chipmunk 5.3.4.0 → 5.3.4.2

data/ext/chipmunk/vendor/chipmunk-5.3.4/include/chipmunk/cpVect.h

@@ -0,0 +1,207 @@
+/* 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.
+ */
+
+/// Constant for the zero vector.
+static const cpVect cpvzero = {0.0f,0.0f};
+
+/// Convenience constructor for cpVect structs.
+static inline cpVect
+cpv(const cpFloat x, const cpFloat y)
+{
+	cpVect v = {x, y};
+	return v;
+}
+
+// non-inlined functions
+
+/// Returns the length of v.
+cpFloat cpvlength(const cpVect v);
+
+/// Spherical linearly interpolate between v1 and v2.
+cpVect cpvslerp(const cpVect v1, const cpVect v2, const cpFloat t);
+
+/// Spherical linearly interpolate between v1 towards v2 by no more than angle a radians
+cpVect cpvslerpconst(const cpVect v1, const cpVect v2, const cpFloat a);
+
+/// Returns the unit length vector for the given angle (in radians).
+cpVect cpvforangle(const cpFloat a);
+
+/// Returns the angular direction v is pointing in (in radians).
+cpFloat cpvtoangle(const cpVect v);
+
+/**
+	Returns a string representation of v. Intended mostly for debugging purposes and not production use.
+	
+	@attention The string points to a static local and is reset every time the function is called.
+	If you want to print more than one vector you will have to split up your printing onto separate lines.
+*/
+char *cpvstr(const cpVect v);
+
+/// Check if two vectors are equal. (Be careful when comparing floating point numbers!)
+static inline cpBool
+cpveql(const cpVect v1, const cpVect v2)
+{
+	return (v1.x == v2.x && v1.y == v2.y);
+}
+
+/// Add two vectors
+static inline cpVect
+cpvadd(const cpVect v1, const cpVect v2)
+{
+	return cpv(v1.x + v2.x, v1.y + v2.y);
+}
+
+/// Negate a vector.
+static inline cpVect
+cpvneg(const cpVect v)
+{
+	return cpv(-v.x, -v.y);
+}
+
+/// Subtract two vectors.
+static inline cpVect
+cpvsub(const cpVect v1, const cpVect v2)
+{
+	return cpv(v1.x - v2.x, v1.y - v2.y);
+}
+
+/// Scalar multiplication.
+static inline cpVect
+cpvmult(const cpVect v, const cpFloat s)
+{
+	return cpv(v.x*s, v.y*s);
+}
+
+/// Vector dot product.
+static inline cpFloat
+cpvdot(const cpVect v1, const cpVect v2)
+{
+	return v1.x*v2.x + v1.y*v2.y;
+}
+
+/**
+	2D vector cross product analog.
+	The cross product of 2D vectors results in a 3D vector with only a z component.
+	This function returns the magnitude of the z value.
+*/
+static inline cpFloat
+cpvcross(const cpVect v1, const cpVect v2)
+{
+	return v1.x*v2.y - v1.y*v2.x;
+}
+
+/// Returns a perpendicular vector. (90 degree rotation)
