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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* Copyright (c) 2006-2009 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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* 2. Altered source versions must be plainly marked as such, and must not be
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#ifndef B2_FIXTURE_H
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struct b2Filter
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b2Filter()
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{
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/// A fixture definition is used to create a fixture. This class defines an
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/// abstract fixture definition. You can reuse fixture definitions safely.
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struct b2FixtureDef
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{
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/// The constructor sets the default fixture definition values.
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b2FixtureDef()
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{
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shape = NULL;
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userData = NULL;
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friction = 0.2f;
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restitution = 0.0f;
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density = 0.0f;
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isSensor = false;
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}
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/// The shape, this must be set. The shape will be cloned, so you
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/// can create the shape on the stack.
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const b2Shape* shape;
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/// Use this to store application specific fixture data.
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void* userData;
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/// The friction coefficient, usually in the range [0,1].
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float32 friction;
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/// The restitution (elasticity) usually in the range [0,1].
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float32 restitution;
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/// The density, usually in kg/m^2.
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float32 density;
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/// A sensor shape collects contact information but never generates a collision
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/// response.
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bool isSensor;
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/// Contact filtering data.
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b2Filter filter;
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};
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/// This proxy is used internally to connect fixtures to the broad-phase.
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struct b2FixtureProxy
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{
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b2AABB aabb;
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b2Fixture* fixture;
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int32 childIndex;
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int32 proxyId;
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};
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/// A fixture is used to attach a shape to a body for collision detection. A fixture
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/// inherits its transform from its parent. Fixtures hold additional non-geometric data
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/// such as friction, collision filters, etc.
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/// Fixtures are created via b2Body::CreateFixture.
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/// @warning you cannot reuse fixtures.
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class b2Fixture
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{
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public:
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/// Get the type of the child shape. You can use this to down cast to the concrete shape.
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/// @return the shape type.
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b2Shape::Type GetType() const;
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/// Get the child shape. You can modify the child shape, however you should not change the
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/// number of vertices because this will crash some collision caching mechanisms.
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/// Manipulating the shape may lead to non-physical behavior.
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b2Shape* GetShape();
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const b2Shape* GetShape() const;
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/// Set if this fixture is a sensor.
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void SetSensor(bool sensor);
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/// Is this fixture a sensor (non-solid)?
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/// @return the true if the shape is a sensor.
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bool IsSensor() const;
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/// Set the contact filtering data. This will not update contacts until the next time
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/// step when either parent body is active and awake.
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/// This automatically calls Refilter.
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void SetFilterData(const b2Filter& filter);
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/// Get the contact filtering data.
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const b2Filter& GetFilterData() const;
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|
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/// Call this if you want to establish collision that was previously disabled by b2ContactFilter::ShouldCollide.
|
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void Refilter();
|
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|
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|
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/// Get the parent body of this fixture. This is NULL if the fixture is not attached.
|
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/// @return the parent body.
|
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b2Body* GetBody();
|
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|
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const b2Body* GetBody() const;
|
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|
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|
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|
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/// Get the next fixture in the parent body's fixture list.
|
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/// @return the next shape.
|
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|
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b2Fixture* GetNext();
|
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|
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const b2Fixture* GetNext() const;
|
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|
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|
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|
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/// Get the user data that was assigned in the fixture definition. Use this to
|
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|
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/// store your application specific data.
|
150
|
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void* GetUserData() const;
|
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|
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|
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|
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/// Set the user data. Use this to store your application specific data.
|
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|
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void SetUserData(void* data);
|
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|
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|
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|
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/// Test a point for containment in this fixture.
|
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|
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/// @param p a point in world coordinates.
|
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|
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bool TestPoint(const b2Vec2& p) const;
|
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|
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|
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|
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/// Cast a ray against this shape.
|
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|
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/// @param output the ray-cast results.
|
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|
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/// @param input the ray-cast input parameters.
|
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|
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bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input, int32 childIndex) const;
|
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|
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|
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|
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/// Get the mass data for this fixture. The mass data is based on the density and
|
165
|
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/// the shape. The rotational inertia is about the shape's origin. This operation
|
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|
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/// may be expensive.
|
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|
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void GetMassData(b2MassData* massData) const;
|
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|
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|
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|
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/// Set the density of this fixture. This will _not_ automatically adjust the mass
|
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|
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/// of the body. You must call b2Body::ResetMassData to update the body's mass.
|
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|
-
void SetDensity(float32 density);
|
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|
-
|
173
|
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/// Get the density of this fixture.
|
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|
-
float32 GetDensity() const;
|
175
|
-
|
176
|
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/// Get the coefficient of friction.
|
177
|
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float32 GetFriction() const;
|
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|
-
|
179
|
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/// Set the coefficient of friction. This will _not_ change the friction of
|
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|
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/// existing contacts.
|
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|
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void SetFriction(float32 friction);
|
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|
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|
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|
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/// Get the coefficient of restitution.
