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Updated to Box2D 2.2, added new joints, some other updates to match the API changes (still plenty more to go though)

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--HG--
branch : box2d-update
This commit is contained in:
Bill Meltsner
2011-09-03 15:39:32 -04:00
parent b3434997bf
commit 915e3e9d86
126 changed files with 8581 additions and 3772 deletions
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src/modules/physics/box2d/Box2D/Collision/b2Collision.cpp
Regular → Executable
+15 -16
View File
@@ -1,5 +1,5 @@
/*
* Copyright (c) 2007-2009 Erin Catto http://www.gphysics.com
* Copyright (c) 2007-2009 Erin Catto http://www.box2d.org
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
@@ -49,7 +49,7 @@ void b2WorldManifold::Initialize(const b2Manifold* manifold,
case b2Manifold::e_faceA:
{
normal = b2Mul(xfA.R, manifold->localNormal);
normal = b2Mul(xfA.q, manifold->localNormal);
b2Vec2 planePoint = b2Mul(xfA, manifold->localPoint);
for (int32 i = 0; i < manifold->pointCount; ++i)
@@ -64,7 +64,7 @@ void b2WorldManifold::Initialize(const b2Manifold* manifold,
case b2Manifold::e_faceB:
{
normal = b2Mul(xfB.R, manifold->localNormal);
normal = b2Mul(xfB.q, manifold->localNormal);
b2Vec2 planePoint = b2Mul(xfB, manifold->localPoint);
for (int32 i = 0; i < manifold->pointCount; ++i)
@@ -196,7 +196,7 @@ bool b2AABB::RayCast(b2RayCastOutput* output, const b2RayCastInput& input) const
// Sutherland-Hodgman clipping.
int32 b2ClipSegmentToLine(b2ClipVertex vOut[2], const b2ClipVertex vIn[2],
const b2Vec2& normal, float32 offset)
const b2Vec2& normal, float32 offset, int32 vertexIndexA)
{
// Start with no output points
int32 numOut = 0;
@@ -215,26 +215,25 @@ int32 b2ClipSegmentToLine(b2ClipVertex vOut[2], const b2ClipVertex vIn[2],
// 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;
}
// VertexA is hitting edgeB.
vOut[numOut].id.cf.indexA = vertexIndexA;
vOut[numOut].id.cf.indexB = vIn[0].id.cf.indexB;
vOut[numOut].id.cf.typeA = b2ContactFeature::e_vertex;
vOut[numOut].id.cf.typeB = b2ContactFeature::e_face;
++numOut;
}
return numOut;
}
bool b2TestOverlap(const b2Shape* shapeA, const b2Shape* shapeB,
const b2Transform& xfA, const b2Transform& xfB)
bool b2TestOverlap( const b2Shape* shapeA, int32 indexA,
const b2Shape* shapeB, int32 indexB,
const b2Transform& xfA, const b2Transform& xfB)
{
b2DistanceInput input;
input.proxyA.Set(shapeA);
input.proxyB.Set(shapeB);
input.proxyA.Set(shapeA, indexA);
input.proxyB.Set(shapeB, indexB);
input.transformA = xfA;
input.transformB = xfB;
input.useRadii = true;