reflexion 0.1.11 → 0.1.16
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- checksums.yaml +5 -5
- data/.doc/ext/reflex/application.cpp +9 -5
- data/.doc/ext/reflex/capture_event.cpp +4 -9
- data/.doc/ext/reflex/contact_event.cpp +17 -13
- data/.doc/ext/reflex/draw_event.cpp +3 -8
- data/.doc/ext/reflex/ellipse_shape.cpp +51 -24
- data/.doc/ext/reflex/event.cpp +0 -4
- data/.doc/ext/reflex/filter.cpp +81 -0
- data/.doc/ext/reflex/focus_event.cpp +9 -13
- data/.doc/ext/reflex/frame_event.cpp +47 -14
- data/.doc/ext/reflex/image_view.cpp +1 -10
- data/.doc/ext/reflex/key_event.cpp +9 -14
- data/.doc/ext/reflex/line_shape.cpp +99 -0
- data/.doc/ext/reflex/motion_event.cpp +73 -0
- data/.doc/ext/reflex/native.cpp +18 -18
- data/.doc/ext/reflex/pointer_event.cpp +27 -25
- data/.doc/ext/reflex/polygon_shape.cpp +65 -0
- data/.doc/ext/reflex/rect_shape.cpp +102 -23
- data/.doc/ext/reflex/reflex.cpp +24 -3
- data/.doc/ext/reflex/scroll_event.cpp +8 -15
- data/.doc/ext/reflex/selector.cpp +43 -15
- data/.doc/ext/reflex/shape.cpp +211 -0
- data/.doc/ext/reflex/style.cpp +359 -185
- data/.doc/ext/reflex/style_length.cpp +163 -35
- data/.doc/ext/reflex/timer.cpp +101 -0
- data/.doc/ext/reflex/timer_event.cpp +123 -0
- data/.doc/ext/reflex/update_event.cpp +12 -8
- data/.doc/ext/reflex/view.cpp +548 -144
- data/.doc/ext/reflex/wheel_event.cpp +5 -28
- data/.doc/ext/reflex/window.cpp +7 -15
- data/LICENSE +21 -0
- data/README.md +1 -1
- data/Rakefile +14 -12
- data/VERSION +1 -1
- data/ext/reflex/application.cpp +10 -5
- data/ext/reflex/capture_event.cpp +4 -9
- data/ext/reflex/contact_event.cpp +18 -13
- data/ext/reflex/defs.h +5 -2
- data/ext/reflex/draw_event.cpp +3 -8
- data/ext/reflex/ellipse_shape.cpp +56 -25
- data/ext/reflex/event.cpp +0 -4
- data/ext/reflex/extconf.rb +1 -2
- data/ext/reflex/filter.cpp +86 -0
- data/ext/reflex/focus_event.cpp +11 -15
- data/ext/reflex/frame_event.cpp +52 -14
- data/ext/reflex/image_view.cpp +1 -10
- data/ext/reflex/key_event.cpp +9 -14
- data/ext/reflex/line_shape.cpp +104 -0
- data/ext/reflex/motion_event.cpp +77 -0
- data/ext/reflex/native.cpp +18 -18
- data/ext/reflex/pointer_event.cpp +27 -25
- data/ext/reflex/polygon_shape.cpp +68 -0
- data/ext/reflex/rect_shape.cpp +113 -24
- data/ext/reflex/reflex.cpp +24 -3
- data/ext/reflex/scroll_event.cpp +8 -15
- data/ext/reflex/selector.cpp +46 -16
- data/ext/reflex/selector.h +130 -0
- data/ext/reflex/shape.cpp +231 -0
- data/ext/reflex/style.cpp +363 -192
- data/ext/reflex/style_length.cpp +164 -37
- data/ext/reflex/timer.cpp +108 -0
- data/ext/reflex/timer_event.cpp +133 -0
- data/ext/reflex/update_event.cpp +13 -8
- data/ext/reflex/view.cpp +594 -150
- data/ext/reflex/wheel_event.cpp +5 -30
- data/ext/reflex/window.cpp +7 -15
- data/include/reflex.h +5 -4
- data/include/reflex/application.h +2 -0
- data/include/reflex/debug.h +22 -0
- data/include/reflex/defs.h +45 -2
- data/include/reflex/event.h +55 -11
- data/include/reflex/exception.h +17 -2
- data/include/reflex/filter.h +56 -0
- data/include/reflex/image_view.h +1 -1
- data/include/reflex/ruby.h +6 -4
- data/include/reflex/ruby/application.h +17 -9
- data/include/reflex/ruby/event.h +22 -0
- data/include/reflex/ruby/filter.h +69 -0
- data/include/reflex/ruby/reflex.h +1 -0
- data/include/reflex/ruby/selector.h +1 -1
- data/include/reflex/ruby/shape.h +140 -0
- data/include/reflex/ruby/style.h +1 -1
- data/include/reflex/ruby/timer.h +69 -0
- data/include/reflex/ruby/view.h +43 -76
- data/include/reflex/ruby/window.h +17 -32
- data/include/reflex/selector.h +54 -2
- data/include/reflex/shape.h +211 -0
- data/include/reflex/style.h +136 -76
- data/include/reflex/timer.h +73 -0
- data/include/reflex/view.h +181 -59
- data/include/reflex/window.h +4 -3
- data/lib/reflex.rb +13 -6
- data/lib/reflex/application.rb +6 -3
- data/lib/reflex/button.rb +2 -2
- data/lib/reflex/{texture.rb → camera.rb} +2 -2
- data/lib/reflex/capture_event.rb +7 -6
- data/lib/reflex/contact_event.rb +10 -12
- data/lib/reflex/draw_event.rb +6 -1
- data/lib/reflex/ellipse_shape.rb +27 -0
- data/lib/reflex/filter.rb +18 -0
- data/lib/reflex/fixture.rb +4 -0
- data/lib/reflex/focus_event.rb +10 -12
- data/lib/reflex/frame_event.rb +1 -1
- data/lib/reflex/helper.rb +17 -29
- data/lib/reflex/key_event.rb +13 -11
- data/lib/reflex/line_shape.rb +18 -0
- data/lib/reflex/matrix.rb +13 -0
- data/lib/reflex/module.rb +4 -19
- data/lib/reflex/pointer_event.rb +28 -35
- data/lib/reflex/polygon.rb +14 -0
- data/lib/reflex/polygon_shape.rb +23 -0
- data/lib/reflex/polyline.rb +13 -0
- data/lib/reflex/rect_shape.rb +20 -0
- data/lib/reflex/reflex.rb +1 -3
- data/lib/reflex/scroll_event.rb +1 -1
- data/lib/reflex/selector.rb +2 -2
- data/lib/reflex/shape.rb +62 -0
- data/lib/reflex/style.rb +78 -11
- data/lib/reflex/style_length.rb +0 -11
- data/lib/reflex/text_view.rb +7 -24
- data/lib/reflex/timer.rb +30 -0
- data/lib/reflex/timer_event.rb +29 -0
- data/lib/reflex/update_event.rb +1 -1
- data/lib/reflex/view.rb +127 -32
- data/lib/reflex/wheel_event.rb +9 -1
- data/lib/reflex/window.rb +29 -9
- data/lib/reflexion.rb +23 -7
- data/reflex.gemspec +7 -8
- data/samples/bats.rb +4 -4
- data/samples/camera.rb +32 -0
- data/samples/fans.rb +1 -1
- data/samples/fps.rb +5 -3
- data/samples/hello.rb +4 -6
- data/samples/image.rb +5 -4
- data/samples/ios/hello/hello.xcodeproj/project.pbxproj +0 -2
- data/samples/layout.rb +16 -7
- data/samples/model.rb +10 -7
- data/samples/physics.rb +22 -20
- data/samples/reflexion/breakout.rb +4 -5
- data/samples/reflexion/hello.rb +2 -2
- data/samples/reflexion/jump_action.rb +191 -0
- data/samples/reflexion/noise.rb +23 -0
- data/samples/reflexion/paint.rb +7 -6
- data/samples/reflexion/physics.rb +15 -8
- data/samples/reflexion/pulse.rb +24 -10
- data/samples/shader.rb +8 -6
- data/samples/shapes.rb +79 -14
- data/samples/tree.rb +9 -10
- data/samples/views.rb +3 -3
- data/samples/visuals.rb +2 -5
- data/src/body.cpp +146 -345
- data/src/body.h +91 -0