|
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|
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float32 GetRestitution() const;
|
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|
-
|
186
|
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/// Set the coefficient of restitution. This will _not_ change the restitution of
|
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|
-
/// existing contacts.
|
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|
-
void SetRestitution(float32 restitution);
|
189
|
-
|
190
|
-
/// Get the fixture's AABB. This AABB may be enlarge and/or stale.
|
191
|
-
/// If you need a more accurate AABB, compute it using the shape and
|
192
|
-
/// the body transform.
|
193
|
-
const b2AABB& GetAABB(int32 childIndex) const;
|
194
|
-
|
195
|
-
/// Dump this fixture to the log file.
|
196
|
-
void Dump(int32 bodyIndex);
|
197
|
-
|
198
|
-
protected:
|
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|
-
|
200
|
-
friend class b2Body;
|
201
|
-
friend class b2World;
|
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|
-
friend class b2Contact;
|
203
|
-
friend class b2ContactManager;
|
204
|
-
|
205
|
-
b2Fixture();
|
206
|
-
|
207
|
-
// We need separation create/destroy functions from the constructor/destructor because
|
208
|
-
// the destructor cannot access the allocator (no destructor arguments allowed by C++).
|
209
|
-
void Create(b2BlockAllocator* allocator, b2Body* body, const b2FixtureDef* def);
|
210
|
-
void Destroy(b2BlockAllocator* allocator);
|
211
|
-
|
212
|
-
// These support body activation/deactivation.
|
213
|
-
void CreateProxies(b2BroadPhase* broadPhase, const b2Transform& xf);
|
214
|
-
void DestroyProxies(b2BroadPhase* broadPhase);
|
215
|
-
|
216
|
-
void Synchronize(b2BroadPhase* broadPhase, const b2Transform& xf1, const b2Transform& xf2);
|
217
|
-
|
218
|
-
float32 m_density;
|
219
|
-
|
220
|
-
b2Fixture* m_next;
|
221
|
-
b2Body* m_body;
|
222
|
-
|
223
|
-
b2Shape* m_shape;
|
224
|
-
|
225
|
-
float32 m_friction;
|
226
|
-
float32 m_restitution;
|
227
|
-
|
228
|
-
b2FixtureProxy* m_proxies;
|
229
|
-
int32 m_proxyCount;
|
230
|
-
|
231
|
-
b2Filter m_filter;
|
232
|
-
|
233
|
-
bool m_isSensor;
|
234
|
-
|
235
|
-
void* m_userData;
|
236
|
-
};
|
237
|
-
|
238
|
-
inline b2Shape::Type b2Fixture::GetType() const
|
239
|
-
{
|
240
|
-
return m_shape->GetType();
|
241
|
-
}
|
242
|
-
|
243
|
-
inline b2Shape* b2Fixture::GetShape()
|
244
|
-
{
|
245
|
-
return m_shape;
|
246
|
-
}
|
247
|
-
|
248
|
-
inline const b2Shape* b2Fixture::GetShape() const
|
249
|
-
{
|
250
|
-
return m_shape;
|
251
|
-
}
|
252
|
-
|
253
|
-
inline bool b2Fixture::IsSensor() const
|
254
|
-
{
|
255
|
-
return m_isSensor;
|
256
|
-
}
|
257
|
-
|
258
|
-
inline const b2Filter& b2Fixture::GetFilterData() const
|
259
|
-
{
|
260
|
-
return m_filter;
|
261
|
-
}
|
262
|
-
|
263
|
-
inline void* b2Fixture::GetUserData() const
|
264
|
-
{
|
265
|
-
return m_userData;
|
266
|
-
}
|
267
|
-
|
268
|
-
inline void b2Fixture::SetUserData(void* data)
|
269
|
-
{
|
270
|
-
m_userData = data;
|
271
|
-
}
|
272
|
-
|
273
|
-
inline b2Body* b2Fixture::GetBody()
|
274
|
-
{
|
275
|
-
return m_body;
|
276
|
-
}
|
277
|
-
|
278
|
-
inline const b2Body* b2Fixture::GetBody() const
|
279
|
-
{
|
280
|
-
return m_body;
|
281
|
-
}
|
282
|
-
|
283
|
-
inline b2Fixture* b2Fixture::GetNext()
|
284
|
-
{
|
285
|
-
return m_next;
|
286
|
-
}
|
287
|
-
|
288
|
-
inline const b2Fixture* b2Fixture::GetNext() const
|
289
|
-
{
|
290
|
-
return m_next;
|
291
|
-
}
|
292
|
-
|
293
|
-
inline void b2Fixture::SetDensity(float32 density)
|
294
|
-
{
|
295
|
-
b2Assert(b2IsValid(density) && density >= 0.0f);
|
296
|
-
m_density = density;
|
297
|
-
}
|
298
|
-
|
299
|
-
inline float32 b2Fixture::GetDensity() const
|
300
|
-
{
|
301
|
-
return m_density;
|
302
|
-
}
|
303
