reflexion 0.1.12 → 0.1.17
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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 +8 -10
- data/samples/bats.rb +4 -4
- data/samples/camera.rb +45 -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 +115 -213
- 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) 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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#ifndef B2_DYNAMIC_TREE_H
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struct b2TreeNode
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/// A dynamic AABB tree broad-phase, inspired by Nathanael Presson's btDbvt.
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/// with an AABB. In the tree we expand the proxy AABB by b2_fatAABBFactor
|
57
|
-
/// so that the proxy AABB is bigger than the client object. This allows the client
|
58
|
-
/// object to move by small amounts without triggering a tree update.
|
59
|
-
///
|
60
|
-
/// Nodes are pooled and relocatable, so we use node indices rather than pointers.
|
61
|
-
class b2DynamicTree
|
62
|
-
{
|
63
|
-
public:
|
64
|
-
/// Constructing the tree initializes the node pool.
|
65
|
-
b2DynamicTree();
|
66
|
-
|
67
|
-
/// Destroy the tree, freeing the node pool.
|
68
|
-
~b2DynamicTree();
|
69
|
-
|
70
|
-
/// Create a proxy. Provide a tight fitting AABB and a userData pointer.
|
71
|
-
int32 CreateProxy(const b2AABB& aabb, void* userData);
|
72
|
-
|
73
|
-
/// Destroy a proxy. This asserts if the id is invalid.
|
74
|
-
void DestroyProxy(int32 proxyId);
|
75
|
-
|
76
|
-
/// Move a proxy with a swepted AABB. If the proxy has moved outside of its fattened AABB,
|
77
|
-
/// then the proxy is removed from the tree and re-inserted. Otherwise
|
78
|
-
/// the function returns immediately.
|
79
|
-
/// @return true if the proxy was re-inserted.
|
80
|
-
bool MoveProxy(int32 proxyId, const b2AABB& aabb1, const b2Vec2& displacement);
|
81
|
-
|
82
|
-
/// Get proxy user data.
|
83
|
-
/// @return the proxy user data or 0 if the id is invalid.
|
84
|
-
void* GetUserData(int32 proxyId) const;
|
85
|
-
|
86
|
-
/// Get the fat AABB for a proxy.
|
87
|
-
const b2AABB& GetFatAABB(int32 proxyId) const;
|
88
|
-
|
89
|
-
/// Query an AABB for overlapping proxies. The callback class
|
90
|
-
/// is called for each proxy that overlaps the supplied AABB.
|
91
|
-
template <typename T>
|
92
|
-
void Query(T* callback, const b2AABB& aabb) const;
|
93
|
-
|
94
|
-
/// Ray-cast against the proxies in the tree. This relies on the callback
|
95
|
-
/// to perform a exact ray-cast in the case were the proxy contains a shape.
|
96
|
-
/// The callback also performs the any collision filtering. This has performance
|
97
|
-
/// roughly equal to k * log(n), where k is the number of collisions and n is the
|
98
|
-
/// number of proxies in the tree.
|
99
|
-
/// @param input the ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1).
|
100
|
-
/// @param callback a callback class that is called for each proxy that is hit by the ray.
|
101
|
-
template <typename T>
|
102
|
-
void RayCast(T* callback, const b2RayCastInput& input) const;
|
103
|
-
|
104
|
-
/// Validate this tree. For testing.
|
105
|
-
void Validate() const;
|
106
|
-
|
107
|
-
/// Compute the height of the binary tree in O(N) time. Should not be
|
108
|
-
/// called often.
|
109
|
-
int32 GetHeight() const;
|
110
|
-
|
111
|
-
/// Get the maximum balance of an node in the tree. The balance is the difference
|
112
|
-
/// in height of the two children of a node.
|
113
|
-
int32 GetMaxBalance() const;
|
114
|
-
|
115
|
-
/// Get the ratio of the sum of the node areas to the root area.
|
116
|
-
float32 GetAreaRatio() const;
|
117
|
-
|
118
|
-
/// Build an optimal tree. Very expensive. For testing.
|
119
|
-
void RebuildBottomUp();
|
120
|
-
|
121
|
-
/// Shift the world origin. Useful for large worlds.
