chipmunk 5.2.2 → 5.3.4.0
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- data/LICENSE +21 -19
- data/README +67 -60
- data/Rakefile +85 -50
- data/ext/chipmunk/extconf.rb +42 -35
- data/ext/chipmunk/rb_chipmunk.c +250 -125
- data/ext/chipmunk/rb_chipmunk.h +105 -96
- data/ext/chipmunk/rb_cpArbiter.c +253 -225
- data/ext/chipmunk/rb_cpBB.c +210 -174
- data/ext/chipmunk/rb_cpBody.c +504 -347
- data/ext/chipmunk/rb_cpConstraint.c +336 -346
- data/ext/chipmunk/rb_cpShape.c +433 -455
- data/ext/chipmunk/rb_cpSpace.c +711 -544
- data/ext/chipmunk/rb_cpVect.c +346 -321
- data/lib/chipmunk.rb +183 -30
- metadata +12 -66
- data/ext/chipmunk/chipmunk.c +0 -105
- data/ext/chipmunk/cpArbiter.c +0 -274
- data/ext/chipmunk/cpArray.c +0 -128
- data/ext/chipmunk/cpBB.c +0 -47
- data/ext/chipmunk/cpBody.c +0 -188
- data/ext/chipmunk/cpCollision.c +0 -391
- data/ext/chipmunk/cpConstraint.c +0 -54
- data/ext/chipmunk/cpDampedRotarySpring.c +0 -106
- data/ext/chipmunk/cpDampedSpring.c +0 -117
- data/ext/chipmunk/cpGearJoint.c +0 -114
- data/ext/chipmunk/cpGrooveJoint.c +0 -138
- data/ext/chipmunk/cpHashSet.c +0 -253
- data/ext/chipmunk/cpPinJoint.c +0 -117
- data/ext/chipmunk/cpPivotJoint.c +0 -114
- data/ext/chipmunk/cpPolyShape.c +0 -241
- data/ext/chipmunk/cpRatchetJoint.c +0 -128
- data/ext/chipmunk/cpRotaryLimitJoint.c +0 -122
- data/ext/chipmunk/cpShape.c +0 -400
- data/ext/chipmunk/cpSimpleMotor.c +0 -99
- data/ext/chipmunk/cpSlideJoint.c +0 -131
- data/ext/chipmunk/cpSpace.c +0 -899
- data/ext/chipmunk/cpSpaceHash.c +0 -541
- data/ext/chipmunk/cpVect.c +0 -71
- data/ext/chipmunk/include/chipmunk/chipmunk.h +0 -148
- data/ext/chipmunk/include/chipmunk/chipmunk_ffi.h +0 -42
- data/ext/chipmunk/include/chipmunk/chipmunk_types.h +0 -80
- data/ext/chipmunk/include/chipmunk/chipmunk_unsafe.h +0 -54
- data/ext/chipmunk/include/chipmunk/constraints/cpConstraint.h +0 -92
- data/ext/chipmunk/include/chipmunk/constraints/cpDampedRotarySpring.h +0 -46
- data/ext/chipmunk/include/chipmunk/constraints/cpDampedSpring.h +0 -53
- data/ext/chipmunk/include/chipmunk/constraints/cpGearJoint.h +0 -41
- data/ext/chipmunk/include/chipmunk/constraints/cpGrooveJoint.h +0 -44
- data/ext/chipmunk/include/chipmunk/constraints/cpPinJoint.h +0 -43
- data/ext/chipmunk/include/chipmunk/constraints/cpPivotJoint.h +0 -42
- data/ext/chipmunk/include/chipmunk/constraints/cpRatchetJoint.h +0 -40
- data/ext/chipmunk/include/chipmunk/constraints/cpRotaryLimitJoint.h +0 -39
- data/ext/chipmunk/include/chipmunk/constraints/cpSimpleMotor.h +0 -37
- data/ext/chipmunk/include/chipmunk/constraints/cpSlideJoint.h +0 -44
- data/ext/chipmunk/include/chipmunk/constraints/util.h +0 -116
- data/ext/chipmunk/include/chipmunk/cpArbiter.h +0 -136
- data/ext/chipmunk/include/chipmunk/cpArray.h +0 -46
- data/ext/chipmunk/include/chipmunk/cpBB.h +0 -74
- data/ext/chipmunk/include/chipmunk/cpBody.h +0 -160
- data/ext/chipmunk/include/chipmunk/cpCollision.h +0 -23
- data/ext/chipmunk/include/chipmunk/cpHashSet.h +0 -82
- data/ext/chipmunk/include/chipmunk/cpPolyShape.h +0 -103
- data/ext/chipmunk/include/chipmunk/cpShape.h +0 -174
- data/ext/chipmunk/include/chipmunk/cpSpace.h +0 -180
- data/ext/chipmunk/include/chipmunk/cpSpaceHash.h +0 -109
- data/ext/chipmunk/include/chipmunk/cpVect.h +0 -157
- data/ext/chipmunk/prime.h +0 -68
- data/lib/chipmunk/version.rb +0 -3
data/lib/chipmunk.rb
CHANGED
@@ -1,30 +1,183 @@
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# this redirection script by John Mair (banisterfiend)
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require "#{direc}/1.