|
-
|
304
|
-
inline float32 b2Fixture::GetFriction() const
|
305
|
-
{
|
306
|
-
return m_friction;
|
307
|
-
}
|
308
|
-
|
309
|
-
inline void b2Fixture::SetFriction(float32 friction)
|
310
|
-
{
|
311
|
-
m_friction = friction;
|
312
|
-
}
|
313
|
-
|
314
|
-
inline float32 b2Fixture::GetRestitution() const
|
315
|
-
{
|
316
|
-
return m_restitution;
|
317
|
-
}
|
318
|
-
|
319
|
-
inline void b2Fixture::SetRestitution(float32 restitution)
|
320
|
-
{
|
321
|
-
m_restitution = restitution;
|
322
|
-
}
|
323
|
-
|
324
|
-
inline bool b2Fixture::TestPoint(const b2Vec2& p) const
|
325
|
-
{
|
326
|
-
return m_shape->TestPoint(m_body->GetTransform(), p);
|
327
|
-
}
|
328
|
-
|
329
|
-
inline bool b2Fixture::RayCast(b2RayCastOutput* output, const b2RayCastInput& input, int32 childIndex) const
|
330
|
-
{
|
331
|
-
return m_shape->RayCast(output, input, m_body->GetTransform(), childIndex);
|
332
|
-
}
|
333
|
-
|
334
|
-
inline void b2Fixture::GetMassData(b2MassData* massData) const
|
335
|
-
{
|
336
|
-
m_shape->ComputeMass(massData, m_density);
|
337
|
-
}
|
338
|
-
|
339
|
-
inline const b2AABB& b2Fixture::GetAABB(int32 childIndex) const
|
340
|
-
{
|
341
|
-
b2Assert(0 <= childIndex && childIndex < m_proxyCount);
|
342
|
-
return m_proxies[childIndex].aabb;
|
343
|
-
}
|
344
|
-
|
345
|
-
#endif
|
@@ -1,539 +0,0 @@
|
|
1
|
-
/*
|
2
|
-
* Copyright (c) 2006-2011 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/b2Distance.h>
|
20
|
-
#include <Box2D/Dynamics/b2Island.h>
|
21
|
-
#include <Box2D/Dynamics/b2Body.h>
|
22
|
-
#include <Box2D/Dynamics/b2Fixture.h>
|
23
|
-
#include <Box2D/Dynamics/b2World.h>
|
24
|
-
#include <Box2D/Dynamics/Contacts/b2Contact.h>
|
25
|
-
#include <Box2D/Dynamics/Contacts/b2ContactSolver.h>
|
26
|
-
#include <Box2D/Dynamics/Joints/b2Joint.h>
|
27
|
-
#include <Box2D/Common/b2StackAllocator.h>
|
28
|
-
#include <Box2D/Common/b2Timer.h>
|
29
|
-
|
30
|
-
/*
|
31
|
-
Position Correction Notes
|
32
|
-
=========================
|
33
|
-
I tried the several algorithms for position correction of the 2D revolute joint.
|
34
|
-
I looked at these systems:
|
35
|
-
- simple pendulum (1m diameter sphere on massless 5m stick) with initial angular velocity of 100 rad/s.
|
36
|
-
- suspension bridge with 30 1m long planks of length 1m.
|
37
|
-
- multi-link chain with 30 1m long links.
|
38
|
-
|
39
|
-
Here are the algorithms:
|
40
|
-
|
41
|
-
Baumgarte - A fraction of the position error is added to the velocity error. There is no
|
42
|
-
separate position solver.
|
43
|
-
|
44
|
-
Pseudo Velocities - After the velocity solver and position integration,
|
45
|
-
the position error, Jacobian, and effective mass are recomputed. Then
|
46
|
-
the velocity constraints are solved with pseudo velocities and a fraction
|
47
|
-
of the position error is added to the pseudo velocity error. The pseudo
|
48
|
-
velocities are initialized to zero and there is no warm-starting. After
|
49
|
-
the position solver, the pseudo velocities are added to the positions.
|
50
|
-
This is also called the First Order World method or the Position LCP method.
|
51
|
-
|
52
|
-
Modified Nonlinear Gauss-Seidel (NGS) - Like Pseudo Velocities except the
|
53
|
-
position error is re-computed for each constraint and the positions are updated
|
54
|
-
after the constraint is solved. The radius vectors (aka Jacobians) are
|
55
|
-
re-computed too (otherwise the algorithm has horrible instability). The pseudo
|
56
|
-
velocity states are not needed because they are effectively zero at the beginning
|
57
|
-
of each iteration. Since we have the current position error, we allow the
|
58
|
-
iterations to terminate early if the error becomes smaller than b2_linearSlop.
|
59
|
-
|
60
|
-
Full NGS or just NGS - Like Modified NGS except the effective mass are re-computed
|
61
|
-
each time a constraint is solved.
