chipmunk 4.1.0-x86-mswin32 → 5.3.4.0-x86-mswin32

data/ext/chipmunk/cpCollision.c

@@ -1,390 +0,0 @@
-/* Copyright (c) 2007 Scott Lembcke
- * 
- * 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.
- */
- 
-#include <stdlib.h>
-#include <math.h>
-#include <stdio.h>
-#include <assert.h>
-
-#include "chipmunk.h"
-
-typedef int (*collisionFunc)(cpShape*, cpShape*, cpContact**);
-
-static collisionFunc *colfuncs = NULL;
-
-// Add contact points for circle to circle collisions.
-// Used by several collision tests.
-static int
-circle2circleQuery(cpVect p1, cpVect p2, cpFloat r1, cpFloat r2, cpContact **con)
-{
-	cpFloat mindist = r1 + r2;
-	cpVect delta = cpvsub(p2, p1);
-	cpFloat distsq = cpvlengthsq(delta);
-	if(distsq >= mindist*mindist) return 0;
-	
-	cpFloat dist = sqrtf(distsq);
-	// To avoid singularities, do nothing in the case of dist = 0.
-	cpFloat non_zero_dist = (dist ? dist : INFINITY);
-
-	// Allocate and initialize the contact.
-	(*con) = (cpContact *)malloc(sizeof(cpContact));
-	cpContactInit(
-		(*con),
-		cpvadd(p1, cpvmult(delta, 0.5 + (r1 - 0.5*mindist)/non_zero_dist)),
-		cpvmult(delta, 1.0/non_zero_dist),
-		dist - mindist,
-		0
-	);
-	
-	return 1;
-}
-
-// Collide circle shapes.
-static int
-circle2circle(cpShape *shape1, cpShape *shape2, cpContact **arr)
-{
-	cpCircleShape *circ1 = (cpCircleShape *)shape1;
-	cpCircleShape *circ2 = (cpCircleShape *)shape2;
-	
-	return circle2circleQuery(circ1->tc, circ2->tc, circ1->r, circ2->r, arr);
-}
-
-// Collide circles to segment shapes.
-static int
-circle2segment(cpShape *circleShape, cpShape *segmentShape, cpContact **con)
-{
-	cpCircleShape *circ = (cpCircleShape *)circleShape;
-	cpSegmentShape *seg = (cpSegmentShape *)segmentShape;
-	
-	// Radius sum
-	cpFloat rsum = circ->r + seg->r;
-	
-	// Calculate normal distance from segment.
-	cpFloat dn = cpvdot(seg->tn, circ->tc) - cpvdot(seg->ta, seg->tn);
-	cpFloat dist = fabs(dn) - rsum;
-	if(dist > 0.0f) return 0;
-	
-	// Calculate tangential distance along segment.
-	cpFloat dt = -cpvcross(seg->tn, circ->tc);
-	cpFloat dtMin = -cpvcross(seg->tn, seg->ta);
-	cpFloat dtMax = -cpvcross(seg->tn, seg->tb);
-	
-	// Decision tree to decide which feature of the segment to collide with.
-	if(dt < dtMin){
-		if(dt < (dtMin - rsum)){
-			return 0;
-		} else {
-			return circle2circleQuery(circ->tc, seg->ta, circ->r, seg->r, con);
-		}
-	} else {
-		if(dt < dtMax){
-			cpVect n = (dn < 0.0f) ? seg->tn : cpvneg(seg->tn);
-			(*con) = (cpContact *)malloc(sizeof(cpContact));
-			cpContactInit(
-				(*con),
-				cpvadd(circ->tc, cpvmult(n, circ->r + dist*0.5f)),
-				n,
-				dist,
-				0				 
-			);
-			return 1;
-		} else {
-			if(dt < (dtMax + rsum)) {
-				return circle2circleQuery(circ->tc, seg->tb, circ->r, seg->r, con);
-			} else {
-				return 0;
-			}
-		}
-	}
-	
-	return 1;
-}
-
-// Helper function for allocating contact point lists.
-static cpContact *
-addContactPoint(cpContact **arr, int *max, int *num)
-{
-	if(*arr == NULL){
-		// Allocate the array if it hasn't been done.
