Updated box2d from 2.2.1 to 2.3.0

--HG--
branch : box2d-2.3

src/libraries/Box2D/Dynamics/Contacts/b2ChainAndCircleContact.cpp

@@ -23,7 +23,6 @@
 #include <Box2D/Collision/Shapes/b2EdgeShape.h>
 
 #include <new>
-using namespace std;
 
 b2Contact* b2ChainAndCircleContact::Create(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator)
 {

src/libraries/Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.cpp

@@ -23,7 +23,6 @@
 #include <Box2D/Collision/Shapes/b2EdgeShape.h>
 
 #include <new>
-using namespace std;
 
 b2Contact* b2ChainAndPolygonContact::Create(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator)
 {

src/libraries/Box2D/Dynamics/Contacts/b2CircleContact.cpp

@@ -24,7 +24,6 @@
 #include <Box2D/Collision/b2TimeOfImpact.h>
 
 #include <new>
-using namespace std;
 
 b2Contact* b2CircleContact::Create(b2Fixture* fixtureA, int32, b2Fixture* fixtureB, int32, b2BlockAllocator* allocator)
 {

src/libraries/Box2D/Dynamics/Contacts/b2Contact.cpp

@@ -102,14 +102,19 @@ void b2Contact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
 {
 	b2Assert(s_initialized == true);
 
-	if (contact->m_manifold.pointCount > 0)
+	b2Fixture* fixtureA = contact->m_fixtureA;
+	b2Fixture* fixtureB = contact->m_fixtureB;
+
+	if (contact->m_manifold.pointCount > 0 &&
+		fixtureA->IsSensor() == false &&
+		fixtureB->IsSensor() == false)
 	{
-		contact->GetFixtureA()->GetBody()->SetAwake(true);
-		contact->GetFixtureB()->GetBody()->SetAwake(true);
+		fixtureA->GetBody()->SetAwake(true);
+		fixtureB->GetBody()->SetAwake(true);
 	}
 
-	b2Shape::Type typeA = contact->GetFixtureA()->GetType();
-	b2Shape::Type typeB = contact->GetFixtureB()->GetType();
+	b2Shape::Type typeA = fixtureA->GetType();
+	b2Shape::Type typeB = fixtureB->GetType();
 
 	b2Assert(0 <= typeA && typeB < b2Shape::e_typeCount);
 	b2Assert(0 <= typeA && typeB < b2Shape::e_typeCount);
@@ -147,6 +152,8 @@ b2Contact::b2Contact(b2Fixture* fA, int32 indexA, b2Fixture* fB, int32 indexB)
 
 	m_friction = b2MixFriction(m_fixtureA->m_friction, m_fixtureB->m_friction);
 	m_restitution = b2MixRestitution(m_fixtureA->m_restitution, m_fixtureB->m_restitution);
+
+	m_tangentSpeed = 0.0f;
 }
 
 // Update the contact manifold and touching status.

src/libraries/Box2D/Dynamics/Contacts/b2Contact.h

@@ -36,7 +36,7 @@ class b2ContactListener;
 /// For example, anything slides on ice.
 inline float32 b2MixFriction(float32 friction1, float32 friction2)
 {
-	return std::sqrt(friction1 * friction2);
+	return b2Sqrt(friction1 * friction2);
 }
 
 /// Restitution mixing law. The idea is allow for anything to bounce off an inelastic surface.
@@ -135,6 +135,12 @@ public:
 	/// Reset the restitution to the default value.
 	void ResetRestitution();
 
+	/// Set the desired tangent speed for a conveyor belt behavior. In meters per second.
+	void SetTangentSpeed(float32 speed);
+
+	/// Get the desired tangent speed. In meters per second.
+	float32 GetTangentSpeed() const;
+
 	/// Evaluate this contact with your own manifold and transforms.
 	virtual void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB) = 0;
 
@@ -209,6 +215,8 @@ protected:
 
 	float32 m_friction;
 	float32 m_restitution;
+
+	float32 m_tangentSpeed;
 };
 
 inline b2Manifold* b2Contact::GetManifold()
@@ -328,4 +336,14 @@ inline void b2Contact::ResetRestitution()
 	m_restitution = b2MixRestitution(m_fixtureA->m_restitution, m_fixtureB->m_restitution);
 }
 