|
62
|
-
|
63
|
-
Here are the results:
|
64
|
-
Baumgarte - this is the cheapest algorithm but it has some stability problems,
|
65
|
-
especially with the bridge. The chain links separate easily close to the root
|
66
|
-
and they jitter as they struggle to pull together. This is one of the most common
|
67
|
-
methods in the field. The big drawback is that the position correction artificially
|
68
|
-
affects the momentum, thus leading to instabilities and false bounce. I used a
|
69
|
-
bias factor of 0.2. A larger bias factor makes the bridge less stable, a smaller
|
70
|
-
factor makes joints and contacts more spongy.
|
71
|
-
|
72
|
-
Pseudo Velocities - the is more stable than the Baumgarte method. The bridge is
|
73
|
-
stable. However, joints still separate with large angular velocities. Drag the
|
74
|
-
simple pendulum in a circle quickly and the joint will separate. The chain separates
|
75
|
-
easily and does not recover. I used a bias factor of 0.2. A larger value lead to
|
76
|
-
the bridge collapsing when a heavy cube drops on it.
|
77
|
-
|
78
|
-
Modified NGS - this algorithm is better in some ways than Baumgarte and Pseudo
|
79
|
-
Velocities, but in other ways it is worse. The bridge and chain are much more
|
80
|
-
stable, but the simple pendulum goes unstable at high angular velocities.
|
81
|
-
|
82
|
-
Full NGS - stable in all tests. The joints display good stiffness. The bridge
|
83
|
-
still sags, but this is better than infinite forces.
|
84
|
-
|
85
|
-
Recommendations
|
86
|
-
Pseudo Velocities are not really worthwhile because the bridge and chain cannot
|
87
|
-
recover from joint separation. In other cases the benefit over Baumgarte is small.
|
88
|
-
|
89
|
-
Modified NGS is not a robust method for the revolute joint due to the violent
|
90
|
-
instability seen in the simple pendulum. Perhaps it is viable with other constraint
|
91
|
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types, especially scalar constraints where the effective mass is a scalar.
|
92
|
-
|
93
|
-
This leaves Baumgarte and Full NGS. Baumgarte has small, but manageable instabilities
|
94
|
-
and is very fast. I don't think we can escape Baumgarte, especially in highly
|
95
|
-
demanding cases where high constraint fidelity is not needed.
|
96
|
-
|
97
|
-
Full NGS is robust and easy on the eyes. I recommend this as an option for
|
98
|
-
higher fidelity simulation and certainly for suspension bridges and long chains.
|
99
|
-
Full NGS might be a good choice for ragdolls, especially motorized ragdolls where
|
100
|
-
joint separation can be problematic. The number of NGS iterations can be reduced
|
101
|
-
for better performance without harming robustness much.
|
102
|
-
|
103
|
-
Each joint in a can be handled differently in the position solver. So I recommend
|
104
|
-
a system where the user can select the algorithm on a per joint basis. I would
|
105
|
-
probably default to the slower Full NGS and let the user select the faster
|
106
|
-
Baumgarte method in performance critical scenarios.
|
107
|
-
*/
|
108
|
-
|
109
|
-
/*
|
110
|
-
Cache Performance
|
111
|
-
|
112
|
-
The Box2D solvers are dominated by cache misses. Data structures are designed
|
113
|
-
to increase the number of cache hits. Much of misses are due to random access
|
114
|
-
to body data. The constraint structures are iterated over linearly, which leads
|
115
|
-
to few cache misses.
|
116
|
-
|
117
|
-
The bodies are not accessed during iteration. Instead read only data, such as
|
118
|
-
the mass values are stored with the constraints. The mutable data are the constraint
|
119
|
-
impulses and the bodies velocities/positions. The impulses are held inside the
|
120
|
-
constraint structures. The body velocities/positions are held in compact, temporary
|
121
|
-
arrays to increase the number of cache hits. Linear and angular velocity are
|
122
|
-
stored in a single array since multiple arrays lead to multiple misses.
|
123
|
-
*/
|
124
|
-
|
125
|
-
/*
|
126
|
-
2D Rotation
|
127
|
-
|
128
|
-
R = [cos(theta) -sin(theta)]
|
129
|
-
[sin(theta) cos(theta) ]
|
130
|
-
|
131
|
-
thetaDot = omega
|
132
|
-
|
133
|
-
Let q1 = cos(theta), q2 = sin(theta).
|
134
|
-
R = [q1 -q2]
|
135
|
-
[q2 q1]
|
136
|
-
|
137
|
-
q1Dot = -thetaDot * q2
|
138
|
-
q2Dot = thetaDot * q1
|
139
|
-
|
140
|
-
q1_new = q1_old - dt * w * q2
|
141
|
-
q2_new = q2_old + dt * w * q1
|
142
|
-
then normalize.
|
143
|
-
|
144
|
-
This might be faster than computing sin+cos.
|
145
|
-
However, we can compute sin+cos of the same angle fast.