- data/src/event.cpp +65 -15
- data/src/exception.cpp +13 -3
- data/src/filter.cpp +76 -0
- data/src/fixture.cpp +164 -39
- data/src/fixture.h +85 -0
- data/src/image_view.cpp +4 -4
- data/src/ios/app_delegate.h +5 -10
- data/src/ios/app_delegate.mm +79 -41
- data/src/ios/application.h +32 -0
- data/src/ios/application.mm +35 -25
- data/src/ios/event.mm +8 -4
- data/src/ios/reflex.mm +0 -7
- data/src/ios/view_controller.h +37 -0
- data/src/ios/view_controller.mm +424 -0
- data/src/ios/window.h +40 -0
- data/src/ios/window.mm +59 -250
- data/src/osx/app_delegate.h +5 -10
- data/src/osx/app_delegate.mm +52 -55
- data/src/osx/application.h +32 -0
- data/src/osx/application.mm +44 -39
- data/src/osx/native_window.h +0 -15
- data/src/osx/native_window.mm +127 -127
- data/src/osx/opengl_view.h +0 -2
- data/src/osx/opengl_view.mm +12 -3
- data/src/osx/reflex.mm +0 -9
- data/src/osx/window.h +42 -0
- data/src/osx/window.mm +45 -252
- data/src/selector.cpp +232 -7
- data/src/selector.h +52 -0
- data/src/shape.cpp +1191 -0
- data/src/shape.h +61 -0
- data/src/style.cpp +573 -376
- data/src/style.h +39 -0
- data/src/timer.cpp +288 -0
- data/src/timer.h +55 -0
- data/src/view.cpp +1624 -984
- data/src/view.h +56 -0
- data/src/win32/window.cpp +3 -4
- data/src/window.cpp +302 -20
- data/src/window.h +94 -0
- data/src/world.cpp +112 -111
- data/src/world.h +34 -53
- data/task/box2d.rake +31 -10
- data/test/test_capture_event.rb +8 -6
- data/test/test_pointer_event.rb +130 -0
- data/test/test_selector.rb +1 -1
- data/test/test_shape.rb +71 -0
- data/test/test_style.rb +77 -11
- data/test/test_style_length.rb +42 -13
- data/test/test_view.rb +138 -14
- metadata +118 -202
- data/.doc/ext/reflex/arc_shape.cpp +0 -89
- data/.doc/ext/reflex/body.cpp +0 -299
- data/.doc/ext/reflex/fixture.cpp +0 -101
- data/.doc/ext/reflex/shape_view.cpp +0 -153
- data/ext/reflex/arc_shape.cpp +0 -94
- data/ext/reflex/body.cpp +0 -328
- data/ext/reflex/fixture.cpp +0 -108
- data/ext/reflex/shape_view.cpp +0 -161
- data/include/reflex/bitmap.h +0 -20
- data/include/reflex/body.h +0 -128
- data/include/reflex/bounds.h +0 -20
- data/include/reflex/color.h +0 -20
- data/include/reflex/color_space.h +0 -20
- data/include/reflex/fixture.h +0 -117
- data/include/reflex/font.h +0 -20
- data/include/reflex/image.h +0 -20
- data/include/reflex/matrix.h +0 -20
- data/include/reflex/painter.h +0 -20
- data/include/reflex/point.h +0 -24
- data/include/reflex/ruby/body.h +0 -41
- data/include/reflex/ruby/fixture.h +0 -41
- data/include/reflex/ruby/shape_view.h +0 -96
- data/include/reflex/shader.h +0 -20
- data/include/reflex/shape_view.h +0 -146
- data/include/reflex/texture.h +0 -20
- data/lib/reflex/body.rb +0 -22
- data/lib/reflex/flags.rb +0 -18
- data/lib/reflex/shape_view.rb +0 -25
- data/src/ios/application_data.h +0 -45
- data/src/ios/native_window.h +0 -39
- data/src/ios/native_window.mm +0 -224
- data/src/ios/opengl_view.h +0 -13
- data/src/ios/opengl_view.mm +0 -139
- data/src/ios/window_data.h +0 -75
- data/src/osx/application_data.h +0 -45
- data/src/osx/window_data.h +0 -75
- data/src/physics/Box2D/Box2D.h +0 -68
- data/src/physics/Box2D/Collision/Shapes/b2ChainShape.cpp +0 -193
- data/src/physics/Box2D/Collision/Shapes/b2ChainShape.h +0 -105
- data/src/physics/Box2D/Collision/Shapes/b2CircleShape.cpp +0 -99
- data/src/physics/Box2D/Collision/Shapes/b2CircleShape.h +0 -91
- data/src/physics/Box2D/Collision/Shapes/b2EdgeShape.cpp +0 -138
- data/src/physics/Box2D/Collision/Shapes/b2EdgeShape.h +0 -74
- data/src/physics/Box2D/Collision/Shapes/b2PolygonShape.cpp +0 -467
- data/src/physics/Box2D/Collision/Shapes/b2PolygonShape.h +0 -101
- data/src/physics/Box2D/Collision/Shapes/b2Shape.h +0 -101
- data/src/physics/Box2D/Collision/b2BroadPhase.cpp +0 -119
- data/src/physics/Box2D/Collision/b2BroadPhase.h +0 -257
- data/src/physics/Box2D/Collision/b2CollideCircle.cpp +0 -154
- data/src/physics/Box2D/Collision/b2CollideEdge.cpp +0 -698
- data/src/physics/Box2D/Collision/b2CollidePolygon.cpp +0 -239
- data/src/physics/Box2D/Collision/b2Collision.cpp +0 -252
- data/src/physics/Box2D/Collision/b2Collision.h +0 -277
- data/src/physics/Box2D/Collision/b2Distance.cpp +0 -603
- data/src/physics/Box2D/Collision/b2Distance.h +0 -141
- data/src/physics/Box2D/Collision/b2DynamicTree.cpp +0 -778
- data/src/physics/Box2D/Collision/b2DynamicTree.h +0 -289
- data/src/physics/Box2D/Collision/b2TimeOfImpact.cpp +0 -486
- data/src/physics/Box2D/Collision/b2TimeOfImpact.h +0 -58
- data/src/physics/Box2D/Common/b2BlockAllocator.cpp +0 -215
- data/src/physics/Box2D/Common/b2BlockAllocator.h +0 -62
- data/src/physics/Box2D/Common/b2Draw.cpp +0 -44
- data/src/physics/Box2D/Common/b2Draw.h +0 -86
- data/src/physics/Box2D/Common/b2GrowableStack.h +0 -85
- data/src/physics/Box2D/Common/b2Math.cpp +0 -94
- data/src/physics/Box2D/Common/b2Math.h +0 -720
- data/src/physics/Box2D/Common/b2Settings.cpp +0 -44
- data/src/physics/Box2D/Common/b2Settings.h +0 -151
- data/src/physics/Box2D/Common/b2StackAllocator.cpp +0 -83
- data/src/physics/Box2D/Common/b2StackAllocator.h +0 -60
- data/src/physics/Box2D/Common/b2Timer.cpp +0 -101
- data/src/physics/Box2D/Common/b2Timer.h +0 -50
- data/src/physics/Box2D/Dynamics/Contacts/b2ChainAndCircleContact.cpp +0 -53
- data/src/physics/Box2D/Dynamics/Contacts/b2ChainAndCircleContact.h +0 -39
- data/src/physics/Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.cpp +0 -53
- data/src/physics/Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.h +0 -39
- data/src/physics/Box2D/Dynamics/Contacts/b2CircleContact.cpp +0 -52
- data/src/physics/Box2D/Dynamics/Contacts/b2CircleContact.h +0 -39
- data/src/physics/Box2D/Dynamics/Contacts/b2Contact.cpp +0 -247
- data/src/physics/Box2D/Dynamics/Contacts/b2Contact.h +0 -349
- data/src/physics/Box2D/Dynamics/Contacts/b2ContactSolver.cpp +0 -838
- data/src/physics/Box2D/Dynamics/Contacts/b2ContactSolver.h +0 -95
- data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndCircleContact.cpp +0 -49