|
122
|
-
/// The shift formula is: position -= newOrigin
|
123
|
-
/// @param newOrigin the new origin with respect to the old origin
|
124
|
-
void ShiftOrigin(const b2Vec2& newOrigin);
|
125
|
-
|
126
|
-
private:
|
127
|
-
|
128
|
-
int32 AllocateNode();
|
129
|
-
void FreeNode(int32 node);
|
130
|
-
|
131
|
-
void InsertLeaf(int32 node);
|
132
|
-
void RemoveLeaf(int32 node);
|
133
|
-
|
134
|
-
int32 Balance(int32 index);
|
135
|
-
|
136
|
-
int32 ComputeHeight() const;
|
137
|
-
int32 ComputeHeight(int32 nodeId) const;
|
138
|
-
|
139
|
-
void ValidateStructure(int32 index) const;
|
140
|
-
void ValidateMetrics(int32 index) const;
|
141
|
-
|
142
|
-
int32 m_root;
|
143
|
-
|
144
|
-
b2TreeNode* m_nodes;
|
145
|
-
int32 m_nodeCount;
|
146
|
-
int32 m_nodeCapacity;
|
147
|
-
|
148
|
-
int32 m_freeList;
|
149
|
-
|
150
|
-
/// This is used to incrementally traverse the tree for re-balancing.
|
151
|
-
uint32 m_path;
|
152
|
-
|
153
|
-
int32 m_insertionCount;
|
154
|
-
};
|
155
|
-
|
156
|
-
inline void* b2DynamicTree::GetUserData(int32 proxyId) const
|
157
|
-
{
|
158
|
-
b2Assert(0 <= proxyId && proxyId < m_nodeCapacity);
|
159
|
-
return m_nodes[proxyId].userData;
|
160
|
-
}
|
161
|
-
|
162
|
-
inline const b2AABB& b2DynamicTree::GetFatAABB(int32 proxyId) const
|
163
|
-
{
|
164
|
-
b2Assert(0 <= proxyId && proxyId < m_nodeCapacity);
|
165
|
-
return m_nodes[proxyId].aabb;
|
166
|
-
}
|
167
|
-
|
168
|
-
template <typename T>
|
169
|
-
inline void b2DynamicTree::Query(T* callback, const b2AABB& aabb) const
|
170
|
-
{
|
171
|
-
b2GrowableStack<int32, 256> stack;
|
172
|
-
stack.Push(m_root);
|
173
|
-
|
174
|
-
while (stack.GetCount() > 0)
|
175
|
-
{
|
176
|
-
int32 nodeId = stack.Pop();
|
177
|
-
if (nodeId == b2_nullNode)
|
178
|
-
{
|
179
|
-
continue;
|
180
|
-
}
|
181
|
-
|
182
|
-
const b2TreeNode* node = m_nodes + nodeId;
|
183
|
-
|
184
|
-
if (b2TestOverlap(node->aabb, aabb))
|
185
|
-
{
|
186
|
-
if (node->IsLeaf())
|
187
|
-
{
|
188
|
-
bool proceed = callback->QueryCallback(nodeId);
|
189
|
-
if (proceed == false)
|
190
|
-
{
|
191
|
-
return;
|
192
|
-
}
|
193
|
-
}
|
194
|
-
else
|
195
|
-
{
|
196
|
-
stack.Push(node->child1);
|
197
|
-
stack.Push(node->child2);
|
198
|
-
}
|
199
|
-
}
|
200
|
-
}
|
201
|
-
}
|
202
|
-
|
203
|
-
template <typename T>
|
204
|
-
inline void b2DynamicTree::RayCast(T* callback, const b2RayCastInput& input) const
|
205
|
-
{
|
206
|
-
b2Vec2 p1 = input.p1;
|
207
|
-
b2Vec2 p2 = input.p2;
|
208
|
-
b2Vec2 r = p2 - p1;
|
209
|
-
b2Assert(r.LengthSquared() > 0.0f);
|
210
|
-
r.Normalize();
|
211
|
-
|
212
|
-
// v is perpendicular to the segment.
|
213
|
-
b2Vec2 v = b2Cross(1.0f, r);
|
214
|
-
b2Vec2 abs_v = b2Abs(v);
|
215
|
-
|
216
|
-
// Separating axis for segment (Gino, p80).
