reflexion 0.1.12 → 0.1.13

data/src/physics/Box2D/Collision/b2TimeOfImpact.cpp

@@ -1,486 +0,0 @@
-/*
-* Copyright (c) 2007-2009 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/Collision/b2Collision.h>
-#include <Box2D/Collision/b2Distance.h>
-#include <Box2D/Collision/b2TimeOfImpact.h>
-#include <Box2D/Collision/Shapes/b2CircleShape.h>
-#include <Box2D/Collision/Shapes/b2PolygonShape.h>
-#include <Box2D/Common/b2Timer.h>
-
-#include <stdio.h>
-
-float32 b2_toiTime, b2_toiMaxTime;
-int32 b2_toiCalls, b2_toiIters, b2_toiMaxIters;
-int32 b2_toiRootIters, b2_toiMaxRootIters;
-
-//
-struct b2SeparationFunction
-{
-	enum Type
-	{
-		e_points,
-		e_faceA,
-		e_faceB
-	};
-
-	// TODO_ERIN might not need to return the separation
-
-	float32 Initialize(const b2SimplexCache* cache,
-		const b2DistanceProxy* proxyA, const b2Sweep& sweepA,
-		const b2DistanceProxy* proxyB, const b2Sweep& sweepB,
-		float32 t1)
-	{
-		m_proxyA = proxyA;
-		m_proxyB = proxyB;
-		int32 count = cache->count;
-		b2Assert(0 < count && count < 3);
-
-		m_sweepA = sweepA;
-		m_sweepB = sweepB;
-
-		b2Transform xfA, xfB;
-		m_sweepA.GetTransform(&xfA, t1);
-		m_sweepB.GetTransform(&xfB, t1);
-
-		if (count == 1)
-		{
-			m_type = e_points;
-			b2Vec2 localPointA = m_proxyA->GetVertex(cache->indexA[0]);
-			b2Vec2 localPointB = m_proxyB->GetVertex(cache->indexB[0]);
-			b2Vec2 pointA = b2Mul(xfA, localPointA);
-			b2Vec2 pointB = b2Mul(xfB, localPointB);
-			m_axis = pointB - pointA;
-			float32 s = m_axis.Normalize();
-			return s;
-		}
-		else if (cache->indexA[0] == cache->indexA[1])
-		{
-			// Two points on B and one on A.
-			m_type = e_faceB;
-			b2Vec2 localPointB1 = proxyB->GetVertex(cache->indexB[0]);
-			b2Vec2 localPointB2 = proxyB->GetVertex(cache->indexB[1]);
-
-			m_axis = b2Cross(localPointB2 - localPointB1, 1.0f);
-			m_axis.Normalize();
-			b2Vec2 normal = b2Mul(xfB.q, m_axis);
-
-			m_localPoint = 0.5f * (localPointB1 + localPointB2);
-			b2Vec2 pointB = b2Mul(xfB, m_localPoint);
-
-			b2Vec2 localPointA = proxyA->GetVertex(cache->indexA[0]);
-			b2Vec2 pointA = b2Mul(xfA, localPointA);
-
-			float32 s = b2Dot(pointA - pointB, normal);
-			if (s < 0.0f)
-			{
-				m_axis = -m_axis;
-				s = -s;
-			}
-			return s;
-		}
-		else
-		{
-			// Two points on A and one or two points on B.
