chipmunk 4.1.0-x86-mswin32

data/ext/chipmunk/cpSpace.h

@@ -0,0 +1,120 @@
+/* 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.
+ */
+ 
+// Number of frames that contact information should persist.
+extern int cp_contact_persistence;
+
+// User collision pair function.
+typedef int (*cpCollFunc)(cpShape *a, cpShape *b, cpContact *contacts, int numContacts, cpFloat normal_coef, void *data);
+
+// Structure for holding collision pair function information.
+// Used internally.
+typedef struct cpCollPairFunc {
+	unsigned int a;
+	unsigned int b;
+	cpCollFunc func;
+	void *data;
+} cpCollPairFunc;
+
+typedef struct cpSpace{
+	// *** User definable fields
+	
+	// Number of iterations to use in the impulse solver to solve contacts.
+	int iterations;
+	
+	// Number of iterations to use in the impulse solver to solve elastic collisions.
+	int elasticIterations;
+	
+	// Default gravity to supply when integrating rigid body motions.
+	cpVect gravity;
+	
+	// Default damping to supply when integrating rigid body motions.
+	cpFloat damping;
+	
+	// *** Internally Used Fields
+	
+	// Time stamp. Is incremented on every call to cpSpaceStep().
+	int stamp;
+
+	// The static and active shape spatial hashes.
+	cpSpaceHash *staticShapes;
+	cpSpaceHash *activeShapes;
+	
+	// List of bodies in the system.
+	cpArray *bodies;
+	// List of active arbiters for the impulse solver.
+	cpArray *arbiters;
+	// Persistant contact set.
+	cpHashSet *contactSet;
+	
+	// List of joints in the system.
+	cpArray *joints;
+	
+	// Set of collisionpair functions.
+	cpHashSet *collFuncSet;
+	// Default collision pair function.
+	cpCollPairFunc defaultPairFunc;
+} cpSpace;
+
+// Basic allocation/destruction functions.
+cpSpace* cpSpaceAlloc(void);
+cpSpace* cpSpaceInit(cpSpace *space);
+cpSpace* cpSpaceNew(void);
+
+void cpSpaceDestroy(cpSpace *space);
+void cpSpaceFree(cpSpace *space);
+
+// Convenience function. Frees all referenced entities. (bodies, shapes and joints)
+void cpSpaceFreeChildren(cpSpace *space);
+
+// Collision pair function management functions.
+void cpSpaceAddCollisionPairFunc(cpSpace *space, unsigned int a, unsigned int b,
+                                 cpCollFunc func, void *data);
+void cpSpaceRemoveCollisionPairFunc(cpSpace *space, unsigned int a, unsigned int b);
+void cpSpaceSetDefaultCollisionPairFunc(cpSpace *space, cpCollFunc func, void *data);
+
+// Add and remove entities from the system.
+void cpSpaceAddShape(cpSpace *space, cpShape *shape);
+void cpSpaceAddStaticShape(cpSpace *space, cpShape *shape);
+void cpSpaceAddBody(cpSpace *space, cpBody *body);
+void cpSpaceAddJoint(cpSpace *space, cpJoint *joint);
+
+void cpSpaceRemoveShape(cpSpace *space, cpShape *shape);
+void cpSpaceRemoveStaticShape(cpSpace *space, cpShape *shape);
+void cpSpaceRemoveBody(cpSpace *space, cpBody *body);
+void cpSpaceRemoveJoint(cpSpace *space, cpJoint *joint);
+
+// Point query callback function
+typedef void (*cpSpacePointQueryFunc)(cpShape *shape, void *data);
+void cpSpaceShapePointQuery(cpSpace *space, cpVect point, cpSpacePointQueryFunc func, void *data);
+void cpSpaceStaticShapePointQuery(cpSpace *space, cpVect point, cpSpacePointQueryFunc func, void *data);
+
+// Iterator function for iterating the bodies in a space.
+typedef void (*cpSpaceBodyIterator)(cpBody *body, void *data);
+void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIterator func, void *data);
+
+// Spatial hash management functions.
+void cpSpaceResizeStaticHash(cpSpace *space, cpFloat dim, int count);
+void cpSpaceResizeActiveHash(cpSpace *space, cpFloat dim, int count);
+void cpSpaceRehashStatic(cpSpace *space);
+
+// Update the space.
