chipmunk 5.2.2 → 5.3.4.0

data/ext/chipmunk/cpShape.c

@@ -1,400 +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 <math.h>
-
-#include "chipmunk.h"
-#include "chipmunk_unsafe.h"
-
-#define CP_DefineShapeGetter(struct, type, member, name) \
-CP_DeclareShapeGetter(struct, type, name){ \
-	cpAssert(shape->klass == &struct##Class, "shape is not a "#struct); \
-	return ((struct *)shape)->member; \
-}
-cpHashValue SHAPE_ID_COUNTER = 0;
-
-void
-cpResetShapeIdCounter(void)
-{
-	SHAPE_ID_COUNTER = 0;
-}
-
-
-cpShape*
-cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body)
-{
-	shape->klass = klass;
-	
-	shape->hashid = SHAPE_ID_COUNTER;
-	SHAPE_ID_COUNTER++;
-	
-	shape->body = body;
-	shape->sensor = 0;
-	
-	shape->e = 0.0f;
-	shape->u = 0.0f;
-	shape->surface_v = cpvzero;
-	
-	shape->collision_type = 0;
-	shape->group = CP_NO_GROUP;
-	shape->layers = CP_ALL_LAYERS;
-	
-	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);
-		cpfree(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);
-}
-
-int
-cpShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info){
-	cpSegmentQueryInfo blank = {NULL, 0.0f, cpvzero};
-	(*info) = blank;
-	
-	shape->klass->segmentQuery(shape, a, b, info);
-	return (info->shape != NULL);
-}
-
-void
-cpSegmentQueryInfoPrint(cpSegmentQueryInfo *info)
-{
-	printf("Segment Query:\n");
-	printf("\tt: %f\n", info->t);
-//	printf("\tdist: %f\n", info->dist);
-//	printf("\tpoint: %s\n", cpvstr(info->point));
-	printf("\tn: %s\n", cpvstr(info->n));
-}
-
-
-
-
-cpCircleShape *
-cpCircleShapeAlloc(void)
-{
-	return (cpCircleShape *)cpcalloc(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;
-	return cpvnear(circle->tc, p, circle->r);
-}
-
-static void
-circleSegmentQuery(cpShape *shape, cpVect center, cpFloat r, cpVect a, cpVect b, cpSegmentQueryInfo *info)
-{
-	// umm... gross I normally frown upon such things
-	a = cpvsub(a, center);
-	b = cpvsub(b, center);
-	
-	cpFloat qa = cpvdot(a, a) - 2.0f*cpvdot(a, b) + cpvdot(b, b);
-	cpFloat qb = -2.0f*cpvdot(a, a) + 2.0f*cpvdot(a, b);
-	cpFloat qc = cpvdot(a, a) - r*r;
-	
-	cpFloat det = qb*qb - 4.0f*qa*qc;
-	
-	if(det >= 0.0f){
-		cpFloat t = (-qb - cpfsqrt(det))/(2.0f*qa);
-		if(0.0f<= t && t <= 1.0f){
-			info->shape = shape;
-			info->t = t;
-			info->n = cpvnormalize(cpvlerp(a, b, t));
-		}
-	}
-}
-
-static void
-cpCircleShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info)
-{
-	cpCircleShape *circle = (cpCircleShape *)shape;
-	circleSegmentQuery(shape, circle->tc, circle->r, a, b, info);
-}
-
-static const cpShapeClass cpCircleShapeClass = {
-	CP_CIRCLE_SHAPE,
-	cpCircleShapeCacheData,
-	NULL,
-	cpCircleShapePointQuery,
-	cpCircleShapeSegmentQuery,
-};
-
-cpCircleShape *
-cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset)
-{
-	circle->c = offset;
-	circle->r = radius;
-	
-	cpShapeInit((cpShape *)circle, &cpCircleShapeClass, body);
-	
-	return circle;
-}
-
-cpShape *
-cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset)
-{
-	return (cpShape *)cpCircleShapeInit(cpCircleShapeAlloc(), body, radius, offset);
-}
-
-CP_DefineShapeGetter(cpCircleShape, cpVect, c, Offset)
-CP_DefineShapeGetter(cpCircleShape, cpFloat, r, Radius)
-
-cpSegmentShape *
-cpSegmentShapeAlloc(void)
-{
-	return (cpSegmentShape *)cpcalloc(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){
-	if(!cpBBcontainsVect(shape->bb, p)) return 0;
-	
-	cpSegmentShape *seg = (cpSegmentShape *)shape;
-	
-	// Calculate normal distance from segment.
-	cpFloat dn = cpvdot(seg->tn, p) - cpvdot(seg->ta, seg->tn);
-	cpFloat dist = cpfabs(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 void
-cpSegmentShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info)
-{
-	cpSegmentShape *seg = (cpSegmentShape *)shape;
-	cpVect n = seg->tn;
-	// flip n if a is behind the axis
-	if(cpvdot(a, n) < cpvdot(seg->ta, n))
-		n = cpvneg(n);
-	
-	cpFloat an = cpvdot(a, n);
-	cpFloat bn = cpvdot(b, n);
-	cpFloat d = cpvdot(seg->ta, n) + seg->r;
-	
-	cpFloat t = (d - an)/(bn - an);
-	if(0.0f < t && t < 1.0f){
-		cpVect point = cpvlerp(a, b, t);
-		cpFloat dt = -cpvcross(seg->tn, point);
-		cpFloat dtMin = -cpvcross(seg->tn, seg->ta);
-		cpFloat dtMax = -cpvcross(seg->tn, seg->tb);
-		
-		if(dtMin < dt && dt < dtMax){
-			info->shape = shape;
-			info->t = t;
-			info->n = n;
-			
-			return; // don't continue on and check endcaps
-		}
-	}
-	
-	if(seg->r) {
-		cpSegmentQueryInfo info1; info1.shape = NULL;
-		cpSegmentQueryInfo info2; info2.shape = NULL;
-		circleSegmentQuery(shape, seg->ta, seg->r, a, b, &info1);
-		circleSegmentQuery(shape, seg->tb, seg->r, a, b, &info2);
-		
-		if(info1.shape && !info2.shape){
-			(*info) = info1;
-		} else if(info2.shape && !info1.shape){
-			(*info) = info2;
-		} else if(info1.shape && info2.shape){
-			if(info1.t < info2.t){
-				(*info) = info1;
-			} else {
-				(*info) = info2;
-			}
-		}
-	}
-}
-
-static const cpShapeClass cpSegmentShapeClass = {
-	CP_SEGMENT_SHAPE,
-	cpSegmentShapeCacheData,
-	NULL,
-	cpSegmentShapePointQuery,
-	cpSegmentShapeSegmentQuery,
-};
-
-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, &cpSegmentShapeClass, body);
-	
-	return seg;
-}
-
-cpShape*
-cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat r)
-{
-	return (cpShape *)cpSegmentShapeInit(cpSegmentShapeAlloc(), body, a, b, r);
-}
-
-CP_DefineShapeGetter(cpSegmentShape, cpVect, a, A)
-CP_DefineShapeGetter(cpSegmentShape, cpVect, b, B)
-CP_DefineShapeGetter(cpSegmentShape, cpVect, n, Normal)
-CP_DefineShapeGetter(cpSegmentShape, cpFloat, r, Radius)
-
-// Unsafe API (chipmunk_unsafe.h)
-
-void
-cpCircleShapeSetRadius(cpShape *shape, cpFloat radius)
-{
-	cpAssert(shape->klass == &cpCircleShapeClass, "Shape is not a circle shape.");
-	cpCircleShape *circle = (cpCircleShape *)shape;
-	
-	circle->r = radius;
-}
-
-void
-cpCircleShapeSetOffset(cpShape *shape, cpVect offset)
-{
-	cpAssert(shape->klass == &cpCircleShapeClass, "Shape is not a circle shape.");
-	cpCircleShape *circle = (cpCircleShape *)shape;
-	
-	circle->c = offset;
-}
-
-void
-cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b)
-{
-	cpAssert(shape->klass == &cpSegmentShapeClass, "Shape is not a segment shape.");
-	cpSegmentShape *seg = (cpSegmentShape *)shape;
-	
-	seg->a = a;
-	seg->b = b;
-	seg->n = cpvperp(cpvnormalize(cpvsub(b, a)));
-}
-
-void
-cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius)
-{
-	cpAssert(shape->klass == &cpSegmentShapeClass, "Shape is not a segment shape.");
-	cpSegmentShape *seg = (cpSegmentShape *)shape;
-	
-	seg->r = radius;
-}