-		(*max) = 2;
-		(*num) = 0;
-		(*arr) = (cpContact *)malloc((*max)*sizeof(cpContact));
-	} else if(*num == *max){
-		// Extend it if necessary.
-		(*max) *= 2;
-		(*arr) = (cpContact *)realloc(*arr, (*max)*sizeof(cpContact));
-	}
-	
-	cpContact *con = &(*arr)[*num];
-	(*num)++;
-	
-	return con;
-}
-
-// Find the minimum separating axis for the give poly and axis list.
-static inline int
-findMSA(cpPolyShape *poly, cpPolyShapeAxis *axes, int num, cpFloat *min_out)
-{
-	int min_index = 0;
-	cpFloat min = cpPolyShapeValueOnAxis(poly, axes->n, axes->d);
-	if(min > 0.0) return -1;
-	
-	for(int i=1; i<num; i++){
-		cpFloat dist = cpPolyShapeValueOnAxis(poly, axes[i].n, axes[i].d);
-		if(dist > 0.0) {
-			return -1;
-		} else if(dist > min){
-			min = dist;
-			min_index = i;
-		}
-	}
-	
-	(*min_out) = min;
-	return min_index;
-}
-
-// Add contacts for penetrating vertexes.
-static inline int
-findVerts(cpContact **arr, cpPolyShape *poly1, cpPolyShape *poly2, cpVect n, cpFloat dist)
-{
-	int max = 0;
-	int num = 0;
-	
-	for(int i=0; i<poly1->numVerts; i++){
-		cpVect v = poly1->tVerts[i];
-		if(cpPolyShapeContainsVertPartial(poly2, v, cpvneg(n)))
-			cpContactInit(addContactPoint(arr, &max, &num), v, n, dist, CP_HASH_PAIR(poly1, i));
-	}
-	
-	for(int i=0; i<poly2->numVerts; i++){
-		cpVect v = poly2->tVerts[i];
-		if(cpPolyShapeContainsVertPartial(poly1, v, n))
-			cpContactInit(addContactPoint(arr, &max, &num), v, n, dist, CP_HASH_PAIR(poly2, i));
-	}
-	
-	//	if(!num)
-	//		addContactPoint(arr, &size, &num, cpContactNew(shape1->body->p, n, dist, 0));
-
-	return num;
-}
-
-// Collide poly shapes together.
-static int
-poly2poly(cpShape *shape1, cpShape *shape2, cpContact **arr)
-{
-	cpPolyShape *poly1 = (cpPolyShape *)shape1;
-	cpPolyShape *poly2 = (cpPolyShape *)shape2;
-	
-	cpFloat min1;
-	int mini1 = findMSA(poly2, poly1->tAxes, poly1->numVerts, &min1);
-	if(mini1 == -1) return 0;
-	
-	cpFloat min2;
-	int mini2 = findMSA(poly1, poly2->tAxes, poly2->numVerts, &min2);
-	if(mini2 == -1) return 0;
-	
-	// There is overlap, find the penetrating verts
-	if(min1 > min2)
-		return findVerts(arr, poly1, poly2, poly1->tAxes[mini1].n, min1);
-	else
-		return findVerts(arr, poly1, poly2, cpvneg(poly2->tAxes[mini2].n), min2);
-}
-
-// Like cpPolyValueOnAxis(), but for segments.
-static inline float
-segValueOnAxis(cpSegmentShape *seg, cpVect n, cpFloat d)
-{
-	cpFloat a = cpvdot(n, seg->ta) - seg->r;
-	cpFloat b = cpvdot(n, seg->tb) - seg->r;
-	return cpfmin(a, b) - d;
-}
-
-// Identify vertexes that have penetrated the segment.
-static inline void
-findPointsBehindSeg(cpContact **arr, int *max, int *num, cpSegmentShape *seg, cpPolyShape *poly, cpFloat pDist, cpFloat coef) 
-{
-	cpFloat dta = cpvcross(seg->tn, seg->ta);
-	cpFloat dtb = cpvcross(seg->tn, seg->tb);
-	cpVect n = cpvmult(seg->tn, coef);
-	
-	for(int i=0; i<poly->numVerts; i++){
-		cpVect v = poly->tVerts[i];
-		if(cpvdot(v, n) < cpvdot(seg->tn, seg->ta)*coef + seg->r){
-			cpFloat dt = cpvcross(seg->tn, v);
-			if(dta >= dt && dt >= dtb){
-				cpContactInit(addContactPoint(arr, max, num), v, n, pDist, CP_HASH_PAIR(poly, i));
-			}
-		}
-	}
-}
-
-// This one is complicated and gross. Just don't go there...