+void cpSpaceStep(cpSpace *space, cpFloat dt);

data/ext/chipmunk/cpSpaceHash.c

@@ -0,0 +1,455 @@
+/* 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 <stdio.h>
+#include <math.h>
+#include <assert.h>
+
+#include "chipmunk.h"
+#include "prime.h"
+
+static cpHandle*
+cpHandleAlloc(void)
+{
+	return (cpHandle *)malloc(sizeof(cpHandle));
+}
+
+static cpHandle*
+cpHandleInit(cpHandle *hand, void *obj)
+{
+	hand->obj = obj;
+	hand->retain = 0;
+	hand->stamp = 0;
+	
+	return hand;
+}
+
+static cpHandle*
+cpHandleNew(void *obj)
+{
+	return cpHandleInit(cpHandleAlloc(), obj);
+}
+
+static inline void
+cpHandleRetain(cpHandle *hand)
+{
+	hand->retain++;
+}
+
+static inline void
+cpHandleFree(cpHandle *hand)
+{
+	free(hand);
+}
+
+static inline void
+cpHandleRelease(cpHandle *hand)
+{
+	hand->retain--;
+	if(hand->retain == 0)
+		cpHandleFree(hand);
+}
+
+
+cpSpaceHash*
+cpSpaceHashAlloc(void)
+{
+	return (cpSpaceHash *)calloc(1, sizeof(cpSpaceHash));
+}
+
+// Frees the old table, and allocates a new one.
+static void
+cpSpaceHashAllocTable(cpSpaceHash *hash, int numcells)
+{
+	free(hash->table);
+	
+	hash->numcells = numcells;
+	hash->table = (cpSpaceHashBin **)calloc(numcells, sizeof(cpSpaceHashBin *));
+}
+
+// Equality function for the handleset.
+static int
+handleSetEql(void *obj, void *elt)
+{
+	cpHandle *hand = (cpHandle *)elt;
+	return (obj == hand->obj);
+}
+
+// Transformation function for the handleset.
+static void *
+handleSetTrans(void *obj, void *unused)
+{
+	cpHandle *hand = cpHandleNew(obj);
+	cpHandleRetain(hand);
+	
+	return hand;
+}
+
+cpSpaceHash*
+cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpaceHashBBFunc bbfunc)
+{
+	cpSpaceHashAllocTable(hash, next_prime(numcells));
+	hash->celldim = celldim;
+	hash->bbfunc = bbfunc;
+	
+	hash->bins = NULL;
+	hash->handleSet = cpHashSetNew(0, &handleSetEql, &handleSetTrans);
+	
+	hash->stamp = 1;
+	
+	return hash;
+}
+
+cpSpaceHash*
+cpSpaceHashNew(cpFloat celldim, int cells, cpSpaceHashBBFunc bbfunc)
+{
+	return cpSpaceHashInit(cpSpaceHashAlloc(), celldim, cells, bbfunc);
+}
+
+static inline void
+clearHashCell(cpSpaceHash *hash, int index)
+{
+	cpSpaceHashBin *bin = hash->table[index];
+	while(bin){
+		cpSpaceHashBin *next = bin->next;
+		
+		// Release the lock on the handle.
+		cpHandleRelease(bin->handle);
+		// Recycle the bin.
+		bin->next = hash->bins;
+		hash->bins = bin;
+		
+		bin = next;
+	}
+	
+	hash->table[index] = NULL;
+}
+
+// Clear all cells in the hashtable.
+static void
+clearHash(cpSpaceHash *hash)
+{
+	for(int i=0; i<hash->numcells; i++)
+		clearHashCell(hash, i);
+}
+
+// Free the recycled hash bins.
+static void
+freeBins(cpSpaceHash *hash)
+{
+	cpSpaceHashBin *bin = hash->bins;
+	while(bin){
+		cpSpaceHashBin *next = bin->next;
+		free(bin);
+		bin = next;
+	}
+}
+
+// Hashset iterator function to free the handles.
+static void
+handleFreeWrap(void *elt, void *unused)
+{
+	cpHandle *hand = (cpHandle *)elt;
+	cpHandleFree(hand);
+}
+
+void
+cpSpaceHashDestroy(cpSpaceHash *hash)
+{
+	clearHash(hash);
+	freeBins(hash);
+	
+	// Free the handles.
