chipmunk 5.2.2 → 5.3.4.0

data/ext/chipmunk/cpPolyShape.c

@@ -1,241 +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 <stdio.h>
-
-#include "chipmunk.h"
-#include "chipmunk_unsafe.h"
-
-cpPolyShape *
-cpPolyShapeAlloc(void)
-{
-	return (cpPolyShape *)cpcalloc(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;
-	
-	cpfree(poly->verts);
-	cpfree(poly->tVerts);
-	
-	cpfree(poly->axes);
-	cpfree(poly->tAxes);
-}
-
-static int
-cpPolyShapePointQuery(cpShape *shape, cpVect p){
-	return cpBBcontainsVect(shape->bb, p) && cpPolyShapeContainsVert((cpPolyShape *)shape, p);
-}
-
-static void
-cpPolyShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info)
-{
-	cpPolyShape *poly = (cpPolyShape *)shape;
-	cpPolyShapeAxis *axes = poly->tAxes;
-	cpVect *verts = poly->tVerts;
-	int numVerts = poly->numVerts;
-	
-	for(int i=0; i<numVerts; i++){
-		cpVect n = axes[i].n;
-		cpFloat an = cpvdot(a, n);
-		if(axes[i].d > an) continue;
-		
-		cpFloat bn = cpvdot(b, n);
-		cpFloat t = (axes[i].d - an)/(bn - an);
-		if(t < 0.0f || 1.0f < t) continue;
-		
-		cpVect point = cpvlerp(a, b, t);
-		cpFloat dt = -cpvcross(n, point);
-		cpFloat dtMin = -cpvcross(n, verts[i]);
-		cpFloat dtMax = -cpvcross(n, verts[(i+1)%numVerts]);
-		
-		if(dtMin <= dt && dt <= dtMax){
-			info->shape = shape;
-			info->t = t;
-			info->n = n;
-		}
-	}
-}
-
-static const cpShapeClass polyClass = {
-	CP_POLY_SHAPE,
-	cpPolyShapeCacheData,
-	cpPolyShapeDestroy,
-	cpPolyShapePointQuery,
-	cpPolyShapeSegmentQuery,
-};
-
-int
-cpPolyValidate(cpVect *verts, int numVerts)
-{
-	for(int i=0; i<numVerts; i++){
-		cpVect a = verts[i];
-		cpVect b = verts[(i+1)%numVerts];
-		cpVect c = verts[(i+2)%numVerts];
-		
-		if(cpvcross(cpvsub(b, a), cpvsub(c, b)) > 0.0f)
-			return 0;
-	}
-	
-	return 1;
-}
-
-int
-cpPolyShapeGetNumVerts(cpShape *shape)
-{
-	cpAssert(shape->klass == &polyClass, "Shape is not a poly shape.");
-	return ((cpPolyShape *)shape)->numVerts;
-}
-
-cpVect
-cpPolyShapeGetVert(cpShape *shape, int idx)
-{
-	cpAssert(shape->klass == &polyClass, "Shape is not a poly shape.");
-	cpAssert(0 <= idx && idx < cpPolyShapeGetNumVerts(shape), "Index out of range.");
-	
-	return ((cpPolyShape *)shape)->verts[idx];
-}
-
-
-static void
-setUpVerts(cpPolyShape *poly, int numVerts, cpVect *verts, cpVect offset)
-{
-	poly->numVerts = numVerts;
-
-	poly->verts = (cpVect *)cpcalloc(numVerts, sizeof(cpVect));
-	poly->tVerts = (cpVect *)cpcalloc(numVerts, sizeof(cpVect));
-	poly->axes = (cpPolyShapeAxis *)cpcalloc(numVerts, sizeof(cpPolyShapeAxis));
-	poly->tAxes = (cpPolyShapeAxis *)cpcalloc(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);
-	}
-}
-
-cpPolyShape *
-cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int numVerts, cpVect *verts, cpVect offset)
-{
-	// Fail if the user attempts to pass a concave poly, or a bad winding.
-	cpAssert(cpPolyValidate(verts, numVerts), "Polygon is concave or has a reversed winding.");
-	
-	setUpVerts(poly, numVerts, verts, offset);
-	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);
-}
-
-cpPolyShape *
-cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height)
-{
-	cpFloat hw = width/2.0;
-	cpFloat hh = height/2.0;
-	
-	cpVect verts[] = {
-		cpv(-hw,-hh),
-		cpv(-hw, hh),
-		cpv( hw, hh),
-		cpv( hw,-hh),
-	};
-	
-	return cpPolyShapeInit(poly, body, 4, verts, cpvzero);
-}
-
-cpShape *
-cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height)
-{
-	return (cpShape *)cpBoxShapeInit(cpPolyShapeAlloc(), body, width, height);
-}
-
-// Unsafe API (chipmunk_unsafe.h)
-
-void
-cpPolyShapeSetVerts(cpShape *shape, int numVerts, cpVect *verts, cpVect offset)
-{
-	cpAssert(shape->klass == &polyClass, "Shape is not a poly shape.");
-	cpPolyShapeDestroy(shape);
-	setUpVerts((cpPolyShape *)shape, numVerts, verts, offset);
-}