-// TODO: Comment me!
-static int
-seg2poly(cpShape *shape1, cpShape *shape2, cpContact **arr)
-{
-	cpSegmentShape *seg = (cpSegmentShape *)shape1;
-	cpPolyShape *poly = (cpPolyShape *)shape2;
-	cpPolyShapeAxis *axes = poly->tAxes;
-	
-	cpFloat segD = cpvdot(seg->tn, seg->ta);
-	cpFloat minNorm = cpPolyShapeValueOnAxis(poly, seg->tn, segD) - seg->r;
-	cpFloat minNeg = cpPolyShapeValueOnAxis(poly, cpvneg(seg->tn), -segD) - seg->r;
-	if(minNeg > 0.0f || minNorm > 0.0f) return 0;
-	
-	int mini = 0;
-	cpFloat poly_min = segValueOnAxis(seg, axes->n, axes->d);
-	if(poly_min > 0.0f) return 0;
-	for(int i=0; i<poly->numVerts; i++){
-		cpFloat dist = segValueOnAxis(seg, axes[i].n, axes[i].d);
-		if(dist > 0.0f){
-			return 0;
-		} else if(dist > poly_min){
-			poly_min = dist;
-			mini = i;
-		}
-	}
-	
-	int max = 0;
-	int num = 0;
-	
-	cpVect poly_n = cpvneg(axes[mini].n);
-	
-	cpVect va = cpvadd(seg->ta, cpvmult(poly_n, seg->r));
-	cpVect vb = cpvadd(seg->tb, cpvmult(poly_n, seg->r));
-	if(cpPolyShapeContainsVert(poly, va))
-		cpContactInit(addContactPoint(arr, &max, &num), va, poly_n, poly_min, CP_HASH_PAIR(seg, 0));
-	if(cpPolyShapeContainsVert(poly, vb))
-		cpContactInit(addContactPoint(arr, &max, &num), vb, poly_n, poly_min, CP_HASH_PAIR(seg, 1));
-
-	// Floating point precision problems here.
-	// This will have to do for now.
-	poly_min -= cp_collision_slop;
-	if(minNorm >= poly_min || minNeg >= poly_min) {
-		if(minNorm > minNeg)
-			findPointsBehindSeg(arr, &max, &num, seg, poly, minNorm, 1.0f);
-		else
-			findPointsBehindSeg(arr, &max, &num, seg, poly, minNeg, -1.0f);
-	}
-	
-	// If no other collision points are found, try colliding endpoints.
-	if(num == 0){
-		cpVect poly_a = poly->tVerts[mini];
-		cpVect poly_b = poly->tVerts[(mini + 1)%poly->numVerts];
-		
-		if(circle2circleQuery(seg->ta, poly_a, seg->r, 0.0f, arr))
-			return 1;
-			
-		if(circle2circleQuery(seg->tb, poly_a, seg->r, 0.0f, arr))
-			return 1;
-			
-		if(circle2circleQuery(seg->ta, poly_b, seg->r, 0.0f, arr))
-			return 1;
-			
-		if(circle2circleQuery(seg->tb, poly_b, seg->r, 0.0f, arr))
-			return 1;
-	}
-
-	return num;
-}
-
-// This one is less gross, but still gross.
-// TODO: Comment me!