- data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndCircleContact.h +0 -39
- data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndPolygonContact.cpp +0 -49
- data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndPolygonContact.h +0 -39
- data/src/physics/Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.cpp +0 -49
- data/src/physics/Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.h +0 -38
- data/src/physics/Box2D/Dynamics/Contacts/b2PolygonContact.cpp +0 -52
- data/src/physics/Box2D/Dynamics/Contacts/b2PolygonContact.h +0 -39
- data/src/physics/Box2D/Dynamics/Joints/b2DistanceJoint.cpp +0 -260
- data/src/physics/Box2D/Dynamics/Joints/b2DistanceJoint.h +0 -169
- data/src/physics/Box2D/Dynamics/Joints/b2FrictionJoint.cpp +0 -251
- data/src/physics/Box2D/Dynamics/Joints/b2FrictionJoint.h +0 -119
- data/src/physics/Box2D/Dynamics/Joints/b2GearJoint.cpp +0 -419
- data/src/physics/Box2D/Dynamics/Joints/b2GearJoint.h +0 -125
- data/src/physics/Box2D/Dynamics/Joints/b2Joint.cpp +0 -211
- data/src/physics/Box2D/Dynamics/Joints/b2Joint.h +0 -226
- data/src/physics/Box2D/Dynamics/Joints/b2MotorJoint.cpp +0 -304
- data/src/physics/Box2D/Dynamics/Joints/b2MotorJoint.h +0 -133
- data/src/physics/Box2D/Dynamics/Joints/b2MouseJoint.cpp +0 -222
- data/src/physics/Box2D/Dynamics/Joints/b2MouseJoint.h +0 -129
- data/src/physics/Box2D/Dynamics/Joints/b2PrismaticJoint.cpp +0 -629
- data/src/physics/Box2D/Dynamics/Joints/b2PrismaticJoint.h +0 -196
- data/src/physics/Box2D/Dynamics/Joints/b2PulleyJoint.cpp +0 -348
- data/src/physics/Box2D/Dynamics/Joints/b2PulleyJoint.h +0 -152
- data/src/physics/Box2D/Dynamics/Joints/b2RevoluteJoint.cpp +0 -502
- data/src/physics/Box2D/Dynamics/Joints/b2RevoluteJoint.h +0 -204
- data/src/physics/Box2D/Dynamics/Joints/b2RopeJoint.cpp +0 -241
- data/src/physics/Box2D/Dynamics/Joints/b2RopeJoint.h +0 -114
- data/src/physics/Box2D/Dynamics/Joints/b2WeldJoint.cpp +0 -344
- data/src/physics/Box2D/Dynamics/Joints/b2WeldJoint.h +0 -126
- data/src/physics/Box2D/Dynamics/Joints/b2WheelJoint.cpp +0 -419
- data/src/physics/Box2D/Dynamics/Joints/b2WheelJoint.h +0 -210
- data/src/physics/Box2D/Dynamics/b2Body.cpp +0 -549
- data/src/physics/Box2D/Dynamics/b2Body.h +0 -860
- data/src/physics/Box2D/Dynamics/b2ContactManager.cpp +0 -296
- data/src/physics/Box2D/Dynamics/b2ContactManager.h +0 -52
- data/src/physics/Box2D/Dynamics/b2Fixture.cpp +0 -303
- data/src/physics/Box2D/Dynamics/b2Fixture.h +0 -345
- data/src/physics/Box2D/Dynamics/b2Island.cpp +0 -539
- data/src/physics/Box2D/Dynamics/b2Island.h +0 -93
- data/src/physics/Box2D/Dynamics/b2TimeStep.h +0 -70
- data/src/physics/Box2D/Dynamics/b2World.cpp +0 -1339
- data/src/physics/Box2D/Dynamics/b2World.h +0 -354
- data/src/physics/Box2D/Dynamics/b2WorldCallbacks.cpp +0 -36
- data/src/physics/Box2D/Dynamics/b2WorldCallbacks.h +0 -155
- data/src/physics/Box2D/Rope/b2Rope.cpp +0 -259
- data/src/physics/Box2D/Rope/b2Rope.h +0 -115
- data/src/shape_view.cpp +0 -306
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/*
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* Copyright (c) 2007-2009 Erin Catto http://www.box2d.org
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#include <Box2D/Collision/b2Collision.h>
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#include <Box2D/Collision/Shapes/b2CircleShape.h>
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#include <Box2D/Collision/Shapes/b2PolygonShape.h>
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void b2CollideCircles(
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b2Manifold* manifold,
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const b2CircleShape* circleA, const b2Transform& xfA,
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const b2CircleShape* circleB, const b2Transform& xfB)
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{
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b2Vec2 pA = b2Mul(xfA, circleA->m_p);
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b2Vec2 d = pB - pA;
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float32 radius = rA + rB;
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if (distSqr > radius * radius)
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{
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return;
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}
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manifold->type = b2Manifold::e_circles;
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manifold->localPoint = circleA->m_p;
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manifold->localNormal.SetZero();
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manifold->pointCount = 1;
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manifold->points[0].localPoint = circleB->m_p;
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manifold->points[0].id.key = 0;
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}
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void b2CollidePolygonAndCircle(
|
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b2Manifold* manifold,
|
53
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const b2PolygonShape* polygonA, const b2Transform& xfA,
|
54
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const b2CircleShape* circleB, const b2Transform& xfB)
|
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{
|
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manifold->pointCount = 0;
|
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-
|
58
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// Compute circle position in the frame of the polygon.
|
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b2Vec2 c = b2Mul(xfB, circleB->m_p);
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b2Vec2 cLocal = b2MulT(xfA, c);
|
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-
|
62
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// Find the min separating edge.