|
217
|
-
// |dot(v, p1 - c)| > dot(|v|, h)
|
218
|
-
|
219
|
-
float32 maxFraction = input.maxFraction;
|
220
|
-
|
221
|
-
// Build a bounding box for the segment.
|
222
|
-
b2AABB segmentAABB;
|
223
|
-
{
|
224
|
-
b2Vec2 t = p1 + maxFraction * (p2 - p1);
|
225
|
-
segmentAABB.lowerBound = b2Min(p1, t);
|
226
|
-
segmentAABB.upperBound = b2Max(p1, t);
|
227
|
-
}
|
228
|
-
|
229
|
-
b2GrowableStack<int32, 256> stack;
|
230
|
-
stack.Push(m_root);
|
231
|
-
|
232
|
-
while (stack.GetCount() > 0)
|
233
|
-
{
|
234
|
-
int32 nodeId = stack.Pop();
|
235
|
-
if (nodeId == b2_nullNode)
|
236
|
-
{
|
237
|
-
continue;
|
238
|
-
}
|
239
|
-
|
240
|
-
const b2TreeNode* node = m_nodes + nodeId;
|
241
|
-
|
242
|
-
if (b2TestOverlap(node->aabb, segmentAABB) == false)
|
243
|
-
{
|
244
|
-
continue;
|
245
|
-
}
|
246
|
-
|
247
|
-
// Separating axis for segment (Gino, p80).
|
248
|
-
// |dot(v, p1 - c)| > dot(|v|, h)
|
249
|
-
b2Vec2 c = node->aabb.GetCenter();
|
250
|
-
b2Vec2 h = node->aabb.GetExtents();
|
251
|
-
float32 separation = b2Abs(b2Dot(v, p1 - c)) - b2Dot(abs_v, h);
|
252
|
-
if (separation > 0.0f)
|
253
|
-
{
|
254
|
-
continue;
|
255
|
-
}
|
256
|
-
|
257
|
-
if (node->IsLeaf())
|
258
|
-
{
|
259
|
-
b2RayCastInput subInput;
|
260
|
-
subInput.p1 = input.p1;
|
261
|
-
subInput.p2 = input.p2;
|
262
|
-
subInput.maxFraction = maxFraction;
|
263
|
-
|
264
|
-
float32 value = callback->RayCastCallback(subInput, nodeId);
|
265
|
-
|
266
|
-
if (value == 0.0f)
|
267
|
-
{
|
268
|
-
// The client has terminated the ray cast.
|
269
|
-
return;
|
270
|
-
}
|
271
|
-
|
272
|
-
if (value > 0.0f)
|
273
|
-
{
|
274
|
-
// Update segment bounding box.
|
275
|
-
maxFraction = value;
|
276
|
-
b2Vec2 t = p1 + maxFraction * (p2 - p1);
|
277
|
-
segmentAABB.lowerBound = b2Min(p1, t);
|
278
|
-
segmentAABB.upperBound = b2Max(p1, t);
|
279
|
-
}
|
280
|
-
}
|
281
|
-
else
|
282
|
-
{
|
283
|
-
stack.Push(node->child1);
|
284
|
-
stack.Push(node->child2);
|
285
|
-
}
|
286
|
-
}
|
287
|
-
}
|
288
|
-
|
289
|
-
#endif
|
@@ -1,486 +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/b2Distance.h>
|
21
|
-
#include <Box2D/Collision/b2TimeOfImpact.h>
|
22
|
-
#include <Box2D/Collision/Shapes/b2CircleShape.h>
|
23
|
-
#include <Box2D/Collision/Shapes/b2PolygonShape.h>
|
24
|
-
#include <Box2D/Common/b2Timer.h>