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#
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# this redirection script by John Mair (banisterfiend)
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require 'rbconfig'
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direc = File.dirname(__FILE__)
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dlext = Config::CONFIG['DLEXT']
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begin
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if RUBY_VERSION && RUBY_VERSION =~ /1.9/
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require "#{direc}/1.9/chipmunk.#{dlext}"
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else
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require "#{direc}/1.8/chipmunk.#{dlext}"
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end
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rescue LoadError => e
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require "#{direc}/chipmunk.#{dlext}"
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end
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# Add some constants to CP here, so we don't need
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# to do it in the C code.
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# Let's cheat a bit here.. :p
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module CP
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VERSION = '5.4.3'
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ZERO_VEC_2 = Vec2.new(0,0).freeze
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ALL_ONES = Vec2.new(1,1).freeze
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end
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# Extra functionality added by Slembkce and Beoran.
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module CP
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# Chipmunk Object
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# Makes it easier to manage complex objects that reference many primitive Chipmunk objects such as bodies shapes and constraints.
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# New composite objects simply need to include CP::Object and call #init_chipmunk_object(*objects) with the
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# composite and primitive Chipmunk objects that make up itself.
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module Object
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# Returns the list of primitive Chipmunk objects (bodies, shapes and constraints)
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# that this composite object references directly and indirectly.
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def chipmunk_objects
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if @chipmunk_objects
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return @chipmunk_objects
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else
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raise "This CP::Object (#{self.class}) did not call #init_chipmunk_object."
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end
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end
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private
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# Should be called during initialization of a CP::Object to set what primitive
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# and composite Chipmunk objects this object references.
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def init_chipmunk_object(*objs)
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bad_objs = objs.reject{|obj| obj.is_a?(CP::Object)}
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raise(ArgumentError, "The following objects: #{bad_objs.inspect} are not CP::Objects") unless bad_objs.empty?
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@chipmunk_objects = objs.inject([]){|sum, obj| sum + obj.chipmunk_objects}.uniq
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end
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end
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class Body
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include CP::Object
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def chipmunk_objects
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[self]
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end
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def add_to_space(space)
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space.add_body(self)
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end
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def remove_from_space(space)
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space.remove_body(self)
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end
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end
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module Shape
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include CP::Object
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def chipmunk_objects
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[self]
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end
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def add_to_space(space)
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space.add_shape(self)
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end
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def remove_from_space(space)
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space.remove_shape(self)
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end
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end
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module Constraint
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include CP::Object
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def chipmunk_objects
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[self]
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end
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def add_to_space(space)
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space.add_constraint(self)
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end
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def remove_from_space(space)
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space.remove_constraint(self)
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end
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end
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class Space
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def add_object(obj)
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obj.chipmunk_objects.each{|elt| elt.add_to_space(self)}
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end
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def add_objects(*objs)
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objs.each{|obj| add_object(obj)}
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end
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def remove_object(obj)
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obj.chipmunk_objects.each{|elt| elt.remove_from_space(self)}
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end
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def remove_objects(*objs)
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objs.each{|obj| remove_object(obj)}
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end
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end
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class Vec2
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ZERO = Vec2.new(0,0).freeze
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end
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# define the helpers here( easier than in the extension.
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class SegmentQueryInfo
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def hit_point(start, stop)
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return start.lerp(stop, self.t)
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end
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def hit_dist(start, stop)
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return start.dist(stop) * self.t
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end
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end
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end
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# Create derived static objects that know to add themselves as static.