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int32 normalIndex = 0;
|
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float32 separation = -b2_maxFloat;
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float32 radius = polygonA->m_radius + circleB->m_radius;
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int32 vertexCount = polygonA->m_count;
|
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const b2Vec2* vertices = polygonA->m_vertices;
|
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const b2Vec2* normals = polygonA->m_normals;
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|
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for (int32 i = 0; i < vertexCount; ++i)
|
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{
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float32 s = b2Dot(normals[i], cLocal - vertices[i]);
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if (s > radius)
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{
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// Early out.
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return;
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}
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if (s > separation)
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{
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separation = s;
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normalIndex = i;
|
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}
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}
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// Vertices that subtend the incident face.
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int32 vertIndex1 = normalIndex;
|
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int32 vertIndex2 = vertIndex1 + 1 < vertexCount ? vertIndex1 + 1 : 0;
|
90
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b2Vec2 v1 = vertices[vertIndex1];
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b2Vec2 v2 = vertices[vertIndex2];
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|
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// If the center is inside the polygon ...
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if (separation < b2_epsilon)
|
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{
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manifold->pointCount = 1;
|
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manifold->type = b2Manifold::e_faceA;
|
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manifold->localNormal = normals[normalIndex];
|
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manifold->localPoint = 0.5f * (v1 + v2);
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manifold->points[0].localPoint = circleB->m_p;
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manifold->points[0].id.key = 0;
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return;
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}
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|
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// Compute barycentric coordinates
|
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float32 u1 = b2Dot(cLocal - v1, v2 - v1);
|
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float32 u2 = b2Dot(cLocal - v2, v1 - v2);
|
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if (u1 <= 0.0f)
|
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{
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if (b2DistanceSquared(cLocal, v1) > radius * radius)
|
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{
|
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return;
|
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}
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|
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manifold->pointCount = 1;
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manifold->type = b2Manifold::e_faceA;
|
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manifold->localNormal = cLocal - v1;
|
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manifold->localNormal.Normalize();
|
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manifold->localPoint = v1;
|
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manifold->points[0].localPoint = circleB->m_p;
|
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manifold->points[0].id.key = 0;
|
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}
|
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|
-
else if (u2 <= 0.0f)
|
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{
|
125
|
-
if (b2DistanceSquared(cLocal, v2) > radius * radius)
|
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{
|
127
|
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return;
|
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|
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}
|
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|
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|
130
|
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manifold->pointCount = 1;
|
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manifold->type = b2Manifold::e_faceA;
|
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|
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manifold->localNormal = cLocal - v2;
|
133
|
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manifold->localNormal.Normalize();
|
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manifold->localPoint = v2;
|
135
|
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manifold->points[0].localPoint = circleB->m_p;
|
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|
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manifold->points[0].id.key = 0;
|
137
|
-
}
|
138
|
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else
|
139
|
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{
|
140
|
-
b2Vec2 faceCenter = 0.5f * (v1 + v2);
|
141
|
-
float32 separation = b2Dot(cLocal - faceCenter, normals[vertIndex1]);
|
142
|
-
if (separation > radius)
|
143
|
-
{
|
144
|
-
return;
|
145
|
-
}
|
146
|
-
|
147
|
-
manifold->pointCount = 1;
|
148
|
-
manifold->type = b2Manifold::e_faceA;
|
149
|
-
manifold->localNormal = normals[vertIndex1];
|
150
|
-
manifold->localPoint = faceCenter;
|
151
|
-
manifold->points[0].localPoint = circleB->m_p;
|
152
|
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manifold->points[0].id.key = 0;
|
153
|
-
}
|
154
|
-
}
|
@@ -1,698 +0,0 @@
|
|
1
|
-
/*
|
2
|
-
* Copyright (c) 2007-2009 Erin Catto http://www.box2d.org
|
3
|
-
*
|
4
|
-
* This software is provided 'as-is', without any express or implied
|
5
|
-
* warranty. In no event will the authors be held liable for any damages
|
6
|
-
* arising from the use of this software.
|
7
|
-
* Permission is granted to anyone to use this software for any purpose,
|
8
|
-
* including commercial applications, and to alter it and redistribute it
|
9
|
-
* freely, subject to the following restrictions:
|
10
|
-
* 1. The origin of this software must not be misrepresented; you must not
|
11
|
-
* claim that you wrote the original software. If you use this software
|
12
|
-
* in a product, an acknowledgment in the product documentation would be
|
13
|
-
* appreciated but is not required.
|
14
|
-
* 2. Altered source versions must be plainly marked as such, and must not be
|
15
|
-
* misrepresented as being the original software.
|
16
|
-
* 3. This notice may not be removed or altered from any source distribution.
|
17
|
-
*/
|
18
|
-
|
19
|
-
#include <Box2D/Collision/b2Collision.h>
|
20
|
-
#include <Box2D/Collision/Shapes/b2CircleShape.h>
|
21
|
-
#include <Box2D/Collision/Shapes/b2EdgeShape.h>
|
22
|
-
#include <Box2D/Collision/Shapes/b2PolygonShape.h>
|
23
|
-
|
24
|
-
|
25
|
-
// Compute contact points for edge versus circle.
|
26
|
-
// This accounts for edge connectivity.
|
27
|
-
void b2CollideEdgeAndCircle(b2Manifold* manifold,
|
28
|
-
const b2EdgeShape* edgeA, const b2Transform& xfA,
|
29
|
-
const b2CircleShape* circleB, const b2Transform& xfB)
|
30
|
-
{
|
31
|
-
manifold->pointCount = 0;
|
32
|
-
|
33
|
-
// Compute circle in frame of edge
|
34
|
-
b2Vec2 Q = b2MulT(xfA, b2Mul(xfB, circleB->m_p));
|
35
|
-
|
36
|
-
b2Vec2 A = edgeA->m_vertex1, B = edgeA->m_vertex2;
|
37
|
-
b2Vec2 e = B - A;
|
38
|
-
|
39
|
-
// Barycentric coordinates
|
40
|
-
float32 u = b2Dot(e, B - Q);
|
41
|
-
float32 v = b2Dot(e, Q - A);
|
42
|
-
|
43
|
-
float32 radius = edgeA->m_radius + circleB->m_radius;
|
44
|
-
|
45
|
-
b2ContactFeature cf;
|
46
|
-
cf.indexB = 0;
|
47
|
-
cf.typeB = b2ContactFeature::e_vertex;
|
48
|
-
|
49
|
-
// Region A
|
50
|
-
if (v <= 0.0f)
|
51
|
-
{
|
52
|
-
b2Vec2 P = A;
|
53
|
-
b2Vec2 d = Q - P;
|
54
|
-
float32 dd = b2Dot(d, d);
|
55
|
-
if (dd > radius * radius)
|
56
|
-
{
|
57
|
-
return;
|
58
|
-
}
|
59
|
-
|
60
|
-
// Is there an edge connected to A?
|
61
|
-
if (edgeA->m_hasVertex0)
|
62
|
-
{
|
63
|
-
b2Vec2 A1 = edgeA->m_vertex0;
|
64
|
-
b2Vec2 B1 = A;
|
65
|
-
b2Vec2 e1 = B1 - A1;
|
66
|
-
float32 u1 = b2Dot(e1, B1 - Q);
|
67
|
-
|
68
|
-
// Is the circle in Region AB of the previous edge?