|
146
|
-
*/
|
147
|
-
|
148
|
-
b2Island::b2Island(
|
149
|
-
int32 bodyCapacity,
|
150
|
-
int32 contactCapacity,
|
151
|
-
int32 jointCapacity,
|
152
|
-
b2StackAllocator* allocator,
|
153
|
-
b2ContactListener* listener)
|
154
|
-
{
|
155
|
-
m_bodyCapacity = bodyCapacity;
|
156
|
-
m_contactCapacity = contactCapacity;
|
157
|
-
m_jointCapacity = jointCapacity;
|
158
|
-
m_bodyCount = 0;
|
159
|
-
m_contactCount = 0;
|
160
|
-
m_jointCount = 0;
|
161
|
-
|
162
|
-
m_allocator = allocator;
|
163
|
-
m_listener = listener;
|
164
|
-
|
165
|
-
m_bodies = (b2Body**)m_allocator->Allocate(bodyCapacity * sizeof(b2Body*));
|
166
|
-
m_contacts = (b2Contact**)m_allocator->Allocate(contactCapacity * sizeof(b2Contact*));
|
167
|
-
m_joints = (b2Joint**)m_allocator->Allocate(jointCapacity * sizeof(b2Joint*));
|
168
|
-
|
169
|
-
m_velocities = (b2Velocity*)m_allocator->Allocate(m_bodyCapacity * sizeof(b2Velocity));
|
170
|
-
m_positions = (b2Position*)m_allocator->Allocate(m_bodyCapacity * sizeof(b2Position));
|
171
|
-
}
|
172
|
-
|
173
|
-
b2Island::~b2Island()
|
174
|
-
{
|
175
|
-
// Warning: the order should reverse the constructor order.
|
176
|
-
m_allocator->Free(m_positions);
|
177
|
-
m_allocator->Free(m_velocities);
|
178
|
-
m_allocator->Free(m_joints);
|
179
|
-
m_allocator->Free(m_contacts);
|
180
|
-
m_allocator->Free(m_bodies);
|
181
|
-
}
|
182
|
-
|
183
|
-
void b2Island::Solve(b2Profile* profile, const b2TimeStep& step, const b2Vec2& gravity, bool allowSleep)
|
184
|
-
{
|
185
|
-
b2Timer timer;
|
186
|
-
|
187
|
-
float32 h = step.dt;
|
188
|
-
|
189
|
-
// Integrate velocities and apply damping. Initialize the body state.
|
190
|
-
for (int32 i = 0; i < m_bodyCount; ++i)
|
191
|
-
{
|
192
|
-
b2Body* b = m_bodies[i];
|
193
|
-
|
194
|
-
b2Vec2 c = b->m_sweep.c;
|
195
|
-
float32 a = b->m_sweep.a;
|
196
|
-
b2Vec2 v = b->m_linearVelocity;
|
197
|
-
float32 w = b->m_angularVelocity;
|
198
|
-
|
199
|
-
// Store positions for continuous collision.
|
200
|
-
b->m_sweep.c0 = b->m_sweep.c;
|
201
|
-
b->m_sweep.a0 = b->m_sweep.a;
|
202
|
-
|
203
|
-
if (b->m_type == b2_dynamicBody)
|
204
|
-
{
|
205
|
-
// Integrate velocities.
|
206
|
-
v += h * (b->m_gravityScale * gravity + b->m_invMass * b->m_force);
|
207
|
-
w += h * b->m_invI * b->m_torque;
|
208
|
-
|
209
|
-
// Apply damping.
|
210
|
-
// ODE: dv/dt + c * v = 0
|
211
|
-
// Solution: v(t) = v0 * exp(-c * t)
|
212
|
-
// Time step: v(t + dt) = v0 * exp(-c * (t + dt)) = v0 * exp(-c * t) * exp(-c * dt) = v * exp(-c * dt)
|
213
|
-
// v2 = exp(-c * dt) * v1
|
214
|
-
// Pade approximation:
|
215
|
-
// v2 = v1 * 1 / (1 + c * dt)
|
216
|
-
v *= 1.0f / (1.0f + h * b->m_linearDamping);
|
217
|
-
w *= 1.0f / (1.0f + h * b->m_angularDamping);
|
218
|
-
}
|
219
|
-
|
220
|
-
m_positions[i].c = c;
|
221
|
-
m_positions[i].a = a;
|
222
|
-
m_velocities[i].v = v;
|
223
|
-
m_velocities[i].w = w;
|
224
|
-
}
|
225
|
-
|
226
|
-
timer.Reset();
|
227
|
-
|
228
|
-
// Solver data
|
229
|
-
b2SolverData solverData;
|
230
|
-
solverData.step = step;
|
231
|
-
solverData.positions = m_positions;
|
232
|
-
solverData.velocities = m_velocities;
|
233
|
-
|
234
|
-
// Initialize velocity constraints.