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module CP
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class StaticBody < Body
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def initialize
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super(Float::INFINITY, Float::INFINITY)
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end
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def chipmunk_objects
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# return [] instead of [self] so the static body will not be added.
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[]
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end
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end
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module StaticShape
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include Shape
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class Circle < Shape::Circle
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include StaticShape
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end
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class Segment < Shape::Segment
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include StaticShape
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end
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class Poly < Shape::Poly
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include StaticShape
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end
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def add_to_space(space)
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space.add_static_shape(self)
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end
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def remove_from_space(space)
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space.remove_static_shape(self)
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end
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end
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end
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metadata
CHANGED
@@ -1,13 +1,13 @@
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--- !ruby/object:Gem::Specification
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name: chipmunk
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version: !ruby/object:Gem::Version
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hash: 59
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prerelease: false
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segments:
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- 0
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version: 5.3.4.0
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platform: ruby
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authors:
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- Scott Lembcke, Beoran, John Mair (banisterfiend)
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bindir: bin
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cert_chain: []
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date:
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date: 2011-05-01 00:00:00 +02:00
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default_executable:
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dependencies: []
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description: ruby bindings for the chipmunk 5.
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description: "Enhanced ruby bindings for the chipmunk 5.3.4 game physics engine. "
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email: beoran@rubyforge.com
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executables: []
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@@ -32,70 +32,18 @@ files:
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- README
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- LICENSE
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- lib/chipmunk.rb
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- lib/chipmunk/version.rb
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- ext/chipmunk/extconf.rb
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- ext/chipmunk/include/chipmunk/chipmunk.h
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- ext/chipmunk/include/chipmunk/chipmunk_ffi.h
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- ext/chipmunk/include/chipmunk/chipmunk_types.h
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- ext/chipmunk/include/chipmunk/chipmunk_unsafe.h
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- ext/chipmunk/include/chipmunk/constraints/cpConstraint.h
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- ext/chipmunk/include/chipmunk/constraints/cpDampedRotarySpring.h
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- ext/chipmunk/include/chipmunk/constraints/cpDampedSpring.h
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- ext/chipmunk/include/chipmunk/constraints/cpGearJoint.h
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- ext/chipmunk/include/chipmunk/constraints/cpGrooveJoint.h
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- ext/chipmunk/include/chipmunk/constraints/cpPinJoint.h
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- ext/chipmunk/include/chipmunk/constraints/cpPivotJoint.h
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- ext/chipmunk/include/chipmunk/constraints/cpRatchetJoint.h
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- ext/chipmunk/include/chipmunk/constraints/cpRotaryLimitJoint.h
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- ext/chipmunk/include/chipmunk/constraints/cpSimpleMotor.h
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- ext/chipmunk/include/chipmunk/constraints/cpSlideJoint.h
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- ext/chipmunk/include/chipmunk/constraints/util.h
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- ext/chipmunk/include/chipmunk/cpArbiter.h
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- ext/chipmunk/include/chipmunk/cpArray.h
