chipmunk 5.3.4.0 → 5.3.4.2

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

@@ -0,0 +1,129 @@
+/* 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(cpSlideJoint *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);
+	
+	cpVect delta = cpvsub(cpvadd(b->p, joint->r2), cpvadd(a->p, joint->r1));
+	cpFloat dist = cpvlength(delta);
+	cpFloat pdist = 0.0f;
+	if(dist > joint->max) {
+		pdist = dist - joint->max;
+	} else if(dist < joint->min) {
+		pdist = joint->min - dist;
+		dist = -dist;
+	}
+	joint->n = cpvmult(delta, 1.0f/(dist ? dist : (cpFloat)INFINITY));
+	
+	// calculate mass normal
+	joint->nMass = 1.0f/k_scalar(a, b, joint->r1, joint->r2, joint->n);
+	
+	// calculate bias velocity
+	cpFloat maxBias = joint->constraint.maxBias;
+	joint->bias = cpfclamp(-joint->constraint.biasCoef*dt_inv*(pdist), -maxBias, maxBias);
+	
+	// compute max impulse
+	joint->jnMax = J_MAX(joint, dt);
+
+	// apply accumulated impulse
+	if(!joint->bias) //{
+		// if bias is 0, then the joint is not at a limit.
+		joint->jnAcc = 0.0f;
+//	} else {
+		cpVect j = cpvmult(joint->n, joint->jnAcc);
+		apply_impulses(a, b, joint->r1, joint->r2, j);
+//	}
+}
+
+static void
+applyImpulse(cpSlideJoint *joint)
+{
+	if(!joint->bias) return;  // early exit
+
+	CONSTRAINT_BEGIN(joint, a, b);
+	
+	cpVect n = joint->n;
+	cpVect r1 = joint->r1;
+	cpVect r2 = joint->r2;
+		
+	// compute relative velocity
+	cpVect vr = relative_velocity(a, b, r1, r2);
+	cpFloat vrn = cpvdot(vr, n);
+	
+	// compute normal impulse
+	cpFloat jn = (joint->bias - vrn)*joint->nMass;
+	cpFloat jnOld = joint->jnAcc;
+	joint->jnAcc = cpfclamp(jnOld + jn, -joint->jnMax, 0.0f);
+	jn = joint->jnAcc - jnOld;
+	
+	// apply impulse
+	apply_impulses(a, b, joint->r1, joint->r2, cpvmult(n, jn));
+}
+
+static cpFloat
+getImpulse(cpConstraint *joint)
+{
+	return cpfabs(((cpSlideJoint *)joint)->jnAcc);
+}
+
+static const cpConstraintClass klass = {
+	(cpConstraintPreStepFunction)preStep,
+	(cpConstraintApplyImpulseFunction)applyImpulse,
+	(cpConstraintGetImpulseFunction)getImpulse,
+};
+CP_DefineClassGetter(cpSlideJoint)
+
+cpSlideJoint *
+cpSlideJointAlloc(void)
+{
+	return (cpSlideJoint *)cpmalloc(sizeof(cpSlideJoint));
+}
+
+cpSlideJoint *
+cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max)
+{
+	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
+	
+	joint->anchr1 = anchr1;
+	joint->anchr2 = anchr2;
+	joint->min = min;
+	joint->max = max;
+	
+	joint->jnAcc = 0.0f;
+	
+	return joint;
+}
+
+cpConstraint *
+cpSlideJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max)
+{
+	return (cpConstraint *)cpSlideJointInit(cpSlideJointAlloc(), a, b, anchr1, anchr2, min, max);
+}

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

@@ -0,0 +1,280 @@
+/* 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"
+
+cpFloat cp_bias_coef = 0.1f;
