chipmunk 4.1.0 → 5.2.0

data/ext/chipmunk/cpConstraint.c

@@ -0,0 +1,54 @@
+/* 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 "chipmunk.h"
+#include "constraints/util.h"
+
+// TODO: Comment me!
+
+cpFloat cp_constraint_bias_coef = 0.1f;
+
+void cpConstraintDestroy(cpConstraint *constraint){}
+
+void
+cpConstraintFree(cpConstraint *constraint)
+{
+	if(constraint){
+		cpConstraintDestroy(constraint);
+		cpfree(constraint);
+	}
+}
+
+// *** defined in util.h
+
+void
+cpConstraintInit(cpConstraint *constraint, const cpConstraintClass *klass, cpBody *a, cpBody *b)
+{
+	constraint->klass = klass;
+	constraint->a = a;
+	constraint->b = b;
+	
+	constraint->maxForce = (cpFloat)INFINITY;
+	constraint->biasCoef = cp_constraint_bias_coef;
+	constraint->maxBias = (cpFloat)INFINITY;
+}

data/ext/chipmunk/cpDampedRotarySpring.c

@@ -0,0 +1,106 @@
+/* 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 "chipmunk.h"
+#include "constraints/util.h"
+
+static cpFloat
+defaultSpringTorque(cpDampedRotarySpring *spring, cpFloat relativeAngle){
+	return (relativeAngle - spring->restAngle)*spring->stiffness;
+}
+
+static void
+preStep(cpDampedRotarySpring *spring, cpFloat dt, cpFloat dt_inv)
+{
+	cpBody *a = spring->constraint.a;
+	cpBody *b = spring->constraint.b;
+	
+	spring->iSum = 1.0f/(a->i_inv + b->i_inv);
+
+	spring->dt = dt;
+	spring->target_wrn = 0.0f;
+
+	// apply spring torque
+	cpFloat j_spring = spring->springTorqueFunc((cpConstraint *)spring, a->a - b->a)*dt;
+	a->w -= j_spring*a->i_inv;
+	b->w += j_spring*b->i_inv;
+}
+
+static void
+applyImpulse(cpDampedRotarySpring *spring)
+{
+	cpBody *a = spring->constraint.a;
+	cpBody *b = spring->constraint.b;
+	
+	// compute relative velocity
+	cpFloat wrn = a->w - b->w;//normal_relative_velocity(a, b, r1, r2, n) - spring->target_vrn;
+	
+	// compute velocity loss from drag
+	// not 100% certain this is derived correctly, though it makes sense
+	cpFloat w_damp = wrn*(1.0f - cpfexp(-spring->damping*spring->dt/spring->iSum));
+	spring->target_wrn = wrn - w_damp;
+	
+	//apply_impulses(a, b, spring->r1, spring->r2, cpvmult(spring->n, v_damp*spring->nMass));
+	cpFloat j_damp = w_damp*spring->iSum;
+	a->w -= j_damp*a->i_inv;
+	b->w += j_damp*b->i_inv;
+}
+
+static cpFloat
+getImpulse(cpConstraint *constraint)
+{
+	return 0.0f;
+}
+
+static const cpConstraintClass klass = {
+	(cpConstraintPreStepFunction)preStep,
+	(cpConstraintApplyImpulseFunction)applyImpulse,
+	(cpConstraintGetImpulseFunction)getImpulse,
+};
+CP_DefineClassGetter(cpDampedRotarySpring)
+
+cpDampedRotarySpring *
+cpDampedRotarySpringAlloc(void)
+{
+	return (cpDampedRotarySpring *)cpmalloc(sizeof(cpDampedRotarySpring));
+}
+
+cpDampedRotarySpring *
+cpDampedRotarySpringInit(cpDampedRotarySpring *spring, cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping)
+{
+	cpConstraintInit((cpConstraint *)spring, &klass, a, b);
+	
+	spring->restAngle = restAngle;
+	spring->stiffness = stiffness;
+	spring->damping = damping;
+	spring->springTorqueFunc = (cpDampedRotarySpringTorqueFunc)defaultSpringTorque;
+	
+	return spring;
+}
+
+cpConstraint *
+cpDampedRotarySpringNew(cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping)
+{
+	return (cpConstraint *)cpDampedRotarySpringInit(cpDampedRotarySpringAlloc(), a, b, restAngle, stiffness, damping);
+}