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- ext/chipmunk/include/chipmunk/cpBB.h
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- ext/chipmunk/include/chipmunk/cpBody.h
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- ext/chipmunk/include/chipmunk/cpCollision.h
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- ext/chipmunk/include/chipmunk/cpHashSet.h
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- ext/chipmunk/include/chipmunk/cpPolyShape.h
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- ext/chipmunk/include/chipmunk/cpShape.h
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- ext/chipmunk/include/chipmunk/cpSpace.h
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- ext/chipmunk/include/chipmunk/cpSpaceHash.h
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- ext/chipmunk/include/chipmunk/cpVect.h
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- ext/chipmunk/prime.h
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- ext/chipmunk/rb_chipmunk.h
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- ext/chipmunk/chipmunk.c
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- ext/chipmunk/cpArbiter.c
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- ext/chipmunk/cpArray.c
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- ext/chipmunk/cpBB.c
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- ext/chipmunk/cpBody.c
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- ext/chipmunk/cpCollision.c
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- ext/chipmunk/cpConstraint.c
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- ext/chipmunk/cpDampedRotarySpring.c
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- ext/chipmunk/cpDampedSpring.c
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- ext/chipmunk/cpGearJoint.c
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- ext/chipmunk/cpGrooveJoint.c
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- ext/chipmunk/cpHashSet.c
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- ext/chipmunk/cpPinJoint.c
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- ext/chipmunk/cpPivotJoint.c
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- ext/chipmunk/cpPolyShape.c
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- ext/chipmunk/cpRatchetJoint.c
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- ext/chipmunk/cpRotaryLimitJoint.c
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- ext/chipmunk/cpShape.c
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- ext/chipmunk/cpSimpleMotor.c
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- ext/chipmunk/cpSlideJoint.c
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- ext/chipmunk/cpSpace.c
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- ext/chipmunk/cpSpaceHash.c
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- ext/chipmunk/cpVect.c
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- ext/chipmunk/rb_chipmunk.c
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- ext/chipmunk/rb_cpArbiter.c
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- ext/chipmunk/rb_cpBB.c
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- ext/chipmunk/rb_cpBody.c
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- ext/chipmunk/
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- ext/chipmunk/rb_cpBB.c
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- ext/chipmunk/rb_cpShape.c
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- ext/chipmunk/
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- ext/chipmunk/rb_cpConstraint.c
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- ext/chipmunk/rb_cpVect.c
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- ext/chipmunk/rb_cpArbiter.c
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- ext/chipmunk/rb_cpSpace.c
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has_rdoc: true
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homepage:
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homepage: https://github.com/beoran/chipmunk
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licenses: []
|
100
48
|
|
101
49
|
post_install_message:
|
@@ -108,7 +56,6 @@ required_ruby_version: !ruby/object:Gem::Requirement
|
|
108
56
|
requirements:
|
109
57
|
- - ">="
|
110
58
|
- !ruby/object:Gem::Version
|
111
|
-
hash: 3
|
112
59
|
segments:
|
113
60
|
- 0
|
114
61
|
version: "0"
|
@@ -117,7 +64,6 @@ required_rubygems_version: !ruby/object:Gem::Requirement
|
|
117
64
|
requirements:
|
118
65
|
- - ">="
|
119
66
|
- !ruby/object:Gem::Version
|
120
|
-
hash: 3
|
121
67
|
segments:
|
122
68
|
- 0
|
123
69
|
version: "0"
|
@@ -127,6 +73,6 @@ rubyforge_project:
|
|
127
73
|
rubygems_version: 1.3.7
|
128
74
|
signing_key:
|
129
75
|
specification_version: 3
|
130
|
-
summary: ruby bindings for the chipmunk 5.
|
76
|
+
summary: Enhanced ruby bindings for the chipmunk 5.3.4 game physics engine.
|
131
77
|
test_files: []
|
132
78
|
|
data/ext/chipmunk/chipmunk.c
DELETED
@@ -1,105 +0,0 @@
|
|
1
|
-
/* Copyright (c) 2007 Scott Lembcke
|
2
|
-
*
|
3
|
-
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
4
|
-
* of this software and associated documentation files (the "Software"), to deal
|
5
|
-
* in the Software without restriction, including without limitation the rights
|
6
|
-
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
7
|
-
* copies of the Software, and to permit persons to whom the Software is
|
8
|
-
* furnished to do so, subject to the following conditions:
|
9
|
-
*
|
10
|
-
* The above copyright notice and this permission notice shall be included in
|
11
|
-
* all copies or substantial portions of the Software.
|
12
|
-
*
|
13
|
-
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
14
|
-
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
15
|
-
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
16
|
-
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
17
|
-
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
18
|
-
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
19
|
-
* SOFTWARE.
