chipmunk 5.3.4.0-x86-mingw32 → 5.3.4.2-x86-mingw32

data/ext/chipmunk/vendor/chipmunk-5.3.4/src/constraints/cpPivotJoint.c

@@ -0,0 +1,114 @@
+/* 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_private.h"
+#include "constraints/util.h"
+
+static void
+preStep(cpPivotJoint *joint, cpFloat dt, cpFloat dt_inv)
+{
+	CONSTRAINT_BEGIN(joint, a, b);
+	
+	joint->r1 = cpvrotate(joint->anchr1, a->rot);
+	joint->r2 = cpvrotate(joint->anchr2, b->rot);
+	
+	// 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 void
+applyImpulse(cpPivotJoint *joint)
+{
+	CONSTRAINT_BEGIN(joint, a, b);
+	
+	cpVect r1 = joint->r1;
+	cpVect r2 = joint->r2;
+		
+	// compute relative velocity
+	cpVect vr = relative_velocity(a, b, r1, r2);
+	
+	// compute normal impulse
+	cpVect j = mult_k(cpvsub(joint->bias, vr), joint->k1, joint->k2);
+	cpVect jOld = joint->jAcc;
+	joint->jAcc = cpvclamp(cpvadd(joint->jAcc, j), joint->jMaxLen);
+	j = cpvsub(joint->jAcc, jOld);
+	
+	// apply impulse
+	apply_impulses(a, b, joint->r1, joint->r2, j);
+}
+
+static cpFloat
+getImpulse(cpConstraint *joint)
+{
+	return cpvlength(((cpPivotJoint *)joint)->jAcc);
+}
+
+static const cpConstraintClass klass = {
+	(cpConstraintPreStepFunction)preStep,
+	(cpConstraintApplyImpulseFunction)applyImpulse,
+	(cpConstraintGetImpulseFunction)getImpulse,
+};
+CP_DefineClassGetter(cpPivotJoint)
+
+cpPivotJoint *
+cpPivotJointAlloc(void)
+{
+	return (cpPivotJoint *)cpmalloc(sizeof(cpPivotJoint));
+}
+
+cpPivotJoint *
+cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2)
+{
+	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
+	
+	joint->anchr1 = anchr1;
+	joint->anchr2 = anchr2;
+	
+	joint->jAcc = cpvzero;
+	
+	return joint;
+}
+
+cpConstraint *
+cpPivotJointNew2(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2)
+{
+	return (cpConstraint *)cpPivotJointInit(cpPivotJointAlloc(), a, b, anchr1, anchr2);
+}
+
+cpConstraint *
+cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot)
+{
+	cpVect anchr1 = (a ? cpBodyWorld2Local(a, pivot) : pivot);
+	cpVect anchr2 = (b ? cpBodyWorld2Local(b, pivot) : pivot);
+	return cpPivotJointNew2(a, b, anchr1, anchr2);
+}

data/ext/chipmunk/vendor/chipmunk-5.3.4/src/constraints/cpRatchetJoint.c

@@ -0,0 +1,126 @@
+/* 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_private.h"
+#include "constraints/util.h"
+
+static void
+preStep(cpRatchetJoint *joint, cpFloat dt, cpFloat dt_inv)
+{
+	CONSTRAINT_BEGIN(joint, a, 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
+
+	CONSTRAINT_BEGIN(joint, a, 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;
+	
+	// STATIC_BODY_CHECK
+	joint->angle = (b ? b->a : 0.0f) - (a ? a->a : 0.0f);
+	
+	return joint;
+}
+
+cpConstraint *
+cpRatchetJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet)
+{
+	return (cpConstraint *)cpRatchetJointInit(cpRatchetJointAlloc(), a, b, phase, ratchet);
+}

data/ext/chipmunk/vendor/chipmunk-5.3.4/src/constraints/cpRotaryLimitJoint.c

@@ -0,0 +1,120 @@
+/* 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_private.h"
+#include "constraints/util.h"
+
+static void
+preStep(cpRotaryLimitJoint *joint, cpFloat dt, cpFloat dt_inv)
+{
+	CONSTRAINT_BEGIN(joint, a, 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
+
+	CONSTRAINT_BEGIN(joint, a, 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);
+}

data/ext/chipmunk/vendor/chipmunk-5.3.4/src/constraints/cpSimpleMotor.c

@@ -0,0 +1,97 @@
+/* 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_private.h"
+#include "constraints/util.h"
+
+static void
+preStep(cpSimpleMotor *joint, cpFloat dt, cpFloat dt_inv)
+{
+	CONSTRAINT_BEGIN(joint, a, 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)
+{
+	CONSTRAINT_BEGIN(joint, a, 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);
+}