chipmunk 4.1.0

data/ext/chipmunk/cpBB.c

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+/* 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 <math.h>
+
+#include "chipmunk.h"
+
+cpVect
+cpBBClampVect(const cpBB bb, const cpVect v)
+{
+	cpFloat x = cpfmin(cpfmax(bb.l, v.x), bb.r);
+	cpFloat y = cpfmin(cpfmax(bb.b, v.y), bb.t);
+	return cpv(x, y);
+}
+
+cpVect
+cpBBWrapVect(const cpBB bb, const cpVect v)
+{
+	cpFloat ix = fabsf(bb.r - bb.l);
+	cpFloat modx = fmodf(v.x - bb.l, ix);
+	cpFloat x = (modx > 0.0f) ? modx : modx + ix;
+	
+	cpFloat iy = fabsf(bb.t - bb.b);
+	cpFloat mody = fmodf(v.y - bb.b, iy);
+	cpFloat y = (mody > 0.0f) ? mody : mody + iy;
+	
+	return cpv(x + bb.l, y + bb.b);
+}

data/ext/chipmunk/cpBB.h

@@ -0,0 +1,53 @@
+/* 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.
+ */
+ 
+typedef struct cpBB{
+	cpFloat l, b, r ,t;
+} cpBB;
+
+static inline cpBB
+cpBBNew(const cpFloat l, const cpFloat b,
+		const cpFloat r, const cpFloat t)
+{
+	cpBB bb = {l, b, r, t};
+	return bb;
+}
+
+static inline int
+cpBBintersects(const cpBB a, const cpBB b)
+{
+	return (a.l<=b.r && b.l<=a.r && a.b<=b.t && b.b<=a.t);
+}
+
+static inline int
+cpBBcontainsBB(const cpBB bb, const cpBB other)
+{
+	return (bb.l < other.l && bb.r > other.r && bb.b < other.b && bb.t > other.t);
+}
+
+static inline int
+cpBBcontainsVect(const cpBB bb, const cpVect v)
+{
+	return (bb.l < v.x && bb.r > v.x && bb.b < v.y && bb.t > v.y);
+}
+
+cpVect cpBBClampVect(const cpBB bb, const cpVect v); // clamps the vector to lie within the bbox
+cpVect cpBBWrapVect(const cpBB bb, const cpVect v); // wrap a vector to a bbox

