Merge branch '12.0-development' into sdf-font-hintingmode

src/common/Color.h

@@ -137,6 +137,7 @@ ColorT<T> operator/(const ColorT<T> &a, T s)
 
 typedef ColorT<unsigned char> Color32;
 typedef ColorT<float> Colorf;
+typedef ColorT<double> ColorD;
 
 inline Color32 toColor32(Colorf cf)
 {

src/common/Matrix.cpp

@@ -181,6 +181,32 @@ const float *Matrix4::getElements() const
 	return e;
 }
 
+void Matrix4::setRow(int r, const Vector4 &v)
+{
+	e[0 * 4 + r] = v.x;
+	e[1 * 4 + r] = v.y;
+	e[2 * 4 + r] = v.z;
+	e[3 * 4 + r] = v.w;
+}
+
+Vector4 Matrix4::getRow(int r) const
+{
+	return Vector4(e[0 * 4 + r], e[1 * 4 + r], e[2 * 4 + r], e[3 * 4 + r]);
+}
+
+void Matrix4::setColumn(int c, const Vector4 &v)
+{
+	e[c * 4 + 0] = v.x;
+	e[c * 4 + 1] = v.y;
+	e[c * 4 + 2] = v.z;
+	e[c * 4 + 3] = v.w;
+}
+
+Vector4 Matrix4::getColumn(int c) const
+{
+	return Vector4(e[c * 4 + 0], e[c * 4 + 1], e[c * 4 + 2], e[c * 4 + 3]);
+}
+
 void Matrix4::setIdentity()
 {
 	memset(e, 0, sizeof(float)*16);
@@ -430,6 +456,23 @@ Matrix4 Matrix4::ortho(float left, float right, float bottom, float top, float n
 	return m;
 }
 
+Matrix4 Matrix4::perspective(float verticalfov, float aspect, float near, float far)
+{
+	Matrix4 m;
+
+	float cotangent = 1.0f / tanf(verticalfov * 0.5f);
+
+	m.e[0] = cotangent / aspect;
+	m.e[5] = cotangent;
+	m.e[10] = (far + near) / (near - far);
+	m.e[11] = -1.0f;
+
+	m.e[14] = 2.0f * near * far / (near - far);
+	m.e[15] = 0.0f;
+
+	return m;
+}
+
 /**
  * | e0 e3 e6 |
  * | e1 e4 e7 |

src/common/Matrix.h

@@ -23,6 +23,7 @@
 
 // LOVE
 #include "math.h"
+#include "Vector.h"
 
 namespace love
 {
@@ -88,6 +89,11 @@ public:
 	 **/
 	const float *getElements() const;
 
+	void setRow(int r, const Vector4 &v);
+	Vector4 getRow(int r) const;
+
+	void setColumn(int c, const Vector4 &v);
+	Vector4 getColumn(int c) const;
 	/**
 	 * Resets this Matrix to the identity matrix.
 	 **/
@@ -222,6 +228,11 @@ public:
 	 **/
 	static Matrix4 ortho(float left, float right, float bottom, float top, float near, float far);
 
+	/**
+	 * Creates a new perspective projection matrix.
+	 **/
+	static Matrix4 perspective(float verticalfov, float aspect, float near, float far);
+
 private:
 
 	/**

src/common/Module.cpp

@@ -113,15 +113,18 @@ void Module::registerInstance(Module *instance)
 
 	registry.insert(make_pair(name, instance));
 
-	ModuleType moduletype = instance->getModuleType();
+	ModuleType mtype = instance->getModuleType();
 
-	if (instances[moduletype] != nullptr)
+	if (mtype != M_UNKNOWN)
 	{
-		printf("Warning: overwriting module instance %s with new instance %s\n",
-			   instances[moduletype]->getName(), instance->getName());
-	}
+		if (instances[mtype] != nullptr)
+		{
+			printf("Warning: overwriting module instance %s with new instance %s\n",
+				   instances[mtype]->getName(), instance->getName());
+		}
 
-	instances[moduletype] = instance;
+		instances[mtype] = instance;
+	}
 }
 
 Module *Module::getInstance(const std::string &name)

src/common/Module.h

@@ -38,6 +38,7 @@ public:
 
 	enum ModuleType
 	{
+		M_UNKNOWN = -1, // Use this for modules outside of LOVE's source code.
 		M_AUDIO,
 		M_DATA,
 		M_EVENT,
@@ -50,6 +51,7 @@ public:
 		M_MATH,
 		M_MOUSE,
 		M_PHYSICS,
+		M_SENSOR,
 		M_SOUND,
 		M_SYSTEM,
 		M_THREAD,
@@ -99,7 +101,7 @@ public:
 	template <typename T>
 	static T *getInstance(ModuleType type)
 	{
-		return (T *) instances[type];
+		return type != M_UNKNOWN ? (T *) instances[type] : nullptr;
 	}
 
 private:

src/common/Object.h

@@ -78,6 +78,20 @@ private:
 
 }; // Object
 
+/**
+ * Structure wrapping an object and its associated Type instance. This is used
+ * for storing everything necessary to identify an object's properties in
+ * environments where the Type is not easily obtained otherwise, for example in
+ * a Lua state.
+ **/
+struct Proxy
+{
+	// Holds type information (see types.h).
+	love::Type *type;
+
+	// Pointer to the actual object.
+	Object *object;
+};
 
 enum class Acquire
 {

src/common/Optional.h

@@ -45,6 +45,16 @@ struct Optional
 		value = val;
 		hasValue = true;
 	}
+
+	T get(T defaultVal)
+	{
+		return hasValue ? value : defaultVal;
+	}
+
+	void clear()
+	{
+		hasValue = false;
+	}
 };
 
 typedef Optional<bool> OptionalBool;

src/common/Range.h

@@ -0,0 +1,94 @@
+/**
+ * Copyright (c) 2006-2023 LOVE Development Team
+ *
+ * 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.
+ **/
+
+#pragma once
+
+#include <stddef.h>
+#include <algorithm>
+#include <limits>
+
+namespace love
+{
+
+struct Range
+{
+	size_t first;
+	size_t last;
+
+	Range()
+		: first(std::numeric_limits<size_t>::max())
+		, last(0)
+	{}
+
+	Range(size_t offset, size_t size)
+		: first(offset)
+		, last(offset + size - 1)
+	{}
+
+	bool isValid() const { return first <= last; }
+
+	void invalidate()
+	{
+		first = std::numeric_limits<size_t>::max();
+		last = 0;
+	}
+
+	size_t getMin() const { return first; }
+	size_t getMax() const { return last; }
+
+	size_t getOffset() const { return first; }
+	size_t getSize() const { return (last - first) + 1; }
+
+	bool contains(const Range &other) const
+	{
+		return first <= other.first && last >= other.last;
+	}
+
+	bool intersects(const Range &other)
+	{
+		return !(first > other.last || last < other.first);
+	}
+
+	void intersect(const Range &other)
+	{
+		first = std::max(first, other.first);
+		last = std::min(last, other.last);
+	}
+
+	void encapsulate(size_t index)
+	{
+		first = std::min(first, index);
+		last = std::max(last, index);
+	}
+
+	void encapsulate(size_t offset, size_t size)
+	{
+		first = std::min(first, offset);
+		last = std::max(last, offset + size - 1);
+	}
+
+	void encapsulate(const Range &other)
+	{
+		first = std::min(first, other.first);
+		last = std::max(last, other.last);
+	}
+};
+
+} // love

src/common/Stream.cpp

@@ -20,10 +20,59 @@
 
 // LOVE
 #include "Stream.h"
+#include "Data.h"
+#include "data/ByteData.h"
+#include "Exception.h"
 
 namespace love
 {
 
 love::Type Stream::type("Stream", &Object::type);
 
+Data *Stream::read(int64 size)
+{
+	int64 max = LOVE_INT64_MAX;
+	int64 cur = 0;
+
+	if (isSeekable())
+	{
+		max = getSize();
+		cur = tell();
+	}
+
+	if (cur < 0)
+		cur = 0;
+	else if (cur > max)
+		cur = max;
+
+	if (cur + size > max)
+		size = max - cur;
+
+	StrongRef<data::ByteData> dst(new data::ByteData(size, false), Acquire::NORETAIN);
+
+	int64 bytesRead = read(dst->getData(), size);
+
+	if (bytesRead < 0 || (bytesRead == 0 && bytesRead != size))
+		throw love::Exception("Could not read from stream.");
+
+	if (bytesRead < size)
+		dst.set(new data::ByteData(dst->getData(), (size_t) bytesRead), Acquire::NORETAIN);
+
+	dst->retain();
+	return dst;
+}
+
+bool Stream::write(Data *src)
+{
+	return write(src, 0, src->getSize());
+}
+
+bool Stream::write(Data *src, int64 offset, int64 size)
+{
+	if (offset < 0 || size < 0 || offset + size > (int64) src->getSize())
+		throw love::Exception("Offset and size parameters do not fit within the given Data's size.");
+
+	return write((const uint8 *) src->getData() + offset, size);
+}
+
 } // love

src/common/Stream.h

@@ -24,41 +24,92 @@
 // LOVE
 #include <stddef.h>
 #include "Object.h"
+#include "int.h"
 
 namespace love
 {
 
+class Data;
+
 class Stream : public Object
 {
 public:
+
+	enum SeekOrigin
+	{
+		SEEKORIGIN_BEGIN,
+		SEEKORIGIN_CURRENT,
+		SEEKORIGIN_END,
+		SEEKORIGIN_MAX_ENUM
+	};
+
 	static love::Type type;
 
 	virtual ~Stream() {}
 
-	// getData and getSize are assumed to talk about
-	// the buffer
+	/**
+	 * Creates a new copy of the Stream, with the same settings as the original.
+	 * The seek position will be reset in the copy.
+	 **/
+	virtual Stream *clone() = 0;
 
 	/**
-	 * A callback, gets called when some Stream consumer exhausts the data
+	 * Gets whether read() is supported for this Stream.
 	 **/
-	virtual void fillBackBuffer() {}
+	virtual bool isReadable() const = 0;
 
 	/**
-	 * Get the front buffer, Streams are supposed to be (at least) double-buffered
+	 * Gets whether write() is supported for this Stream.
 	 **/
-	virtual const void *getFrontBuffer() const = 0;
+	virtual bool isWritable() const = 0;
 
 	/**
-	 * Get the size of any (and in particular the front) buffer
+	 * Gets whether seek(), tell(), and getSize() are supported for this Stream.
 	 **/
-	virtual size_t getSize() const = 0;
+	virtual bool isSeekable() const = 0;
 
 	/**
-	 * Swap buffers. Returns true if there is new data in the front buffer,
-     * false otherwise.
-	 * NOTE: If there is no back buffer ready, this call must be ignored
+	 * Reads data into the destination buffer, and returns the number of bytes
+	 * actually read.
 	 **/
-	virtual bool swapBuffers() = 0;
+	virtual int64 read(void *dst, int64 size) = 0;
+
+	/**
+	 * Reads data into a new Data object.
+	 **/
+	virtual Data *read(int64 size);
+
+	/**
+	 * Writes data from the source buffer into the Stream.
+	 **/
+	virtual bool write(const void *src, int64 size) = 0;
+
+	/**
+	 * Writes data from the source Data object into the Stream.
+	 **/
+	virtual bool write(Data *src, int64 offset, int64 size);
+	bool write(Data *src);
+
+	/**
+	 * Flushes all data written to the Stream.
+	 **/
+	virtual bool flush() = 0;
+
+	/**
+	 * Gets the total size of the Stream, if supported.
+	 **/
+	virtual int64 getSize() = 0;
+
+	/**
+	 * Sets the current position in the Stream, if supported.
+	 **/
+	virtual bool seek(int64 pos, SeekOrigin origin = SEEKORIGIN_BEGIN) = 0;
+
+	/**
+	 * Gets the current position in the Stream, if supported.
+	 **/
+	virtual int64 tell() = 0;
+
 }; // Stream
 
 } // love

src/common/StringMap.h

@@ -21,8 +21,6 @@
 #ifndef LOVE_STRING_MAP_H
 #define LOVE_STRING_MAP_H
 
-#include "Exception.h"
-
 #include <string>
 #include <vector>
 
@@ -182,6 +180,36 @@ private:
 
 }; // StringMap
 
+#define STRINGMAP_DECLARE(type) \
+bool getConstant(const char *in, type &out); \
+bool getConstant(type in, const char *&out); \
+std::vector<std::string> getConstants(type); \
+
+#define STRINGMAP_BEGIN(type, count, name) \
+static StringMap<type, count>::Entry name##Entries[] =
+
+#define STRINGMAP_END(type, count, name) \
+; \
+static StringMap<type, count> name##s(name##Entries, sizeof(name##Entries)); \
+bool getConstant(const char *in, type &out) { return name##s.find(in, out); } \
+bool getConstant(type in, const char *&out) { return name##s.find(in, out); } \
+std::vector<std::string> getConstants(type) { return name##s.getNames(); }
+
+#define STRINGMAP_CLASS_DECLARE(type) \
+static bool getConstant(const char *in, type &out); \
+static bool getConstant(type in, const char *&out); \
+static std::vector<std::string> getConstants(type); \
+
+#define STRINGMAP_CLASS_BEGIN(classname, type, count, name) \
+static StringMap<type, count>::Entry name##Entries[] =
+
+#define STRINGMAP_CLASS_END(classname, type, count, name) \
+; \
+static StringMap<type, count> name##s(name##Entries, sizeof(name##Entries)); \
+bool classname::getConstant(const char *in, type &out) { return name##s.find(in, out); } \
+bool classname::getConstant(type in, const char *&out) { return name##s.find(in, out); } \
+std::vector<std::string> classname::getConstants(type) { return name##s.getNames(); }
+
 } // love
 
 #endif // LOVE_STRING_MAP_H

src/common/Variant.cpp

@@ -26,25 +26,13 @@
 namespace love
 {
 
-static Proxy *tryextractproxy(lua_State *L, int idx)
-{
-	Proxy *u = (Proxy *)lua_touserdata(L, idx);
-
-	if (u == nullptr || u->type == nullptr)
-		return nullptr;
-
-	// We could get rid of the dynamic_cast for more performance, but it would
-	// be less safe...
-	if (dynamic_cast<Object *>(u->object) != nullptr)
-		return u;
-
-	return nullptr;
-}
+Variant::Variant(Type vtype)
+	: type(vtype)
+{}
 
 Variant::Variant()
 	: type(NIL)
-{
-}
+{}
 
 Variant::Variant(bool boolean)
 	: type(BOOLEAN)
@@ -95,10 +83,10 @@ Variant::Variant(love::Type *lovetype, love::Object *object)
 }
 
 // Variant gets ownership of the vector.
-Variant::Variant(std::vector<std::pair<Variant, Variant>> *table)
+Variant::Variant(SharedTable *table)
 	: type(TABLE)
 {
-	data.table = new SharedTable(table);
+	data.table = table;
 }
 
 Variant::Variant(const Variant &v)
@@ -152,135 +140,4 @@ Variant &Variant::operator = (const Variant &v)
 	return *this;
 }
 
-Variant Variant::fromLua(lua_State *L, int n, std::set<const void*> *tableSet)
-{
-	size_t len;
-	const char *str;
-	Proxy *p = nullptr;
-
-	if (n < 0) // Fix the stack position, we might modify it later
-		n += lua_gettop(L) + 1;
-
-	switch (lua_type(L, n))
-	{
-	case LUA_TBOOLEAN:
-		return Variant(luax_toboolean(L, n));
-	case LUA_TNUMBER:
-		return Variant(lua_tonumber(L, n));
-	case LUA_TSTRING:
-		str = lua_tolstring(L, n, &len);
-		return Variant(str, len);
-	case LUA_TLIGHTUSERDATA:
-		return Variant(lua_touserdata(L, n));
-	case LUA_TUSERDATA:
-		p = tryextractproxy(L, n);
-		if (p != nullptr)
-			return Variant(p->type, p->object);
-		else
-		{
-			luax_typerror(L, n, "love type");
-			return Variant();
-		}
-	case LUA_TNIL:
-		return Variant();
-	case LUA_TTABLE:
-		{
-			bool success = true;
-			std::set<const void *> topTableSet;
-			std::vector<std::pair<Variant, Variant>> *table = new std::vector<std::pair<Variant, Variant>>();
-
-			// We can use a pointer to a stack-allocated variable because it's
-			// never used after the stack-allocated variable is destroyed.
-			if (tableSet == nullptr)
-				tableSet = &topTableSet;
-
-			// Now make sure this table wasn't already serialised
-			const void *tablePointer = lua_topointer(L, n);
-			{
-				auto result = tableSet->insert(tablePointer);
-				if (!result.second) // insertion failed
-					throw love::Exception("Cycle detected in table");
-			}
-
-			size_t len = luax_objlen(L, -1);
-			if (len > 0)
-				table->reserve(len);
-
-			lua_pushnil(L);
-
-			while (lua_next(L, n))
-			{
-				table->emplace_back(fromLua(L, -2, tableSet), fromLua(L, -1, tableSet));
-				lua_pop(L, 1);
-
-				const auto &p = table->back();
-				if (p.first.getType() == UNKNOWN || p.second.getType() == UNKNOWN)
-				{
-					success = false;
-					break;
-				}
-			}
-
-			// And remove the table from the set again
-			tableSet->erase(tablePointer);
-
-			if (success)
-				return Variant(table);
-			else
-				delete table;
-		}
-		break;
-	}
-
-	Variant v;
-	v.type = UNKNOWN;
-	return v;
-}
-
-void Variant::toLua(lua_State *L) const
-{
-	switch (type)
-	{
-	case BOOLEAN:
-		lua_pushboolean(L, data.boolean);
-		break;
-	case NUMBER:
-		lua_pushnumber(L, data.number);
-		break;
-	case STRING:
-		lua_pushlstring(L, data.string->str, data.string->len);
-		break;
-	case SMALLSTRING:
-		lua_pushlstring(L, data.smallstring.str, data.smallstring.len);
-		break;
-	case LUSERDATA:
-		lua_pushlightuserdata(L, data.userdata);
-		break;
-	case LOVEOBJECT:
-		luax_pushtype(L, *data.objectproxy.type, data.objectproxy.object);
-		break;
-	case TABLE:
-	{
-		std::vector<std::pair<Variant, Variant>> *table = data.table->table;
-		int tsize = (int) table->size();
-
-		lua_createtable(L, 0, tsize);
-
-		for (int i = 0; i < tsize; ++i)
-		{
-			std::pair<Variant, Variant> &kv = (*table)[i];
-			kv.first.toLua(L);
-			kv.second.toLua(L);
-			lua_settable(L, -3);
-		}
-
-		break;
-	}
-	case NIL:
-	default:
-		lua_pushnil(L);
-		break;
-	}
-}
-
 } // love

src/common/Variant.h

@@ -21,19 +21,18 @@
 #ifndef LOVE_VARIANT_H
 #define LOVE_VARIANT_H
 
-#include "common/runtime.h"
+#include "common/config.h"
 #include "common/Object.h"
 #include "common/int.h"
 
 #include <cstring>
 #include <string>
 #include <vector>
-#include <set>
 
 namespace love
 {
 
-class Variant
+class LOVE_EXPORT Variant
 {
 public:
 
@@ -73,14 +72,10 @@ public:
 	{
 	public:
 
-		SharedTable(std::vector<std::pair<Variant, Variant>> *table)
-			: table(table)
-		{
-		}
+		SharedTable() {}
+		virtual ~SharedTable() {}
 
-		virtual ~SharedTable() { delete table; }
-
-		std::vector<std::pair<Variant, Variant>> *table;
+		std::vector<std::pair<Variant, Variant>> pairs;
 	};
 
 	union Data
@@ -105,7 +100,7 @@ public:
 	Variant(const std::string &str);
 	Variant(void *lightuserdata);
 	Variant(love::Type *type, love::Object *object);
-	Variant(std::vector<std::pair<Variant, Variant>> *table);
+	Variant(SharedTable *table);
 	Variant(const Variant &v);
 	Variant(Variant &&v);
 	~Variant();
@@ -115,11 +110,12 @@ public:
 	Type getType() const { return type; }
 	const Data &getData() const { return data; }
 
-	static Variant fromLua(lua_State *L, int n, std::set<const void*> *tableSet = nullptr);
-	void toLua(lua_State *L) const;
+	static Variant unknown() { return Variant(UNKNOWN); }
 
 private:
 
+	Variant(Type vtype);
+
 	Type type;
 	Data data;
 

src/common/android.cpp

@@ -19,6 +19,7 @@
  **/
 
 #include "android.h"
+#include "Object.h"
 
 #ifdef LOVE_ANDROID
 
@@ -35,6 +36,7 @@
 #include <sys/types.h>
 #include <unistd.h>
 
+#include "libraries/physfs/physfs.h"
 #include "filesystem/physfs/PhysfsIo.h"
 
 namespace love
@@ -45,13 +47,11 @@ namespace android
 void setImmersive(bool immersive_active)
 {
 	JNIEnv *env = (JNIEnv*) SDL_AndroidGetJNIEnv();
-
 	jobject activity = (jobject) SDL_AndroidGetActivity();
+	jclass clazz = env->GetObjectClass(activity);
 
-	jclass clazz(env->GetObjectClass(activity));
-	jmethodID method_id = env->GetMethodID(clazz, "setImmersiveMode", "(Z)V");
-
-	env->CallVoidMethod(activity, method_id, immersive_active);
+	static jmethodID setImmersiveMethod = env->GetMethodID(clazz, "setImmersiveMode", "(Z)V");
+	env->CallVoidMethod(activity, setImmersiveMethod, immersive_active);
 
 	env->DeleteLocalRef(activity);
 	env->DeleteLocalRef(clazz);
@@ -60,18 +60,16 @@ void setImmersive(bool immersive_active)
 bool getImmersive()
 {
 	JNIEnv *env = (JNIEnv*) SDL_AndroidGetJNIEnv();
-
 	jobject activity = (jobject) SDL_AndroidGetActivity();
+	jclass clazz = env->GetObjectClass(activity);
 
-	jclass clazz(env->GetObjectClass(activity));
-	jmethodID method_id = env->GetMethodID(clazz, "getImmersiveMode", "()Z");
-
-	jboolean immersive_active = env->CallBooleanMethod(activity, method_id);
+	static jmethodID getImmersiveMethod = env->GetMethodID(clazz, "getImmersiveMode", "()Z");
+	jboolean immersiveActive = env->CallBooleanMethod(activity, getImmersiveMethod);
 
 	env->DeleteLocalRef(activity);
 	env->DeleteLocalRef(clazz);
 
-	return immersive_active;
+	return immersiveActive;
 }
 
 double getScreenScale()
@@ -81,16 +79,13 @@ double getScreenScale()
 	if (result == -1.)
 	{
 		JNIEnv *env = (JNIEnv*) SDL_AndroidGetJNIEnv();
-		jclass activity = env->FindClass("org/love2d/android/GameActivity");
+		jobject activity = (jobject) SDL_AndroidGetActivity();
+		jclass clazz = env->GetObjectClass(activity);
 
-		jmethodID getMetrics = env->GetStaticMethodID(activity, "getMetrics", "()Landroid/util/DisplayMetrics;");
-		jobject metrics = env->CallStaticObjectMethod(activity, getMetrics);
-		jclass metricsClass = env->GetObjectClass(metrics);
+		jmethodID getDPIMethod = env->GetMethodID(clazz, "getDPIScale", "()F");
+		result = (double) env->CallFloatMethod(activity, getDPIMethod);
 
-		result = env->GetFloatField(metrics, env->GetFieldID(metricsClass, "density", "F"));
-
-		env->DeleteLocalRef(metricsClass);
-		env->DeleteLocalRef(metrics);
+		env->DeleteLocalRef(clazz);
 		env->DeleteLocalRef(activity);
 	}
 
@@ -101,8 +96,10 @@ bool getSafeArea(int &top, int &left, int &bottom, int &right)
 {
 	JNIEnv *env = (JNIEnv*) SDL_AndroidGetJNIEnv();
 	jobject activity = (jobject) SDL_AndroidGetActivity();
-	jclass clazz(env->GetObjectClass(activity));
-	jmethodID methodID = env->GetMethodID(clazz, "initializeSafeArea", "()Z");
+	jclass clazz = env->GetObjectClass(activity);
+
+	static jmethodID methodID = env->GetMethodID(clazz, "getSafeArea", "()Z");
+
 	bool hasSafeArea = false;
 
 	if (methodID == nullptr)
@@ -122,64 +119,33 @@ bool getSafeArea(int &top, int &left, int &bottom, int &right)
 	return hasSafeArea;
 }
 
-const char *getSelectedGameFile()
-{
-	static const char *path = NULL;
-
-	if (path)
-	{
-		delete path;
-		path = NULL;
-	}
-
-	JNIEnv *env = (JNIEnv*) SDL_AndroidGetJNIEnv();
-	jclass activity = env->FindClass("org/love2d/android/GameActivity");
-
-	jmethodID getGamePath = env->GetStaticMethodID(activity, "getGamePath", "()Ljava/lang/String;");
-	jstring gamePath = (jstring) env->CallStaticObjectMethod(activity, getGamePath);
-	const char *utf = env->GetStringUTFChars(gamePath, 0);
-	if (utf)
-	{
-		path = SDL_strdup(utf);
-		env->ReleaseStringUTFChars(gamePath, utf);
-	}
-
-	env->DeleteLocalRef(gamePath);
-	env->DeleteLocalRef(activity);
-
-	return path;
-}
-
 bool openURL(const std::string &url)
 {
 	JNIEnv *env = (JNIEnv*) SDL_AndroidGetJNIEnv();
-	jclass activity = env->FindClass("org/love2d/android/GameActivity");
+	jobject activity = (jobject) SDL_AndroidGetActivity();
+	jclass clazz = env->GetObjectClass(activity);
 
-	jmethodID openURL = env->GetStaticMethodID(activity, "openURLFromLOVE", "(Ljava/lang/String;)Z");
+	static jmethodID openURL = env->GetMethodID(clazz, "openURLFromLOVE", "(Ljava/lang/String;)Z");
 
-	if (openURL == nullptr)
-	{
-		env->ExceptionClear();
-		openURL = env->GetStaticMethodID(activity, "openURL", "(Ljava/lang/String;)Z");
-	}
+	jstring jstringURL = env->NewStringUTF(url.c_str());
+	jboolean result = env->CallBooleanMethod(clazz, openURL, jstringURL);
 
-	jstring url_jstring = (jstring) env->NewStringUTF(url.c_str());
-
-	jboolean result = env->CallStaticBooleanMethod(activity, openURL, url_jstring);
-
-	env->DeleteLocalRef(url_jstring);
+	env->DeleteLocalRef(jstringURL);
+	env->DeleteLocalRef(clazz);
 	env->DeleteLocalRef(activity);
-	return result;
+	return (bool) result;
 }
 
 void vibrate(double seconds)
 {
 	JNIEnv *env = (JNIEnv*) SDL_AndroidGetJNIEnv();
-	jclass activity = env->FindClass("org/love2d/android/GameActivity");
+	jobject activity = (jobject) SDL_AndroidGetActivity();
+	jclass clazz = env->GetObjectClass(activity);
 
-	jmethodID vibrate_method = env->GetStaticMethodID(activity, "vibrate", "(D)V");
-	env->CallStaticVoidMethod(activity, vibrate_method, seconds);
+	static jmethodID vibrateMethod = env->GetMethodID(clazz, "vibrate", "(D)V");
+	env->CallVoidMethod(activity, vibrateMethod, seconds);
 
+	env->DeleteLocalRef(clazz);
 	env->DeleteLocalRef(activity);
 }
 
@@ -192,40 +158,9 @@ void freeGameArchiveMemory(void *ptr)
 	delete[] game_love_data;
 }
 
-bool loadGameArchiveToMemory(const char* filename, char **ptr, size_t *size)
-{
-	SDL_RWops *asset_game_file = SDL_RWFromFile(filename, "rb");
-	if (!asset_game_file) {
-		SDL_Log("Could not find %s", filename);
-		return false;
-	}
-
-	Sint64 file_size = asset_game_file->size(asset_game_file);
-	if (file_size <= 0) {
-		SDL_Log("Could not load game from %s. File has invalid file size: %d.", filename, (int) file_size);
-		return false;
-	}
-
-	*ptr = new char[file_size];
-	if (!*ptr) {
-		SDL_Log("Could not allocate memory for in-memory game archive");
-		return false;
-	}
-
-	size_t bytes_copied = asset_game_file->read(asset_game_file, (void*) *ptr, sizeof(char), (size_t) file_size);
-	if (bytes_copied != file_size) {
-		SDL_Log("Incomplete copy of in-memory game archive!");
-		delete[] *ptr;
-		return false;
-	}
-
-	*size = (size_t) file_size;
-	return true;
-}
-
 bool directoryExists(const char *path)
 {
-	struct stat s;
+	struct stat s {};
 	int err = stat(path, &s);
 	if (err == -1)
 	{
@@ -284,9 +219,9 @@ bool hasRecordingPermission()
 {
 	JNIEnv *env = (JNIEnv*) SDL_AndroidGetJNIEnv();
 	jobject activity = (jobject) SDL_AndroidGetActivity();
+	jclass clazz = env->GetObjectClass(activity);
 
-	jclass clazz(env->GetObjectClass(activity));
-	jmethodID methodID = env->GetMethodID(clazz, "hasRecordAudioPermission", "()Z");
+	static jmethodID methodID = env->GetMethodID(clazz, "hasRecordAudioPermission", "()Z");
 	jboolean result = false;
 
 	if (methodID == nullptr)
@@ -736,21 +671,11 @@ void deinitializeVirtualArchive()
 
 bool checkFusedGame(void **physfsIO_Out)
 {
-	// TODO: Reorder the loading in 12.0
 	PHYSFS_Io *&io = *(PHYSFS_Io **) physfsIO_Out;
 	AAssetManager *assetManager = getAssetManager();
 
-	// Prefer game.love inside assets/ folder
-	AAsset *asset = AAssetManager_open(assetManager, "game.love", AASSET_MODE_RANDOM);
-	if (asset)
-	{
-		io = aasset::AssetInfo::fromAAsset(assetManager, "game.love", asset);
-		return true;
-	}
-
-	// If there's no game.love inside assets/ try main.lua
-	asset = AAssetManager_open(assetManager, "main.lua", AASSET_MODE_STREAMING);
-
+	// Prefer main.lua inside assets/ folder
+	AAsset *asset = AAssetManager_open(assetManager, "main.lua", AASSET_MODE_STREAMING);
 	if (asset)
 	{
 		AAsset_close(asset);
@@ -758,6 +683,14 @@ bool checkFusedGame(void **physfsIO_Out)
 		return true;
 	}
 
+	// If there's no main.lua inside assets/ try game.love
+	asset = AAssetManager_open(assetManager, "game.love", AASSET_MODE_RANDOM);
+	if (asset)
+	{
+		io = aasset::AssetInfo::fromAAsset(assetManager, "game.love", asset);
+		return true;
+	}
+
 	// Not found
 	return false;
 }
@@ -765,43 +698,171 @@ bool checkFusedGame(void **physfsIO_Out)
 const char *getCRequirePath()
 {
 	static bool initialized = false;
-	static const char *path = nullptr;
+	static std::string path;
 
 	if (!initialized)
 	{
 		JNIEnv *env = (JNIEnv*) SDL_AndroidGetJNIEnv();
 		jobject activity = (jobject) SDL_AndroidGetActivity();
+		jclass clazz = env->GetObjectClass(activity);
 
-		jclass clazz(env->GetObjectClass(activity));
-		jmethodID method_id = env->GetMethodID(clazz, "getCRequirePath", "()Ljava/lang/String;");
+		static jmethodID getCRequireMethod = env->GetMethodID(clazz, "getCRequirePath", "()Ljava/lang/String;");
 
-		path = "";
-		initialized = true;
-
-		if (method_id)
+		jstring cpath = (jstring) env->CallObjectMethod(activity, getCRequireMethod);
+		const char *utf = env->GetStringUTFChars(cpath, nullptr);
+		if (utf)
 		{
-			jstring cpath = (jstring) env->CallObjectMethod(activity, method_id);
-			const char *utf = env->GetStringUTFChars(cpath, nullptr);
-			if (utf)
-			{
-				path = SDL_strdup(utf);
-				env->ReleaseStringUTFChars(cpath, utf);
-			}
-
-			env->DeleteLocalRef(cpath);
-		}
-		else
-		{
-			// NoSuchMethodException is thrown in case methodID is null
-			env->ExceptionClear();
-			return "";
+			path = utf;
+			env->ReleaseStringUTFChars(cpath, utf);
 		}
 
+		env->DeleteLocalRef(cpath);
 		env->DeleteLocalRef(activity);
 		env->DeleteLocalRef(clazz);
 	}
 
-	return path;
+	return path.c_str();
+}
+
+int getFDFromContentProtocol(const char *path)
+{
+	int fd = -1;
+
+	if (strstr(path, "content://") == path)
+	{
+		JNIEnv *env = (JNIEnv*) SDL_AndroidGetJNIEnv();
+		jobject activity = (jobject) SDL_AndroidGetActivity();
+		jclass clazz = env->GetObjectClass(activity);
+
+		static jmethodID converter = env->GetMethodID(clazz, "convertToFileDescriptor", "(Ljava/lang/String;)I");
+
+		jstring uri = env->NewStringUTF(path);
+		fd = (int) env->CallIntMethod(activity, converter, uri);
+
+		env->DeleteLocalRef(uri);
+		env->DeleteLocalRef(clazz);
+		env->DeleteLocalRef(activity);
+	}
+
+	return fd;
+}
+
+int getFDFromLoveProtocol(const char *path)
+{
+	constexpr const char PROTOCOL[] = "love2d://fd/";
+	constexpr size_t PROTOCOL_LEN = sizeof(PROTOCOL) - 1;
+
+	if (*path == '/')
+		path++;
+
+	if (memcmp(path, PROTOCOL, PROTOCOL_LEN) == 0)
+	{
+		try
+		{
+			return std::stoi(path + PROTOCOL_LEN, nullptr, 10);
+		}
+		catch (std::logic_error &)
+		{ }
+	}
+
+	return -1;
+}
+
+class FileDescriptorTracker: public love::Object
+{
+public:
+	explicit FileDescriptorTracker(int fd): Object(), fd(fd) {}
+	~FileDescriptorTracker() override { close(fd); }
+	int getFd() const { return fd; }
+private:
+	int fd;
+};
+
+struct FileDescriptorIO
+{
+	FileDescriptorTracker *fd;
+	off64_t size;
+	off64_t offset;
+};
+
+void *getIOFromFD(int fd)
+{
+	if (fd == -1)
+		return nullptr;
+
+	// Create file descriptor IO structure
+	FileDescriptorIO *fdio = new FileDescriptorIO();
+	fdio->size = lseek64(fd, 0, SEEK_END);
+	fdio->offset = 0;
+	lseek64(fd, 0, SEEK_SET);
+
+	if (fdio->size == -1)
+	{
+		// Cannot get size
+		delete fdio;
+		return nullptr;
+	}
+
+	fdio->fd = new FileDescriptorTracker(fd);
+
+	PHYSFS_Io *io = new PHYSFS_Io();
+	io->version = 0;
+	io->opaque = fdio;
+	io->read = [](PHYSFS_Io *io, void *buf, PHYSFS_uint64 size)
+	{
+		FileDescriptorIO *fdio = (FileDescriptorIO *) io->opaque;
+		ssize_t ret = pread64(fdio->fd->getFd(), buf, (size_t) size, fdio->offset);
+
+		if (ret == -1)
+			PHYSFS_setErrorCode(PHYSFS_ERR_OTHER_ERROR);
+		else
+			fdio->offset = std::min(fdio->offset + (off64_t) ret, fdio->size);
+
+		return (PHYSFS_sint64) ret;
+	};
+	io->write = nullptr;
+	io->seek = [](PHYSFS_Io *io, PHYSFS_uint64 offset)
+	{
+		FileDescriptorIO *fdio = (FileDescriptorIO *) io->opaque;
+		fdio->offset = std::min(std::max<off64_t>((off64_t) offset, 0), fdio->size);
+		// Always success
+		return 1;
+	};
+	io->tell = [](PHYSFS_Io *io)
+	{
+		FileDescriptorIO *fdio = (FileDescriptorIO *) io->opaque;
+		return (PHYSFS_sint64) fdio->offset;
+	};
+	io->length = [](PHYSFS_Io *io)
+	{
+		FileDescriptorIO *fdio = (FileDescriptorIO *) io->opaque;
+		return (PHYSFS_sint64) fdio->size;
+	};
+	io->duplicate = [](PHYSFS_Io *io)
+	{
+		FileDescriptorIO *fdio = (FileDescriptorIO *) io->opaque;
+		FileDescriptorIO *fdio2 = new FileDescriptorIO();
+		PHYSFS_Io *io2 = new PHYSFS_Io();
+
+		fdio->fd->retain();
+
+		// Copy data
+		*fdio2 = *fdio;
+		*io2 = *io;
+		io2->opaque = fdio2;
+
+		return io2;
+	};
+	io->flush = nullptr;
+	io->destroy = [](PHYSFS_Io *io)
+	{
+		FileDescriptorIO *fdio = (FileDescriptorIO *) io->opaque;
+		fdio->fd->release();
+		delete fdio;
+		delete io;
+	};
+
+	return io;
 }
 
 const char *getArg0()

src/common/android.h

@@ -50,11 +50,6 @@ double getScreenScale();
  **/
 bool getSafeArea(int &top, int &left, int &bottom, int &right);
 
-/**
- * Gets the selected love file in the device filesystem.
- **/
-const char *getSelectedGameFile();
-
 bool openURL(const std::string &url);
 
 void vibrate(double seconds);
@@ -64,8 +59,6 @@ void vibrate(double seconds);
  */
 void freeGameArchiveMemory(void *ptr);
 
-bool loadGameArchiveToMemory(const char *filename, char **ptr, size_t *size);
-
 bool directoryExists(const char *path);
 
 bool mkdir(const char *path);
@@ -103,6 +96,27 @@ bool checkFusedGame(void **physfsIO_Out);
 
 const char *getCRequirePath();
 
+/**
+ * Convert "content://" to file descriptor.
+ * @param path Path with content:// URI
+ * @return File descriptor if successful, -1 on failure.
+ */
+int getFDFromContentProtocol(const char *path);
+
+/**
+ * Attempt to parse "(/)love2d://fd/<fd>" from path.
+ * @param path Potentially special path.
+ * @return File descriptor passed if successful, -1 if path is not valid.
+ */
+int getFDFromLoveProtocol(const char *path);
+
+/**
+ * Create PHYSFS_Io from file descriptor.
+ * @param fd File descriptor
+ * @return PHYSFS_Io casted to void*.
+ */
+void *getIOFromFD(int fd);
+
 /**
  * Retrieve PHYSFS_AndroidInit structure.
  * @return Pointer to PHYSFS_AndroidInit structure, casted to pointer of char.

src/common/apple.h

@@ -0,0 +1,50 @@
+/**
+ * Copyright (c) 2006-2023 LOVE Development Team
+ *
+ * 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.
+ **/
+
+#pragma once
+
+#include "config.h"
+
+#if defined(LOVE_IOS) || defined(LOVE_MACOS)
+
+#include <string>
+
+namespace love
+{
+namespace apple
+{
+
+enum UserDirectory
+{
+	USER_DIRECTORY_HOME,
+	USER_DIRECTORY_APPSUPPORT,
+	USER_DIRECTORY_DOCUMENTS,
+	USER_DIRECTORY_DESKTOP,
+	USER_DIRECTORY_CACHES,
+	USER_DIRECTORY_TEMP,
+};
+
+std::string getUserDirectory(UserDirectory dir);
+std::string getExecutablePath();
+
+} // apple
+} // love
+
+#endif // defined(LOVE_IOS) || defined(LOVE_MACOS)

src/common/apple.mm

@@ -0,0 +1,79 @@
+/**
+ * Copyright (c) 2006-2023 LOVE Development Team
+ *
+ * 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 "apple.h"
+
+#if defined(LOVE_IOS) || defined(LOVE_MACOS)
+
+#import <Foundation/Foundation.h>
+
+namespace love
+{
+namespace apple
+{
+
+std::string getUserDirectory(UserDirectory dir)
+{
+	std::string path;
+	NSSearchPathDirectory nsdir = NSTrashDirectory;
+
+	@autoreleasepool
+	{
+		switch (dir)
+		{
+		case USER_DIRECTORY_HOME:
+			return NSHomeDirectory().UTF8String;
+		case USER_DIRECTORY_APPSUPPORT:
+			nsdir = NSApplicationSupportDirectory;
+			break;
+		case USER_DIRECTORY_DOCUMENTS:
+			nsdir = NSDocumentDirectory;
+			break;
+		case USER_DIRECTORY_DESKTOP:
+			nsdir = NSDesktopDirectory;
+			break;
+		case USER_DIRECTORY_CACHES:
+			nsdir = NSCachesDirectory;
+			break;
+		case USER_DIRECTORY_TEMP:
+			nsdir = NSItemReplacementDirectory;
+			break;
+		}
+
+		NSArray<NSURL *> *dirs = [[NSFileManager defaultManager] URLsForDirectory:nsdir inDomains:NSUserDomainMask];
+		if (dirs.count > 0)
+			path = [dirs[0].path UTF8String];
+	}
+
+	return path;
+}
+
+std::string getExecutablePath()
+{
+	@autoreleasepool
+	{
+		return std::string([NSBundle mainBundle].executablePath.UTF8String);
+	}
+}
+
+} // apple
+} // love
+
+#endif // defined(LOVE_IOS) || defined(LOVE_MACOS)

src/common/config.h

@@ -24,14 +24,10 @@
 // Platform stuff.
 #if defined(WIN32) || defined(_WIN32)
 #	define LOVE_WINDOWS 1
-	// If _USING_V110_SDK71_ is defined it means we are using the xp toolset.
-#	if defined(_MSC_VER) && (_MSC_VER >= 1700) && !_USING_V110_SDK71_
-#		include <winapifamily.h>
-#		if WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_APP) && !WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_DESKTOP)
-#			define LOVE_WINDOWS_UWP 1
-#			define LOVE_NO_MODPLUG 1
-#			define LOVE_NOMPG123 1
-#		endif
+#	include <winapifamily.h>
+#	if WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_APP) && !WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_DESKTOP)
+#		define LOVE_WINDOWS_UWP 1
+#		define LOVE_NO_MODPLUG 1
 #	endif
 #endif
 #if defined(linux) || defined(__linux) || defined(__linux__)
@@ -39,13 +35,15 @@
 #endif
 #if defined(__ANDROID__)
 #	define LOVE_ANDROID 1
+// Needed for ENet
+#	define HAS_SOCKLEN_T 1
 #endif
 #if defined(__APPLE__)
 #	include <TargetConditionals.h>
 #	if TARGET_OS_IPHONE
 #		define LOVE_IOS 1
 #	elif TARGET_OS_MAC
-#		define LOVE_MACOSX 1
+#		define LOVE_MACOS 1
 #	endif
 #endif
 #if defined(__FreeBSD__) || defined(__NetBSD__) || defined(__OpenBSD__)
@@ -72,7 +70,7 @@
 #endif
 