-static int
-circle2poly(cpShape *shape1, cpShape *shape2, cpContact **con)
-{
-	cpCircleShape *circ = (cpCircleShape *)shape1;
-	cpPolyShape *poly = (cpPolyShape *)shape2;
-	cpPolyShapeAxis *axes = poly->tAxes;
-	
-	int mini = 0;
-	cpFloat min = cpvdot(axes->n, circ->tc) - axes->d - circ->r;
-	for(int i=0; i<poly->numVerts; i++){
-		cpFloat dist = cpvdot(axes[i].n, circ->tc) - axes[i].d - circ->r;
-		if(dist > 0.0){
-			return 0;
-		} else if(dist > min) {
-			min = dist;
-			mini = i;
-		}
-	}
-	
-	cpVect n = axes[mini].n;
-	cpVect a = poly->tVerts[mini];
-	cpVect b = poly->tVerts[(mini + 1)%poly->numVerts];
-	cpFloat dta = cpvcross(n, a);
-	cpFloat dtb = cpvcross(n, b);
-	cpFloat dt = cpvcross(n, circ->tc);
-		
-	if(dt < dtb){
-		return circle2circleQuery(circ->tc, b, circ->r, 0.0f, con);
-	} else if(dt < dta) {
-		(*con) = (cpContact *)malloc(sizeof(cpContact));
-		cpContactInit(
-			(*con),
-			cpvsub(circ->tc, cpvmult(n, circ->r + min/2.0f)),
-			cpvneg(n),
-			min,
-			0				 
-		);
-	
-		return 1;
-	} else {
-		return circle2circleQuery(circ->tc, a, circ->r, 0.0f, con);
-	}
-}
-
-static void
-addColFunc(cpShapeType a, cpShapeType b, collisionFunc func)
-{
-	colfuncs[a + b*CP_NUM_SHAPES] = func;
-}
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-	// Initializes the array of collision functions.
-	// Called by cpInitChipmunk().
-	void
-	cpInitCollisionFuncs(void)
-	{
-		if(!colfuncs)
-			colfuncs = (collisionFunc *)calloc(CP_NUM_SHAPES*CP_NUM_SHAPES, sizeof(collisionFunc));
-		
-		addColFunc(CP_CIRCLE_SHAPE,  CP_CIRCLE_SHAPE,  circle2circle);
-		addColFunc(CP_CIRCLE_SHAPE,  CP_SEGMENT_SHAPE, circle2segment);
-		addColFunc(CP_SEGMENT_SHAPE, CP_POLY_SHAPE,    seg2poly);
-		addColFunc(CP_CIRCLE_SHAPE,  CP_POLY_SHAPE,    circle2poly);
-		addColFunc(CP_POLY_SHAPE,    CP_POLY_SHAPE,    poly2poly);
-	}	
-#ifdef __cplusplus
-}
-#endif
-
-int
-cpCollideShapes(cpShape *a, cpShape *b, cpContact **arr)
-{
-	// Their shape types must be in order.
-	assert(a->klass->type <= b->klass->type);
-	
-	collisionFunc cfunc = colfuncs[a->klass->type + b->klass->type*CP_NUM_SHAPES];
-	return (cfunc) ? cfunc(a, b, arr) : 0;
-}

data/ext/chipmunk/cpHashSet.c

@@ -1,219 +0,0 @@
-/* Copyright (c) 2007 Scott Lembcke
- * 
- * 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.
- */
- 
-#include <stdlib.h>
-#include <assert.h>
-
-#include "chipmunk.h"
-#include "prime.h"
-
-void
-cpHashSetDestroy(cpHashSet *set)
-{
-	// Free the chains.
-	for(int i=0; i<set->size; i++){
-		// Free the bins in the chain.
-		cpHashSetBin *bin = set->table[i];
-		while(bin){
-			cpHashSetBin *next = bin->next;
-			free(bin);
-			bin = next;
-		}
-	}
-	
-	// Free the table.
-	free(set->table);
-}
-
-void
-cpHashSetFree(cpHashSet *set)
-{
-	if(set) cpHashSetDestroy(set);
-	free(set);
-}
-
-cpHashSet *
-cpHashSetAlloc(void)
-{
-	return (cpHashSet *)calloc(1, sizeof(cpHashSet));
-}
-
-cpHashSet *
-cpHashSetInit(cpHashSet *set, int size, cpHashSetEqlFunc eqlFunc, cpHashSetTransFunc trans)
-{
-	set->size = next_prime(size);
-	set->entries = 0;
-	
-	set->eql = eqlFunc;
-	set->trans = trans;
-	
-	set->default_value = NULL;
-	
-	set->table = (cpHashSetBin **)calloc(set->size, sizeof(cpHashSetBin *));
-	
-	return set;
-}
-
-cpHashSet *
-cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc, cpHashSetTransFunc trans)
-{
-	return cpHashSetInit(cpHashSetAlloc(), size, eqlFunc, trans);
-}
-
-static int
-setIsFull(cpHashSet *set)
-{
-	return (set->entries >= set->size);
-}
-
-static void
-cpHashSetResize(cpHashSet *set)
-{
-	// Get the next approximate doubled prime.
