chipmunk 4.1.0 → 5.2.0

data/LICENSE

@@ -0,0 +1,20 @@
+/* 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.
+ */

data/README

@@ -0,0 +1,60 @@
+Ruby Bindings to Chipmunk Physics Version 5.2.0
+
+(C) Scott Lembcke, Beoran and John Mair (banisterfiend)
+
+IMPORTANT NOTICE:
+These are bindings for MRI Ruby 1.8.x and 1.9.x to Chipmunk version 5.2.0 
+
+(1) 1/10/09 Cross-Platform Gem built by John Mair (banisterfiend)
+    * Just go: gem install chipmunk  
+
+(2) Patched for 1.9.1 by Beoran (beoran@rubyforge.org)
+
+(3) How to build the gems? (maintainers only)
+    * Install rake-compiler (http://github.com/luislavena/rake-compiler)
+    * Install 1.9.1 and 1.8.6 mingw ruby versions (instructions above)
+    * Type: rake cross native gem RUBY_CC_VERSION=1.8.6:1.9.1
+    * Upload new gems to rubyforge and gemcutter.
+
+FORUM:
+
+  http://www.slembcke.net/forums
+
+CONTACT:
+  slembcke@gmail.com (also on Google Talk) for Chipmunk
+  beoran@rubyforge.org for these bindings
+
+ABOUT:
+  Chipmunk is a simple, lightweight and fast 2D rigid body physics library 
+  written in C. It's licensed under the unrestrictive, OSI approved MIT license. My aim is to give 2D developers access the same quality of physics you find in newer 3D games. I hope you enjoy using Chipmunk, and please consider donating to help make it worth our time to continue to support Chipmunk with great new features.
+  
+  These bindings are intened to as an alternative for the chipmunk-ffi bindings when performance is of the utmost importance, as it may be for games. The intent is for it to be source code compatibe with the ffi bindings. If you have any problems with these bindings, please contact the maintainer at beoran@rubyforge.org.      
+  
+CONTRACTING:
+  Howling Moon Software (Slembke's company) is available for contracting if you want to make the physics in your game really stand out. Feel free to contact them through their webpage: http://howlingmoonsoftware.com/contracting.php
+
+CHANGES SINCE 4.x:
+  * Brand new Joint/Constraint API: New constraints can be added easily and are much more flexible than the old joint system.
+  * Efficient Segment Queries - Like raycasting, but with line segments.
+  * Brand new collision callback API: Collision begin/separate events, API for removal of objects within callbacks, more programable control over collision handling.  
+
+CHANGES SINCE RELEASE 3:
+
+  * Rational versioning scheme: (major.minor.build) Small changes
+    increment the build number. Significant changes that don't affect
+     backwards compatibility increment the minor number. Major changes
+    that will break backwards compatibility will increment the major
+    number.
+
+  * Optimizations: Speed increases of 5-10% should be common.
+
+  * Groove Joint: Similar to a pivot joint, but one of the anchors is
+    on a linear slide instead of being fixed.
+
+  * Comments/cleanup. The code should be much more readable now.
+
+  * Official build paths for working on Linux and MSVC.
+
+
+
+