|
25
|
-
|
26
|
-
#include <stdio.h>
|
27
|
-
|
28
|
-
float32 b2_toiTime, b2_toiMaxTime;
|
29
|
-
int32 b2_toiCalls, b2_toiIters, b2_toiMaxIters;
|
30
|
-
int32 b2_toiRootIters, b2_toiMaxRootIters;
|
31
|
-
|
32
|
-
//
|
33
|
-
struct b2SeparationFunction
|
34
|
-
{
|
35
|
-
enum Type
|
36
|
-
{
|
37
|
-
e_points,
|
38
|
-
e_faceA,
|
39
|
-
e_faceB
|
40
|
-
};
|
41
|
-
|
42
|
-
// TODO_ERIN might not need to return the separation
|
43
|
-
|
44
|
-
float32 Initialize(const b2SimplexCache* cache,
|
45
|
-
const b2DistanceProxy* proxyA, const b2Sweep& sweepA,
|
46
|
-
const b2DistanceProxy* proxyB, const b2Sweep& sweepB,
|
47
|
-
float32 t1)
|
48
|
-
{
|
49
|
-
m_proxyA = proxyA;
|
50
|
-
m_proxyB = proxyB;
|
51
|
-
int32 count = cache->count;
|
52
|
-
b2Assert(0 < count && count < 3);
|
53
|
-
|
54
|
-
m_sweepA = sweepA;
|
55
|
-
m_sweepB = sweepB;
|
56
|
-
|
57
|
-
b2Transform xfA, xfB;
|
58
|
-
m_sweepA.GetTransform(&xfA, t1);
|
59
|
-
m_sweepB.GetTransform(&xfB, t1);
|
60
|
-
|
61
|
-
if (count == 1)
|
62
|
-
{
|
63
|
-
m_type = e_points;
|
64
|
-
b2Vec2 localPointA = m_proxyA->GetVertex(cache->indexA[0]);
|
65
|
-
b2Vec2 localPointB = m_proxyB->GetVertex(cache->indexB[0]);
|
66
|
-
b2Vec2 pointA = b2Mul(xfA, localPointA);
|
67
|
-
b2Vec2 pointB = b2Mul(xfB, localPointB);
|
68
|
-
m_axis = pointB - pointA;
|
69
|
-
float32 s = m_axis.Normalize();
|
70
|
-
return s;
|
71
|
-
}
|
72
|
-
else if (cache->indexA[0] == cache->indexA[1])
|
73
|
-
{
|
74
|
-
// Two points on B and one on A.
|
75
|
-
m_type = e_faceB;
|
76
|
-
b2Vec2 localPointB1 = proxyB->GetVertex(cache->indexB[0]);
|
77
|
-
b2Vec2 localPointB2 = proxyB->GetVertex(cache->indexB[1]);
|
78
|
-
|
79
|
-
m_axis = b2Cross(localPointB2 - localPointB1, 1.0f);
|
80
|
-
m_axis.Normalize();
|
81
|
-
b2Vec2 normal = b2Mul(xfB.q, m_axis);
|
82
|
-
|
83
|
-
m_localPoint = 0.5f * (localPointB1 + localPointB2);
|
84
|
-
b2Vec2 pointB = b2Mul(xfB, m_localPoint);
|
85
|
-
|
86
|
-
b2Vec2 localPointA = proxyA->GetVertex(cache->indexA[0]);
|
87
|
-
b2Vec2 pointA = b2Mul(xfA, localPointA);
|
88
|
-
|
89
|
-
float32 s = b2Dot(pointA - pointB, normal);
|
90
|
-
if (s < 0.0f)
|
91
|
-
{
|
92
|
-
m_axis = -m_axis;
|
93
|
-
s = -s;
|
94
|
-
}
|
95
|
-
return s;
|
96
|
-
}
|
97
|
-
else
|
98
|
-
{
|
99
|
-
// Two points on A and one or two points on B.