data/ext/chipmunk/cpDampedSpring.c

@@ -0,0 +1,117 @@
+/* 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 "chipmunk.h"
+#include "constraints/util.h"
+
+static cpFloat
+defaultSpringForce(cpDampedSpring *spring, cpFloat dist){
+	return (spring->restLength - dist)*spring->stiffness;
+}
+
+static void
+preStep(cpDampedSpring *spring, cpFloat dt, cpFloat dt_inv)
+{
+	cpBody *a = spring->constraint.a;
+	cpBody *b = spring->constraint.b;
+	
+	spring->r1 = cpvrotate(spring->anchr1, a->rot);
+	spring->r2 = cpvrotate(spring->anchr2, b->rot);
+	
+	cpVect delta = cpvsub(cpvadd(b->p, spring->r2), cpvadd(a->p, spring->r1));
+	cpFloat dist = cpvlength(delta);
+	spring->n = cpvmult(delta, 1.0f/(dist ? dist : INFINITY));
+	
+	// calculate mass normal
+	spring->nMass = 1.0f/k_scalar(a, b, spring->r1, spring->r2, spring->n);
+
+	spring->dt = dt;
+	spring->target_vrn = 0.0f;
+
+	// apply spring force
+	cpFloat f_spring = spring->springForceFunc((cpConstraint *)spring, dist);
+	apply_impulses(a, b, spring->r1, spring->r2, cpvmult(spring->n, f_spring*dt));
+}
+
+static void
+applyImpulse(cpDampedSpring *spring)
+{
+	cpBody *a = spring->constraint.a;
+	cpBody *b = spring->constraint.b;
+	
+	cpVect n = spring->n;
+	cpVect r1 = spring->r1;
+	cpVect r2 = spring->r2;
+
+	// compute relative velocity
+	cpFloat vrn = normal_relative_velocity(a, b, r1, r2, n) - spring->target_vrn;
+	
+	// compute velocity loss from drag
+	// not 100% certain this is derived correctly, though it makes sense
+	cpFloat v_damp = -vrn*(1.0f - cpfexp(-spring->damping*spring->dt/spring->nMass));
+	spring->target_vrn = vrn + v_damp;
+	
+	apply_impulses(a, b, spring->r1, spring->r2, cpvmult(spring->n, v_damp*spring->nMass));
+}
+
+static cpFloat
+getImpulse(cpConstraint *constraint)
+{
+	return 0.0f;
+}
+
+static const cpConstraintClass klass = {
+	(cpConstraintPreStepFunction)preStep,
+	(cpConstraintApplyImpulseFunction)applyImpulse,
+	(cpConstraintGetImpulseFunction)getImpulse,
+};
+CP_DefineClassGetter(cpDampedSpring)
+
+cpDampedSpring *
+cpDampedSpringAlloc(void)
+{
+	return (cpDampedSpring *)cpmalloc(sizeof(cpDampedSpring));
+}
+
+cpDampedSpring *
+cpDampedSpringInit(cpDampedSpring *spring, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping)
+{
+	cpConstraintInit((cpConstraint *)spring, cpDampedSpringGetClass(), a, b);
+	
+	spring->anchr1 = anchr1;
+	spring->anchr2 = anchr2;
+	
+	spring->restLength = restLength;
+	spring->stiffness = stiffness;
+	spring->damping = damping;
+	spring->springForceFunc = (cpDampedSpringForceFunc)defaultSpringForce;
+	
+	return spring;
+}
+
+cpConstraint *
+cpDampedSpringNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping)
+{
+	return (cpConstraint *)cpDampedSpringInit(cpDampedSpringAlloc(), a, b, anchr1, anchr2, restLength, stiffness, damping);
+}