+static inline cpVect
+cpvperp(const cpVect v)
+{
+	return cpv(-v.y, v.x);
+}
+
+/// Returns a perpendicular vector. (-90 degree rotation)
+static inline cpVect
+cpvrperp(const cpVect v)
+{
+	return cpv(v.y, -v.x);
+}
+
+/// Returns the vector projection of v1 onto v2.
+static inline cpVect
+cpvproject(const cpVect v1, const cpVect v2)
+{
+	return cpvmult(v2, cpvdot(v1, v2)/cpvdot(v2, v2));
+}
+
+/// Uses complex number multiplication to rotate v1 by v2. Scaling will occur if v1 is not a unit vector.
+static inline cpVect
+cpvrotate(const cpVect v1, const cpVect v2)
+{
+	return cpv(v1.x*v2.x - v1.y*v2.y, v1.x*v2.y + v1.y*v2.x);
+}
+
+/// Inverse of cpvrotate().
+static inline cpVect
+cpvunrotate(const cpVect v1, const cpVect v2)
+{
+	return cpv(v1.x*v2.x + v1.y*v2.y, v1.y*v2.x - v1.x*v2.y);
+}
+
+/// Returns the squared length of v. Faster than cpvlength() when you only need to compare lengths.
+static inline cpFloat
+cpvlengthsq(const cpVect v)
+{
+	return cpvdot(v, v);
+}
+
+/// Linearly interpolate between v1 and v2.
+static inline cpVect
+cpvlerp(const cpVect v1, const cpVect v2, const cpFloat t)
+{
+	return cpvadd(cpvmult(v1, 1.0f - t), cpvmult(v2, t));
+}
+
+/// Returns a normalized copy of v.
+static inline cpVect
+cpvnormalize(const cpVect v)
+{
+	return cpvmult(v, 1.0f/cpvlength(v));
+}
+
+/// Returns a normalized copy of v or cpvzero if v was already cpvzero. Protects against divide by zero errors.
+static inline cpVect
+cpvnormalize_safe(const cpVect v)
+{
+	return (v.x == 0.0f && v.y == 0.0f ? cpvzero : cpvnormalize(v));
+}
+
+/// Clamp v to length len.
+static inline cpVect
+cpvclamp(const cpVect v, const cpFloat len)
+{
+	return (cpvdot(v,v) > len*len) ? cpvmult(cpvnormalize(v), len) : v;
+}
+
+/// Linearly interpolate between v1 towards v2 by distance d.
+static inline cpVect
+cpvlerpconst(cpVect v1, cpVect v2, cpFloat d)
+{
+	return cpvadd(v1, cpvclamp(cpvsub(v2, v1), d));
+}
+
+/// Returns the distance between v1 and v2.
+static inline cpFloat
+cpvdist(const cpVect v1, const cpVect v2)
+{
+	return cpvlength(cpvsub(v1, v2));
+}
+
+/// Returns the squared distance between v1 and v2. Faster than cpvdist() when you only need to compare distances.
+static inline cpFloat
+cpvdistsq(const cpVect v1, const cpVect v2)
+{
+	return cpvlengthsq(cpvsub(v1, v2));
+}
+
+/// Returns true if the distance between v1 and v2 is less than dist.
+static inline cpBool
+cpvnear(const cpVect v1, const cpVect v2, const cpFloat dist)
+{
+	return cpvdistsq(v1, v2) < dist*dist;
+}