-			m_type = e_faceA;
-			b2Vec2 localPointA1 = m_proxyA->GetVertex(cache->indexA[0]);
-			b2Vec2 localPointA2 = m_proxyA->GetVertex(cache->indexA[1]);
-			
-			m_axis = b2Cross(localPointA2 - localPointA1, 1.0f);
-			m_axis.Normalize();
-			b2Vec2 normal = b2Mul(xfA.q, m_axis);
-
-			m_localPoint = 0.5f * (localPointA1 + localPointA2);
-			b2Vec2 pointA = b2Mul(xfA, m_localPoint);
-
-			b2Vec2 localPointB = m_proxyB->GetVertex(cache->indexB[0]);
-			b2Vec2 pointB = b2Mul(xfB, localPointB);
-
-			float32 s = b2Dot(pointB - pointA, normal);
-			if (s < 0.0f)
-			{
-				m_axis = -m_axis;
-				s = -s;
-			}
-			return s;
-		}
-	}
-
-	//
-	float32 FindMinSeparation(int32* indexA, int32* indexB, float32 t) const
-	{
-		b2Transform xfA, xfB;
-		m_sweepA.GetTransform(&xfA, t);
-		m_sweepB.GetTransform(&xfB, t);
-
-		switch (m_type)
-		{
-		case e_points:
-			{
-				b2Vec2 axisA = b2MulT(xfA.q,  m_axis);
-				b2Vec2 axisB = b2MulT(xfB.q, -m_axis);
-
-				*indexA = m_proxyA->GetSupport(axisA);
-				*indexB = m_proxyB->GetSupport(axisB);
-
-				b2Vec2 localPointA = m_proxyA->GetVertex(*indexA);
-				b2Vec2 localPointB = m_proxyB->GetVertex(*indexB);
-				
-				b2Vec2 pointA = b2Mul(xfA, localPointA);
-				b2Vec2 pointB = b2Mul(xfB, localPointB);
-
-				float32 separation = b2Dot(pointB - pointA, m_axis);
-				return separation;
-			}
-
-		case e_faceA:
-			{
-				b2Vec2 normal = b2Mul(xfA.q, m_axis);
-				b2Vec2 pointA = b2Mul(xfA, m_localPoint);
-
-				b2Vec2 axisB = b2MulT(xfB.q, -normal);
-				
-				*indexA = -1;
-				*indexB = m_proxyB->GetSupport(axisB);
-
-				b2Vec2 localPointB = m_proxyB->GetVertex(*indexB);
-				b2Vec2 pointB = b2Mul(xfB, localPointB);
-
-				float32 separation = b2Dot(pointB - pointA, normal);
-				return separation;
-			}
-
-		case e_faceB:
-			{
-				b2Vec2 normal = b2Mul(xfB.q, m_axis);
-				b2Vec2 pointB = b2Mul(xfB, m_localPoint);
-
-				b2Vec2 axisA = b2MulT(xfA.q, -normal);
-
-				*indexB = -1;
-				*indexA = m_proxyA->GetSupport(axisA);
-
-				b2Vec2 localPointA = m_proxyA->GetVertex(*indexA);
-				b2Vec2 pointA = b2Mul(xfA, localPointA);
-
-				float32 separation = b2Dot(pointA - pointB, normal);
-				return separation;
-			}
-
-		default:
-			b2Assert(false);
-			*indexA = -1;
-			*indexB = -1;
-			return 0.0f;
-		}
-	}
-
-	//
-	float32 Evaluate(int32 indexA, int32 indexB, float32 t) const
-	{
-		b2Transform xfA, xfB;
-		m_sweepA.GetTransform(&xfA, t);
-		m_sweepB.GetTransform(&xfB, t);
-
-		switch (m_type)
-		{
-		case e_points:
-			{
-				b2Vec2 localPointA = m_proxyA->GetVertex(indexA);
-				b2Vec2 localPointB = m_proxyB->GetVertex(indexB);
-
-				b2Vec2 pointA = b2Mul(xfA, localPointA);
-				b2Vec2 pointB = b2Mul(xfB, localPointB);
-				float32 separation = b2Dot(pointB - pointA, m_axis);
-
-				return separation;
-			}
-
-		case e_faceA:
-			{
-				b2Vec2 normal = b2Mul(xfA.q, m_axis);
-				b2Vec2 pointA = b2Mul(xfA, m_localPoint);
-
-				b2Vec2 localPointB = m_proxyB->GetVertex(indexB);
-				b2Vec2 pointB = b2Mul(xfB, localPointB);
-
-				float32 separation = b2Dot(pointB - pointA, normal);
-				return separation;
-			}
-
-		case e_faceB:
-			{
-				b2Vec2 normal = b2Mul(xfB.q, m_axis);
-				b2Vec2 pointB = b2Mul(xfB, m_localPoint);
-
-				b2Vec2 localPointA = m_proxyA->GetVertex(indexA);
-				b2Vec2 pointA = b2Mul(xfA, localPointA);
-
-				float32 separation = b2Dot(pointA - pointB, normal);
-				return separation;
-			}
-
-		default:
-			b2Assert(false);
-			return 0.0f;
-		}
-	}
-
-	const b2DistanceProxy* m_proxyA;
-	const b2DistanceProxy* m_proxyB;
-	b2Sweep m_sweepA, m_sweepB;
-	Type m_type;
-	b2Vec2 m_localPoint;
-	b2Vec2 m_axis;
-};
-
-// CCD via the local separating axis method. This seeks progression
-// by computing the largest time at which separation is maintained.