+cpFloat cp_collision_slop = 0.1f;
+
+cpContact*
+cpContactInit(cpContact *con, cpVect p, cpVect n, cpFloat dist, cpHashValue hash)
+{
+	con->p = p;
+	con->n = n;
+	con->dist = dist;
+	
+	con->jnAcc = 0.0f;
+	con->jtAcc = 0.0f;
+	con->jBias = 0.0f;
+	
+	con->hash = hash;
+		
+	return con;
+}
+
+cpVect
+cpArbiterTotalImpulse(cpArbiter *arb)
+{
+	cpContact *contacts = arb->contacts;
+	cpVect sum = cpvzero;
+	
+	for(int i=0, count=arb->numContacts; i<count; i++){
+		cpContact *con = &contacts[i];
+		sum = cpvadd(sum, cpvmult(con->n, con->jnAcc));
+	}
+		
+	return sum;
+}
+
+cpVect
+cpArbiterTotalImpulseWithFriction(cpArbiter *arb)
+{
+	cpContact *contacts = arb->contacts;
+	cpVect sum = cpvzero;
+	
+	for(int i=0, count=arb->numContacts; i<count; i++){
+		cpContact *con = &contacts[i];
+		sum = cpvadd(sum, cpvrotate(con->n, cpv(con->jnAcc, con->jtAcc)));
+	}
+		
+	return sum;
+}
+
+cpFloat
+cpContactsEstimateCrushingImpulse(cpContact *contacts, int numContacts)
+{
+	cpFloat fsum = 0.0f;
+	cpVect vsum = cpvzero;
+	
+	for(int i=0; i<numContacts; i++){
+		cpContact *con = &contacts[i];
+		cpVect j = cpvrotate(con->n, cpv(con->jnAcc, con->jtAcc));
+		
+		fsum += cpvlength(j);
+		vsum = cpvadd(vsum, j);
+	}
+	
+	cpFloat vmag = cpvlength(vsum);
+	return (1.0f - vmag/fsum);
+}
+
+void
+cpArbiterIgnore(cpArbiter *arb)
+{
+	arb->state = cpArbiterStateIgnore;
+}
+
+cpArbiter*
+cpArbiterAlloc(void)
+{
+	return (cpArbiter *)cpcalloc(1, sizeof(cpArbiter));
+}
+
+cpArbiter*
+cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b)
+{
+	arb->handler = NULL;
+	arb->swappedColl = cpFalse;
+	
+	arb->e = 0.0f;
+	arb->u = 0.0f;
+	arb->surface_vr = cpvzero;
+	
+	arb->numContacts = 0;
+	arb->contacts = NULL;
+	
+	arb->a = a;
+	arb->b = b;
+	
+	arb->stamp = 0;
+	arb->state = cpArbiterStateFirstColl;
+	
+	return arb;
+}
+
+cpArbiter*
+cpArbiterNew(cpShape *a, cpShape *b)
+{
+	return cpArbiterInit(cpArbiterAlloc(), a, b);
+}
+
+void
+cpArbiterDestroy(cpArbiter *arb)
+{
+//	if(arb->contacts) cpfree(arb->contacts);
+}
+
+void
+cpArbiterFree(cpArbiter *arb)
+{
+	if(arb){
+		cpArbiterDestroy(arb);
+		cpfree(arb);
+	}
+}
+
+void
+cpArbiterUpdate(cpArbiter *arb, cpContact *contacts, int numContacts, cpCollisionHandler *handler, cpShape *a, cpShape *b)
+{
+	// Arbiters without contact data may exist if a collision function rejected the collision.
+	if(arb->contacts){
+		// Iterate over the possible pairs to look for hash value matches.
+		for(int i=0; i<arb->numContacts; i++){
+			cpContact *old = &arb->contacts[i];
+			
+			for(int j=0; j<numContacts; j++){
+				cpContact *new_contact = &contacts[j];
+				
+				// This could trigger false positives, but is fairly unlikely nor serious if it does.
+				if(new_contact->hash == old->hash){
+					// Copy the persistant contact information.