data/ext/chipmunk/cpSimpleMotor.c

@@ -1,99 +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(cpSimpleMotor *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 + b->i_inv);
-	
-	// compute max impulse
-	joint->jMax = J_MAX(joint, dt);
-
-	// apply joint torque
-	a->w -= joint->jAcc*a->i_inv;
-	b->w += joint->jAcc*b->i_inv;
-}
-
-static void
-applyImpulse(cpSimpleMotor *joint)
-{
-	cpBody *a = joint->constraint.a;
-	cpBody *b = joint->constraint.b;
-	
-	// compute relative rotational velocity
-	cpFloat wr = b->w - a->w + joint->rate;
-	
-	// compute normal impulse	
-	cpFloat j = -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;
-	b->w += j*b->i_inv;
-}
-
-static cpFloat
-getImpulse(cpSimpleMotor *joint)
-{
-	return cpfabs(joint->jAcc);
-}
-
-static const cpConstraintClass klass = {
-	(cpConstraintPreStepFunction)preStep,
-	(cpConstraintApplyImpulseFunction)applyImpulse,
-	(cpConstraintGetImpulseFunction)getImpulse,
-};
-CP_DefineClassGetter(cpSimpleMotor)
-
-cpSimpleMotor *
-cpSimpleMotorAlloc(void)
-{
-	return (cpSimpleMotor *)cpmalloc(sizeof(cpSimpleMotor));
-}
-
-cpSimpleMotor *
-cpSimpleMotorInit(cpSimpleMotor *joint, cpBody *a, cpBody *b, cpFloat rate)
-{
-	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
-	
-	joint->rate = rate;
-	
-	joint->jAcc = 0.0f;
-	
-	return joint;
-}
-
-cpConstraint *
-cpSimpleMotorNew(cpBody *a, cpBody *b, cpFloat rate)
-{
-	return (cpConstraint *)cpSimpleMotorInit(cpSimpleMotorAlloc(), a, b, rate);
-}