 // NEON instructions.
-#if defined(__ARM_NEON)
+#if defined(__ARM_NEON) || defined(_M_ARM64)
 #	define LOVE_SIMD_NEON
 #endif
 
@@ -119,7 +117,7 @@
 #	define NOMINMAX
 #endif
 
-#if defined(LOVE_MACOSX) || defined(LOVE_IOS)
+#if defined(LOVE_MACOS) || defined(LOVE_IOS)
 #	define LOVE_LEGENDARY_APP_ARGV_HACK
 #endif
 
@@ -127,6 +125,14 @@
 #	define LOVE_LEGENDARY_ACCELEROMETER_AS_JOYSTICK_HACK
 #endif
 
+#if defined(LOVE_WINDOWS) || defined(LOVE_LINUX) || defined(LOVE_ANDROID)
+#	define LOVE_GRAPHICS_VULKAN
+#endif
+
+#if defined(LOVE_MACOS) || defined(LOVE_IOS)
+#	define LOVE_GRAPHICS_METAL
+#endif
+
 // Autotools config.h
 #ifdef HAVE_CONFIG_H
 #	include <../config.h>
@@ -152,6 +158,7 @@
 #	define LOVE_ENABLE_MATH
 #	define LOVE_ENABLE_MOUSE
 #	define LOVE_ENABLE_PHYSICS
+#	define LOVE_ENABLE_SENSOR
 #	define LOVE_ENABLE_SOUND
 #	define LOVE_ENABLE_SYSTEM
 #	define LOVE_ENABLE_THREAD
@@ -163,10 +170,11 @@
 #	define LOVE_ENABLE_ENET
 #	define LOVE_ENABLE_LUASOCKET
 #	define LOVE_ENABLE_LUA53
+#	define LOVE_ENABLE_LUAHTTPS
 #endif
 
 // Check we have a sane configuration
-#if !defined(LOVE_WINDOWS) && !defined(LOVE_LINUX) && !defined(LOVE_IOS) && !defined(LOVE_MACOSX) && !defined(LOVE_ANDROID)
+#if !defined(LOVE_WINDOWS) && !defined(LOVE_LINUX) && !defined(LOVE_IOS) && !defined(LOVE_MACOS) && !defined(LOVE_ANDROID)
 #	error Could not detect target platform
 #endif
 #if !defined(LOVE_LITTLE_ENDIAN) && !defined(LOVE_BIG_ENDIAN)

src/common/deprecation.cpp

@@ -24,6 +24,7 @@
 
 #include <atomic>
 #include <map>
+#include <sstream>
 
 namespace love
 {
@@ -97,32 +98,32 @@ bool isDeprecationOutputEnabled()
 
 std::string getDeprecationNotice(const DeprecationInfo &info, bool usewhere)
 {
-	std::string notice;
+	std::stringstream notice;
 
 	if (usewhere)
-		notice += info.where;
+		notice << info.where;
 
-	notice += "Using deprecated ";
+	notice << "Using deprecated ";
 
 	if (info.apiType == API_FUNCTION)
-		notice += "function ";
+		notice << "function ";
 	else if (info.apiType == API_METHOD)
-		notice += "method ";
+		notice << "method ";
+	else if (info.apiType == API_CALLBACK)
+		notice << "callback ";
 	else if (info.apiType == API_FIELD)
-		notice += "field ";
+		notice << "field ";
 	else if (info.apiType == API_CONSTANT)
-		notice += "constant ";
-	else
-		notice += "API ";
+		notice << "constant ";
 
-	notice += info.name;
+	notice << info.name;
 
 	if (info.type == DEPRECATED_REPLACED && !info.replacement.empty())
-		notice += " (replaced by " + info.replacement + ")";
+		notice << " (replaced by " << info.replacement << ")";
 	else if (info.type == DEPRECATED_RENAMED && !info.replacement.empty())
-		notice += " (renamed to " + info.replacement + ")";
+		notice << " (renamed to " << info.replacement << ")";
 
-	return notice;
+	return notice.str();
 }
 
 GetDeprecated::GetDeprecated()
@@ -184,4 +185,23 @@ MarkDeprecated::~MarkDeprecated()
 		mutex->unlock();
 }
 
+STRINGMAP_BEGIN(APIType, API_MAX_ENUM, apiType)
+{
+	{ "function", API_FUNCTION },
+	{ "method",   API_METHOD   },
+	{ "callback", API_CALLBACK },
+	{ "field",    API_FIELD    },
+	{ "constant", API_CONSTANT },
+	{ "custom",   API_CUSTOM   },
+}
+STRINGMAP_END(APIType, API_MAX_ENUM, apiType)
+
+STRINGMAP_BEGIN(DeprecationType, DEPRECATED_MAX_ENUM, deprecationType)
+{
+	{ "noreplacement", DEPRECATED_NO_REPLACEMENT },
+	{ "replaced",      DEPRECATED_REPLACED       },
+	{ "renamed",       DEPRECATED_RENAMED        },
+}
+STRINGMAP_END(DeprecationType, DEPRECATED_MAX_ENUM, deprecationType)
+
 } // love

src/common/deprecation.h

@@ -21,6 +21,7 @@
 #pragma once
 
 #include "int.h"
+#include "StringMap.h"
 
 #include <string>
 #include <vector>
@@ -32,8 +33,11 @@ enum APIType
 {
 	API_FUNCTION,
 	API_METHOD,
+	API_CALLBACK,
 	API_FIELD,
 	API_CONSTANT,
+	API_CUSTOM,
+	API_MAX_ENUM
 };
 
 enum DeprecationType
@@ -41,6 +45,7 @@ enum DeprecationType
 	DEPRECATED_NO_REPLACEMENT,
 	DEPRECATED_REPLACED,
 	DEPRECATED_RENAMED,
+	DEPRECATED_MAX_ENUM
 };
 
 struct DeprecationInfo
@@ -78,4 +83,7 @@ struct MarkDeprecated
 	DeprecationInfo *info;
 };
 
+STRINGMAP_DECLARE(APIType);
+STRINGMAP_DECLARE(DeprecationType);
+
 } // love

src/common/ios.h

@@ -42,27 +42,12 @@ namespace ios
  **/
 std::string getLoveInResources(bool &fused);
 
-/**
- * Gets the directory path where files should be stored.
- **/
-std::string getAppdataDirectory();
-
-/**
- * Get the home directory (on iOS, this really means the app's sandbox dir.)
- **/
-std::string getHomeDirectory();
-
 /**
  * Opens the specified URL with the default program associated with the URL's
  * scheme.
  **/
 bool openURL(const std::string &url);
 
-/**
- * Returns the full path to the executable.
- **/
-std::string getExecutablePath();
-
 /**
  * Causes devices with vibration support to vibrate for about 0.5 seconds.
  **/

src/common/ios.mm

@@ -19,6 +19,9 @@
  **/
 
 #include "ios.h"
+#include "apple.h"
+
+using namespace love::apple;
 
 #ifdef LOVE_IOS
 
@@ -127,18 +130,14 @@ static bool deleteFileInDocuments(NSString *filename);
 
 @end
 
-static NSString *getDocumentsDirectory()
-{
-	NSArray *docdirs = NSSearchPathForDirectoriesInDomains(NSDocumentDirectory, NSUserDomainMask, YES);
-	return docdirs[0];
-}
-
 static NSArray *getLovesInDocuments()
 {
+	std::string docdir = getUserDirectory(USER_DIRECTORY_DOCUMENTS);
+
 	NSMutableArray *paths = [NSMutableArray new];
 
 	NSFileManager *manager = [NSFileManager defaultManager];
-	NSDirectoryEnumerator *enumerator = [manager enumeratorAtPath:getDocumentsDirectory()];
+	NSDirectoryEnumerator *enumerator = [manager enumeratorAtPath:@(docdir.c_str())];
 
 	NSString *path = nil;
 	while ((path = [enumerator nextObject]))
@@ -155,9 +154,9 @@ static NSArray *getLovesInDocuments()
 
 static bool deleteFileInDocuments(NSString *filename)
 {
-	NSString *documents = getDocumentsDirectory();
+	std::string docdir = getUserDirectory(USER_DIRECTORY_DOCUMENTS);
 
-	NSString *file = [documents stringByAppendingPathComponent:filename];
+	NSString *file = [@(docdir.c_str()) stringByAppendingPathComponent:filename];
 	bool success = [[NSFileManager defaultManager] removeItemAtPath:file error:nil];
 
 	if (success)
@@ -178,7 +177,8 @@ static int dropFileEventFilter(void *userdata, SDL_Event *event)
 
 		if ([fmanager fileExistsAtPath:fname] && [fname.pathExtension isEqual:@"love"])
 		{
-			NSString *documents = getDocumentsDirectory();
+			std::string docdir = getUserDirectory(USER_DIRECTORY_DOCUMENTS);
+			NSString *documents = @(docdir.c_str());
 
 			documents = documents.stringByStandardizingPath.stringByResolvingSymlinksInPath;
 			fname = fname.stringByStandardizingPath.stringByResolvingSymlinksInPath;
@@ -331,7 +331,8 @@ std::string getLoveInResources(bool &fused)
 		// The string length might be 0 if the no-game screen was selected.
 		if (selectedfile != nil && selectedfile.length > 0)
 		{
-			NSString *documents = getDocumentsDirectory();
+			std::string docdir = getUserDirectory(USER_DIRECTORY_DOCUMENTS);
+			NSString *documents = @(docdir.c_str());
 			path = [documents stringByAppendingPathComponent:selectedfile].UTF8String;
 		}
 	}
@@ -339,34 +340,6 @@ std::string getLoveInResources(bool &fused)
 	return path;
 }
 
-std::string getAppdataDirectory()
-{
-	NSSearchPathDirectory searchdir = NSApplicationSupportDirectory;
-	std::string path;
-
-	@autoreleasepool
-	{
-		NSArray *dirs = NSSearchPathForDirectoriesInDomains(searchdir, NSUserDomainMask, YES);
-
-		if (dirs.count > 0)
-			path = [dirs[0] UTF8String];
-	}
-
-	return path;
-}
-
-std::string getHomeDirectory()
-{
-	std::string path;
-
-	@autoreleasepool
-	{
-		path = [NSHomeDirectory() UTF8String];
-	}
-
-	return path;
-}
-
 bool openURL(const std::string &url)
 {
 	bool success = false;
@@ -383,14 +356,6 @@ bool openURL(const std::string &url)
 	return success;
 }
 
-std::string getExecutablePath()
-{
-	@autoreleasepool
-	{
-		return std::string([NSBundle mainBundle].executablePath.UTF8String);
-	}
-}
-
 void vibrate()
 {
 	@autoreleasepool

src/common/macos.h

@@ -18,12 +18,11 @@
  * 3. This notice may not be removed or altered from any source distribution.
  **/
 
-#ifndef LOVE_OSX_H
-#define LOVE_OSX_H
+#pragma once
 
 #include "config.h"
 
-#ifdef LOVE_MACOSX
+#ifdef LOVE_MACOS
 
 #include <string>
 
@@ -31,7 +30,7 @@ typedef struct SDL_Window SDL_Window;
 
 namespace love
 {
-namespace macosx
+namespace macos
 {
 
 /**
@@ -47,25 +46,24 @@ LOVE_EXPORT std::string getLoveInResources();
  **/
 LOVE_EXPORT std::string checkDropEvents();
 
-/**
- * Returns the full path to the executable.
- **/
-std::string getExecutablePath();
-
 /**
  * Bounce the dock icon, if the app isn't in the foreground.
  **/
 void requestAttention(bool continuous);
 
+/**
+ * Sets whether vsync is enabled for the given CAMetalLayer
+ **/
+void setMetalLayerVSync(void *metallayer, bool vsync);
+bool getMetalLayerVSync(void *metallayer);
+
 /**
  * Explicitly sets the window's color space to be sRGB - which stops the OS
  * from interpreting the backbuffer output as P3 on P3-capable displays.
  **/
 void setWindowSRGBColorSpace(SDL_Window *window);
 
-} // macosx
+} // macos
 } // love
 
-#endif // LOVE_MACOSX
-
-#endif // LOVE_OSX_H
+#endif // LOVE_MACOS

src/common/macos.mm

@@ -18,12 +18,13 @@
  * 3. This notice may not be removed or altered from any source distribution.
  **/
 
-#include "macosx.h"
+#include "macos.h"
 
-#ifdef LOVE_MACOSX
+#ifdef LOVE_MACOS
 
 #import <Foundation/Foundation.h>
 #import <Cocoa/Cocoa.h>
+#import <QuartzCore/CAMetalLayer.h>
 
 #ifdef LOVE_MACOSX_SDL_DIRECT_INCLUDE
 #include <SDL.h>
@@ -35,7 +36,7 @@
 
 namespace love
 {
-namespace macosx
+namespace macos
 {
 
 std::string getLoveInResources()
@@ -76,14 +77,6 @@ std::string checkDropEvents()
 	return dropstr;
 }
 
-std::string getExecutablePath()
-{
-	@autoreleasepool
-	{
-		return std::string([NSBundle mainBundle].executablePath.UTF8String);
-	}
-}
-
 void requestAttention(bool continuous)
 {
 	@autoreleasepool
@@ -95,6 +88,32 @@ void requestAttention(bool continuous)
 	}
 }
 
+void setMetalLayerVSync(void *metallayer, bool vsync)
+{
+	@autoreleasepool
+	{
+		if (@available(macOS 10.13, *))
+		{
+			CAMetalLayer *layer = (__bridge CAMetalLayer *) metallayer;
+			layer.displaySyncEnabled = vsync;
+		}
+	}
+}
+
+bool getMetalLayerVSync(void *metallayer)
+{
+	@autoreleasepool
+	{
+		if (@available(macOS 10.13, *))
+		{
+			CAMetalLayer *layer = (__bridge CAMetalLayer *) metallayer;
+			return layer.displaySyncEnabled;
+		}
+	}
+
+	return true;
+}
+
 void setWindowSRGBColorSpace(SDL_Window *window)
 {
 	@autoreleasepool
@@ -110,7 +129,7 @@ void setWindowSRGBColorSpace(SDL_Window *window)
 	}
 }
 
-} // osx
+} // macos
 } // love
 
-#endif // LOVE_MACOSX
+#endif // LOVE_MACOS

src/common/pixelformat.cpp

@@ -24,6 +24,107 @@
 namespace love
 {
 
+static PixelFormatInfo formatInfo[] =
+{
+	// components, blockW, blockH, blockSize, color, depth, stencil, compressed, dataType
+    { 0, 1, 1, 0, false, false, false, false, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_UNKNOWN
+
+	{ 0, 1, 1, 0, true, false, false, false, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_NORMAL
+	{ 0, 1, 1, 0, true, false, false, false, PIXELFORMATTYPE_SFLOAT }, // PIXELFORMAT_HDR
+
+	{ 1, 1, 1, 1, true, false, false, false, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_R8_UNORM
+	{ 1, 1, 1, 1, true, false, false, false, PIXELFORMATTYPE_SINT   }, // PIXELFORMAT_R8_INT
+	{ 1, 1, 1, 1, true, false, false, false, PIXELFORMATTYPE_UINT   }, // PIXELFORMAT_R8_UINT
+	{ 1, 1, 1, 2, true, false, false, false, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_R16_UNORM
+	{ 1, 1, 1, 2, true, false, false, false, PIXELFORMATTYPE_SFLOAT }, // PIXELFORMAT_R16_FLOAT
+	{ 1, 1, 1, 2, true, false, false, false, PIXELFORMATTYPE_SINT   }, // PIXELFORMAT_R16_INT
+	{ 1, 1, 1, 2, true, false, false, false, PIXELFORMATTYPE_UINT   }, // PIXELFORMAT_R16_UINT
+	{ 1, 1, 1, 4, true, false, false, false, PIXELFORMATTYPE_SFLOAT }, // PIXELFORMAT_R32_FLOAT
+	{ 1, 1, 1, 4, true, false, false, false, PIXELFORMATTYPE_SINT   }, // PIXELFORMAT_R32_INT
+	{ 1, 1, 1, 4, true, false, false, false, PIXELFORMATTYPE_UINT   }, // PIXELFORMAT_R32_UINT
+
+	{ 2, 1, 1, 2, true, false, false, false, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_RG8_UNORM
+	{ 2, 1, 1, 2, true, false, false, false, PIXELFORMATTYPE_SINT   }, // PIXELFORMAT_RG8_INT
+	{ 2, 1, 1, 2, true, false, false, false, PIXELFORMATTYPE_UINT   }, // PIXELFORMAT_RG8_UINT
+	{ 2, 1, 1, 2, true, false, false, false, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_LA8_UNORM
+	{ 2, 1, 1, 4, true, false, false, false, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_RG16_UNORM
+	{ 2, 1, 1, 4, true, false, false, false, PIXELFORMATTYPE_SFLOAT }, // PIXELFORMAT_RG16_FLOAT
+	{ 2, 1, 1, 4, true, false, false, false, PIXELFORMATTYPE_SINT   }, // PIXELFORMAT_RG16_INT
+	{ 2, 1, 1, 4, true, false, false, false, PIXELFORMATTYPE_UINT   }, // PIXELFORMAT_RG16_UINT
+	{ 2, 1, 1, 8, true, false, false, false, PIXELFORMATTYPE_SFLOAT }, // PIXELFORMAT_RG32_FLOAT
+	{ 2, 1, 1, 8, true, false, false, false, PIXELFORMATTYPE_SINT   }, // PIXELFORMAT_RG32_INT
+	{ 2, 1, 1, 8, true, false, false, false, PIXELFORMATTYPE_UINT   }, // PIXELFORMAT_RG32_UINT
+
+	{ 4, 1, 1, 4,  true, false, false, false, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_RGBA8_UNORM
+	{ 4, 1, 1, 4,  true, false, false, false, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_RGBA8_UNORM_sRGB
+	{ 4, 1, 1, 4,  true, false, false, false, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_BGRA8_UNORM
+	{ 4, 1, 1, 4,  true, false, false, false, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_BGRA8_UNORM_sRGB
+	{ 4, 1, 1, 4,  true, false, false, false, PIXELFORMATTYPE_SINT   }, // PIXELFORMAT_RGBA8_INT
+	{ 4, 1, 1, 4,  true, false, false, false, PIXELFORMATTYPE_UINT   }, // PIXELFORMAT_RGBA8_UINT
+	{ 4, 1, 1, 8,  true, false, false, false, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_RGBA16_UNORM
+	{ 4, 1, 1, 8,  true, false, false, false, PIXELFORMATTYPE_SFLOAT }, // PIXELFORMAT_RGBA16_FLOAT
+	{ 4, 1, 1, 8,  true, false, false, false, PIXELFORMATTYPE_SINT   }, // PIXELFORMAT_RGBA16_INT
+	{ 4, 1, 1, 8,  true, false, false, false, PIXELFORMATTYPE_UINT   }, // PIXELFORMAT_RGBA16_UINT
+	{ 4, 1, 1, 16, true, false, false, false, PIXELFORMATTYPE_SFLOAT }, // PIXELFORMAT_RGBA32_FLOAT
+	{ 4, 1, 1, 16, true, false, false, false, PIXELFORMATTYPE_SINT   }, // PIXELFORMAT_RGBA32_INT
+	{ 4, 1, 1, 16, true, false, false, false, PIXELFORMATTYPE_UINT   }, // PIXELFORMAT_RGBA32_UINT
+
+	{ 4, 1, 1, 2, true, false, false, false, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_RGBA4_UNORM
+	{ 4, 1, 1, 2, true, false, false, false, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_RGB5A1_UNORM
+	{ 3, 1, 1, 2, true, false, false, false, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_RGB565_UNORM
+	{ 4, 1, 1, 4, true, false, false, false, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_RGB10A2_UNORM
+	{ 3, 1, 1, 4, true, false, false, false, PIXELFORMATTYPE_UFLOAT }, // PIXELFORMAT_RG11B10_FLOAT
+
+	{ 1, 1, 1, 1, false, false, true , false, PIXELFORMATTYPE_UINT   }, // PIXELFORMAT_STENCIL8
+	{ 1, 1, 1, 2, false, true,  false, false, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_DEPTH16_UNORM
+	{ 1, 1, 1, 3, false, true,  false, false, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_DEPTH24_UNORM
+	{ 1, 1, 1, 4, false, true,  false, false, PIXELFORMATTYPE_SFLOAT }, // PIXELFORMAT_DEPTH32_FLOAT
+	{ 2, 1, 1, 4, false, true,  true , false, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_DEPTH24_UNORM_STENCIL8
+	{ 2, 1, 1, 5, false, true,  true , false, PIXELFORMATTYPE_SFLOAT }, // PIXELFORMAT_DEPTH32_FLOAT_STENCIL8
+
+	{ 3, 4, 4, 8,  true, false, false, true, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_DXT1_UNORM
+	{ 4, 4, 4, 16, true, false, false, true, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_DXT3_UNORM
+	{ 4, 4, 4, 16, true, false, false, true, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_DXT5_UNORM
+	{ 1, 4, 4, 8,  true, false, false, true, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_BC4_UNORM
+	{ 1, 4, 4, 8,  true, false, false, true, PIXELFORMATTYPE_SNORM  }, // PIXELFORMAT_BC4_SNORM
+	{ 2, 4, 4, 16, true, false, false, true, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_BC5_UNORM
+	{ 2, 4, 4, 16, true, false, false, true, PIXELFORMATTYPE_SNORM  }, // PIXELFORMAT_BC5_SNORM
+	{ 3, 4, 4, 16, true, false, false, true, PIXELFORMATTYPE_UFLOAT }, // PIXELFORMAT_BC6H_UFLOAT
+	{ 3, 4, 4, 16, true, false, false, true, PIXELFORMATTYPE_SFLOAT }, // PIXELFORMAT_BC6H_FLOAT
+	{ 4, 4, 4, 16, true, false, false, true, PIXELFORMATTYPE_UNORM  }, // PIXELFORMAT_BC7_UNORM
+
+	{ 3, 16, 8, 32, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_PVR1_RGB2_UNORM
+	{ 3, 8,  8, 32, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_PVR1_RGB4_UNORM
+	{ 4, 16, 8, 32, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_PVR1_RGBA2_UNORM
+	{ 4, 8,  8, 32, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_PVR1_RGBA4_UNORM
+
+	{ 3, 4, 4, 8,  true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_ETC1_UNORM
+	{ 3, 4, 4, 8,  true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_ETC2_RGB_UNORM
+	{ 4, 4, 4, 16, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_ETC2_RGBA_UNORM
+	{ 4, 4, 4, 8,  true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_ETC2_RGBA1_UNORM
+	{ 1, 4, 4, 8,  true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_EAC_R_UNORM
+	{ 1, 4, 4, 8,  true, false, false, true, PIXELFORMATTYPE_SNORM }, // PIXELFORMAT_EAC_R_SNORM
+	{ 2, 4, 4, 16, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_EAC_RG_UNORM
+	{ 2, 4, 4, 16, true, false, false, true, PIXELFORMATTYPE_SNORM }, // PIXELFORMAT_EAC_RG_SNORM
+
+	{ 4, 4,  4,  1, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_ASTC_4x4
+	{ 4, 5,  4,  1, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_ASTC_5x4
+	{ 4, 5,  5,  1, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_ASTC_5x5
+	{ 4, 6,  5,  1, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_ASTC_6x5
+	{ 4, 6,  6,  1, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_ASTC_6x6
+	{ 4, 8,  5,  1, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_ASTC_8x5
+	{ 4, 8,  6,  1, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_ASTC_8x6
+	{ 4, 8,  8,  1, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_ASTC_8x8
+	{ 4, 8,  5,  1, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_ASTC_10x5
+	{ 4, 10, 6,  1, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_ASTC_10x6
+	{ 4, 10, 8,  1, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_ASTC_10x8
+	{ 4, 10, 10, 1, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_ASTC_10x10
+	{ 4, 12, 10, 1, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_ASTC_12x10
+	{ 4, 12, 12, 1, true, false, false, true, PIXELFORMATTYPE_UNORM }, // PIXELFORMAT_ASTC_12x12
+};
+
+static_assert(sizeof(formatInfo) / sizeof(PixelFormatInfo) == PIXELFORMAT_MAX_ENUM, "Update the formatInfo array when adding or removing a PixelFormat");
+
 static StringMap<PixelFormat, PIXELFORMAT_MAX_ENUM>::Entry formatEntries[] =
 {
     { "unknown", PIXELFORMAT_UNKNOWN },
@@ -31,57 +132,79 @@ static StringMap<PixelFormat, PIXELFORMAT_MAX_ENUM>::Entry formatEntries[] =
 	{ "normal",  PIXELFORMAT_NORMAL  },
 	{ "hdr",     PIXELFORMAT_HDR     },
 
-	{ "r8",      PIXELFORMAT_R8      },
-	{ "rg8",     PIXELFORMAT_RG8     },
-	{ "rgba8",   PIXELFORMAT_RGBA8   },
-	{ "srgba8",  PIXELFORMAT_sRGBA8  },
-	{ "r16",     PIXELFORMAT_R16     },
-	{ "rg16",    PIXELFORMAT_RG16    },
-	{ "rgba16",  PIXELFORMAT_RGBA16  },
-	{ "r16f",    PIXELFORMAT_R16F    },
-	{ "rg16f",   PIXELFORMAT_RG16F   },
-	{ "rgba16f", PIXELFORMAT_RGBA16F },
-	{ "r32f",    PIXELFORMAT_R32F    },
-	{ "rg32f",   PIXELFORMAT_RG32F   },
-	{ "rgba32f", PIXELFORMAT_RGBA32F },
+	{ "r8",    PIXELFORMAT_R8_UNORM  },
+	{ "r8i",   PIXELFORMAT_R8_INT    },
+	{ "r8ui",  PIXELFORMAT_R8_UINT   },
+	{ "r16",   PIXELFORMAT_R16_UNORM },
+	{ "r16f",  PIXELFORMAT_R16_FLOAT },
+	{ "r16i",  PIXELFORMAT_R16_INT   },
+	{ "r16ui", PIXELFORMAT_R16_UINT  },
+	{ "r32f",  PIXELFORMAT_R32_FLOAT },
+	{ "r32i",  PIXELFORMAT_R32_INT   },
+	{ "r32ui", PIXELFORMAT_R32_UINT  },
 
-	{ "la8",     PIXELFORMAT_LA8     },
+	{ "rg8",    PIXELFORMAT_RG8_UNORM  },
+	{ "rg8i",   PIXELFORMAT_RG8_INT    },
+	{ "rg8ui",  PIXELFORMAT_RG8_UINT   },
+	{ "la8",    PIXELFORMAT_LA8_UNORM  },
+	{ "rg16",   PIXELFORMAT_RG16_UNORM },
+	{ "rg16f",  PIXELFORMAT_RG16_FLOAT },
+	{ "rg16i",  PIXELFORMAT_RG16_INT   },
+	{ "rg16ui", PIXELFORMAT_RG16_UINT  },
+	{ "rg32f",  PIXELFORMAT_RG32_FLOAT },
+	{ "rg32i",  PIXELFORMAT_RG32_INT   },
+	{ "rg32ui", PIXELFORMAT_RG32_UINT  },
 
-	{ "rgba4",    PIXELFORMAT_RGBA4    },
-	{ "rgb5a1",   PIXELFORMAT_RGB5A1   },
-	{ "rgb565",   PIXELFORMAT_RGB565   },
-	{ "rgb10a2",  PIXELFORMAT_RGB10A2  },
-	{ "rg11b10f", PIXELFORMAT_RG11B10F },
+	{ "rgba8",     PIXELFORMAT_RGBA8_UNORM      },
+	{ "srgba8",    PIXELFORMAT_RGBA8_UNORM_sRGB },
+	{ "bgra8",     PIXELFORMAT_BGRA8_UNORM      },
+	{ "bgra8srgb", PIXELFORMAT_BGRA8_UNORM_sRGB },
+	{ "rgba8i",    PIXELFORMAT_RGBA8_INT        },
+	{ "rgba8ui",   PIXELFORMAT_RGBA8_UINT       },
+	{ "rgba16",    PIXELFORMAT_RGBA16_UNORM     },
+	{ "rgba16f",   PIXELFORMAT_RGBA16_FLOAT     },
+	{ "rgba16i",   PIXELFORMAT_RGBA16_INT       },
+	{ "rgba16ui",  PIXELFORMAT_RGBA16_UINT      },
+	{ "rgba32f",   PIXELFORMAT_RGBA32_FLOAT     },
+	{ "rgba32i",   PIXELFORMAT_RGBA32_INT       },
+	{ "rgba32ui",  PIXELFORMAT_RGBA32_UINT      },
 
-	{ "stencil8",         PIXELFORMAT_STENCIL8          },
-	{ "depth16",          PIXELFORMAT_DEPTH16           },
-	{ "depth24",          PIXELFORMAT_DEPTH24           },
-	{ "depth32f",         PIXELFORMAT_DEPTH32F          },
-	{ "depth24stencil8",  PIXELFORMAT_DEPTH24_STENCIL8  },
-	{ "depth32fstencil8", PIXELFORMAT_DEPTH32F_STENCIL8 },
+	{ "rgba4",    PIXELFORMAT_RGBA4_UNORM    },
+	{ "rgb5a1",   PIXELFORMAT_RGB5A1_UNORM   },
+	{ "rgb565",   PIXELFORMAT_RGB565_UNORM   },
+	{ "rgb10a2",  PIXELFORMAT_RGB10A2_UNORM  },
+	{ "rg11b10f", PIXELFORMAT_RG11B10_FLOAT  },
+
+	{ "stencil8",         PIXELFORMAT_STENCIL8               },
+	{ "depth16",          PIXELFORMAT_DEPTH16_UNORM          },
+	{ "depth24",          PIXELFORMAT_DEPTH24_UNORM          },
+	{ "depth32f",         PIXELFORMAT_DEPTH32_FLOAT          },
+	{ "depth24stencil8",  PIXELFORMAT_DEPTH24_UNORM_STENCIL8 },
+	{ "depth32fstencil8", PIXELFORMAT_DEPTH32_FLOAT_STENCIL8 },
 	
-	{ "DXT1",      PIXELFORMAT_DXT1       },
-	{ "DXT3",      PIXELFORMAT_DXT3       },
-	{ "DXT5",      PIXELFORMAT_DXT5       },
-	{ "BC4",       PIXELFORMAT_BC4        },
-	{ "BC4s",      PIXELFORMAT_BC4s       },
-	{ "BC5",       PIXELFORMAT_BC5        },
-	{ "BC5s",      PIXELFORMAT_BC5s       },
-	{ "BC6h",      PIXELFORMAT_BC6H       },
-	{ "BC6hs",     PIXELFORMAT_BC6Hs      },
-	{ "BC7",       PIXELFORMAT_BC7        },
-	{ "PVR1rgb2",  PIXELFORMAT_PVR1_RGB2  },
-	{ "PVR1rgb4",  PIXELFORMAT_PVR1_RGB4  },
-	{ "PVR1rgba2", PIXELFORMAT_PVR1_RGBA2 },
-	{ "PVR1rgba4", PIXELFORMAT_PVR1_RGBA4 },
-	{ "ETC1",      PIXELFORMAT_ETC1       },
-	{ "ETC2rgb",   PIXELFORMAT_ETC2_RGB   },
-	{ "ETC2rgba",  PIXELFORMAT_ETC2_RGBA  },
-	{ "ETC2rgba1", PIXELFORMAT_ETC2_RGBA1 },
-	{ "EACr",      PIXELFORMAT_EAC_R      },
-	{ "EACrs",     PIXELFORMAT_EAC_Rs     },
-	{ "EACrg",     PIXELFORMAT_EAC_RG     },
-	{ "EACrgs",    PIXELFORMAT_EAC_RGs    },
+	{ "DXT1",      PIXELFORMAT_DXT1_UNORM       },
+	{ "DXT3",      PIXELFORMAT_DXT3_UNORM       },
+	{ "DXT5",      PIXELFORMAT_DXT5_UNORM       },
+	{ "BC4",       PIXELFORMAT_BC4_UNORM        },
+	{ "BC4s",      PIXELFORMAT_BC4_SNORM        },
+	{ "BC5",       PIXELFORMAT_BC5_UNORM        },
+	{ "BC5s",      PIXELFORMAT_BC5_SNORM        },
+	{ "BC6h",      PIXELFORMAT_BC6H_UFLOAT      },
+	{ "BC6hs",     PIXELFORMAT_BC6H_FLOAT       },
+	{ "BC7",       PIXELFORMAT_BC7_UNORM        },
+	{ "PVR1rgb2",  PIXELFORMAT_PVR1_RGB2_UNORM  },
+	{ "PVR1rgb4",  PIXELFORMAT_PVR1_RGB4_UNORM  },
+	{ "PVR1rgba2", PIXELFORMAT_PVR1_RGBA2_UNORM },
+	{ "PVR1rgba4", PIXELFORMAT_PVR1_RGBA4_UNORM },
+	{ "ETC1",      PIXELFORMAT_ETC1_UNORM       },
+	{ "ETC2rgb",   PIXELFORMAT_ETC2_RGB_UNORM   },
+	{ "ETC2rgba",  PIXELFORMAT_ETC2_RGBA_UNORM  },
+	{ "ETC2rgba1", PIXELFORMAT_ETC2_RGBA1_UNORM },
+	{ "EACr",      PIXELFORMAT_EAC_R_UNORM      },
+	{ "EACrs",     PIXELFORMAT_EAC_R_SNORM      },
+	{ "EACrg",     PIXELFORMAT_EAC_RG_UNORM     },
+	{ "EACrgs",    PIXELFORMAT_EAC_RG_SNORM     },
+
 	{ "ASTC4x4",   PIXELFORMAT_ASTC_4x4   },
 	{ "ASTC5x4",   PIXELFORMAT_ASTC_5x4   },
 	{ "ASTC5x5",   PIXELFORMAT_ASTC_5x5   },
@@ -112,100 +235,110 @@ bool getConstant(PixelFormat in, const char *&out)
 	return formats.find(in, out);
 }
 
+const PixelFormatInfo &getPixelFormatInfo(PixelFormat format)
+{
+	return formatInfo[format];
+}
+
+const char *getPixelFormatName(PixelFormat format)
+{
+	const char *name = "unknown";
+	getConstant(format, name);
+	return name;
+}
+
 bool isPixelFormatCompressed(PixelFormat format)
 {
-	// I'm lazy
-	int iformat = (int) format;
-	return iformat >= (int) PIXELFORMAT_DXT1 && iformat < (int) PIXELFORMAT_MAX_ENUM;
+	return formatInfo[format].compressed;
+}
+
+bool isPixelFormatColor(PixelFormat format)
+{
+	return formatInfo[format].color;
 }
 
 bool isPixelFormatDepthStencil(PixelFormat format)
 {
-	int iformat = (int) format;
-	return iformat >= (int) PIXELFORMAT_STENCIL8 && iformat <= (int) PIXELFORMAT_DEPTH32F_STENCIL8;
+	const PixelFormatInfo &info = formatInfo[format];
+	return info.depth || info.stencil;
 }
 
 bool isPixelFormatDepth(PixelFormat format)
 {
-	int iformat = (int) format;
-	return iformat >= (int) PIXELFORMAT_DEPTH16 && iformat <= (int) PIXELFORMAT_DEPTH32F_STENCIL8;
+	return formatInfo[format].depth;
 }
 
 bool isPixelFormatStencil(PixelFormat format)
 {
-	return format == PIXELFORMAT_STENCIL8 || format == PIXELFORMAT_DEPTH24_STENCIL8 || format == PIXELFORMAT_DEPTH32F_STENCIL8;
+	return formatInfo[format].stencil;
 }
 
-size_t getPixelFormatSize(PixelFormat format)
+bool isPixelFormatSRGB(PixelFormat format)
 {
-	switch (format)
-	{
-	case PIXELFORMAT_R8:
-	case PIXELFORMAT_STENCIL8:
-		return 1;
-	case PIXELFORMAT_RG8:
-	case PIXELFORMAT_R16:
-	case PIXELFORMAT_R16F:
-	case PIXELFORMAT_LA8:
-	case PIXELFORMAT_RGBA4:
-	case PIXELFORMAT_RGB5A1:
-	case PIXELFORMAT_RGB565:
-	case PIXELFORMAT_DEPTH16:
-		return 2;
-	case PIXELFORMAT_RGBA8:
-	case PIXELFORMAT_sRGBA8:
-	case PIXELFORMAT_RG16:
-	case PIXELFORMAT_RG16F:
-	case PIXELFORMAT_R32F:
-	case PIXELFORMAT_RGB10A2:
-	case PIXELFORMAT_RG11B10F:
-	case PIXELFORMAT_DEPTH24:
-	case PIXELFORMAT_DEPTH32F:
-	case PIXELFORMAT_DEPTH24_STENCIL8:
-		return 4;
-	case PIXELFORMAT_RGBA16:
-	case PIXELFORMAT_RGBA16F:
-	case PIXELFORMAT_RG32F:
-	case PIXELFORMAT_DEPTH32F_STENCIL8:
-		return 8;
-	case PIXELFORMAT_RGBA32F:
-		return 16;
-	default:
-		// TODO: compressed formats
-		return 0;
-	}
+	return format == PIXELFORMAT_RGBA8_UNORM_sRGB || format == PIXELFORMAT_BGRA8_UNORM_sRGB;
+}
+
+bool isPixelFormatInteger(PixelFormat format)
+{
+	auto type = formatInfo[format].dataType;
+	return type == PIXELFORMATTYPE_SINT || type == PIXELFORMATTYPE_UINT;
+}
+
+PixelFormat getSRGBPixelFormat(PixelFormat format)
+{
+	if (format == PIXELFORMAT_RGBA8_UNORM)
+		return PIXELFORMAT_RGBA8_UNORM_sRGB;
+	else if (format == PIXELFORMAT_BGRA8_UNORM)
+		return PIXELFORMAT_BGRA8_UNORM_sRGB;
+	return format;
+}
+
+PixelFormat getLinearPixelFormat(PixelFormat format)
+{
+	if (format == PIXELFORMAT_RGBA8_UNORM_sRGB)
+		return PIXELFORMAT_RGBA8_UNORM;
+	else if (format == PIXELFORMAT_BGRA8_UNORM_sRGB)
+		return PIXELFORMAT_BGRA8_UNORM;
+	return format;
+}
+
+size_t getPixelFormatBlockSize(PixelFormat format)
+{
+	return formatInfo[format].blockSize;
+}
+
+size_t getPixelFormatUncompressedRowSize(PixelFormat format, int width)
+{
+	const PixelFormatInfo &info = formatInfo[format];
+	if (info.compressed) return 0;
+	return info.blockSize * width / info.blockWidth;
+}
+
+size_t getPixelFormatCompressedBlockRowSize(PixelFormat format, int width)
+{
+	const PixelFormatInfo &info = formatInfo[format];
+	if (!info.compressed) return 0;
+	return info.blockSize * ((width + info.blockWidth - 1) / info.blockWidth);
+}
+
+size_t getPixelFormatCompressedBlockRowCount(PixelFormat format, int height)
+{
+	const PixelFormatInfo &info = formatInfo[format];
+	if (!info.compressed) return 0;
+	return (height + info.blockHeight - 1) / info.blockHeight;
+}
+
+size_t getPixelFormatSliceSize(PixelFormat format, int width, int height)
+{
+	const PixelFormatInfo &info = formatInfo[format];
+	size_t blockW = (width + info.blockWidth - 1) / info.blockWidth;
+	size_t blockH = (height + info.blockHeight - 1) / info.blockHeight;
+	return info.blockSize * blockW * blockH;
 }
 
 int getPixelFormatColorComponents(PixelFormat format)
 {
-	switch (format)
-	{
-	case PIXELFORMAT_R8:
-	case PIXELFORMAT_R16:
-	case PIXELFORMAT_R16F:
-	case PIXELFORMAT_R32F:
-		return 1;
-	case PIXELFORMAT_RG8:
-	case PIXELFORMAT_RG16:
-	case PIXELFORMAT_RG16F:
-	case PIXELFORMAT_RG32F:
-	case PIXELFORMAT_LA8:
-		return 2;
-	case PIXELFORMAT_RGB565:
-	case PIXELFORMAT_RG11B10F:
-		return 3;
-	case PIXELFORMAT_RGBA8:
-	case PIXELFORMAT_sRGBA8:
-	case PIXELFORMAT_RGBA16:
-	case PIXELFORMAT_RGBA16F:
-	case PIXELFORMAT_RGBA32F:
-	case PIXELFORMAT_RGBA4:
-	case PIXELFORMAT_RGB5A1:
-	case PIXELFORMAT_RGB10A2:
-		return 4;
-	default:
-		return 0;
-	}
+	return formatInfo[format].components;
 }
 