-void b2TimeOfImpact(b2TOIOutput* output, const b2TOIInput* input)
-{
-	b2Timer timer;
-
-	++b2_toiCalls;
-
-	output->state = b2TOIOutput::e_unknown;
-	output->t = input->tMax;
-
-	const b2DistanceProxy* proxyA = &input->proxyA;
-	const b2DistanceProxy* proxyB = &input->proxyB;
-
-	b2Sweep sweepA = input->sweepA;
-	b2Sweep sweepB = input->sweepB;
-
-	// Large rotations can make the root finder fail, so we normalize the
-	// sweep angles.
-	sweepA.Normalize();
-	sweepB.Normalize();
-
-	float32 tMax = input->tMax;
-
-	float32 totalRadius = proxyA->m_radius + proxyB->m_radius;
-	float32 target = b2Max(b2_linearSlop, totalRadius - 3.0f * b2_linearSlop);
-	float32 tolerance = 0.25f * b2_linearSlop;
-	b2Assert(target > tolerance);
-
-	float32 t1 = 0.0f;
-	const int32 k_maxIterations = 20;	// TODO_ERIN b2Settings
-	int32 iter = 0;
-
-	// Prepare input for distance query.
-	b2SimplexCache cache;
-	cache.count = 0;
-	b2DistanceInput distanceInput;
-	distanceInput.proxyA = input->proxyA;
-	distanceInput.proxyB = input->proxyB;
-	distanceInput.useRadii = false;
-
-	// The outer loop progressively attempts to compute new separating axes.
-	// This loop terminates when an axis is repeated (no progress is made).
-	for(;;)
-	{
-		b2Transform xfA, xfB;
-		sweepA.GetTransform(&xfA, t1);
-		sweepB.GetTransform(&xfB, t1);
-
-		// Get the distance between shapes. We can also use the results
-		// to get a separating axis.
-		distanceInput.transformA = xfA;
-		distanceInput.transformB = xfB;
-		b2DistanceOutput distanceOutput;
-		b2Distance(&distanceOutput, &cache, &distanceInput);
-
-		// If the shapes are overlapped, we give up on continuous collision.
-		if (distanceOutput.distance <= 0.0f)
-		{
-			// Failure!
-			output->state = b2TOIOutput::e_overlapped;
-			output->t = 0.0f;
-			break;
-		}
-
-		if (distanceOutput.distance < target + tolerance)
-		{
-			// Victory!
-			output->state = b2TOIOutput::e_touching;
-			output->t = t1;
-			break;
-		}
-
-		// Initialize the separating axis.
-		b2SeparationFunction fcn;
-		fcn.Initialize(&cache, proxyA, sweepA, proxyB, sweepB, t1);
-#if 0
-		// Dump the curve seen by the root finder
-		{
-			const int32 N = 100;
-			float32 dx = 1.0f / N;
-			float32 xs[N+1];
-			float32 fs[N+1];
-
-			float32 x = 0.0f;
-
-			for (int32 i = 0; i <= N; ++i)
-			{
-				sweepA.GetTransform(&xfA, x);
-				sweepB.GetTransform(&xfB, x);
-				float32 f = fcn.Evaluate(xfA, xfB) - target;
-
-				printf("%g %g\n", x, f);
-
-				xs[i] = x;
-				fs[i] = f;
-
-				x += dx;
-			}
-		}
-#endif
-
-		// Compute the TOI on the separating axis. We do this by successively
-		// resolving the deepest point. This loop is bounded by the number of vertices.
-		bool done = false;
-		float32 t2 = tMax;
-		int32 pushBackIter = 0;
-		for (;;)
-		{
-			// Find the deepest point at t2. Store the witness point indices.
-			int32 indexA, indexB;
-			float32 s2 = fcn.FindMinSeparation(&indexA, &indexB, t2);
-
-			// Is the final configuration separated?
-			if (s2 > target + tolerance)
-			{
-				// Victory!
-				output->state = b2TOIOutput::e_separated;
-				output->t = tMax;
-				done = true;
-				break;
-			}
-
-			// Has the separation reached tolerance?