|
100
|
-
m_type = e_faceA;
|
101
|
-
b2Vec2 localPointA1 = m_proxyA->GetVertex(cache->indexA[0]);
|
102
|
-
b2Vec2 localPointA2 = m_proxyA->GetVertex(cache->indexA[1]);
|
103
|
-
|
104
|
-
m_axis = b2Cross(localPointA2 - localPointA1, 1.0f);
|
105
|
-
m_axis.Normalize();
|
106
|
-
b2Vec2 normal = b2Mul(xfA.q, m_axis);
|
107
|
-
|
108
|
-
m_localPoint = 0.5f * (localPointA1 + localPointA2);
|
109
|
-
b2Vec2 pointA = b2Mul(xfA, m_localPoint);
|
110
|
-
|
111
|
-
b2Vec2 localPointB = m_proxyB->GetVertex(cache->indexB[0]);
|
112
|
-
b2Vec2 pointB = b2Mul(xfB, localPointB);
|
113
|
-
|
114
|
-
float32 s = b2Dot(pointB - pointA, normal);
|
115
|
-
if (s < 0.0f)
|
116
|
-
{
|
117
|
-
m_axis = -m_axis;
|
118
|
-
s = -s;
|
119
|
-
}
|
120
|
-
return s;
|
121
|
-
}
|
122
|
-
}
|
123
|
-
|
124
|
-
//
|
125
|
-
float32 FindMinSeparation(int32* indexA, int32* indexB, float32 t) const
|
126
|
-
{
|
127
|
-
b2Transform xfA, xfB;
|
128
|
-
m_sweepA.GetTransform(&xfA, t);
|
129
|
-
m_sweepB.GetTransform(&xfB, t);
|
130
|
-
|
131
|
-
switch (m_type)
|
132
|
-
{
|
133
|
-
case e_points:
|
134
|
-
{
|
135
|
-
b2Vec2 axisA = b2MulT(xfA.q, m_axis);
|
136
|
-
b2Vec2 axisB = b2MulT(xfB.q, -m_axis);
|
137
|
-
|
138
|
-
*indexA = m_proxyA->GetSupport(axisA);
|
139
|
-
*indexB = m_proxyB->GetSupport(axisB);
|
140
|
-
|
141
|
-
b2Vec2 localPointA = m_proxyA->GetVertex(*indexA);
|
142
|
-
b2Vec2 localPointB = m_proxyB->GetVertex(*indexB);
|
143
|
-
|
144
|
-
b2Vec2 pointA = b2Mul(xfA, localPointA);
|
145
|
-
b2Vec2 pointB = b2Mul(xfB, localPointB);
|
146
|
-
|
147
|
-
float32 separation = b2Dot(pointB - pointA, m_axis);
|
148
|
-
return separation;
|
149
|
-
}
|
150
|
-
|
151
|
-
case e_faceA:
|
152
|
-
{
|
153
|
-
b2Vec2 normal = b2Mul(xfA.q, m_axis);
|
154
|
-
b2Vec2 pointA = b2Mul(xfA, m_localPoint);
|
155
|
-
|
156
|
-
b2Vec2 axisB = b2MulT(xfB.q, -normal);
|
157
|
-
|
158
|
-
*indexA = -1;
|
159
|
-
*indexB = m_proxyB->GetSupport(axisB);
|
160
|
-
|
161
|
-
b2Vec2 localPointB = m_proxyB->GetVertex(*indexB);
|
162
|
-
b2Vec2 pointB = b2Mul(xfB, localPointB);
|
163
|
-
|
164
|
-
float32 separation = b2Dot(pointB - pointA, normal);
|
165
|
-
return separation;
|
166
|
-
}
|
167
|
-
|
168
|
-
case e_faceB:
|
169
|
-
{
|
170
|
-
b2Vec2 normal = b2Mul(xfB.q, m_axis);
|
171
|
-
b2Vec2 pointB = b2Mul(xfB, m_localPoint);
|
172
|
-
|
173
|
-
b2Vec2 axisA = b2MulT(xfA.q, -normal);
|
174
|
-
|
175
|
-
*indexB = -1;
|
176
|
-
*indexA = m_proxyA->GetSupport(axisA);
|
177
|
-
|
178
|
-
b2Vec2 localPointA = m_proxyA->GetVertex(*indexA);
|
179
|
-
b2Vec2 pointA = b2Mul(xfA, localPointA);
|
180
|
-
|
181
|
-
float32 separation = b2Dot(pointA - pointB, normal);
|
182
|
-
return separation;
|
183
|
-
}
|
184
|
-
|
185
|
-
default:
|
186
|
-
b2Assert(false);
|
187
|
-
*indexA = -1;
|
188
|
-
*indexB = -1;
|
189
|
-
return 0.0f;
|
190
|
-
}
|
191
|
-
}
|
192
|
-
|
193
|
-
//
|
194
|
-
float32 Evaluate(int32 indexA, int32 indexB, float32 t) const