+inline void b2Contact::SetTangentSpeed(float32 speed)
+{
+	m_tangentSpeed = speed;
+}
+
+inline float32 b2Contact::GetTangentSpeed() const
+{
+	return m_tangentSpeed;
+}
+
 #endif

src/libraries/Box2D/Dynamics/Contacts/b2ContactSolver.cpp

@@ -73,6 +73,7 @@ b2ContactSolver::b2ContactSolver(b2ContactSolverDef* def)
 		b2ContactVelocityConstraint* vc = m_velocityConstraints + i;
 		vc->friction = contact->m_friction;
 		vc->restitution = contact->m_restitution;
+		vc->tangentSpeed = contact->m_tangentSpeed;
 		vc->indexA = bodyA->m_islandIndex;
 		vc->indexB = bodyB->m_islandIndex;
 		vc->invMassA = bodyA->m_invMass;
@@ -320,7 +321,7 @@ void b2ContactSolver::SolveVelocityConstraints()
 			b2Vec2 dv = vB + b2Cross(wB, vcp->rB) - vA - b2Cross(wA, vcp->rA);
 
 			// Compute tangent force
-			float32 vt = b2Dot(dv, tangent);
+			float32 vt = b2Dot(dv, tangent) - vc->tangentSpeed;
 			float32 lambda = vcp->tangentMass * (-vt);
 
 			// b2Clamp the accumulated force
@@ -763,8 +764,8 @@ bool b2ContactSolver::SolveTOIPositionConstraints(int32 toiIndexA, int32 toiInde
 			iA = pc->invIA;
 		}
 
-		float32 mB = pc->invMassB;
-		float32 iB = pc->invIB;
+		float32 mB = 0.0f;
+		float32 iB = 0.;
 		if (indexB == toiIndexA || indexB == toiIndexB)
 		{
 			mB = pc->invMassB;

src/libraries/Box2D/Dynamics/Contacts/b2ContactSolver.h

@@ -51,6 +51,7 @@ struct b2ContactVelocityConstraint
 	float32 invIA, invIB;
 	float32 friction;
 	float32 restitution;
+	float32 tangentSpeed;
 	int32 pointCount;
 	int32 contactIndex;
 };

src/libraries/Box2D/Dynamics/Contacts/b2EdgeAndCircleContact.cpp

@@ -21,7 +21,6 @@
 #include <Box2D/Dynamics/b2Fixture.h>
 
 #include <new>
-using namespace std;
 
 b2Contact* b2EdgeAndCircleContact::Create(b2Fixture* fixtureA, int32, b2Fixture* fixtureB, int32, b2BlockAllocator* allocator)
 {

src/libraries/Box2D/Dynamics/Contacts/b2EdgeAndPolygonContact.cpp

@@ -21,7 +21,6 @@
 #include <Box2D/Dynamics/b2Fixture.h>
 
 #include <new>
-using namespace std;
 
 b2Contact* b2EdgeAndPolygonContact::Create(b2Fixture* fixtureA, int32, b2Fixture* fixtureB, int32, b2BlockAllocator* allocator)
 {

src/libraries/Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.cpp

@@ -21,7 +21,6 @@
 #include <Box2D/Dynamics/b2Fixture.h>
 
 #include <new>
-using namespace std;
 
 b2Contact* b2PolygonAndCircleContact::Create(b2Fixture* fixtureA, int32, b2Fixture* fixtureB, int32, b2BlockAllocator* allocator)
 {

src/libraries/Box2D/Dynamics/Contacts/b2PolygonContact.cpp

@@ -24,7 +24,6 @@
 #include <Box2D/Dynamics/b2WorldCallbacks.h>
 
 #include <new>
-using namespace std;
 
 b2Contact* b2PolygonContact::Create(b2Fixture* fixtureA, int32, b2Fixture* fixtureB, int32, b2BlockAllocator* allocator)
 {