chipmunk 4.1.0

data/ext/chipmunk/cpPolyShape.c

@@ -0,0 +1,139 @@
+/* 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 "chipmunk.h"
+
+cpPolyShape *
+cpPolyShapeAlloc(void)
+{
+	return (cpPolyShape *)calloc(1, sizeof(cpPolyShape));
+}
+
+static void
+cpPolyShapeTransformVerts(cpPolyShape *poly, cpVect p, cpVect rot)
+{
+	cpVect *src = poly->verts;
+	cpVect *dst = poly->tVerts;
+	
+	for(int i=0; i<poly->numVerts; i++)
+		dst[i] = cpvadd(p, cpvrotate(src[i], rot));
+}
+
+static void
+cpPolyShapeTransformAxes(cpPolyShape *poly, cpVect p, cpVect rot)
+{
+	cpPolyShapeAxis *src = poly->axes;
+	cpPolyShapeAxis *dst = poly->tAxes;
+	
+	for(int i=0; i<poly->numVerts; i++){
+		cpVect n = cpvrotate(src[i].n, rot);
+		dst[i].n = n;
+		dst[i].d = cpvdot(p, n) + src[i].d;
+	}
+}
+
+static cpBB
+cpPolyShapeCacheData(cpShape *shape, cpVect p, cpVect rot)
+{
+	cpPolyShape *poly = (cpPolyShape *)shape;
+	
+	cpFloat l, b, r, t;
+	
+	cpPolyShapeTransformAxes(poly, p, rot);
+	cpPolyShapeTransformVerts(poly, p, rot);
+	
+	cpVect *verts = poly->tVerts;
+	l = r = verts[0].x;
+	b = t = verts[0].y;
+	
+	// TODO do as part of cpPolyShapeTransformVerts?
+	for(int i=1; i<poly->numVerts; i++){
+		cpVect v = verts[i];
+		
+		l = cpfmin(l, v.x);
+		r = cpfmax(r, v.x);
+		
+		b = cpfmin(b, v.y);
+		t = cpfmax(t, v.y);
+	}
+	
+	return cpBBNew(l, b, r, t);
+}
+
+static void
+cpPolyShapeDestroy(cpShape *shape)
+{
+	cpPolyShape *poly = (cpPolyShape *)shape;
+	
+	free(poly->verts);
+	free(poly->tVerts);
+	
+	free(poly->axes);
+	free(poly->tAxes);
+}
+
+static int
+cpPolyShapePointQuery(cpShape *shape, cpVect p){
+	// TODO Check against BB first?
+	return cpPolyShapeContainsVert((cpPolyShape *)shape, p);
+}
+
+static const cpShapeClass polyClass = {
+	CP_POLY_SHAPE,
+	cpPolyShapeCacheData,
+	cpPolyShapeDestroy,
+	cpPolyShapePointQuery,
+};
+
+cpPolyShape *
+cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int numVerts, cpVect *verts, cpVect offset)
+{	
+	poly->numVerts = numVerts;
+
+	poly->verts = (cpVect *)calloc(numVerts, sizeof(cpVect));
+	poly->tVerts = (cpVect *)calloc(numVerts, sizeof(cpVect));
+	poly->axes = (cpPolyShapeAxis *)calloc(numVerts, sizeof(cpPolyShapeAxis));
+	poly->tAxes = (cpPolyShapeAxis *)calloc(numVerts, sizeof(cpPolyShapeAxis));
+	
+	for(int i=0; i<numVerts; i++){
+		cpVect a = cpvadd(offset, verts[i]);
+		cpVect b = cpvadd(offset, verts[(i+1)%numVerts]);
+		cpVect n = cpvnormalize(cpvperp(cpvsub(b, a)));
+
+		poly->verts[i] = a;
+		poly->axes[i].n = n;
+		poly->axes[i].d = cpvdot(n, a);
+	}
+	
+	cpShapeInit((cpShape *)poly, &polyClass, body);
+
+	return poly;
+}
+
+cpShape *
+cpPolyShapeNew(cpBody *body, int numVerts, cpVect *verts, cpVect offset)
+{
+	return (cpShape *)cpPolyShapeInit(cpPolyShapeAlloc(), body, numVerts, verts, offset);
+}