|
20
|
-
*/
|
21
|
-
|
22
|
-
#include <stdlib.h>
|
23
|
-
#include <stdio.h>
|
24
|
-
|
25
|
-
#include "chipmunk.h"
|
26
|
-
|
27
|
-
#ifdef __cplusplus
|
28
|
-
extern "C" {
|
29
|
-
#endif
|
30
|
-
void cpInitCollisionFuncs(void);
|
31
|
-
#ifdef __cplusplus
|
32
|
-
}
|
33
|
-
#endif
|
34
|
-
|
35
|
-
void
|
36
|
-
cpMessage(char *message, char *condition, char *file, int line, int isError)
|
37
|
-
{
|
38
|
-
fprintf(stderr, (isError ? "Aborting due to Chipmunk error: %s\n" : "Chipmunk warning: %s\n"), message);
|
39
|
-
fprintf(stderr, "\tFailed condition: %s\n", condition);
|
40
|
-
fprintf(stderr, "\tSource:%s:%d\n", file, line);
|
41
|
-
|
42
|
-
if(isError) abort();
|
43
|
-
}
|
44
|
-
|
45
|
-
|
46
|
-
char *cpVersionString = "5.x.x";
|
47
|
-
|
48
|
-
void
|
49
|
-
cpInitChipmunk(void)
|
50
|
-
{
|
51
|
-
#ifndef NDEBUG
|
52
|
-
printf("Initializing Chipmunk v%s (Debug Enabled)\n", cpVersionString);
|
53
|
-
printf("Compile with -DNDEBUG defined to disable debug mode and runtime assertion checks\n");
|
54
|
-
#endif
|
55
|
-
|
56
|
-
cpInitCollisionFuncs();
|
57
|
-
}
|
58
|
-
|
59
|
-
cpFloat
|
60
|
-
cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset)
|
61
|
-
{
|
62
|
-
return (1.0f/2.0f)*m*(r1*r1 + r2*r2) + m*cpvdot(offset, offset);
|
63
|
-
}
|
64
|
-
|
65
|
-
cpFloat
|
66
|
-
cpMomentForSegment(cpFloat m, cpVect a, cpVect b)
|
67
|
-
{
|
68
|
-
cpFloat length = cpvlength(cpvsub(b, a));
|
69
|
-
cpVect offset = cpvmult(cpvadd(a, b), 1.0f/2.0f);
|
70
|
-
|
71
|
-
return m*length*length/12.0f + m*cpvdot(offset, offset);
|
72
|
-
}
|
73
|
-
|
74
|
-
cpFloat
|
75
|
-
cpMomentForPoly(cpFloat m, const int numVerts, cpVect *verts, cpVect offset)
|
76
|
-
{
|
77
|
-
cpVect *tVerts = (cpVect *)cpcalloc(numVerts, sizeof(cpVect));
|
78
|
-
for(int i=0; i<numVerts; i++)
|
79
|
-
tVerts[i] = cpvadd(verts[i], offset);
|
80
|
-
|
81
|
-
cpFloat sum1 = 0.0f;
|
82
|
-
cpFloat sum2 = 0.0f;
|
83
|
-
for(int i=0; i<numVerts; i++){
|
84
|
-
cpVect v1 = tVerts[i];
|
85
|
-
cpVect v2 = tVerts[(i+1)%numVerts];
|
86
|
-
|
87
|
-
cpFloat a = cpvcross(v2, v1);
|
88
|
-
cpFloat b = cpvdot(v1, v1) + cpvdot(v1, v2) + cpvdot(v2, v2);
|
89
|
-
|
90
|
-
sum1 += a*b;
|
91
|
-
sum2 += a;
|
92
|
-
}
|
93
|
-
|
94
|
-
cpfree(tVerts);
|
95
|
-
return (m*sum1)/(6.0f*sum2);
|
96
|
-
}
|
97
|
-
|
98
|
-
cpFloat
|
99
|
-
cpMomentForBox(cpFloat m, cpFloat width, cpFloat height)
|
100
|
-
{
|
101
|
-
return m*(width*width + height*height)/12.0;
|
102
|
-
}
|
103
|
-
|
104
|
-
|
105
|
-
#include "chipmunk_ffi.h"
|
data/ext/chipmunk/cpArbiter.c
DELETED
@@ -1,274 +0,0 @@
|
|
1
|
-
/* Copyright (c) 2007 Scott Lembcke
|
2
|
-
*
|
3
|
-
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
4
|
-
* of this software and associated documentation files (the "Software"), to deal
|
5
|
-
* in the Software without restriction, including without limitation the rights
|
6
|
-
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
7
|
-
* copies of the Software, and to permit persons to whom the Software is
|
8
|
-
* furnished to do so, subject to the following conditions:
|
9
|
-
*
|
10
|
-
* The above copyright notice and this permission notice shall be included in
|
11
|
-
* all copies or substantial portions of the Software.
|
12
|
-
*
|
13
|
-
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
14
|
-
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
15
|
-
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
16
|
-
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
17
|
-
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
18
|
-
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
19
|
-
* SOFTWARE.