data/Rakefile

@@ -1,40 +1,47 @@
-# Rakefile added by John Mair (banisterfiend)
-
-require 'rake/clean'
-require 'rake/extensiontask'
-require 'rake/gempackagetask'
-
-CHIPMUNK_VERSION = "4.1.0"
-
-dlext = Config::CONFIG['DLEXT']
-
-CLEAN.include("ext/**/*.#{dlext}", "ext/**/.log", "ext/**/.o", "ext/**/*~", "ext/**/*#*", "ext/**/.obj", "ext/**/.def", "ext/**/.pdb")
-CLOBBER.include("**/*.#{dlext}", "**/*~", "**/*#*", "**/*.log", "**/*.o", "doc/**")
-
-Rake::ExtensionTask.new('chipmunk')
-
-spec = Gem::Specification.new do |s|
-    s.name = "chipmunk"
-    s.summary = "ruby bindings for the chipmunk physics engine"
-    s.description = s.summary
-    s.version = CHIPMUNK_VERSION
-    s.author = "Scott Lembcke, Beoran, John Mair (banisterfiend)"
-    s.email = 'jrmair@gmail.com'
-    s.date = Time.now.strftime '%Y-%m-%d'
-    s.require_path = 'lib'
-    s.homepage = "http://code.google.com/p/chipmunk-physics/"
-    s.platform = Gem::Platform::RUBY
-    s.extensions = FileList["ext/**/extconf.rb"]
-    s.files = ["Rakefile", "lib/chipmunk.rb"] + FileList["ext/**/extconf.rb", "ext/**/*.h",
-               "ext/**/*.c"].to_a
-end
-
-Rake::GemPackageTask.new(spec) do |pkg|
-    pkg.need_zip = false
-    pkg.need_tar = false
-end
-
-Rake::ExtensionTask.new('chipmunk', spec) do |ext|
-    ext.cross_compile = true                
-    ext.cross_platform = 'i386-mswin32'     
-end
+ # Rakefile added by John Mair (banisterfiend)
+
+require 'rake/gempackagetask'
+require 'rake/clean'
+require 'lib/chipmunk/version.rb'
+
+dlext = Config::CONFIG['DLEXT']
+
+CLEAN.include("ext/**/*.#{dlext}", "ext/**/.log", "ext/**/.o", "ext/**/*~", "ext/**/*#*", "ext/**/.obj", "ext/**/.def", "ext/**/.pdb")
+CLOBBER.include("**/*.#{dlext}", "**/*~", "**/*#*", "**/*.log", "**/*.o", "doc/**")
+
+
+def apply_spec_defaults(s)
+  s.name = "chipmunk"
+  s.summary = "ruby bindings for the chipmunk 5.1.0 physics engine"
+  s.description = s.summary
+  s.version = Chipmunk::VERSION
+  s.author = "Scott Lembcke, Beoran, John Mair (banisterfiend)"
+  s.email = 'beoran@rubyforge.com'
+  s.date = Time.now.strftime '%Y-%m-%d'
+  s.require_path = 'lib'
+  s.homepage = "http://code.google.com/p/chipmunk-physics/"
+end
+
+
+# common tasks
+task :compile => :clean
+
+# spec = Gem::Specification.new do |s|
+#   apply_spec_defaults(s)        
+#   s.platform = 'i386-mswin32'
+#   s.files = ["Rakefile", "README", "LICENSE", "lib/chipmunk.rb", "lib/1.8/chipmunk.#{dlext}", "lib/1.9/chipmunk.#{dlext}", "lib/chipmunk/version.rb"] 
+# end
+
+
+spec = Gem::Specification.new do |s|
+  apply_spec_defaults(s)
+  s.platform = Gem::Platform::RUBY
+  s.extensions = FileList["ext/**/extconf.rb"]
+  s.files = ["Rakefile", "README", "LICENSE", "lib/chipmunk.rb", "lib/chipmunk/version.rb"] +
+    FileList["ext/**/extconf.rb", "ext/**/*.h", "ext/**/*.c"].to_a
+end
+
+Rake::GemPackageTask.new(spec) do |pkg|
+  pkg.need_zip = false
+  pkg.need_tar = false
+end

data/ext/chipmunk/chipmunk.c

@@ -19,7 +19,8 @@
  * SOFTWARE.
  */
  
-#include "stdlib.h"
+#include <stdlib.h>
+#include <stdio.h>
 
 #include "chipmunk.h"
 
@@ -31,10 +32,27 @@ extern "C" {
 }
 #endif
 
+void
+cpMessage(char *message, char *condition, char *file, int line, int isError)
+{
+	fprintf(stderr, (isError ? "Aborting due to Chipmunk error: %s\n" : "Chipmunk warning: %s\n"), message);
+	fprintf(stderr, "\tFailed condition: %s\n", condition);
+	fprintf(stderr, "\tSource:%s:%d\n", file, line);
+	
+	if(isError) abort();
+}
+
+
+char *cpVersionString = "5.x.x";
 
 void
 cpInitChipmunk(void)
 {
+#ifndef NDEBUG
+	printf("Initializing Chipmunk v%s (Debug Enabled)\n", cpVersionString);
+	printf("Compile with -DNDEBUG defined to disable debug mode and runtime assertion checks\n");
+#endif
+	
 	cpInitCollisionFuncs();
 }
 
@@ -44,10 +62,19 @@ cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset)
 	return (1.0f/2.0f)*m*(r1*r1 + r2*r2) + m*cpvdot(offset, offset);
 }
 
+cpFloat
+cpMomentForSegment(cpFloat m, cpVect a, cpVect b)
+{
+	cpFloat length = cpvlength(cpvsub(b, a));
+	cpVect offset = cpvmult(cpvadd(a, b), 1.0f/2.0f);
+	
+	return m*length*length/12.0f + m*cpvdot(offset, offset);
+}
+
 cpFloat
 cpMomentForPoly(cpFloat m, const int numVerts, cpVect *verts, cpVect offset)
 {
-	cpVect *tVerts = (cpVect *)calloc(numVerts, sizeof(cpVect));
+	cpVect *tVerts = (cpVect *)cpcalloc(numVerts, sizeof(cpVect));
 	for(int i=0; i<numVerts; i++)
 		tVerts[i] = cpvadd(verts[i], offset);
 	