data/ext/chipmunk/cpRatchetJoint.c

@@ -1,128 +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 <stdio.h>
-#include <stdlib.h>
-#include <math.h>
-
-#include "chipmunk.h"
-#include "constraints/util.h"
-
-static void
-preStep(cpRatchetJoint *joint, cpFloat dt, cpFloat dt_inv)
-{
-	cpBody *a = joint->constraint.a;
-	cpBody *b = joint->constraint.b;
-	
-	cpFloat angle = joint->angle;
-	cpFloat phase = joint->phase;
-	cpFloat ratchet = joint->ratchet;
-	
-	cpFloat delta = b->a - a->a;
-	cpFloat diff = angle - delta;
-	cpFloat pdist = 0.0f;
-	
-	if(diff*ratchet > 0.0f){
-		pdist = diff;
-	} else {
-		joint->angle = cpffloor((delta - phase)/ratchet)*ratchet + phase;
-	}
-	
-	// calculate moment of inertia coefficient.
-	joint->iSum = 1.0f/(a->i_inv + b->i_inv);
-	
-	// calculate bias velocity
-	cpFloat maxBias = joint->constraint.maxBias;
-	joint->bias = cpfclamp(-joint->constraint.biasCoef*dt_inv*pdist, -maxBias, maxBias);
-	
-	// compute max impulse
-	joint->jMax = J_MAX(joint, dt);
-
-	// If the bias is 0, the joint is not at a limit. Reset the impulse.
-	if(!joint->bias)
-		joint->jAcc = 0.0f;
-
-	// apply joint torque
-	a->w -= joint->jAcc*a->i_inv;
-	b->w += joint->jAcc*b->i_inv;
-}
-
-static void
-applyImpulse(cpRatchetJoint *joint)
-{
-	if(!joint->bias) return; // early exit
-
-	cpBody *a = joint->constraint.a;
-	cpBody *b = joint->constraint.b;
-	
-	// compute relative rotational velocity
-	cpFloat wr = b->w - a->w;
-	cpFloat ratchet = joint->ratchet;
-	
-	// compute normal impulse	
-	cpFloat j = -(joint->bias + wr)*joint->iSum;
-	cpFloat jOld = joint->jAcc;
-	joint->jAcc = cpfclamp((jOld + j)*ratchet, 0.0f, joint->jMax*cpfabs(ratchet))/ratchet;
-	j = joint->jAcc - jOld;
-	
-	// apply impulse
-	a->w -= j*a->i_inv;
-	b->w += j*b->i_inv;
-}
-
-static cpFloat
-getImpulse(cpRatchetJoint *joint)
-{
-	return cpfabs(joint->jAcc);
-}
-
-static const cpConstraintClass klass = {
-	(cpConstraintPreStepFunction)preStep,
-	(cpConstraintApplyImpulseFunction)applyImpulse,
-	(cpConstraintGetImpulseFunction)getImpulse,
-};
-CP_DefineClassGetter(cpRatchetJoint)
-
-cpRatchetJoint *
-cpRatchetJointAlloc(void)
-{
-	return (cpRatchetJoint *)cpmalloc(sizeof(cpRatchetJoint));
-}
-
-cpRatchetJoint *
-cpRatchetJointInit(cpRatchetJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet)
-{
-	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
-	
-	joint->angle = 0.0f;
-	joint->phase = phase;
-	joint->ratchet = ratchet;
-	
-	joint->angle = b->a - a->a;
-	
-	return joint;
-}
-
-cpConstraint *
-cpRatchetJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet)
-{
-	return (cpConstraint *)cpRatchetJointInit(cpRatchetJointAlloc(), a, b, phase, ratchet);
-}