 } // love

src/common/pixelformat.h

@@ -33,61 +33,84 @@ enum PixelFormat
 	PIXELFORMAT_NORMAL,
 	PIXELFORMAT_HDR,
 
-	// "regular" formats
-	PIXELFORMAT_R8,
-	PIXELFORMAT_RG8,
-	PIXELFORMAT_RGBA8,
-	PIXELFORMAT_sRGBA8,
-	PIXELFORMAT_R16,
-	PIXELFORMAT_RG16,
-	PIXELFORMAT_RGBA16,
-	PIXELFORMAT_R16F,
-	PIXELFORMAT_RG16F,
-	PIXELFORMAT_RGBA16F,
-	PIXELFORMAT_R32F,
-	PIXELFORMAT_RG32F,
-	PIXELFORMAT_RGBA32F,
+	// 1-channel normal formats
+	PIXELFORMAT_R8_UNORM,
+	PIXELFORMAT_R8_INT,
+	PIXELFORMAT_R8_UINT,
+	PIXELFORMAT_R16_UNORM,
+	PIXELFORMAT_R16_FLOAT,
+	PIXELFORMAT_R16_INT,
+	PIXELFORMAT_R16_UINT,
+	PIXELFORMAT_R32_FLOAT,
+	PIXELFORMAT_R32_INT,
+	PIXELFORMAT_R32_UINT,
 
-	PIXELFORMAT_LA8, // Same as RG8, but accessed as (L, L, L, A)
+	// 2-channel normal formats
+	PIXELFORMAT_RG8_UNORM,
+	PIXELFORMAT_RG8_INT,
+	PIXELFORMAT_RG8_UINT,
+	PIXELFORMAT_LA8_UNORM, // Same as RG8, but accessed as (L, L, L, A)
+	PIXELFORMAT_RG16_UNORM,
+	PIXELFORMAT_RG16_FLOAT,
+	PIXELFORMAT_RG16_INT,
+	PIXELFORMAT_RG16_UINT,
+	PIXELFORMAT_RG32_FLOAT,
+	PIXELFORMAT_RG32_INT,
+	PIXELFORMAT_RG32_UINT,
+
+	// 4-channel normal formats
+	PIXELFORMAT_RGBA8_UNORM,
+	PIXELFORMAT_RGBA8_UNORM_sRGB,
+	PIXELFORMAT_BGRA8_UNORM,
+	PIXELFORMAT_BGRA8_UNORM_sRGB,
+	PIXELFORMAT_RGBA8_INT,
+	PIXELFORMAT_RGBA8_UINT,
+	PIXELFORMAT_RGBA16_UNORM,
+	PIXELFORMAT_RGBA16_FLOAT,
+	PIXELFORMAT_RGBA16_INT,
+	PIXELFORMAT_RGBA16_UINT,
+	PIXELFORMAT_RGBA32_FLOAT,
+	PIXELFORMAT_RGBA32_INT,
+	PIXELFORMAT_RGBA32_UINT,
 
 	// packed formats
-	PIXELFORMAT_RGBA4,    // LSB->MSB: [a, b, g, r]
-	PIXELFORMAT_RGB5A1,   // LSB->MSB: [a, b, g, r]
-	PIXELFORMAT_RGB565,   // LSB->MSB: [b, g, r]
-	PIXELFORMAT_RGB10A2,  // LSB->MSB: [r, g, b, a]
-	PIXELFORMAT_RG11B10F, // LSB->MSB: [r, g, b]
+	PIXELFORMAT_RGBA4_UNORM,    // LSB->MSB: [a, b, g, r]
+	PIXELFORMAT_RGB5A1_UNORM,   // LSB->MSB: [a, b, g, r]
+	PIXELFORMAT_RGB565_UNORM,   // LSB->MSB: [b, g, r]
+	PIXELFORMAT_RGB10A2_UNORM,  // LSB->MSB: [r, g, b, a]
+	PIXELFORMAT_RG11B10_FLOAT,  // LSB->MSB: [r, g, b]
 
 	// depth/stencil formats
 	PIXELFORMAT_STENCIL8,
-	PIXELFORMAT_DEPTH16,
-	PIXELFORMAT_DEPTH24,
-	PIXELFORMAT_DEPTH32F,
-	PIXELFORMAT_DEPTH24_STENCIL8,
-	PIXELFORMAT_DEPTH32F_STENCIL8,
+	PIXELFORMAT_DEPTH16_UNORM,
+	PIXELFORMAT_DEPTH24_UNORM,
+	PIXELFORMAT_DEPTH32_FLOAT,
+	PIXELFORMAT_DEPTH24_UNORM_STENCIL8,
+	PIXELFORMAT_DEPTH32_FLOAT_STENCIL8,
 
 	// compressed formats
-	PIXELFORMAT_DXT1,
-	PIXELFORMAT_DXT3,
-	PIXELFORMAT_DXT5,
-	PIXELFORMAT_BC4,
-	PIXELFORMAT_BC4s,
-	PIXELFORMAT_BC5,
-	PIXELFORMAT_BC5s,
-	PIXELFORMAT_BC6H,
-	PIXELFORMAT_BC6Hs,
-	PIXELFORMAT_BC7,
-	PIXELFORMAT_PVR1_RGB2,
-	PIXELFORMAT_PVR1_RGB4,
-	PIXELFORMAT_PVR1_RGBA2,
-	PIXELFORMAT_PVR1_RGBA4,
-	PIXELFORMAT_ETC1,
-	PIXELFORMAT_ETC2_RGB,
-	PIXELFORMAT_ETC2_RGBA,
-	PIXELFORMAT_ETC2_RGBA1,
-	PIXELFORMAT_EAC_R,
-	PIXELFORMAT_EAC_Rs,
-	PIXELFORMAT_EAC_RG,
-	PIXELFORMAT_EAC_RGs,
+	PIXELFORMAT_DXT1_UNORM,
+	PIXELFORMAT_DXT3_UNORM,
+	PIXELFORMAT_DXT5_UNORM,
+	PIXELFORMAT_BC4_UNORM,
+	PIXELFORMAT_BC4_SNORM,
+	PIXELFORMAT_BC5_UNORM,
+	PIXELFORMAT_BC5_SNORM,
+	PIXELFORMAT_BC6H_UFLOAT,
+	PIXELFORMAT_BC6H_FLOAT,
+	PIXELFORMAT_BC7_UNORM,
+	PIXELFORMAT_PVR1_RGB2_UNORM,
+	PIXELFORMAT_PVR1_RGB4_UNORM,
+	PIXELFORMAT_PVR1_RGBA2_UNORM,
+	PIXELFORMAT_PVR1_RGBA4_UNORM,
+	PIXELFORMAT_ETC1_UNORM,
+	PIXELFORMAT_ETC2_RGB_UNORM,
+	PIXELFORMAT_ETC2_RGBA_UNORM,
+	PIXELFORMAT_ETC2_RGBA1_UNORM,
+	PIXELFORMAT_EAC_R_UNORM,
+	PIXELFORMAT_EAC_R_SNORM,
+	PIXELFORMAT_EAC_RG_UNORM,
+	PIXELFORMAT_EAC_RG_SNORM,
 	PIXELFORMAT_ASTC_4x4,
 	PIXELFORMAT_ASTC_5x4,
 	PIXELFORMAT_ASTC_5x5,
@@ -106,14 +129,49 @@ enum PixelFormat
 	PIXELFORMAT_MAX_ENUM
 };
 
+enum PixelFormatType
+{
+	PIXELFORMATTYPE_UNORM,
+	PIXELFORMATTYPE_SNORM,
+	PIXELFORMATTYPE_UFLOAT,
+	PIXELFORMATTYPE_SFLOAT,
+	PIXELFORMATTYPE_UINT,
+	PIXELFORMATTYPE_SINT,
+};
+
+struct PixelFormatInfo
+{
+	int components;
+	size_t blockWidth;
+	size_t blockHeight;
+	size_t blockSize;
+	bool color;
+	bool depth;
+	bool stencil;
+	bool compressed;
+	PixelFormatType dataType;
+};
+
 bool getConstant(PixelFormat in, const char *&out);
 bool getConstant(const char *in, PixelFormat &out);
 
+const PixelFormatInfo &getPixelFormatInfo(PixelFormat format);
+
+/**
+ * Gets the name of the specified pixel format.
+ **/
+const char *getPixelFormatName(PixelFormat format);
+
 /**
  * Gets whether the specified pixel format is a compressed type.
  **/
 bool isPixelFormatCompressed(PixelFormat format);
 
+/**
+ * Gets whether the specified pixel format is a color type.
+ **/
+bool isPixelFormatColor(PixelFormat format);
+
 /**
  * Gets whether the specified pixel format is a depth or stencil type.
  **/
@@ -130,10 +188,56 @@ bool isPixelFormatDepth(PixelFormat format);
 bool isPixelFormatStencil(PixelFormat format);
 
 /**
- * Gets the size in bytes of the specified pixel format.
- * NOTE: Currently returns 0 for compressed formats.
+ * Gets whether the specified color pixel format is sRGB-encoded.
  **/
-size_t getPixelFormatSize(PixelFormat format);
+bool isPixelFormatSRGB(PixelFormat format);
+
+/**
+ * Gets whether the specified pixel format is a signed or unsigned integer type.
+ **/
+bool isPixelFormatInteger(PixelFormat format);
+
+/**
+ * Gets the sRGB version of a linear pixel format, if applicable.
+ **/
+PixelFormat getSRGBPixelFormat(PixelFormat format);
+
+/**
+ * Gets the linear version of a sRGB pixel format, if applicable.
+ **/
+PixelFormat getLinearPixelFormat(PixelFormat format);
+
+/**
+ * Gets the block size in bytes of the specified pixel format.
+ * This is the size in bytes of a pixel for uncompressed formats, but *not*
+ * for compressed formats!
+ **/
+size_t getPixelFormatBlockSize(PixelFormat format);
+
+/**
+ * Gets the size in bytes of a row of an uncompressed pixel format.
+ **/
+size_t getPixelFormatUncompressedRowSize(PixelFormat format, int width);
+
+/**
+ * Gets the size in bytes of a row of a compressed pixel format. This is the
+ * number of blocks used by the given width, multiplied by the block size. The
+ * number of rows of blocks for a given height can be computed by
+ * getPixelFormatCompressedBlockRowCount.
+ **/
+size_t getPixelFormatCompressedBlockRowSize(PixelFormat format, int width);
+
+/**
+ * Gets the number of rows of blocks the given compressed pixel format will use,
+ * for the given height in pixels.
+ **/
+size_t getPixelFormatCompressedBlockRowCount(PixelFormat format, int height);
+
+/**
+ * Gets the size in bytes of a slice (width x height 2D plane) which uses the
+ * given pixel format.
+ **/
+size_t getPixelFormatSliceSize(PixelFormat format, int width, int height);
 
 /**
  * Gets the number of color components in the given pixel format.

src/common/runtime.cpp

@@ -36,13 +36,6 @@
 #include <cmath>
 #include <sstream>
 
-// VS2013 doesn't support alignof
-#if defined(_MSC_VER) && _MSC_VER <= 1800
-#define LOVE_ALIGNOF(x) __alignof(x)
-#else
-#define LOVE_ALIGNOF(x) alignof(x)
-#endif
-
 namespace love
 {
 
@@ -145,7 +138,7 @@ static ObjectKey luax_computeloveobjectkey(lua_State *L, love::Object *object)
 	// It appears to be ABI violation. However it seems there's no reliable way to
 	// get the correct alignment pre-C++17. Consider that 32-bit pointer still fits
 	// in 2^53 range, it's perfectly fine to assume alignment of 1 there.
-	const size_t minalign = sizeof(void*) == 8 ? LOVE_ALIGNOF(std::max_align_t) : 1;
+	const size_t minalign = sizeof(void*) == 8 ? alignof(std::max_align_t) : 1;
 	uintptr_t key = (uintptr_t) object;
 
 	if ((key & (minalign - 1)) != 0)
@@ -349,6 +342,23 @@ double luax_numberflag(lua_State *L, int table_index, const char *key, double de
 	return retval;
 }
 
+bool luax_checkboolflag(lua_State *L, int table_index, const char *key)
+{
+	lua_getfield(L, table_index, key);
+
+	bool retval = false;
+	if (lua_type(L, -1) != LUA_TBOOLEAN)
+	{
+		std::string err = "expected boolean field '" + std::string(key) + "' in table";
+		return luaL_argerror(L, table_index, err.c_str());
+	}
+	else
+		retval = luax_toboolean(L, -1);
+	lua_pop(L, 1);
+
+	return retval;
+}
+
 int luax_checkintflag(lua_State *L, int table_index, const char *key)
 {
 	lua_getfield(L, table_index, key);
@@ -356,7 +366,7 @@ int luax_checkintflag(lua_State *L, int table_index, const char *key)
 	int retval;
 	if (!lua_isnumber(L, -1))
 	{
-		std::string err = "expected integer field " + std::string(key) + " in table";
+		std::string err = "expected integer field '" + std::string(key) + "' in table";
 		return luaL_argerror(L, table_index, err.c_str());
 	}
 	else
@@ -693,6 +703,160 @@ bool luax_istype(lua_State *L, int idx, love::Type &type)
 		return false;
 }
 
+static Proxy *tryextractproxy(lua_State *L, int idx)
+{
+	Proxy *u = (Proxy *)lua_touserdata(L, idx);
+
+	if (u == nullptr || u->type == nullptr)
+		return nullptr;
+
+	// We could get rid of the dynamic_cast for more performance, but it would
+	// be less safe...
+	if (dynamic_cast<Object *>(u->object) != nullptr)
+		return u;
+
+	return nullptr;
+}
+
+Variant luax_checkvariant(lua_State *L, int n, bool allowuserdata, std::set<const void*> *tableSet)
+{
+	size_t len;
+	const char *str;
+	Proxy *p = nullptr;
+
+	if (n < 0) // Fix the stack position, we might modify it later
+		n += lua_gettop(L) + 1;
+
+	switch (lua_type(L, n))
+	{
+	case LUA_TBOOLEAN:
+		return Variant(luax_toboolean(L, n));
+	case LUA_TNUMBER:
+		return Variant(lua_tonumber(L, n));
+	case LUA_TSTRING:
+		str = lua_tolstring(L, n, &len);
+		return Variant(str, len);
+	case LUA_TLIGHTUSERDATA:
+		return Variant(lua_touserdata(L, n));
+	case LUA_TUSERDATA:
+		if (!allowuserdata)
+		{
+			luax_typerror(L, n, "copyable Lua value");
+			return Variant();
+		}
+		p = tryextractproxy(L, n);
+		if (p != nullptr)
+			return Variant(p->type, p->object);
+		else
+		{
+			luax_typerror(L, n, "love type");
+			return Variant();
+		}
+	case LUA_TNIL:
+		return Variant();
+	case LUA_TTABLE:
+		{
+			bool success = true;
+			std::set<const void *> topTableSet;
+
+			// We can use a pointer to a stack-allocated variable because it's
+			// never used after the stack-allocated variable is destroyed.
+			if (tableSet == nullptr)
+				tableSet = &topTableSet;
+
+			// Now make sure this table wasn't already serialised
+			const void *tablePointer = lua_topointer(L, n);
+			{
+				auto result = tableSet->insert(tablePointer);
+				if (!result.second) // insertion failed
+					throw love::Exception("Cycle detected in table");
+			}
+
+			Variant::SharedTable *table = new Variant::SharedTable();
+
+			size_t len = luax_objlen(L, -1);
+			if (len > 0)
+				table->pairs.reserve(len);
+
+			lua_pushnil(L);
+
+			while (lua_next(L, n))
+			{
+				table->pairs.emplace_back(
+					luax_checkvariant(L, -2, allowuserdata, tableSet),
+					luax_checkvariant(L, -1, allowuserdata, tableSet)
+				);
+				lua_pop(L, 1);
+
+				const auto &p = table->pairs.back();
+				if (p.first.getType() == Variant::UNKNOWN || p.second.getType() == Variant::UNKNOWN)
+				{
+					success = false;
+					break;
+				}
+			}
+
+			// And remove the table from the set again
+			tableSet->erase(tablePointer);
+
+			if (success)
+				return Variant(table);
+			else
+				table->release();
+		}
+		break;
+	}
+
+	return Variant::unknown();
+}
+
+void luax_pushvariant(lua_State *L, const Variant &v)
+{
+	const Variant::Data &data = v.getData();
+	switch (v.getType())
+	{
+	case Variant::BOOLEAN:
+		lua_pushboolean(L, data.boolean);
+		break;
+	case Variant::NUMBER:
+		lua_pushnumber(L, data.number);
+		break;
+	case Variant::STRING:
+		lua_pushlstring(L, data.string->str, data.string->len);
+		break;
+	case Variant::SMALLSTRING:
+		lua_pushlstring(L, data.smallstring.str, data.smallstring.len);
+		break;
+	case Variant::LUSERDATA:
+		lua_pushlightuserdata(L, data.userdata);
+		break;
+	case Variant::LOVEOBJECT:
+		luax_pushtype(L, *data.objectproxy.type, data.objectproxy.object);
+		break;
+	case Variant::TABLE:
+	{
+		std::vector<std::pair<Variant, Variant>> &table = data.table->pairs;
+		int tsize = (int) table.size();
+
+		lua_createtable(L, 0, tsize);
+
+		for (int i = 0; i < tsize; ++i)
+		{
+			std::pair<Variant, Variant> &kv = table[i];
+			luax_pushvariant(L, kv.first);
+			luax_pushvariant(L, kv.second);
+			lua_settable(L, -3);
+		}
+
+		break;
+	}
+	case Variant::NIL:
+	default:
+		lua_pushnil(L);
+		break;
+	}
+}
+
 int luax_getfunction(lua_State *L, const char *mod, const char *fn)
 {
 	lua_getglobal(L, "love");
@@ -899,18 +1063,18 @@ lua_State *luax_getpinnedthread(lua_State *L)
 	return thread;
 }
 
-void luax_markdeprecated(lua_State *L, const char *name, APIType api)
+void luax_markdeprecated(lua_State *L, int level, const char *name, APIType api)
 {
-	luax_markdeprecated(L, name, api, DEPRECATED_NO_REPLACEMENT, nullptr);
+	luax_markdeprecated(L, level, name, api, DEPRECATED_NO_REPLACEMENT, nullptr);
 }
 
-void luax_markdeprecated(lua_State *L, const char *name, APIType api, DeprecationType type, const char *replacement)
+void luax_markdeprecated(lua_State *L, int level, const char *name, APIType api, DeprecationType type, const char *replacement)
 {
 	MarkDeprecated deprecated(name, api, type, replacement);
 
 	if (deprecated.info != nullptr && deprecated.info->uses == 1)
 	{
-		luaL_where(L, 1);
+		luaL_where(L, level);
 		const char *where = lua_tostring(L, -1);
 		if (where != nullptr)
 			deprecated.info->where = where;

src/common/runtime.h

@@ -24,6 +24,8 @@
 // LOVE
 #include "config.h"
 #include "types.h"
+#include "Object.h"
+#include "Variant.h"
 #include "deprecation.h"
 
 // Lua
@@ -37,12 +39,12 @@ extern "C" {
 // C++
 #include <exception>
 #include <algorithm>
+#include <set>
 
 namespace love
 {
 
 // Forward declarations.
-class Object;
 class Module;
 class Reference;
 
@@ -59,21 +61,6 @@ enum Registry
 	REGISTRY_OBJECTS
 };
 
-/**
- * This structure wraps all Lua-exposed objects. It exists in the
- * Lua state as a full userdata (so we can catch __gc "events"),
- * though the Object it refers to is light userdata in the sense
- * that it is not allocated by the Lua VM.
- **/
-struct Proxy
-{
-	// Holds type information (see types.h).
-	love::Type *type;
-
-	// Pointer to the actual object.
-	Object *object;
-};
-
 /**
  * A Module with Lua wrapper functions and other data.
  **/
@@ -190,6 +177,7 @@ bool luax_boolflag(lua_State *L, int table_index, const char *key, bool defaultV
 int luax_intflag(lua_State *L, int table_index, const char *key, int defaultValue);
 double luax_numberflag(lua_State *L, int table_index, const char *key, double defaultValue);
 
+bool luax_checkboolflag(lua_State *L, int table_index, const char *key);
 int luax_checkintflag(lua_State *L, int table_index, const char *key);
 
 /**
@@ -214,6 +202,16 @@ inline float luax_checkfloat(lua_State *L, int idx)
 	return static_cast<float>(luaL_checknumber(L, idx));
 }
 
+inline lua_Number luax_checknumberclamped(lua_State *L, int idx, double minv, double maxv)
+{
+	return std::min(std::max(luaL_checknumber(L, idx), minv), maxv);
+}
+
+inline lua_Number luax_optnumberclamped(lua_State *L, int idx, double minv, double maxv, double def)
+{
+	return std::min(std::max(luaL_optnumber(L, idx, def), minv), maxv);
+}
+
 inline lua_Number luax_checknumberclamped01(lua_State *L, int idx)
 {
 	return std::min(std::max(luaL_checknumber(L, idx), 0.0), 1.0);
@@ -354,6 +352,16 @@ void luax_pushtype(lua_State *L, StrongRef<T> &object)
  **/
 void luax_rawnewtype(lua_State *L, love::Type &type, love::Object *object);
 
+/**
+ * Stores the value at the given index on the stack into a Variant object.
+ */
+LOVE_EXPORT Variant luax_checkvariant(lua_State *L, int idx, bool allowuserdata = true, std::set<const void*> *tableSet = nullptr);
+
+/**
+ * Pushes the contents of the given Variant index onto the stack.
+ */
+LOVE_EXPORT void luax_pushvariant(lua_State *L, const Variant &v);
+
 /**
  * Checks whether the value at idx is a certain type.
  * @param L The Lua state.
@@ -474,8 +482,8 @@ lua_State *luax_getpinnedthread(lua_State *L);
  * Mark a function as deprecated. Should only be called inside wrapper function
  * code.
  **/
-void luax_markdeprecated(lua_State *L, const char *name, APIType api);
-void luax_markdeprecated(lua_State *L, const char *name, APIType api, DeprecationType type, const char *replacement);
+void luax_markdeprecated(lua_State *L, int level, const char *name, APIType api);
+void luax_markdeprecated(lua_State *L, int level, const char *name, APIType api, DeprecationType type, const char *replacement);
 
 extern "C" { // Also called from luasocket
 	int luax_typerror(lua_State *L, int narg, const char *tname);

src/common/types.h

@@ -25,7 +25,6 @@
 
 // STD
 #include <bitset>
-#include <vector>
 
 namespace love
 {

src/common/utf8.h

@@ -23,6 +23,8 @@
 #ifdef LOVE_WINDOWS
 
 #include <string>
+
+#define WIN32_LEAN_AND_MEAN
 #include <windows.h>
 
 namespace love

src/common/version.h

@@ -25,13 +25,13 @@ namespace love
 {
 
 // Version stuff.
-#define LOVE_VERSION_STRING "11.5"
-static const int VERSION_MAJOR = 11;
-static const int VERSION_MINOR = 5;
+#define LOVE_VERSION_STRING "12.0"
+static const int VERSION_MAJOR = 12;
+static const int VERSION_MINOR = 0;
 static const int VERSION_REV = 0;
 static const char *VERSION = LOVE_VERSION_STRING;
-static const char *VERSION_COMPATIBILITY[] =  { VERSION, "11.0", "11.1", "11.2", "11.3", "11.4", 0 };
-static const char *VERSION_CODENAME = "Mysterious Mysteries";
+static const char *VERSION_COMPATIBILITY[] =  { VERSION, 0 };
+static const char *VERSION_CODENAME = "";
 
 } // love
 

src/libraries/Box2D/Box2D.h

@@ -1,68 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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 <Box2D/Common/b2Settings.h>
-#include <Box2D/Common/b2Draw.h>
-#include <Box2D/Common/b2Timer.h>
-
-#include <Box2D/Collision/Shapes/b2CircleShape.h>
-#include <Box2D/Collision/Shapes/b2EdgeShape.h>
-#include <Box2D/Collision/Shapes/b2ChainShape.h>
-#include <Box2D/Collision/Shapes/b2PolygonShape.h>
-
-#include <Box2D/Collision/b2BroadPhase.h>
-#include <Box2D/Collision/b2Distance.h>
-#include <Box2D/Collision/b2DynamicTree.h>
-#include <Box2D/Collision/b2TimeOfImpact.h>
-
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2Fixture.h>
-#include <Box2D/Dynamics/b2WorldCallbacks.h>
-#include <Box2D/Dynamics/b2TimeStep.h>
-#include <Box2D/Dynamics/b2World.h>
-
-#include <Box2D/Dynamics/Contacts/b2Contact.h>
-
-#include <Box2D/Dynamics/Joints/b2DistanceJoint.h>
-#include <Box2D/Dynamics/Joints/b2FrictionJoint.h>
-#include <Box2D/Dynamics/Joints/b2GearJoint.h>
-#include <Box2D/Dynamics/Joints/b2MotorJoint.h>
-#include <Box2D/Dynamics/Joints/b2MouseJoint.h>
-#include <Box2D/Dynamics/Joints/b2PrismaticJoint.h>
-#include <Box2D/Dynamics/Joints/b2PulleyJoint.h>
-#include <Box2D/Dynamics/Joints/b2RevoluteJoint.h>
-#include <Box2D/Dynamics/Joints/b2RopeJoint.h>
-#include <Box2D/Dynamics/Joints/b2WeldJoint.h>
-#include <Box2D/Dynamics/Joints/b2WheelJoint.h>
-
-#endif

src/libraries/Box2D/Collision/Shapes/b2ChainShape.h

@@ -1,105 +0,0 @@
-/*
-* Copyright (c) 2006-2010 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
-* 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_CHAIN_SHAPE_H
-#define B2_CHAIN_SHAPE_H
-
-#include <Box2D/Collision/Shapes/b2Shape.h>
-
-class b2EdgeShape;
-
-/// A chain shape is a free form sequence of line segments.
-/// The chain has two-sided collision, so you can use inside and outside collision.
-/// Therefore, you may use any winding order.
-/// Since there may be many vertices, they are allocated using b2Alloc.
-/// Connectivity information is used to create smooth collisions.
-/// WARNING: The chain will not collide properly if there are self-intersections.
-class b2ChainShape : public b2Shape
-{
-public:
-	b2ChainShape();
-
-	/// The destructor frees the vertices using b2Free.
-	~b2ChainShape();
-
-	/// Clear all data.
-	void Clear();
-
-	/// Create a loop. This automatically adjusts connectivity.
-	/// @param vertices an array of vertices, these are copied
-	/// @param count the vertex count
-	void CreateLoop(const b2Vec2* vertices, int32 count);
-
-	/// Create a chain with isolated end vertices.
-	/// @param vertices an array of vertices, these are copied
-	/// @param count the vertex count
-	void CreateChain(const b2Vec2* vertices, int32 count);
-
-	/// Establish connectivity to a vertex that precedes the first vertex.
-	/// Don't call this for loops.
-	void SetPrevVertex(const b2Vec2& prevVertex);
-
-	/// Establish connectivity to a vertex that follows the last vertex.
-	/// Don't call this for loops.
-	void SetNextVertex(const b2Vec2& nextVertex);
-
-	/// Implement b2Shape. Vertices are cloned using b2Alloc.
-	b2Shape* Clone(b2BlockAllocator* allocator) const;
-
-	/// @see b2Shape::GetChildCount
-	int32 GetChildCount() const;
-
-	/// Get a child edge.
-	void GetChildEdge(b2EdgeShape* edge, int32 index) const;
-
-	/// This always return false.
-	/// @see b2Shape::TestPoint
-	bool TestPoint(const b2Transform& transform, const b2Vec2& p) const;
-
-	/// Implement b2Shape.
-	bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
-					const b2Transform& transform, int32 childIndex) const;
-
-	/// @see b2Shape::ComputeAABB
-	void ComputeAABB(b2AABB* aabb, const b2Transform& transform, int32 childIndex) const;
-
-	/// Chains have zero mass.
-	/// @see b2Shape::ComputeMass
-	void ComputeMass(b2MassData* massData, float32 density) const;
-
-	/// The vertices. Owned by this class.
-	b2Vec2* m_vertices;
-
-	/// The vertex count.
-	int32 m_count;
-
-	b2Vec2 m_prevVertex, m_nextVertex;
-	bool m_hasPrevVertex, m_hasNextVertex;
-};
-
-inline b2ChainShape::b2ChainShape()
-{
-	m_type = e_chain;
-	m_radius = b2_polygonRadius;
-	m_vertices = NULL;
-	m_count = 0;
-	m_hasPrevVertex = false;
-	m_hasNextVertex = false;
-}
-
-#endif

src/libraries/Box2D/Collision/Shapes/b2CircleShape.h

@@ -1,91 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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 <Box2D/Collision/Shapes/b2Shape.h>
-
-/// A circle shape.
-class b2CircleShape : public b2Shape
-{
-public:
-	b2CircleShape();
-
-	/// Implement b2Shape.
-	b2Shape* Clone(b2BlockAllocator* allocator) const;
-
-	/// @see b2Shape::GetChildCount
-	int32 GetChildCount() const;
-
-	/// Implement b2Shape.
-	bool TestPoint(const b2Transform& transform, const b2Vec2& p) const;
-
-	/// Implement b2Shape.
-	bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
-				const b2Transform& transform, int32 childIndex) const;
-
-	/// @see b2Shape::ComputeAABB
-	void ComputeAABB(b2AABB* aabb, const b2Transform& transform, int32 childIndex) 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

src/libraries/Box2D/Collision/Shapes/b2EdgeShape.h

@@ -1,74 +0,0 @@
-/*
-* Copyright (c) 2006-2010 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
-* 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_EDGE_SHAPE_H
-#define B2_EDGE_SHAPE_H
-
-#include <Box2D/Collision/Shapes/b2Shape.h>
-
-/// A line segment (edge) shape. These can be connected in chains or loops
-/// to other edge shapes. The connectivity information is used to ensure
-/// correct contact normals.
-class b2EdgeShape : public b2Shape
-{
-public:
-	b2EdgeShape();
-
-	/// Set this as an isolated edge.
-	void Set(const b2Vec2& v1, const b2Vec2& v2);
-
-	/// Implement b2Shape.
-	b2Shape* Clone(b2BlockAllocator* allocator) const;
-
-	/// @see b2Shape::GetChildCount
-	int32 GetChildCount() const;
-
-	/// @see b2Shape::TestPoint
-	bool TestPoint(const b2Transform& transform, const b2Vec2& p) const;
-
-	/// Implement b2Shape.
-	bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
-				const b2Transform& transform, int32 childIndex) const;
-
-	/// @see b2Shape::ComputeAABB
-	void ComputeAABB(b2AABB* aabb, const b2Transform& transform, int32 childIndex) const;
-
-	/// @see b2Shape::ComputeMass
-	void ComputeMass(b2MassData* massData, float32 density) const;
-	
-	/// These are the edge vertices
-	b2Vec2 m_vertex1, m_vertex2;
-
-	/// Optional adjacent vertices. These are used for smooth collision.
-	b2Vec2 m_vertex0, m_vertex3;
-	bool m_hasVertex0, m_hasVertex3;
-};
-
-inline b2EdgeShape::b2EdgeShape()
-{
-	m_type = e_edge;
-	m_radius = b2_polygonRadius;
-	m_vertex0.x = 0.0f;
-	m_vertex0.y = 0.0f;
-	m_vertex3.x = 0.0f;
-	m_vertex3.y = 0.0f;
-	m_hasVertex0 = false;
-	m_hasVertex3 = false;
-}
-
-#endif

src/libraries/Box2D/Collision/Shapes/b2PolygonShape.h

@@ -1,101 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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 <Box2D/Collision/Shapes/b2Shape.h>
-
-/// A convex polygon. It is assumed that the interior of the polygon is to
-/// the left of each edge.
-/// Polygons have a maximum number of vertices equal to b2_maxPolygonVertices.
-/// In most cases you should not need many vertices for a convex polygon.
-class b2PolygonShape : public b2Shape
-{
-public:
-	b2PolygonShape();
-
-	/// Implement b2Shape.
-	b2Shape* Clone(b2BlockAllocator* allocator) const;
-
-	/// @see b2Shape::GetChildCount
-	int32 GetChildCount() const;
-
-	/// Create a convex hull from the given array of local points.
-	/// The count must be in the range [3, b2_maxPolygonVertices].
-	/// @warning the points may be re-ordered, even if they form a convex polygon
-	/// @warning collinear points are handled but not removed. Collinear points
-	/// may lead to poor stacking behavior.
-	void Set(const b2Vec2* points, int32 count);
-
-	/// Build vertices to represent an axis-aligned box centered on the local origin.
-	/// @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);
-
-	/// @see b2Shape::TestPoint
-	bool TestPoint(const b2Transform& transform, const b2Vec2& p) const;
-
-	/// Implement b2Shape.
-	bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
-					const b2Transform& transform, int32 childIndex) const;
-
-	/// @see b2Shape::ComputeAABB
-	void ComputeAABB(b2AABB* aabb, const b2Transform& transform, int32 childIndex) const;
-
-	/// @see b2Shape::ComputeMass
-	void ComputeMass(b2MassData* massData, float32 density) const;
-
-	/// Get the vertex count.
-	int32 GetVertexCount() const { return m_count; }
-
-	/// Get a vertex by index.
-	const b2Vec2& GetVertex(int32 index) const;
-
-	/// Validate convexity. This is a very time consuming operation.
-	/// @returns true if valid
-	bool Validate() const;
-
-	b2Vec2 m_centroid;
-	b2Vec2 m_vertices[b2_maxPolygonVertices];
-	b2Vec2 m_normals[b2_maxPolygonVertices];
-	int32 m_count;
-};
-
-inline b2PolygonShape::b2PolygonShape()
-{
-	m_type = e_polygon;
-	m_radius = b2_polygonRadius;
-	m_count = 0;
-	m_centroid.SetZero();
-}
-
-inline const b2Vec2& b2PolygonShape::GetVertex(int32 index) const
-{
-	b2Assert(0 <= index && index < m_count);
-	return m_vertices[index];
-}
-
-#endif