|
20
|
-
*/
|
21
|
-
|
22
|
-
#include <stdlib.h>
|
23
|
-
|
24
|
-
#include "chipmunk.h"
|
25
|
-
#include "constraints/util.h"
|
26
|
-
|
27
|
-
cpFloat cp_bias_coef = 0.1f;
|
28
|
-
cpFloat cp_collision_slop = 0.1f;
|
29
|
-
|
30
|
-
cpContact*
|
31
|
-
cpContactInit(cpContact *con, cpVect p, cpVect n, cpFloat dist, cpHashValue hash)
|
32
|
-
{
|
33
|
-
con->p = p;
|
34
|
-
con->n = n;
|
35
|
-
con->dist = dist;
|
36
|
-
|
37
|
-
con->jnAcc = 0.0f;
|
38
|
-
con->jtAcc = 0.0f;
|
39
|
-
con->jBias = 0.0f;
|
40
|
-
|
41
|
-
con->hash = hash;
|
42
|
-
|
43
|
-
return con;
|
44
|
-
}
|
45
|
-
|
46
|
-
cpVect
|
47
|
-
cpArbiterTotalImpulse(cpArbiter *arb)
|
48
|
-
{
|
49
|
-
cpContact *contacts = arb->contacts;
|
50
|
-
cpVect sum = cpvzero;
|
51
|
-
|
52
|
-
for(int i=0, count=arb->numContacts; i<count; i++){
|
53
|
-
cpContact *con = &contacts[i];
|
54
|
-
sum = cpvadd(sum, cpvmult(con->n, con->jnAcc));
|
55
|
-
}
|
56
|
-
|
57
|
-
return sum;
|
58
|
-
}
|
59
|
-
|
60
|
-
cpVect
|
61
|
-
cpArbiterTotalImpulseWithFriction(cpArbiter *arb)
|
62
|
-
{
|
63
|
-
cpContact *contacts = arb->contacts;
|
64
|
-
cpVect sum = cpvzero;
|
65
|
-
|
66
|
-
for(int i=0, count=arb->numContacts; i<count; i++){
|
67
|
-
cpContact *con = &contacts[i];
|
68
|
-
sum = cpvadd(sum, cpvrotate(con->n, cpv(con->jnAcc, con->jtAcc)));
|
69
|
-
}
|
70
|
-
|
71
|
-
return sum;
|
72
|
-
}
|
73
|
-
|
74
|
-
cpFloat
|
75
|
-
cpContactsEstimateCrushingImpulse(cpContact *contacts, int numContacts)
|
76
|
-
{
|
77
|
-
cpFloat fsum = 0.0f;
|
78
|
-
cpVect vsum = cpvzero;
|
79
|
-
|
80
|
-
for(int i=0; i<numContacts; i++){
|
81
|
-
cpContact *con = &contacts[i];
|
82
|
-
cpVect j = cpvrotate(con->n, cpv(con->jnAcc, con->jtAcc));
|
83
|
-
|
84
|
-
fsum += cpvlength(j);
|
85
|
-
vsum = cpvadd(vsum, j);
|
86
|
-
}
|
87
|
-
|
88
|
-
cpFloat vmag = cpvlength(vsum);
|
89
|
-
return (1.0f - vmag/fsum);
|
90
|
-
}
|
91
|
-
|
92
|
-
void
|
93
|
-
cpArbiterIgnore(cpArbiter *arb)
|
94
|
-
{
|
95
|
-
arb->state = cpArbiterStateIgnore;
|
96
|
-
}
|
97
|
-
|
98
|
-
cpArbiter*
|
99
|
-
cpArbiterAlloc(void)
|
100
|
-
{
|
101
|
-
return (cpArbiter *)cpcalloc(1, sizeof(cpArbiter));
|
102
|
-
}
|
103
|
-
|
104
|
-
cpArbiter*
|
105
|
-
cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b)
|
106
|
-
{
|
107
|
-
arb->numContacts = 0;
|
108
|
-
arb->contacts = NULL;
|
109
|
-
|
110
|
-
arb->private_a = a;
|
111
|
-
arb->private_b = b;
|
112
|
-
|
113
|
-
arb->stamp = -1;
|
114
|
-
arb->state = cpArbiterStateFirstColl;
|
115
|
-
|
116
|
-
return arb;
|
117
|
-
}
|
118
|
-
|
119
|
-
cpArbiter*
|
120
|
-
cpArbiterNew(cpShape *a, cpShape *b)
|
121
|
-
{
|
122
|
-
return cpArbiterInit(cpArbiterAlloc(), a, b);
|
123
|
-
}
|
124
|
-
|
125
|
-
void
|
126
|
-
cpArbiterDestroy(cpArbiter *arb)
|
127
|
-
{
|
128
|
-
// if(arb->contacts) cpfree(arb->contacts);
|
129
|
-
}
|
130
|
-
|
131
|
-
void
|
132
|
-
cpArbiterFree(cpArbiter *arb)
|
133
|
-
{
|
134
|
-
if(arb){
|
135
|
-
cpArbiterDestroy(arb);
|
136
|
-
cpfree(arb);
|
137
|
-
}
|
138
|
-
}
|
139
|
-
|
140
|
-
void
|
141
|
-
cpArbiterUpdate(cpArbiter *arb, cpContact *contacts, int numContacts, cpCollisionHandler *handler, cpShape *a, cpShape *b)
|
142
|
-
{
|
143
|
-
// Arbiters without contact data may exist if a collision function rejected the collision.