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

@@ -0,0 +1,151 @@
+/* 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>
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+#include "chipmunk.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+	void cpInitCollisionFuncs(void);
+#ifdef __cplusplus
+}
+#endif
+
+void
+cpMessage(const char *message, const char *condition, const char *file, int line, int isError)
+{
+	fprintf(stderr, (isError ? "Aborting due to Chipmunk error: %s\n" : "Chipmunk warning: %s\n"), message);
+	fprintf(stderr, "\tFailed condition: %s\n", condition);
+	fprintf(stderr, "\tSource:%s:%d\n", file, line);
+	
+	if(isError) abort();
+}
+
+
+const char *cpVersionString = "5.3.4";
+
+void
+cpInitChipmunk(void)
+{
+#ifndef NDEBUG
+	printf("Initializing Chipmunk v%s (Debug Enabled)\n", cpVersionString);
+	printf("Compile with -DNDEBUG defined to disable debug mode and runtime assertion checks\n");
+#endif
+	
+	cpInitCollisionFuncs();
+}
+
+cpFloat
+cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset)
+{
+	return m*(0.5f*(r1*r1 + r2*r2) + cpvlengthsq(offset));
+}
+
+cpFloat
+cpAreaForCircle(cpFloat r1, cpFloat r2)
+{
+	return 2.0f*(cpFloat)M_PI*cpfabs(r1*r1 - r2*r2);
+}
+
+cpFloat
+cpMomentForSegment(cpFloat m, cpVect a, cpVect b)
+{
+	cpFloat length = cpvlength(cpvsub(b, a));
+	cpVect offset = cpvmult(cpvadd(a, b), 1.0f/2.0f);
+	
+	return m*(length*length/12.0f + cpvlengthsq(offset));
+}
+
+cpFloat
+cpAreaForSegment(cpVect a, cpVect b, cpFloat r)
+{
+	return 2.0f*r*((cpFloat)M_PI*r + cpvdist(a, b));
+}
+
+cpFloat
+cpMomentForPoly(cpFloat m, const int numVerts, const cpVect *verts, cpVect offset)
+{
+	cpFloat sum1 = 0.0f;
+	cpFloat sum2 = 0.0f;
+	for(int i=0; i<numVerts; i++){
+		cpVect v1 = cpvadd(verts[i], offset);
+		cpVect v2 = cpvadd(verts[(i+1)%numVerts], offset);
+		
+		cpFloat a = cpvcross(v2, v1);
+		cpFloat b = cpvdot(v1, v1) + cpvdot(v1, v2) + cpvdot(v2, v2);
+		
+		sum1 += a*b;
+		sum2 += a;
+	}
+	
+	return (m*sum1)/(6.0f*sum2);
+}
+
+cpFloat
+cpAreaForPoly(const int numVerts, const cpVect *verts)
+{
+	cpFloat area = 0.0f;
+	for(int i=0; i<numVerts; i++){
+		area += cpvcross(verts[i], verts[(i+1)%numVerts]);
+	}
+	
+	return area/2.0f;
+}
+
+cpVect
+cpCentroidForPoly(const int numVerts, const cpVect *verts)
+{
+	cpFloat sum = 0.0f;
+	cpVect vsum = cpvzero;
+	
+	for(int i=0; i<numVerts; i++){
+		cpVect v1 = verts[i];
+		cpVect v2 = verts[(i+1)%numVerts];
+		cpFloat cross = cpvcross(v1, v2);
+		
+		sum += cross;
+		vsum = cpvadd(vsum, cpvmult(cpvadd(v1, v2), cross));
+	}
+	
+	return cpvmult(vsum, 1.0f/(3.0f*sum));
+}
+
+void
+cpRecenterPoly(const int numVerts, cpVect *verts){
+	cpVect centroid = cpCentroidForPoly(numVerts, verts);
+	
+	for(int i=0; i<numVerts; i++){
+		verts[i] = cpvsub(verts[i], centroid);
+	}
+}
+
+cpFloat
+cpMomentForBox(cpFloat m, cpFloat width, cpFloat height)
+{
+	return m*(width*width + height*height)/12.0f;
+}
+
+#include "chipmunk_ffi.h"

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

@@ -0,0 +1,54 @@
+/* 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"
+
+// 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/vendor/chipmunk-5.3.4/src/constraints/cpDampedRotarySpring.c

@@ -0,0 +1,105 @@
+/* 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 cpFloat
+defaultSpringTorque(cpDampedRotarySpring *spring, cpFloat relativeAngle){
+	return (relativeAngle - spring->restAngle)*spring->stiffness;
+}
+
+static void
+preStep(cpDampedRotarySpring *spring, cpFloat dt, cpFloat dt_inv)
+{
+	CONSTRAINT_BEGIN(spring, a, b);
+	
+	cpFloat moment = a->i_inv + b->i_inv;
+	spring->iSum = 1.0f/moment;
+
+	spring->w_coef = 1.0f - cpfexp(-spring->damping*dt*moment);
+	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)
+{
+	CONSTRAINT_BEGIN(spring, a, 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*spring->w_coef;
+	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);
+}