reflexion 0.1.11 → 0.1.16

data/src/physics/Box2D/Dynamics/b2Body.cpp

@@ -1,549 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http://www.box2d.org
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2Fixture.h>
-#include <Box2D/Dynamics/b2World.h>
-#include <Box2D/Dynamics/Contacts/b2Contact.h>
-#include <Box2D/Dynamics/Joints/b2Joint.h>
-
-b2Body::b2Body(const b2BodyDef* bd, b2World* world)
-{
-	b2Assert(bd->position.IsValid());
-	b2Assert(bd->linearVelocity.IsValid());
-	b2Assert(b2IsValid(bd->angle));
-	b2Assert(b2IsValid(bd->angularVelocity));
-	b2Assert(b2IsValid(bd->angularDamping) && bd->angularDamping >= 0.0f);
-	b2Assert(b2IsValid(bd->linearDamping) && bd->linearDamping >= 0.0f);
-
-	m_flags = 0;
-
-	if (bd->bullet)
-	{
-		m_flags |= e_bulletFlag;
-	}
-	if (bd->fixedRotation)
-	{
-		m_flags |= e_fixedRotationFlag;
-	}
-	if (bd->allowSleep)
-	{
-		m_flags |= e_autoSleepFlag;
-	}
-	if (bd->awake)
-	{
-		m_flags |= e_awakeFlag;
-	}
-	if (bd->active)
-	{
-		m_flags |= e_activeFlag;
-	}
-
-	m_world = world;
-
-	m_xf.p = bd->position;
-	m_xf.q.Set(bd->angle);
-
-	m_sweep.localCenter.SetZero();
-	m_sweep.c0 = m_xf.p;
-	m_sweep.c = m_xf.p;
-	m_sweep.a0 = bd->angle;
-	m_sweep.a = bd->angle;
-	m_sweep.alpha0 = 0.0f;
-
-	m_jointList = NULL;
-	m_contactList = NULL;
-	m_prev = NULL;
-	m_next = NULL;
-
-	m_linearVelocity = bd->linearVelocity;
-	m_angularVelocity = bd->angularVelocity;
-
-	m_linearDamping = bd->linearDamping;
-	m_angularDamping = bd->angularDamping;
-	m_gravityScale = bd->gravityScale;
-
-	m_force.SetZero();
-	m_torque = 0.0f;
-
-	m_sleepTime = 0.0f;
-
-	m_type = bd->type;
-
-	if (m_type == b2_dynamicBody)
-	{
-		m_mass = 1.0f;
-		m_invMass = 1.0f;
-	}
-	else
-	{
-		m_mass = 0.0f;
-		m_invMass = 0.0f;
-	}
-
-	m_I = 0.0f;
-	m_invI = 0.0f;
-
-	m_userData = bd->userData;
-
-	m_fixtureList = NULL;
-	m_fixtureCount = 0;
-}
-
-b2Body::~b2Body()
-{
-	// shapes and joints are destroyed in b2World::Destroy
-}
-
-void b2Body::SetType(b2BodyType type)
-{
-	b2Assert(m_world->IsLocked() == false);
-	if (m_world->IsLocked() == true)
-	{
-		return;
-	}
-
-	if (m_type == type)
-	{
-		return;
-	}
-
-	m_type = type;
-
-	ResetMassData();
-
-	if (m_type == b2_staticBody)
-	{
-		m_linearVelocity.SetZero();
-		m_angularVelocity = 0.0f;
-		m_sweep.a0 = m_sweep.a;
-		m_sweep.c0 = m_sweep.c;
-		SynchronizeFixtures();
-	}
-
-	SetAwake(true);
-
-	m_force.SetZero();
-	m_torque = 0.0f;
-
-	// Delete the attached contacts.