data/ext/chipmunk/cpRotaryLimitJoint.c

@@ -1,122 +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(cpRotaryLimitJoint *joint, cpFloat dt, cpFloat dt_inv)
-{
-	cpBody *a = joint->constraint.a;
-	cpBody *b = joint->constraint.b;
-	
-	cpFloat dist = b->a - a->a;
-	cpFloat pdist = 0.0f;
-	if(dist > joint->max) {
-		pdist = joint->max - dist;
-	} else if(dist < joint->min) {
-		pdist = joint->min - dist;
-	}
-	
-	// calculate moment of inertia coefficient.
-	joint->iSum = 1.0f/(a->i_inv + b->i_inv);
-	
-	// calculate bias velocity
-	cpFloat maxBias = joint->constraint.maxBias;
-	joint->bias = cpfclamp(-joint->constraint.biasCoef*dt_inv*(pdist), -maxBias, maxBias);
-	
-	// compute max impulse
-	joint->jMax = J_MAX(joint, dt);
-
-	// If the bias is 0, the joint is not at a limit. Reset the impulse.
-	if(!joint->bias)
-		joint->jAcc = 0.0f;
-
-	// apply joint torque
-	a->w -= joint->jAcc*a->i_inv;
-	b->w += joint->jAcc*b->i_inv;
-}
-
-static void
-applyImpulse(cpRotaryLimitJoint *joint)
-{
-	if(!joint->bias) return; // early exit
-
-	cpBody *a = joint->constraint.a;
-	cpBody *b = joint->constraint.b;
-	
-	// compute relative rotational velocity
-	cpFloat wr = b->w - a->w;
-	
-	// compute normal impulse	
-	cpFloat j = -(joint->bias + wr)*joint->iSum;
-	cpFloat jOld = joint->jAcc;
-	if(joint->bias < 0.0f){
-		joint->jAcc = cpfclamp(jOld + j, 0.0f, joint->jMax);
-	} else {
-		joint->jAcc = cpfclamp(jOld + j, -joint->jMax, 0.0f);
-	}
-	j = joint->jAcc - jOld;
-	
-	// apply impulse
-	a->w -= j*a->i_inv;
-	b->w += j*b->i_inv;
-}
-
-static cpFloat
-getImpulse(cpRotaryLimitJoint *joint)
-{
-	return cpfabs(joint->jAcc);
-}
-
-static const cpConstraintClass klass = {
-	(cpConstraintPreStepFunction)preStep,
-	(cpConstraintApplyImpulseFunction)applyImpulse,
-	(cpConstraintGetImpulseFunction)getImpulse,
-};
-CP_DefineClassGetter(cpRotaryLimitJoint)
-
-cpRotaryLimitJoint *
-cpRotaryLimitJointAlloc(void)
-{
-	return (cpRotaryLimitJoint *)cpmalloc(sizeof(cpRotaryLimitJoint));
-}
-
-cpRotaryLimitJoint *
-cpRotaryLimitJointInit(cpRotaryLimitJoint *joint, cpBody *a, cpBody *b, cpFloat min, cpFloat max)
-{
-	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
-	
-	joint->min = min;
-	joint->max  = max;
-	
-	joint->jAcc = 0.0f;
-	
-	return joint;
-}
-
-cpConstraint *
-cpRotaryLimitJointNew(cpBody *a, cpBody *b, cpFloat min, cpFloat max)
-{
-	return (cpConstraint *)cpRotaryLimitJointInit(cpRotaryLimitJointAlloc(), a, b, min, max);
-}