src/libraries/Box2D/Collision/b2CollideEdge.cpp

@@ -1,698 +0,0 @@
-/*
- * 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
- * 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 <Box2D/Collision/b2Collision.h>
-#include <Box2D/Collision/Shapes/b2CircleShape.h>
-#include <Box2D/Collision/Shapes/b2EdgeShape.h>
-#include <Box2D/Collision/Shapes/b2PolygonShape.h>
-
-
-// Compute contact points for edge versus circle.
-// This accounts for edge connectivity.
-void b2CollideEdgeAndCircle(b2Manifold* manifold,
-							const b2EdgeShape* edgeA, const b2Transform& xfA,
-							const b2CircleShape* circleB, const b2Transform& xfB)
-{
-	manifold->pointCount = 0;
-	
-	// Compute circle in frame of edge
-	b2Vec2 Q = b2MulT(xfA, b2Mul(xfB, circleB->m_p));
-	
-	b2Vec2 A = edgeA->m_vertex1, B = edgeA->m_vertex2;
-	b2Vec2 e = B - A;
-	
-	// Barycentric coordinates
-	float32 u = b2Dot(e, B - Q);
-	float32 v = b2Dot(e, Q - A);
-	
-	float32 radius = edgeA->m_radius + circleB->m_radius;
-	
-	b2ContactFeature cf;
-	cf.indexB = 0;
-	cf.typeB = b2ContactFeature::e_vertex;
-	
-	// Region A
-	if (v <= 0.0f)
-	{
-		b2Vec2 P = A;
-		b2Vec2 d = Q - P;
-		float32 dd = b2Dot(d, d);
-		if (dd > radius * radius)
-		{
-			return;
-		}
-		
-		// Is there an edge connected to A?
-		if (edgeA->m_hasVertex0)
-		{
-			b2Vec2 A1 = edgeA->m_vertex0;
-			b2Vec2 B1 = A;
-			b2Vec2 e1 = B1 - A1;
-			float32 u1 = b2Dot(e1, B1 - Q);
-			
-			// Is the circle in Region AB of the previous edge?
-			if (u1 > 0.0f)
-			{
-				return;
-			}
-		}
-		
-		cf.indexA = 0;
-		cf.typeA = b2ContactFeature::e_vertex;
-		manifold->pointCount = 1;
-		manifold->type = b2Manifold::e_circles;
-		manifold->localNormal.SetZero();
-		manifold->localPoint = P;
-		manifold->points[0].id.key = 0;
-		manifold->points[0].id.cf = cf;
-		manifold->points[0].localPoint = circleB->m_p;
-		return;
-	}
-	
-	// Region B
-	if (u <= 0.0f)
-	{
-		b2Vec2 P = B;
-		b2Vec2 d = Q - P;
-		float32 dd = b2Dot(d, d);
-		if (dd > radius * radius)
-		{
-			return;
-		}
-		
-		// Is there an edge connected to B?
-		if (edgeA->m_hasVertex3)
-		{
-			b2Vec2 B2 = edgeA->m_vertex3;
-			b2Vec2 A2 = B;
-			b2Vec2 e2 = B2 - A2;
-			float32 v2 = b2Dot(e2, Q - A2);
-			
-			// Is the circle in Region AB of the next edge?
-			if (v2 > 0.0f)
-			{
-				return;
-			}
-		}
-		
-		cf.indexA = 1;
-		cf.typeA = b2ContactFeature::e_vertex;
-		manifold->pointCount = 1;
-		manifold->type = b2Manifold::e_circles;
-		manifold->localNormal.SetZero();
-		manifold->localPoint = P;
-		manifold->points[0].id.key = 0;
-		manifold->points[0].id.cf = cf;
-		manifold->points[0].localPoint = circleB->m_p;
-		return;
-	}
-	
-	// Region AB
-	float32 den = b2Dot(e, e);
-	b2Assert(den > 0.0f);
-	b2Vec2 P = (1.0f / den) * (u * A + v * B);
-	b2Vec2 d = Q - P;
-	float32 dd = b2Dot(d, d);
-	if (dd > radius * radius)
-	{
-		return;
-	}
-	
-	b2Vec2 n(-e.y, e.x);
-	if (b2Dot(n, Q - A) < 0.0f)
-	{
-		n.Set(-n.x, -n.y);
-	}
-	n.Normalize();
-	
-	cf.indexA = 0;
-	cf.typeA = b2ContactFeature::e_face;
-	manifold->pointCount = 1;
-	manifold->type = b2Manifold::e_faceA;
-	manifold->localNormal = n;
-	manifold->localPoint = A;
-	manifold->points[0].id.key = 0;
-	manifold->points[0].id.cf = cf;
-	manifold->points[0].localPoint = circleB->m_p;
-}
-
-// This structure is used to keep track of the best separating axis.
-struct b2EPAxis
-{
-	enum Type
-	{
-		e_unknown,
-		e_edgeA,
-		e_edgeB
-	};
-	
-	Type type;
-	int32 index;
-	float32 separation;
-};
-
-// This holds polygon B expressed in frame A.
-struct b2TempPolygon
-{
-	b2Vec2 vertices[b2_maxPolygonVertices];
-	b2Vec2 normals[b2_maxPolygonVertices];
-	int32 count;
-};
-
-// Reference face used for clipping
-struct b2ReferenceFace
-{
-	int32 i1, i2;
-	
-	b2Vec2 v1, v2;
-	
-	b2Vec2 normal;
-	
-	b2Vec2 sideNormal1;
-	float32 sideOffset1;
-	
-	b2Vec2 sideNormal2;
-	float32 sideOffset2;
-};
-
-// This class collides and edge and a polygon, taking into account edge adjacency.
-struct b2EPCollider
-{
-	void Collide(b2Manifold* manifold, const b2EdgeShape* edgeA, const b2Transform& xfA,
-				 const b2PolygonShape* polygonB, const b2Transform& xfB);
-	b2EPAxis ComputeEdgeSeparation();
-	b2EPAxis ComputePolygonSeparation();
-	
-	enum VertexType
-	{
-		e_isolated,
-		e_concave,
-		e_convex
-	};
-	
-	b2TempPolygon m_polygonB;
-	
-	b2Transform m_xf;
-	b2Vec2 m_centroidB;
-	b2Vec2 m_v0, m_v1, m_v2, m_v3;
-	b2Vec2 m_normal0, m_normal1, m_normal2;
-	b2Vec2 m_normal;
-	VertexType m_type1, m_type2;
-	b2Vec2 m_lowerLimit, m_upperLimit;
-	float32 m_radius;
-	bool m_front;
-};
-
-// Algorithm:
-// 1. Classify v1 and v2
-// 2. Classify polygon centroid as front or back
-// 3. Flip normal if necessary
-// 4. Initialize normal range to [-pi, pi] about face normal
-// 5. Adjust normal range according to adjacent edges
-// 6. Visit each separating axes, only accept axes within the range
-// 7. Return if _any_ axis indicates separation
-// 8. Clip
-void b2EPCollider::Collide(b2Manifold* manifold, const b2EdgeShape* edgeA, const b2Transform& xfA,
-						   const b2PolygonShape* polygonB, const b2Transform& xfB)
-{
-	m_xf = b2MulT(xfA, xfB);
-	
-	m_centroidB = b2Mul(m_xf, polygonB->m_centroid);
-	
-	m_v0 = edgeA->m_vertex0;
-	m_v1 = edgeA->m_vertex1;
-	m_v2 = edgeA->m_vertex2;
-	m_v3 = edgeA->m_vertex3;
-	
-	bool hasVertex0 = edgeA->m_hasVertex0;
-	bool hasVertex3 = edgeA->m_hasVertex3;
-	
-	b2Vec2 edge1 = m_v2 - m_v1;
-	edge1.Normalize();
-	m_normal1.Set(edge1.y, -edge1.x);
-	float32 offset1 = b2Dot(m_normal1, m_centroidB - m_v1);
-	float32 offset0 = 0.0f, offset2 = 0.0f;
-	bool convex1 = false, convex2 = false;
-	
-	// Is there a preceding edge?
-	if (hasVertex0)
-	{
-		b2Vec2 edge0 = m_v1 - m_v0;
-		edge0.Normalize();
-		m_normal0.Set(edge0.y, -edge0.x);
-		convex1 = b2Cross(edge0, edge1) >= 0.0f;
-		offset0 = b2Dot(m_normal0, m_centroidB - m_v0);
-	}
-	
-	// Is there a following edge?
-	if (hasVertex3)
-	{
-		b2Vec2 edge2 = m_v3 - m_v2;
-		edge2.Normalize();
-		m_normal2.Set(edge2.y, -edge2.x);
-		convex2 = b2Cross(edge1, edge2) > 0.0f;
-		offset2 = b2Dot(m_normal2, m_centroidB - m_v2);
-	}
-	
-	// Determine front or back collision. Determine collision normal limits.
-	if (hasVertex0 && hasVertex3)
-	{
-		if (convex1 && convex2)
-		{
-			m_front = offset0 >= 0.0f || offset1 >= 0.0f || offset2 >= 0.0f;
-			if (m_front)
-			{
-				m_normal = m_normal1;
-				m_lowerLimit = m_normal0;
-				m_upperLimit = m_normal2;
-			}
-			else
-			{
-				m_normal = -m_normal1;
-				m_lowerLimit = -m_normal1;
-				m_upperLimit = -m_normal1;
-			}
-		}
-		else if (convex1)
-		{
-			m_front = offset0 >= 0.0f || (offset1 >= 0.0f && offset2 >= 0.0f);
-			if (m_front)
-			{
-				m_normal = m_normal1;
-				m_lowerLimit = m_normal0;
-				m_upperLimit = m_normal1;
-			}
-			else
-			{
-				m_normal = -m_normal1;
-				m_lowerLimit = -m_normal2;
-				m_upperLimit = -m_normal1;
-			}
-		}
-		else if (convex2)
-		{
-			m_front = offset2 >= 0.0f || (offset0 >= 0.0f && offset1 >= 0.0f);
-			if (m_front)
-			{
-				m_normal = m_normal1;
-				m_lowerLimit = m_normal1;
-				m_upperLimit = m_normal2;
-			}
-			else
-			{
-				m_normal = -m_normal1;
-				m_lowerLimit = -m_normal1;
-				m_upperLimit = -m_normal0;
-			}
-		}
-		else
-		{
-			m_front = offset0 >= 0.0f && offset1 >= 0.0f && offset2 >= 0.0f;
-			if (m_front)
-			{
-				m_normal = m_normal1;
-				m_lowerLimit = m_normal1;
-				m_upperLimit = m_normal1;
-			}
-			else
-			{
-				m_normal = -m_normal1;
-				m_lowerLimit = -m_normal2;
-				m_upperLimit = -m_normal0;
-			}
-		}
-	}
-	else if (hasVertex0)
-	{
-		if (convex1)
-		{
-			m_front = offset0 >= 0.0f || offset1 >= 0.0f;
-			if (m_front)
-			{
-				m_normal = m_normal1;
-				m_lowerLimit = m_normal0;
-				m_upperLimit = -m_normal1;
-			}
-			else
-			{
-				m_normal = -m_normal1;
-				m_lowerLimit = m_normal1;
-				m_upperLimit = -m_normal1;
-			}
-		}
-		else
-		{
-			m_front = offset0 >= 0.0f && offset1 >= 0.0f;
-			if (m_front)
-			{
-				m_normal = m_normal1;
-				m_lowerLimit = m_normal1;
-				m_upperLimit = -m_normal1;
-			}
-			else
-			{
-				m_normal = -m_normal1;
-				m_lowerLimit = m_normal1;
-				m_upperLimit = -m_normal0;
-			}
-		}
-	}
-	else if (hasVertex3)
-	{
-		if (convex2)
-		{
-			m_front = offset1 >= 0.0f || offset2 >= 0.0f;
-			if (m_front)
-			{
-				m_normal = m_normal1;
-				m_lowerLimit = -m_normal1;
-				m_upperLimit = m_normal2;
-			}
-			else
-			{
-				m_normal = -m_normal1;
-				m_lowerLimit = -m_normal1;
-				m_upperLimit = m_normal1;
-			}
-		}
-		else
-		{
-			m_front = offset1 >= 0.0f && offset2 >= 0.0f;
-			if (m_front)
-			{
-				m_normal = m_normal1;
-				m_lowerLimit = -m_normal1;
-				m_upperLimit = m_normal1;
-			}
-			else
-			{
-				m_normal = -m_normal1;
-				m_lowerLimit = -m_normal2;
-				m_upperLimit = m_normal1;
-			}
-		}		
-	}
-	else
-	{
-		m_front = offset1 >= 0.0f;
-		if (m_front)
-		{
-			m_normal = m_normal1;
-			m_lowerLimit = -m_normal1;
-			m_upperLimit = -m_normal1;
-		}
-		else
-		{
-			m_normal = -m_normal1;
-			m_lowerLimit = m_normal1;
-			m_upperLimit = m_normal1;
-		}
-	}
-	
-	// Get polygonB in frameA
-	m_polygonB.count = polygonB->m_count;
-	for (int32 i = 0; i < polygonB->m_count; ++i)
-	{
-		m_polygonB.vertices[i] = b2Mul(m_xf, polygonB->m_vertices[i]);
-		m_polygonB.normals[i] = b2Mul(m_xf.q, polygonB->m_normals[i]);
-	}
-	
-	m_radius = 2.0f * b2_polygonRadius;
-	
-	manifold->pointCount = 0;
-	
-	b2EPAxis edgeAxis = ComputeEdgeSeparation();
-	
-	// If no valid normal can be found than this edge should not collide.
-	if (edgeAxis.type == b2EPAxis::e_unknown)
-	{
-		return;
-	}
-	
-	if (edgeAxis.separation > m_radius)
-	{
-		return;
-	}
-	
-	b2EPAxis polygonAxis = ComputePolygonSeparation();
-	if (polygonAxis.type != b2EPAxis::e_unknown && polygonAxis.separation > m_radius)
-	{
-		return;
-	}
-	
-	// Use hysteresis for jitter reduction.
-	const float32 k_relativeTol = 0.98f;
-	const float32 k_absoluteTol = 0.001f;
-	
-	b2EPAxis primaryAxis;
-	if (polygonAxis.type == b2EPAxis::e_unknown)
-	{
-		primaryAxis = edgeAxis;
-	}
-	else if (polygonAxis.separation > k_relativeTol * edgeAxis.separation + k_absoluteTol)
-	{
-		primaryAxis = polygonAxis;
-	}
-	else
-	{
-		primaryAxis = edgeAxis;
-	}
-	
-	b2ClipVertex ie[2];
-	b2ReferenceFace rf;
-	if (primaryAxis.type == b2EPAxis::e_edgeA)
-	{
-		manifold->type = b2Manifold::e_faceA;
-		
-		// Search for the polygon normal that is most anti-parallel to the edge normal.
-		int32 bestIndex = 0;
-		float32 bestValue = b2Dot(m_normal, m_polygonB.normals[0]);
-		for (int32 i = 1; i < m_polygonB.count; ++i)
-		{
-			float32 value = b2Dot(m_normal, m_polygonB.normals[i]);
-			if (value < bestValue)
-			{
-				bestValue = value;
-				bestIndex = i;
-			}
-		}
-		
-		int32 i1 = bestIndex;
-		int32 i2 = i1 + 1 < m_polygonB.count ? i1 + 1 : 0;
-		
-		ie[0].v = m_polygonB.vertices[i1];
-		ie[0].id.cf.indexA = 0;
-		ie[0].id.cf.indexB = static_cast<uint8>(i1);
-		ie[0].id.cf.typeA = b2ContactFeature::e_face;
-		ie[0].id.cf.typeB = b2ContactFeature::e_vertex;
-		
-		ie[1].v = m_polygonB.vertices[i2];
-		ie[1].id.cf.indexA = 0;
-		ie[1].id.cf.indexB = static_cast<uint8>(i2);
-		ie[1].id.cf.typeA = b2ContactFeature::e_face;
-		ie[1].id.cf.typeB = b2ContactFeature::e_vertex;
-		
-		if (m_front)
-		{
-			rf.i1 = 0;
-			rf.i2 = 1;
-			rf.v1 = m_v1;
-			rf.v2 = m_v2;
-			rf.normal = m_normal1;
-		}
-		else
-		{
-			rf.i1 = 1;
-			rf.i2 = 0;
-			rf.v1 = m_v2;
-			rf.v2 = m_v1;
-			rf.normal = -m_normal1;
-		}		
-	}
-	else
-	{
-		manifold->type = b2Manifold::e_faceB;
-		
-		ie[0].v = m_v1;
-		ie[0].id.cf.indexA = 0;
-		ie[0].id.cf.indexB = static_cast<uint8>(primaryAxis.index);
-		ie[0].id.cf.typeA = b2ContactFeature::e_vertex;
-		ie[0].id.cf.typeB = b2ContactFeature::e_face;
-		
-		ie[1].v = m_v2;
-		ie[1].id.cf.indexA = 0;
-		ie[1].id.cf.indexB = static_cast<uint8>(primaryAxis.index);		
-		ie[1].id.cf.typeA = b2ContactFeature::e_vertex;
-		ie[1].id.cf.typeB = b2ContactFeature::e_face;
-		
-		rf.i1 = primaryAxis.index;
-		rf.i2 = rf.i1 + 1 < m_polygonB.count ? rf.i1 + 1 : 0;
-		rf.v1 = m_polygonB.vertices[rf.i1];
-		rf.v2 = m_polygonB.vertices[rf.i2];
-		rf.normal = m_polygonB.normals[rf.i1];
-	}
-	
-	rf.sideNormal1.Set(rf.normal.y, -rf.normal.x);
-	rf.sideNormal2 = -rf.sideNormal1;
-	rf.sideOffset1 = b2Dot(rf.sideNormal1, rf.v1);
-	rf.sideOffset2 = b2Dot(rf.sideNormal2, rf.v2);
-	
-	// Clip incident edge against extruded edge1 side edges.
-	b2ClipVertex clipPoints1[2];
-	b2ClipVertex clipPoints2[2];
-	int32 np;
-	
-	// Clip to box side 1
-	np = b2ClipSegmentToLine(clipPoints1, ie, rf.sideNormal1, rf.sideOffset1, rf.i1);
-	
-	if (np < b2_maxManifoldPoints)
-	{
-		return;
-	}
-	
-	// Clip to negative box side 1
-	np = b2ClipSegmentToLine(clipPoints2, clipPoints1, rf.sideNormal2, rf.sideOffset2, rf.i2);
-	
-	if (np < b2_maxManifoldPoints)
-	{
-		return;
-	}
-	
-	// Now clipPoints2 contains the clipped points.
-	if (primaryAxis.type == b2EPAxis::e_edgeA)
-	{
-		manifold->localNormal = rf.normal;
-		manifold->localPoint = rf.v1;
-	}
-	else
-	{
-		manifold->localNormal = polygonB->m_normals[rf.i1];
-		manifold->localPoint = polygonB->m_vertices[rf.i1];
-	}
-	
-	int32 pointCount = 0;
-	for (int32 i = 0; i < b2_maxManifoldPoints; ++i)
-	{
-		float32 separation;
-		
-		separation = b2Dot(rf.normal, clipPoints2[i].v - rf.v1);
-		
-		if (separation <= m_radius)
-		{
-			b2ManifoldPoint* cp = manifold->points + pointCount;
-			
-			if (primaryAxis.type == b2EPAxis::e_edgeA)
-			{
-				cp->localPoint = b2MulT(m_xf, clipPoints2[i].v);
-				cp->id = clipPoints2[i].id;
-			}
-			else
-			{
-				cp->localPoint = clipPoints2[i].v;
-				cp->id.cf.typeA = clipPoints2[i].id.cf.typeB;
-				cp->id.cf.typeB = clipPoints2[i].id.cf.typeA;
-				cp->id.cf.indexA = clipPoints2[i].id.cf.indexB;
-				cp->id.cf.indexB = clipPoints2[i].id.cf.indexA;
-			}
-			
-			++pointCount;
-		}
-	}
-	
-	manifold->pointCount = pointCount;
-}
-
-b2EPAxis b2EPCollider::ComputeEdgeSeparation()
-{
-	b2EPAxis axis;
-	axis.type = b2EPAxis::e_edgeA;
-	axis.index = m_front ? 0 : 1;
-	axis.separation = FLT_MAX;
-	
-	for (int32 i = 0; i < m_polygonB.count; ++i)
-	{
-		float32 s = b2Dot(m_normal, m_polygonB.vertices[i] - m_v1);
-		if (s < axis.separation)
-		{
-			axis.separation = s;
-		}
-	}
-	
-	return axis;
-}
-
-b2EPAxis b2EPCollider::ComputePolygonSeparation()
-{
-	b2EPAxis axis;
-	axis.type = b2EPAxis::e_unknown;
-	axis.index = -1;
-	axis.separation = -FLT_MAX;
-
-	b2Vec2 perp(-m_normal.y, m_normal.x);
-
-	for (int32 i = 0; i < m_polygonB.count; ++i)
-	{
-		b2Vec2 n = -m_polygonB.normals[i];
-		
-		float32 s1 = b2Dot(n, m_polygonB.vertices[i] - m_v1);
-		float32 s2 = b2Dot(n, m_polygonB.vertices[i] - m_v2);
-		float32 s = b2Min(s1, s2);
-		
-		if (s > m_radius)
-		{
-			// No collision
-			axis.type = b2EPAxis::e_edgeB;
-			axis.index = i;
-			axis.separation = s;
-			return axis;
-		}
-		
-		// Adjacency
-		if (b2Dot(n, perp) >= 0.0f)
-		{
-			if (b2Dot(n - m_upperLimit, m_normal) < -b2_angularSlop)
-			{
-				continue;
-			}
-		}
-		else
-		{
-			if (b2Dot(n - m_lowerLimit, m_normal) < -b2_angularSlop)
-			{
-				continue;
-			}
-		}
-		
-		if (s > axis.separation)
-		{
-			axis.type = b2EPAxis::e_edgeB;
-			axis.index = i;
-			axis.separation = s;
-		}
-	}
-	
-	return axis;
-}
-
-void b2CollideEdgeAndPolygon(	b2Manifold* manifold,
-							 const b2EdgeShape* edgeA, const b2Transform& xfA,
-							 const b2PolygonShape* polygonB, const b2Transform& xfB)
-{
-	b2EPCollider collider;
-	collider.Collide(manifold, edgeA, xfA, polygonB, xfB);
-}

src/libraries/Box2D/Collision/b2Distance.h

@@ -1,141 +0,0 @@
-
-/*
-* Copyright (c) 2006-2009 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
-* 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 <Box2D/Common/b2Math.h>
-
-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, int32 index);
-
-	/// 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;
-
-	b2Vec2 m_buffer[2];
-	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

src/libraries/Box2D/Collision/b2TimeOfImpact.h

@@ -1,58 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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 <Box2D/Common/b2Math.h>
-#include <Box2D/Collision/b2Distance.h>
-
-/// 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

src/libraries/Box2D/Common/b2BlockAllocator.h

@@ -1,62 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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_BLOCK_ALLOCATOR_H
-#define B2_BLOCK_ALLOCATOR_H
-
-#include <Box2D/Common/b2Settings.h>
-
-const int32 b2_chunkSize = 16 * 1024;
-const int32 b2_maxBlockSize = 640;
-const int32 b2_blockSizes = 14;
-const int32 b2_chunkArrayIncrement = 128;
-
-struct b2Block;
-struct b2Chunk;
-
-/// This is a small object allocator used for allocating small
-/// objects that persist for more than one time step.
-/// See: http://www.codeproject.com/useritems/Small_Block_Allocator.asp
-class b2BlockAllocator
-{
-public:
-	b2BlockAllocator();
-	~b2BlockAllocator();
-
-	/// Allocate memory. This will use b2Alloc if the size is larger than b2_maxBlockSize.
-	void* Allocate(int32 size);
-
-	/// Free memory. This will use b2Free if the size is larger than b2_maxBlockSize.
-	void Free(void* p, int32 size);
-
-	void Clear();
-
-private:
-
-	b2Chunk* m_chunks;
-	int32 m_chunkCount;
-	int32 m_chunkSpace;
-
-	b2Block* m_freeLists[b2_blockSizes];
-
-	static int32 s_blockSizes[b2_blockSizes];
-	static uint8 s_blockSizeLookup[b2_maxBlockSize + 1];
-	static bool s_blockSizeLookupInitialized;
-};
-
-#endif

src/libraries/Box2D/Common/b2Draw.cpp

@@ -1,44 +0,0 @@
-/*
-* Copyright (c) 2011 Erin Catto http://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
-* 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 <Box2D/Common/b2Draw.h>
-
-b2Draw::b2Draw()
-{
-	m_drawFlags = 0;
-}
-
-void b2Draw::SetFlags(uint32 flags)
-{
-	m_drawFlags = flags;
-}
-
-uint32 b2Draw::GetFlags() const
-{
-	return m_drawFlags;
-}
-
-void b2Draw::AppendFlags(uint32 flags)
-{
-	m_drawFlags |= flags;
-}
-
-void b2Draw::ClearFlags(uint32 flags)
-{
-	m_drawFlags &= ~flags;
-}

src/libraries/Box2D/Common/b2Draw.h

@@ -1,86 +0,0 @@
-/*
-* Copyright (c) 2011 Erin Catto http://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
-* 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_DRAW_H
-#define B2_DRAW_H
-
-#include <Box2D/Common/b2Math.h>
-
-/// Color for debug drawing. Each value has the range [0,1].
-struct b2Color
-{
-	b2Color() {}
-	b2Color(float32 r, float32 g, float32 b, float32 a = 1.0f) : r(r), g(g), b(b), a(a) {}
-	void Set(float32 ri, float32 gi, float32 bi, float32 ai = 1.0f) { r = ri; g = gi; b = bi; a = ai; }
-	float32 r, g, b, a;
-};
-
-/// Implement and register this class with a b2World to provide debug drawing of physics
-/// entities in your game.
-class b2Draw
-{
-public:
-	b2Draw();
-
-	virtual ~b2Draw() {}
-
-	enum
-	{
-		e_shapeBit				= 0x0001,	///< draw shapes
-		e_jointBit				= 0x0002,	///< draw joint connections
-		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.
-	void SetFlags(uint32 flags);
-
-	/// Get the drawing flags.
-	uint32 GetFlags() const;
-	
-	/// Append flags to the current flags.
-	void AppendFlags(uint32 flags);
-
-	/// Clear flags from the current flags.
-	void ClearFlags(uint32 flags);
-
-	/// Draw a closed polygon provided in CCW order.
-	virtual void DrawPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color) = 0;
-
-	/// Draw a solid closed polygon provided in CCW order.
-	virtual void DrawSolidPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color) = 0;
-
-	/// Draw a circle.
-	virtual void DrawCircle(const b2Vec2& center, float32 radius, const b2Color& color) = 0;
-	
-	/// Draw a solid circle.
-	virtual void DrawSolidCircle(const b2Vec2& center, float32 radius, const b2Vec2& axis, const b2Color& color) = 0;
-	
-	/// Draw a line segment.
-	virtual void DrawSegment(const b2Vec2& p1, const b2Vec2& p2, const b2Color& color) = 0;
-
-	/// Draw a transform. Choose your own length scale.
-	/// @param xf a transform.
-	virtual void DrawTransform(const b2Transform& xf) = 0;
-
-protected:
-	uint32 m_drawFlags;
-};
-
-#endif

src/libraries/Box2D/Common/b2GrowableStack.h

@@ -1,85 +0,0 @@
-/*
-* Copyright (c) 2010 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
-* 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_GROWABLE_STACK_H
-#define B2_GROWABLE_STACK_H
-#include <Box2D/Common/b2Settings.h>
-#include <string.h>
-
-/// This is a growable LIFO stack with an initial capacity of N.
-/// If the stack size exceeds the initial capacity, the heap is used
-/// to increase the size of the stack.
-template <typename T, int32 N>
-class b2GrowableStack
-{
-public:
-	b2GrowableStack()
-	{
-		m_stack = m_array;
-		m_count = 0;
-		m_capacity = N;
-	}
-
-	~b2GrowableStack()
-	{
-		if (m_stack != m_array)
-		{
-			b2Free(m_stack);
-			m_stack = NULL;
-		}
-	}
-
-	void Push(const T& element)
-	{
-		if (m_count == m_capacity)
-		{
-			T* old = m_stack;
-			m_capacity *= 2;
-			m_stack = (T*)b2Alloc(m_capacity * sizeof(T));
-			memcpy(m_stack, old, m_count * sizeof(T));
-			if (old != m_array)
-			{
-				b2Free(old);
-			}
-		}
-
-		m_stack[m_count] = element;
-		++m_count;
-	}
-
-	T Pop()
-	{
-		b2Assert(m_count > 0);
-		--m_count;
-		return m_stack[m_count];
-	}
-
-	int32 GetCount()
-	{
-		return m_count;
-	}
-
-private:
-	T* m_stack;
-	T m_array[N];
-	int32 m_count;
-	int32 m_capacity;
-};
-
-
-#endif

src/libraries/Box2D/Common/b2Math.cpp

@@ -1,94 +0,0 @@
-/*
-* 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
-* 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 <Box2D/Common/b2Math.h>
-
-const b2Vec2 b2Vec2_zero(0.0f, 0.0f);
-
-/// 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(ex, b2Cross(ey, ez));
-	if (det != 0.0f)
-	{
-		det = 1.0f / det;
-	}
-	b2Vec3 x;
-	x.x = det * b2Dot(b, b2Cross(ey, ez));
-	x.y = det * b2Dot(ex, b2Cross(b, ez));
-	x.z = det * b2Dot(ex, b2Cross(ey, 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 = ex.x, a12 = ey.x, a21 = ex.y, a22 = ey.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;
-}
-
-///
-void b2Mat33::GetInverse22(b2Mat33* M) const
-{
-	float32 a = ex.x, b = ey.x, c = ex.y, d = ey.y;
-	float32 det = a * d - b * c;
-	if (det != 0.0f)
-	{
-		det = 1.0f / det;
-	}
-
-	M->ex.x =  det * d;	M->ey.x = -det * b; M->ex.z = 0.0f;
-	M->ex.y = -det * c;	M->ey.y =  det * a; M->ey.z = 0.0f;
-	M->ez.x = 0.0f; M->ez.y = 0.0f; M->ez.z = 0.0f;
-}
-
-/// Returns the zero matrix if singular.
-void b2Mat33::GetSymInverse33(b2Mat33* M) const
-{
-	float32 det = b2Dot(ex, b2Cross(ey, ez));
-	if (det != 0.0f)
-	{
-		det = 1.0f / det;
-	}
-
-	float32 a11 = ex.x, a12 = ey.x, a13 = ez.x;
-	float32 a22 = ey.y, a23 = ez.y;
-	float32 a33 = ez.z;
-
-	M->ex.x = det * (a22 * a33 - a23 * a23);
-	M->ex.y = det * (a13 * a23 - a12 * a33);
-	M->ex.z = det * (a12 * a23 - a13 * a22);
-
-	M->ey.x = M->ex.y;
-	M->ey.y = det * (a11 * a33 - a13 * a13);
-	M->ey.z = det * (a13 * a12 - a11 * a23);
-
-	M->ez.x = M->ex.z;
-	M->ez.y = M->ey.z;
-	M->ez.z = det * (a11 * a22 - a12 * a12);
-}

src/libraries/Box2D/Common/b2Settings.cpp

@@ -1,52 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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 <Box2D/Common/b2Settings.h>
-#include <stdio.h>
-#include <stdarg.h>
-#include <stdlib.h>
-
-#include "common/Exception.h"
-
-b2Version b2_version = {2, 3, 2};
-
-// Memory allocators. Modify these to use your own allocator.
-void* b2Alloc(int32 size)
-{
-	return malloc(size);
-}
-
-void b2Free(void* mem)
-{
-	free(mem);
-}
-
-// You can modify this to use your logging facility.
-void b2Log(const char* string, ...)
-{
-	va_list args;
-	va_start(args, string);
-	vprintf(string, args);
-	va_end(args);
-}
-
-void loveAssert(bool test, const char *teststr)
-{
-	if (!test)
-		throw love::Exception("Box2D assertion failed: %s", teststr);
-}

src/libraries/Box2D/Common/b2StackAllocator.cpp

@@ -1,83 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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 <Box2D/Common/b2StackAllocator.h>
-#include <Box2D/Common/b2Math.h>
-
-b2StackAllocator::b2StackAllocator()
-{
-	m_index = 0;
-	m_allocation = 0;
-	m_maxAllocation = 0;
-	m_entryCount = 0;
-}
-
-b2StackAllocator::~b2StackAllocator()
-{
-	b2Assert(m_index == 0);
-	b2Assert(m_entryCount == 0);
-}
-
-void* b2StackAllocator::Allocate(int32 size)
-{
-	b2Assert(m_entryCount < b2_maxStackEntries);
-
-	b2StackEntry* entry = m_entries + m_entryCount;
-	entry->size = size;
-	if (m_index + size > b2_stackSize)
-	{
-		entry->data = (char*)b2Alloc(size);
-		entry->usedMalloc = true;
-	}
-	else
-	{
-		entry->data = m_data + m_index;
-		entry->usedMalloc = false;
-		m_index += size;
-	}
-
-	m_allocation += size;
-	m_maxAllocation = b2Max(m_maxAllocation, m_allocation);
-	++m_entryCount;
-
-	return entry->data;
-}
-
-void b2StackAllocator::Free(void* p)
-{
-	b2Assert(m_entryCount > 0);
-	b2StackEntry* entry = m_entries + m_entryCount - 1;
-	b2Assert(p == entry->data);
-	if (entry->usedMalloc)
-	{
-		b2Free(p);
-	}
-	else
-	{
-		m_index -= entry->size;
-	}
-	m_allocation -= entry->size;
-	--m_entryCount;
-
-	p = NULL;
-}
-
-int32 b2StackAllocator::GetMaxAllocation() const
-{
-	return m_maxAllocation;
-}

src/libraries/Box2D/Common/b2StackAllocator.h

@@ -1,60 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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_STACK_ALLOCATOR_H
-#define B2_STACK_ALLOCATOR_H
-
-#include <Box2D/Common/b2Settings.h>
-
-const int32 b2_stackSize = 100 * 1024;	// 100k
-const int32 b2_maxStackEntries = 32;
-
-struct b2StackEntry
-{
-	char* data;
-	int32 size;
-	bool usedMalloc;
-};
-
-// This is a stack allocator used for fast per step allocations.
-// You must nest allocate/free pairs. The code will assert
-// if you try to interleave multiple allocate/free pairs.
-class b2StackAllocator
-{
-public:
-	b2StackAllocator();
-	~b2StackAllocator();
-
-	void* Allocate(int32 size);
-	void Free(void* p);
-
-	int32 GetMaxAllocation() const;
-
-private:
-
-	char m_data[b2_stackSize];
-	int32 m_index;
-
-	int32 m_allocation;
-	int32 m_maxAllocation;
-
-	b2StackEntry m_entries[b2_maxStackEntries];
-	int32 m_entryCount;
-};
-
-#endif

src/libraries/Box2D/Common/b2Timer.cpp

@@ -1,101 +0,0 @@
-/*
-* Copyright (c) 2011 Erin Catto http://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
-* 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 <Box2D/Common/b2Timer.h>
-
-#if defined(_WIN32)
-
-float64 b2Timer::s_invFrequency = 0.0f;
-
-#define WIN32_LEAN_AND_MEAN
-#include <windows.h>
-
-b2Timer::b2Timer()
-{
-	LARGE_INTEGER largeInteger;
-
-	if (s_invFrequency == 0.0f)
-	{
-		QueryPerformanceFrequency(&largeInteger);
-		s_invFrequency = float64(largeInteger.QuadPart);
-		if (s_invFrequency > 0.0f)
-		{
-			s_invFrequency = 1000.0f / s_invFrequency;
-		}
-	}
-
-	QueryPerformanceCounter(&largeInteger);
-	m_start = float64(largeInteger.QuadPart);
-}
-
-void b2Timer::Reset()
-{
-	LARGE_INTEGER largeInteger;
-	QueryPerformanceCounter(&largeInteger);
-	m_start = float64(largeInteger.QuadPart);
-}
-
-float32 b2Timer::GetMilliseconds() const
-{
-	LARGE_INTEGER largeInteger;
-	QueryPerformanceCounter(&largeInteger);
-	float64 count = float64(largeInteger.QuadPart);
-	float32 ms = float32(s_invFrequency * (count - m_start));
-	return ms;
-}
-
-#elif defined(__linux__) || defined (__APPLE__)
-
-#include <sys/time.h>
-
-b2Timer::b2Timer()
-{
-    Reset();
-}
-
-void b2Timer::Reset()
-{
-    timeval t;
-    gettimeofday(&t, 0);
-    m_start_sec = t.tv_sec;
-    m_start_usec = t.tv_usec;
-}
-
-float32 b2Timer::GetMilliseconds() const
-{
-    timeval t;
-    gettimeofday(&t, 0);
-    return 1000.0f * (t.tv_sec - m_start_sec) + 0.001f * (t.tv_usec - m_start_usec);
-}
-
-#else
-
-b2Timer::b2Timer()
-{
-}
-
-void b2Timer::Reset()
-{
-}
-
-float32 b2Timer::GetMilliseconds() const
-{
-	return 0.0f;
-}
-
-#endif

src/libraries/Box2D/Common/b2Timer.h

@@ -1,50 +0,0 @@
-/*
-* Copyright (c) 2011 Erin Catto http://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
-* 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_TIMER_H
-#define B2_TIMER_H
-
-#include <Box2D/Common/b2Settings.h>
-
-/// Timer for profiling. This has platform specific code and may
-/// not work on every platform.
-class b2Timer
-{
-public:
-
-	/// Constructor
-	b2Timer();
-
-	/// Reset the timer.
-	void Reset();
-
-	/// Get the time since construction or the last reset.
-	float32 GetMilliseconds() const;
-
-private:
-
-#if defined(_WIN32)
-	float64 m_start;
-	static float64 s_invFrequency;
-#elif defined(__linux__) || defined (__APPLE__)
-	unsigned long m_start_sec;
-	unsigned long m_start_usec;
-#endif
-};
-
-#endif

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

@@ -1,53 +0,0 @@
-/*
-* Copyright (c) 2006-2010 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
-* 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 <Box2D/Dynamics/Contacts/b2ChainAndCircleContact.h>
-#include <Box2D/Common/b2BlockAllocator.h>
-#include <Box2D/Dynamics/b2Fixture.h>
-#include <Box2D/Collision/Shapes/b2ChainShape.h>
-#include <Box2D/Collision/Shapes/b2EdgeShape.h>
-
-#include <new>
-
-b2Contact* b2ChainAndCircleContact::Create(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator)
-{
-	void* mem = allocator->Allocate(sizeof(b2ChainAndCircleContact));
-	return new (mem) b2ChainAndCircleContact(fixtureA, indexA, fixtureB, indexB);
-}
-
-void b2ChainAndCircleContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
-{
-	((b2ChainAndCircleContact*)contact)->~b2ChainAndCircleContact();
-	allocator->Free(contact, sizeof(b2ChainAndCircleContact));
-}
-
-b2ChainAndCircleContact::b2ChainAndCircleContact(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB)
-: b2Contact(fixtureA, indexA, fixtureB, indexB)
-{
-	b2Assert(m_fixtureA->GetType() == b2Shape::e_chain);
-	b2Assert(m_fixtureB->GetType() == b2Shape::e_circle);
-}
-
-void b2ChainAndCircleContact::Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB)
-{
-	b2ChainShape* chain = (b2ChainShape*)m_fixtureA->GetShape();
-	b2EdgeShape edge;
-	chain->GetChildEdge(&edge, m_indexA);
-	b2CollideEdgeAndCircle(	manifold, &edge, xfA,
-							(b2CircleShape*)m_fixtureB->GetShape(), xfB);
-}

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

@@ -1,39 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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_CHAIN_AND_CIRCLE_CONTACT_H
-#define B2_CHAIN_AND_CIRCLE_CONTACT_H
-
-#include <Box2D/Dynamics/Contacts/b2Contact.h>
-
-class b2BlockAllocator;
-
-class b2ChainAndCircleContact : public b2Contact
-{
-public:
-	static b2Contact* Create(	b2Fixture* fixtureA, int32 indexA,
-								b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator);
-	static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);
-
-	b2ChainAndCircleContact(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB);
-	~b2ChainAndCircleContact() {}
-
-	void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB);
-};
-
-#endif

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

@@ -1,53 +0,0 @@
-/*
-* Copyright (c) 2006-2010 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
-* 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 <Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.h>
-#include <Box2D/Common/b2BlockAllocator.h>
-#include <Box2D/Dynamics/b2Fixture.h>
-#include <Box2D/Collision/Shapes/b2ChainShape.h>
-#include <Box2D/Collision/Shapes/b2EdgeShape.h>
-
-#include <new>
-
-b2Contact* b2ChainAndPolygonContact::Create(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator)
-{
-	void* mem = allocator->Allocate(sizeof(b2ChainAndPolygonContact));
-	return new (mem) b2ChainAndPolygonContact(fixtureA, indexA, fixtureB, indexB);
-}
-
-void b2ChainAndPolygonContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
-{
-	((b2ChainAndPolygonContact*)contact)->~b2ChainAndPolygonContact();
-	allocator->Free(contact, sizeof(b2ChainAndPolygonContact));
-}
-
-b2ChainAndPolygonContact::b2ChainAndPolygonContact(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB)
-: b2Contact(fixtureA, indexA, fixtureB, indexB)
-{
-	b2Assert(m_fixtureA->GetType() == b2Shape::e_chain);
-	b2Assert(m_fixtureB->GetType() == b2Shape::e_polygon);
-}
-
-void b2ChainAndPolygonContact::Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB)
-{
-	b2ChainShape* chain = (b2ChainShape*)m_fixtureA->GetShape();
-	b2EdgeShape edge;
-	chain->GetChildEdge(&edge, m_indexA);
-	b2CollideEdgeAndPolygon(	manifold, &edge, xfA,
-								(b2PolygonShape*)m_fixtureB->GetShape(), xfB);
-}

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

@@ -1,39 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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_CHAIN_AND_POLYGON_CONTACT_H
-#define B2_CHAIN_AND_POLYGON_CONTACT_H
-
-#include <Box2D/Dynamics/Contacts/b2Contact.h>
-
-class b2BlockAllocator;
-
-class b2ChainAndPolygonContact : public b2Contact
-{
-public:
-	static b2Contact* Create(	b2Fixture* fixtureA, int32 indexA,
-								b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator);
-	static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);
-
-	b2ChainAndPolygonContact(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB);
-	~b2ChainAndPolygonContact() {}
-
-	void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB);
-};
-
-#endif

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

@@ -1,52 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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 <Box2D/Dynamics/Contacts/b2CircleContact.h>
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2Fixture.h>
-#include <Box2D/Dynamics/b2WorldCallbacks.h>
-#include <Box2D/Common/b2BlockAllocator.h>
-#include <Box2D/Collision/b2TimeOfImpact.h>
-
-#include <new>
-
-b2Contact* b2CircleContact::Create(b2Fixture* fixtureA, int32, b2Fixture* fixtureB, int32, 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, 0, fixtureB, 0)
-{
-	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);
-}

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

@@ -1,39 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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_CONTACT_H
-#define B2_CIRCLE_CONTACT_H
-
-#include <Box2D/Dynamics/Contacts/b2Contact.h>
-
-class b2BlockAllocator;
-
-class b2CircleContact : public b2Contact
-{
-public:
-	static b2Contact* Create(	b2Fixture* fixtureA, int32 indexA,
-								b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator);
-	static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);
-
-	b2CircleContact(b2Fixture* fixtureA, b2Fixture* fixtureB);
-	~b2CircleContact() {}
-
-	void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB);
-};
-
-#endif

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

@@ -1,95 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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_SOLVER_H
-#define B2_CONTACT_SOLVER_H
-
-#include <Box2D/Common/b2Math.h>
-#include <Box2D/Collision/b2Collision.h>
-#include <Box2D/Dynamics/b2TimeStep.h>
-
-class b2Contact;
-class b2Body;
-class b2StackAllocator;
-struct b2ContactPositionConstraint;
-
-struct b2VelocityConstraintPoint
-{
-	b2Vec2 rA;
-	b2Vec2 rB;
-	float32 normalImpulse;
-	float32 tangentImpulse;
-	float32 normalMass;
-	float32 tangentMass;
-	float32 velocityBias;
-};
-
-struct b2ContactVelocityConstraint
-{
-	b2VelocityConstraintPoint points[b2_maxManifoldPoints];
-	b2Vec2 normal;
-	b2Mat22 normalMass;
-	b2Mat22 K;
-	int32 indexA;
-	int32 indexB;
-	float32 invMassA, invMassB;
-	float32 invIA, invIB;
-	float32 friction;
-	float32 restitution;
-	float32 tangentSpeed;
-	int32 pointCount;
-	int32 contactIndex;
-};
-
-struct b2ContactSolverDef
-{
-	b2TimeStep step;
-	b2Contact** contacts;
-	int32 count;
-	b2Position* positions;
-	b2Velocity* velocities;
-	b2StackAllocator* allocator;
-};
-
-class b2ContactSolver
-{
-public:
-	b2ContactSolver(b2ContactSolverDef* def);
-	~b2ContactSolver();
-
-	void InitializeVelocityConstraints();
-
-	void WarmStart();
-	void SolveVelocityConstraints();
-	void StoreImpulses();
-
-	bool SolvePositionConstraints();
-	bool SolveTOIPositionConstraints(int32 toiIndexA, int32 toiIndexB);
-
-	b2TimeStep m_step;
-	b2Position* m_positions;
-	b2Velocity* m_velocities;
-	b2StackAllocator* m_allocator;
-	b2ContactPositionConstraint* m_positionConstraints;
-	b2ContactVelocityConstraint* m_velocityConstraints;
-	b2Contact** m_contacts;
-	int m_count;
-};
-
-#endif
-

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

@@ -1,49 +0,0 @@
-/*
-* Copyright (c) 2006-2010 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
-* 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 <Box2D/Dynamics/Contacts/b2EdgeAndCircleContact.h>
-#include <Box2D/Common/b2BlockAllocator.h>
-#include <Box2D/Dynamics/b2Fixture.h>
-
-#include <new>
-
-b2Contact* b2EdgeAndCircleContact::Create(b2Fixture* fixtureA, int32, b2Fixture* fixtureB, int32, b2BlockAllocator* allocator)
-{
-	void* mem = allocator->Allocate(sizeof(b2EdgeAndCircleContact));
-	return new (mem) b2EdgeAndCircleContact(fixtureA, fixtureB);
-}
-
-void b2EdgeAndCircleContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
-{
-	((b2EdgeAndCircleContact*)contact)->~b2EdgeAndCircleContact();
-	allocator->Free(contact, sizeof(b2EdgeAndCircleContact));
-}
-
-b2EdgeAndCircleContact::b2EdgeAndCircleContact(b2Fixture* fixtureA, b2Fixture* fixtureB)
-: b2Contact(fixtureA, 0, fixtureB, 0)
-{
-	b2Assert(m_fixtureA->GetType() == b2Shape::e_edge);
-	b2Assert(m_fixtureB->GetType() == b2Shape::e_circle);
-}
-
-void b2EdgeAndCircleContact::Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB)
-{
-	b2CollideEdgeAndCircle(	manifold,
-								(b2EdgeShape*)m_fixtureA->GetShape(), xfA,
-								(b2CircleShape*)m_fixtureB->GetShape(), xfB);
-}

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

@@ -1,39 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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_EDGE_AND_CIRCLE_CONTACT_H
-#define B2_EDGE_AND_CIRCLE_CONTACT_H
-
-#include <Box2D/Dynamics/Contacts/b2Contact.h>
-
-class b2BlockAllocator;
-
-class b2EdgeAndCircleContact : public b2Contact
-{
-public:
-	static b2Contact* Create(	b2Fixture* fixtureA, int32 indexA,
-								b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator);
-	static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);
-
-	b2EdgeAndCircleContact(b2Fixture* fixtureA, b2Fixture* fixtureB);
-	~b2EdgeAndCircleContact() {}
-
-	void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB);
-};
-
-#endif

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

@@ -1,49 +0,0 @@
-/*
-* Copyright (c) 2006-2010 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
-* 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 <Box2D/Dynamics/Contacts/b2EdgeAndPolygonContact.h>
-#include <Box2D/Common/b2BlockAllocator.h>
-#include <Box2D/Dynamics/b2Fixture.h>
-
-#include <new>
-
-b2Contact* b2EdgeAndPolygonContact::Create(b2Fixture* fixtureA, int32, b2Fixture* fixtureB, int32, b2BlockAllocator* allocator)
-{
-	void* mem = allocator->Allocate(sizeof(b2EdgeAndPolygonContact));
-	return new (mem) b2EdgeAndPolygonContact(fixtureA, fixtureB);
-}
-
-void b2EdgeAndPolygonContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
-{
-	((b2EdgeAndPolygonContact*)contact)->~b2EdgeAndPolygonContact();
-	allocator->Free(contact, sizeof(b2EdgeAndPolygonContact));
-}
-
-b2EdgeAndPolygonContact::b2EdgeAndPolygonContact(b2Fixture* fixtureA, b2Fixture* fixtureB)
-: b2Contact(fixtureA, 0, fixtureB, 0)
-{
-	b2Assert(m_fixtureA->GetType() == b2Shape::e_edge);
-	b2Assert(m_fixtureB->GetType() == b2Shape::e_polygon);
-}
-
-void b2EdgeAndPolygonContact::Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB)
-{
-	b2CollideEdgeAndPolygon(	manifold,
-								(b2EdgeShape*)m_fixtureA->GetShape(), xfA,
-								(b2PolygonShape*)m_fixtureB->GetShape(), xfB);
-}

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

@@ -1,39 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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_EDGE_AND_POLYGON_CONTACT_H
-#define B2_EDGE_AND_POLYGON_CONTACT_H
-
-#include <Box2D/Dynamics/Contacts/b2Contact.h>
-
-class b2BlockAllocator;
-
-class b2EdgeAndPolygonContact : public b2Contact
-{
-public:
-	static b2Contact* Create(	b2Fixture* fixtureA, int32 indexA,
-								b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator);
-	static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);
-
-	b2EdgeAndPolygonContact(b2Fixture* fixtureA, b2Fixture* fixtureB);
-	~b2EdgeAndPolygonContact() {}
-
-	void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB);
-};
-
-#endif