data/ext/chipmunk/cpGearJoint.c

@@ -0,0 +1,114 @@
+/* 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 "chipmunk.h"
+#include "constraints/util.h"
+
+static void
+preStep(cpGearJoint *joint, cpFloat dt, cpFloat dt_inv)
+{
+	cpBody *a = joint->constraint.a;
+	cpBody *b = joint->constraint.b;
+	
+	// calculate moment of inertia coefficient.
+	joint->iSum = 1.0f/(a->i_inv*joint->ratio_inv + joint->ratio*b->i_inv);
+	
+	// calculate bias velocity
+	cpFloat maxBias = joint->constraint.maxBias;
+	joint->bias = cpfclamp(-joint->constraint.biasCoef*dt_inv*(b->a*joint->ratio - a->a - joint->phase), -maxBias, maxBias);
+	
+	// compute max impulse
+	joint->jMax = J_MAX(joint, dt);
+
+	// apply joint torque
+	cpFloat j = joint->jAcc;
+	a->w -= j*a->i_inv*joint->ratio_inv;
+	b->w += j*b->i_inv;
+}
+
+static void
+applyImpulse(cpGearJoint *joint)
+{
+	cpBody *a = joint->constraint.a;
+	cpBody *b = joint->constraint.b;
+	
+	// compute relative rotational velocity
+	cpFloat wr = b->w*joint->ratio - a->w;
+	
+	// compute normal impulse	
+	cpFloat j = (joint->bias - wr)*joint->iSum;
+	cpFloat jOld = joint->jAcc;
+	joint->jAcc = cpfclamp(jOld + j, -joint->jMax, joint->jMax);
+	j = joint->jAcc - jOld;
+	
+	// apply impulse
+	a->w -= j*a->i_inv*joint->ratio_inv;
+	b->w += j*b->i_inv;
+}
+
+static cpFloat
+getImpulse(cpGearJoint *joint)
+{
+	return cpfabs(joint->jAcc);
+}
+
+static const cpConstraintClass klass = {
+	(cpConstraintPreStepFunction)preStep,
+	(cpConstraintApplyImpulseFunction)applyImpulse,
+	(cpConstraintGetImpulseFunction)getImpulse,
+};
+CP_DefineClassGetter(cpGearJoint)
+
+cpGearJoint *
+cpGearJointAlloc(void)
+{
+	return (cpGearJoint *)cpmalloc(sizeof(cpGearJoint));
+}
+
+cpGearJoint *
+cpGearJointInit(cpGearJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio)
+{
+	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
+	
+	joint->phase = phase;
+	joint->ratio = ratio;
+	joint->ratio_inv = 1.0f/ratio;
+	
+	joint->jAcc = 0.0f;
+	
+	return joint;
+}
+
+cpConstraint *
+cpGearJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio)
+{
+	return (cpConstraint *)cpGearJointInit(cpGearJointAlloc(), a, b, phase, ratio);
+}
+
+void
+cpGearJointSetRatio(cpConstraint *constraint, cpFloat value)
+{
+	cpConstraintCheckCast(constraint, cpGearJoint);
+	((cpGearJoint *)constraint)->ratio = value;
+	((cpGearJoint *)constraint)->ratio_inv = 1.0f/value;
+}

