results[i]; - } - - m_stackAllocator.Free(results); - return count; -} - -void b2World::DrawShape(b2Shape* shape, const b2XForm& xf, const b2Color& color, bool core) -{ - b2Color coreColor(0.9f, 0.6f, 0.6f); - - switch (shape->GetType()) - { - case e_circleShape: - { - b2CircleShape* circle = (b2CircleShape*)shape; - - b2Vec2 center = b2Mul(xf, circle->GetLocalPosition()); - float32 radius = circle->GetRadius(); - b2Vec2 axis = xf.R.col1; - - m_debugDraw->DrawSolidCircle(center, radius, axis, color); - - if (core) - { - m_debugDraw->DrawCircle(center, radius - b2_toiSlop, coreColor); - } - } - break; - - case e_polygonShape: - { - b2PolygonShape* poly = (b2PolygonShape*)shape; - int32 vertexCount = poly->GetVertexCount(); - const b2Vec2* localVertices = poly->GetVertices(); - - b2Assert(vertexCount <= b2_maxPolygonVertices); - b2Vec2 vertices[b2_maxPolygonVertices]; - - for (int32 i = 0; i < vertexCount; ++i) - { - vertices[i] = b2Mul(xf, localVertices[i]); - } - - m_debugDraw->DrawSolidPolygon(vertices, vertexCount, color); - - if (core) - { - const b2Vec2* localCoreVertices = poly->GetCoreVertices(); - for (int32 i = 0; i < vertexCount; ++i) - { - vertices[i] = b2Mul(xf, localCoreVertices[i]); - } - m_debugDraw->DrawPolygon(vertices, vertexCount, coreColor); - } - } - break; - } -} - -void b2World::DrawJoint(b2Joint* joint) -{ - b2Body* b1 = joint->GetBody1(); - b2Body* b2 = joint->GetBody2(); - const b2XForm& xf1 = b1->GetXForm(); - const b2XForm& xf2 = b2->GetXForm(); - b2Vec2 x1 = xf1.position; - b2Vec2 x2 = xf2.position; - b2Vec2 p1 = joint->GetAnchor1(); - b2Vec2 p2 = joint->GetAnchor2(); - - b2Color color(0.5f, 0.8f, 0.8f); - - switch (joint->GetType()) - { - case e_distanceJoint: - m_debugDraw->DrawSegment(p1, p2, color); - break; - - case e_pulleyJoint: - { - b2PulleyJoint* pulley = (b2PulleyJoint*)joint; - b2Vec2 s1 = pulley->GetGroundAnchor1(); - b2Vec2 s2 = pulley->GetGroundAnchor2(); - m_debugDraw->DrawSegment(s1, p1, color); - m_debugDraw->DrawSegment(s2, p2, color); - m_debugDraw->DrawSegment(s1, s2, color); - } - break; - - case e_mouseJoint: - // don't draw this - break; - - default: - m_debugDraw->DrawSegment(x1, p1, color); - m_debugDraw->DrawSegment(p1, p2, color); - m_debugDraw->DrawSegment(x2, p2, color); - } -} - -void b2World::DrawDebugData() -{ - if (m_debugDraw == NULL) - { - return; - } - - uint32 flags = m_debugDraw->GetFlags(); - - if (flags & b2DebugDraw::e_shapeBit) - { - bool core = (flags & b2DebugDraw::e_coreShapeBit) == b2DebugDraw::e_coreShapeBit; - - for (b2Body* b = m_bodyList; b; b = b->GetNext()) - { - const b2XForm& xf = b->GetXForm(); - for (b2Shape* s = b->GetShapeList(); s; s = s->GetNext()) - { - if (b->IsStatic()) - { - DrawShape(s, xf, b2Color(0.5f, 0.9f, 0.5f), core); - } - else if (b->IsSleeping()) - { - DrawShape(s, xf, b2Color(0.5f, 0.5f, 0.9f), core); - } - else - { - DrawShape(s, xf, b2Color(0.9f, 0.9f, 0.9f), core); - } - } - } - } - - if (flags & b2DebugDraw::e_jointBit) - { - for (b2Joint* j = m_jointList; j; j = j->GetNext()) - { - if (j->GetType() != e_mouseJoint) - { - DrawJoint(j); - } - } - } - - if (flags & b2DebugDraw::e_pairBit) - { - b2BroadPhase* bp = m_broadPhase; - b2Vec2 invQ; - invQ.Set(1.0f / bp->m_quantizationFactor.x, 1.0f / bp->m_quantizationFactor.y); - b2Color color(0.9f, 0.9f, 0.3f); - - for (int32 i = 0; i < b2_tableCapacity; ++i) - { - uint16 index = bp->m_pairManager.m_hashTable[i]; - while (index != b2_nullPair) - { - b2Pair* pair = bp->m_pairManager.m_pairs + index; - b2Proxy* p1 = bp->m_proxyPool + pair->proxyId1; - b2Proxy* p2 = bp->m_proxyPool + pair->proxyId2; - - b2AABB b1, b2; - b1.lowerBound.x = bp->m_worldAABB.lowerBound.x + invQ.x * bp->m_bounds[0][p1->lowerBounds[0]].value; - b1.lowerBound.y = bp->m_worldAABB.lowerBound.y + invQ.y * bp->m_bounds[1][p1->lowerBounds[1]].value; - b1.upperBound.x = bp->m_worldAABB.lowerBound.x + invQ.x * bp->m_bounds[0][p1->upperBounds[0]].value; - b1.upperBound.y = bp->m_worldAABB.lowerBound.y + invQ.y * bp->m_bounds[1][p1->upperBounds[1]].value; - b2.lowerBound.x = bp->m_worldAABB.lowerBound.x + invQ.x * bp->m_bounds[0][p2->lowerBounds[0]].value; - b2.lowerBound.y = bp->m_worldAABB.lowerBound.y + invQ.y * bp->m_bounds[1][p2->lowerBounds[1]].value; - b2.upperBound.x = bp->m_worldAABB.lowerBound.x + invQ.x * bp->m_bounds[0][p2->upperBounds[0]].value; - b2.upperBound.y = bp->m_worldAABB.lowerBound.y + invQ.y * bp->m_bounds[1][p2->upperBounds[1]].value; - - b2Vec2 x1 = 0.5f * (b1.lowerBound + b1.upperBound); - b2Vec2 x2 = 0.5f * (b2.lowerBound + b2.upperBound); - - m_debugDraw->DrawSegment(x1, x2, color); - - index = pair->next; - } - } - } - - if (flags & b2DebugDraw::e_aabbBit) - { - b2BroadPhase* bp = m_broadPhase; - b2Vec2 worldLower = bp->m_worldAABB.lowerBound; - b2Vec2 worldUpper = bp->m_worldAABB.upperBound; - - b2Vec2 invQ; - invQ.Set(1.0f / bp->m_quantizationFactor.x, 1.0f / bp->m_quantizationFactor.y); - b2Color color(0.9f, 0.3f, 0.9f); - for (int32 i = 0; i < b2_maxProxies; ++i) - { - b2Proxy* p = bp->m_proxyPool + i; - if (p->IsValid() == false) - { - continue; - } - - b2AABB b; - b.lowerBound.x = worldLower.x + invQ.x * bp->m_bounds[0][p->lowerBounds[0]].value; - b.lowerBound.y = worldLower.y + invQ.y * bp->m_bounds[1][p->lowerBounds[1]].value; - b.upperBound.x = worldLower.x + invQ.x * bp->m_bounds[0][p->upperBounds[0]].value; - b.upperBound.y = worldLower.y + invQ.y * bp->m_bounds[1][p->upperBounds[1]].value; - - b2Vec2 vs[4]; - vs[0].Set(b.lowerBound.x, b.lowerBound.y); - vs[1].Set(b.upperBound.x, b.lowerBound.y); - vs[2].Set(b.upperBound.x, b.upperBound.y); - vs[3].Set(b.lowerBound.x, b.upperBound.y); - - m_debugDraw->DrawPolygon(vs, 4, color); - } - - b2Vec2 vs[4]; - vs[0].Set(worldLower.x, worldLower.y); - vs[1].Set(worldUpper.x, worldLower.y); - vs[2].Set(worldUpper.x, worldUpper.y); - vs[3].Set(worldLower.x, worldUpper.y); - m_debugDraw->DrawPolygon(vs, 4, b2Color(0.3f, 0.9f, 0.9f)); - } - - if (flags & b2DebugDraw::e_obbBit) - { - b2Color color(0.5f, 0.3f, 0.5f); - - for (b2Body* b = m_bodyList; b; b = b->GetNext()) - { - const b2XForm& xf = b->GetXForm(); - for (b2Shape* s = b->GetShapeList(); s; s = s->GetNext()) - { - if (s->GetType() != e_polygonShape) - { - continue; - } - - b2PolygonShape* poly = (b2PolygonShape*)s; - const b2OBB& obb = poly->GetOBB(); - b2Vec2 h = obb.extents; - b2Vec2 vs[4]; - vs[0].Set(-h.x, -h.y); - vs[1].Set( h.x, -h.y); - vs[2].Set( h.x, h.y); - vs[3].Set(-h.x, h.y); - - for (int32 i = 0; i < 4; ++i) - { - vs[i] = obb.center + b2Mul(obb.R, vs[i]); - vs[i] = b2Mul(xf, vs[i]); - } - - m_debugDraw->DrawPolygon(vs, 4, color); - } - } - } - - if (flags & b2DebugDraw::e_centerOfMassBit) - { - for (b2Body* b = m_bodyList; b; b = b->GetNext()) - { - b2XForm xf = b->GetXForm(); - xf.position = b->GetWorldCenter(); - m_debugDraw->DrawXForm(xf); - } - } -} - -void b2World::Validate() -{ - m_broadPhase->Validate(); -} - -int32 b2World::GetProxyCount() const -{ - return m_broadPhase->m_proxyCount; -} - -int32 b2World::GetPairCount() const -{ - return m_broadPhase->m_pairManager.m_pairCount; -} diff --git a/src/modules/physics/box2d/World.h b/src/modules/physics/box2d/World.h index af3f84ce5..7cdfc8ba2 100644 --- a/src/modules/physics/box2d/World.h +++ b/src/modules/physics/box2d/World.h @@ -30,7 +30,7 @@ #include // Box2D -#include "Include/Box2D.h" +#include namespace love {