|
235
|
-
b2ContactSolverDef contactSolverDef;
|
236
|
-
contactSolverDef.step = step;
|
237
|
-
contactSolverDef.contacts = m_contacts;
|
238
|
-
contactSolverDef.count = m_contactCount;
|
239
|
-
contactSolverDef.positions = m_positions;
|
240
|
-
contactSolverDef.velocities = m_velocities;
|
241
|
-
contactSolverDef.allocator = m_allocator;
|
242
|
-
|
243
|
-
b2ContactSolver contactSolver(&contactSolverDef);
|
244
|
-
contactSolver.InitializeVelocityConstraints();
|
245
|
-
|
246
|
-
if (step.warmStarting)
|
247
|
-
{
|
248
|
-
contactSolver.WarmStart();
|
249
|
-
}
|
250
|
-
|
251
|
-
for (int32 i = 0; i < m_jointCount; ++i)
|
252
|
-
{
|
253
|
-
m_joints[i]->InitVelocityConstraints(solverData);
|
254
|
-
}
|
255
|
-
|
256
|
-
profile->solveInit = timer.GetMilliseconds();
|
257
|
-
|
258
|
-
// Solve velocity constraints
|
259
|
-
timer.Reset();
|
260
|
-
for (int32 i = 0; i < step.velocityIterations; ++i)
|
261
|
-
{
|
262
|
-
for (int32 j = 0; j < m_jointCount; ++j)
|
263
|
-
{
|
264
|
-
m_joints[j]->SolveVelocityConstraints(solverData);
|
265
|
-
}
|
266
|
-
|
267
|
-
contactSolver.SolveVelocityConstraints();
|
268
|
-
}
|
269
|
-
|
270
|
-
// Store impulses for warm starting
|
271
|
-
contactSolver.StoreImpulses();
|
272
|
-
profile->solveVelocity = timer.GetMilliseconds();
|
273
|
-
|
274
|
-
// Integrate positions
|
275
|
-
for (int32 i = 0; i < m_bodyCount; ++i)
|
276
|
-
{
|
277
|
-
b2Vec2 c = m_positions[i].c;
|
278
|
-
float32 a = m_positions[i].a;
|
279
|
-
b2Vec2 v = m_velocities[i].v;
|
280
|
-
float32 w = m_velocities[i].w;
|
281
|
-
|
282
|
-
// Check for large velocities
|
283
|
-
b2Vec2 translation = h * v;
|
284
|
-
if (b2Dot(translation, translation) > b2_maxTranslationSquared)
|
285
|
-
{
|
286
|
-
float32 ratio = b2_maxTranslation / translation.Length();
|
287
|
-
v *= ratio;
|
288
|
-
}
|
289
|
-
|
290
|
-
float32 rotation = h * w;
|
291
|
-
if (rotation * rotation > b2_maxRotationSquared)
|
292
|
-
{
|
293
|
-
float32 ratio = b2_maxRotation / b2Abs(rotation);
|
294
|
-
w *= ratio;
|
295
|
-
}
|
296
|
-
|
297
|
-
// Integrate
|
298
|
-
c += h * v;
|
299
|
-
a += h * w;
|
300
|
-
|
301
|
-
m_positions[i].c = c;
|
302
|
-
m_positions[i].a = a;
|
303
|
-
m_velocities[i].v = v;
|
304
|
-
m_velocities[i].w = w;
|
305
|
-
}
|
306
|
-
|
307
|
-
// Solve position constraints
|
308
|
-
timer.Reset();
|
309
|
-
bool positionSolved = false;
|
310
|
-
for (int32 i = 0; i < step.positionIterations; ++i)
|
311
|
-
{
|
312
|
-
bool contactsOkay = contactSolver.SolvePositionConstraints();
|
313
|
-
|
314
|
-
bool jointsOkay = true;
|
315
|
-
for (int32 i = 0; i < m_jointCount; ++i)
|
316
|
-
{
|
317
|
-
bool jointOkay = m_joints[i]->SolvePositionConstraints(solverData);
|
318
|
-
jointsOkay = jointsOkay && jointOkay;
|
319
|
-
}
|
320
|
-
|
321
|
-
if (contactsOkay && jointsOkay)
|
322
|
-
{
|
323
|
-
// Exit early if the position errors are small.
