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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/Dynamics/b2Body.cpp
Regular → Executable
+44 -30
View File
@@ -1,5 +1,5 @@
/*
* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
* Copyright (c) 2006-2007 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
@@ -28,7 +28,6 @@ b2Body::b2Body(const b2BodyDef* bd, b2World* world)
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);
@@ -57,12 +56,15 @@ b2Body::b2Body(const b2BodyDef* bd, b2World* world)
m_world = world;
m_xf.position = bd->position;
m_xf.R.Set(bd->angle);
m_xf.p = bd->position;
m_xf.q.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_sweep.c0 = m_xf.p;
m_sweep.c = m_xf.p;
m_sweep.a0 = bd->angle;
m_sweep.a = bd->angle;
m_sweep.alpha0 = 0.0f;
m_jointList = NULL;
m_contactList = NULL;
@@ -74,6 +76,7 @@ b2Body::b2Body(const b2BodyDef* bd, b2World* world)
m_linearDamping = bd->linearDamping;
m_angularDamping = bd->angularDamping;
m_gravityScale = bd->gravityScale;
m_force.SetZero();
m_torque = 0.0f;
@@ -109,6 +112,12 @@ b2Body::~b2Body()
void b2Body::SetType(b2BodyType type)
{
b2Assert(m_world->IsLocked() == false);
if (m_world->IsLocked() == true)
{
return;
}
if (m_type == type)
{
return;
@@ -122,6 +131,9 @@ void b2Body::SetType(b2BodyType type)
{
m_linearVelocity.SetZero();
m_angularVelocity = 0.0f;
m_sweep.a0 = m_sweep.a;
m_sweep.c0 = m_sweep.c;
SynchronizeFixtures();
}
SetAwake(true);
@@ -130,9 +142,9 @@ void b2Body::SetType(b2BodyType type)
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)
for (b2Fixture* f = m_fixtureList; f; f = f->m_next)
{
ce->contact->FlagForFiltering();
f->Refilter();
}
}
@@ -153,7 +165,7 @@ b2Fixture* b2Body::CreateFixture(const b2FixtureDef* def)
if (m_flags & e_activeFlag)
{
b2BroadPhase* broadPhase = &m_world->m_contactManager.m_broadPhase;
fixture->CreateProxy(broadPhase, m_xf);
fixture->CreateProxies(broadPhase, m_xf);
}
fixture->m_next = m_fixtureList;
@@ -235,13 +247,8 @@ void b2Body::DestroyFixture(b2Fixture* fixture)
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->DestroyProxies(broadPhase);
}
fixture->Destroy(allocator);
@@ -268,14 +275,16 @@ void b2Body::ResetMassData()
// 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;
m_sweep.c0 = m_xf.p;
m_sweep.c = m_xf.p;
m_sweep.a0 = m_sweep.a;
return;
}
b2Assert(m_type == b2_dynamicBody);
// Accumulate mass over all fixtures.
b2Vec2 center = b2Vec2_zero;
b2Vec2 localCenter = b2Vec2_zero;
for (b2Fixture* f = m_fixtureList; f; f = f->m_next)
{
if (f->m_density == 0.0f)
@@ -286,7 +295,7 @@ void b2Body::ResetMassData()
b2MassData massData;
f->GetMassData(&massData);
m_mass += massData.mass;
center += massData.mass * massData.center;
localCenter += massData.mass * massData.center;
m_I += massData.I;
}
@@ -294,7 +303,7 @@ void b2Body::ResetMassData()
if (m_mass > 0.0f)
{
m_invMass = 1.0f / m_mass;
center *= m_invMass;
localCenter *= m_invMass;
}
else
{
@@ -306,7 +315,7 @@ void b2Body::ResetMassData()
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);
m_I -= m_mass * b2Dot(localCenter, localCenter);
b2Assert(m_I > 0.0f);
m_invI = 1.0f / m_I;
@@ -319,7 +328,7 @@ void b2Body::ResetMassData()
// Move center of mass.
b2Vec2 oldCenter = m_sweep.c;
m_sweep.localCenter = center;
m_sweep.localCenter = localCenter;
m_sweep.c0 = m_sweep.c = b2Mul(m_xf, m_sweep.localCenter);
// Update center of mass velocity.
@@ -360,7 +369,7 @@ void b2Body::SetMassData(const b2MassData* massData)
// Move center of mass.
b2Vec2 oldCenter = m_sweep.c;
m_sweep.localCenter = massData->center;
m_sweep.localCenter = massData->center;
m_sweep.c0 = m_sweep.c = b2Mul(m_xf, m_sweep.localCenter);
// Update center of mass velocity.
@@ -398,11 +407,14 @@ void b2Body::SetTransform(const b2Vec2& position, float32 angle)
return;
}
m_xf.R.Set(angle);
m_xf.position = position;
m_xf.q.Set(angle);
m_xf.p = position;
m_sweep.c0 = m_sweep.c = b2Mul(m_xf, m_sweep.localCenter);
m_sweep.a0 = m_sweep.a = angle;
m_sweep.c = b2Mul(m_xf, m_sweep.localCenter);
m_sweep.a = angle;
m_sweep.c0 = m_sweep.c;
m_sweep.a0 = angle;
b2BroadPhase* broadPhase = &m_world->m_contactManager.m_broadPhase;
for (b2Fixture* f = m_fixtureList; f; f = f->m_next)
@@ -416,8 +428,8 @@ void b2Body::SetTransform(const b2Vec2& position, float32 angle)
void b2Body::SynchronizeFixtures()
{
b2Transform xf1;
xf1.R.Set(m_sweep.a0);
xf1.position = m_sweep.c0 - b2Mul(xf1.R, m_sweep.localCenter);
xf1.q.Set(m_sweep.a0);
xf1.p = m_sweep.c0 - b2Mul(xf1.q, m_sweep.localCenter);
b2BroadPhase* broadPhase = &m_world->m_contactManager.m_broadPhase;
for (b2Fixture* f = m_fixtureList; f; f = f->m_next)
@@ -428,6 +440,8 @@ void b2Body::SynchronizeFixtures()
void b2Body::SetActive(bool flag)
{
b2Assert(m_world->IsLocked() == false);
if (flag == IsActive())
{
return;
@@ -441,7 +455,7 @@ void b2Body::SetActive(bool flag)
b2BroadPhase* broadPhase = &m_world->m_contactManager.m_broadPhase;
for (b2Fixture* f = m_fixtureList; f; f = f->m_next)
{
f->CreateProxy(broadPhase, m_xf);
f->CreateProxies(broadPhase, m_xf);
}
// Contacts are created the next time step.
@@ -454,7 +468,7 @@ void b2Body::SetActive(bool flag)
b2BroadPhase* broadPhase = &m_world->m_contactManager.m_broadPhase;
for (b2Fixture* f = m_fixtureList; f; f = f->m_next)
{
f->DestroyProxy(broadPhase);
f->DestroyProxies(broadPhase);
}
// Destroy the attached contacts.