-	b2ContactEdge* ce = m_contactList;
-	while (ce)
-	{
-		b2ContactEdge* ce0 = ce;
-		ce = ce->next;
-		m_world->m_contactManager.Destroy(ce0->contact);
-	}
-	m_contactList = NULL;
-
-	// Touch the proxies so that new contacts will be created (when appropriate)
-	b2BroadPhase* broadPhase = &m_world->m_contactManager.m_broadPhase;
-	for (b2Fixture* f = m_fixtureList; f; f = f->m_next)
-	{
-		int32 proxyCount = f->m_proxyCount;
-		for (int32 i = 0; i < proxyCount; ++i)
-		{
-			broadPhase->TouchProxy(f->m_proxies[i].proxyId);
-		}
-	}
-}
-
-b2Fixture* b2Body::CreateFixture(const b2FixtureDef* def)
-{
-	b2Assert(m_world->IsLocked() == false);
-	if (m_world->IsLocked() == true)
-	{
-		return NULL;
-	}
-
-	b2BlockAllocator* allocator = &m_world->m_blockAllocator;
-
-	void* memory = allocator->Allocate(sizeof(b2Fixture));
-	b2Fixture* fixture = new (memory) b2Fixture;
-	fixture->Create(allocator, this, def);
-
-	if (m_flags & e_activeFlag)
-	{
-		b2BroadPhase* broadPhase = &m_world->m_contactManager.m_broadPhase;
-		fixture->CreateProxies(broadPhase, m_xf);
-	}
-
-	fixture->m_next = m_fixtureList;
-	m_fixtureList = fixture;
-	++m_fixtureCount;
-
-	fixture->m_body = this;
-
-	// Adjust mass properties if needed.
-	if (fixture->m_density > 0.0f)
-	{
-		ResetMassData();
-	}
-
-	// Let the world know we have a new fixture. This will cause new contacts
-	// to be created at the beginning of the next time step.
-	m_world->m_flags |= b2World::e_newFixture;
-
-	return fixture;
-}
-
-b2Fixture* b2Body::CreateFixture(const b2Shape* shape, float32 density)
-{
-	b2FixtureDef def;
-	def.shape = shape;
-	def.density = density;
-
-	return CreateFixture(&def);
-}
-
-void b2Body::DestroyFixture(b2Fixture* fixture)
-{
-	b2Assert(m_world->IsLocked() == false);
-	if (m_world->IsLocked() == true)
-	{
-		return;
-	}
-
-	b2Assert(fixture->m_body == this);
-
-	// Remove the fixture from this body's singly linked list.
-	b2Assert(m_fixtureCount > 0);
-	b2Fixture** node = &m_fixtureList;
-	bool found = false;
-	while (*node != NULL)
-	{
-		if (*node == fixture)
-		{
-			*node = fixture->m_next;
-			found = true;
-			break;
-		}
-
-		node = &(*node)->m_next;
-	}
-
-	// You tried to remove a shape that is not attached to this body.
-	b2Assert(found);
-
-	// Destroy any contacts associated with the fixture.
-	b2ContactEdge* edge = m_contactList;
-	while (edge)
-	{
-		b2Contact* c = edge->contact;
-		edge = edge->next;
-
-		b2Fixture* fixtureA = c->GetFixtureA();
-		b2Fixture* fixtureB = c->GetFixtureB();
-
-		if (fixture == fixtureA || fixture == fixtureB)
-		{
-			// This destroys the contact and removes it from
-			// this body's contact list.
-			m_world->m_contactManager.Destroy(c);
-		}
-	}
-
-	b2BlockAllocator* allocator = &m_world->m_blockAllocator;
-
-	if (m_flags & e_activeFlag)
-	{
-		b2BroadPhase* broadPhase = &m_world->m_contactManager.m_broadPhase;
-		fixture->DestroyProxies(broadPhase);
-	}
-
-	fixture->Destroy(allocator);
-	fixture->m_body = NULL;
-	fixture->m_next = NULL;
-	fixture->~b2Fixture();
-	allocator->Free(fixture, sizeof(b2Fixture));
-
-	--m_fixtureCount;
-
-	// Reset the mass data.
-	ResetMassData();
-}
-
-void b2Body::ResetMassData()
-{
-	// Compute mass data from shapes. Each shape has its own density.
-	m_mass = 0.0f;
-	m_invMass = 0.0f;
-	m_I = 0.0f;
-	m_invI = 0.0f;
-	m_sweep.localCenter.SetZero();
-
-	// Static and kinematic bodies have zero mass.
-	if (m_type == b2_staticBody || m_type == b2_kinematicBody)
-	{
-		m_sweep.c0 = m_xf.p;
-		m_sweep.c = m_xf.p;
-		m_sweep.a0 = m_sweep.a;
-		return;
-	}
-
-	b2Assert(m_type == b2_dynamicBody);
-
-	// Accumulate mass over all fixtures.