data/ext/chipmunk/cpPolyShape.h

@@ -0,0 +1,92 @@
+/* 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.
+ */
+
+// Axis structure used by cpPolyShape.
+typedef struct cpPolyShapeAxis{
+	// normal
+	cpVect n;
+	// distance from origin
+	cpFloat d;
+} cpPolyShapeAxis;
+
+// Convex polygon shape structure.
+typedef struct cpPolyShape{
+	cpShape shape;
+	
+	// Vertex and axis lists.
+	int numVerts;
+	cpVect *verts;
+	cpPolyShapeAxis *axes;
+
+	// Transformed vertex and axis lists.
+	cpVect *tVerts;
+	cpPolyShapeAxis *tAxes;
+} cpPolyShape;
+
+// Basic allocation functions.
+cpPolyShape *cpPolyShapeAlloc(void);
+cpPolyShape *cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int numVerts, cpVect *verts, cpVect offset);
+cpShape *cpPolyShapeNew(cpBody *body, int numVerts, cpVect *verts, cpVect offset);
+
+// Returns the minimum distance of the polygon to the axis.
+static inline cpFloat
+cpPolyShapeValueOnAxis(const cpPolyShape *poly, const cpVect n, const cpFloat d)
+{
+	cpVect *verts = poly->tVerts;
+	cpFloat min = cpvdot(n, verts[0]);
+	
+	int i;
+	for(i=1; i<poly->numVerts; i++)
+		min = cpfmin(min, cpvdot(n, verts[i]));
+	
+	return min - d;
+}
+
+// Returns true if the polygon contains the vertex.
+static inline int
+cpPolyShapeContainsVert(cpPolyShape *poly, cpVect v)
+{
+	cpPolyShapeAxis *axes = poly->tAxes;
+	
+	int i;
+	for(i=0; i<poly->numVerts; i++){
+		cpFloat dist = cpvdot(axes[i].n, v) - axes[i].d;
+		if(dist > 0.0) return 0;
+	}
+	
+	return 1;
+}
+
+// Same as cpPolyShapeContainsVert() but ignores faces pointing away from the normal.
+static inline int
+cpPolyShapeContainsVertPartial(cpPolyShape *poly, cpVect v, cpVect n)
+{
+	cpPolyShapeAxis *axes = poly->tAxes;
+	
+	int i;
+	for(i=0; i<poly->numVerts; i++){
+		if(cpvdot(axes[i].n, n) < 0.0f) continue;
+		cpFloat dist = cpvdot(axes[i].n, v) - axes[i].d;
+		if(dist > 0.0) return 0;
+	}
+	
+	return 1;
+}