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

@@ -1,49 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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 <Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.h>
-#include <Box2D/Common/b2BlockAllocator.h>
-#include <Box2D/Dynamics/b2Fixture.h>
-
-#include <new>
-
-b2Contact* b2PolygonAndCircleContact::Create(b2Fixture* fixtureA, int32, b2Fixture* fixtureB, int32, 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, 0, fixtureB, 0)
-{
-	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);
-}

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

@@ -1,38 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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_AND_CIRCLE_CONTACT_H
-#define B2_POLYGON_AND_CIRCLE_CONTACT_H
-
-#include <Box2D/Dynamics/Contacts/b2Contact.h>
-
-class b2BlockAllocator;
-
-class b2PolygonAndCircleContact : public b2Contact
-{
-public:
-	static b2Contact* Create(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator);
-	static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);
-
-	b2PolygonAndCircleContact(b2Fixture* fixtureA, b2Fixture* fixtureB);
-	~b2PolygonAndCircleContact() {}
-
-	void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB);
-};
-
-#endif

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

@@ -1,52 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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 <Box2D/Dynamics/Contacts/b2PolygonContact.h>
-#include <Box2D/Common/b2BlockAllocator.h>
-#include <Box2D/Collision/b2TimeOfImpact.h>
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2Fixture.h>
-#include <Box2D/Dynamics/b2WorldCallbacks.h>
-
-#include <new>
-
-b2Contact* b2PolygonContact::Create(b2Fixture* fixtureA, int32, b2Fixture* fixtureB, int32, 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, 0, fixtureB, 0)
-{
-	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);
-}

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

@@ -1,39 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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_CONTACT_H
-#define B2_POLYGON_CONTACT_H
-
-#include <Box2D/Dynamics/Contacts/b2Contact.h>
-
-class b2BlockAllocator;
-
-class b2PolygonContact : public b2Contact
-{
-public:
-	static b2Contact* Create(	b2Fixture* fixtureA, int32 indexA,
-								b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator);
-	static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);
-
-	b2PolygonContact(b2Fixture* fixtureA, b2Fixture* fixtureB);
-	~b2PolygonContact() {}
-
-	void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB);
-};
-
-#endif

src/libraries/Box2D/Dynamics/Joints/b2DistanceJoint.cpp

@@ -1,260 +0,0 @@
-/*
-* Copyright (c) 2006-2011 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
-* 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 <Box2D/Dynamics/Joints/b2DistanceJoint.h>
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2TimeStep.h>
-
-// 1-D constrained system
-// m (v2 - v1) = lambda
-// v2 + (beta/h) * x1 + gamma * lambda = 0, gamma has units of inverse mass.
-// x2 = x1 + h * v2
-
-// 1-D mass-damper-spring system
-// m (v2 - v1) + h * d * v2 + h * k * 
-
-// C = norm(p2 - p1) - L
-// u = (p2 - p1) / norm(p2 - p1)
-// Cdot = dot(u, v2 + cross(w2, r2) - v1 - cross(w1, r1))
-// J = [-u -cross(r1, u) u cross(r2, u)]
-// K = J * invM * JT
-//   = invMass1 + invI1 * cross(r1, u)^2 + invMass2 + invI2 * cross(r2, u)^2
-
-void b2DistanceJointDef::Initialize(b2Body* b1, b2Body* b2,
-									const b2Vec2& anchor1, const b2Vec2& anchor2)
-{
-	bodyA = b1;
-	bodyB = b2;
-	localAnchorA = bodyA->GetLocalPoint(anchor1);
-	localAnchorB = bodyB->GetLocalPoint(anchor2);
-	b2Vec2 d = anchor2 - anchor1;
-	length = d.Length();
-}
-
-b2DistanceJoint::b2DistanceJoint(const b2DistanceJointDef* def)
-: b2Joint(def)
-{
-	m_localAnchorA = def->localAnchorA;
-	m_localAnchorB = 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;
-}
-
-void b2DistanceJoint::InitVelocityConstraints(const b2SolverData& data)
-{
-	m_indexA = m_bodyA->m_islandIndex;
-	m_indexB = m_bodyB->m_islandIndex;
-	m_localCenterA = m_bodyA->m_sweep.localCenter;
-	m_localCenterB = m_bodyB->m_sweep.localCenter;
-	m_invMassA = m_bodyA->m_invMass;
-	m_invMassB = m_bodyB->m_invMass;
-	m_invIA = m_bodyA->m_invI;
-	m_invIB = m_bodyB->m_invI;
-
-	b2Vec2 cA = data.positions[m_indexA].c;
-	float32 aA = data.positions[m_indexA].a;
-	b2Vec2 vA = data.velocities[m_indexA].v;
-	float32 wA = data.velocities[m_indexA].w;
-
-	b2Vec2 cB = data.positions[m_indexB].c;
-	float32 aB = data.positions[m_indexB].a;
-	b2Vec2 vB = data.velocities[m_indexB].v;
-	float32 wB = data.velocities[m_indexB].w;
-
-	b2Rot qA(aA), qB(aB);
-
-	m_rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
-	m_rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
-	m_u = cB + m_rB - cA - m_rA;
-
-	// Handle singularity.
-	float32 length = m_u.Length();
-	if (length > b2_linearSlop)
-	{
-		m_u *= 1.0f / length;
-	}
-	else
-	{
-		m_u.Set(0.0f, 0.0f);
-	}
-
-	float32 crAu = b2Cross(m_rA, m_u);
-	float32 crBu = b2Cross(m_rB, m_u);
-	float32 invMass = m_invMassA + m_invIA * crAu * crAu + m_invMassB + m_invIB * crBu * crBu;
-
-	// Compute the effective mass matrix.
-	m_mass = invMass != 0.0f ? 1.0f / invMass : 0.0f;
-
-	if (m_frequencyHz > 0.0f)
-	{
-		float32 C = length - m_length;
-
-		// Frequency
-		float32 omega = 2.0f * b2_pi * m_frequencyHz;
-
-		// Damping coefficient
-		float32 d = 2.0f * m_mass * m_dampingRatio * omega;
-
-		// Spring stiffness
-		float32 k = m_mass * omega * omega;
-
-		// magic formulas
-		float32 h = data.step.dt;
-		m_gamma = h * (d + h * k);
-		m_gamma = m_gamma != 0.0f ? 1.0f / m_gamma : 0.0f;
-		m_bias = C * h * k * m_gamma;
-
-		invMass += m_gamma;
-		m_mass = invMass != 0.0f ? 1.0f / invMass : 0.0f;
-	}
-	else
-	{
-		m_gamma = 0.0f;
-		m_bias = 0.0f;
-	}
-
-	if (data.step.warmStarting)
-	{
-		// Scale the impulse to support a variable time step.
-		m_impulse *= data.step.dtRatio;
-
-		b2Vec2 P = m_impulse * m_u;
-		vA -= m_invMassA * P;
-		wA -= m_invIA * b2Cross(m_rA, P);
-		vB += m_invMassB * P;
-		wB += m_invIB * b2Cross(m_rB, P);
-	}
-	else
-	{
-		m_impulse = 0.0f;
-	}
-
-	data.velocities[m_indexA].v = vA;
-	data.velocities[m_indexA].w = wA;
-	data.velocities[m_indexB].v = vB;
-	data.velocities[m_indexB].w = wB;
-}
-
-void b2DistanceJoint::SolveVelocityConstraints(const b2SolverData& data)
-{
-	b2Vec2 vA = data.velocities[m_indexA].v;
-	float32 wA = data.velocities[m_indexA].w;
-	b2Vec2 vB = data.velocities[m_indexB].v;
-	float32 wB = data.velocities[m_indexB].w;
-
-	// Cdot = dot(u, v + cross(w, r))
-	b2Vec2 vpA = vA + b2Cross(wA, m_rA);
-	b2Vec2 vpB = vB + b2Cross(wB, m_rB);
-	float32 Cdot = b2Dot(m_u, vpB - vpA);
-
-	float32 impulse = -m_mass * (Cdot + m_bias + m_gamma * m_impulse);
-	m_impulse += impulse;
-
-	b2Vec2 P = impulse * m_u;
-	vA -= m_invMassA * P;
-	wA -= m_invIA * b2Cross(m_rA, P);
-	vB += m_invMassB * P;
-	wB += m_invIB * b2Cross(m_rB, P);
-
-	data.velocities[m_indexA].v = vA;
-	data.velocities[m_indexA].w = wA;
-	data.velocities[m_indexB].v = vB;
-	data.velocities[m_indexB].w = wB;
-}
-
-bool b2DistanceJoint::SolvePositionConstraints(const b2SolverData& data)
-{
-	if (m_frequencyHz > 0.0f)
-	{
-		// There is no position correction for soft distance constraints.
-		return true;
-	}
-
-	b2Vec2 cA = data.positions[m_indexA].c;
-	float32 aA = data.positions[m_indexA].a;
-	b2Vec2 cB = data.positions[m_indexB].c;
-	float32 aB = data.positions[m_indexB].a;
-
-	b2Rot qA(aA), qB(aB);
-
-	b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
-	b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
-	b2Vec2 u = cB + rB - cA - rA;
-
-	float32 length = u.Normalize();
-	float32 C = length - m_length;
-	C = b2Clamp(C, -b2_maxLinearCorrection, b2_maxLinearCorrection);
-
-	float32 impulse = -m_mass * C;
-	b2Vec2 P = impulse * u;
-
-	cA -= m_invMassA * P;
-	aA -= m_invIA * b2Cross(rA, P);
-	cB += m_invMassB * P;
-	aB += m_invIB * b2Cross(rB, P);
-
-	data.positions[m_indexA].c = cA;
-	data.positions[m_indexA].a = aA;
-	data.positions[m_indexB].c = cB;
-	data.positions[m_indexB].a = aB;
-
-	return b2Abs(C) < b2_linearSlop;
-}
-
-b2Vec2 b2DistanceJoint::GetAnchorA() const
-{
-	return m_bodyA->GetWorldPoint(m_localAnchorA);
-}
-
-b2Vec2 b2DistanceJoint::GetAnchorB() const
-{
-	return m_bodyB->GetWorldPoint(m_localAnchorB);
-}
-
-b2Vec2 b2DistanceJoint::GetReactionForce(float32 inv_dt) const
-{
-	b2Vec2 F = (inv_dt * m_impulse) * m_u;
-	return F;
-}
-
-float32 b2DistanceJoint::GetReactionTorque(float32 inv_dt) const
-{
-	B2_NOT_USED(inv_dt);
-	return 0.0f;
-}
-
-void b2DistanceJoint::Dump()
-{
-	int32 indexA = m_bodyA->m_islandIndex;
-	int32 indexB = m_bodyB->m_islandIndex;
-
-	b2Log("  b2DistanceJointDef jd;\n");
-	b2Log("  jd.bodyA = bodies[%d];\n", indexA);
-	b2Log("  jd.bodyB = bodies[%d];\n", indexB);
-	b2Log("  jd.collideConnected = bool(%d);\n", m_collideConnected);
-	b2Log("  jd.localAnchorA.Set(%.15lef, %.15lef);\n", m_localAnchorA.x, m_localAnchorA.y);
-	b2Log("  jd.localAnchorB.Set(%.15lef, %.15lef);\n", m_localAnchorB.x, m_localAnchorB.y);
-	b2Log("  jd.length = %.15lef;\n", m_length);
-	b2Log("  jd.frequencyHz = %.15lef;\n", m_frequencyHz);
-	b2Log("  jd.dampingRatio = %.15lef;\n", m_dampingRatio);
-	b2Log("  joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
-}

src/libraries/Box2D/Dynamics/Joints/b2DistanceJoint.h

@@ -1,169 +0,0 @@
-/*
-* 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
-* 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_JOINT_H
-#define B2_DISTANCE_JOINT_H
-
-#include <Box2D/Dynamics/Joints/b2Joint.h>
-
-/// Distance joint definition. This requires defining an
-/// anchor point on both bodies and the non-zero length of the
-/// distance joint. The definition uses local anchor points
-/// so that the initial configuration can violate the constraint
-/// slightly. This helps when saving and loading a game.
-/// @warning Do not use a zero or short length.
-struct b2DistanceJointDef : public b2JointDef
-{
-	b2DistanceJointDef()
-	{
-		type = e_distanceJoint;
-		localAnchorA.Set(0.0f, 0.0f);
-		localAnchorB.Set(0.0f, 0.0f);
-		length = 1.0f;
-		frequencyHz = 0.0f;
-		dampingRatio = 0.0f;
-	}
-
-	/// Initialize the bodies, anchors, and length using the world
-	/// anchors.
-	void Initialize(b2Body* bodyA, b2Body* bodyB,
-					const b2Vec2& anchorA, const b2Vec2& anchorB);
-
-	/// The local anchor point relative to bodyA's origin.
-	b2Vec2 localAnchorA;
-
-	/// The local anchor point relative to bodyB's origin.
-	b2Vec2 localAnchorB;
-
-	/// The natural length between the anchor points.
-	float32 length;
-
-	/// The mass-spring-damper frequency in Hertz. A value of 0
-	/// disables softness.
-	float32 frequencyHz;
-
-	/// The damping ratio. 0 = no damping, 1 = critical damping.
-	float32 dampingRatio;
-};
-
-/// A distance joint constrains two points on two bodies
-/// to remain at a fixed distance from each other. You can view
-/// this as a massless, rigid rod.
-class b2DistanceJoint : public b2Joint
-{
-public:
-
-	b2Vec2 GetAnchorA() const;
-	b2Vec2 GetAnchorB() const;
-
-	/// Get the reaction force given the inverse time step.
-	/// Unit is N.
-	b2Vec2 GetReactionForce(float32 inv_dt) const;
-
-	/// Get the reaction torque given the inverse time step.
-	/// Unit is N*m. This is always zero for a distance joint.
-	float32 GetReactionTorque(float32 inv_dt) const;
-
-	/// The local anchor point relative to bodyA's origin.
-	const b2Vec2& GetLocalAnchorA() const { return m_localAnchorA; }
-
-	/// The local anchor point relative to bodyB's origin.
-	const b2Vec2& GetLocalAnchorB() const  { return m_localAnchorB; }
-
-	/// 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;
-
-	/// Dump joint to dmLog
-	void Dump();
-
-protected:
-
-	friend class b2Joint;
-	b2DistanceJoint(const b2DistanceJointDef* data);
-
-	void InitVelocityConstraints(const b2SolverData& data);
-	void SolveVelocityConstraints(const b2SolverData& data);
-	bool SolvePositionConstraints(const b2SolverData& data);
-
-	float32 m_frequencyHz;
-	float32 m_dampingRatio;
-	float32 m_bias;
-
-	// Solver shared
-	b2Vec2 m_localAnchorA;
-	b2Vec2 m_localAnchorB;
-	float32 m_gamma;
-	float32 m_impulse;
-	float32 m_length;
-
-	// Solver temp
-	int32 m_indexA;
-	int32 m_indexB;
-	b2Vec2 m_u;
-	b2Vec2 m_rA;
-	b2Vec2 m_rB;
-	b2Vec2 m_localCenterA;
-	b2Vec2 m_localCenterB;
-	float32 m_invMassA;
-	float32 m_invMassB;
-	float32 m_invIA;
-	float32 m_invIB;
-	float32 m_mass;
-};
-
-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

src/libraries/Box2D/Dynamics/Joints/b2FrictionJoint.h

@@ -1,119 +0,0 @@
-/*
-* 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
-* 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 <Box2D/Dynamics/Joints/b2Joint.h>
-
-/// 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;
-
-	/// The local anchor point relative to bodyA's origin.
-	const b2Vec2& GetLocalAnchorA() const { return m_localAnchorA; }
-
-	/// The local anchor point relative to bodyB's origin.
-	const b2Vec2& GetLocalAnchorB() const  { return m_localAnchorB; }
-
-	/// 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;
-
-	/// Dump joint to dmLog
-	void Dump();
-
-protected:
-
-	friend class b2Joint;
-
-	b2FrictionJoint(const b2FrictionJointDef* def);
-
-	void InitVelocityConstraints(const b2SolverData& data);
-	void SolveVelocityConstraints(const b2SolverData& data);
-	bool SolvePositionConstraints(const b2SolverData& data);
-
-	b2Vec2 m_localAnchorA;
-	b2Vec2 m_localAnchorB;
-
-	// Solver shared
-	b2Vec2 m_linearImpulse;
-	float32 m_angularImpulse;
-	float32 m_maxForce;
-	float32 m_maxTorque;
-
-	// Solver temp
-	int32 m_indexA;
-	int32 m_indexB;
-	b2Vec2 m_rA;
-	b2Vec2 m_rB;
-	b2Vec2 m_localCenterA;
-	b2Vec2 m_localCenterB;
-	float32 m_invMassA;
-	float32 m_invMassB;
-	float32 m_invIA;
-	float32 m_invIB;
-	b2Mat22 m_linearMass;
-	float32 m_angularMass;
-};
-
-#endif

src/libraries/Box2D/Dynamics/Joints/b2GearJoint.h

@@ -1,125 +0,0 @@
-/*
-* Copyright (c) 2006-2011 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
-* 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_GEAR_JOINT_H
-#define B2_GEAR_JOINT_H
-
-#include <Box2D/Dynamics/Joints/b2Joint.h>
-
-/// Gear joint definition. This definition requires two existing
-/// revolute or prismatic joints (any combination will work).
-struct b2GearJointDef : public b2JointDef
-{
-	b2GearJointDef()
-	{
-		type = e_gearJoint;
-		joint1 = NULL;
-		joint2 = NULL;
-		ratio = 1.0f;
-	}
-
-	/// The first revolute/prismatic joint attached to the gear joint.
-	b2Joint* joint1;
-
-	/// The second revolute/prismatic joint attached to the gear joint.
-	b2Joint* joint2;
-
-	/// The gear ratio.
-	/// @see b2GearJoint for explanation.
-	float32 ratio;
-};
-
-/// A gear joint is used to connect two joints together. Either joint
-/// can be a revolute or prismatic joint. You specify a gear ratio
-/// to bind the motions together:
-/// coordinate1 + ratio * coordinate2 = constant
-/// The ratio can be negative or positive. If one joint is a revolute joint
-/// and the other joint is a prismatic joint, then the ratio will have units
-/// of length or units of 1/length.
-/// @warning You have to manually destroy the gear joint if joint1 or joint2
-/// is destroyed.
-class b2GearJoint : public b2Joint
-{
-public:
-	b2Vec2 GetAnchorA() const;
-	b2Vec2 GetAnchorB() const;
-
-	b2Vec2 GetReactionForce(float32 inv_dt) const;
-	float32 GetReactionTorque(float32 inv_dt) const;
-
-	/// Get the first joint.
-	b2Joint* GetJoint1() { return m_joint1; }
-
-	/// Get the second joint.
-	b2Joint* GetJoint2() { return m_joint2; }
-
-	/// Set/Get the gear ratio.
-	void SetRatio(float32 ratio);
-	float32 GetRatio() const;
-
-	/// Dump joint to dmLog
-	void Dump();
-
-protected:
-
-	friend class b2Joint;
-	b2GearJoint(const b2GearJointDef* data);
-
-	void InitVelocityConstraints(const b2SolverData& data);
-	void SolveVelocityConstraints(const b2SolverData& data);
-	bool SolvePositionConstraints(const b2SolverData& data);
-
-	b2Joint* m_joint1;
-	b2Joint* m_joint2;
-
-	b2JointType m_typeA;
-	b2JointType m_typeB;
-
-	// Body A is connected to body C
-	// Body B is connected to body D
-	b2Body* m_bodyC;
-	b2Body* m_bodyD;
-
-	// Solver shared
-	b2Vec2 m_localAnchorA;
-	b2Vec2 m_localAnchorB;
-	b2Vec2 m_localAnchorC;
-	b2Vec2 m_localAnchorD;
-
-	b2Vec2 m_localAxisC;
-	b2Vec2 m_localAxisD;
-
-	float32 m_referenceAngleA;
-	float32 m_referenceAngleB;
-
-	float32 m_constant;
-	float32 m_ratio;
-
-	float32 m_impulse;
-
-	// Solver temp
-	int32 m_indexA, m_indexB, m_indexC, m_indexD;
-	b2Vec2 m_lcA, m_lcB, m_lcC, m_lcD;
-	float32 m_mA, m_mB, m_mC, m_mD;
-	float32 m_iA, m_iB, m_iC, m_iD;
-	b2Vec2 m_JvAC, m_JvBD;
-	float32 m_JwA, m_JwB, m_JwC, m_JwD;
-	float32 m_mass;
-};
-
-#endif

src/libraries/Box2D/Dynamics/Joints/b2Joint.cpp

@@ -1,211 +0,0 @@
-/*
-* 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
-* 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 <Box2D/Dynamics/Joints/b2Joint.h>
-#include <Box2D/Dynamics/Joints/b2DistanceJoint.h>
-#include <Box2D/Dynamics/Joints/b2WheelJoint.h>
-#include <Box2D/Dynamics/Joints/b2MouseJoint.h>
-#include <Box2D/Dynamics/Joints/b2RevoluteJoint.h>
-#include <Box2D/Dynamics/Joints/b2PrismaticJoint.h>
-#include <Box2D/Dynamics/Joints/b2PulleyJoint.h>
-#include <Box2D/Dynamics/Joints/b2GearJoint.h>
-#include <Box2D/Dynamics/Joints/b2WeldJoint.h>
-#include <Box2D/Dynamics/Joints/b2FrictionJoint.h>
-#include <Box2D/Dynamics/Joints/b2RopeJoint.h>
-#include <Box2D/Dynamics/Joints/b2MotorJoint.h>
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2World.h>
-#include <Box2D/Common/b2BlockAllocator.h>
-
-#include <new>
-
-b2Joint* b2Joint::Create(const b2JointDef* def, b2BlockAllocator* allocator)
-{
-	b2Joint* joint = NULL;
-
-	switch (def->type)
-	{
-	case e_distanceJoint:
-		{
-			void* mem = allocator->Allocate(sizeof(b2DistanceJoint));
-			joint = new (mem) b2DistanceJoint(static_cast<const b2DistanceJointDef*>(def));
-		}
-		break;
-
-	case e_mouseJoint:
-		{
-			void* mem = allocator->Allocate(sizeof(b2MouseJoint));
-			joint = new (mem) b2MouseJoint(static_cast<const b2MouseJointDef*>(def));
-		}
-		break;
-
-	case e_prismaticJoint:
-		{
-			void* mem = allocator->Allocate(sizeof(b2PrismaticJoint));
-			joint = new (mem) b2PrismaticJoint(static_cast<const b2PrismaticJointDef*>(def));
-		}
-		break;
-
-	case e_revoluteJoint:
-		{
-			void* mem = allocator->Allocate(sizeof(b2RevoluteJoint));
-			joint = new (mem) b2RevoluteJoint(static_cast<const b2RevoluteJointDef*>(def));
-		}
-		break;
-
-	case e_pulleyJoint:
-		{
-			void* mem = allocator->Allocate(sizeof(b2PulleyJoint));
-			joint = new (mem) b2PulleyJoint(static_cast<const b2PulleyJointDef*>(def));
-		}
-		break;
-
-	case e_gearJoint:
-		{
-			void* mem = allocator->Allocate(sizeof(b2GearJoint));
-			joint = new (mem) b2GearJoint(static_cast<const b2GearJointDef*>(def));
-		}
-		break;
-
-	case e_wheelJoint:
-		{
-			void* mem = allocator->Allocate(sizeof(b2WheelJoint));
-			joint = new (mem) b2WheelJoint(static_cast<const b2WheelJointDef*>(def));
-		}
-		break;
-
-	case e_weldJoint:
-		{
-			void* mem = allocator->Allocate(sizeof(b2WeldJoint));
-			joint = new (mem) b2WeldJoint(static_cast<const b2WeldJointDef*>(def));
-		}
-		break;
-        
-	case e_frictionJoint:
-		{
-			void* mem = allocator->Allocate(sizeof(b2FrictionJoint));
-			joint = new (mem) b2FrictionJoint(static_cast<const b2FrictionJointDef*>(def));
-		}
-		break;
-
-	case e_ropeJoint:
-		{
-			void* mem = allocator->Allocate(sizeof(b2RopeJoint));
-			joint = new (mem) b2RopeJoint(static_cast<const b2RopeJointDef*>(def));
-		}
-		break;
-
-	case e_motorJoint:
-		{
-			void* mem = allocator->Allocate(sizeof(b2MotorJoint));
-			joint = new (mem) b2MotorJoint(static_cast<const b2MotorJointDef*>(def));
-		}
-		break;
-
-	default:
-		b2Assert(false);
-		break;
-	}
-
-	return joint;
-}
-
-void b2Joint::Destroy(b2Joint* joint, b2BlockAllocator* allocator)
-{
-	joint->~b2Joint();
-	switch (joint->m_type)
-	{
-	case e_distanceJoint:
-		allocator->Free(joint, sizeof(b2DistanceJoint));
-		break;
-
-	case e_mouseJoint:
-		allocator->Free(joint, sizeof(b2MouseJoint));
-		break;
-
-	case e_prismaticJoint:
-		allocator->Free(joint, sizeof(b2PrismaticJoint));
-		break;
-
-	case e_revoluteJoint:
-		allocator->Free(joint, sizeof(b2RevoluteJoint));
-		break;
-
-	case e_pulleyJoint:
-		allocator->Free(joint, sizeof(b2PulleyJoint));
-		break;
-
-	case e_gearJoint:
-		allocator->Free(joint, sizeof(b2GearJoint));
-		break;
-
-	case e_wheelJoint:
-		allocator->Free(joint, sizeof(b2WheelJoint));
-		break;
-    
-	case e_weldJoint:
-		allocator->Free(joint, sizeof(b2WeldJoint));
-		break;
-
-	case e_frictionJoint:
-		allocator->Free(joint, sizeof(b2FrictionJoint));
-		break;
-
-	case e_ropeJoint:
-		allocator->Free(joint, sizeof(b2RopeJoint));
-		break;
-
-	case e_motorJoint:
-		allocator->Free(joint, sizeof(b2MotorJoint));
-		break;
-
-	default:
-		b2Assert(false);
-		break;
-	}
-}
-
-b2Joint::b2Joint(const b2JointDef* def)
-{
-	b2Assert(def->bodyA != def->bodyB);
-
-	m_type = def->type;
-	m_prev = NULL;
-	m_next = NULL;
-	m_bodyA = def->bodyA;
-	m_bodyB = def->bodyB;
-	m_index = 0;
-	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();
-}

src/libraries/Box2D/Dynamics/Joints/b2MotorJoint.h

@@ -1,133 +0,0 @@
-/*
-* Copyright (c) 2006-2012 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
-* 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_MOTOR_JOINT_H
-#define B2_MOTOR_JOINT_H
-
-#include <Box2D/Dynamics/Joints/b2Joint.h>
-
-/// Motor joint definition.
-struct b2MotorJointDef : public b2JointDef
-{
-	b2MotorJointDef()
-	{
-		type = e_motorJoint;
-		linearOffset.SetZero();
-		angularOffset = 0.0f;
-		maxForce = 1.0f;
-		maxTorque = 1.0f;
-		correctionFactor = 0.3f;
-	}
-
-	/// Initialize the bodies and offsets using the current transforms.
-	void Initialize(b2Body* bodyA, b2Body* bodyB);
-
-	/// Position of bodyB minus the position of bodyA, in bodyA's frame, in meters.
-	b2Vec2 linearOffset;
-
-	/// The bodyB angle minus bodyA angle in radians.
-	float32 angularOffset;
-	
-	/// The maximum motor force in N.
-	float32 maxForce;
-
-	/// The maximum motor torque in N-m.
-	float32 maxTorque;
-
-	/// Position correction factor in the range [0,1].
-	float32 correctionFactor;
-};
-
-/// A motor joint is used to control the relative motion
-/// between two bodies. A typical usage is to control the movement
-/// of a dynamic body with respect to the ground.
-class b2MotorJoint : public b2Joint
-{
-public:
-	b2Vec2 GetAnchorA() const;
-	b2Vec2 GetAnchorB() const;
-
-	b2Vec2 GetReactionForce(float32 inv_dt) const;
-	float32 GetReactionTorque(float32 inv_dt) const;
-
-	/// Set/get the target linear offset, in frame A, in meters.
-	void SetLinearOffset(const b2Vec2& linearOffset);
-	const b2Vec2& GetLinearOffset() const;
-
-	/// Set/get the target angular offset, in radians.
-	void SetAngularOffset(float32 angularOffset);
-	float32 GetAngularOffset() 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;
-
-	/// Set the position correction factor in the range [0,1].
-	void SetCorrectionFactor(float32 factor);
-
-	/// Get the position correction factor in the range [0,1].
-	float32 GetCorrectionFactor() const;
-
-	/// Dump to b2Log
-	void Dump();
-
-protected:
-
-	friend class b2Joint;
-
-	b2MotorJoint(const b2MotorJointDef* def);
-
-	void InitVelocityConstraints(const b2SolverData& data);
-	void SolveVelocityConstraints(const b2SolverData& data);
-	bool SolvePositionConstraints(const b2SolverData& data);
-
-	// Solver shared
-	b2Vec2 m_linearOffset;
-	float32 m_angularOffset;
-	b2Vec2 m_linearImpulse;
-	float32 m_angularImpulse;
-	float32 m_maxForce;
-	float32 m_maxTorque;
-	float32 m_correctionFactor;
-
-	// Solver temp
-	int32 m_indexA;
-	int32 m_indexB;
-	b2Vec2 m_rA;
-	b2Vec2 m_rB;
-	b2Vec2 m_localCenterA;
-	b2Vec2 m_localCenterB;
-	b2Vec2 m_linearError;
-	float32 m_angularError;
-	float32 m_invMassA;
-	float32 m_invMassB;
-	float32 m_invIA;
-	float32 m_invIB;
-	b2Mat22 m_linearMass;
-	float32 m_angularMass;
-};
-
-#endif

src/libraries/Box2D/Dynamics/Joints/b2MouseJoint.h

@@ -1,129 +0,0 @@
-/*
-* 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
-* 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_MOUSE_JOINT_H
-#define B2_MOUSE_JOINT_H
-
-#include <Box2D/Dynamics/Joints/b2Joint.h>
-
-/// Mouse joint definition. This requires a world target point,
-/// tuning parameters, and the time step.
-struct b2MouseJointDef : public b2JointDef
-{
-	b2MouseJointDef()
-	{
-		type = e_mouseJoint;
-		target.Set(0.0f, 0.0f);
-		maxForce = 0.0f;
-		frequencyHz = 5.0f;
-		dampingRatio = 0.7f;
-	}
-
-	/// The initial world target point. This is assumed
-	/// to coincide with the body anchor initially.
-	b2Vec2 target;
-
-	/// The maximum constraint force that can be exerted
-	/// to move the candidate body. Usually you will express
-	/// as some multiple of the weight (multiplier * mass * gravity).
-	float32 maxForce;
-
-	/// The response speed.
-	float32 frequencyHz;
-
-	/// The damping ratio. 0 = no damping, 1 = critical damping.
-	float32 dampingRatio;
-};
-
-/// 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 GetAnchorA() const;
-
-	/// Implements b2Joint.
-	b2Vec2 GetAnchorB() const;
-
-	/// Implements b2Joint.
-	b2Vec2 GetReactionForce(float32 inv_dt) const;
-
-	/// Implements b2Joint.
-	float32 GetReactionTorque(float32 inv_dt) const;
-
-	/// Use this to update the target point.
-	void SetTarget(const b2Vec2& target);
-	const b2Vec2& GetTarget() const;
-
-	/// 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;
-
-	/// The mouse joint does not support dumping.
-	void Dump() { b2Log("Mouse joint dumping is not supported.\n"); }
-
-	/// Implement b2Joint::ShiftOrigin
-	void ShiftOrigin(const b2Vec2& newOrigin);
-
-protected:
-	friend class b2Joint;
-
-	b2MouseJoint(const b2MouseJointDef* def);
-
-	void InitVelocityConstraints(const b2SolverData& data);
-	void SolveVelocityConstraints(const b2SolverData& data);
-	bool SolvePositionConstraints(const b2SolverData& data);
-
-	b2Vec2 m_localAnchorB;
-	b2Vec2 m_targetA;
-	float32 m_frequencyHz;
-	float32 m_dampingRatio;
-	float32 m_beta;
-	
-	// Solver shared
-	b2Vec2 m_impulse;
-	float32 m_maxForce;
-	float32 m_gamma;
-
-	// Solver temp
-	int32 m_indexA;
-	int32 m_indexB;
-	b2Vec2 m_rB;
-	b2Vec2 m_localCenterB;
-	float32 m_invMassB;
-	float32 m_invIB;
-	b2Mat22 m_mass;
-	b2Vec2 m_C;
-};
-
-#endif

src/libraries/Box2D/Dynamics/Joints/b2PrismaticJoint.cpp

@@ -1,629 +0,0 @@
-/*
-* Copyright (c) 2006-2011 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
-* 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 <Box2D/Dynamics/Joints/b2PrismaticJoint.h>
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2TimeStep.h>
-
-// 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* bA, b2Body* bB, const b2Vec2& anchor, const b2Vec2& axis)
-{
-	bodyA = bA;
-	bodyB = bB;
-	localAnchorA = bodyA->GetLocalPoint(anchor);
-	localAnchorB = bodyB->GetLocalPoint(anchor);
-	localAxisA = bodyA->GetLocalVector(axis);
-	referenceAngle = bodyB->GetAngle() - bodyA->GetAngle();
-}
-
-b2PrismaticJoint::b2PrismaticJoint(const b2PrismaticJointDef* def)
-: b2Joint(def)
-{
-	m_localAnchorA = def->localAnchorA;
-	m_localAnchorB = def->localAnchorB;
-	m_localXAxisA = def->localAxisA;
-	m_localXAxisA.Normalize();
-	m_localYAxisA = b2Cross(1.0f, m_localXAxisA);
-	m_referenceAngle = def->referenceAngle;
-
-	m_impulse.SetZero();
-	m_motorMass = 0.0f;
-	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 b2SolverData& data)
-{
-	m_indexA = m_bodyA->m_islandIndex;
-	m_indexB = m_bodyB->m_islandIndex;
-	m_localCenterA = m_bodyA->m_sweep.localCenter;
-	m_localCenterB = m_bodyB->m_sweep.localCenter;
-	m_invMassA = m_bodyA->m_invMass;
-	m_invMassB = m_bodyB->m_invMass;
-	m_invIA = m_bodyA->m_invI;
-	m_invIB = m_bodyB->m_invI;
-
-	b2Vec2 cA = data.positions[m_indexA].c;
-	float32 aA = data.positions[m_indexA].a;
-	b2Vec2 vA = data.velocities[m_indexA].v;
-	float32 wA = data.velocities[m_indexA].w;
-
-	b2Vec2 cB = data.positions[m_indexB].c;
-	float32 aB = data.positions[m_indexB].a;
-	b2Vec2 vB = data.velocities[m_indexB].v;
-	float32 wB = data.velocities[m_indexB].w;
-
-	b2Rot qA(aA), qB(aB);
-
-	// Compute the effective masses.
-	b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
-	b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
-	b2Vec2 d = (cB - cA) + rB - rA;
-
-	float32 mA = m_invMassA, mB = m_invMassB;
-	float32 iA = m_invIA, iB = m_invIB;
-
-	// Compute motor Jacobian and effective mass.
-	{
-		m_axis = b2Mul(qA, m_localXAxisA);
-		m_a1 = b2Cross(d + rA, m_axis);
-		m_a2 = b2Cross(rB, m_axis);
-
-		m_motorMass = mA + mB + iA * m_a1 * m_a1 + iB * m_a2 * m_a2;
-		if (m_motorMass > 0.0f)
-		{
-			m_motorMass = 1.0f / m_motorMass;
-		}
-	}
-
-	// Prismatic constraint.
-	{
-		m_perp = b2Mul(qA, m_localYAxisA);
-
-		m_s1 = b2Cross(d + rA, m_perp);
-		m_s2 = b2Cross(rB, m_perp);
-
-        float32 s1test;
-        s1test = b2Cross(rA, m_perp);
-
-		float32 k11 = mA + mB + iA * m_s1 * m_s1 + iB * m_s2 * m_s2;
-		float32 k12 = iA * m_s1 + iB * m_s2;
-		float32 k13 = iA * m_s1 * m_a1 + iB * m_s2 * m_a2;
-		float32 k22 = iA + iB;
-		if (k22 == 0.0f)
-		{
-			// For bodies with fixed rotation.
-			k22 = 1.0f;
-		}
-		float32 k23 = iA * m_a1 + iB * m_a2;
-		float32 k33 = mA + mB + iA * m_a1 * m_a1 + iB * m_a2 * m_a2;
-
-		m_K.ex.Set(k11, k12, k13);
-		m_K.ey.Set(k12, k22, k23);
-		m_K.ez.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 (data.step.warmStarting)
-	{
-		// Account for variable time step.
-		m_impulse *= data.step.dtRatio;
-		m_motorImpulse *= data.step.dtRatio;
-
-		b2Vec2 P = m_impulse.x * m_perp + (m_motorImpulse + m_impulse.z) * m_axis;
-		float32 LA = m_impulse.x * m_s1 + m_impulse.y + (m_motorImpulse + m_impulse.z) * m_a1;
-		float32 LB = m_impulse.x * m_s2 + m_impulse.y + (m_motorImpulse + m_impulse.z) * m_a2;
-
-		vA -= mA * P;
-		wA -= iA * LA;
-
-		vB += mB * P;
-		wB += iB * LB;
-	}
-	else
-	{
-		m_impulse.SetZero();
-		m_motorImpulse = 0.0f;
-	}
-
-	data.velocities[m_indexA].v = vA;
-	data.velocities[m_indexA].w = wA;
-	data.velocities[m_indexB].v = vB;
-	data.velocities[m_indexB].w = wB;
-}
-
-void b2PrismaticJoint::SolveVelocityConstraints(const b2SolverData& data)
-{
-	b2Vec2 vA = data.velocities[m_indexA].v;
-	float32 wA = data.velocities[m_indexA].w;
-	b2Vec2 vB = data.velocities[m_indexB].v;
-	float32 wB = data.velocities[m_indexB].w;
-
-	float32 mA = m_invMassA, mB = m_invMassB;
-	float32 iA = m_invIA, iB = m_invIB;
-
-	// Solve linear motor constraint.
-	if (m_enableMotor && m_limitState != e_equalLimits)
-	{
-		float32 Cdot = b2Dot(m_axis, vB - vA) + m_a2 * wB - m_a1 * wA;
-		float32 impulse = m_motorMass * (m_motorSpeed - Cdot);
-		float32 oldImpulse = m_motorImpulse;
-		float32 maxImpulse = data.step.dt * m_maxMotorForce;
-		m_motorImpulse = b2Clamp(m_motorImpulse + impulse, -maxImpulse, maxImpulse);
-		impulse = m_motorImpulse - oldImpulse;
-
-		b2Vec2 P = impulse * m_axis;
-		float32 LA = impulse * m_a1;
-		float32 LB = impulse * m_a2;
-
-		vA -= mA * P;
-		wA -= iA * LA;
-
-		vB += mB * P;
-		wB += iB * LB;
-	}
-
-	b2Vec2 Cdot1;
-	Cdot1.x = b2Dot(m_perp, vB - vA) + m_s2 * wB - m_s1 * wA;
-	Cdot1.y = wB - wA;
-
-	if (m_enableLimit && m_limitState != e_inactiveLimit)
-	{
-		// Solve prismatic and limit constraint in block form.
-		float32 Cdot2;
-		Cdot2 = b2Dot(m_axis, vB - vA) + m_a2 * wB - m_a1 * wA;
-		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.ez.x, m_K.ez.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 LA = df.x * m_s1 + df.y + df.z * m_a1;
-		float32 LB = df.x * m_s2 + df.y + df.z * m_a2;
-
-		vA -= mA * P;
-		wA -= iA * LA;
-
-		vB += mB * P;
-		wB += iB * LB;
-	}
-	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 LA = df.x * m_s1 + df.y;
-		float32 LB = df.x * m_s2 + df.y;
-
-		vA -= mA * P;
-		wA -= iA * LA;
-
-		vB += mB * P;
-		wB += iB * LB;
-	}
-
-	data.velocities[m_indexA].v = vA;
-	data.velocities[m_indexA].w = wA;
-	data.velocities[m_indexB].v = vB;
-	data.velocities[m_indexB].w = wB;
-}
-
-bool b2PrismaticJoint::SolvePositionConstraints(const b2SolverData& data)
-{
-	b2Vec2 cA = data.positions[m_indexA].c;
-	float32 aA = data.positions[m_indexA].a;
-	b2Vec2 cB = data.positions[m_indexB].c;
-	float32 aB = data.positions[m_indexB].a;
-
-	b2Rot qA(aA), qB(aB);
-
-	float32 mA = m_invMassA, mB = m_invMassB;
-	float32 iA = m_invIA, iB = m_invIB;
-
-	// Compute fresh Jacobians
-	b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
-	b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
-	b2Vec2 d = cB + rB - cA - rA;
-
-	b2Vec2 axis = b2Mul(qA, m_localXAxisA);
-	float32 a1 = b2Cross(d + rA, axis);
-	float32 a2 = b2Cross(rB, axis);
-	b2Vec2 perp = b2Mul(qA, m_localYAxisA);
-
-	float32 s1 = b2Cross(d + rA, perp);
-	float32 s2 = b2Cross(rB, perp);
-
-	b2Vec3 impulse;
-	b2Vec2 C1;
-	C1.x = b2Dot(perp, d);
-	C1.y = aB - aA - m_referenceAngle;
-
-	float32 linearError = b2Abs(C1.x);
-	float32 angularError = b2Abs(C1.y);
-
-	bool active = false;
-	float32 C2 = 0.0f;
-	if (m_enableLimit)
-	{
-		float32 translation = b2Dot(axis, d);
-		if (b2Abs(m_upperTranslation - m_lowerTranslation) < 2.0f * b2_linearSlop)
-		{
-			// Prevent large angular corrections
-			C2 = b2Clamp(translation, -b2_maxLinearCorrection, b2_maxLinearCorrection);
-			linearError = b2Max(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 = b2Max(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 = b2Max(linearError, translation - m_upperTranslation);
-			active = true;
-		}
-	}
-
-	if (active)
-	{
-		float32 k11 = mA + mB + iA * s1 * s1 + iB * s2 * s2;
-		float32 k12 = iA * s1 + iB * s2;
-		float32 k13 = iA * s1 * a1 + iB * s2 * a2;
-		float32 k22 = iA + iB;
-		if (k22 == 0.0f)
-		{
-			// For fixed rotation
-			k22 = 1.0f;
-		}
-		float32 k23 = iA * a1 + iB * a2;
-		float32 k33 = mA + mB + iA * a1 * a1 + iB * a2 * a2;
-
-		b2Mat33 K;
-		K.ex.Set(k11, k12, k13);
-		K.ey.Set(k12, k22, k23);
-		K.ez.Set(k13, k23, k33);
-
-		b2Vec3 C;
-		C.x = C1.x;
-		C.y = C1.y;
-		C.z = C2;
-
-		impulse = K.Solve33(-C);
-	}
-	else
-	{
-		float32 k11 = mA + mB + iA * s1 * s1 + iB * s2 * s2;
-		float32 k12 = iA * s1 + iB * s2;
-		float32 k22 = iA + iB;
-		if (k22 == 0.0f)
-		{
-			k22 = 1.0f;
-		}
-
-		b2Mat22 K;
-		K.ex.Set(k11, k12);
-		K.ey.Set(k12, k22);
-
-		b2Vec2 impulse1 = K.Solve(-C1);
-		impulse.x = impulse1.x;
-		impulse.y = impulse1.y;
-		impulse.z = 0.0f;
-	}
-
-	b2Vec2 P = impulse.x * perp + impulse.z * axis;
-	float32 LA = impulse.x * s1 + impulse.y + impulse.z * a1;
-	float32 LB = impulse.x * s2 + impulse.y + impulse.z * a2;
-
-	cA -= mA * P;
-	aA -= iA * LA;
-	cB += mB * P;
-	aB += iB * LB;
-
-	data.positions[m_indexA].c = cA;
-	data.positions[m_indexA].a = aA;
-	data.positions[m_indexB].c = cB;
-	data.positions[m_indexB].a = aB;
-
-	return linearError <= b2_linearSlop && angularError <= b2_angularSlop;
-}
-
-b2Vec2 b2PrismaticJoint::GetAnchorA() const
-{
-	return m_bodyA->GetWorldPoint(m_localAnchorA);
-}
-
-b2Vec2 b2PrismaticJoint::GetAnchorB() const
-{
-	return m_bodyB->GetWorldPoint(m_localAnchorB);
-}
-
-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
-{
-	b2Vec2 pA = m_bodyA->GetWorldPoint(m_localAnchorA);
-	b2Vec2 pB = m_bodyB->GetWorldPoint(m_localAnchorB);
-	b2Vec2 d = pB - pA;
-	b2Vec2 axis = m_bodyA->GetWorldVector(m_localXAxisA);
-
-	float32 translation = b2Dot(d, axis);
-	return translation;
-}
-
-float32 b2PrismaticJoint::GetJointSpeed() const
-{
-	b2Body* bA = m_bodyA;
-	b2Body* bB = m_bodyB;
-
-	b2Vec2 rA = b2Mul(bA->m_xf.q, m_localAnchorA - bA->m_sweep.localCenter);
-	b2Vec2 rB = b2Mul(bB->m_xf.q, m_localAnchorB - bB->m_sweep.localCenter);
-	b2Vec2 p1 = bA->m_sweep.c + rA;
-	b2Vec2 p2 = bB->m_sweep.c + rB;
-	b2Vec2 d = p2 - p1;
-	b2Vec2 axis = b2Mul(bA->m_xf.q, m_localXAxisA);
-
-	b2Vec2 vA = bA->m_linearVelocity;
-	b2Vec2 vB = bB->m_linearVelocity;
-	float32 wA = bA->m_angularVelocity;
-	float32 wB = bB->m_angularVelocity;
-
-	float32 speed = b2Dot(d, b2Cross(wA, axis)) + b2Dot(axis, vB + b2Cross(wB, rB) - vA - b2Cross(wA, rA));
-	return speed;
-}
-
-bool b2PrismaticJoint::IsLimitEnabled() const
-{
-	return m_enableLimit;
-}
-
-void b2PrismaticJoint::EnableLimit(bool flag)
-{
-	if (flag != m_enableLimit)
-	{
-		m_bodyA->SetAwake(true);
-		m_bodyB->SetAwake(true);
-		m_enableLimit = flag;
-		m_impulse.z = 0.0f;
-	}
-}
-
-float32 b2PrismaticJoint::GetLowerLimit() const
-{
-	return m_lowerTranslation;
-}
-
-float32 b2PrismaticJoint::GetUpperLimit() const
-{
-	return m_upperTranslation;
-}
-
-void b2PrismaticJoint::SetLimits(float32 lower, float32 upper)
-{
-	b2Assert(lower <= upper);
-	if (lower != m_lowerTranslation || upper != m_upperTranslation)
-	{
-		m_bodyA->SetAwake(true);
-		m_bodyB->SetAwake(true);
-		m_lowerTranslation = lower;
-		m_upperTranslation = upper;
-		m_impulse.z = 0.0f;
-	}
-}
-
-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(float32 inv_dt) const
-{
-	return inv_dt * m_motorImpulse;
-}
-
-void b2PrismaticJoint::Dump()
-{
-	int32 indexA = m_bodyA->m_islandIndex;
-	int32 indexB = m_bodyB->m_islandIndex;
-
-	b2Log("  b2PrismaticJointDef jd;\n");
-	b2Log("  jd.bodyA = bodies[%d];\n", indexA);
-	b2Log("  jd.bodyB = bodies[%d];\n", indexB);
-	b2Log("  jd.collideConnected = bool(%d);\n", m_collideConnected);
-	b2Log("  jd.localAnchorA.Set(%.15lef, %.15lef);\n", m_localAnchorA.x, m_localAnchorA.y);
-	b2Log("  jd.localAnchorB.Set(%.15lef, %.15lef);\n", m_localAnchorB.x, m_localAnchorB.y);
-	b2Log("  jd.localAxisA.Set(%.15lef, %.15lef);\n", m_localXAxisA.x, m_localXAxisA.y);
-	b2Log("  jd.referenceAngle = %.15lef;\n", m_referenceAngle);
-	b2Log("  jd.enableLimit = bool(%d);\n", m_enableLimit);
-	b2Log("  jd.lowerTranslation = %.15lef;\n", m_lowerTranslation);
-	b2Log("  jd.upperTranslation = %.15lef;\n", m_upperTranslation);
-	b2Log("  jd.enableMotor = bool(%d);\n", m_enableMotor);
-	b2Log("  jd.motorSpeed = %.15lef;\n", m_motorSpeed);
-	b2Log("  jd.maxMotorForce = %.15lef;\n", m_maxMotorForce);
-	b2Log("  joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
-}