-	b2Vec2 localCenter = b2Vec2_zero;
-	for (b2Fixture* f = m_fixtureList; f; f = f->m_next)
-	{
-		if (f->m_density == 0.0f)
-		{
-			continue;
-		}
-
-		b2MassData massData;
-		f->GetMassData(&massData);
-		m_mass += massData.mass;
-		localCenter += massData.mass * massData.center;
-		m_I += massData.I;
-	}
-
-	// Compute center of mass.
-	if (m_mass > 0.0f)
-	{
-		m_invMass = 1.0f / m_mass;
-		localCenter *= m_invMass;
-	}
-	else
-	{
-		// Force all dynamic bodies to have a positive mass.
-		m_mass = 1.0f;
-		m_invMass = 1.0f;
-	}
-
-	if (m_I > 0.0f && (m_flags & e_fixedRotationFlag) == 0)
-	{
-		// Center the inertia about the center of mass.
-		m_I -= m_mass * b2Dot(localCenter, localCenter);
-		b2Assert(m_I > 0.0f);
-		m_invI = 1.0f / m_I;
-
-	}
-	else
-	{
-		m_I = 0.0f;
-		m_invI = 0.0f;
-	}
-
-	// Move center of mass.
-	b2Vec2 oldCenter = m_sweep.c;
-	m_sweep.localCenter = localCenter;
-	m_sweep.c0 = m_sweep.c = b2Mul(m_xf, m_sweep.localCenter);
-
-	// Update center of mass velocity.
-	m_linearVelocity += b2Cross(m_angularVelocity, m_sweep.c - oldCenter);
-}
-
-void b2Body::SetMassData(const b2MassData* massData)
-{
-	b2Assert(m_world->IsLocked() == false);
-	if (m_world->IsLocked() == true)
-	{
-		return;
-	}
-
-	if (m_type != b2_dynamicBody)
-	{
-		return;
-	}
-
-	m_invMass = 0.0f;
-	m_I = 0.0f;
-	m_invI = 0.0f;
-
-	m_mass = massData->mass;
-	if (m_mass <= 0.0f)
-	{
-		m_mass = 1.0f;
-	}
-
-	m_invMass = 1.0f / m_mass;
-
-	if (massData->I > 0.0f && (m_flags & b2Body::e_fixedRotationFlag) == 0)
-	{
-		m_I = massData->I - m_mass * b2Dot(massData->center, massData->center);
-		b2Assert(m_I > 0.0f);
-		m_invI = 1.0f / m_I;
-	}
-
-	// Move center of mass.
-	b2Vec2 oldCenter = m_sweep.c;
-	m_sweep.localCenter =  massData->center;
-	m_sweep.c0 = m_sweep.c = b2Mul(m_xf, m_sweep.localCenter);
-
-	// Update center of mass velocity.
-	m_linearVelocity += b2Cross(m_angularVelocity, m_sweep.c - oldCenter);
-}
-
-bool b2Body::ShouldCollide(const b2Body* other) const
-{
-	// At least one body should be dynamic.
-	if (m_type != b2_dynamicBody && other->m_type != b2_dynamicBody)
-	{
-		return false;
-	}
-
-	// Does a joint prevent collision?
-	for (b2JointEdge* jn = m_jointList; jn; jn = jn->next)
-	{
-		if (jn->other == other)
-		{
-			if (jn->joint->m_collideConnected == false)
-			{
-				return false;
-			}
-		}
-	}
-
-	return true;
-}
-
-void b2Body::SetTransform(const b2Vec2& position, float32 angle)
-{
-	b2Assert(m_world->IsLocked() == false);
-	if (m_world->IsLocked() == true)
-	{
-		return;
-	}
-
-	m_xf.q.Set(angle);
-	m_xf.p = position;
-
-	m_sweep.c = b2Mul(m_xf, m_sweep.localCenter);
-	m_sweep.a = angle;
-
-	m_sweep.c0 = m_sweep.c;
-	m_sweep.a0 = angle;
-
-	b2BroadPhase* broadPhase = &m_world->m_contactManager.m_broadPhase;
-	for (b2Fixture* f = m_fixtureList; f; f = f->m_next)
-	{
-		f->Synchronize(broadPhase, m_xf, m_xf);
-	}
-}
-
-void b2Body::SynchronizeFixtures()
-{
-	b2Transform xf1;
-	xf1.q.Set(m_sweep.a0);
-	xf1.p = m_sweep.c0 - b2Mul(xf1.q, m_sweep.localCenter);
-
-	b2BroadPhase* broadPhase = &m_world->m_contactManager.m_broadPhase;
-	for (b2Fixture* f = m_fixtureList; f; f = f->m_next)
-	{
-		f->Synchronize(broadPhase, xf1, m_xf);
-	}
-}
-
-void b2Body::SetActive(bool flag)
-{
-	b2Assert(m_world->IsLocked() == false);
-
-	if (flag == IsActive())
-	{
-		return;
-	}
-
-	if (flag)
-	{
-		m_flags |= e_activeFlag;
-
-		// Create all proxies.