|
69
|
-
if (u1 > 0.0f)
|
70
|
-
{
|
71
|
-
return;
|
72
|
-
}
|
73
|
-
}
|
74
|
-
|
75
|
-
cf.indexA = 0;
|
76
|
-
cf.typeA = b2ContactFeature::e_vertex;
|
77
|
-
manifold->pointCount = 1;
|
78
|
-
manifold->type = b2Manifold::e_circles;
|
79
|
-
manifold->localNormal.SetZero();
|
80
|
-
manifold->localPoint = P;
|
81
|
-
manifold->points[0].id.key = 0;
|
82
|
-
manifold->points[0].id.cf = cf;
|
83
|
-
manifold->points[0].localPoint = circleB->m_p;
|
84
|
-
return;
|
85
|
-
}
|
86
|
-
|
87
|
-
// Region B
|
88
|
-
if (u <= 0.0f)
|
89
|
-
{
|
90
|
-
b2Vec2 P = B;
|
91
|
-
b2Vec2 d = Q - P;
|
92
|
-
float32 dd = b2Dot(d, d);
|
93
|
-
if (dd > radius * radius)
|
94
|
-
{
|
95
|
-
return;
|
96
|
-
}
|
97
|
-
|
98
|
-
// Is there an edge connected to B?
|
99
|
-
if (edgeA->m_hasVertex3)
|
100
|
-
{
|
101
|
-
b2Vec2 B2 = edgeA->m_vertex3;
|
102
|
-
b2Vec2 A2 = B;
|
103
|
-
b2Vec2 e2 = B2 - A2;
|
104
|
-
float32 v2 = b2Dot(e2, Q - A2);
|
105
|
-
|
106
|
-
// Is the circle in Region AB of the next edge?
|
107
|
-
if (v2 > 0.0f)
|
108
|
-
{
|
109
|
-
return;
|
110
|
-
}
|
111
|
-
}
|
112
|
-
|
113
|
-
cf.indexA = 1;
|
114
|
-
cf.typeA = b2ContactFeature::e_vertex;
|
115
|
-
manifold->pointCount = 1;
|
116
|
-
manifold->type = b2Manifold::e_circles;
|
117
|
-
manifold->localNormal.SetZero();
|
118
|
-
manifold->localPoint = P;
|
119
|
-
manifold->points[0].id.key = 0;
|
120
|
-
manifold->points[0].id.cf = cf;
|
121
|
-
manifold->points[0].localPoint = circleB->m_p;
|
122
|
-
return;
|
123
|
-
}
|
124
|
-
|
125
|
-
// Region AB
|
126
|
-
float32 den = b2Dot(e, e);
|
127
|
-
b2Assert(den > 0.0f);
|
128
|
-
b2Vec2 P = (1.0f / den) * (u * A + v * B);
|
129
|
-
b2Vec2 d = Q - P;
|
130
|
-
float32 dd = b2Dot(d, d);
|
131
|
-
if (dd > radius * radius)
|
132
|
-
{
|
133
|
-
return;
|
134
|
-
}
|
135
|
-
|
136
|
-
b2Vec2 n(-e.y, e.x);
|
137
|
-
if (b2Dot(n, Q - A) < 0.0f)
|
138
|
-
{
|
139
|
-
n.Set(-n.x, -n.y);
|
140
|
-
}
|
141
|
-
n.Normalize();
|
142
|
-
|
143
|
-
cf.indexA = 0;
|
144
|
-
cf.typeA = b2ContactFeature::e_face;
|
145
|
-
manifold->pointCount = 1;
|
146
|
-
manifold->type = b2Manifold::e_faceA;
|
147
|
-
manifold->localNormal = n;
|
148
|
-
manifold->localPoint = A;
|
149
|
-
manifold->points[0].id.key = 0;
|
150
|
-
manifold->points[0].id.cf = cf;
|
151
|
-
manifold->points[0].localPoint = circleB->m_p;
|
152
|
-
}
|
153
|
-
|
154
|
-
// This structure is used to keep track of the best separating axis.
|
155
|
-
struct b2EPAxis
|
156
|
-
{
|
157
|
-
enum Type
|
158
|
-
{
|
159
|
-
e_unknown,
|
160
|
-
e_edgeA,
|
161
|
-
e_edgeB
|
162
|
-
};
|
163
|
-
|
164
|
-
Type type;
|
165
|
-
int32 index;
|
166
|
-
float32 separation;
|
167
|
-
};
|
168
|
-
|
169
|
-
// This holds polygon B expressed in frame A.
|
170
|
-
struct b2TempPolygon
|
171
|
-
{
|
172
|
-
b2Vec2 vertices[b2_maxPolygonVertices];
|
173
|
-
b2Vec2 normals[b2_maxPolygonVertices];
|
174
|
-
int32 count;
|
175
|
-
};
|
176
|
-
|
177
|
-
// Reference face used for clipping
|
178
|
-
struct b2ReferenceFace
|
179
|
-
{
|
180
|
-
int32 i1, i2;
|
181
|
-
|
182
|
-
b2Vec2 v1, v2;
|
183
|
-
|
184
|
-
b2Vec2 normal;
|
185
|
-
|
186
|
-
b2Vec2 sideNormal1;
|
187
|
-
float32 sideOffset1;
|
188
|
-
|
189
|
-
b2Vec2 sideNormal2;
|
190
|
-
float32 sideOffset2;
|
191
|
-
};
|
192
|
-
|
193
|
-
// This class collides and edge and a polygon, taking into account edge adjacency.
|
194
|
-
struct b2EPCollider
|
195
|
-
{
|
196
|
-
void Collide(b2Manifold* manifold, const b2EdgeShape* edgeA, const b2Transform& xfA,
|
197
|
-
const b2PolygonShape* polygonB, const b2Transform& xfB);
|
198
|
-
b2EPAxis ComputeEdgeSeparation();
|
199
|
-
b2EPAxis ComputePolygonSeparation();
|
200
|
-
|
201
|
-
enum VertexType
|
202
|
-
{
|
203
|
-
e_isolated,
|
204
|
-
e_concave,
|
205
|
-
e_convex
|
206
|
-
};
|
207
|
-
|
208
|
-
b2TempPolygon m_polygonB;
|
209
|
-
|
210
|
-
b2Transform m_xf;
|
211
|
-
b2Vec2 m_centroidB;
|
212
|
-
b2Vec2 m_v0, m_v1, m_v2, m_v3;
|
213
|
-
b2Vec2 m_normal0, m_normal1, m_normal2;
|
214
|
-
b2Vec2 m_normal;
|
215
|
-
VertexType m_type1, m_type2;
|
216
|
-
b2Vec2 m_lowerLimit, m_upperLimit;
|
217
|
-
float32 m_radius;
|
218
|
-
bool m_front;
|
219
|
-
};
|
220
|
-
|
221
|
-
// Algorithm:
|
222
|
-
// 1. Classify v1 and v2
|
223
|
-
// 2. Classify polygon centroid as front or back
|
224
|
-
// 3. Flip normal if necessary
|
225
|
-
// 4. Initialize normal range to [-pi, pi] about face normal
|
226
|
-
// 5. Adjust normal range according to adjacent edges
|
227
|
-
// 6. Visit each separating axes, only accept axes within the range
|
228
|
-
// 7. Return if _any_ axis indicates separation
|
229
|
-
// 8. Clip
|
230
|
-
void b2EPCollider::Collide(b2Manifold* manifold, const b2EdgeShape* edgeA, const b2Transform& xfA,
|
231
|
-
const b2PolygonShape* polygonB, const b2Transform& xfB)
|
232
|
-
{
|
233
|
-
m_xf = b2MulT(xfA, xfB);
|
234
|
-
|
235
|
-
m_centroidB = b2Mul(m_xf, polygonB->m_centroid);
|
236
|
-
|
237
|
-
m_v0 = edgeA->m_vertex0;
|
238
|
-
m_v1 = edgeA->m_vertex1;
|
239
|
-
m_v2 = edgeA->m_vertex2;
|
240
|
-
m_v3 = edgeA->m_vertex3;
|
241
|
-
|
242
|
-
bool hasVertex0 = edgeA->m_hasVertex0;
|
243
|
-
bool hasVertex3 = edgeA->m_hasVertex3;
|
244
|
-
|
245
|
-
b2Vec2 edge1 = m_v2 - m_v1;
|
246
|
-
edge1.Normalize();
|
247
|
-
m_normal1.Set(edge1.y, -edge1.x);
|
248
|
-
float32 offset1 = b2Dot(m_normal1, m_centroidB - m_v1);
|
249
|
-
float32 offset0 = 0.0f, offset2 = 0.0f;
|
250
|
-
bool convex1 = false, convex2 = false;
|
251
|
-
|
252
|
-
// Is there a preceding edge?