+					new_contact->jnAcc = old->jnAcc;
+					new_contact->jtAcc = old->jtAcc;
+				}
+			}
+		}
+	}
+	
+	arb->contacts = contacts;
+	arb->numContacts = numContacts;
+	
+	arb->handler = handler;
+	arb->swappedColl = (a->collision_type != handler->a);
+	
+	arb->e = a->e * b->e;
+	arb->u = a->u * b->u;
+	arb->surface_vr = cpvsub(a->surface_v, b->surface_v);
+	
+	// For collisions between two similar primitive types, the order could have been swapped.
+	arb->a = a;
+	arb->b = b;
+	
+	// mark it as new if it's been cached
+	if(arb->state == cpArbiterStateCached) arb->state = cpArbiterStateFirstColl;
+}
+
+void
+cpArbiterPreStep(cpArbiter *arb, cpFloat dt_inv)
+{
+	cpBody *a = arb->a->body;
+	cpBody *b = arb->b->body;
+	
+	for(int i=0; i<arb->numContacts; i++){
+		cpContact *con = &arb->contacts[i];
+		
+		// Calculate the offsets.
+		con->r1 = cpvsub(con->p, a->p);
+		con->r2 = cpvsub(con->p, b->p);
+		
+		// Calculate the mass normal and mass tangent.
+		con->nMass = 1.0f/k_scalar(a, b, con->r1, con->r2, con->n);
+		con->tMass = 1.0f/k_scalar(a, b, con->r1, con->r2, cpvperp(con->n));
+				
+		// Calculate the target bias velocity.
+		con->bias = -cp_bias_coef*dt_inv*cpfmin(0.0f, con->dist + cp_collision_slop);
+		con->jBias = 0.0f;
+		
+		// Calculate the target bounce velocity.
+		con->bounce = normal_relative_velocity(a, b, con->r1, con->r2, con->n)*arb->e;//cpvdot(con->n, cpvsub(v2, v1))*e;
+	}
+}
+
+void
+cpArbiterApplyCachedImpulse(cpArbiter *arb)
+{
+	cpShape *shapea = arb->a;
+	cpShape *shapeb = arb->b;
+		
+	arb->u = shapea->u * shapeb->u;
+	arb->surface_vr = cpvsub(shapeb->surface_v, shapea->surface_v);
+
+	cpBody *a = shapea->body;
+	cpBody *b = shapeb->body;
+	
+	for(int i=0; i<arb->numContacts; i++){
+		cpContact *con = &arb->contacts[i];
+		apply_impulses(a, b, con->r1, con->r2, cpvrotate(con->n, cpv(con->jnAcc, con->jtAcc)));
+	}
+}
+
+void
+cpArbiterApplyImpulse(cpArbiter *arb, cpFloat eCoef)
+{
+	cpBody *a = arb->a->body;
+	cpBody *b = arb->b->body;
+
+	for(int i=0; i<arb->numContacts; i++){
+		cpContact *con = &arb->contacts[i];
+		cpVect n = con->n;
+		cpVect r1 = con->r1;
+		cpVect r2 = con->r2;
+		
+		// Calculate the relative bias velocities.
+		cpVect vb1 = cpvadd(a->v_bias, cpvmult(cpvperp(r1), a->w_bias));
+		cpVect vb2 = cpvadd(b->v_bias, cpvmult(cpvperp(r2), b->w_bias));
+		cpFloat vbn = cpvdot(cpvsub(vb2, vb1), n);
+		
+		// Calculate and clamp the bias impulse.
+		cpFloat jbn = (con->bias - vbn)*con->nMass;
+		cpFloat jbnOld = con->jBias;
+		con->jBias = cpfmax(jbnOld + jbn, 0.0f);
+		jbn = con->jBias - jbnOld;
+		
+		// Apply the bias impulse.
+		apply_bias_impulses(a, b, r1, r2, cpvmult(n, jbn));
+
+		// Calculate the relative velocity.
+		cpVect vr = relative_velocity(a, b, r1, r2);
+		cpFloat vrn = cpvdot(vr, n);
+		
+		// Calculate and clamp the normal impulse.