|
195
|
-
{
|
196
|
-
b2Transform xfA, xfB;
|
197
|
-
m_sweepA.GetTransform(&xfA, t);
|
198
|
-
m_sweepB.GetTransform(&xfB, t);
|
199
|
-
|
200
|
-
switch (m_type)
|
201
|
-
{
|
202
|
-
case e_points:
|
203
|
-
{
|
204
|
-
b2Vec2 localPointA = m_proxyA->GetVertex(indexA);
|
205
|
-
b2Vec2 localPointB = m_proxyB->GetVertex(indexB);
|
206
|
-
|
207
|
-
b2Vec2 pointA = b2Mul(xfA, localPointA);
|
208
|
-
b2Vec2 pointB = b2Mul(xfB, localPointB);
|
209
|
-
float32 separation = b2Dot(pointB - pointA, m_axis);
|
210
|
-
|
211
|
-
return separation;
|
212
|
-
}
|
213
|
-
|
214
|
-
case e_faceA:
|
215
|
-
{
|
216
|
-
b2Vec2 normal = b2Mul(xfA.q, m_axis);
|
217
|
-
b2Vec2 pointA = b2Mul(xfA, m_localPoint);
|
218
|
-
|
219
|
-
b2Vec2 localPointB = m_proxyB->GetVertex(indexB);
|
220
|
-
b2Vec2 pointB = b2Mul(xfB, localPointB);
|
221
|
-
|
222
|
-
float32 separation = b2Dot(pointB - pointA, normal);
|
223
|
-
return separation;
|
224
|
-
}
|
225
|
-
|
226
|
-
case e_faceB:
|
227
|
-
{
|
228
|
-
b2Vec2 normal = b2Mul(xfB.q, m_axis);
|
229
|
-
b2Vec2 pointB = b2Mul(xfB, m_localPoint);
|
230
|
-
|
231
|
-
b2Vec2 localPointA = m_proxyA->GetVertex(indexA);
|
232
|
-
b2Vec2 pointA = b2Mul(xfA, localPointA);
|
233
|
-
|
234
|
-
float32 separation = b2Dot(pointA - pointB, normal);
|
235
|
-
return separation;
|
236
|
-
}
|
237
|
-
|
238
|
-
default:
|
239
|
-
b2Assert(false);
|
240
|
-
return 0.0f;
|
241
|
-
}
|
242
|
-
}
|
243
|
-
|
244
|
-
const b2DistanceProxy* m_proxyA;
|
245
|
-
const b2DistanceProxy* m_proxyB;
|
246
|
-
b2Sweep m_sweepA, m_sweepB;
|
247
|
-
Type m_type;
|
248
|
-
b2Vec2 m_localPoint;
|
249
|
-
b2Vec2 m_axis;
|
250
|
-
};
|
251
|
-
|
252
|
-
// CCD via the local separating axis method. This seeks progression
|
253
|
-
// by computing the largest time at which separation is maintained.
|
254
|
-
void b2TimeOfImpact(b2TOIOutput* output, const b2TOIInput* input)
|
255
|
-
{
|
256
|
-
b2Timer timer;
|
257
|
-
|
258
|
-
++b2_toiCalls;
|
259
|
-
|
260
|
-
output->state = b2TOIOutput::e_unknown;
|
261
|
-
output->t = input->tMax;
|
262
|
-
|
263
|
-
const b2DistanceProxy* proxyA = &input->proxyA;
|
264
|
-
const b2DistanceProxy* proxyB = &input->proxyB;
|
265
|
-
|
266
|
-
b2Sweep sweepA = input->sweepA;
|
267
|
-
b2Sweep sweepB = input->sweepB;
|
268
|
-
|
269
|
-
// Large rotations can make the root finder fail, so we normalize the
|
270
|
-
// sweep angles.
|
271
|
-
sweepA.Normalize();
|
272
|
-
sweepB.Normalize();
|
273
|
-
|
274
|
-
float32 tMax = input->tMax;
|
275
|
-
|
276
|
-
float32 totalRadius = proxyA->m_radius + proxyB->m_radius;
|
277
|
-
float32 target = b2Max(b2_linearSlop, totalRadius - 3.0f * b2_linearSlop);
|
278
|
-
float32 tolerance = 0.25f * b2_linearSlop;
|
279
|
-
b2Assert(target > tolerance);
|
280
|
-
|
281
|
-
float32 t1 = 0.0f;
|
282
|
-
const int32 k_maxIterations = 20; // TODO_ERIN b2Settings
|
283
|
-
int32 iter = 0;
|
284
|
-
|
285
|
-
// Prepare input for distance query.