|
144
|
-
if(arb->contacts){
|
145
|
-
// Iterate over the possible pairs to look for hash value matches.
|
146
|
-
for(int i=0; i<arb->numContacts; i++){
|
147
|
-
cpContact *old = &arb->contacts[i];
|
148
|
-
|
149
|
-
for(int j=0; j<numContacts; j++){
|
150
|
-
cpContact *new_contact = &contacts[j];
|
151
|
-
|
152
|
-
// This could trigger false positives, but is fairly unlikely nor serious if it does.
|
153
|
-
if(new_contact->hash == old->hash){
|
154
|
-
// Copy the persistant contact information.
|
155
|
-
new_contact->jnAcc = old->jnAcc;
|
156
|
-
new_contact->jtAcc = old->jtAcc;
|
157
|
-
}
|
158
|
-
}
|
159
|
-
}
|
160
|
-
|
161
|
-
// cpfree(arb->contacts);
|
162
|
-
}
|
163
|
-
|
164
|
-
arb->contacts = contacts;
|
165
|
-
arb->numContacts = numContacts;
|
166
|
-
|
167
|
-
arb->handler = handler;
|
168
|
-
arb->swappedColl = (a->collision_type != handler->a);
|
169
|
-
|
170
|
-
arb->e = a->e * b->e;
|
171
|
-
arb->u = a->u * b->u;
|
172
|
-
arb->surface_vr = cpvsub(a->surface_v, b->surface_v);
|
173
|
-
|
174
|
-
// For collisions between two similar primitive types, the order could have been swapped.
|
175
|
-
arb->private_a = a; arb->private_b = b;
|
176
|
-
}
|
177
|
-
|
178
|
-
void
|
179
|
-
cpArbiterPreStep(cpArbiter *arb, cpFloat dt_inv)
|
180
|
-
{
|
181
|
-
cpShape *shapea = arb->private_a;
|
182
|
-
cpShape *shapeb = arb->private_b;
|
183
|
-
|
184
|
-
cpBody *a = shapea->body;
|
185
|
-
cpBody *b = shapeb->body;
|
186
|
-
|
187
|
-
for(int i=0; i<arb->numContacts; i++){
|
188
|
-
cpContact *con = &arb->contacts[i];
|
189
|
-
|
190
|
-
// Calculate the offsets.
|
191
|
-
con->r1 = cpvsub(con->p, a->p);
|
192
|
-
con->r2 = cpvsub(con->p, b->p);
|
193
|
-
|
194
|
-
// Calculate the mass normal and mass tangent.
|
195
|
-
con->nMass = 1.0f/k_scalar(a, b, con->r1, con->r2, con->n);
|
196
|
-
con->tMass = 1.0f/k_scalar(a, b, con->r1, con->r2, cpvperp(con->n));
|
197
|
-
|
198
|
-
// Calculate the target bias velocity.
|
199
|
-
con->bias = -cp_bias_coef*dt_inv*cpfmin(0.0f, con->dist + cp_collision_slop);
|
200
|
-
con->jBias = 0.0f;
|
201
|
-
|
202
|
-
// Calculate the target bounce velocity.
