chipmunk 5.2.2 → 5.3.4.0

data/ext/chipmunk/cpConstraint.c

@@ -1,54 +0,0 @@
-/* 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

@@ -1,106 +0,0 @@
-/* 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

@@ -1,117 +0,0 @@
-/* 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

@@ -1,114 +0,0 @@
-/* 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

@@ -1,138 +0,0 @@
-/* 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);
-}