|
286
|
-
b2SimplexCache cache;
|
287
|
-
cache.count = 0;
|
288
|
-
b2DistanceInput distanceInput;
|
289
|
-
distanceInput.proxyA = input->proxyA;
|
290
|
-
distanceInput.proxyB = input->proxyB;
|
291
|
-
distanceInput.useRadii = false;
|
292
|
-
|
293
|
-
// The outer loop progressively attempts to compute new separating axes.
|
294
|
-
// This loop terminates when an axis is repeated (no progress is made).
|
295
|
-
for(;;)
|
296
|
-
{
|
297
|
-
b2Transform xfA, xfB;
|
298
|
-
sweepA.GetTransform(&xfA, t1);
|
299
|
-
sweepB.GetTransform(&xfB, t1);
|
300
|
-
|
301
|
-
// Get the distance between shapes. We can also use the results
|
302
|
-
// to get a separating axis.
|
303
|
-
distanceInput.transformA = xfA;
|
304
|
-
distanceInput.transformB = xfB;
|
305
|
-
b2DistanceOutput distanceOutput;
|
306
|
-
b2Distance(&distanceOutput, &cache, &distanceInput);
|
307
|
-
|
308
|
-
// If the shapes are overlapped, we give up on continuous collision.
|
309
|
-
if (distanceOutput.distance <= 0.0f)
|
310
|
-
{
|
311
|
-
// Failure!
|
312
|
-
output->state = b2TOIOutput::e_overlapped;
|
313
|
-
output->t = 0.0f;
|
314
|
-
break;
|
315
|
-
}
|
316
|
-
|
317
|
-
if (distanceOutput.distance < target + tolerance)
|
318
|
-
{
|
319
|
-
// Victory!
|
320
|
-
output->state = b2TOIOutput::e_touching;
|
321
|
-
output->t = t1;
|
322
|
-
break;
|
323
|
-
}
|
324
|
-
|
325
|
-
// Initialize the separating axis.
|
326
|
-
b2SeparationFunction fcn;
|
327
|
-
fcn.Initialize(&cache, proxyA, sweepA, proxyB, sweepB, t1);
|
328
|
-
#if 0
|
329
|
-
// Dump the curve seen by the root finder
|
330
|
-
{
|
331
|
-
const int32 N = 100;
|
332
|
-
float32 dx = 1.0f / N;
|
333
|
-
float32 xs[N+1];
|
334
|
-
float32 fs[N+1];
|
335
|
-
|
336
|
-
float32 x = 0.0f;
|
337
|
-
|
338
|
-
for (int32 i = 0; i <= N; ++i)
|
339
|
-
{
|
340
|
-
sweepA.GetTransform(&xfA, x);
|
341
|
-
sweepB.GetTransform(&xfB, x);
|
342
|
-
float32 f = fcn.Evaluate(xfA, xfB) - target;
|
343
|
-
|
344
|
-
printf("%g %g\n", x, f);
|
345
|
-
|
346
|
-
xs[i] = x;
|
347
|
-
fs[i] = f;
|
348
|
-
|
349
|
-
x += dx;
|
350
|
-
}
|
351
|
-
}
|
352
|
-
#endif
|
353
|
-
|
354
|
-
// Compute the TOI on the separating axis. We do this by successively
|
355
|
-
// resolving the deepest point. This loop is bounded by the number of vertices.
|
356
|
-
bool done = false;
|
357
|
-
float32 t2 = tMax;
|
358
|
-
int32 pushBackIter = 0;
|
359
|
-
for (;;)
|
360
|
-
{
|
361
|
-
// Find the deepest point at t2. Store the witness point indices.
|
362
|
-
int32 indexA, indexB;
|
363
|
-
float32 s2 = fcn.FindMinSeparation(&indexA, &indexB, t2);
|
364
|
-
|
365
|
-
// Is the final configuration separated?
|
366
|
-
if (s2 > target + tolerance)
|
367
|
-
{
|
368
|
-
// Victory!
|
369
|
-
output->state = b2TOIOutput::e_separated;
|
370
|
-
output->t = tMax;
|
371
|
-
done = true;
|
372
|
-
break;
|
373
|
-
}
|
374
|
-
|
375
|
-
// Has the separation reached tolerance?
|
376
|
-
if (s2 > target - tolerance)
|
377
|
-
{
|
378
|
-
// Advance the sweeps
|
379
|
-
t1 = t2;
|
380
|
-
break;
|
381
|
-
}
|
382
|
-
|
383
|
-
// Compute the initial separation of the witness points.
