box2d-ruby 1.0.0

data/ext/box2d/vendor/box2d/src/mover.c

@@ -0,0 +1,73 @@
+// SPDX-FileCopyrightText: 2025 Erin Catto
+// SPDX-License-Identifier: MIT
+
+#include "constants.h"
+
+#include "box2d/collision.h"
+
+b2PlaneSolverResult b2SolvePlanes( b2Vec2 position, b2CollisionPlane* planes, int count )
+{
+	for ( int i = 0; i < count; ++i )
+	{
+		planes[i].push = 0.0f;
+	}
+
+	b2Vec2 delta = b2Vec2_zero;
+	float tolerance = B2_LINEAR_SLOP;
+
+	int iteration;
+	for ( iteration = 0; iteration < 20; ++iteration )
+	{
+		float totalPush = 0.0f;
+		for ( int planeIndex = 0; planeIndex < count; ++planeIndex )
+		{
+			b2CollisionPlane* plane = planes + planeIndex;
+
+			// Add slop to prevent jitter
+			float separation = b2PlaneSeparation( plane->plane, delta ) + B2_LINEAR_SLOP;
+			// if (separation > 0.0f)
+			//{
+			//	continue;
+			// }
+
+			float push = -separation;
+
+			// Clamp accumulated push
+			float accumulatedPush = plane->push;
+			plane->push = b2ClampFloat( plane->push + push, 0.0f, plane->pushLimit );
+			push = plane->push - accumulatedPush;
+			delta = b2MulAdd( delta, push, plane->plane.normal );
+
+			// Track maximum push for convergence
+			totalPush += b2AbsFloat( push );
+		}
+
+		if ( totalPush < tolerance )
+		{
+			break;
+		}
+	}
+
+	return (b2PlaneSolverResult){
+		.position = b2Add( delta, position ),
+		.iterationCount = iteration,
+	};
+}
+
+b2Vec2 b2ClipVector( b2Vec2 vector, const b2CollisionPlane* planes, int count )
+{
+	b2Vec2 v = vector;
+
+	for ( int planeIndex = 0; planeIndex < count; ++planeIndex )
+	{
+		const b2CollisionPlane* plane = planes + planeIndex;
+		if ( plane->push == 0.0f || plane->clipVelocity == false )
+		{
+			continue;
+		}
+
+		v = b2MulSub( v, b2MinFloat( 0.0f, b2Dot( v, plane->plane.normal ) ), plane->plane.normal );
+	}
+
+	return v;
+}