src/libraries/Box2D/Dynamics/Joints/b2RevoluteJoint.cpp

@@ -1,502 +0,0 @@
-/*
-* Copyright (c) 2006-2011 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
-* 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 <Box2D/Dynamics/Joints/b2RevoluteJoint.h>
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2TimeStep.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* bA, b2Body* bB, const b2Vec2& anchor)
-{
-	bodyA = bA;
-	bodyB = bB;
-	localAnchorA = bodyA->GetLocalPoint(anchor);
-	localAnchorB = bodyB->GetLocalPoint(anchor);
-	referenceAngle = bodyB->GetAngle() - bodyA->GetAngle();
-}
-
-b2RevoluteJoint::b2RevoluteJoint(const b2RevoluteJointDef* def)
-: b2Joint(def)
-{
-	m_localAnchorA = def->localAnchorA;
-	m_localAnchorB = 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 b2SolverData& data)
-{
-	m_indexA = m_bodyA->m_islandIndex;
-	m_indexB = m_bodyB->m_islandIndex;
-	m_localCenterA = m_bodyA->m_sweep.localCenter;
-	m_localCenterB = m_bodyB->m_sweep.localCenter;
-	m_invMassA = m_bodyA->m_invMass;
-	m_invMassB = m_bodyB->m_invMass;
-	m_invIA = m_bodyA->m_invI;
-	m_invIB = m_bodyB->m_invI;
-
-	float32 aA = data.positions[m_indexA].a;
-	b2Vec2 vA = data.velocities[m_indexA].v;
-	float32 wA = data.velocities[m_indexA].w;
-
-	float32 aB = data.positions[m_indexB].a;
-	b2Vec2 vB = data.velocities[m_indexB].v;
-	float32 wB = data.velocities[m_indexB].w;
-
-	b2Rot qA(aA), qB(aB);
-
-	m_rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
-	m_rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
-
-	// 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 = m_invMassA, mB = m_invMassB;
-	float32 iA = m_invIA, iB = m_invIB;
-
-	bool fixedRotation = (iA + iB == 0.0f);
-
-	m_mass.ex.x = mA + mB + m_rA.y * m_rA.y * iA + m_rB.y * m_rB.y * iB;
-	m_mass.ey.x = -m_rA.y * m_rA.x * iA - m_rB.y * m_rB.x * iB;
-	m_mass.ez.x = -m_rA.y * iA - m_rB.y * iB;
-	m_mass.ex.y = m_mass.ey.x;
-	m_mass.ey.y = mA + mB + m_rA.x * m_rA.x * iA + m_rB.x * m_rB.x * iB;
-	m_mass.ez.y = m_rA.x * iA + m_rB.x * iB;
-	m_mass.ex.z = m_mass.ez.x;
-	m_mass.ey.z = m_mass.ez.y;
-	m_mass.ez.z = iA + iB;
-
-	m_motorMass = iA + iB;
-	if (m_motorMass > 0.0f)
-	{
-		m_motorMass = 1.0f / m_motorMass;
-	}
-
-	if (m_enableMotor == false || fixedRotation)
-	{
-		m_motorImpulse = 0.0f;
-	}
-
-	if (m_enableLimit && fixedRotation == false)
-	{
-		float32 jointAngle = aB - aA - 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 (data.step.warmStarting)
-	{
-		// Scale impulses to support a variable time step.
-		m_impulse *= data.step.dtRatio;
-		m_motorImpulse *= data.step.dtRatio;
-
-		b2Vec2 P(m_impulse.x, m_impulse.y);
-
-		vA -= mA * P;
-		wA -= iA * (b2Cross(m_rA, P) + m_motorImpulse + m_impulse.z);
-
-		vB += mB * P;
-		wB += iB * (b2Cross(m_rB, P) + m_motorImpulse + m_impulse.z);
-	}
-	else
-	{
-		m_impulse.SetZero();
-		m_motorImpulse = 0.0f;
-	}
-
-	data.velocities[m_indexA].v = vA;
-	data.velocities[m_indexA].w = wA;
-	data.velocities[m_indexB].v = vB;
-	data.velocities[m_indexB].w = wB;
-}
-
-void b2RevoluteJoint::SolveVelocityConstraints(const b2SolverData& data)
-{
-	b2Vec2 vA = data.velocities[m_indexA].v;
-	float32 wA = data.velocities[m_indexA].w;
-	b2Vec2 vB = data.velocities[m_indexB].v;
-	float32 wB = data.velocities[m_indexB].w;
-
-	float32 mA = m_invMassA, mB = m_invMassB;
-	float32 iA = m_invIA, iB = m_invIB;
-
-	bool fixedRotation = (iA + iB == 0.0f);
-
-	// Solve motor constraint.
-	if (m_enableMotor && m_limitState != e_equalLimits && fixedRotation == false)
-	{
-		float32 Cdot = wB - wA - m_motorSpeed;
-		float32 impulse = -m_motorMass * Cdot;
-		float32 oldImpulse = m_motorImpulse;
-		float32 maxImpulse = data.step.dt * m_maxMotorTorque;
-		m_motorImpulse = b2Clamp(m_motorImpulse + impulse, -maxImpulse, maxImpulse);
-		impulse = m_motorImpulse - oldImpulse;
-
-		wA -= iA * impulse;
-		wB += iB * impulse;
-	}
-
-	// Solve limit constraint.
-	if (m_enableLimit && m_limitState != e_inactiveLimit && fixedRotation == false)
-	{
-		b2Vec2 Cdot1 = vB + b2Cross(wB, m_rB) - vA - b2Cross(wA, m_rA);
-		float32 Cdot2 = wB - wA;
-		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 rhs = -Cdot1 + m_impulse.z * b2Vec2(m_mass.ez.x, m_mass.ez.y);
-				b2Vec2 reduced = m_mass.Solve22(rhs);
-				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
-			{
-				m_impulse += impulse;
-			}
-		}
-		else if (m_limitState == e_atUpperLimit)
-		{
-			float32 newImpulse = m_impulse.z + impulse.z;
-			if (newImpulse > 0.0f)
-			{
-				b2Vec2 rhs = -Cdot1 + m_impulse.z * b2Vec2(m_mass.ez.x, m_mass.ez.y);
-				b2Vec2 reduced = m_mass.Solve22(rhs);
-				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
-			{
-				m_impulse += impulse;
-			}
-		}
-
-		b2Vec2 P(impulse.x, impulse.y);
-
-		vA -= mA * P;
-		wA -= iA * (b2Cross(m_rA, P) + impulse.z);
-
-		vB += mB * P;
-		wB += iB * (b2Cross(m_rB, P) + impulse.z);
-	}
-	else
-	{
-		// Solve point-to-point constraint
-		b2Vec2 Cdot = vB + b2Cross(wB, m_rB) - vA - b2Cross(wA, m_rA);
-		b2Vec2 impulse = m_mass.Solve22(-Cdot);
-
-		m_impulse.x += impulse.x;
-		m_impulse.y += impulse.y;
-
-		vA -= mA * impulse;
-		wA -= iA * b2Cross(m_rA, impulse);
-
-		vB += mB * impulse;
-		wB += iB * b2Cross(m_rB, impulse);
-	}
-
-	data.velocities[m_indexA].v = vA;
-	data.velocities[m_indexA].w = wA;
-	data.velocities[m_indexB].v = vB;
-	data.velocities[m_indexB].w = wB;
-}
-
-bool b2RevoluteJoint::SolvePositionConstraints(const b2SolverData& data)
-{
-	b2Vec2 cA = data.positions[m_indexA].c;
-	float32 aA = data.positions[m_indexA].a;
-	b2Vec2 cB = data.positions[m_indexB].c;
-	float32 aB = data.positions[m_indexB].a;
-
-	b2Rot qA(aA), qB(aB);
-
-	float32 angularError = 0.0f;
-	float32 positionError = 0.0f;
-
-	bool fixedRotation = (m_invIA + m_invIB == 0.0f);
-
-	// Solve angular limit constraint.
-	if (m_enableLimit && m_limitState != e_inactiveLimit && fixedRotation == false)
-	{
-		float32 angle = aB - aA - 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;
-		}
-
-		aA -= m_invIA * limitImpulse;
-		aB += m_invIB * limitImpulse;
-	}
-
-	// Solve point-to-point constraint.
-	{
-		qA.Set(aA);
-		qB.Set(aB);
-		b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
-		b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
-
-		b2Vec2 C = cB + rB - cA - rA;
-		positionError = C.Length();
-
-		float32 mA = m_invMassA, mB = m_invMassB;
-		float32 iA = m_invIA, iB = m_invIB;
-
-		b2Mat22 K;
-		K.ex.x = mA + mB + iA * rA.y * rA.y + iB * rB.y * rB.y;
-		K.ex.y = -iA * rA.x * rA.y - iB * rB.x * rB.y;
-		K.ey.x = K.ex.y;
-		K.ey.y = mA + mB + iA * rA.x * rA.x + iB * rB.x * rB.x;
-
-		b2Vec2 impulse = -K.Solve(C);
-
-		cA -= mA * impulse;
-		aA -= iA * b2Cross(rA, impulse);
-
-		cB += mB * impulse;
-		aB += iB * b2Cross(rB, impulse);
-	}
-
-	data.positions[m_indexA].c = cA;
-	data.positions[m_indexA].a = aA;
-	data.positions[m_indexB].c = cB;
-	data.positions[m_indexB].a = aB;
-	
-	return positionError <= b2_linearSlop && angularError <= b2_angularSlop;
-}
-
-b2Vec2 b2RevoluteJoint::GetAnchorA() const
-{
-	return m_bodyA->GetWorldPoint(m_localAnchorA);
-}
-
-b2Vec2 b2RevoluteJoint::GetAnchorB() const
-{
-	return m_bodyB->GetWorldPoint(m_localAnchorB);
-}
-
-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* bA = m_bodyA;
-	b2Body* bB = m_bodyB;
-	return bB->m_sweep.a - bA->m_sweep.a - m_referenceAngle;
-}
-
-float32 b2RevoluteJoint::GetJointSpeed() const
-{
-	b2Body* bA = m_bodyA;
-	b2Body* bB = m_bodyB;
-	return bB->m_angularVelocity - bA->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(float32 inv_dt) const
-{
-	return inv_dt * 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)
-{
-	if (flag != m_enableLimit)
-	{
-		m_bodyA->SetAwake(true);
-		m_bodyB->SetAwake(true);
-		m_enableLimit = flag;
-		m_impulse.z = 0.0f;
-	}
-}
-
-float32 b2RevoluteJoint::GetLowerLimit() const
-{
-	return m_lowerAngle;
-}
-
-float32 b2RevoluteJoint::GetUpperLimit() const
-{
-	return m_upperAngle;
-}
-
-void b2RevoluteJoint::SetLimits(float32 lower, float32 upper)
-{
-	b2Assert(lower <= upper);
-	
-	if (lower != m_lowerAngle || upper != m_upperAngle)
-	{
-		m_bodyA->SetAwake(true);
-		m_bodyB->SetAwake(true);
-		m_impulse.z = 0.0f;
-		m_lowerAngle = lower;
-		m_upperAngle = upper;
-	}
-}
-
-void b2RevoluteJoint::Dump()
-{
-	int32 indexA = m_bodyA->m_islandIndex;
-	int32 indexB = m_bodyB->m_islandIndex;
-
-	b2Log("  b2RevoluteJointDef jd;\n");
-	b2Log("  jd.bodyA = bodies[%d];\n", indexA);
-	b2Log("  jd.bodyB = bodies[%d];\n", indexB);
-	b2Log("  jd.collideConnected = bool(%d);\n", m_collideConnected);
-	b2Log("  jd.localAnchorA.Set(%.15lef, %.15lef);\n", m_localAnchorA.x, m_localAnchorA.y);
-	b2Log("  jd.localAnchorB.Set(%.15lef, %.15lef);\n", m_localAnchorB.x, m_localAnchorB.y);
-	b2Log("  jd.referenceAngle = %.15lef;\n", m_referenceAngle);
-	b2Log("  jd.enableLimit = bool(%d);\n", m_enableLimit);
-	b2Log("  jd.lowerAngle = %.15lef;\n", m_lowerAngle);
-	b2Log("  jd.upperAngle = %.15lef;\n", m_upperAngle);
-	b2Log("  jd.enableMotor = bool(%d);\n", m_enableMotor);
-	b2Log("  jd.motorSpeed = %.15lef;\n", m_motorSpeed);
-	b2Log("  jd.maxMotorTorque = %.15lef;\n", m_maxMotorTorque);
-	b2Log("  joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
-}

src/libraries/Box2D/Dynamics/Joints/b2RopeJoint.cpp

@@ -1,241 +0,0 @@
-/*
-* Copyright (c) 2007-2011 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
-* 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 <Box2D/Dynamics/Joints/b2RopeJoint.h>
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2TimeStep.h>
-
-
-// Limit:
-// C = norm(pB - pA) - L
-// u = (pB - pA) / norm(pB - pA)
-// Cdot = dot(u, vB + cross(wB, rB) - vA - cross(wA, rA))
-// J = [-u -cross(rA, u) u cross(rB, u)]
-// K = J * invM * JT
-//   = invMassA + invIA * cross(rA, u)^2 + invMassB + invIB * cross(rB, u)^2
-
-b2RopeJoint::b2RopeJoint(const b2RopeJointDef* def)
-: b2Joint(def)
-{
-	m_localAnchorA = def->localAnchorA;
-	m_localAnchorB = def->localAnchorB;
-
-	m_maxLength = def->maxLength;
-
-	m_mass = 0.0f;
-	m_impulse = 0.0f;
-	m_state = e_inactiveLimit;
-	m_length = 0.0f;
-}
-
-void b2RopeJoint::InitVelocityConstraints(const b2SolverData& data)
-{
-	m_indexA = m_bodyA->m_islandIndex;
-	m_indexB = m_bodyB->m_islandIndex;
-	m_localCenterA = m_bodyA->m_sweep.localCenter;
-	m_localCenterB = m_bodyB->m_sweep.localCenter;
-	m_invMassA = m_bodyA->m_invMass;
-	m_invMassB = m_bodyB->m_invMass;
-	m_invIA = m_bodyA->m_invI;
-	m_invIB = m_bodyB->m_invI;
-
-	b2Vec2 cA = data.positions[m_indexA].c;
-	float32 aA = data.positions[m_indexA].a;
-	b2Vec2 vA = data.velocities[m_indexA].v;
-	float32 wA = data.velocities[m_indexA].w;
-
-	b2Vec2 cB = data.positions[m_indexB].c;
-	float32 aB = data.positions[m_indexB].a;
-	b2Vec2 vB = data.velocities[m_indexB].v;
-	float32 wB = data.velocities[m_indexB].w;
-
-	b2Rot qA(aA), qB(aB);
-
-	m_rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
-	m_rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
-	m_u = cB + m_rB - cA - m_rA;
-
-	m_length = m_u.Length();
-
-	float32 C = m_length - m_maxLength;
-	if (C > 0.0f)
-	{
-		m_state = e_atUpperLimit;
-	}
-	else
-	{
-		m_state = e_inactiveLimit;
-	}
-
-	if (m_length > b2_linearSlop)
-	{
-		m_u *= 1.0f / m_length;
-	}
-	else
-	{
-		m_u.SetZero();
-		m_mass = 0.0f;
-		m_impulse = 0.0f;
-		return;
-	}
-
-	// Compute effective mass.
-	float32 crA = b2Cross(m_rA, m_u);
-	float32 crB = b2Cross(m_rB, m_u);
-	float32 invMass = m_invMassA + m_invIA * crA * crA + m_invMassB + m_invIB * crB * crB;
-
-	m_mass = invMass != 0.0f ? 1.0f / invMass : 0.0f;
-
-	if (data.step.warmStarting)
-	{
-		// Scale the impulse to support a variable time step.
-		m_impulse *= data.step.dtRatio;
-
-		b2Vec2 P = m_impulse * m_u;
-		vA -= m_invMassA * P;
-		wA -= m_invIA * b2Cross(m_rA, P);
-		vB += m_invMassB * P;
-		wB += m_invIB * b2Cross(m_rB, P);
-	}
-	else
-	{
-		m_impulse = 0.0f;
-	}
-
-	data.velocities[m_indexA].v = vA;
-	data.velocities[m_indexA].w = wA;
-	data.velocities[m_indexB].v = vB;
-	data.velocities[m_indexB].w = wB;
-}
-
-void b2RopeJoint::SolveVelocityConstraints(const b2SolverData& data)
-{
-	b2Vec2 vA = data.velocities[m_indexA].v;
-	float32 wA = data.velocities[m_indexA].w;
-	b2Vec2 vB = data.velocities[m_indexB].v;
-	float32 wB = data.velocities[m_indexB].w;
-
-	// Cdot = dot(u, v + cross(w, r))
-	b2Vec2 vpA = vA + b2Cross(wA, m_rA);
-	b2Vec2 vpB = vB + b2Cross(wB, m_rB);
-	float32 C = m_length - m_maxLength;
-	float32 Cdot = b2Dot(m_u, vpB - vpA);
-
-	// Predictive constraint.
-	if (C < 0.0f)
-	{
-		Cdot += data.step.inv_dt * C;
-	}
-
-	float32 impulse = -m_mass * Cdot;
-	float32 oldImpulse = m_impulse;
-	m_impulse = b2Min(0.0f, m_impulse + impulse);
-	impulse = m_impulse - oldImpulse;
-
-	b2Vec2 P = impulse * m_u;
-	vA -= m_invMassA * P;
-	wA -= m_invIA * b2Cross(m_rA, P);
-	vB += m_invMassB * P;
-	wB += m_invIB * b2Cross(m_rB, P);
-
-	data.velocities[m_indexA].v = vA;
-	data.velocities[m_indexA].w = wA;
-	data.velocities[m_indexB].v = vB;
-	data.velocities[m_indexB].w = wB;
-}
-
-bool b2RopeJoint::SolvePositionConstraints(const b2SolverData& data)
-{
-	b2Vec2 cA = data.positions[m_indexA].c;
-	float32 aA = data.positions[m_indexA].a;
-	b2Vec2 cB = data.positions[m_indexB].c;
-	float32 aB = data.positions[m_indexB].a;
-
-	b2Rot qA(aA), qB(aB);
-
-	b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
-	b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
-	b2Vec2 u = cB + rB - cA - rA;
-
-	float32 length = u.Normalize();
-	float32 C = length - m_maxLength;
-
-	C = b2Clamp(C, 0.0f, b2_maxLinearCorrection);
-
-	float32 impulse = -m_mass * C;
-	b2Vec2 P = impulse * u;
-
-	cA -= m_invMassA * P;
-	aA -= m_invIA * b2Cross(rA, P);
-	cB += m_invMassB * P;
-	aB += m_invIB * b2Cross(rB, P);
-
-	data.positions[m_indexA].c = cA;
-	data.positions[m_indexA].a = aA;
-	data.positions[m_indexB].c = cB;
-	data.positions[m_indexB].a = aB;
-
-	return length - m_maxLength < b2_linearSlop;
-}
-
-b2Vec2 b2RopeJoint::GetAnchorA() const
-{
-	return m_bodyA->GetWorldPoint(m_localAnchorA);
-}
-
-b2Vec2 b2RopeJoint::GetAnchorB() const
-{
-	return m_bodyB->GetWorldPoint(m_localAnchorB);
-}
-
-b2Vec2 b2RopeJoint::GetReactionForce(float32 inv_dt) const
-{
-	b2Vec2 F = (inv_dt * m_impulse) * m_u;
-	return F;
-}
-
-float32 b2RopeJoint::GetReactionTorque(float32 inv_dt) const
-{
-	B2_NOT_USED(inv_dt);
-	return 0.0f;
-}
-
-float32 b2RopeJoint::GetMaxLength() const
-{
-	return m_maxLength;
-}
-
-b2LimitState b2RopeJoint::GetLimitState() const
-{
-	return m_state;
-}
-
-void b2RopeJoint::Dump()
-{
-	int32 indexA = m_bodyA->m_islandIndex;
-	int32 indexB = m_bodyB->m_islandIndex;
-
-	b2Log("  b2RopeJointDef jd;\n");
-	b2Log("  jd.bodyA = bodies[%d];\n", indexA);
-	b2Log("  jd.bodyB = bodies[%d];\n", indexB);
-	b2Log("  jd.collideConnected = bool(%d);\n", m_collideConnected);
-	b2Log("  jd.localAnchorA.Set(%.15lef, %.15lef);\n", m_localAnchorA.x, m_localAnchorA.y);
-	b2Log("  jd.localAnchorB.Set(%.15lef, %.15lef);\n", m_localAnchorB.x, m_localAnchorB.y);
-	b2Log("  jd.maxLength = %.15lef;\n", m_maxLength);
-	b2Log("  joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
-}

src/libraries/Box2D/Dynamics/Joints/b2RopeJoint.h

@@ -1,114 +0,0 @@
-/*
-* Copyright (c) 2006-2011 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
-* 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_ROPE_JOINT_H
-#define B2_ROPE_JOINT_H
-
-#include <Box2D/Dynamics/Joints/b2Joint.h>
-
-/// Rope joint definition. This requires two body anchor points and
-/// a maximum lengths.
-/// Note: by default the connected objects will not collide.
-/// see collideConnected in b2JointDef.
-struct b2RopeJointDef : public b2JointDef
-{
-	b2RopeJointDef()
-	{
-		type = e_ropeJoint;
-		localAnchorA.Set(-1.0f, 0.0f);
-		localAnchorB.Set(1.0f, 0.0f);
-		maxLength = 0.0f;
-	}
-
-	/// The local anchor point relative to bodyA's origin.
-	b2Vec2 localAnchorA;
-
-	/// The local anchor point relative to bodyB's origin.
-	b2Vec2 localAnchorB;
-
-	/// The maximum length of the rope.
-	/// Warning: this must be larger than b2_linearSlop or
-	/// the joint will have no effect.
-	float32 maxLength;
-};
-
-/// A rope joint enforces a maximum distance between two points
-/// on two bodies. It has no other effect.
-/// Warning: if you attempt to change the maximum length during
-/// the simulation you will get some non-physical behavior.
-/// A model that would allow you to dynamically modify the length
-/// would have some sponginess, so I chose not to implement it
-/// that way. See b2DistanceJoint if you want to dynamically
-/// control length.
-class b2RopeJoint : public b2Joint
-{
-public:
-	b2Vec2 GetAnchorA() const;
-	b2Vec2 GetAnchorB() const;
-
-	b2Vec2 GetReactionForce(float32 inv_dt) const;
-	float32 GetReactionTorque(float32 inv_dt) const;
-
-	/// The local anchor point relative to bodyA's origin.
-	const b2Vec2& GetLocalAnchorA() const { return m_localAnchorA; }
-
-	/// The local anchor point relative to bodyB's origin.
-	const b2Vec2& GetLocalAnchorB() const  { return m_localAnchorB; }
-
-	/// Set/Get the maximum length of the rope.
-	void SetMaxLength(float32 length) { m_maxLength = length; }
-	float32 GetMaxLength() const;
-
-	b2LimitState GetLimitState() const;
-
-	/// Dump joint to dmLog
-	void Dump();
-
-protected:
-
-	friend class b2Joint;
-	b2RopeJoint(const b2RopeJointDef* data);
-
-	void InitVelocityConstraints(const b2SolverData& data);
-	void SolveVelocityConstraints(const b2SolverData& data);
-	bool SolvePositionConstraints(const b2SolverData& data);
-
-	// Solver shared
-	b2Vec2 m_localAnchorA;
-	b2Vec2 m_localAnchorB;
-	float32 m_maxLength;
-	float32 m_length;
-	float32 m_impulse;
-
-	// Solver temp
-	int32 m_indexA;
-	int32 m_indexB;
-	b2Vec2 m_u;
-	b2Vec2 m_rA;
-	b2Vec2 m_rB;
-	b2Vec2 m_localCenterA;
-	b2Vec2 m_localCenterB;
-	float32 m_invMassA;
-	float32 m_invMassB;
-	float32 m_invIA;
-	float32 m_invIB;
-	float32 m_mass;
-	b2LimitState m_state;
-};
-
-#endif

src/libraries/Box2D/Dynamics/Joints/b2WeldJoint.h

@@ -1,126 +0,0 @@
-/*
-* Copyright (c) 2006-2011 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
-* 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 <Box2D/Dynamics/Joints/b2Joint.h>
-
-/// 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;
-		frequencyHz = 0.0f;
-		dampingRatio = 0.0f;
-	}
-
-	/// 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 bodyA's origin.
-	b2Vec2 localAnchorA;
-
-	/// The local anchor point relative to bodyB's origin.
-	b2Vec2 localAnchorB;
-
-	/// The bodyB angle minus bodyA angle in the reference state (radians).
-	float32 referenceAngle;
-	
-	/// The mass-spring-damper frequency in Hertz. Rotation only.
-	/// Disable softness with a value of 0.
-	float32 frequencyHz;
-
-	/// The damping ratio. 0 = no damping, 1 = critical damping.
-	float32 dampingRatio;
-};
-
-/// 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;
-
-	/// The local anchor point relative to bodyA's origin.
-	const b2Vec2& GetLocalAnchorA() const { return m_localAnchorA; }
-
-	/// The local anchor point relative to bodyB's origin.
-	const b2Vec2& GetLocalAnchorB() const  { return m_localAnchorB; }
-
-	/// Get the reference angle.
-	float32 GetReferenceAngle() const { return m_referenceAngle; }
-
-	/// Set/get frequency in Hz.
-	void SetFrequency(float32 hz) { m_frequencyHz = hz; }
-	float32 GetFrequency() const { return m_frequencyHz; }
-
-	/// Set/get damping ratio.
-	void SetDampingRatio(float32 ratio) { m_dampingRatio = ratio; }
-	float32 GetDampingRatio() const { return m_dampingRatio; }
-
-	/// Dump to b2Log
-	void Dump();
-
-protected:
-
-	friend class b2Joint;
-
-	b2WeldJoint(const b2WeldJointDef* def);
-
-	void InitVelocityConstraints(const b2SolverData& data);
-	void SolveVelocityConstraints(const b2SolverData& data);
-	bool SolvePositionConstraints(const b2SolverData& data);
-
-	float32 m_frequencyHz;
-	float32 m_dampingRatio;
-	float32 m_bias;
-
-	// Solver shared
-	b2Vec2 m_localAnchorA;
-	b2Vec2 m_localAnchorB;
-	float32 m_referenceAngle;
-	float32 m_gamma;
-	b2Vec3 m_impulse;
-
-	// Solver temp
-	int32 m_indexA;
-	int32 m_indexB;
-	b2Vec2 m_rA;
-	b2Vec2 m_rB;
-	b2Vec2 m_localCenterA;
-	b2Vec2 m_localCenterB;
-	float32 m_invMassA;
-	float32 m_invMassB;
-	float32 m_invIA;
-	float32 m_invIB;
-	b2Mat33 m_mass;
-};
-
-#endif

src/libraries/Box2D/Dynamics/Joints/b2WheelJoint.cpp

@@ -1,419 +0,0 @@
-/*
-* 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
-* 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 <Box2D/Dynamics/Joints/b2WheelJoint.h>
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2TimeStep.h>
-
-// Linear constraint (point-to-line)
-// d = pB - pA = xB + rB - xA - rA
-// C = dot(ay, d)
-// Cdot = dot(d, cross(wA, ay)) + dot(ay, vB + cross(wB, rB) - vA - cross(wA, rA))
-//      = -dot(ay, vA) - dot(cross(d + rA, ay), wA) + dot(ay, vB) + dot(cross(rB, ay), vB)
-// J = [-ay, -cross(d + rA, ay), ay, cross(rB, ay)]
-
-// Spring linear constraint
-// C = dot(ax, d)
-// Cdot = = -dot(ax, vA) - dot(cross(d + rA, ax), wA) + dot(ax, vB) + dot(cross(rB, ax), vB)
-// J = [-ax -cross(d+rA, ax) ax cross(rB, ax)]
-
-// Motor rotational constraint
-// Cdot = wB - wA
-// J = [0 0 -1 0 0 1]
-
-void b2WheelJointDef::Initialize(b2Body* bA, b2Body* bB, const b2Vec2& anchor, const b2Vec2& axis)
-{
-	bodyA = bA;
-	bodyB = bB;
-	localAnchorA = bodyA->GetLocalPoint(anchor);
-	localAnchorB = bodyB->GetLocalPoint(anchor);
-	localAxisA = bodyA->GetLocalVector(axis);
-}
-
-b2WheelJoint::b2WheelJoint(const b2WheelJointDef* def)
-: b2Joint(def)
-{
-	m_localAnchorA = def->localAnchorA;
-	m_localAnchorB = def->localAnchorB;
-	m_localXAxisA = def->localAxisA;
-	m_localYAxisA = b2Cross(1.0f, m_localXAxisA);
-
-	m_mass = 0.0f;
-	m_impulse = 0.0f;
-	m_motorMass = 0.0f;
-	m_motorImpulse = 0.0f;
-	m_springMass = 0.0f;
-	m_springImpulse = 0.0f;
-
-	m_maxMotorTorque = def->maxMotorTorque;
-	m_motorSpeed = def->motorSpeed;
-	m_enableMotor = def->enableMotor;
-
-	m_frequencyHz = def->frequencyHz;
-	m_dampingRatio = def->dampingRatio;
-
-	m_bias = 0.0f;
-	m_gamma = 0.0f;
-
-	m_ax.SetZero();
-	m_ay.SetZero();
-}
-
-void b2WheelJoint::InitVelocityConstraints(const b2SolverData& data)
-{
-	m_indexA = m_bodyA->m_islandIndex;
-	m_indexB = m_bodyB->m_islandIndex;
-	m_localCenterA = m_bodyA->m_sweep.localCenter;
-	m_localCenterB = m_bodyB->m_sweep.localCenter;
-	m_invMassA = m_bodyA->m_invMass;
-	m_invMassB = m_bodyB->m_invMass;
-	m_invIA = m_bodyA->m_invI;
-	m_invIB = m_bodyB->m_invI;
-
-	float32 mA = m_invMassA, mB = m_invMassB;
-	float32 iA = m_invIA, iB = m_invIB;
-
-	b2Vec2 cA = data.positions[m_indexA].c;
-	float32 aA = data.positions[m_indexA].a;
-	b2Vec2 vA = data.velocities[m_indexA].v;
-	float32 wA = data.velocities[m_indexA].w;
-
-	b2Vec2 cB = data.positions[m_indexB].c;
-	float32 aB = data.positions[m_indexB].a;
-	b2Vec2 vB = data.velocities[m_indexB].v;
-	float32 wB = data.velocities[m_indexB].w;
-
-	b2Rot qA(aA), qB(aB);
-
-	// Compute the effective masses.
-	b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
-	b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
-	b2Vec2 d = cB + rB - cA - rA;
-
-	// Point to line constraint
-	{
-		m_ay = b2Mul(qA, m_localYAxisA);
-		m_sAy = b2Cross(d + rA, m_ay);
-		m_sBy = b2Cross(rB, m_ay);
-
-		m_mass = mA + mB + iA * m_sAy * m_sAy + iB * m_sBy * m_sBy;
-
-		if (m_mass > 0.0f)
-		{
-			m_mass = 1.0f / m_mass;
-		}
-	}
-
-	// Spring constraint
-	m_springMass = 0.0f;
-	m_bias = 0.0f;
-	m_gamma = 0.0f;
-	if (m_frequencyHz > 0.0f)
-	{
-		m_ax = b2Mul(qA, m_localXAxisA);
-		m_sAx = b2Cross(d + rA, m_ax);
-		m_sBx = b2Cross(rB, m_ax);
-
-		float32 invMass = mA + mB + iA * m_sAx * m_sAx + iB * m_sBx * m_sBx;
-
-		if (invMass > 0.0f)
-		{
-			m_springMass = 1.0f / invMass;
-
-			float32 C = b2Dot(d, m_ax);
-
-			// Frequency
-			float32 omega = 2.0f * b2_pi * m_frequencyHz;
-
-			// Damping coefficient
-			float32 d = 2.0f * m_springMass * m_dampingRatio * omega;
-
-			// Spring stiffness
-			float32 k = m_springMass * omega * omega;
-
-			// magic formulas
-			float32 h = data.step.dt;
-			m_gamma = h * (d + h * k);
-			if (m_gamma > 0.0f)
-			{
-				m_gamma = 1.0f / m_gamma;
-			}
-
-			m_bias = C * h * k * m_gamma;
-
-			m_springMass = invMass + m_gamma;
-			if (m_springMass > 0.0f)
-			{
-				m_springMass = 1.0f / m_springMass;
-			}
-		}
-	}
-	else
-	{
-		m_springImpulse = 0.0f;
-	}
-
-	// Rotational motor
-	if (m_enableMotor)
-	{
-		m_motorMass = iA + iB;
-		if (m_motorMass > 0.0f)
-		{
-			m_motorMass = 1.0f / m_motorMass;
-		}
-	}
-	else
-	{
-		m_motorMass = 0.0f;
-		m_motorImpulse = 0.0f;
-	}
-
-	if (data.step.warmStarting)
-	{
-		// Account for variable time step.
-		m_impulse *= data.step.dtRatio;
-		m_springImpulse *= data.step.dtRatio;
-		m_motorImpulse *= data.step.dtRatio;
-
-		b2Vec2 P = m_impulse * m_ay + m_springImpulse * m_ax;
-		float32 LA = m_impulse * m_sAy + m_springImpulse * m_sAx + m_motorImpulse;
-		float32 LB = m_impulse * m_sBy + m_springImpulse * m_sBx + m_motorImpulse;
-
-		vA -= m_invMassA * P;
-		wA -= m_invIA * LA;
-
-		vB += m_invMassB * P;
-		wB += m_invIB * LB;
-	}
-	else
-	{
-		m_impulse = 0.0f;
-		m_springImpulse = 0.0f;
-		m_motorImpulse = 0.0f;
-	}
-
-	data.velocities[m_indexA].v = vA;
-	data.velocities[m_indexA].w = wA;
-	data.velocities[m_indexB].v = vB;
-	data.velocities[m_indexB].w = wB;
-}
-
-void b2WheelJoint::SolveVelocityConstraints(const b2SolverData& data)
-{
-	float32 mA = m_invMassA, mB = m_invMassB;
-	float32 iA = m_invIA, iB = m_invIB;
-
-	b2Vec2 vA = data.velocities[m_indexA].v;
-	float32 wA = data.velocities[m_indexA].w;
-	b2Vec2 vB = data.velocities[m_indexB].v;
-	float32 wB = data.velocities[m_indexB].w;
-
-	// Solve spring constraint
-	{
-		float32 Cdot = b2Dot(m_ax, vB - vA) + m_sBx * wB - m_sAx * wA;
-		float32 impulse = -m_springMass * (Cdot + m_bias + m_gamma * m_springImpulse);
-		m_springImpulse += impulse;
-
-		b2Vec2 P = impulse * m_ax;
-		float32 LA = impulse * m_sAx;
-		float32 LB = impulse * m_sBx;
-
-		vA -= mA * P;
-		wA -= iA * LA;
-
-		vB += mB * P;
-		wB += iB * LB;
-	}
-
-	// Solve rotational motor constraint
-	{
-		float32 Cdot = wB - wA - m_motorSpeed;
-		float32 impulse = -m_motorMass * Cdot;
-
-		float32 oldImpulse = m_motorImpulse;
-		float32 maxImpulse = data.step.dt * m_maxMotorTorque;
-		m_motorImpulse = b2Clamp(m_motorImpulse + impulse, -maxImpulse, maxImpulse);
-		impulse = m_motorImpulse - oldImpulse;
-
-		wA -= iA * impulse;
-		wB += iB * impulse;
-	}
-
-	// Solve point to line constraint
-	{
-		float32 Cdot = b2Dot(m_ay, vB - vA) + m_sBy * wB - m_sAy * wA;
-		float32 impulse = -m_mass * Cdot;
-		m_impulse += impulse;
-
-		b2Vec2 P = impulse * m_ay;
-		float32 LA = impulse * m_sAy;
-		float32 LB = impulse * m_sBy;
-
-		vA -= mA * P;
-		wA -= iA * LA;
-
-		vB += mB * P;
-		wB += iB * LB;
-	}
-
-	data.velocities[m_indexA].v = vA;
-	data.velocities[m_indexA].w = wA;
-	data.velocities[m_indexB].v = vB;
-	data.velocities[m_indexB].w = wB;
-}
-
-bool b2WheelJoint::SolvePositionConstraints(const b2SolverData& data)
-{
-	b2Vec2 cA = data.positions[m_indexA].c;
-	float32 aA = data.positions[m_indexA].a;
-	b2Vec2 cB = data.positions[m_indexB].c;
-	float32 aB = data.positions[m_indexB].a;
-
-	b2Rot qA(aA), qB(aB);
-
-	b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
-	b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
-	b2Vec2 d = (cB - cA) + rB - rA;
-
-	b2Vec2 ay = b2Mul(qA, m_localYAxisA);
-
-	float32 sAy = b2Cross(d + rA, ay);
-	float32 sBy = b2Cross(rB, ay);
-
-	float32 C = b2Dot(d, ay);
-
-	float32 k = m_invMassA + m_invMassB + m_invIA * m_sAy * m_sAy + m_invIB * m_sBy * m_sBy;
-
-	float32 impulse;
-	if (k != 0.0f)
-	{
-		impulse = - C / k;
-	}
-	else
-	{
-		impulse = 0.0f;
-	}
-
-	b2Vec2 P = impulse * ay;
-	float32 LA = impulse * sAy;
-	float32 LB = impulse * sBy;
-
-	cA -= m_invMassA * P;
-	aA -= m_invIA * LA;
-	cB += m_invMassB * P;
-	aB += m_invIB * LB;
-
-	data.positions[m_indexA].c = cA;
-	data.positions[m_indexA].a = aA;
-	data.positions[m_indexB].c = cB;
-	data.positions[m_indexB].a = aB;
-
-	return b2Abs(C) <= b2_linearSlop;
-}
-
-b2Vec2 b2WheelJoint::GetAnchorA() const
-{
-	return m_bodyA->GetWorldPoint(m_localAnchorA);
-}
-
-b2Vec2 b2WheelJoint::GetAnchorB() const
-{
-	return m_bodyB->GetWorldPoint(m_localAnchorB);
-}
-
-b2Vec2 b2WheelJoint::GetReactionForce(float32 inv_dt) const
-{
-	return inv_dt * (m_impulse * m_ay + m_springImpulse * m_ax);
-}
-
-float32 b2WheelJoint::GetReactionTorque(float32 inv_dt) const
-{
-	return inv_dt * m_motorImpulse;
-}
-
-float32 b2WheelJoint::GetJointTranslation() const
-{
-	b2Body* bA = m_bodyA;
-	b2Body* bB = m_bodyB;
-
-	b2Vec2 pA = bA->GetWorldPoint(m_localAnchorA);
-	b2Vec2 pB = bB->GetWorldPoint(m_localAnchorB);
-	b2Vec2 d = pB - pA;
-	b2Vec2 axis = bA->GetWorldVector(m_localXAxisA);
-
-	float32 translation = b2Dot(d, axis);
-	return translation;
-}
-
-float32 b2WheelJoint::GetJointSpeed() const
-{
-	float32 wA = m_bodyA->m_angularVelocity;
-	float32 wB = m_bodyB->m_angularVelocity;
-	return wB - wA;
-}
-
-bool b2WheelJoint::IsMotorEnabled() const
-{
-	return m_enableMotor;
-}
-
-void b2WheelJoint::EnableMotor(bool flag)
-{
-	m_bodyA->SetAwake(true);
-	m_bodyB->SetAwake(true);
-	m_enableMotor = flag;
-}
-
-void b2WheelJoint::SetMotorSpeed(float32 speed)
-{
-	m_bodyA->SetAwake(true);
-	m_bodyB->SetAwake(true);
-	m_motorSpeed = speed;
-}
-
-void b2WheelJoint::SetMaxMotorTorque(float32 torque)
-{
-	m_bodyA->SetAwake(true);
-	m_bodyB->SetAwake(true);
-	m_maxMotorTorque = torque;
-}
-
-float32 b2WheelJoint::GetMotorTorque(float32 inv_dt) const
-{
-	return inv_dt * m_motorImpulse;
-}
-
-void b2WheelJoint::Dump()
-{
-	int32 indexA = m_bodyA->m_islandIndex;
-	int32 indexB = m_bodyB->m_islandIndex;
-
-	b2Log("  b2WheelJointDef jd;\n");
-	b2Log("  jd.bodyA = bodies[%d];\n", indexA);
-	b2Log("  jd.bodyB = bodies[%d];\n", indexB);
-	b2Log("  jd.collideConnected = bool(%d);\n", m_collideConnected);
-	b2Log("  jd.localAnchorA.Set(%.15lef, %.15lef);\n", m_localAnchorA.x, m_localAnchorA.y);
-	b2Log("  jd.localAnchorB.Set(%.15lef, %.15lef);\n", m_localAnchorB.x, m_localAnchorB.y);
-	b2Log("  jd.localAxisA.Set(%.15lef, %.15lef);\n", m_localXAxisA.x, m_localXAxisA.y);
-	b2Log("  jd.enableMotor = bool(%d);\n", m_enableMotor);
-	b2Log("  jd.motorSpeed = %.15lef;\n", m_motorSpeed);
-	b2Log("  jd.maxMotorTorque = %.15lef;\n", m_maxMotorTorque);
-	b2Log("  jd.frequencyHz = %.15lef;\n", m_frequencyHz);
-	b2Log("  jd.dampingRatio = %.15lef;\n", m_dampingRatio);
-	b2Log("  joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
-}