|
384
|
-
float32 s1 = fcn.Evaluate(indexA, indexB, t1);
|
385
|
-
|
386
|
-
// Check for initial overlap. This might happen if the root finder
|
387
|
-
// runs out of iterations.
|
388
|
-
if (s1 < target - tolerance)
|
389
|
-
{
|
390
|
-
output->state = b2TOIOutput::e_failed;
|
391
|
-
output->t = t1;
|
392
|
-
done = true;
|
393
|
-
break;
|
394
|
-
}
|
395
|
-
|
396
|
-
// Check for touching
|
397
|
-
if (s1 <= target + tolerance)
|
398
|
-
{
|
399
|
-
// Victory! t1 should hold the TOI (could be 0.0).
|
400
|
-
output->state = b2TOIOutput::e_touching;
|
401
|
-
output->t = t1;
|
402
|
-
done = true;
|
403
|
-
break;
|
404
|
-
}
|
405
|
-
|
406
|
-
// Compute 1D root of: f(x) - target = 0
|
407
|
-
int32 rootIterCount = 0;
|
408
|
-
float32 a1 = t1, a2 = t2;
|
409
|
-
for (;;)
|
410
|
-
{
|
411
|
-
// Use a mix of the secant rule and bisection.
|
412
|
-
float32 t;
|
413
|
-
if (rootIterCount & 1)
|
414
|
-
{
|
415
|
-
// Secant rule to improve convergence.
|
416
|
-
t = a1 + (target - s1) * (a2 - a1) / (s2 - s1);
|
417
|
-
}
|
418
|
-
else
|
419
|
-
{
|
420
|
-
// Bisection to guarantee progress.
|
421
|
-
t = 0.5f * (a1 + a2);
|
422
|
-
}
|
423
|
-
|
424
|
-
++rootIterCount;
|
425
|
-
++b2_toiRootIters;
|
426
|
-
|
427
|
-
float32 s = fcn.Evaluate(indexA, indexB, t);
|
428
|
-
|
429
|
-
if (b2Abs(s - target) < tolerance)
|
430
|
-
{
|
431
|
-
// t2 holds a tentative value for t1
|
432
|
-
t2 = t;
|
433
|
-
break;
|
434
|
-
}
|
435
|
-
|
436
|
-
// Ensure we continue to bracket the root.
|
437
|
-
if (s > target)
|
438
|
-
{
|
439
|
-
a1 = t;
|
440
|
-
s1 = s;
|
441
|
-
}
|
442
|
-
else
|
443
|
-
{
|
444
|
-
a2 = t;
|
445
|
-
s2 = s;
|
446
|
-
}
|
447
|
-
|
448
|
-
if (rootIterCount == 50)
|
449
|
-
{
|
450
|
-
break;
|
451
|
-
}
|
452
|
-
}
|
453
|
-
|
454
|
-
b2_toiMaxRootIters = b2Max(b2_toiMaxRootIters, rootIterCount);
|
455
|
-
|
456
|
-
++pushBackIter;
|
457
|
-
|
458
|
-
if (pushBackIter == b2_maxPolygonVertices)
|
459
|
-
{
|
460
|
-
break;
|
461
|
-
}
|
462
|
-
}
|
463
|
-
|
464
|
-
++iter;
|
465
|
-
++b2_toiIters;
|
466
|
-
|
467
|
-
if (done)
|
468
|
-
{
|
469
|
-
break;
|
470
|
-
}
|
471
|
-
|
472
|
-
if (iter == k_maxIterations)
|
473
|
-
{
|
474
|
-
// Root finder got stuck. Semi-victory.
|
475
|
-
output->state = b2TOIOutput::e_failed;
|
476
|
-
output->t = t1;
|
477
|
-
break;
|
478
|
-
}
|
479
|
-
}
|
480
|
-
|
481
|
-
b2_toiMaxIters = b2Max(b2_toiMaxIters, iter);
|
482
|
-
|
483
|
-
float32 time = timer.GetMilliseconds();
|
484
|
-
b2_toiMaxTime = b2Max(b2_toiMaxTime, time);
|
485
|
-
b2_toiTime += time;
|
486
|
-
}
|