@@ -64,6 +91,15 @@ cpMomentForPoly(cpFloat m, const int numVerts, cpVect *verts, cpVect offset)
 		sum2 += a;
 	}
 	
-	free(tVerts);
+	cpfree(tVerts);
 	return (m*sum1)/(6.0f*sum2);
 }
+
+cpFloat
+cpMomentForBox(cpFloat m, cpFloat width, cpFloat height)
+{
+	return m*(width*width + height*height)/12.0;
+}
+
+
+#include "chipmunk_ffi.h"

data/ext/chipmunk/cpArbiter.c

@@ -20,15 +20,15 @@
  */
  
 #include <stdlib.h>
-#include <math.h>
 
 #include "chipmunk.h"
+#include "constraints/util.h"
 
 cpFloat cp_bias_coef = 0.1f;
 cpFloat cp_collision_slop = 0.1f;
 
 cpContact*
-cpContactInit(cpContact *con, cpVect p, cpVect n, cpFloat dist, unsigned int hash)
+cpContactInit(cpContact *con, cpVect p, cpVect n, cpFloat dist, cpHashValue hash)
 {
 	con->p = p;
 	con->n = n;
@@ -44,107 +44,142 @@ cpContactInit(cpContact *con, cpVect p, cpVect n, cpFloat dist, unsigned int has
 }
 
 cpVect
-cpContactsSumImpulses(cpContact *contacts, int numContacts)
+cpArbiterTotalImpulse(cpArbiter *arb)
 {
+	cpContact *contacts = arb->contacts;
 	cpVect sum = cpvzero;
 	
-	for(int i=0; i<numContacts; i++){
+	for(int i=0, count=arb->numContacts; i<count; i++){
 		cpContact *con = &contacts[i];
-		cpVect j = cpvmult(con->n, con->jnAcc);
-		sum = cpvadd(sum, j);
+		sum = cpvadd(sum, cpvmult(con->n, con->jnAcc));
 	}
 		
 	return sum;
 }
 
 cpVect
-cpContactsSumImpulsesWithFriction(cpContact *contacts, int numContacts)
+cpArbiterTotalImpulseWithFriction(cpArbiter *arb)
 {
+	cpContact *contacts = arb->contacts;
 	cpVect sum = cpvzero;
 	
-	for(int i=0; i<numContacts; i++){
+	for(int i=0, count=arb->numContacts; i<count; i++){
 		cpContact *con = &contacts[i];
-		cpVect t = cpvperp(con->n);
-		cpVect j = cpvadd(cpvmult(con->n, con->jnAcc), cpvmult(t, con->jtAcc));
-		sum = cpvadd(sum, j);
+		sum = cpvadd(sum, cpvrotate(con->n, cpv(con->jnAcc, con->jtAcc)));
 	}
 		
 	return sum;
 }
 
+cpFloat
+cpContactsEstimateCrushingImpulse(cpContact *contacts, int numContacts)
+{
+	cpFloat fsum = 0.0f;
+	cpVect vsum = cpvzero;
+	
+	for(int i=0; i<numContacts; i++){
+		cpContact *con = &contacts[i];
+		cpVect j = cpvrotate(con->n, cpv(con->jnAcc, con->jtAcc));
+		
+		fsum += cpvlength(j);
+		vsum = cpvadd(vsum, j);
+	}
+	
+	cpFloat vmag = cpvlength(vsum);
+	return (1.0f - vmag/fsum);
+}
+
+void
+cpArbiterIgnore(cpArbiter *arb)
+{
+	arb->state = cpArbiterStateIgnore;
+}
+
 cpArbiter*
 cpArbiterAlloc(void)
 {
-	return (cpArbiter *)calloc(1, sizeof(cpArbiter));
+	return (cpArbiter *)cpcalloc(1, sizeof(cpArbiter));
 }
 
 cpArbiter*
-cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b, int stamp)
+cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b)
 {
 	arb->numContacts = 0;
 	arb->contacts = NULL;
 	
-	arb->a = a;
-	arb->b = b;
+	arb->private_a = a;
+	arb->private_b = b;
+	
+	arb->stamp = -1;
+	arb->state = cpArbiterStateFirstColl;
 	