src/libraries/Box2D/Dynamics/Joints/b2WheelJoint.h

@@ -1,210 +0,0 @@
-/*
-* Copyright (c) 2006-2011 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
-* 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_WHEEL_JOINT_H
-#define B2_WHEEL_JOINT_H
-
-#include <Box2D/Dynamics/Joints/b2Joint.h>
-
-/// Wheel 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 b2WheelJointDef : public b2JointDef
-{
-	b2WheelJointDef()
-	{
-		type = e_wheelJoint;
-		localAnchorA.SetZero();
-		localAnchorB.SetZero();
-		localAxisA.Set(1.0f, 0.0f);
-		enableMotor = false;
-		maxMotorTorque = 0.0f;
-		motorSpeed = 0.0f;
-		frequencyHz = 2.0f;
-		dampingRatio = 0.7f;
-	}
-
-	/// 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 bodyA's origin.
-	b2Vec2 localAnchorA;
-
-	/// The local anchor point relative to bodyB's origin.
-	b2Vec2 localAnchorB;
-
-	/// The local translation axis in bodyA.
-	b2Vec2 localAxisA;
-
-	/// Enable/disable the joint motor.
-	bool enableMotor;
-
-	/// The maximum motor torque, usually in N-m.
-	float32 maxMotorTorque;
-
-	/// The desired motor speed in radians per second.
-	float32 motorSpeed;
-
-	/// Suspension frequency, zero indicates no suspension
-	float32 frequencyHz;
-
-	/// Suspension damping ratio, one indicates critical damping
-	float32 dampingRatio;
-};
-
-/// A wheel joint. This joint provides two degrees of freedom: translation
-/// along an axis fixed in bodyA and rotation in the plane. In other words, it is a point to
-/// line constraint with a rotational motor and a linear spring/damper.
-/// This joint is designed for vehicle suspensions.
-class b2WheelJoint : public b2Joint
-{
-public:
-	b2Vec2 GetAnchorA() const;
-	b2Vec2 GetAnchorB() const;
-
-	b2Vec2 GetReactionForce(float32 inv_dt) const;
-	float32 GetReactionTorque(float32 inv_dt) const;
-
-	/// The local anchor point relative to bodyA's origin.
-	const b2Vec2& GetLocalAnchorA() const { return m_localAnchorA; }
-
-	/// The local anchor point relative to bodyB's origin.
-	const b2Vec2& GetLocalAnchorB() const  { return m_localAnchorB; }
-
-	/// The local joint axis relative to bodyA.
-	const b2Vec2& GetLocalAxisA() const { return m_localXAxisA; }
-
-	/// 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 motor enabled?
-	bool IsMotorEnabled() const;
-
-	/// Enable/disable the joint motor.
-	void EnableMotor(bool flag);
-
-	/// Set the motor speed, usually in radians per second.
-	void SetMotorSpeed(float32 speed);
-
-	/// Get the motor speed, usually in radians per second.
-	float32 GetMotorSpeed() const;
-
-	/// Set/Get the maximum motor force, usually in N-m.
-	void SetMaxMotorTorque(float32 torque);
-	float32 GetMaxMotorTorque() const;
-
-	/// Get the current motor torque given the inverse time step, usually in N-m.
-	float32 GetMotorTorque(float32 inv_dt) const;
-
-	/// Set/Get the spring frequency in hertz. Setting the frequency to zero disables the spring.
-	void SetSpringFrequencyHz(float32 hz);
-	float32 GetSpringFrequencyHz() const;
-
-	/// Set/Get the spring damping ratio
-	void SetSpringDampingRatio(float32 ratio);
-	float32 GetSpringDampingRatio() const;
-
-	/// Dump to b2Log
-	void Dump();
-
-protected:
-
-	friend class b2Joint;
-	b2WheelJoint(const b2WheelJointDef* def);
-
-	void InitVelocityConstraints(const b2SolverData& data);
-	void SolveVelocityConstraints(const b2SolverData& data);
-	bool SolvePositionConstraints(const b2SolverData& data);
-
-	float32 m_frequencyHz;
-	float32 m_dampingRatio;
-
-	// Solver shared
-	b2Vec2 m_localAnchorA;
-	b2Vec2 m_localAnchorB;
-	b2Vec2 m_localXAxisA;
-	b2Vec2 m_localYAxisA;
-
-	float32 m_impulse;
-	float32 m_motorImpulse;
-	float32 m_springImpulse;
-
-	float32 m_maxMotorTorque;
-	float32 m_motorSpeed;
-	bool m_enableMotor;
-
-	// Solver temp
-	int32 m_indexA;
-	int32 m_indexB;
-	b2Vec2 m_localCenterA;
-	b2Vec2 m_localCenterB;
-	float32 m_invMassA;
-	float32 m_invMassB;
-	float32 m_invIA;
-	float32 m_invIB;
-
-	b2Vec2 m_ax, m_ay;
-	float32 m_sAx, m_sBx;
-	float32 m_sAy, m_sBy;
-
-	float32 m_mass;
-	float32 m_motorMass;
-	float32 m_springMass;
-
-	float32 m_bias;
-	float32 m_gamma;
-};
-
-inline float32 b2WheelJoint::GetMotorSpeed() const
-{
-	return m_motorSpeed;
-}
-
-inline float32 b2WheelJoint::GetMaxMotorTorque() const
-{
-	return m_maxMotorTorque;
-}
-
-inline void b2WheelJoint::SetSpringFrequencyHz(float32 hz)
-{
-	m_frequencyHz = hz;
-}
-
-inline float32 b2WheelJoint::GetSpringFrequencyHz() const
-{
-	return m_frequencyHz;
-}
-
-inline void b2WheelJoint::SetSpringDampingRatio(float32 ratio)
-{
-	m_dampingRatio = ratio;
-}
-
-inline float32 b2WheelJoint::GetSpringDampingRatio() const
-{
-	return m_dampingRatio;
-}
-
-#endif

src/libraries/Box2D/Dynamics/b2ContactManager.h

@@ -1,52 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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_MANAGER_H
-#define B2_CONTACT_MANAGER_H
-
-#include <Box2D/Collision/b2BroadPhase.h>
-
-class b2Contact;
-class b2ContactFilter;
-class b2ContactListener;
-class b2BlockAllocator;
-
-// Delegate of b2World.
-class b2ContactManager
-{
-public:
-	b2ContactManager();
-
-	// Broad-phase callback.
-	void AddPair(void* proxyUserDataA, void* proxyUserDataB);
-
-	void FindNewContacts();
-
-	void Destroy(b2Contact* c);
-
-	void Collide();
-            
-	b2BroadPhase m_broadPhase;
-	b2Contact* m_contactList;
-	int32 m_contactCount;
-	b2ContactFilter* m_contactFilter;
-	b2ContactListener* m_contactListener;
-	b2BlockAllocator* m_allocator;
-};
-
-#endif

src/libraries/Box2D/Dynamics/b2TimeStep.h

@@ -1,70 +0,0 @@
-/*
-* Copyright (c) 2006-2011 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
-* 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_STEP_H
-#define B2_TIME_STEP_H
-
-#include <Box2D/Common/b2Math.h>
-
-/// Profiling data. Times are in milliseconds.
-struct b2Profile
-{
-	float32 step;
-	float32 collide;
-	float32 solve;
-	float32 solveInit;
-	float32 solveVelocity;
-	float32 solvePosition;
-	float32 broadphase;
-	float32 solveTOI;
-};
-
-/// 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;
-};
-
-/// This is an internal structure.
-struct b2Position
-{
-	b2Vec2 c;
-	float32 a;
-};
-
-/// This is an internal structure.
-struct b2Velocity
-{
-	b2Vec2 v;
-	float32 w;
-};
-
-/// Solver Data
-struct b2SolverData
-{
-	b2TimeStep step;
-	b2Position* positions;
-	b2Velocity* velocities;
-};
-
-#endif

src/libraries/Box2D/Dynamics/b2WorldCallbacks.cpp

@@ -1,36 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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 <Box2D/Dynamics/b2WorldCallbacks.h>
-#include <Box2D/Dynamics/b2Fixture.h>
-
-// 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(b2Fixture* fixtureA, b2Fixture* fixtureB)
-{
-	const b2Filter& filterA = fixtureA->GetFilterData();
-	const b2Filter& filterB = fixtureB->GetFilterData();
-
-	if (filterA.groupIndex == filterB.groupIndex && filterA.groupIndex != 0)
-	{
-		return filterA.groupIndex > 0;
-	}
-
-	bool collide = (filterA.maskBits & filterB.categoryBits) != 0 && (filterA.categoryBits & filterB.maskBits) != 0;
-	return collide;
-}

src/libraries/Box2D/Rope/b2Rope.cpp

@@ -1,259 +0,0 @@
-/*
-* Copyright (c) 2011 Erin Catto http://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
-* 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 <Box2D/Rope/b2Rope.h>
-#include <Box2D/Common/b2Draw.h>
-
-b2Rope::b2Rope()
-{
-	m_count = 0;
-	m_ps = NULL;
-	m_p0s = NULL;
-	m_vs = NULL;
-	m_ims = NULL;
-	m_Ls = NULL;
-	m_as = NULL;
-	m_gravity.SetZero();
-	m_k2 = 1.0f;
-	m_k3 = 0.1f;
-}
-
-b2Rope::~b2Rope()
-{
-	b2Free(m_ps);
-	b2Free(m_p0s);
-	b2Free(m_vs);
-	b2Free(m_ims);
-	b2Free(m_Ls);
-	b2Free(m_as);
-}
-
-void b2Rope::Initialize(const b2RopeDef* def)
-{
-	b2Assert(def->count >= 3);
-	m_count = def->count;
-	m_ps = (b2Vec2*)b2Alloc(m_count * sizeof(b2Vec2));
-	m_p0s = (b2Vec2*)b2Alloc(m_count * sizeof(b2Vec2));
-	m_vs = (b2Vec2*)b2Alloc(m_count * sizeof(b2Vec2));
-	m_ims = (float32*)b2Alloc(m_count * sizeof(float32));
-
-	for (int32 i = 0; i < m_count; ++i)
-	{
-		m_ps[i] = def->vertices[i];
-		m_p0s[i] = def->vertices[i];
-		m_vs[i].SetZero();
-
-		float32 m = def->masses[i];
-		if (m > 0.0f)
-		{
-			m_ims[i] = 1.0f / m;
-		}
-		else
-		{
-			m_ims[i] = 0.0f;
-		}
-	}
-
-	int32 count2 = m_count - 1;
-	int32 count3 = m_count - 2;
-	m_Ls = (float32*)b2Alloc(count2 * sizeof(float32));
-	m_as = (float32*)b2Alloc(count3 * sizeof(float32));
-
-	for (int32 i = 0; i < count2; ++i)
-	{
-		b2Vec2 p1 = m_ps[i];
-		b2Vec2 p2 = m_ps[i+1];
-		m_Ls[i] = b2Distance(p1, p2);
-	}
-
-	for (int32 i = 0; i < count3; ++i)
-	{
-		b2Vec2 p1 = m_ps[i];
-		b2Vec2 p2 = m_ps[i + 1];
-		b2Vec2 p3 = m_ps[i + 2];
-
-		b2Vec2 d1 = p2 - p1;
-		b2Vec2 d2 = p3 - p2;
-
-		float32 a = b2Cross(d1, d2);
-		float32 b = b2Dot(d1, d2);
-
-		m_as[i] = b2Atan2(a, b);
-	}
-
-	m_gravity = def->gravity;
-	m_damping = def->damping;
-	m_k2 = def->k2;
-	m_k3 = def->k3;
-}
-
-void b2Rope::Step(float32 h, int32 iterations)
-{
-	if (h == 0.0)
-	{
-		return;
-	}
-
-	float32 d = expf(- h * m_damping);
-
-	for (int32 i = 0; i < m_count; ++i)
-	{
-		m_p0s[i] = m_ps[i];
-		if (m_ims[i] > 0.0f)
-		{
-			m_vs[i] += h * m_gravity;
-		}
-		m_vs[i] *= d;
-		m_ps[i] += h * m_vs[i];
-
-	}
-
-	for (int32 i = 0; i < iterations; ++i)
-	{
-		SolveC2();
-		SolveC3();
-		SolveC2();
-	}
-
-	float32 inv_h = 1.0f / h;
-	for (int32 i = 0; i < m_count; ++i)
-	{
-		m_vs[i] = inv_h * (m_ps[i] - m_p0s[i]);
-	}
-}
-
-void b2Rope::SolveC2()
-{
-	int32 count2 = m_count - 1;
-
-	for (int32 i = 0; i < count2; ++i)
-	{
-		b2Vec2 p1 = m_ps[i];
-		b2Vec2 p2 = m_ps[i + 1];
-
-		b2Vec2 d = p2 - p1;
-		float32 L = d.Normalize();
-
-		float32 im1 = m_ims[i];
-		float32 im2 = m_ims[i + 1];
-
-		if (im1 + im2 == 0.0f)
-		{
-			continue;
-		}
-
-		float32 s1 = im1 / (im1 + im2);
-		float32 s2 = im2 / (im1 + im2);
-
-		p1 -= m_k2 * s1 * (m_Ls[i] - L) * d;
-		p2 += m_k2 * s2 * (m_Ls[i] - L) * d;
-
-		m_ps[i] = p1;
-		m_ps[i + 1] = p2;
-	}
-}
-
-void b2Rope::SetAngle(float32 angle)
-{
-	int32 count3 = m_count - 2;
-	for (int32 i = 0; i < count3; ++i)
-	{
-		m_as[i] = angle;
-	}
-}
-
-void b2Rope::SolveC3()
-{
-	int32 count3 = m_count - 2;
-
-	for (int32 i = 0; i < count3; ++i)
-	{
-		b2Vec2 p1 = m_ps[i];
-		b2Vec2 p2 = m_ps[i + 1];
-		b2Vec2 p3 = m_ps[i + 2];
-
-		float32 m1 = m_ims[i];
-		float32 m2 = m_ims[i + 1];
-		float32 m3 = m_ims[i + 2];
-
-		b2Vec2 d1 = p2 - p1;
-		b2Vec2 d2 = p3 - p2;
-
-		float32 L1sqr = d1.LengthSquared();
-		float32 L2sqr = d2.LengthSquared();
-
-		if (L1sqr * L2sqr == 0.0f)
-		{
-			continue;
-		}
-
-		float32 a = b2Cross(d1, d2);
-		float32 b = b2Dot(d1, d2);
-
-		float32 angle = b2Atan2(a, b);
-
-		b2Vec2 Jd1 = (-1.0f / L1sqr) * d1.Skew();
-		b2Vec2 Jd2 = (1.0f / L2sqr) * d2.Skew();
-
-		b2Vec2 J1 = -Jd1;
-		b2Vec2 J2 = Jd1 - Jd2;
-		b2Vec2 J3 = Jd2;
-
-		float32 mass = m1 * b2Dot(J1, J1) + m2 * b2Dot(J2, J2) + m3 * b2Dot(J3, J3);
-		if (mass == 0.0f)
-		{
-			continue;
-		}
-
-		mass = 1.0f / mass;
-
-		float32 C = angle - m_as[i];
-
-		while (C > b2_pi)
-		{
-			angle -= 2 * b2_pi;
-			C = angle - m_as[i];
-		}
-
-		while (C < -b2_pi)
-		{
-			angle += 2.0f * b2_pi;
-			C = angle - m_as[i];
-		}
-
-		float32 impulse = - m_k3 * mass * C;
-
-		p1 += (m1 * impulse) * J1;
-		p2 += (m2 * impulse) * J2;
-		p3 += (m3 * impulse) * J3;
-
-		m_ps[i] = p1;
-		m_ps[i + 1] = p2;
-		m_ps[i + 2] = p3;
-	}
-}
-
-void b2Rope::Draw(b2Draw* draw) const
-{
-	b2Color c(0.4f, 0.5f, 0.7f);
-
-	for (int32 i = 0; i < m_count - 1; ++i)
-	{
-		draw->DrawSegment(m_ps[i], m_ps[i+1], c);
-	}
-}

src/libraries/Box2D/Rope/b2Rope.h

@@ -1,115 +0,0 @@
-/*
-* Copyright (c) 2011 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
-* 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_ROPE_H
-#define B2_ROPE_H
-
-#include <Box2D/Common/b2Math.h>
-
-class b2Draw;
-
-/// 
-struct b2RopeDef
-{
-	b2RopeDef()
-	{
-		vertices = NULL;
-		count = 0;
-		masses = NULL;
-		gravity.SetZero();
-		damping = 0.1f;
-		k2 = 0.9f;
-		k3 = 0.1f;
-	}
-
-	///
-	b2Vec2* vertices;
-
-	///
-	int32 count;
-
-	///
-	float32* masses;
-
-	///
-	b2Vec2 gravity;
-
-	///
-	float32 damping;
-
-	/// Stretching stiffness
-	float32 k2;
-
-	/// Bending stiffness. Values above 0.5 can make the simulation blow up.
-	float32 k3;
-};
-
-/// 
-class b2Rope
-{
-public:
-	b2Rope();
-	~b2Rope();
-
-	///
-	void Initialize(const b2RopeDef* def);
-
-	///
-	void Step(float32 timeStep, int32 iterations);
-
-	///
-	int32 GetVertexCount() const
-	{
-		return m_count;
-	}
-
-	///
-	const b2Vec2* GetVertices() const
-	{
-		return m_ps;
-	}
-
-	///
-	void Draw(b2Draw* draw) const;
-
-	///
-	void SetAngle(float32 angle);
-
-private:
-
-	void SolveC2();
-	void SolveC3();
-
-	int32 m_count;
-	b2Vec2* m_ps;
-	b2Vec2* m_p0s;
-	b2Vec2* m_vs;
-
-	float32* m_ims;
-
-	float32* m_Ls;
-	float32* m_as;
-
-	b2Vec2 m_gravity;
-	float32 m_damping;
-
-	float32 m_k2;
-	float32 m_k3;
-};
-
-#endif

src/libraries/box2d/Box2D.h

@@ -0,0 +1,59 @@
+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// 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.
+
+#ifndef BOX2D_H
+#define BOX2D_H
+
+// These include files constitute the main Box2D API
+
+#include "b2_settings.h"
+#include "b2_draw.h"
+#include "b2_timer.h"
+
+#include "b2_chain_shape.h"
+#include "b2_circle_shape.h"
+#include "b2_edge_shape.h"
+#include "b2_polygon_shape.h"
+
+#include "b2_broad_phase.h"
+#include "b2_dynamic_tree.h"
+
+#include "b2_body.h"
+#include "b2_contact.h"
+#include "b2_fixture.h"
+#include "b2_time_step.h"
+#include "b2_world.h"
+#include "b2_world_callbacks.h"
+#include "b2_distance.h"
+
+#include "b2_distance_joint.h"
+#include "b2_friction_joint.h"
+#include "b2_gear_joint.h"
+#include "b2_motor_joint.h"
+#include "b2_mouse_joint.h"
+#include "b2_prismatic_joint.h"
+#include "b2_pulley_joint.h"
+#include "b2_revolute_joint.h"
+#include "b2_weld_joint.h"
+#include "b2_wheel_joint.h"
+
+#endif

src/libraries/box2d/b2_api.h

@@ -0,0 +1,52 @@
+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// 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.
+
+#ifndef B2_API_H
+#define B2_API_H
+
+#ifdef B2_SHARED
+  #if defined _WIN32 || defined __CYGWIN__
+    #ifdef box2d_EXPORTS
+      #ifdef __GNUC__
+        #define B2_API __attribute__ ((dllexport))
+      #else
+        #define B2_API __declspec(dllexport)
+      #endif
+    #else
+      #ifdef __GNUC__
+        #define B2_API __attribute__ ((dllimport))
+      #else
+        #define B2_API __declspec(dllimport)
+      #endif
+    #endif
+  #else
+    #if __GNUC__ >= 4
+      #define B2_API __attribute__ ((visibility ("default")))
+    #else
+      #define B2_API
+    #endif
+  #endif
+#else
+  #define B2_API
+#endif
+
+#endif

src/libraries/box2d/b2_block_allocator.h

@@ -0,0 +1,60 @@
+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// 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.
+
+#ifndef B2_BLOCK_ALLOCATOR_H
+#define B2_BLOCK_ALLOCATOR_H
+
+#include "b2_api.h"
+#include "b2_settings.h"
+
+const int32 b2_blockSizeCount = 14;
+
+struct b2Block;
+struct b2Chunk;
+
+/// This is a small object allocator used for allocating small
+/// objects that persist for more than one time step.
+/// See: http://www.codeproject.com/useritems/Small_Block_Allocator.asp
+class B2_API b2BlockAllocator
+{
+public:
+	b2BlockAllocator();
+	~b2BlockAllocator();
+
+	/// Allocate memory. This will use b2Alloc if the size is larger than b2_maxBlockSize.
+	void* Allocate(int32 size);
+
+	/// Free memory. This will use b2Free if the size is larger than b2_maxBlockSize.
+	void Free(void* p, int32 size);
+
+	void Clear();
+
+private:
+
+	b2Chunk* m_chunks;
+	int32 m_chunkCount;
+	int32 m_chunkSpace;
+
+	b2Block* m_freeLists[b2_blockSizeCount];
+};
+
+#endif

src/libraries/box2d/b2_body.h

@@ -1,27 +1,31 @@
-/*
-* Copyright (c) 2006-2011 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
-* 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.
-*/
+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// 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.
 
 #ifndef B2_BODY_H
 #define B2_BODY_H
 
-#include <Box2D/Common/b2Math.h>
-#include <Box2D/Collision/Shapes/b2Shape.h>
-#include <memory>
+#include "b2_api.h"
+#include "b2_math.h"
+#include "b2_shape.h"
 
 class b2Fixture;
 class b2Joint;
@@ -41,19 +45,15 @@ enum b2BodyType
 	b2_staticBody = 0,
 	b2_kinematicBody,
 	b2_dynamicBody
-
-	// TODO_ERIN
-	//b2_bulletBody,
 };
 
 /// 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
+struct B2_API 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);
@@ -65,7 +65,7 @@ struct b2BodyDef
 		fixedRotation = false;
 		bullet = false;
 		type = b2_staticBody;
-		active = true;
+		enabled = true;
 		gravityScale = 1.0f;
 	}
 
@@ -78,23 +78,25 @@ struct b2BodyDef
 	b2Vec2 position;
 
 	/// The world angle of the body in radians.
-	float32 angle;
+	float angle;
 
 	/// The linear velocity of the body's origin in world co-ordinates.
 	b2Vec2 linearVelocity;
 
 	/// The angular velocity of the body.
-	float32 angularVelocity;
+	float 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;
+	/// Units are 1/time
+	float 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;
+	/// Units are 1/time
+	float angularDamping;
 
 	/// Set this flag to false if this body should never fall asleep. Note that
 	/// this increases CPU usage.
@@ -112,18 +114,18 @@ struct b2BodyDef
 	/// @warning You should use this flag sparingly since it increases processing time.
 	bool bullet;
 
-	/// Does this body start out active?
-	bool active;
+	/// Does this body start out enabled?
+	bool enabled;
 
 	/// Use this to store application specific body data.
-	void* userData;
+	b2BodyUserData userData;
 
 	/// Scale the gravity applied to this body.
-	float32 gravityScale;
+	float gravityScale;
 };
 
 /// A rigid body. These are created via b2World::CreateBody.
-class b2Body
+class B2_API b2Body
 {
 public:
 	/// Creates a fixture and attach it to this body. Use this function if you need
@@ -142,7 +144,7 @@ public:
 	/// @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);
+	b2Fixture* CreateFixture(const b2Shape* shape, float density);
 
 	/// Destroy a fixture. This removes the fixture from the broad-phase and
 	/// destroys all contacts associated with this fixture. This will
@@ -158,7 +160,7 @@ public:
 	/// Note: contacts are updated on the next call to b2World::Step.
 	/// @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);
+	void SetTransform(const b2Vec2& position, float angle);
 
 	/// Get the body transform for the body's origin.
 	/// @return the world transform of the body's origin.
@@ -170,7 +172,7 @@ public:
 
 	/// Get the angle in radians.
 	/// @return the current world rotation angle in radians.
-	float32 GetAngle() const;
+	float GetAngle() const;
 
 	/// Get the world position of the center of mass.
 	const b2Vec2& GetWorldCenter() const;
@@ -188,11 +190,11 @@ public:
 
 	/// Set the angular velocity.
 	/// @param omega the new angular velocity in radians/second.
-	void SetAngularVelocity(float32 omega);
+	void SetAngularVelocity(float omega);
 
 	/// Get the angular velocity.
 	/// @return the angular velocity in radians/second.
-	float32 GetAngularVelocity() const;
+	float 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
@@ -209,10 +211,9 @@ public:
 
 	/// 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.
 	/// @param wake also wake up the body
-	void ApplyTorque(float32 torque, bool wake);
+	void ApplyTorque(float torque, bool wake);
 
 	/// Apply an impulse at a point. This immediately modifies the velocity.
 	/// It also modifies the angular velocity if the point of application
@@ -222,18 +223,23 @@ public:
 	/// @param wake also wake up the body
 	void ApplyLinearImpulse(const b2Vec2& impulse, const b2Vec2& point, bool wake);
 
+	/// Apply an impulse to the center of mass. This immediately modifies the velocity.
+	/// @param impulse the world impulse vector, usually in N-seconds or kg-m/s.
+	/// @param wake also wake up the body
+	void ApplyLinearImpulseToCenter(const b2Vec2& impulse, bool wake);
+
 	/// Apply an angular impulse.
 	/// @param impulse the angular impulse in units of kg*m*m/s
 	/// @param wake also wake up the body
-	void ApplyAngularImpulse(float32 impulse, bool wake);
+	void ApplyAngularImpulse(float impulse, bool wake);
 
 	/// Get the total mass of the body.
 	/// @return the mass, usually in kilograms (kg).
-	float32 GetMass() const;
+	float 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;
+	float GetInertia() const;
 
 	/// Get the mass data of the body.
 	/// @return a struct containing the mass, inertia and center of the body.
@@ -243,7 +249,7 @@ public:
 	/// 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.
+	/// @param data the mass properties.
 	void SetMassData(const b2MassData* data);
 
 	/// This resets the mass properties to the sum of the mass properties of the fixtures.
@@ -262,42 +268,42 @@ public:
 	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.
+	/// @param worldPoint 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.
+	/// @param worldVector 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.
+	/// @param worldPoint 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.
+	/// @param localPoint 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;
+	float GetLinearDamping() const;
 
 	/// Set the linear damping of the body.
-	void SetLinearDamping(float32 linearDamping);
+	void SetLinearDamping(float linearDamping);
 
 	/// Get the angular damping of the body.
-	float32 GetAngularDamping() const;
+	float GetAngularDamping() const;
 
 	/// Set the angular damping of the body.
-	void SetAngularDamping(float32 angularDamping);
+	void SetAngularDamping(float angularDamping);
 
 	/// Get the gravity scale of the body.
-	float32 GetGravityScale() const;
+	float GetGravityScale() const;
 
 	/// Set the gravity scale of the body.
-	void SetGravityScale(float32 scale);
+	void SetGravityScale(float scale);
 
 	/// Set the type of this body. This may alter the mass and velocity.
 	void SetType(b2BodyType type);
@@ -327,23 +333,22 @@ public:
 	/// @return true if the body is awake.
 	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.
+	/// Allow a body to be disabled. A disabled 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
+	/// to create/destroy fixtures and joints on disabled bodies.
+	/// Fixtures on a disabled body are implicitly disabled 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
+	/// Joints connected to a disabled body are implicitly disabled.
+	/// An diabled body is still owned by a b2World object and remains
 	/// in the body list.
-	void SetActive(bool flag);
+	void SetEnabled(bool flag);
 
 	/// Get the active state of the body.
-	bool IsActive() const;
+	bool IsEnabled() const;
 
 	/// Set this body to have fixed rotation. This causes the mass
 	/// to be reset.
@@ -371,7 +376,7 @@ public:
 	const b2Body* GetNext() const;
 
 	/// Get the user data pointer that was provided in the body definition.
-	void* GetUserData() const;
+	b2BodyUserData& GetUserData();
 
 	/// Set the user data. Use this to store your application specific data.
 	void SetUserData(void* data);
@@ -380,7 +385,7 @@ public:
 	b2World* GetWorld();
 	const b2World* GetWorld() const;
 
-	/// Dump this body to a log file
+	/// Dump this body to a file
 	void Dump();
 
 private:
@@ -390,7 +395,7 @@ private:
 	friend class b2ContactManager;
 	friend class b2ContactSolver;
 	friend class b2Contact;
-	
+
 	friend class b2DistanceJoint;
 	friend class b2FrictionJoint;
 	friend class b2GearJoint;
@@ -411,7 +416,7 @@ private:
 		e_autoSleepFlag		= 0x0004,
 		e_bulletFlag		= 0x0008,
 		e_fixedRotationFlag	= 0x0010,
-		e_activeFlag		= 0x0020,
+		e_enabledFlag		= 0x0020,
 		e_toiFlag			= 0x0040
 	};
 
@@ -425,7 +430,7 @@ private:
 	// It may lie, depending on the collideConnected flag.
 	bool ShouldCollide(const b2Body* other) const;
 
-	void Advance(float32 t);
+	void Advance(float t);
 
 	b2BodyType m_type;
 
@@ -437,10 +442,10 @@ private:
 	b2Sweep m_sweep;		// the swept motion for CCD
 
 	b2Vec2 m_linearVelocity;
-	float32 m_angularVelocity;
+	float m_angularVelocity;
 
 	b2Vec2 m_force;
-	float32 m_torque;
+	float m_torque;
 
 	b2World* m_world;
 	b2Body* m_prev;
@@ -452,18 +457,18 @@ private:
 	b2JointEdge* m_jointList;
 	b2ContactEdge* m_contactList;
 
-	float32 m_mass, m_invMass;
+	float m_mass, m_invMass;
 
 	// Rotational inertia about the center of mass.
-	float32 m_I, m_invI;
+	float m_I, m_invI;
 
-	float32 m_linearDamping;
-	float32 m_angularDamping;
-	float32 m_gravityScale;
+	float m_linearDamping;
+	float m_angularDamping;
+	float m_gravityScale;
 
-	float32 m_sleepTime;
+	float m_sleepTime;
 
-	void* m_userData;
+	b2BodyUserData m_userData;
 };
 
 inline b2BodyType b2Body::GetType() const
@@ -481,7 +486,7 @@ inline const b2Vec2& b2Body::GetPosition() const
 	return m_xf.p;
 }
 
-inline float32 b2Body::GetAngle() const
+inline float b2Body::GetAngle() const
 {
 	return m_sweep.a;
 }
@@ -516,7 +521,7 @@ inline const b2Vec2& b2Body::GetLinearVelocity() const
 	return m_linearVelocity;
 }
 
-inline void b2Body::SetAngularVelocity(float32 w)
+inline void b2Body::SetAngularVelocity(float w)
 {
 	if (m_type == b2_staticBody)
 	{
@@ -531,17 +536,17 @@ inline void b2Body::SetAngularVelocity(float32 w)
 	m_angularVelocity = w;
 }
 
-inline float32 b2Body::GetAngularVelocity() const
+inline float b2Body::GetAngularVelocity() const
 {
 	return m_angularVelocity;
 }
 
-inline float32 b2Body::GetMass() const
+inline float b2Body::GetMass() const
 {
 	return m_mass;
 }
 
-inline float32 b2Body::GetInertia() const
+inline float b2Body::GetInertia() const
 {
 	return m_I + m_mass * b2Dot(m_sweep.localCenter, m_sweep.localCenter);
 }
@@ -583,32 +588,32 @@ inline b2Vec2 b2Body::GetLinearVelocityFromLocalPoint(const b2Vec2& localPoint)
 	return GetLinearVelocityFromWorldPoint(GetWorldPoint(localPoint));
 }
 
-inline float32 b2Body::GetLinearDamping() const
+inline float b2Body::GetLinearDamping() const
 {
 	return m_linearDamping;
 }
 
-inline void b2Body::SetLinearDamping(float32 linearDamping)
+inline void b2Body::SetLinearDamping(float linearDamping)
 {
 	m_linearDamping = linearDamping;
 }
 
-inline float32 b2Body::GetAngularDamping() const
+inline float b2Body::GetAngularDamping() const
 {
 	return m_angularDamping;
 }
 
-inline void b2Body::SetAngularDamping(float32 angularDamping)
+inline void b2Body::SetAngularDamping(float angularDamping)
 {
 	m_angularDamping = angularDamping;
 }
 
-inline float32 b2Body::GetGravityScale() const
+inline float b2Body::GetGravityScale() const
 {
 	return m_gravityScale;
 }
 
-inline void b2Body::SetGravityScale(float32 scale)
+inline void b2Body::SetGravityScale(float scale)
 {
 	m_gravityScale = scale;
 }
@@ -632,13 +637,15 @@ inline bool b2Body::IsBullet() const
 
 inline void b2Body::SetAwake(bool flag)
 {
+	if (m_type == b2_staticBody)
+	{
+		return;
+	}
+
 	if (flag)
 	{
-		if ((m_flags & e_awakeFlag) == 0)
-		{
-			m_flags |= e_awakeFlag;
-			m_sleepTime = 0.0f;
-		}
+		m_flags |= e_awakeFlag;
+		m_sleepTime = 0.0f;
 	}
 	else
 	{
@@ -656,9 +663,9 @@ inline bool b2Body::IsAwake() const
 	return (m_flags & e_awakeFlag) == e_awakeFlag;
 }
 
-inline bool b2Body::IsActive() const
+inline bool b2Body::IsEnabled() const
 {
-	return (m_flags & e_activeFlag) == e_activeFlag;
+	return (m_flags & e_enabledFlag) == e_enabledFlag;
 }
 
 inline bool b2Body::IsFixedRotation() const
@@ -724,12 +731,7 @@ inline const b2Body* b2Body::GetNext() const
 	return m_next;
 }
 
-inline void b2Body::SetUserData(void* data)
-{
-	m_userData = data;
-}
-
-inline void* b2Body::GetUserData() const
+inline b2BodyUserData& b2Body::GetUserData()
 {
 	return m_userData;
 }
@@ -773,7 +775,7 @@ inline void b2Body::ApplyForceToCenter(const b2Vec2& force, bool wake)
 	}
 }
 
-inline void b2Body::ApplyTorque(float32 torque, bool wake)
+inline void b2Body::ApplyTorque(float torque, bool wake)
 {
 	if (m_type != b2_dynamicBody)
 	{
@@ -812,7 +814,26 @@ inline void b2Body::ApplyLinearImpulse(const b2Vec2& impulse, const b2Vec2& poin
 	}
 }
 
-inline void b2Body::ApplyAngularImpulse(float32 impulse, bool wake)
+inline void b2Body::ApplyLinearImpulseToCenter(const b2Vec2& impulse, bool wake)
+{
+	if (m_type != b2_dynamicBody)
+	{
+		return;
+	}
+
+	if (wake && (m_flags & e_awakeFlag) == 0)
+	{
+		SetAwake(true);
+	}
+
+	// Don't accumulate velocity if the body is sleeping
+	if (m_flags & e_awakeFlag)
+	{
+		m_linearVelocity += m_invMass * impulse;
+	}
+}
+
+inline void b2Body::ApplyAngularImpulse(float impulse, bool wake)
 {
 	if (m_type != b2_dynamicBody)
 	{
@@ -837,7 +858,7 @@ inline void b2Body::SynchronizeTransform()
 	m_xf.p = m_sweep.c - b2Mul(m_xf.q, m_sweep.localCenter);
 }
 
-inline void b2Body::Advance(float32 alpha)
+inline void b2Body::Advance(float alpha)
 {
 	// Advance to the new safe time. This doesn't sync the broad-phase.
 	m_sweep.Advance(alpha);

src/libraries/box2d/b2_broad_phase.h

@@ -1,30 +1,34 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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.
-*/
+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// 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.
 