|
324
|
-
positionSolved = true;
|
325
|
-
break;
|
326
|
-
}
|
327
|
-
}
|
328
|
-
|
329
|
-
// Copy state buffers back to the bodies
|
330
|
-
for (int32 i = 0; i < m_bodyCount; ++i)
|
331
|
-
{
|
332
|
-
b2Body* body = m_bodies[i];
|
333
|
-
body->m_sweep.c = m_positions[i].c;
|
334
|
-
body->m_sweep.a = m_positions[i].a;
|
335
|
-
body->m_linearVelocity = m_velocities[i].v;
|
336
|
-
body->m_angularVelocity = m_velocities[i].w;
|
337
|
-
body->SynchronizeTransform();
|
338
|
-
}
|
339
|
-
|
340
|
-
profile->solvePosition = timer.GetMilliseconds();
|
341
|
-
|
342
|
-
Report(contactSolver.m_velocityConstraints);
|
343
|
-
|
344
|
-
if (allowSleep)
|
345
|
-
{
|
346
|
-
float32 minSleepTime = b2_maxFloat;
|
347
|
-
|
348
|
-
const float32 linTolSqr = b2_linearSleepTolerance * b2_linearSleepTolerance;
|
349
|
-
const float32 angTolSqr = b2_angularSleepTolerance * b2_angularSleepTolerance;
|
350
|
-
|
351
|
-
for (int32 i = 0; i < m_bodyCount; ++i)
|
352
|
-
{
|
353
|
-
b2Body* b = m_bodies[i];
|
354
|
-
if (b->GetType() == b2_staticBody)
|
355
|
-
{
|
356
|
-
continue;
|
357
|
-
}
|
358
|
-
|
359
|
-
if ((b->m_flags & b2Body::e_autoSleepFlag) == 0 ||
|
360
|
-
b->m_angularVelocity * b->m_angularVelocity > angTolSqr ||
|
361
|
-
b2Dot(b->m_linearVelocity, b->m_linearVelocity) > linTolSqr)
|
362
|
-
{
|
363
|
-
b->m_sleepTime = 0.0f;
|
364
|
-
minSleepTime = 0.0f;
|
365
|
-
}
|
366
|
-
else
|
367
|
-
{
|
368
|
-
b->m_sleepTime += h;
|
369
|
-
minSleepTime = b2Min(minSleepTime, b->m_sleepTime);
|
370
|
-
}
|
371
|
-
}
|
372
|
-
|
373
|
-
if (minSleepTime >= b2_timeToSleep && positionSolved)
|
374
|
-
{
|
375
|
-
for (int32 i = 0; i < m_bodyCount; ++i)
|
376
|
-
{
|
377
|
-
b2Body* b = m_bodies[i];
|
378
|
-
b->SetAwake(false);
|
379
|
-
}
|
380
|
-
}
|
381
|
-
}
|
382
|
-
}
|
383
|
-
|
384
|
-
void b2Island::SolveTOI(const b2TimeStep& subStep, int32 toiIndexA, int32 toiIndexB)
|
385
|
-
{
|
386
|
-
b2Assert(toiIndexA < m_bodyCount);
|
387
|
-
b2Assert(toiIndexB < m_bodyCount);
|
388
|
-
|
389
|
-
// Initialize the body state.
|
390
|
-
for (int32 i = 0; i < m_bodyCount; ++i)
|
391
|
-
{
|
392
|
-
b2Body* b = m_bodies[i];
|
393
|
-
m_positions[i].c = b->m_sweep.c;
|
394
|
-
m_positions[i].a = b->m_sweep.a;
|
395
|
-
m_velocities[i].v = b->m_linearVelocity;
|
396
|
-
m_velocities[i].w = b->m_angularVelocity;
|
397
|
-
}
|
398
|
-
|
399
|
-
b2ContactSolverDef contactSolverDef;
|
400
|
-
contactSolverDef.contacts = m_contacts;
|
401
|
-
contactSolverDef.count = m_contactCount;
|
402
|
-
contactSolverDef.allocator = m_allocator;
|
403
|
-
contactSolverDef.step = subStep;
|
404
|
-
contactSolverDef.positions = m_positions;
|
405
|
-
contactSolverDef.velocities = m_velocities;
|
406
|
-
b2ContactSolver contactSolver(&contactSolverDef);
|
407
|
-
|
408
|
-
// Solve position constraints.
|
409
|
-
for (int32 i = 0; i < subStep.positionIterations; ++i)
|
410
|
-
{
|
411
|
-
bool contactsOkay = contactSolver.SolveTOIPositionConstraints(toiIndexA, toiIndexB);
|
412
|
-
if (contactsOkay)
|
413
|
-
{
|
414
|
-
break;
|
415
|
-
}
|
416
|
-
}
|
417
|
-
|
418
|
-
#if 0
|
419
|
-
// Is the new position really safe?
|
420
|
-
for (int32 i = 0; i < m_contactCount; ++i)
|
421
|
-
{
|
422
|
-
b2Contact* c = m_contacts[i];
|
423
|
-
b2Fixture* fA = c->GetFixtureA();
|
424
|
-
b2Fixture* fB = c->GetFixtureB();
|
425
|
-
|
426
|
-
b2Body* bA = fA->GetBody();
|
427
|
-
b2Body* bB = fB->GetBody();
|
428
|
-
|
429
|
-
int32 indexA = c->GetChildIndexA();
|
430
|
-
int32 indexB = c->GetChildIndexB();
|
431
|
-
|
432
|
-
b2DistanceInput input;
|
433
|
-
input.proxyA.Set(fA->GetShape(), indexA);
|
434
|
-
input.proxyB.Set(fB->GetShape(), indexB);
|
435
|
-
input.transformA = bA->GetTransform();
|
436
|
-
input.transformB = bB->GetTransform();
|
437
|
-
input.useRadii = false;
|
438
|
-
|
439
|
-
b2DistanceOutput output;
|
440
|
-
b2SimplexCache cache;
|
441
|
-
cache.count = 0;
|
442
|
-
b2Distance(&output, &cache, &input);
|
443
|
-
|
444
|
-
if (output.distance == 0 || cache.count == 3)
|
445
|
-
{
|
446
|
-
cache.count += 0;
|
447
|
-
}
|
448
|
-
}
|
449
|
-
#endif
|
450
|
-
|
451
|
-
// Leap of faith to new safe state.