|
253
|
-
if (hasVertex0)
|
254
|
-
{
|
255
|
-
b2Vec2 edge0 = m_v1 - m_v0;
|
256
|
-
edge0.Normalize();
|
257
|
-
m_normal0.Set(edge0.y, -edge0.x);
|
258
|
-
convex1 = b2Cross(edge0, edge1) >= 0.0f;
|
259
|
-
offset0 = b2Dot(m_normal0, m_centroidB - m_v0);
|
260
|
-
}
|
261
|
-
|
262
|
-
// Is there a following edge?
|
263
|
-
if (hasVertex3)
|
264
|
-
{
|
265
|
-
b2Vec2 edge2 = m_v3 - m_v2;
|
266
|
-
edge2.Normalize();
|
267
|
-
m_normal2.Set(edge2.y, -edge2.x);
|
268
|
-
convex2 = b2Cross(edge1, edge2) > 0.0f;
|
269
|
-
offset2 = b2Dot(m_normal2, m_centroidB - m_v2);
|
270
|
-
}
|
271
|
-
|
272
|
-
// Determine front or back collision. Determine collision normal limits.
|
273
|
-
if (hasVertex0 && hasVertex3)
|
274
|
-
{
|
275
|
-
if (convex1 && convex2)
|
276
|
-
{
|
277
|
-
m_front = offset0 >= 0.0f || offset1 >= 0.0f || offset2 >= 0.0f;
|
278
|
-
if (m_front)
|
279
|
-
{
|
280
|
-
m_normal = m_normal1;
|
281
|
-
m_lowerLimit = m_normal0;
|
282
|
-
m_upperLimit = m_normal2;
|
283
|
-
}
|
284
|
-
else
|
285
|
-
{
|
286
|
-
m_normal = -m_normal1;
|
287
|
-
m_lowerLimit = -m_normal1;
|
288
|
-
m_upperLimit = -m_normal1;
|
289
|
-
}
|
290
|
-
}
|
291
|
-
else if (convex1)
|
292
|
-
{
|
293
|
-
m_front = offset0 >= 0.0f || (offset1 >= 0.0f && offset2 >= 0.0f);
|
294
|
-
if (m_front)
|
295
|
-
{
|
296
|
-
m_normal = m_normal1;
|
297
|
-
m_lowerLimit = m_normal0;
|
298
|
-
m_upperLimit = m_normal1;
|
299
|
-
}
|
300
|
-
else
|
301
|
-
{
|
302
|
-
m_normal = -m_normal1;
|
303
|
-
m_lowerLimit = -m_normal2;
|
304
|
-
m_upperLimit = -m_normal1;
|
305
|
-
}
|
306
|
-
}
|
307
|
-
else if (convex2)
|
308
|
-
{
|
309
|
-
m_front = offset2 >= 0.0f || (offset0 >= 0.0f && offset1 >= 0.0f);
|
310
|
-
if (m_front)
|
311
|
-
{
|
312
|
-
m_normal = m_normal1;
|
313
|
-
m_lowerLimit = m_normal1;
|
314
|
-
m_upperLimit = m_normal2;
|
315
|
-
}
|
316
|
-
else
|
317
|
-
{
|
318
|
-
m_normal = -m_normal1;
|
319
|
-
m_lowerLimit = -m_normal1;
|
320
|
-
m_upperLimit = -m_normal0;
|
321
|
-
}
|
322
|
-
}
|
323
|
-
else
|
324
|
-
{
|
325
|
-
m_front = offset0 >= 0.0f && offset1 >= 0.0f && offset2 >= 0.0f;
|
326
|
-
if (m_front)
|
327
|
-
{
|
328
|
-
m_normal = m_normal1;
|
329
|
-
m_lowerLimit = m_normal1;
|
330
|
-
m_upperLimit = m_normal1;
|
331
|
-
}
|
332
|
-
else
|
333
|
-
{
|
334
|
-
m_normal = -m_normal1;
|
335
|
-
m_lowerLimit = -m_normal2;
|
336
|
-
m_upperLimit = -m_normal0;
|
337
|
-
}
|
338
|
-
}
|
339
|
-
}
|
340
|
-
else if (hasVertex0)
|
341
|
-
{
|
342
|
-
if (convex1)
|
343
|
-
{
|
344
|
-
m_front = offset0 >= 0.0f || offset1 >= 0.0f;
|
345
|
-
if (m_front)
|
346
|
-
{
|
347
|
-
m_normal = m_normal1;
|
348
|
-
m_lowerLimit = m_normal0;
|
349
|
-
m_upperLimit = -m_normal1;
|
350
|
-
}
|
351
|
-
else
|
352
|
-
{
|
353
|
-
m_normal = -m_normal1;
|
354
|
-
m_lowerLimit = m_normal1;
|
355
|
-
m_upperLimit = -m_normal1;
|
356
|
-
}
|
357
|
-
}
|
358
|
-
else
|
359
|
-
{
|
360
|
-
m_front = offset0 >= 0.0f && offset1 >= 0.0f;
|
361
|
-
if (m_front)
|
362
|
-
{
|
363
|
-
m_normal = m_normal1;
|
364
|
-
m_lowerLimit = m_normal1;
|
365
|
-
m_upperLimit = -m_normal1;
|
366
|
-
}
|
367
|
-
else
|
368
|
-
{
|
369
|
-
m_normal = -m_normal1;
|
370
|
-
m_lowerLimit = m_normal1;
|
371
|
-
m_upperLimit = -m_normal0;
|
372
|
-
}
|
373
|
-
}
|
374
|
-
}
|
375
|
-
else if (hasVertex3)
|
376
|
-
{
|
377
|
-
if (convex2)
|
378
|
-
{
|
379
|
-
m_front = offset1 >= 0.0f || offset2 >= 0.0f;
|
380
|
-
if (m_front)
|
381
|
-
{
|
382
|
-
m_normal = m_normal1;
|
383
|
-
m_lowerLimit = -m_normal1;
|
384
|
-
m_upperLimit = m_normal2;
|
385
|
-
}
|
386
|
-
else
|
387
|
-
{
|
388
|
-
m_normal = -m_normal1;
|
389
|
-
m_lowerLimit = -m_normal1;
|
390
|
-
m_upperLimit = m_normal1;
|
391
|
-
}
|
392
|
-
}
|
393
|
-
else
|
394
|
-
{
|
395
|
-
m_front = offset1 >= 0.0f && offset2 >= 0.0f;
|
396
|
-
if (m_front)
|
397
|
-
{
|
398
|
-
m_normal = m_normal1;
|
399
|
-
m_lowerLimit = -m_normal1;
|
400
|
-
m_upperLimit = m_normal1;
|
401
|
-
}
|
402
|
-
else
|
403
|
-
{
|
404
|
-
m_normal = -m_normal1;
|
405
|
-
m_lowerLimit = -m_normal2;
|
406
|
-
m_upperLimit = m_normal1;
|
407
|
-
}
|
408
|
-
}
|
409
|
-
}
|
410
|
-
else
|
411
|
-
{
|
412
|
-
m_front = offset1 >= 0.0f;
|
413
|
-
if (m_front)
|
414
|
-
{
|
415
|
-
m_normal = m_normal1;
|
416
|
-
m_lowerLimit = -m_normal1;
|
417
|
-
m_upperLimit = -m_normal1;
|
418
|
-
}
|
419
|
-
else
|
420
|
-
{
|
421
|
-
m_normal = -m_normal1;
|
422
|
-
m_lowerLimit = m_normal1;
|
423
|
-
m_upperLimit = m_normal1;
|
424
|
-
}
|
425
|
-
}
|
426
|
-
|
427
|
-
// Get polygonB in frameA
|
428
|
-
m_polygonB.count = polygonB->m_count;
|
429
|
-
for (int32 i = 0; i < polygonB->m_count; ++i)
|
430
|
-
{
|
431
|
-
m_polygonB.vertices[i] = b2Mul(m_xf, polygonB->m_vertices[i]);
|
432
|
-
m_polygonB.normals[i] = b2Mul(m_xf.q, polygonB->m_normals[i]);
|
433
|
-
}
|
434
|
-
|
435
|
-
m_radius = 2.0f * b2_polygonRadius;
|
436
|
-
|
437
|
-
manifold->pointCount = 0;
|
438
|
-
|
439
|
-
b2EPAxis edgeAxis = ComputeEdgeSeparation();
|
440
|
-
|
441
|
-
// If no valid normal can be found than this edge should not collide.