 #ifndef B2_BROAD_PHASE_H
 #define B2_BROAD_PHASE_H
 
-#include <Box2D/Common/b2Settings.h>
-#include <Box2D/Collision/b2Collision.h>
-#include <Box2D/Collision/b2DynamicTree.h>
-#include <algorithm>
+#include "b2_api.h"
+#include "b2_settings.h"
+#include "b2_collision.h"
+#include "b2_dynamic_tree.h"
 
-struct b2Pair
+struct B2_API b2Pair
 {
 	int32 proxyIdA;
 	int32 proxyIdB;
@@ -33,7 +37,7 @@ struct b2Pair
 /// 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
+class B2_API b2BroadPhase
 {
 public:
 
@@ -62,7 +66,7 @@ public:
 	/// 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.
+	/// Get user data from a proxy. Returns nullptr if the id is invalid.
 	void* GetUserData(int32 proxyId) const;
 
 	/// Test overlap of fat AABBs.
@@ -97,7 +101,7 @@ public:
 	int32 GetTreeBalance() const;
 
 	/// Get the quality metric of the embedded tree.
-	float32 GetTreeQuality() const;
+	float GetTreeQuality() const;
 
 	/// Shift the world origin. Useful for large worlds.
 	/// The shift formula is: position -= newOrigin
@@ -128,22 +132,6 @@ private:
 	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);
@@ -176,7 +164,7 @@ inline int32 b2BroadPhase::GetTreeBalance() const
 	return m_tree.GetMaxBalance();
 }
 
-inline float32 b2BroadPhase::GetTreeQuality() const
+inline float b2BroadPhase::GetTreeQuality() const
 {
 	return m_tree.GetAreaRatio();
 }
@@ -204,37 +192,30 @@ void b2BroadPhase::UpdatePairs(T* callback)
 		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)
+	// Send pairs to caller
+	for (int32 i = 0; i < m_pairCount; ++i)
 	{
 		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);
+	// Clear move flags
+	for (int32 i = 0; i < m_moveCount; ++i)
+	{
+		int32 proxyId = m_moveBuffer[i];
+		if (proxyId == e_nullProxy)
+		{
+			continue;
+		}
+
+		m_tree.ClearMoved(proxyId);
+	}
+
+	// Reset move buffer
+	m_moveCount = 0;
 }
 
 template <typename T>

src/libraries/box2d/b2_chain_shape.h

@@ -0,0 +1,101 @@
+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// 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.
+
+#ifndef B2_CHAIN_SHAPE_H
+#define B2_CHAIN_SHAPE_H
+
+#include "b2_api.h"
+#include "b2_shape.h"
+
+class b2EdgeShape;
+
+/// A chain shape is a free form sequence of line segments.
+/// The chain has one-sided collision, with the surface normal pointing to the right of the edge.
+/// This provides a counter-clockwise winding like the polygon shape.
+/// Connectivity information is used to create smooth collisions.
+/// @warning the chain will not collide properly if there are self-intersections.
+class B2_API b2ChainShape : public b2Shape
+{
+public:
+	b2ChainShape();
+
+	/// The destructor frees the vertices using b2Free.
+	~b2ChainShape();
+
+	/// Clear all data.
+	void Clear();
+
+	/// Create a loop. This automatically adjusts connectivity.
+	/// @param vertices an array of vertices, these are copied
+	/// @param count the vertex count
+	void CreateLoop(const b2Vec2* vertices, int32 count);
+
+	/// Create a chain with ghost vertices to connect multiple chains together.
+	/// @param vertices an array of vertices, these are copied
+	/// @param count the vertex count
+	/// @param prevVertex previous vertex from chain that connects to the start
+	/// @param nextVertex next vertex from chain that connects to the end
+	void CreateChain(const b2Vec2* vertices, int32 count,
+		const b2Vec2& prevVertex, const b2Vec2& nextVertex);
+
+	/// Implement b2Shape. Vertices are cloned using b2Alloc.
+	b2Shape* Clone(b2BlockAllocator* allocator) const override;
+
+	/// @see b2Shape::GetChildCount
+	int32 GetChildCount() const override;
+
+	/// Get a child edge.
+	void GetChildEdge(b2EdgeShape* edge, int32 index) const;
+
+	/// This always return false.
+	/// @see b2Shape::TestPoint
+	bool TestPoint(const b2Transform& transform, const b2Vec2& p) const override;
+
+	/// Implement b2Shape.
+	bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
+					const b2Transform& transform, int32 childIndex) const override;
+
+	/// @see b2Shape::ComputeAABB
+	void ComputeAABB(b2AABB* aabb, const b2Transform& transform, int32 childIndex) const override;
+
+	/// Chains have zero mass.
+	/// @see b2Shape::ComputeMass
+	void ComputeMass(b2MassData* massData, float density) const override;
+
+	/// The vertices. Owned by this class.
+	b2Vec2* m_vertices;
+
+	/// The vertex count.
+	int32 m_count;
+
+	b2Vec2 m_prevVertex, m_nextVertex;
+};
+
+inline b2ChainShape::b2ChainShape()
+{
+	m_type = e_chain;
+	m_radius = b2_polygonRadius;
+	m_vertices = nullptr;
+	m_count = 0;
+}
+
+#endif

src/libraries/box2d/b2_circle_shape.h

@@ -0,0 +1,67 @@
+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// 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.
+
+#ifndef B2_CIRCLE_SHAPE_H
+#define B2_CIRCLE_SHAPE_H
+
+#include "b2_api.h"
+#include "b2_shape.h"
+
+/// A solid circle shape
+class B2_API b2CircleShape : public b2Shape
+{
+public:
+	b2CircleShape();
+
+	/// Implement b2Shape.
+	b2Shape* Clone(b2BlockAllocator* allocator) const override;
+
+	/// @see b2Shape::GetChildCount
+	int32 GetChildCount() const override;
+
+	/// Implement b2Shape.
+	bool TestPoint(const b2Transform& transform, const b2Vec2& p) const override;
+
+	/// Implement b2Shape.
+	/// @note because the circle is solid, rays that start inside do not hit because the normal is
+	/// not defined.
+	bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
+				const b2Transform& transform, int32 childIndex) const override;
+
+	/// @see b2Shape::ComputeAABB
+	void ComputeAABB(b2AABB* aabb, const b2Transform& transform, int32 childIndex) const override;
+
+	/// @see b2Shape::ComputeMass
+	void ComputeMass(b2MassData* massData, float density) const override;
+
+	/// Position
+	b2Vec2 m_p;
+};
+
+inline b2CircleShape::b2CircleShape()
+{
+	m_type = e_circle;
+	m_radius = 0.0f;
+	m_p.SetZero();
+}
+
+#endif

src/libraries/box2d/b2_collision.h

@@ -1,27 +1,33 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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.
-*/
+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// 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.
 
 #ifndef B2_COLLISION_H
 #define B2_COLLISION_H
 
-#include <Box2D/Common/b2Math.h>
 #include <limits.h>
 
+#include "b2_api.h"
+#include "b2_math.h"
+
 /// @file
 /// Structures and functions used for computing contact points, distance
 /// queries, and TOI queries.
@@ -35,7 +41,7 @@ const uint8 b2_nullFeature = UCHAR_MAX;
 
 /// The features that intersect to form the contact point
 /// This must be 4 bytes or less.
-struct b2ContactFeature
+struct B2_API b2ContactFeature
 {
 	enum Type
 	{
@@ -50,7 +56,7 @@ struct b2ContactFeature
 };
 
 /// Contact ids to facilitate warm starting.
-union b2ContactID
+union B2_API b2ContactID
 {
 	b2ContactFeature cf;
 	uint32 key;					///< Used to quickly compare contact ids.
@@ -66,11 +72,11 @@ union b2ContactID
 /// 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
+struct B2_API b2ManifoldPoint
 {
 	b2Vec2 localPoint;		///< usage depends on manifold type
-	float32 normalImpulse;	///< the non-penetration impulse
-	float32 tangentImpulse;	///< the friction impulse
+	float normalImpulse;	///< the non-penetration impulse
+	float tangentImpulse;	///< the friction impulse
 	b2ContactID id;			///< uniquely identifies a contact point between two shapes
 };
 
@@ -90,7 +96,7 @@ struct b2ManifoldPoint
 /// 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
+struct B2_API b2Manifold
 {
 	enum Type
 	{
@@ -107,19 +113,19 @@ struct b2Manifold
 };
 
 /// This is used to compute the current state of a contact manifold.
-struct b2WorldManifold
+struct B2_API 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);
+					const b2Transform& xfA, float radiusA,
+					const b2Transform& xfB, float radiusB);
 
 	b2Vec2 normal;								///< world vector pointing from A to B
 	b2Vec2 points[b2_maxManifoldPoints];		///< world contact point (point of intersection)
-	float32 separations[b2_maxManifoldPoints];	///< a negative value indicates overlap, in meters
+	float separations[b2_maxManifoldPoints];	///< a negative value indicates overlap, in meters
 };
 
 /// This is used for determining the state of contact points.
@@ -133,33 +139,33 @@ enum b2PointState
 
 /// 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],
+B2_API void b2GetPointStates(b2PointState state1[b2_maxManifoldPoints], b2PointState state2[b2_maxManifoldPoints],
 					  const b2Manifold* manifold1, const b2Manifold* manifold2);
 
 /// Used for computing contact manifolds.
-struct b2ClipVertex
+struct B2_API b2ClipVertex
 {
 	b2Vec2 v;
 	b2ContactID id;
 };
 
 /// Ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1).
-struct b2RayCastInput
+struct B2_API b2RayCastInput
 {
 	b2Vec2 p1, p2;
-	float32 maxFraction;
+	float maxFraction;
 };
 
 /// Ray-cast output data. The ray hits at p1 + fraction * (p2 - p1), where p1 and p2
 /// come from b2RayCastInput.
-struct b2RayCastOutput
+struct B2_API b2RayCastOutput
 {
 	b2Vec2 normal;
-	float32 fraction;
+	float fraction;
 };
 
 /// An axis aligned bounding box.
-struct b2AABB
+struct B2_API b2AABB
 {
 	/// Verify that the bounds are sorted.
 	bool IsValid() const;
@@ -177,10 +183,10 @@ struct b2AABB
 	}
 
 	/// Get the perimeter length
-	float32 GetPerimeter() const
+	float GetPerimeter() const
 	{
-		float32 wx = upperBound.x - lowerBound.x;
-		float32 wy = upperBound.y - lowerBound.y;
+		float wx = upperBound.x - lowerBound.x;
+		float wy = upperBound.y - lowerBound.y;
 		return 2.0f * (wx + wy);
 	}
 
@@ -216,36 +222,36 @@ struct b2AABB
 };
 
 /// Compute the collision manifold between two circles.
-void b2CollideCircles(b2Manifold* manifold,
+B2_API void b2CollideCircles(b2Manifold* manifold,
 					  const b2CircleShape* circleA, const b2Transform& xfA,
 					  const b2CircleShape* circleB, const b2Transform& xfB);
 
 /// Compute the collision manifold between a polygon and a circle.
-void b2CollidePolygonAndCircle(b2Manifold* manifold,
+B2_API void b2CollidePolygonAndCircle(b2Manifold* manifold,
 							   const b2PolygonShape* polygonA, const b2Transform& xfA,
 							   const b2CircleShape* circleB, const b2Transform& xfB);
 
 /// Compute the collision manifold between two polygons.
-void b2CollidePolygons(b2Manifold* manifold,
+B2_API void b2CollidePolygons(b2Manifold* manifold,
 					   const b2PolygonShape* polygonA, const b2Transform& xfA,
 					   const b2PolygonShape* polygonB, const b2Transform& xfB);
 
 /// Compute the collision manifold between an edge and a circle.
-void b2CollideEdgeAndCircle(b2Manifold* manifold,
+B2_API void b2CollideEdgeAndCircle(b2Manifold* manifold,
 							   const b2EdgeShape* polygonA, const b2Transform& xfA,
 							   const b2CircleShape* circleB, const b2Transform& xfB);
 
-/// Compute the collision manifold between an edge and a circle.
-void b2CollideEdgeAndPolygon(b2Manifold* manifold,
+/// Compute the collision manifold between an edge and a polygon.
+B2_API void b2CollideEdgeAndPolygon(b2Manifold* manifold,
 							   const b2EdgeShape* edgeA, const b2Transform& xfA,
 							   const b2PolygonShape* circleB, const b2Transform& xfB);
 
 /// Clipping for contact manifolds.
-int32 b2ClipSegmentToLine(b2ClipVertex vOut[2], const b2ClipVertex vIn[2],
-							const b2Vec2& normal, float32 offset, int32 vertexIndexA);
+B2_API int32 b2ClipSegmentToLine(b2ClipVertex vOut[2], const b2ClipVertex vIn[2],
+							const b2Vec2& normal, float offset, int32 vertexIndexA);
 
 /// Determine if two generic shapes overlap.
-bool b2TestOverlap(	const b2Shape* shapeA, int32 indexA,
+B2_API bool b2TestOverlap(	const b2Shape* shapeA, int32 indexA,
 					const b2Shape* shapeB, int32 indexB,
 					const b2Transform& xfA, const b2Transform& xfB);
 

src/libraries/box2d/b2_common.h

@@ -1,43 +1,42 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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.
-*/
+// MIT License
 
-#ifndef B2_SETTINGS_H
-#define B2_SETTINGS_H
+// Copyright (c) 2019 Erin Catto
+
+// 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.
+
+#ifndef B2_COMMON_H
+#define B2_COMMON_H
+
+#include "b2_settings.h"
 
 #include <stddef.h>
 #include <assert.h>
 #include <float.h>
 
-void loveAssert(bool test, const char *teststr);
+#if !defined(NDEBUG)
+	#define b2DEBUG
+#endif
 
 #define B2_NOT_USED(x) ((void)(x))
-//#define b2Assert(A) assert(A)
+void loveAssert(bool test, const char* teststr);
 #define b2Assert(A) loveAssert((A), #A)
 
-typedef signed char	int8;
-typedef signed short int16;
-typedef signed int int32;
-typedef unsigned char uint8;
-typedef unsigned short uint16;
-typedef unsigned int uint32;
-typedef float float32;
-typedef double float64;
-
 #define	b2_maxFloat		FLT_MAX
 #define	b2_epsilon		FLT_EPSILON
 #define b2_pi			3.14159265359f
@@ -52,23 +51,19 @@ typedef double float64;
 /// not change this value.
 #define b2_maxManifoldPoints	2
 
-/// The maximum number of vertices on a convex polygon. You cannot increase
-/// this too much because b2BlockAllocator has a maximum object size.
-#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
+#define b2_aabbExtension		(0.1f * b2_lengthUnitsPerMeter)
 
 /// 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
+#define b2_aabbMultiplier		4.0f
 
 /// A small length used as a collision and constraint tolerance. Usually it is
-/// chosen to be numerically significant, but visually insignificant.
-#define b2_linearSlop			0.005f
+/// chosen to be numerically significant, but visually insignificant. In meters.
+#define b2_linearSlop			(0.005f * b2_lengthUnitsPerMeter)
 
 /// A small angle used as a collision and constraint tolerance. Usually it is
 /// chosen to be numerically significant, but visually insignificant.
@@ -88,21 +83,17 @@ typedef double float64;
 /// 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.
-#define b2_velocityThreshold		1.0f
-
 /// The maximum linear position correction used when solving constraints. This helps to
-/// prevent overshoot.
-#define b2_maxLinearCorrection		0.2f
+/// prevent overshoot. Meters.
+#define b2_maxLinearCorrection		(0.2f * b2_lengthUnitsPerMeter)
 
 /// The maximum angular position correction used when solving constraints. This helps to
 /// prevent overshoot.
 #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.
-#define b2_maxTranslation			2.0f
+/// The maximum linear translation of a body per step. This limit is very large and is used
+/// to prevent numerical problems. You shouldn't need to adjust this. Meters.
+#define b2_maxTranslation			(2.0f * b2_lengthUnitsPerMeter)
 #define b2_maxTranslationSquared	(b2_maxTranslation * b2_maxTranslation)
 
 /// The maximum angular velocity of a body. This limit is very large and is used
@@ -114,7 +105,7 @@ typedef double float64;
 /// that overlap is removed in one time step. However using values close to 1 often lead
 /// to overshoot.
 #define b2_baumgarte				0.2f
-#define b2_toiBaugarte				0.75f
+#define b2_toiBaumgarte				0.75f
 
 
 // Sleep
@@ -123,21 +114,15 @@ typedef double float64;
 #define b2_timeToSleep				0.5f
 
 /// A body cannot sleep if its linear velocity is above this tolerance.
-#define b2_linearSleepTolerance		0.01f
+#define b2_linearSleepTolerance		(0.01f * b2_lengthUnitsPerMeter)
 
 /// A body cannot sleep if its angular velocity is above this tolerance.
 #define b2_angularSleepTolerance	(2.0f / 180.0f * b2_pi)
 
-// Memory Allocation
-
-/// Implement this function to use your own memory allocator.
-void* b2Alloc(int32 size);
-
-/// If you implement b2Alloc, you should also implement this function.
-void b2Free(void* mem);
-
-/// Logging function.
-void b2Log(const char* string, ...);
+/// Dump to a file. Only one dump file allowed at a time.
+void b2OpenDump(const char* fileName);
+void b2Dump(const char* string, ...);
+void b2CloseDump();
 
 /// Version numbering scheme.
 /// See http://en.wikipedia.org/wiki/Software_versioning
@@ -149,6 +134,6 @@ struct b2Version
 };
 
 /// Current version.
-extern b2Version b2_version;
+extern B2_API b2Version b2_version;
 
 #endif

src/libraries/box2d/b2_contact.h

@@ -1,28 +1,33 @@
-/*
-* Copyright (c) 2006-2009 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
-* 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.
-*/
+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// 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.
 
 #ifndef B2_CONTACT_H
 #define B2_CONTACT_H
 
-#include <Box2D/Common/b2Math.h>
-#include <Box2D/Collision/b2Collision.h>
-#include <Box2D/Collision/Shapes/b2Shape.h>
-#include <Box2D/Dynamics/b2Fixture.h>
+#include "b2_api.h"
+#include "b2_collision.h"
+#include "b2_fixture.h"
+#include "b2_math.h"
+#include "b2_shape.h"
 
 class b2Body;
 class b2Contact;
@@ -32,26 +37,32 @@ class b2BlockAllocator;
 class b2StackAllocator;
 class b2ContactListener;
 
-/// Friction mixing law. The idea is to allow either fixture to drive the restitution to zero.
+/// Friction mixing law. The idea is to allow either fixture to drive the friction to zero.
 /// For example, anything slides on ice.
-inline float32 b2MixFriction(float32 friction1, float32 friction2)
+inline float b2MixFriction(float friction1, float friction2)
 {
 	return b2Sqrt(friction1 * friction2);
 }
 
 /// Restitution mixing law. The idea is allow for anything to bounce off an inelastic surface.
 /// For example, a superball bounces on anything.
-inline float32 b2MixRestitution(float32 restitution1, float32 restitution2)
+inline float b2MixRestitution(float restitution1, float restitution2)
 {
 	return restitution1 > restitution2 ? restitution1 : restitution2;
 }
 
+/// Restitution mixing law. This picks the lowest value.
+inline float b2MixRestitutionThreshold(float threshold1, float threshold2)
+{
+	return threshold1 < threshold2 ? threshold1 : threshold2;
+}
+
 typedef b2Contact* b2ContactCreateFcn(	b2Fixture* fixtureA, int32 indexA,
 										b2Fixture* fixtureB, int32 indexB,
 										b2BlockAllocator* allocator);
 typedef void b2ContactDestroyFcn(b2Contact* contact, b2BlockAllocator* allocator);
 
-struct b2ContactRegister
+struct B2_API b2ContactRegister
 {
 	b2ContactCreateFcn* createFcn;
 	b2ContactDestroyFcn* destroyFcn;
@@ -63,7 +74,7 @@ struct b2ContactRegister
 /// 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
+struct B2_API b2ContactEdge
 {
 	b2Body* other;			///< provides quick access to the other body attached.
 	b2Contact* contact;		///< the contact
@@ -74,7 +85,7 @@ struct b2ContactEdge
 /// 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
+class B2_API b2Contact
 {
 public:
 
@@ -117,29 +128,39 @@ public:
 
 	/// Override the default friction mixture. You can call this in b2ContactListener::PreSolve.
 	/// This value persists until set or reset.
-	void SetFriction(float32 friction);
+	void SetFriction(float friction);
 
 	/// Get the friction.
-	float32 GetFriction() const;
+	float GetFriction() const;
 
 	/// Reset the friction mixture to the default value.
 	void ResetFriction();
 
 	/// Override the default restitution mixture. You can call this in b2ContactListener::PreSolve.
 	/// The value persists until you set or reset.
-	void SetRestitution(float32 restitution);
+	void SetRestitution(float restitution);
 
 	/// Get the restitution.
-	float32 GetRestitution() const;
+	float GetRestitution() const;
 
 	/// Reset the restitution to the default value.
 	void ResetRestitution();
 
+	/// Override the default restitution velocity threshold mixture. You can call this in b2ContactListener::PreSolve.
+	/// The value persists until you set or reset.
+	void SetRestitutionThreshold(float threshold);
+
+	/// Get the restitution threshold.
+	float GetRestitutionThreshold() const;
+
+	/// Reset the restitution threshold to the default value.
+	void ResetRestitutionThreshold();
+
 	/// Set the desired tangent speed for a conveyor belt behavior. In meters per second.
-	void SetTangentSpeed(float32 speed);
+	void SetTangentSpeed(float speed);
 
 	/// Get the desired tangent speed. In meters per second.
-	float32 GetTangentSpeed() const;
+	float GetTangentSpeed() const;
 
 	/// Evaluate this contact with your own manifold and transforms.
 	virtual void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB) = 0;
@@ -157,7 +178,7 @@ protected:
 		// Used when crawling contact graph when forming islands.
 		e_islandFlag		= 0x0001,
 
-        // Set when the shapes are touching.
+		// Set when the shapes are touching.
 		e_touchingFlag		= 0x0002,
 
 		// This contact can be disabled (by user)
@@ -183,7 +204,7 @@ protected:
 	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() : m_fixtureA(nullptr), m_fixtureB(nullptr) {}
 	b2Contact(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB);
 	virtual ~b2Contact() {}
 
@@ -211,12 +232,13 @@ protected:
 	b2Manifold m_manifold;
 
 	int32 m_toiCount;
-	float32 m_toi;
+	float m_toi;
 
-	float32 m_friction;
-	float32 m_restitution;
+	float m_friction;
+	float m_restitution;
+	float m_restitutionThreshold;
 
-	float32 m_tangentSpeed;
+	float m_tangentSpeed;
 };
 
 inline b2Manifold* b2Contact::GetManifold()
@@ -306,12 +328,12 @@ inline void b2Contact::FlagForFiltering()
 	m_flags |= e_filterFlag;
 }
 
-inline void b2Contact::SetFriction(float32 friction)
+inline void b2Contact::SetFriction(float friction)
 {
 	m_friction = friction;
 }
 
-inline float32 b2Contact::GetFriction() const
+inline float b2Contact::GetFriction() const
 {
 	return m_friction;
 }
@@ -321,12 +343,12 @@ inline void b2Contact::ResetFriction()
 	m_friction = b2MixFriction(m_fixtureA->m_friction, m_fixtureB->m_friction);
 }
 
-inline void b2Contact::SetRestitution(float32 restitution)
+inline void b2Contact::SetRestitution(float restitution)
 {
 	m_restitution = restitution;
 }
 
-inline float32 b2Contact::GetRestitution() const
+inline float b2Contact::GetRestitution() const
 {
 	return m_restitution;
 }
@@ -336,12 +358,27 @@ inline void b2Contact::ResetRestitution()
 	m_restitution = b2MixRestitution(m_fixtureA->m_restitution, m_fixtureB->m_restitution);
 }
 
-inline void b2Contact::SetTangentSpeed(float32 speed)
+inline void b2Contact::SetRestitutionThreshold(float threshold)
+{
+	m_restitutionThreshold = threshold;
+}
+
+inline float b2Contact::GetRestitutionThreshold() const
+{
+	return m_restitutionThreshold;
+}
+
+inline void b2Contact::ResetRestitutionThreshold()
+{
+	m_restitutionThreshold = b2MixRestitutionThreshold(m_fixtureA->m_restitutionThreshold, m_fixtureB->m_restitutionThreshold);
+}
+
+inline void b2Contact::SetTangentSpeed(float speed)
 {
 	m_tangentSpeed = speed;
 }
 
-inline float32 b2Contact::GetTangentSpeed() const
+inline float b2Contact::GetTangentSpeed() const
 {
 	return m_tangentSpeed;
 }

src/libraries/box2d/b2_contact_manager.h

@@ -0,0 +1,57 @@
+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// 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.
+
+#ifndef B2_CONTACT_MANAGER_H
+#define B2_CONTACT_MANAGER_H
+
+#include "b2_api.h"
+#include "b2_broad_phase.h"
+
+class b2Contact;
+class b2ContactFilter;
+class b2ContactListener;
+class b2BlockAllocator;
+
+// Delegate of b2World.
+class B2_API b2ContactManager
+{
+public:
+	b2ContactManager();
+
+	// Broad-phase callback.
+	void AddPair(void* proxyUserDataA, void* proxyUserDataB);
+
+	void FindNewContacts();
+
+	void Destroy(b2Contact* c);
+
+	void Collide();
+
+	b2BroadPhase m_broadPhase;
+	b2Contact* m_contactList;
+	int32 m_contactCount;
+	b2ContactFilter* m_contactFilter;
+	b2ContactListener* m_contactListener;
+	b2BlockAllocator* m_allocator;
+};
+
+#endif

src/libraries/box2d/b2_distance.h

@@ -0,0 +1,171 @@
+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// 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.
+
+#ifndef B2_DISTANCE_H
+#define B2_DISTANCE_H
+
+#include "b2_api.h"
+#include "b2_math.h"
+
+class b2Shape;
+
+/// A distance proxy is used by the GJK algorithm.
+/// It encapsulates any shape.
+struct B2_API b2DistanceProxy
+{
+	b2DistanceProxy() : m_vertices(nullptr), 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, int32 index);
+
+    /// Initialize the proxy using a vertex cloud and radius. The vertices
+    /// must remain in scope while the proxy is in use.
+    void Set(const b2Vec2* vertices, int32 count, float radius);
+
+	/// 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;
+
+	b2Vec2 m_buffer[2];
+	const b2Vec2* m_vertices;
+	int32 m_count;
+	float m_radius;
+};
+
+/// Used to warm start b2Distance.
+/// Set count to zero on first call.
+struct B2_API b2SimplexCache
+{
+	float 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 B2_API b2DistanceInput
+{
+	b2DistanceProxy proxyA;
+	b2DistanceProxy proxyB;
+	b2Transform transformA;
+	b2Transform transformB;
+	bool useRadii;
+};
+
+/// Output for b2Distance.
+struct B2_API b2DistanceOutput
+{
+	b2Vec2 pointA;		///< closest point on shapeA
+	b2Vec2 pointB;		///< closest point on shapeB
+	float 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.
+B2_API void b2Distance(b2DistanceOutput* output,
+				b2SimplexCache* cache,
+				const b2DistanceInput* input);
+
+/// Input parameters for b2ShapeCast
+struct B2_API b2ShapeCastInput
+{
+	b2DistanceProxy proxyA;
+	b2DistanceProxy proxyB;
+	b2Transform transformA;
+	b2Transform transformB;
+	b2Vec2 translationB;
+};
+
+/// Output results for b2ShapeCast
+struct B2_API b2ShapeCastOutput
+{
+	b2Vec2 point;
+	b2Vec2 normal;
+	float lambda;
+	int32 iterations;
+};
+
+/// Perform a linear shape cast of shape B moving and shape A fixed. Determines the hit point, normal, and translation fraction.
+/// @returns true if hit, false if there is no hit or an initial overlap
+B2_API bool b2ShapeCast(b2ShapeCastOutput* output, const b2ShapeCastInput* 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;
+	float bestValue = b2Dot(m_vertices[0], d);
+	for (int32 i = 1; i < m_count; ++i)
+	{
+		float 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;
+	float bestValue = b2Dot(m_vertices[0], d);
+	for (int32 i = 1; i < m_count; ++i)
+	{
+		float value = b2Dot(m_vertices[i], d);
+		if (value > bestValue)
+		{
+			bestIndex = i;
+			bestValue = value;
+		}
+	}
+
+	return m_vertices[bestIndex];
+}
+
+#endif

src/libraries/box2d/b2_distance_joint.h

@@ -0,0 +1,176 @@
+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// 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.
+
+#ifndef B2_DISTANCE_JOINT_H
+#define B2_DISTANCE_JOINT_H
+
+#include "b2_api.h"
+#include "b2_joint.h"
+
+/// Distance joint definition. This requires defining an anchor point on both
+/// bodies and the non-zero distance of the distance joint. The definition uses
+/// local anchor points so that the initial configuration can violate the
+/// constraint slightly. This helps when saving and loading a game.
+struct B2_API b2DistanceJointDef : public b2JointDef
+{
+	b2DistanceJointDef()
+	{
+		type = e_distanceJoint;
+		localAnchorA.Set(0.0f, 0.0f);
+		localAnchorB.Set(0.0f, 0.0f);
+		length = 1.0f;
+		minLength = 0.0f;
+		maxLength = FLT_MAX;
+		stiffness = 0.0f;
+		damping = 0.0f;
+	}
+
+	/// Initialize the bodies, anchors, and rest length using world space anchors.
+	/// The minimum and maximum lengths are set to the rest length.
+	void Initialize(b2Body* bodyA, b2Body* bodyB,
+					const b2Vec2& anchorA, const b2Vec2& anchorB);
+
+	/// The local anchor point relative to bodyA's origin.
+	b2Vec2 localAnchorA;
+
+	/// The local anchor point relative to bodyB's origin.
+	b2Vec2 localAnchorB;
+
+	/// The rest length of this joint. Clamped to a stable minimum value.
+	float length;
+
+	/// Minimum length. Clamped to a stable minimum value.
+	float minLength;
+
+	/// Maximum length. Must be greater than or equal to the minimum length.
+	float maxLength;
+
+	/// The linear stiffness in N/m.
+	float stiffness;
+
+	/// The linear damping in N*s/m.
+	float damping;
+};
+
+/// A distance joint constrains two points on two bodies to remain at a fixed
+/// distance from each other. You can view this as a massless, rigid rod.
+class B2_API b2DistanceJoint : public b2Joint
+{
+public:
+
+	b2Vec2 GetAnchorA() const override;
+	b2Vec2 GetAnchorB() const override;
+
+	/// Get the reaction force given the inverse time step.
+	/// Unit is N.
+	b2Vec2 GetReactionForce(float inv_dt) const override;
+
+	/// Get the reaction torque given the inverse time step.
+	/// Unit is N*m. This is always zero for a distance joint.
+	float GetReactionTorque(float inv_dt) const override;
+
+	/// The local anchor point relative to bodyA's origin.
+	const b2Vec2& GetLocalAnchorA() const { return m_localAnchorA; }
+
+	/// The local anchor point relative to bodyB's origin.
+	const b2Vec2& GetLocalAnchorB() const  { return m_localAnchorB; }
+
+	/// Get the rest length
+	float GetLength() const { return m_length; }
+
+	/// Set the rest length
+	/// @returns clamped rest length
+	float SetLength(float length);
+
+	/// Get the minimum length
+	float GetMinLength() const { return m_minLength; }
+
+	/// Set the minimum length
+	/// @returns the clamped minimum length
+	float SetMinLength(float minLength);
+
+	/// Get the maximum length
+	float GetMaxLength() const { return m_maxLength; }
+
+	/// Set the maximum length
+	/// @returns the clamped maximum length
+	float SetMaxLength(float maxLength);
+
+	/// Get the current length
+	float GetCurrentLength() const;
+
+	/// Set/get the linear stiffness in N/m
+	void SetStiffness(float stiffness) { m_stiffness = stiffness; }
+	float GetStiffness() const { return m_stiffness; }
+
+	/// Set/get linear damping in N*s/m
+	void SetDamping(float damping) { m_damping = damping; }
+	float GetDamping() const { return m_damping; }
+
+	/// Dump joint to dmLog
+	void Dump() override;
+
+	///
+	void Draw(b2Draw* draw) const override;
+
+protected:
+
+	friend class b2Joint;
+	b2DistanceJoint(const b2DistanceJointDef* data);
+
+	void InitVelocityConstraints(const b2SolverData& data) override;
+	void SolveVelocityConstraints(const b2SolverData& data) override;
+	bool SolvePositionConstraints(const b2SolverData& data) override;
+
+	float m_stiffness;
+	float m_damping;
+	float m_bias;
+	float m_length;
+	float m_minLength;
+	float m_maxLength;
+
+	// Solver shared
+	b2Vec2 m_localAnchorA;
+	b2Vec2 m_localAnchorB;
+	float m_gamma;
+	float m_impulse;
+	float m_lowerImpulse;
+	float m_upperImpulse;
+
+	// Solver temp
+	int32 m_indexA;
+	int32 m_indexB;
+	b2Vec2 m_u;
+	b2Vec2 m_rA;
+	b2Vec2 m_rB;
+	b2Vec2 m_localCenterA;
+	b2Vec2 m_localCenterB;
+	float m_currentLength;
+	float m_invMassA;
+	float m_invMassB;
+	float m_invIA;
+	float m_invIB;
+	float m_softMass;
+	float m_mass;
+};
+
+#endif

src/libraries/box2d/b2_draw.h

@@ -0,0 +1,102 @@
+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// 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.
+
+#ifndef B2_DRAW_H
+#define B2_DRAW_H
+
+#include "b2_api.h"
+#include "b2_math.h"
+
+/// Color for debug drawing. Each value has the range [0,1].
+struct B2_API b2Color
+{
+	b2Color() {}
+	b2Color(float rIn, float gIn, float bIn, float aIn = 1.0f)
+	{
+		r = rIn; g = gIn; b = bIn; a = aIn;
+	}
+
+	void Set(float rIn, float gIn, float bIn, float aIn = 1.0f)
+	{
+		r = rIn; g = gIn; b = bIn; a = aIn;
+	}
+
+	float r, g, b, a;
+};
+
+/// Implement and register this class with a b2World to provide debug drawing of physics
+/// entities in your game.
+class B2_API b2Draw
+{
+public:
+	b2Draw();
+
+	virtual ~b2Draw() {}
+
+	enum
+	{
+		e_shapeBit				= 0x0001,	///< draw shapes
+		e_jointBit				= 0x0002,	///< draw joint connections
+		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.
+	void SetFlags(uint32 flags);
+
+	/// Get the drawing flags.
+	uint32 GetFlags() const;
+
+	/// Append flags to the current flags.
+	void AppendFlags(uint32 flags);
+
+	/// Clear flags from the current flags.
+	void ClearFlags(uint32 flags);
+
+	/// Draw a closed polygon provided in CCW order.
+	virtual void DrawPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color) = 0;
+
+	/// Draw a solid closed polygon provided in CCW order.
+	virtual void DrawSolidPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color) = 0;
+
+	/// Draw a circle.
+	virtual void DrawCircle(const b2Vec2& center, float radius, const b2Color& color) = 0;
+
+	/// Draw a solid circle.
+	virtual void DrawSolidCircle(const b2Vec2& center, float radius, const b2Vec2& axis, const b2Color& color) = 0;
+
+	/// Draw a line segment.
+	virtual void DrawSegment(const b2Vec2& p1, const b2Vec2& p2, const b2Color& color) = 0;
+
+	/// Draw a transform. Choose your own length scale.
+	/// @param xf a transform.
+	virtual void DrawTransform(const b2Transform& xf) = 0;
+
+	/// Draw a point.
+	virtual void DrawPoint(const b2Vec2& p, float size, const b2Color& color) = 0;
+
+protected:
+	uint32 m_drawFlags;
+};
+
+#endif

src/libraries/box2d/b2_dynamic_tree.h

@@ -1,31 +1,36 @@
-/*
-* Copyright (c) 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
-* 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.
-*/
+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// 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.
 
 #ifndef B2_DYNAMIC_TREE_H
 #define B2_DYNAMIC_TREE_H
 
-#include <Box2D/Collision/b2Collision.h>
-#include <Box2D/Common/b2GrowableStack.h>
+#include "b2_api.h"
+#include "b2_collision.h"
+#include "b2_growable_stack.h"
 
 #define b2_nullNode (-1)
 
 /// A node in the dynamic tree. The client does not interact with this directly.
-struct b2TreeNode
+struct B2_API b2TreeNode
 {
 	bool IsLeaf() const
 	{
@@ -48,6 +53,8 @@ struct b2TreeNode
 
 	// leaf = 0, free node = -1
 	int32 height;
+
+	bool moved;
 };
 
 /// A dynamic AABB tree broad-phase, inspired by Nathanael Presson's btDbvt.
@@ -58,7 +65,7 @@ struct b2TreeNode
 /// 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
+class B2_API b2DynamicTree
 {
 public:
 	/// Constructing the tree initializes the node pool.
@@ -83,6 +90,9 @@ public:
 	/// @return the proxy user data or 0 if the id is invalid.
 	void* GetUserData(int32 proxyId) const;
 
+	bool WasMoved(int32 proxyId) const;
+	void ClearMoved(int32 proxyId);
+
 	/// Get the fat AABB for a proxy.
 	const b2AABB& GetFatAABB(int32 proxyId) const;
 
@@ -113,7 +123,7 @@ public:
 	int32 GetMaxBalance() const;
 
 	/// Get the ratio of the sum of the node areas to the root area.
-	float32 GetAreaRatio() const;
+	float GetAreaRatio() const;
 
 	/// Build an optimal tree. Very expensive. For testing.
 	void RebuildBottomUp();
@@ -147,9 +157,6 @@ private:
 
 	int32 m_freeList;
 
-	/// This is used to incrementally traverse the tree for re-balancing.
-	uint32 m_path;
-
 	int32 m_insertionCount;
 };
 
@@ -159,6 +166,18 @@ inline void* b2DynamicTree::GetUserData(int32 proxyId) const
 	return m_nodes[proxyId].userData;
 }
 
+inline bool b2DynamicTree::WasMoved(int32 proxyId) const
+{
+	b2Assert(0 <= proxyId && proxyId < m_nodeCapacity);
+	return m_nodes[proxyId].moved;
+}
+
+inline void b2DynamicTree::ClearMoved(int32 proxyId)
+{
+	b2Assert(0 <= proxyId && proxyId < m_nodeCapacity);
+	m_nodes[proxyId].moved = false;
+}
+
 inline const b2AABB& b2DynamicTree::GetFatAABB(int32 proxyId) const
 {
 	b2Assert(0 <= proxyId && proxyId < m_nodeCapacity);
@@ -216,7 +235,7 @@ inline void b2DynamicTree::RayCast(T* callback, const b2RayCastInput& input) con
 	// Separating axis for segment (Gino, p80).
 	// |dot(v, p1 - c)| > dot(|v|, h)
 
-	float32 maxFraction = input.maxFraction;
+	float maxFraction = input.maxFraction;
 
 	// Build a bounding box for the segment.
 	b2AABB segmentAABB;
@@ -248,7 +267,7 @@ inline void b2DynamicTree::RayCast(T* callback, const b2RayCastInput& input) con
 		// |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);
+		float separation = b2Abs(b2Dot(v, p1 - c)) - b2Dot(abs_v, h);
 		if (separation > 0.0f)
 		{
 			continue;
@@ -261,7 +280,7 @@ inline void b2DynamicTree::RayCast(T* callback, const b2RayCastInput& input) con
 			subInput.p2 = input.p2;
 			subInput.maxFraction = maxFraction;
 
-			float32 value = callback->RayCastCallback(subInput, nodeId);
+			float value = callback->RayCastCallback(subInput, nodeId);
 
 			if (value == 0.0f)
 			{

src/libraries/box2d/b2_edge_shape.h

@@ -0,0 +1,86 @@
+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// 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.
+
+#ifndef B2_EDGE_SHAPE_H
+#define B2_EDGE_SHAPE_H
+
+#include "b2_api.h"
+#include "b2_shape.h"
+
+/// A line segment (edge) shape. These can be connected in chains or loops
+/// to other edge shapes. Edges created independently are two-sided and do
+/// no provide smooth movement across junctions.
+class B2_API b2EdgeShape : public b2Shape
+{
+public:
+	b2EdgeShape();
+
+	/// Set this as a part of a sequence. Vertex v0 precedes the edge and vertex v3
+	/// follows. These extra vertices are used to provide smooth movement
+	/// across junctions. This also makes the collision one-sided. The edge
+	/// normal points to the right looking from v1 to v2.
+	void SetOneSided(const b2Vec2& v0, const b2Vec2& v1,const b2Vec2& v2, const b2Vec2& v3);
+
+	/// Set this as an isolated edge. Collision is two-sided.
+	void SetTwoSided(const b2Vec2& v1, const b2Vec2& v2);
+
+	/// Implement b2Shape.
+	b2Shape* Clone(b2BlockAllocator* allocator) const override;
+
+	/// @see b2Shape::GetChildCount
+	int32 GetChildCount() const override;
+
+	/// @see b2Shape::TestPoint
+	bool TestPoint(const b2Transform& transform, const b2Vec2& p) const override;
+
+	/// Implement b2Shape.
+	bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
+				const b2Transform& transform, int32 childIndex) const override;
+
+	/// @see b2Shape::ComputeAABB
+	void ComputeAABB(b2AABB* aabb, const b2Transform& transform, int32 childIndex) const override;
+
+	/// @see b2Shape::ComputeMass
+	void ComputeMass(b2MassData* massData, float density) const override;
+
+	/// These are the edge vertices
+	b2Vec2 m_vertex1, m_vertex2;
+
+	/// Optional adjacent vertices. These are used for smooth collision.
+	b2Vec2 m_vertex0, m_vertex3;
+
+	/// Uses m_vertex0 and m_vertex3 to create smooth collision.
+	bool m_oneSided;
+};
+
+inline b2EdgeShape::b2EdgeShape()
+{
+	m_type = e_edge;
+	m_radius = b2_polygonRadius;
+	m_vertex0.x = 0.0f;
+	m_vertex0.y = 0.0f;
+	m_vertex3.x = 0.0f;
+	m_vertex3.y = 0.0f;
+	m_oneSided = false;
+}
+
+#endif