-	arb->stamp = stamp;
-		
 	return arb;
 }
 
 cpArbiter*
-cpArbiterNew(cpShape *a, cpShape *b, int stamp)
+cpArbiterNew(cpShape *a, cpShape *b)
 {
-	return cpArbiterInit(cpArbiterAlloc(), a, b, stamp);
+	return cpArbiterInit(cpArbiterAlloc(), a, b);
 }
 
 void
 cpArbiterDestroy(cpArbiter *arb)
 {
-	free(arb->contacts);
+//	if(arb->contacts) cpfree(arb->contacts);
 }
 
 void
 cpArbiterFree(cpArbiter *arb)
 {
-	if(arb) cpArbiterDestroy(arb);
-	free(arb);
+	if(arb){
+		cpArbiterDestroy(arb);
+		cpfree(arb);
+	}
 }
 
 void
-cpArbiterInject(cpArbiter *arb, cpContact *contacts, int numContacts)
+cpArbiterUpdate(cpArbiter *arb, cpContact *contacts, int numContacts, cpCollisionHandler *handler, cpShape *a, cpShape *b)
 {
-	// Iterate over the possible pairs to look for hash value matches.
-	for(int i=0; i<arb->numContacts; i++){
-		cpContact *old = &arb->contacts[i];
-		
-		for(int j=0; j<numContacts; j++){
-			cpContact *new_contact = &contacts[j];
+	// Arbiters without contact data may exist if a collision function rejected the collision.
+	if(arb->contacts){
+		// Iterate over the possible pairs to look for hash value matches.
+		for(int i=0; i<arb->numContacts; i++){
+			cpContact *old = &arb->contacts[i];
 			
-			// This could trigger false possitives.
-			if(new_contact->hash == old->hash){
-				// Copy the persistant contact information.
-				new_contact->jnAcc = old->jnAcc;
-				new_contact->jtAcc = old->jtAcc;
+			for(int j=0; j<numContacts; j++){
+				cpContact *new_contact = &contacts[j];
+				
+				// This could trigger false positives, but is fairly unlikely nor serious if it does.
+				if(new_contact->hash == old->hash){
+					// Copy the persistant contact information.
+					new_contact->jnAcc = old->jnAcc;
+					new_contact->jtAcc = old->jtAcc;
+				}
 			}
 		}
-	}
 
-	free(arb->contacts);
+//		cpfree(arb->contacts);
+	}
 	
 	arb->contacts = contacts;
 	arb->numContacts = numContacts;
+	
+	arb->handler = handler;
+	arb->swappedColl = (a->collision_type != handler->a);
+	
+	arb->e = a->e * b->e;
+	arb->u = a->u * b->u;
+	arb->surface_vr = cpvsub(a->surface_v, b->surface_v);
+	
+	// For collisions between two similar primitive types, the order could have been swapped.
+	arb->private_a = a; arb->private_b = b;
 }
 
 void
 cpArbiterPreStep(cpArbiter *arb, cpFloat dt_inv)
 {
-	cpShape *shapea = arb->a;
-	cpShape *shapeb = arb->b;
-		
-	cpFloat e = shapea->e * shapeb->e;
-	arb->u = shapea->u * shapeb->u;
-	arb->target_v = cpvsub(shapeb->surface_v, shapea->surface_v);
+	cpShape *shapea = arb->private_a;
+	cpShape *shapeb = arb->private_b;
 
 	cpBody *a = shapea->body;
 	cpBody *b = shapeb->body;
@@ -156,59 +191,42 @@ cpArbiterPreStep(cpArbiter *arb, cpFloat dt_inv)
 		con->r1 = cpvsub(con->p, a->p);
 		con->r2 = cpvsub(con->p, b->p);
 		
-		// Calculate the mass normal.
-		cpFloat mass_sum = a->m_inv + b->m_inv;
-		
-		cpFloat r1cn = cpvcross(con->r1, con->n);
-		cpFloat r2cn = cpvcross(con->r2, con->n);
-		cpFloat kn = mass_sum + a->i_inv*r1cn*r1cn + b->i_inv*r2cn*r2cn;
-		con->nMass = 1.0f/kn;
-		
-		// Calculate the mass tangent.
-		cpVect t = cpvperp(con->n);
-		cpFloat r1ct = cpvcross(con->r1, t);
-		cpFloat r2ct = cpvcross(con->r2, t);
-		cpFloat kt = mass_sum + a->i_inv*r1ct*r1ct + b->i_inv*r2ct*r2ct;
-		con->tMass = 1.0f/kt;
+		// Calculate the mass normal and mass tangent.
+		con->nMass = 1.0f/k_scalar(a, b, con->r1, con->r2, con->n);
+		con->tMass = 1.0f/k_scalar(a, b, con->r1, con->r2, cpvperp(con->n));
 				