data/ext/chipmunk/cpBody.c

@@ -0,0 +1,180 @@
+/* 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 <float.h>
+
+#include "chipmunk.h"
+
+cpBody*
+cpBodyAlloc(void)
+{
+	return (cpBody *)malloc(sizeof(cpBody));
+}
+
+cpBody*
+cpBodyInit(cpBody *body, cpFloat m, cpFloat i)
+{
+	body->velocity_func = cpBodyUpdateVelocity;
+	body->position_func = cpBodyUpdatePosition;
+	
+	cpBodySetMass(body, m);
+	cpBodySetMoment(body, i);
+
+	body->p = cpvzero;
+	body->v = cpvzero;
+	body->f = cpvzero;
+	
+	cpBodySetAngle(body, 0.0f);
+	body->w = 0.0f;
+	body->t = 0.0f;
+	
+	body->v_bias = cpvzero;
+	body->w_bias = 0.0f;
+	
+	body->data = NULL;
+//	body->active = 1;
+
+	return body;
+}
+
+cpBody*
+cpBodyNew(cpFloat m, cpFloat i)
+{
+	return cpBodyInit(cpBodyAlloc(), m, i);
+}
+
+void cpBodyDestroy(cpBody *body){}
+
+void
+cpBodyFree(cpBody *body)
+{
+	if(body) cpBodyDestroy(body);
+	free(body);
+}
+
+void
+cpBodySetMass(cpBody *body, cpFloat m)
+{
+	body->m = m;
+	body->m_inv = 1.0f/m;
+}
+
+void
+cpBodySetMoment(cpBody *body, cpFloat i)
+{
+	body->i = i;
+	body->i_inv = 1.0f/i;
+}
+
+void
+cpBodySetAngle(cpBody *body, cpFloat a)
+{
+	body->a = fmod(a, (cpFloat)M_PI*2.0f);
+	body->rot = cpvforangle(a);
+}
+
+void
+cpBodySlew(cpBody *body, cpVect pos, cpFloat dt)
+{
+	cpVect delta = cpvsub(pos, body->p);
+	body->v = cpvmult(delta, 1.0/dt);
+}
+
+void
+cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt)
+{
+	body->v = cpvadd(cpvmult(body->v, damping), cpvmult(cpvadd(gravity, cpvmult(body->f, body->m_inv)), dt));
+	body->w = body->w*damping + body->t*body->i_inv*dt;
+}
+
+void
+cpBodyUpdatePosition(cpBody *body, cpFloat dt)
+{
+	body->p = cpvadd(body->p, cpvmult(cpvadd(body->v, body->v_bias), dt));
+	cpBodySetAngle(body, body->a + (body->w + body->w_bias)*dt);
+	
+	body->v_bias = cpvzero;
+	body->w_bias = 0.0f;
+}
+
+void
+cpBodyResetForces(cpBody *body)
+{
+	body->f = cpvzero;
+	body->t = 0.0f;
+}
+
+void
+cpBodyApplyForce(cpBody *body, cpVect f, cpVect r)
+{
+	body->f = cpvadd(body->f, f);
+	body->t += cpvcross(r, f);
+}
+
+void
+cpDampedSpring(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat rlen, cpFloat k, cpFloat dmp, cpFloat dt)
+{
+	// Calculate the world space anchor coordinates.
+	cpVect r1 = cpvrotate(anchr1, a->rot);
+	cpVect r2 = cpvrotate(anchr2, b->rot);
+	
+	cpVect delta = cpvsub(cpvadd(b->p, r2), cpvadd(a->p, r1));
+	cpFloat dist = cpvlength(delta);
+	cpVect n = dist ? cpvmult(delta, 1.0f/dist) : cpvzero;
+	
+	cpFloat f_spring = (dist - rlen)*k;
+
+	// Calculate the world relative velocities of the anchor points.
+	cpVect v1 = cpvadd(a->v, cpvmult(cpvperp(r1), a->w));
+	cpVect v2 = cpvadd(b->v, cpvmult(cpvperp(r2), b->w));
+	
+	// Calculate the damping force.
+	// This really should be in the impulse solver and can produce problems when using large damping values.
+	cpFloat vrn = cpvdot(cpvsub(v2, v1), n);
+	cpFloat f_damp = vrn*cpfmin(dmp, 1.0f/(dt*(a->m_inv + b->m_inv)));
+	
+	// Apply!
+	cpVect f = cpvmult(n, f_spring + f_damp);
+	cpBodyApplyForce(a, f, r1);
+	cpBodyApplyForce(b, cpvneg(f), r2);
+}
+
+//int
+//cpBodyMarkLowEnergy(cpBody *body, cpFloat dvsq, int max)
+//{
+//	cpFloat ke = body->m*cpvdot(body->v, body->v);
+//	cpFloat re = body->i*body->w*body->w;
+//	
+//	if(ke + re > body->m*dvsq)
+//		body->active = 1;
+//	else if(body->active)
+//		body->active = (body->active + 1)%(max + 1);
+//	else {
+//		body->v = cpvzero;
+//		body->v_bias = cpvzero;
+//		body->w = 0.0f;
+//		body->w_bias = 0.0f;
+//	}
+//	
+//	return body->active;
+//}