data/ext/chipmunk/cpGrooveJoint.c

@@ -0,0 +1,138 @@
+/* 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 "chipmunk.h"
+#include "constraints/util.h"
+
+static void
+preStep(cpGrooveJoint *joint, cpFloat dt, cpFloat dt_inv)
+{
+	cpBody *a = joint->constraint.a;
+	cpBody *b = joint->constraint.b;
+	
+	// calculate endpoints in worldspace
+	cpVect ta = cpBodyLocal2World(a, joint->grv_a);
+	cpVect tb = cpBodyLocal2World(a, joint->grv_b);
+
+	// calculate axis
+	cpVect n = cpvrotate(joint->grv_n, a->rot);
+	cpFloat d = cpvdot(ta, n);
+	
+	joint->grv_tn = n;
+	joint->r2 = cpvrotate(joint->anchr2, b->rot);
+	
+	// calculate tangential distance along the axis of r2
+	cpFloat td = cpvcross(cpvadd(b->p, joint->r2), n);
+	// calculate clamping factor and r2
+	if(td <= cpvcross(ta, n)){
+		joint->clamp = 1.0f;
+		joint->r1 = cpvsub(ta, a->p);
+	} else if(td >= cpvcross(tb, n)){
+		joint->clamp = -1.0f;
+		joint->r1 = cpvsub(tb, a->p);
+	} else {
+		joint->clamp = 0.0f;
+		joint->r1 = cpvsub(cpvadd(cpvmult(cpvperp(n), -td), cpvmult(n, d)), a->p);
+	}
+	
+	// Calculate mass tensor
+	k_tensor(a, b, joint->r1, joint->r2, &joint->k1, &joint->k2);	
+	
+	// compute max impulse
+	joint->jMaxLen = J_MAX(joint, dt);
+	
+	// calculate bias velocity
+	cpVect delta = cpvsub(cpvadd(b->p, joint->r2), cpvadd(a->p, joint->r1));
+	joint->bias = cpvclamp(cpvmult(delta, -joint->constraint.biasCoef*dt_inv), joint->constraint.maxBias);
+	
+	// apply accumulated impulse
+	apply_impulses(a, b, joint->r1, joint->r2, joint->jAcc);
+}
+
+static inline cpVect
+grooveConstrain(cpGrooveJoint *joint, cpVect j){
+	cpVect n = joint->grv_tn;
+	cpVect jClamp = (joint->clamp*cpvcross(j, n) > 0.0f) ? j : cpvproject(j, n);
+	return cpvclamp(jClamp, joint->jMaxLen);
+}
+
+static void
+applyImpulse(cpGrooveJoint *joint)
+{
+	cpBody *a = joint->constraint.a;
+	cpBody *b = joint->constraint.b;
+	
+	cpVect r1 = joint->r1;
+	cpVect r2 = joint->r2;
+	
+	// compute impulse
+	cpVect vr = relative_velocity(a, b, r1, r2);
+
+	cpVect j = mult_k(cpvsub(joint->bias, vr), joint->k1, joint->k2);
+	cpVect jOld = joint->jAcc;
+	joint->jAcc = grooveConstrain(joint, cpvadd(jOld, j));
+	j = cpvsub(joint->jAcc, jOld);
+	
+	// apply impulse
+	apply_impulses(a, b, joint->r1, joint->r2, j);
+}
+
+static cpFloat
+getImpulse(cpGrooveJoint *joint)
+{
+	return cpvlength(joint->jAcc);
+}
+
+static const cpConstraintClass klass = {
+	(cpConstraintPreStepFunction)preStep,
+	(cpConstraintApplyImpulseFunction)applyImpulse,
+	(cpConstraintGetImpulseFunction)getImpulse,
+};
+CP_DefineClassGetter(cpGrooveJoint)
+
+cpGrooveJoint *
+cpGrooveJointAlloc(void)
+{
+	return (cpGrooveJoint *)cpmalloc(sizeof(cpGrooveJoint));
+}
+
+cpGrooveJoint *
+cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2)
+{
+	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
+	
+	joint->grv_a = groove_a;
+	joint->grv_b = groove_b;
+	joint->grv_n = cpvperp(cpvnormalize(cpvsub(groove_b, groove_a)));
+	joint->anchr2 = anchr2;
+	
+	joint->jAcc = cpvzero;
+	
+	return joint;
+}
+
+cpConstraint *
+cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2)
+{
+	return (cpConstraint *)cpGrooveJointInit(cpGrooveJointAlloc(), a, b, groove_a, groove_b, anchr2);
+}