|
442
|
-
if (edgeAxis.type == b2EPAxis::e_unknown)
|
443
|
-
{
|
444
|
-
return;
|
445
|
-
}
|
446
|
-
|
447
|
-
if (edgeAxis.separation > m_radius)
|
448
|
-
{
|
449
|
-
return;
|
450
|
-
}
|
451
|
-
|
452
|
-
b2EPAxis polygonAxis = ComputePolygonSeparation();
|
453
|
-
if (polygonAxis.type != b2EPAxis::e_unknown && polygonAxis.separation > m_radius)
|
454
|
-
{
|
455
|
-
return;
|
456
|
-
}
|
457
|
-
|
458
|
-
// Use hysteresis for jitter reduction.
|
459
|
-
const float32 k_relativeTol = 0.98f;
|
460
|
-
const float32 k_absoluteTol = 0.001f;
|
461
|
-
|
462
|
-
b2EPAxis primaryAxis;
|
463
|
-
if (polygonAxis.type == b2EPAxis::e_unknown)
|
464
|
-
{
|
465
|
-
primaryAxis = edgeAxis;
|
466
|
-
}
|
467
|
-
else if (polygonAxis.separation > k_relativeTol * edgeAxis.separation + k_absoluteTol)
|
468
|
-
{
|
469
|
-
primaryAxis = polygonAxis;
|
470
|
-
}
|
471
|
-
else
|
472
|
-
{
|
473
|
-
primaryAxis = edgeAxis;
|
474
|
-
}
|
475
|
-
|
476
|
-
b2ClipVertex ie[2];
|
477
|
-
b2ReferenceFace rf;
|
478
|
-
if (primaryAxis.type == b2EPAxis::e_edgeA)
|
479
|
-
{
|
480
|
-
manifold->type = b2Manifold::e_faceA;
|
481
|
-
|
482
|
-
// Search for the polygon normal that is most anti-parallel to the edge normal.
|
483
|
-
int32 bestIndex = 0;
|
484
|
-
float32 bestValue = b2Dot(m_normal, m_polygonB.normals[0]);
|
485
|
-
for (int32 i = 1; i < m_polygonB.count; ++i)
|
486
|
-
{
|
487
|
-
float32 value = b2Dot(m_normal, m_polygonB.normals[i]);
|
488
|
-
if (value < bestValue)
|
489
|
-
{
|
490
|
-
bestValue = value;
|
491
|
-
bestIndex = i;
|
492
|
-
}
|
493
|
-
}
|
494
|
-
|
495
|
-
int32 i1 = bestIndex;
|
496
|
-
int32 i2 = i1 + 1 < m_polygonB.count ? i1 + 1 : 0;
|
497
|
-
|
498
|
-
ie[0].v = m_polygonB.vertices[i1];
|
499
|
-
ie[0].id.cf.indexA = 0;
|
500
|
-
ie[0].id.cf.indexB = static_cast<uint8>(i1);
|
501
|
-
ie[0].id.cf.typeA = b2ContactFeature::e_face;
|
502
|
-
ie[0].id.cf.typeB = b2ContactFeature::e_vertex;
|
503
|
-
|
504
|
-
ie[1].v = m_polygonB.vertices[i2];
|
505
|
-
ie[1].id.cf.indexA = 0;
|
506
|
-
ie[1].id.cf.indexB = static_cast<uint8>(i2);
|
507
|
-
ie[1].id.cf.typeA = b2ContactFeature::e_face;
|
508
|
-
ie[1].id.cf.typeB = b2ContactFeature::e_vertex;
|
509
|
-
|
510
|
-
if (m_front)
|
511
|
-
{
|
512
|
-
rf.i1 = 0;
|
513
|
-
rf.i2 = 1;
|
514
|
-
rf.v1 = m_v1;
|
515
|
-
rf.v2 = m_v2;
|
516
|
-
rf.normal = m_normal1;
|
517
|
-
}
|
518
|
-
else
|
519
|
-
{
|
520
|
-
rf.i1 = 1;
|
521
|
-
rf.i2 = 0;
|
522
|
-
rf.v1 = m_v2;
|
523
|
-
rf.v2 = m_v1;
|
524
|
-
rf.normal = -m_normal1;
|
525
|
-
}
|
526
|
-
}
|
527
|
-
else
|
528
|
-
{
|
529
|
-
manifold->type = b2Manifold::e_faceB;
|
530
|
-
|
531
|
-
ie[0].v = m_v1;
|
532
|
-
ie[0].id.cf.indexA = 0;
|
533
|
-
ie[0].id.cf.indexB = static_cast<uint8>(primaryAxis.index);
|
534
|
-
ie[0].id.cf.typeA = b2ContactFeature::e_vertex;
|
535
|
-
ie[0].id.cf.typeB = b2ContactFeature::e_face;
|
536
|
-
|
537
|
-
ie[1].v = m_v2;
|
538
|
-
ie[1].id.cf.indexA = 0;
|
539
|
-
ie[1].id.cf.indexB = static_cast<uint8>(primaryAxis.index);
|
540
|
-
ie[1].id.cf.typeA = b2ContactFeature::e_vertex;
|
541
|
-
ie[1].id.cf.typeB = b2ContactFeature::e_face;
|
542
|
-
|
543
|
-
rf.i1 = primaryAxis.index;
|
544
|
-
rf.i2 = rf.i1 + 1 < m_polygonB.count ? rf.i1 + 1 : 0;
|
545
|
-
rf.v1 = m_polygonB.vertices[rf.i1];
|
546
|
-
rf.v2 = m_polygonB.vertices[rf.i2];
|
547
|
-
rf.normal = m_polygonB.normals[rf.i1];
|
548
|
-
}
|
549
|
-
|
550
|
-
rf.sideNormal1.Set(rf.normal.y, -rf.normal.x);
|
551
|
-
rf.sideNormal2 = -rf.sideNormal1;
|
552
|
-
rf.sideOffset1 = b2Dot(rf.sideNormal1, rf.v1);
|
553
|
-
rf.sideOffset2 = b2Dot(rf.sideNormal2, rf.v2);
|
554
|
-
|
555
|
-
// Clip incident edge against extruded edge1 side edges.