+		cpFloat jn = -(con->bounce*eCoef + vrn)*con->nMass;
+		cpFloat jnOld = con->jnAcc;
+		con->jnAcc = cpfmax(jnOld + jn, 0.0f);
+		jn = con->jnAcc - jnOld;
+		
+		// Calculate the relative tangent velocity.
+		cpFloat vrt = cpvdot(cpvadd(vr, arb->surface_vr), cpvperp(n));
+		
+		// Calculate and clamp the friction impulse.
+		cpFloat jtMax = arb->u*con->jnAcc;
+		cpFloat jt = -vrt*con->tMass;
+		cpFloat jtOld = con->jtAcc;
+		con->jtAcc = cpfclamp(jtOld + jt, -jtMax, jtMax);
+		jt = con->jtAcc - jtOld;
+		
+		// Apply the final impulse.
+		apply_impulses(a, b, r1, r2, cpvrotate(n, cpv(jn, jt)));
+	}
+}

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

@@ -0,0 +1,143 @@
+/* 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 <string.h>
+
+#include "chipmunk_private.h"
+
+
+//#define CP_ARRAY_INCREMENT 10
+
+// NOTE: cpArray is rarely used and will probably go away.
+
+cpArray*
+cpArrayAlloc(void)
+{
+	return (cpArray *)cpcalloc(1, sizeof(cpArray));
+}
+
+cpArray*
+cpArrayInit(cpArray *arr, int size)
+{
+	arr->num = 0;
+	
+	size = (size ? size : 4);
+	arr->max = size;
+	arr->arr = (void **)cpmalloc(size*sizeof(void**));
+	
+	return arr;
+}
+
+cpArray*
+cpArrayNew(int size)
+{
+	return cpArrayInit(cpArrayAlloc(), size);
+}
+
+void
+cpArrayDestroy(cpArray *arr)
+{
+	cpfree(arr->arr);
+	arr->arr = NULL;
+}
+
+void
+cpArrayFree(cpArray *arr)
+{
+	if(arr){
+		cpArrayDestroy(arr);
+		cpfree(arr);
+	}
+}
+
+void
+cpArrayPush(cpArray *arr, void *object)
+{
+	if(arr->num == arr->max){
+		arr->max *= 2;
+		arr->arr = (void **)cprealloc(arr->arr, arr->max*sizeof(void**));
+	}
+	
+	arr->arr[arr->num] = object;
+	arr->num++;
+}
+
+void *
+cpArrayPop(cpArray *arr)
+{
+	arr->num--;
+	
+	void *value = arr->arr[arr->num];
+	arr->arr[arr->num] = NULL;
+	
+	return value;
+}
+
+void
+cpArrayDeleteIndex(cpArray *arr, int idx)
+{
+	arr->num--;
+	
+	arr->arr[idx] = arr->arr[arr->num];
+	arr->arr[arr->num] = NULL;
+}
+
+void
+cpArrayDeleteObj(cpArray *arr, void *obj)
+{
+	for(int i=0; i<arr->num; i++){
+		if(arr->arr[i] == obj){
+			cpArrayDeleteIndex(arr, i);
+			return;
+		}
+	}
+}
+
+void
+cpArrayAppend(cpArray *arr, cpArray *other)
+{
+	void *tail = &arr->arr[arr->num];
+	
+	arr->num += other->num;
+	if(arr->num >= arr->max){
+		arr->max = arr->num;
+		arr->arr = (void **)cprealloc(arr->arr, arr->max*sizeof(void**));
+	}
+	
+	memcpy(tail, other->arr, other->num*sizeof(void**));
+}
+
+void
+cpArrayEach(cpArray *arr, cpArrayIter iterFunc, void *data)
+{
+	for(int i=0; i<arr->num; i++)
+		iterFunc(arr->arr[i], data);
+}
+
+cpBool
+cpArrayContains(cpArray *arr, void *ptr)
+{
+	for(int i=0; i<arr->num; i++)
+		if(arr->arr[i] == ptr) return cpTrue;
+	
+	return cpFalse;
+}