+	cpHashSetEach(hash->handleSet, &handleFreeWrap, NULL);
+	cpHashSetFree(hash->handleSet);
+	
+	free(hash->table);
+}
+
+void
+cpSpaceHashFree(cpSpaceHash *hash)
+{
+	if(!hash) return;
+	cpSpaceHashDestroy(hash);
+	free(hash);
+}
+
+void
+cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells)
+{
+	// Clear the hash to release the old handle locks.
+	clearHash(hash);
+	
+	hash->celldim = celldim;
+	cpSpaceHashAllocTable(hash, next_prime(numcells));
+}
+
+// Return true if the chain contains the handle.
+static inline int
+containsHandle(cpSpaceHashBin *bin, cpHandle *hand)
+{
+	while(bin){
+		if(bin->handle == hand) return 1;
+		bin = bin->next;
+	}
+	
+	return 0;
+}
+
+// Get a recycled or new bin.
+static inline cpSpaceHashBin *
+getEmptyBin(cpSpaceHash *hash)
+{
+	cpSpaceHashBin *bin = hash->bins;
+	
+	// Make a new one if necessary.
+	if(bin == NULL) return (cpSpaceHashBin *)malloc(sizeof(cpSpaceHashBin));
+
+	hash->bins = bin->next;
+	return bin;
+}
+
+// The hash function itself.
+static inline unsigned int
+hash_func(unsigned int x, unsigned int y, unsigned int n)
+{
+	return (x*2185031351ul ^ y*4232417593ul) % n;
+}
+
+static inline void
+hashHandle(cpSpaceHash *hash, cpHandle *hand, cpBB bb)
+{
+	// Find the dimensions in cell coordinates.
+	cpFloat dim = hash->celldim;
+	int l = bb.l/dim;
+	int r = bb.r/dim;
+	int b = bb.b/dim;
+	int t = bb.t/dim;
+	
+	int n = hash->numcells;
+	for(int i=l; i<=r; i++){
+		for(int j=b; j<=t; j++){
+			int index = hash_func(i,j,n);
+			cpSpaceHashBin *bin = hash->table[index];
+			
+			// Don't add an object twice to the same cell.
+			if(containsHandle(bin, hand)) continue;
+
+			cpHandleRetain(hand);
+			// Insert a new bin for the handle in this cell.
+			cpSpaceHashBin *newBin = getEmptyBin(hash);
+			newBin->handle = hand;
+			newBin->next = bin;
+			hash->table[index] = newBin;
+		}
+	}
+}
+
+void
+cpSpaceHashInsert(cpSpaceHash *hash, void *obj, unsigned int id, cpBB bb)
+{
+	cpHandle *hand = (cpHandle *)cpHashSetInsert(hash->handleSet, id, obj, NULL);
+	hashHandle(hash, hand, bb);
+}
+
+void
+cpSpaceHashRehashObject(cpSpaceHash *hash, void *obj, unsigned int id)
+{
+	cpHandle *hand = (cpHandle *)cpHashSetFind(hash->handleSet, id, obj);
+	hashHandle(hash, hand, hash->bbfunc(obj));
+}
+
+// Hashset iterator function for rehashing the spatial hash. (hash hash hash hash?)
+static void
+handleRehashHelper(void *elt, void *data)
+{
+	cpHandle *hand = (cpHandle *)elt;
+	cpSpaceHash *hash = (cpSpaceHash *)data;
+	
+	hashHandle(hash, hand, hash->bbfunc(hand->obj));
+}
+
+void
+cpSpaceHashRehash(cpSpaceHash *hash)
+{
+	clearHash(hash);
+	
+	// Rehash all of the handles.
+	cpHashSetEach(hash->handleSet, &handleRehashHelper, hash);
+}
+
+void
+cpSpaceHashRemove(cpSpaceHash *hash, void *obj, unsigned int id)
+{
+	cpHandle *hand = (cpHandle *)cpHashSetRemove(hash->handleSet, id, obj);
+	
+	if(hand){
+		hand->obj = NULL;
+		cpHandleRelease(hand);
+	}
+}
+
+// Used by the cpSpaceHashEach() iterator.
+typedef struct eachPair {
+	cpSpaceHashIterator func;
+	void *data;
+} eachPair;
+
+// Calls the user iterator function. (Gross I know.)
+static void
+eachHelper(void *elt, void *data)
+{
+	cpHandle *hand = (cpHandle *)elt;
+	eachPair *pair = (eachPair *)data;
+	
+	pair->func(hand->obj, pair->data);
+}
+
+// Iterate over the objects in the spatial hash.