-			if (s2 > target - tolerance)
-			{
-				// Advance the sweeps
-				t1 = t2;
-				break;
-			}
-
-			// Compute the initial separation of the witness points.
-			float32 s1 = fcn.Evaluate(indexA, indexB, t1);
-
-			// Check for initial overlap. This might happen if the root finder
-			// runs out of iterations.
-			if (s1 < target - tolerance)
-			{
-				output->state = b2TOIOutput::e_failed;
-				output->t = t1;
-				done = true;
-				break;
-			}
-
-			// Check for touching
-			if (s1 <= target + tolerance)
-			{
-				// Victory! t1 should hold the TOI (could be 0.0).
-				output->state = b2TOIOutput::e_touching;
-				output->t = t1;
-				done = true;
-				break;
-			}
-
-			// Compute 1D root of: f(x) - target = 0
-			int32 rootIterCount = 0;
-			float32 a1 = t1, a2 = t2;
-			for (;;)
-			{
-				// Use a mix of the secant rule and bisection.
-				float32 t;
-				if (rootIterCount & 1)
-				{
-					// Secant rule to improve convergence.
-					t = a1 + (target - s1) * (a2 - a1) / (s2 - s1);
-				}
-				else
-				{
-					// Bisection to guarantee progress.
-					t = 0.5f * (a1 + a2);
-				}
-
-				++rootIterCount;
-				++b2_toiRootIters;
-
-				float32 s = fcn.Evaluate(indexA, indexB, t);
-
-				if (b2Abs(s - target) < tolerance)
-				{
-					// t2 holds a tentative value for t1
-					t2 = t;
-					break;
-				}
-
-				// Ensure we continue to bracket the root.
-				if (s > target)
-				{
-					a1 = t;
-					s1 = s;
-				}
-				else
-				{
-					a2 = t;
-					s2 = s;
-				}
-				
-				if (rootIterCount == 50)
-				{
-					break;
-				}
-			}
-
-			b2_toiMaxRootIters = b2Max(b2_toiMaxRootIters, rootIterCount);
-
-			++pushBackIter;
-
-			if (pushBackIter == b2_maxPolygonVertices)
-			{
-				break;
-			}
-		}
-
-		++iter;
-		++b2_toiIters;
-
-		if (done)
-		{
-			break;
-		}
-
-		if (iter == k_maxIterations)
-		{
-			// Root finder got stuck. Semi-victory.
-			output->state = b2TOIOutput::e_failed;
-			output->t = t1;
-			break;
-		}
-	}
-
-	b2_toiMaxIters = b2Max(b2_toiMaxIters, iter);
-
-	float32 time = timer.GetMilliseconds();
-	b2_toiMaxTime = b2Max(b2_toiMaxTime, time);
-	b2_toiTime += time;
-}

data/src/physics/Box2D/Collision/b2TimeOfImpact.h

@@ -1,58 +0,0 @@
-/*
-* Copyright (c) 2006-2009 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.
-*/
-
-#ifndef B2_TIME_OF_IMPACT_H
-#define B2_TIME_OF_IMPACT_H
-
-#include <Box2D/Common/b2Math.h>
-#include <Box2D/Collision/b2Distance.h>
-
-/// Input parameters for b2TimeOfImpact
-struct b2TOIInput
-{
-	b2DistanceProxy proxyA;
-	b2DistanceProxy proxyB;
-	b2Sweep sweepA;
-	b2Sweep sweepB;
-	float32 tMax;		// defines sweep interval [0, tMax]
-};
-
-// Output parameters for b2TimeOfImpact.
-struct b2TOIOutput
-{
-	enum State
-	{
-		e_unknown,
-		e_failed,
-		e_overlapped,
-		e_touching,
-		e_separated
-	};
-
-	State state;
-	float32 t;
-};
-
-/// Compute the upper bound on time before two shapes penetrate. Time is represented as
-/// a fraction between [0,tMax]. This uses a swept separating axis and may miss some intermediate,
-/// non-tunneling collision. If you change the time interval, you should call this function
-/// again.
-/// Note: use b2Distance to compute the contact point and normal at the time of impact.
-void b2TimeOfImpact(b2TOIOutput* output, const b2TOIInput* input);
-
-#endif