-		b2BroadPhase* broadPhase = &m_world->m_contactManager.m_broadPhase;
-		for (b2Fixture* f = m_fixtureList; f; f = f->m_next)
-		{
-			f->CreateProxies(broadPhase, m_xf);
-		}
-
-		// Contacts are created the next time step.
-	}
-	else
-	{
-		m_flags &= ~e_activeFlag;
-
-		// Destroy all proxies.
-		b2BroadPhase* broadPhase = &m_world->m_contactManager.m_broadPhase;
-		for (b2Fixture* f = m_fixtureList; f; f = f->m_next)
-		{
-			f->DestroyProxies(broadPhase);
-		}
-
-		// Destroy the attached contacts.
-		b2ContactEdge* ce = m_contactList;
-		while (ce)
-		{
-			b2ContactEdge* ce0 = ce;
-			ce = ce->next;
-			m_world->m_contactManager.Destroy(ce0->contact);
-		}
-		m_contactList = NULL;
-	}
-}
-
-void b2Body::SetFixedRotation(bool flag)
-{
-	bool status = (m_flags & e_fixedRotationFlag) == e_fixedRotationFlag;
-	if (status == flag)
-	{
-		return;
-	}
-
-	if (flag)
-	{
-		m_flags |= e_fixedRotationFlag;
-	}
-	else
-	{
-		m_flags &= ~e_fixedRotationFlag;
-	}
-
-	m_angularVelocity = 0.0f;
-
-	ResetMassData();
-}
-
-void b2Body::Dump()
-{
-	int32 bodyIndex = m_islandIndex;
-
-	b2Log("{\n");
-	b2Log("  b2BodyDef bd;\n");
-	b2Log("  bd.type = b2BodyType(%d);\n", m_type);
-	b2Log("  bd.position.Set(%.15lef, %.15lef);\n", m_xf.p.x, m_xf.p.y);
-	b2Log("  bd.angle = %.15lef;\n", m_sweep.a);
-	b2Log("  bd.linearVelocity.Set(%.15lef, %.15lef);\n", m_linearVelocity.x, m_linearVelocity.y);
-	b2Log("  bd.angularVelocity = %.15lef;\n", m_angularVelocity);
-	b2Log("  bd.linearDamping = %.15lef;\n", m_linearDamping);
-	b2Log("  bd.angularDamping = %.15lef;\n", m_angularDamping);
-	b2Log("  bd.allowSleep = bool(%d);\n", m_flags & e_autoSleepFlag);
-	b2Log("  bd.awake = bool(%d);\n", m_flags & e_awakeFlag);
-	b2Log("  bd.fixedRotation = bool(%d);\n", m_flags & e_fixedRotationFlag);
-	b2Log("  bd.bullet = bool(%d);\n", m_flags & e_bulletFlag);
-	b2Log("  bd.active = bool(%d);\n", m_flags & e_activeFlag);
-	b2Log("  bd.gravityScale = %.15lef;\n", m_gravityScale);
-	b2Log("  bodies[%d] = m_world->CreateBody(&bd);\n", m_islandIndex);
-	b2Log("\n");
-	for (b2Fixture* f = m_fixtureList; f; f = f->m_next)
-	{
-		b2Log("  {\n");
-		f->Dump(bodyIndex);
-		b2Log("  }\n");
-	}
-	b2Log("}\n");
-}