Initial Mercurial commit.

2026-08-16 08:11:02 +02:00 · 2009-07-26 15:46:49 +02:00
commit dcb3dfd83d
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+/*
+* 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 <new>
+#include <string.h>
+
+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);
+	}
+}