|
203
|
-
con->bounce = normal_relative_velocity(a, b, con->r1, con->r2, con->n)*arb->e;//cpvdot(con->n, cpvsub(v2, v1))*e;
|
204
|
-
}
|
205
|
-
}
|
206
|
-
|
207
|
-
void
|
208
|
-
cpArbiterApplyCachedImpulse(cpArbiter *arb)
|
209
|
-
{
|
210
|
-
cpShape *shapea = arb->private_a;
|
211
|
-
cpShape *shapeb = arb->private_b;
|
212
|
-
|
213
|
-
arb->u = shapea->u * shapeb->u;
|
214
|
-
arb->surface_vr = cpvsub(shapeb->surface_v, shapea->surface_v);
|
215
|
-
|
216
|
-
cpBody *a = shapea->body;
|
217
|
-
cpBody *b = shapeb->body;
|
218
|
-
|
219
|
-
for(int i=0; i<arb->numContacts; i++){
|
220
|
-
cpContact *con = &arb->contacts[i];
|
221
|
-
apply_impulses(a, b, con->r1, con->r2, cpvrotate(con->n, cpv(con->jnAcc, con->jtAcc)));
|
222
|
-
}
|
223
|
-
}
|
224
|
-
|
225
|
-
void
|
226
|
-
cpArbiterApplyImpulse(cpArbiter *arb, cpFloat eCoef)
|
227
|
-
{
|
228
|
-
cpBody *a = arb->private_a->body;
|
229
|
-
cpBody *b = arb->private_b->body;
|
230
|
-
|
231
|
-
for(int i=0; i<arb->numContacts; i++){
|
232
|
-
cpContact *con = &arb->contacts[i];
|
233
|
-
cpVect n = con->n;
|
234
|
-
cpVect r1 = con->r1;
|
235
|
-
cpVect r2 = con->r2;
|
236
|
-
|
237
|
-
// Calculate the relative bias velocities.
|
238
|
-
cpVect vb1 = cpvadd(a->v_bias, cpvmult(cpvperp(r1), a->w_bias));
|
239
|
-
cpVect vb2 = cpvadd(b->v_bias, cpvmult(cpvperp(r2), b->w_bias));
|
240
|
-
cpFloat vbn = cpvdot(cpvsub(vb2, vb1), n);
|
241
|
-
|
242
|
-
// Calculate and clamp the bias impulse.
|
243
|
-
cpFloat jbn = (con->bias - vbn)*con->nMass;
|
244
|
-
cpFloat jbnOld = con->jBias;
|
245
|
-
con->jBias = cpfmax(jbnOld + jbn, 0.0f);
|
246
|
-
jbn = con->jBias - jbnOld;
|
247
|
-
|
248
|
-
// Apply the bias impulse.
|
249
|
-
apply_bias_impulses(a, b, r1, r2, cpvmult(n, jbn));
|
250
|
-
|
251
|
-
// Calculate the relative velocity.
|
252
|
-
cpVect vr = relative_velocity(a, b, r1, r2);
|
253
|
-
cpFloat vrn = cpvdot(vr, n);
|
254
|
-
|
255
|
-
// Calculate and clamp the normal impulse.
|
256
|
-
cpFloat jn = -(con->bounce*eCoef + vrn)*con->nMass;
|
257
|
-
cpFloat jnOld = con->jnAcc;
|
258
|
-
con->jnAcc = cpfmax(jnOld + jn, 0.0f);
|
259
|
-
jn = con->jnAcc - jnOld;
|
260
|
-
|
261
|
-
// Calculate the relative tangent velocity.
|
262
|
-
cpFloat vrt = cpvdot(cpvadd(vr, arb->surface_vr), cpvperp(n));
|
263
|
-
|
264
|
-
// Calculate and clamp the friction impulse.
|
265
|
-
cpFloat jtMax = arb->u*con->jnAcc;
|
266
|
-
cpFloat jt = -vrt*con->tMass;
|
267
|
-
cpFloat jtOld = con->jtAcc;
|
268
|
-
con->jtAcc = cpfclamp(jtOld + jt, -jtMax, jtMax);
|
269
|
-
jt = con->jtAcc - jtOld;
|
270
|
-
|
271
|
-
// Apply the final impulse.
|
272
|
-
apply_impulses(a, b, r1, r2, cpvrotate(n, cpv(jn, jt)));
|
273
|
-
}
|
274
|
-
}
|