+void
+cpSpaceHashEach(cpSpaceHash *hash, cpSpaceHashIterator func, void *data)
+{
+	// Bundle the callback up to send to the hashset iterator.
+	eachPair pair = {func, data};
+	
+	cpHashSetEach(hash->handleSet, &eachHelper, &pair);
+}
+
+// Calls the callback function for the objects in a given chain.
+static inline void
+query(cpSpaceHash *hash, cpSpaceHashBin *bin, void *obj, cpSpaceHashQueryFunc func, void *data)
+{
+	for(; bin; bin = bin->next){
+		cpHandle *hand = bin->handle;
+		void *other = hand->obj;
+		
+		// Skip over certain conditions
+		if(
+			// Have we already tried this pair in this query?
+			hand->stamp == hash->stamp
+			// Is obj the same as other?
+			|| obj == other 
+			// Has other been removed since the last rehash?
+			|| !other
+			) continue;
+		
+		func(obj, other, data);
+
+		// Stamp that the handle was checked already against this object.
+		hand->stamp = hash->stamp;
+	}
+}
+
+void
+cpSpaceHashPointQuery(cpSpaceHash *hash, cpVect point, cpSpaceHashQueryFunc func, void *data)
+{
+	cpFloat dim = hash->celldim;
+	int index = hash_func((int)(point.x/dim), (int)(point.y/dim), hash->numcells);
+	
+	query(hash, hash->table[index], &point, func, data);
+
+	// Increment the stamp.
+	// Only one cell is checked, but query() requires it anyway.
+	hash->stamp++;
+}
+
+void
+cpSpaceHashQuery(cpSpaceHash *hash, void *obj, cpBB bb, cpSpaceHashQueryFunc func, void *data)
+{
+	// Get the dimensions in cell coordinates.
+	cpFloat dim = hash->celldim;
+	int l = bb.l/dim;
+	int r = bb.r/dim;
+	int b = bb.b/dim;
+	int t = bb.t/dim;
+	
+	int n = hash->numcells;
+	
+	// Iterate over the cells and query them.
+	for(int i=l; i<=r; i++){
+		for(int j=b; j<=t; j++){
+			int index = hash_func(i,j,n);
+			query(hash, hash->table[index], obj, func, data);
+		}
+	}
+	
+	// Increment the stamp.
+	hash->stamp++;
+}
+
+// Similar to struct eachPair above.
+typedef struct queryRehashPair {
+	cpSpaceHash *hash;
+	cpSpaceHashQueryFunc func;
+	void *data;
+} queryRehashPair;
+
+// Hashset iterator func used with cpSpaceHashQueryRehash().
+static void
+handleQueryRehashHelper(void *elt, void *data)
+{
+	cpHandle *hand = (cpHandle *)elt;
+	
+	// Unpack the user callback data.
+	queryRehashPair *pair = (queryRehashPair *)data;
+	cpSpaceHash *hash = pair->hash;
+	cpSpaceHashQueryFunc func = pair->func;
+
+	cpFloat dim = hash->celldim;
+	int n = hash->numcells;
+
+	void *obj = hand->obj;
+	cpBB bb = hash->bbfunc(obj);
+
+	int l = bb.l/dim;
+	int r = bb.r/dim;
+	int b = bb.b/dim;
+	int t = bb.t/dim;
+
+	for(int i=l; i<=r; i++){
+		for(int j=b; j<=t; j++){
+			int index = hash_func(i,j,n);
+			cpSpaceHashBin *bin = hash->table[index];
+			
+			if(containsHandle(bin, hand)) continue;
+			query(hash, bin, obj, func, pair->data);
+			
+			cpHandleRetain(hand);
+			cpSpaceHashBin *newBin = getEmptyBin(hash);
+			newBin->handle = hand;
+			newBin->next = bin;
+			hash->table[index] = newBin;
+		}
+	}
+	
+	// Increment the stamp for each object we hash.
+	hash->stamp++;
+}
+
+void
+cpSpaceHashQueryRehash(cpSpaceHash *hash, cpSpaceHashQueryFunc func, void *data)
+{
+	clearHash(hash);
+
+	queryRehashPair pair = {hash, func, data};
+	cpHashSetEach(hash->handleSet, &handleQueryRehashHelper, &pair);
+}