-	int newSize = next_prime(set->size + 1);
-	// Allocate a new table.
-	cpHashSetBin **newTable = (cpHashSetBin **)calloc(newSize, sizeof(cpHashSetBin *));
-	
-	// Iterate over the chains.
-	for(int i=0; i<set->size; i++){
-		// Rehash the bins into the new table.
-		cpHashSetBin *bin = set->table[i];
-		while(bin){
-			cpHashSetBin *next = bin->next;
-			
-			int index = bin->hash%newSize;
-			bin->next = newTable[index];
-			newTable[index] = bin;
-			
-			bin = next;
-		}
-	}
-	
-	free(set->table);
-	
-	set->table = newTable;
-	set->size = newSize;
-}
-
-void *
-cpHashSetInsert(cpHashSet *set, unsigned int hash, void *ptr, void *data)
-{
-	int index = hash%set->size;
-	
-	// Find the bin with the matching element.
-	cpHashSetBin *bin = set->table[index];
-	while(bin && !set->eql(ptr, bin->elt))
-		bin = bin->next;
-	
-	// Create it necessary.
-	if(!bin){
-		bin = (cpHashSetBin *)malloc(sizeof(cpHashSetBin));
-		bin->hash = hash;
-		bin->elt = set->trans(ptr, data); // Transform the pointer.
-		
-		bin->next = set->table[index];
-		set->table[index] = bin;
-		
-		set->entries++;
-		
-		// Resize the set if it's full.
-		if(setIsFull(set))
-			cpHashSetResize(set);
-	}
-	
-	return bin->elt;
-}
-
-void *
-cpHashSetRemove(cpHashSet *set, unsigned int hash, void *ptr)
-{
-	int index = hash%set->size;
-	
-	// Pointer to the previous bin pointer.
-	cpHashSetBin **prev_ptr = &set->table[index];
-	// Pointer the the current bin.
-	cpHashSetBin *bin = set->table[index];
-	
-	// Find the bin
-	while(bin && !set->eql(ptr, bin->elt)){
-		prev_ptr = &bin->next;
-		bin = bin->next;
-	}
-	
-	// Remove it if it exists.
-	if(bin){
-		// Update the previos bin pointer to point to the next bin.
-		(*prev_ptr) = bin->next;
-		set->entries--;
-		
-		void *return_value = bin->elt;
-		free(bin);
-		return return_value;
-	}
-	
-	return NULL;
-}
-
-void *
-cpHashSetFind(cpHashSet *set, unsigned int hash, void *ptr)
-{	
-	int index = hash%set->size;
-	cpHashSetBin *bin = set->table[index];
-	while(bin && !set->eql(ptr, bin->elt))
-		bin = bin->next;
-		
-	return (bin ? bin->elt : set->default_value);
-}
-
-void
-cpHashSetEach(cpHashSet *set, cpHashSetIterFunc func, void *data)
-{
-	for(int i=0; i<set->size; i++){
-		cpHashSetBin *bin;
-		for(bin = set->table[i]; bin; bin = bin->next)
-			func(bin->elt, data);
-	}
-}
-
-void
-cpHashSetReject(cpHashSet *set, cpHashSetRejectFunc func, void *data)
-{
-	// Iterate over all the chains.
-	for(int i=0; i<set->size; i++){
-		// The rest works similarly to cpHashSetRemove() above.
-		cpHashSetBin **prev_ptr = &set->table[i];
-		cpHashSetBin *bin = set->table[i];
-		while(bin){
-			cpHashSetBin *next = bin->next;
-			
-			if(func(bin->elt, data)){
-				prev_ptr = &bin->next;
-			} else {
-				(*prev_ptr) = next;
-
-				set->entries--;
-				free(bin);
-			}
-			
-			bin = next;
-		}
-	}
-}