 		// Calculate the target bias velocity.
 		con->bias = -cp_bias_coef*dt_inv*cpfmin(0.0f, con->dist + cp_collision_slop);
 		con->jBias = 0.0f;
 		
 		// Calculate the target bounce velocity.
-		cpVect v1 = cpvadd(a->v, cpvmult(cpvperp(con->r1), a->w));
-		cpVect v2 = cpvadd(b->v, cpvmult(cpvperp(con->r2), b->w));
-		con->bounce = cpvdot(con->n, cpvsub(v2, v1))*e;
+		con->bounce = normal_relative_velocity(a, b, con->r1, con->r2, con->n)*arb->e;//cpvdot(con->n, cpvsub(v2, v1))*e;
 	}
 }
 
 void
 cpArbiterApplyCachedImpulse(cpArbiter *arb)
 {
-	cpShape *shapea = arb->a;
-	cpShape *shapeb = arb->b;
+	cpShape *shapea = arb->private_a;
+	cpShape *shapeb = arb->private_b;
 		
 	arb->u = shapea->u * shapeb->u;
-	arb->target_v = cpvsub(shapeb->surface_v, shapea->surface_v);
+	arb->surface_vr = cpvsub(shapeb->surface_v, shapea->surface_v);
 
 	cpBody *a = shapea->body;
 	cpBody *b = shapeb->body;
 	
 	for(int i=0; i<arb->numContacts; i++){
 		cpContact *con = &arb->contacts[i];
-		
-		cpVect t = cpvperp(con->n);
-		cpVect j = cpvadd(cpvmult(con->n, con->jnAcc), cpvmult(t, con->jtAcc));
-		cpBodyApplyImpulse(a, cpvneg(j), con->r1);
-		cpBodyApplyImpulse(b, j, con->r2);
+		apply_impulses(a, b, con->r1, con->r2, cpvrotate(con->n, cpv(con->jnAcc, con->jtAcc)));
 	}
 }
 
 void
 cpArbiterApplyImpulse(cpArbiter *arb, cpFloat eCoef)
 {
-	cpBody *a = arb->a->body;
-	cpBody *b = arb->b->body;
+	cpBody *a = arb->private_a->body;
+	cpBody *b = arb->private_b->body;
 
 	for(int i=0; i<arb->numContacts; i++){
 		cpContact *con = &arb->contacts[i];
@@ -228,14 +246,10 @@ cpArbiterApplyImpulse(cpArbiter *arb, cpFloat eCoef)
 		jbn = con->jBias - jbnOld;
 		
 		// Apply the bias impulse.
-		cpVect jb = cpvmult(n, jbn);
-		cpBodyApplyBiasImpulse(a, cpvneg(jb), r1);
-		cpBodyApplyBiasImpulse(b, jb, r2);
+		apply_bias_impulses(a, b, r1, r2, cpvmult(n, jbn));
 
 		// Calculate the relative velocity.
-		cpVect v1 = cpvadd(a->v, cpvmult(cpvperp(r1), a->w));
-		cpVect v2 = cpvadd(b->v, cpvmult(cpvperp(r2), b->w));
-		cpVect vr = cpvsub(v2, v1);
+		cpVect vr = relative_velocity(a, b, r1, r2);
 		cpFloat vrn = cpvdot(vr, n);
 		
 		// Calculate and clamp the normal impulse.
@@ -245,8 +259,7 @@ cpArbiterApplyImpulse(cpArbiter *arb, cpFloat eCoef)
 		jn = con->jnAcc - jnOld;
 		
 		// Calculate the relative tangent velocity.
-		cpVect t = cpvperp(n);
-		cpFloat vrt = cpvdot(cpvadd(vr, arb->target_v), t);
+		cpFloat vrt = cpvdot(cpvadd(vr, arb->surface_vr), cpvperp(n));
 		
 		// Calculate and clamp the friction impulse.
 		cpFloat jtMax = arb->u*con->jnAcc;
@@ -256,8 +269,6 @@ cpArbiterApplyImpulse(cpArbiter *arb, cpFloat eCoef)
 		jt = con->jtAcc - jtOld;
 		
 		// Apply the final impulse.
-		cpVect j = cpvadd(cpvmult(n, jn), cpvmult(t, jt));
-		cpBodyApplyImpulse(a, cpvneg(j), r1);
-		cpBodyApplyImpulse(b, j, r2);
+		apply_impulses(a, b, r1, r2, cpvrotate(n, cpv(jn, jt)));
 	}
 }