data/ext/chipmunk/cpShape.c

@@ -0,0 +1,244 @@
+/* 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 <stdio.h>
+
+#include "chipmunk.h"
+#include "math.h"
+
+unsigned int SHAPE_ID_COUNTER = 0;
+
+void
+cpResetShapeIdCounter(void)
+{
+	SHAPE_ID_COUNTER = 0;
+}
+
+
+cpShape*
+cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body)
+{
+	shape->klass = klass;
+	
+	shape->id = SHAPE_ID_COUNTER;
+	SHAPE_ID_COUNTER++;
+	
+	assert(body != NULL);
+	shape->body = body;
+	
+	shape->e = 0.0f;
+	shape->u = 0.0f;
+	shape->surface_v = cpvzero;
+	
+	shape->collision_type = 0;
+	shape->group = 0;
+	shape->layers = 0xFFFF;
+	
+	shape->data = NULL;
+	
+	cpShapeCacheBB(shape);
+	
+	return shape;
+}
+
+void
+cpShapeDestroy(cpShape *shape)
+{
+	if(shape->klass->destroy) shape->klass->destroy(shape);
+}
+
+void
+cpShapeFree(cpShape *shape)
+{
+	if(shape) cpShapeDestroy(shape);
+	free(shape);
+}
+
+cpBB
+cpShapeCacheBB(cpShape *shape)
+{
+	cpBody *body = shape->body;
+	
+	shape->bb = shape->klass->cacheData(shape, body->p, body->rot);
+	return shape->bb;
+}
+
+int
+cpShapePointQuery(cpShape *shape, cpVect p){
+	return shape->klass->pointQuery(shape, p);
+}
+
+
+
+cpCircleShape *
+cpCircleShapeAlloc(void)
+{
+	return (cpCircleShape *)calloc(1, sizeof(cpCircleShape));
+}
+
+static inline cpBB
+bbFromCircle(const cpVect c, const cpFloat r)
+{
+	return cpBBNew(c.x-r, c.y-r, c.x+r, c.y+r);
+}
+
+static cpBB
+cpCircleShapeCacheData(cpShape *shape, cpVect p, cpVect rot)
+{
+	cpCircleShape *circle = (cpCircleShape *)shape;
+	
+	circle->tc = cpvadd(p, cpvrotate(circle->c, rot));
+	return bbFromCircle(circle->tc, circle->r);
+}
+
+static int
+cpCircleShapePointQuery(cpShape *shape, cpVect p){
+	cpCircleShape *circle = (cpCircleShape *)shape;
+	
+	cpFloat distSQ = cpvlengthsq(cpvsub(circle->tc, p));
+	return distSQ <= (circle->r*circle->r);
+}
+
+static const cpShapeClass circleClass = {
+	CP_CIRCLE_SHAPE,
+	cpCircleShapeCacheData,
+	NULL,
+	cpCircleShapePointQuery,
+};
+
+cpCircleShape *
+cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset)
+{
+	circle->c = offset;
+	circle->r = radius;
+	
+	cpShapeInit((cpShape *)circle, &circleClass, body);
+	
+	return circle;
+}
+
+cpShape *
+cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset)
+{
+	return (cpShape *)cpCircleShapeInit(cpCircleShapeAlloc(), body, radius, offset);
+}
+
+cpSegmentShape *
+cpSegmentShapeAlloc(void)
+{
+	return (cpSegmentShape *)calloc(1, sizeof(cpSegmentShape));
+}
+
+static cpBB
+cpSegmentShapeCacheData(cpShape *shape, cpVect p, cpVect rot)
+{
+	cpSegmentShape *seg = (cpSegmentShape *)shape;
+	
+	seg->ta = cpvadd(p, cpvrotate(seg->a, rot));
+	seg->tb = cpvadd(p, cpvrotate(seg->b, rot));
+	seg->tn = cpvrotate(seg->n, rot);
+	
+	cpFloat l,r,s,t;
+	
+	if(seg->ta.x < seg->tb.x){
+		l = seg->ta.x;
+		r = seg->tb.x;
+	} else {
+		l = seg->tb.x;
+		r = seg->ta.x;
+	}
+	
+	if(seg->ta.y < seg->tb.y){
+		s = seg->ta.y;
+		t = seg->tb.y;
+	} else {
+		s = seg->tb.y;
+		t = seg->ta.y;
+	}
+	
+	cpFloat rad = seg->r;
+	return cpBBNew(l - rad, s - rad, r + rad, t + rad);
+}
+
+static int
+cpSegmentShapePointQuery(cpShape *shape, cpVect p){
+	cpSegmentShape *seg = (cpSegmentShape *)shape;
+	
+	// Calculate normal distance from segment.
+	cpFloat dn = cpvdot(seg->tn, p) - cpvdot(seg->ta, seg->tn);
+	cpFloat dist = fabs(dn) - seg->r;
+	if(dist > 0.0f) return 0;
+	
+	// Calculate tangential distance along segment.
+	cpFloat dt = -cpvcross(seg->tn, p);
+	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 - seg->r)){
+			return 0;
+		} else {
+			return cpvlengthsq(cpvsub(seg->ta, p)) < (seg->r*seg->r);
+		}
+	} else {
+		if(dt < dtMax){
+			return 1;
+		} else {
+			if(dt < (dtMax + seg->r)) {
+				return cpvlengthsq(cpvsub(seg->tb, p)) < (seg->r*seg->r);
+			} else {
+				return 0;
+			}
+		}
+	}
+	
+	return 1;	
+}
+
+static const cpShapeClass segmentClass = {
+	CP_SEGMENT_SHAPE,
+	cpSegmentShapeCacheData,
+	NULL,
+	cpSegmentShapePointQuery,
+};
+
+cpSegmentShape *
+cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat r)
+{
+	seg->a = a;
+	seg->b = b;
+	seg->n = cpvperp(cpvnormalize(cpvsub(b, a)));
+	
+	seg->r = r;
+	
+	cpShapeInit((cpShape *)seg, &segmentClass, body);
+	
+	return seg;
+}
+
+cpShape*
+cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat r)
+{
+	return (cpShape *)cpSegmentShapeInit(cpSegmentShapeAlloc(), body, a, b, r);
+}