|
452
|
-
m_bodies[toiIndexA]->m_sweep.c0 = m_positions[toiIndexA].c;
|
453
|
-
m_bodies[toiIndexA]->m_sweep.a0 = m_positions[toiIndexA].a;
|
454
|
-
m_bodies[toiIndexB]->m_sweep.c0 = m_positions[toiIndexB].c;
|
455
|
-
m_bodies[toiIndexB]->m_sweep.a0 = m_positions[toiIndexB].a;
|
456
|
-
|
457
|
-
// No warm starting is needed for TOI events because warm
|
458
|
-
// starting impulses were applied in the discrete solver.
|
459
|
-
contactSolver.InitializeVelocityConstraints();
|
460
|
-
|
461
|
-
// Solve velocity constraints.
|
462
|
-
for (int32 i = 0; i < subStep.velocityIterations; ++i)
|
463
|
-
{
|
464
|
-
contactSolver.SolveVelocityConstraints();
|
465
|
-
}
|
466
|
-
|
467
|
-
// Don't store the TOI contact forces for warm starting
|
468
|
-
// because they can be quite large.
|
469
|
-
|
470
|
-
float32 h = subStep.dt;
|
471
|
-
|
472
|
-
// Integrate positions
|
473
|
-
for (int32 i = 0; i < m_bodyCount; ++i)
|
474
|
-
{
|
475
|
-
b2Vec2 c = m_positions[i].c;
|
476
|
-
float32 a = m_positions[i].a;
|
477
|
-
b2Vec2 v = m_velocities[i].v;
|
478
|
-
float32 w = m_velocities[i].w;
|
479
|
-
|
480
|
-
// Check for large velocities
|
481
|
-
b2Vec2 translation = h * v;
|
482
|
-
if (b2Dot(translation, translation) > b2_maxTranslationSquared)
|
483
|
-
{
|
484
|
-
float32 ratio = b2_maxTranslation / translation.Length();
|
485
|
-
v *= ratio;
|
486
|
-
}
|
487
|
-
|
488
|
-
float32 rotation = h * w;
|
489
|
-
if (rotation * rotation > b2_maxRotationSquared)
|
490
|
-
{
|
491
|
-
float32 ratio = b2_maxRotation / b2Abs(rotation);
|
492
|
-
w *= ratio;
|
493
|
-
}
|
494
|
-
|
495
|
-
// Integrate
|
496
|
-
c += h * v;
|
497
|
-
a += h * w;
|
498
|
-
|
499
|
-
m_positions[i].c = c;
|
500
|
-
m_positions[i].a = a;
|
501
|
-
m_velocities[i].v = v;
|
502
|
-
m_velocities[i].w = w;
|
503
|
-
|
504
|
-
// Sync bodies
|
505
|
-
b2Body* body = m_bodies[i];
|
506
|
-
body->m_sweep.c = c;
|
507
|
-
body->m_sweep.a = a;
|
508
|
-
body->m_linearVelocity = v;
|
509
|
-
body->m_angularVelocity = w;
|
510
|
-
body->SynchronizeTransform();
|
511
|
-
}
|
512
|
-
|
513
|
-
Report(contactSolver.m_velocityConstraints);
|
514
|
-
}
|
515
|
-
|
516
|
-
void b2Island::Report(const b2ContactVelocityConstraint* constraints)
|
517
|
-
{
|
518
|
-
if (m_listener == NULL)
|
519
|
-
{
|
520
|
-
return;
|
521
|
-
}
|
522
|
-
|
523
|
-
for (int32 i = 0; i < m_contactCount; ++i)
|
524
|
-
{
|
525
|
-
b2Contact* c = m_contacts[i];
|
526
|
-
|
527
|
-
const b2ContactVelocityConstraint* vc = constraints + i;
|
528
|
-
|
529
|
-
b2ContactImpulse impulse;
|
530
|
-
impulse.count = vc->pointCount;
|
531
|
-
for (int32 j = 0; j < vc->pointCount; ++j)
|
532
|
-
{
|
533
|
-
impulse.normalImpulses[j] = vc->points[j].normalImpulse;
|
534
|
-
impulse.tangentImpulses[j] = vc->points[j].tangentImpulse;
|
535
|
-
}
|
536
|
-
|
537
|
-
m_listener->PostSolve(c, &impulse);
|
538
|
-
}
|
539
|
-
}
|