data/ext/chipmunk/cpBody.h

@@ -0,0 +1,132 @@
+/* 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.
+ */
+
+struct cpBody;
+typedef void (*cpBodyVelocityFunc)(struct cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt);
+typedef void (*cpBodyPositionFunc)(struct cpBody *body, cpFloat dt);
+
+ 
+typedef struct cpBody{
+	// *** Integration Functions.
+
+	// Function that is called to integrate the body's velocity. (Defaults to cpBodyUpdateVelocity)
+	cpBodyVelocityFunc velocity_func;
+	
+	// Function that is called to integrate the body's position. (Defaults to cpBodyUpdatePosition)
+	cpBodyPositionFunc position_func;
+	
+	// *** Mass Properties
+	
+	// Mass and it's inverse.
+	// Always use cpBodySetMass() whenever changing the mass as these values must agree.
+	cpFloat m, m_inv;
+	
+	// Moment of inertia and it's inverse.
+	// Always use cpBodySetMass() whenever changing the mass as these values must agree.
+	cpFloat i, i_inv;
+	
+	// *** Positional Properties
+	
+	// Linear components of motion (position, velocity, and force)
+	cpVect p, v, f;
+	
+	// Angular components of motion (angle, angular velocity, and torque)
+	// Always use cpBodySetAngle() to set the angle of the body as a and rot must agree.
+	cpFloat a, w, t;
+	
+	// Cached unit length vector representing the angle of the body.
+	// Used for fast vector rotation using cpvrotate().
+	cpVect rot;
+	
+	// *** User Definable Fields
+	
+	// User defined data pointer.
+	void *data;
+	
+	// *** Internally Used Fields
+	
+	// Velocity bias values used when solving penetrations and correcting joints.
+	cpVect v_bias;
+	cpFloat w_bias;
+	
+//	int active;
+} cpBody;
+
+// Basic allocation/destruction functions
+cpBody *cpBodyAlloc(void);
+cpBody *cpBodyInit(cpBody *body, cpFloat m, cpFloat i);
+cpBody *cpBodyNew(cpFloat m, cpFloat i);
+
+void cpBodyDestroy(cpBody *body);
+void cpBodyFree(cpBody *body);
+
+// Setters for some of the special properties (mandatory!)
+void cpBodySetMass(cpBody *body, cpFloat m);
+void cpBodySetMoment(cpBody *body, cpFloat i);
+void cpBodySetAngle(cpBody *body, cpFloat a);
+
+//  Modify the velocity of the body so that it will move to the specified absolute coordinates in the next timestep.
+// Intended for objects that are moved manually with a custom velocity integration function.
+void cpBodySlew(cpBody *body, cpVect pos, cpFloat dt);
+
+// Default Integration functions.
+void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt);
+void cpBodyUpdatePosition(cpBody *body, cpFloat dt);
+
+// Convert body local to world coordinates
+static inline cpVect
+cpBodyLocal2World(cpBody *body, cpVect v)
+{
+	return cpvadd(body->p, cpvrotate(v, body->rot));
+}
+
+// Convert world to body local coordinates
+static inline cpVect
+cpBodyWorld2Local(cpBody *body, cpVect v)
+{
+	return cpvunrotate(cpvsub(v, body->p), body->rot);
+}
+
+// Apply an impulse (in world coordinates) to the body.
+static inline void
+cpBodyApplyImpulse(cpBody *body, cpVect j, cpVect r)
+{
+	body->v = cpvadd(body->v, cpvmult(j, body->m_inv));
+	body->w += body->i_inv*cpvcross(r, j);
+}
+
+// Not intended for external use. Used by cpArbiter.c and cpJoint.c.
+static inline void
+cpBodyApplyBiasImpulse(cpBody *body, cpVect j, cpVect r)
+{
+	body->v_bias = cpvadd(body->v_bias, cpvmult(j, body->m_inv));
+	body->w_bias += body->i_inv*cpvcross(r, j);
+}
+
+// Zero the forces on a body.
+void cpBodyResetForces(cpBody *body);
+// Apply a force (in world coordinates) to a body.
+void cpBodyApplyForce(cpBody *body, cpVect f, cpVect r);
+
+// Apply a damped spring force between two bodies.
+void cpDampedSpring(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat rlen, cpFloat k, cpFloat dmp, cpFloat dt);
+
+//int cpBodyMarkLowEnergy(cpBody *body, cpFloat dvsq, int max);