|
556
|
-
b2ClipVertex clipPoints1[2];
|
557
|
-
b2ClipVertex clipPoints2[2];
|
558
|
-
int32 np;
|
559
|
-
|
560
|
-
// Clip to box side 1
|
561
|
-
np = b2ClipSegmentToLine(clipPoints1, ie, rf.sideNormal1, rf.sideOffset1, rf.i1);
|
562
|
-
|
563
|
-
if (np < b2_maxManifoldPoints)
|
564
|
-
{
|
565
|
-
return;
|
566
|
-
}
|
567
|
-
|
568
|
-
// Clip to negative box side 1
|
569
|
-
np = b2ClipSegmentToLine(clipPoints2, clipPoints1, rf.sideNormal2, rf.sideOffset2, rf.i2);
|
570
|
-
|
571
|
-
if (np < b2_maxManifoldPoints)
|
572
|
-
{
|
573
|
-
return;
|
574
|
-
}
|
575
|
-
|
576
|
-
// Now clipPoints2 contains the clipped points.
|
577
|
-
if (primaryAxis.type == b2EPAxis::e_edgeA)
|
578
|
-
{
|
579
|
-
manifold->localNormal = rf.normal;
|
580
|
-
manifold->localPoint = rf.v1;
|
581
|
-
}
|
582
|
-
else
|
583
|
-
{
|
584
|
-
manifold->localNormal = polygonB->m_normals[rf.i1];
|
585
|
-
manifold->localPoint = polygonB->m_vertices[rf.i1];
|
586
|
-
}
|
587
|
-
|
588
|
-
int32 pointCount = 0;
|
589
|
-
for (int32 i = 0; i < b2_maxManifoldPoints; ++i)
|
590
|
-
{
|
591
|
-
float32 separation;
|
592
|
-
|
593
|
-
separation = b2Dot(rf.normal, clipPoints2[i].v - rf.v1);
|
594
|
-
|
595
|
-
if (separation <= m_radius)
|
596
|
-
{
|
597
|
-
b2ManifoldPoint* cp = manifold->points + pointCount;
|
598
|
-
|
599
|
-
if (primaryAxis.type == b2EPAxis::e_edgeA)
|
600
|
-
{
|
601
|
-
cp->localPoint = b2MulT(m_xf, clipPoints2[i].v);
|
602
|
-
cp->id = clipPoints2[i].id;
|
603
|
-
}
|
604
|
-
else
|
605
|
-
{
|
606
|
-
cp->localPoint = clipPoints2[i].v;
|
607
|
-
cp->id.cf.typeA = clipPoints2[i].id.cf.typeB;
|
608
|
-
cp->id.cf.typeB = clipPoints2[i].id.cf.typeA;
|
609
|
-
cp->id.cf.indexA = clipPoints2[i].id.cf.indexB;
|
610
|
-
cp->id.cf.indexB = clipPoints2[i].id.cf.indexA;
|
611
|
-
}
|
612
|
-
|
613
|
-
++pointCount;
|
614
|
-
}
|
615
|
-
}
|
616
|
-
|
617
|
-
manifold->pointCount = pointCount;
|
618
|
-
}
|
619
|
-
|
620
|
-
b2EPAxis b2EPCollider::ComputeEdgeSeparation()
|
621
|
-
{
|
622
|
-
b2EPAxis axis;
|
623
|
-
axis.type = b2EPAxis::e_edgeA;
|
624
|
-
axis.index = m_front ? 0 : 1;
|
625
|
-
axis.separation = FLT_MAX;
|
626
|
-
|
627
|
-
for (int32 i = 0; i < m_polygonB.count; ++i)
|
628
|
-
{
|
629
|
-
float32 s = b2Dot(m_normal, m_polygonB.vertices[i] - m_v1);
|
630
|
-
if (s < axis.separation)
|
631
|
-
{
|
632
|
-
axis.separation = s;
|
633
|
-
}
|
634
|
-
}
|
635
|
-
|
636
|
-
return axis;
|
637
|
-
}
|
638
|
-
|
639
|
-
b2EPAxis b2EPCollider::ComputePolygonSeparation()
|
640
|
-
{
|
641
|
-
b2EPAxis axis;
|
642
|
-
axis.type = b2EPAxis::e_unknown;
|
643
|
-
axis.index = -1;
|
644
|
-
axis.separation = -FLT_MAX;
|
645
|
-
|
646
|
-
b2Vec2 perp(-m_normal.y, m_normal.x);
|
647
|
-
|
648
|
-
for (int32 i = 0; i < m_polygonB.count; ++i)
|
649
|
-
{
|
650
|
-
b2Vec2 n = -m_polygonB.normals[i];
|
651
|
-
|
652
|
-
float32 s1 = b2Dot(n, m_polygonB.vertices[i] - m_v1);
|
653
|
-
float32 s2 = b2Dot(n, m_polygonB.vertices[i] - m_v2);
|
654
|
-
float32 s = b2Min(s1, s2);
|
655
|
-
|
656
|
-
if (s > m_radius)
|
657
|
-
{
|
658
|
-
// No collision
|
659
|
-
axis.type = b2EPAxis::e_edgeB;
|
660
|
-
axis.index = i;
|
661
|
-
axis.separation = s;
|
662
|
-
return axis;
|
663
|
-
}
|
664
|
-
|
665
|
-
// Adjacency
|
666
|
-
if (b2Dot(n, perp) >= 0.0f)
|
667
|
-
{
|
668
|
-
if (b2Dot(n - m_upperLimit, m_normal) < -b2_angularSlop)
|
669
|
-
{
|
670
|
-
continue;
|
671
|
-
}
|
672
|
-
}
|
673
|
-
else
|
674
|
-
{
|
675
|
-
if (b2Dot(n - m_lowerLimit, m_normal) < -b2_angularSlop)
|
676
|
-
{
|
677
|
-
continue;
|
678
|
-
}
|
679
|
-
}
|
680
|
-
|
681
|
-
if (s > axis.separation)
|
682
|
-
{
|
683
|
-
axis.type = b2EPAxis::e_edgeB;
|
684
|
-
axis.index = i;
|
685
|
-
axis.separation = s;
|
686
|
-
}
|
687
|
-
}
|
688
|
-
|
689
|
-
return axis;
|
690
|
-
}
|
691
|
-
|
692
|
-
void b2CollideEdgeAndPolygon( b2Manifold* manifold,
|
693
|
-
const b2EdgeShape* edgeA, const b2Transform& xfA,
|
694
|
-
const b2PolygonShape* polygonB, const b2Transform& xfB)
|
695
|
-
{
|
696
|
-
b2EPCollider collider;
|
697
|
-
collider.Collide(manifold, edgeA, xfA, polygonB, xfB);
|
698
|
-
}
|