data/ext/chipmunk/cpShape.h

@@ -0,0 +1,141 @@
+/* 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.
+ */
+
+// For determinism, you can reset the shape id counter.
+void cpResetShapeIdCounter(void);
+
+// Enumeration of shape types.
+typedef enum cpShapeType{
+	CP_CIRCLE_SHAPE,
+	CP_SEGMENT_SHAPE,
+	CP_POLY_SHAPE,
+	CP_NUM_SHAPES
+} cpShapeType;
+
+// Forward declarations required for defining the cpShape and cpShapeClass structs.
+struct cpShape;
+struct cpShapeClass;
+
+// Shape class. Holds function pointers and type data.
+typedef struct cpShapeClass {
+	cpShapeType type;
+	
+	// Called by cpShapeCacheBB().
+	cpBB (*cacheData)(struct cpShape *shape, cpVect p, cpVect rot);
+	// Called to by cpShapeDestroy().
+	void (*destroy)(struct cpShape *shape);
+	
+	// called by cpShapeQueryPointQuery().
+	int (*pointQuery)(struct cpShape *shape, cpVect p);
+} cpShapeClass;
+
+// Basic shape struct that the others inherit from.
+typedef struct cpShape{
+	// The "class" of a shape as defined above 
+	const cpShapeClass *klass;
+	
+	// cpBody that the shape is attached to.
+	cpBody *body;
+
+	// Cached BBox for the shape.
+	cpBB bb;
+	
+	// *** Surface properties.
+	
+	// Coefficient of restitution. (elasticity)
+	cpFloat e;
+	// Coefficient of friction.
+	cpFloat u;
+	// Surface velocity used when solving for friction.
+	cpVect surface_v;
+
+	// *** User Definable Fields
+
+	// User defined data pointer for the shape.
+	void *data;
+	
+	// User defined collision type for the shape.
+	unsigned int collision_type;
+	// User defined collision group for the shape.
+	unsigned int group;
+	// User defined layer bitmask for the shape.
+	unsigned int layers;
+	
+	// *** Internally Used Fields
+	
+	// Unique id used as the hash value.
+	unsigned int id;
+} cpShape;
+
+// Low level shape initialization func.
+cpShape* cpShapeInit(cpShape *shape, const struct cpShapeClass *klass, cpBody *body);
+
+// Basic destructor functions. (allocation functions are not shared)
+void cpShapeDestroy(cpShape *shape);
+void cpShapeFree(cpShape *shape);
+
+// Cache the BBox of the shape.
+cpBB cpShapeCacheBB(cpShape *shape);
+
+// Test if a point lies within a shape.
+int cpShapePointQuery(cpShape *shape, cpVect p);
+
+// Test if a segment collides with a shape.
+// Returns [0-1] if the segment collides and -1 otherwise.
+// 0 would be a collision at point a, 1 would be a collision at point b.
+//cpFloat cpShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b);
+
+
+// Circle shape structure.
+typedef struct cpCircleShape{
+	cpShape shape;
+	
+	// Center. (body space coordinates)
+	cpVect c;
+	// Radius.
+	cpFloat r;
+	
+	// Transformed center. (world space coordinates)
+	cpVect tc;
+} cpCircleShape;
+
+// Basic allocation functions for cpCircleShape.
+cpCircleShape *cpCircleShapeAlloc(void);
+cpCircleShape *cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset);
+cpShape *cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset);
+
+// Segment shape structure.
+typedef struct cpSegmentShape{
+	cpShape shape;
+	
+	// Endpoints and normal of the segment. (body space coordinates)
+	cpVect a, b, n;
+	// Radius of the segment. (Thickness)
+	cpFloat r;
+
+	// Transformed endpoints and normal. (world space coordinates)
+	cpVect ta, tb, tn;
+} cpSegmentShape;
+
+// Basic allocation functions for cpSegmentShape.
+cpSegmentShape* cpSegmentShapeAlloc(void);
+cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius);
+cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius);