reflexion 0.1.7 → 0.1.8
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- checksums.yaml +4 -4
- data/.doc/ext/reflex/application.cpp +5 -5
- data/.doc/ext/reflex/body.cpp +167 -0
- data/.doc/ext/reflex/capture_event.cpp +4 -4
- data/.doc/ext/reflex/draw_event.cpp +4 -4
- data/.doc/ext/reflex/event.cpp +4 -4
- data/.doc/ext/reflex/fixture.cpp +101 -0
- data/.doc/ext/reflex/focus_event.cpp +4 -4
- data/.doc/ext/reflex/frame_event.cpp +4 -4
- data/.doc/ext/reflex/image_view.cpp +22 -5
- data/.doc/ext/reflex/key_event.cpp +4 -4
- data/.doc/ext/reflex/native.cpp +6 -0
- data/.doc/ext/reflex/pointer_event.cpp +4 -4
- data/.doc/ext/reflex/reflex.cpp +2 -3
- data/.doc/ext/reflex/scroll_event.cpp +4 -4
- data/.doc/ext/reflex/selector.cpp +4 -4
- data/.doc/ext/reflex/style.cpp +4 -4
- data/.doc/ext/reflex/style_length.cpp +4 -4
- data/.doc/ext/reflex/style_length2.cpp +4 -4
- data/.doc/ext/reflex/style_length4.cpp +4 -4
- data/.doc/ext/reflex/update_event.cpp +4 -4
- data/.doc/ext/reflex/view.cpp +110 -8
- data/.doc/ext/reflex/wheel_event.cpp +4 -4
- data/.doc/ext/reflex/window.cpp +36 -12
- data/README.md +2 -2
- data/Rakefile +2 -1
- data/VERSION +1 -1
- data/ext/reflex/application.cpp +8 -8
- data/ext/reflex/body.cpp +181 -0
- data/ext/reflex/capture_event.cpp +4 -4
- data/ext/reflex/draw_event.cpp +4 -4
- data/ext/reflex/event.cpp +4 -4
- data/ext/reflex/fixture.cpp +108 -0
- data/ext/reflex/focus_event.cpp +4 -4
- data/ext/reflex/frame_event.cpp +4 -4
- data/ext/reflex/image_view.cpp +24 -5
- data/ext/reflex/key_event.cpp +4 -4
- data/ext/reflex/native.cpp +6 -0
- data/ext/reflex/pointer_event.cpp +4 -4
- data/ext/reflex/reflex.cpp +2 -3
- data/ext/reflex/scroll_event.cpp +4 -4
- data/ext/reflex/selector.cpp +4 -4
- data/ext/reflex/style.cpp +4 -4
- data/ext/reflex/style_length.cpp +4 -4
- data/ext/reflex/style_length2.cpp +4 -4
- data/ext/reflex/style_length4.cpp +4 -4
- data/ext/reflex/update_event.cpp +4 -4
- data/ext/reflex/view.cpp +126 -12
- data/ext/reflex/wheel_event.cpp +4 -4
- data/ext/reflex/window.cpp +39 -12
- data/include/reflex/bitmap.h +20 -0
- data/include/reflex/body.h +82 -0
- data/include/reflex/bounds.h +20 -0
- data/include/reflex/color.h +20 -0
- data/include/reflex/color_space.h +20 -0
- data/include/reflex/defs.h +5 -1
- data/include/reflex/event.h +16 -25
- data/include/reflex/fixture.h +116 -0
- data/include/reflex/font.h +20 -0
- data/include/reflex/image.h +20 -0
- data/include/reflex/image_view.h +1 -1
- data/include/reflex/matrix.h +20 -0
- data/include/reflex/painter.h +20 -0
- data/include/reflex/point.h +24 -0
- data/include/reflex/ruby/application.h +6 -0
- data/include/reflex/ruby/body.h +41 -0
- data/include/reflex/ruby/event.h +68 -0
- data/include/reflex/ruby/fixture.h +41 -0
- data/include/reflex/ruby/image_view.h +14 -0
- data/include/reflex/ruby/selector.h +14 -0
- data/include/reflex/ruby/style.h +14 -0
- data/include/reflex/ruby/style_length.h +26 -0
- data/include/reflex/ruby/view.h +43 -39
- data/include/reflex/ruby/window.h +27 -21
- data/include/reflex/ruby.h +2 -0
- data/include/reflex/shader.h +20 -0
- data/include/reflex/style.h +2 -3
- data/include/reflex/texture.h +20 -0
- data/include/reflex/view.h +45 -24
- data/include/reflex/window.h +11 -14
- data/include/reflex.h +3 -0
- data/lib/reflex/application.rb +6 -2
- data/lib/reflex/body.rb +17 -0
- data/lib/reflex/fixture.rb +17 -0
- data/lib/reflex/view.rb +16 -1
- data/lib/reflex/window.rb +13 -1
- data/lib/reflex.rb +2 -0
- data/reflex.gemspec +1 -1
- data/samples/bats.rb +4 -3
- data/samples/checker.rb +4 -3
- data/samples/fans.rb +4 -3
- data/samples/fps.rb +5 -3
- data/samples/grid.rb +5 -4
- data/samples/hello.rb +1 -1
- data/samples/image.rb +3 -2
- data/samples/ios/hello/hello/main.cpp +12 -3
- data/samples/ios/hello/hello.xcodeproj/project.pbxproj +376 -123
- data/samples/key.rb +5 -4
- data/samples/layout.rb +3 -2
- data/samples/model.rb +3 -2
- data/samples/osx/hello/hello/main.cpp +12 -3
- data/samples/osx/hello/hello.xcodeproj/project.pbxproj +375 -120
- data/samples/physics.rb +37 -0
- data/samples/repl.rb +3 -2
- data/samples/shader.rb +4 -4
- data/samples/shapes.rb +4 -4
- data/samples/text.rb +6 -4
- data/samples/tree.rb +5 -4
- data/samples/views.rb +3 -2
- data/samples/visuals.rb +1 -2
- data/src/body.cpp +244 -0
- data/src/event.cpp +18 -18
- data/src/fixture.cpp +108 -0
- data/src/image_view.cpp +1 -1
- data/src/ios/native_window.h +2 -0
- data/src/ios/native_window.mm +18 -1
- data/src/ios/opengl_view.mm +8 -0
- data/src/ios/window.mm +24 -3
- data/src/ios/window_data.h +3 -3
- data/src/osx/native_window.mm +17 -1
- data/src/osx/window.mm +24 -3
- data/src/osx/window_data.h +3 -3
- data/src/physics/Box2D/Box2D.h +68 -0
- data/src/physics/Box2D/Collision/Shapes/b2ChainShape.cpp +193 -0
- data/src/physics/Box2D/Collision/Shapes/b2ChainShape.h +105 -0
- data/src/physics/Box2D/Collision/Shapes/b2CircleShape.cpp +99 -0
- data/src/physics/Box2D/Collision/Shapes/b2CircleShape.h +91 -0
- data/src/physics/Box2D/Collision/Shapes/b2EdgeShape.cpp +138 -0
- data/src/physics/Box2D/Collision/Shapes/b2EdgeShape.h +74 -0
- data/src/physics/Box2D/Collision/Shapes/b2PolygonShape.cpp +467 -0
- data/src/physics/Box2D/Collision/Shapes/b2PolygonShape.h +101 -0
- data/src/physics/Box2D/Collision/Shapes/b2Shape.h +101 -0
- data/src/physics/Box2D/Collision/b2BroadPhase.cpp +119 -0
- data/src/physics/Box2D/Collision/b2BroadPhase.h +257 -0
- data/src/physics/Box2D/Collision/b2CollideCircle.cpp +154 -0
- data/src/physics/Box2D/Collision/b2CollideEdge.cpp +698 -0
- data/src/physics/Box2D/Collision/b2CollidePolygon.cpp +239 -0
- data/src/physics/Box2D/Collision/b2Collision.cpp +252 -0
- data/src/physics/Box2D/Collision/b2Collision.h +277 -0
- data/src/physics/Box2D/Collision/b2Distance.cpp +603 -0
- data/src/physics/Box2D/Collision/b2Distance.h +141 -0
- data/src/physics/Box2D/Collision/b2DynamicTree.cpp +778 -0
- data/src/physics/Box2D/Collision/b2DynamicTree.h +289 -0
- data/src/physics/Box2D/Collision/b2TimeOfImpact.cpp +486 -0
- data/src/physics/Box2D/Collision/b2TimeOfImpact.h +58 -0
- data/src/physics/Box2D/Common/b2BlockAllocator.cpp +215 -0
- data/src/physics/Box2D/Common/b2BlockAllocator.h +62 -0
- data/src/physics/Box2D/Common/b2Draw.cpp +44 -0
- data/src/physics/Box2D/Common/b2Draw.h +86 -0
- data/src/physics/Box2D/Common/b2GrowableStack.h +85 -0
- data/src/physics/Box2D/Common/b2Math.cpp +94 -0
- data/src/physics/Box2D/Common/b2Math.h +720 -0
- data/src/physics/Box2D/Common/b2Settings.cpp +44 -0
- data/src/physics/Box2D/Common/b2Settings.h +151 -0
- data/src/physics/Box2D/Common/b2StackAllocator.cpp +83 -0
- data/src/physics/Box2D/Common/b2StackAllocator.h +60 -0
- data/src/physics/Box2D/Common/b2Timer.cpp +101 -0
- data/src/physics/Box2D/Common/b2Timer.h +50 -0
- data/src/physics/Box2D/Dynamics/Contacts/b2ChainAndCircleContact.cpp +53 -0
- data/src/physics/Box2D/Dynamics/Contacts/b2ChainAndCircleContact.h +39 -0
- data/src/physics/Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.cpp +53 -0
- data/src/physics/Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.h +39 -0
- data/src/physics/Box2D/Dynamics/Contacts/b2CircleContact.cpp +52 -0
- data/src/physics/Box2D/Dynamics/Contacts/b2CircleContact.h +39 -0
- data/src/physics/Box2D/Dynamics/Contacts/b2Contact.cpp +247 -0
- data/src/physics/Box2D/Dynamics/Contacts/b2Contact.h +349 -0
- data/src/physics/Box2D/Dynamics/Contacts/b2ContactSolver.cpp +838 -0
- data/src/physics/Box2D/Dynamics/Contacts/b2ContactSolver.h +95 -0
- data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndCircleContact.cpp +49 -0
- data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndCircleContact.h +39 -0
- data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndPolygonContact.cpp +49 -0
- data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndPolygonContact.h +39 -0
- data/src/physics/Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.cpp +49 -0
- data/src/physics/Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.h +38 -0
- data/src/physics/Box2D/Dynamics/Contacts/b2PolygonContact.cpp +52 -0
- data/src/physics/Box2D/Dynamics/Contacts/b2PolygonContact.h +39 -0
- data/src/physics/Box2D/Dynamics/Joints/b2DistanceJoint.cpp +260 -0
- data/src/physics/Box2D/Dynamics/Joints/b2DistanceJoint.h +169 -0
- data/src/physics/Box2D/Dynamics/Joints/b2FrictionJoint.cpp +251 -0
- data/src/physics/Box2D/Dynamics/Joints/b2FrictionJoint.h +119 -0
- data/src/physics/Box2D/Dynamics/Joints/b2GearJoint.cpp +419 -0
- data/src/physics/Box2D/Dynamics/Joints/b2GearJoint.h +125 -0
- data/src/physics/Box2D/Dynamics/Joints/b2Joint.cpp +211 -0
- data/src/physics/Box2D/Dynamics/Joints/b2Joint.h +226 -0
- data/src/physics/Box2D/Dynamics/Joints/b2MotorJoint.cpp +304 -0
- data/src/physics/Box2D/Dynamics/Joints/b2MotorJoint.h +133 -0
- data/src/physics/Box2D/Dynamics/Joints/b2MouseJoint.cpp +222 -0
- data/src/physics/Box2D/Dynamics/Joints/b2MouseJoint.h +129 -0
- data/src/physics/Box2D/Dynamics/Joints/b2PrismaticJoint.cpp +629 -0
- data/src/physics/Box2D/Dynamics/Joints/b2PrismaticJoint.h +196 -0
- data/src/physics/Box2D/Dynamics/Joints/b2PulleyJoint.cpp +348 -0
- data/src/physics/Box2D/Dynamics/Joints/b2PulleyJoint.h +152 -0
- data/src/physics/Box2D/Dynamics/Joints/b2RevoluteJoint.cpp +502 -0
- data/src/physics/Box2D/Dynamics/Joints/b2RevoluteJoint.h +204 -0
- data/src/physics/Box2D/Dynamics/Joints/b2RopeJoint.cpp +241 -0
- data/src/physics/Box2D/Dynamics/Joints/b2RopeJoint.h +114 -0
- data/src/physics/Box2D/Dynamics/Joints/b2WeldJoint.cpp +344 -0
- data/src/physics/Box2D/Dynamics/Joints/b2WeldJoint.h +126 -0
- data/src/physics/Box2D/Dynamics/Joints/b2WheelJoint.cpp +419 -0
- data/src/physics/Box2D/Dynamics/Joints/b2WheelJoint.h +210 -0
- data/src/physics/Box2D/Dynamics/b2Body.cpp +549 -0
- data/src/physics/Box2D/Dynamics/b2Body.h +860 -0
- data/src/physics/Box2D/Dynamics/b2ContactManager.cpp +296 -0
- data/src/physics/Box2D/Dynamics/b2ContactManager.h +52 -0
- data/src/physics/Box2D/Dynamics/b2Fixture.cpp +303 -0
- data/src/physics/Box2D/Dynamics/b2Fixture.h +345 -0
- data/src/physics/Box2D/Dynamics/b2Island.cpp +539 -0
- data/src/physics/Box2D/Dynamics/b2Island.h +93 -0
- data/src/physics/Box2D/Dynamics/b2TimeStep.h +70 -0
- data/src/physics/Box2D/Dynamics/b2World.cpp +1339 -0
- data/src/physics/Box2D/Dynamics/b2World.h +354 -0
- data/src/physics/Box2D/Dynamics/b2WorldCallbacks.cpp +36 -0
- data/src/physics/Box2D/Dynamics/b2WorldCallbacks.h +155 -0
- data/src/physics/Box2D/Rope/b2Rope.cpp +259 -0
- data/src/physics/Box2D/Rope/b2Rope.h +115 -0
- data/src/style.cpp +2 -2
- data/src/view.cpp +217 -17
- data/src/window.cpp +25 -15
- data/src/world.cpp +206 -0
- data/src/world.h +96 -0
- data/task/box2d.rake +25 -0
- data/test/test_view.rb +5 -5
- metadata +125 -3
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/*
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* Copyright (c) 2007-2009 Erin Catto http://www.box2d.org
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#include <Box2D/Collision/b2Collision.h>
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#include <Box2D/Collision/b2Distance.h>
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#include <Box2D/Collision/b2TimeOfImpact.h>
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#include <Box2D/Collision/Shapes/b2CircleShape.h>
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#include <Box2D/Collision/Shapes/b2PolygonShape.h>
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#include <Box2D/Common/b2Timer.h>
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#include <stdio.h>
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float32 b2_toiTime, b2_toiMaxTime;
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int32 b2_toiCalls, b2_toiIters, b2_toiMaxIters;
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int32 b2_toiRootIters, b2_toiMaxRootIters;
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//
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struct b2SeparationFunction
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{
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enum Type
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{
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e_points,
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e_faceA,
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e_faceB
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};
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// TODO_ERIN might not need to return the separation
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float32 Initialize(const b2SimplexCache* cache,
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const b2DistanceProxy* proxyA, const b2Sweep& sweepA,
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const b2DistanceProxy* proxyB, const b2Sweep& sweepB,
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float32 t1)
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{
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m_proxyA = proxyA;
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m_proxyB = proxyB;
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int32 count = cache->count;
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b2Assert(0 < count && count < 3);
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m_sweepA = sweepA;
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m_sweepB = sweepB;
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b2Transform xfA, xfB;
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m_sweepA.GetTransform(&xfA, t1);
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m_sweepB.GetTransform(&xfB, t1);
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if (count == 1)
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{
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m_type = e_points;
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b2Vec2 localPointA = m_proxyA->GetVertex(cache->indexA[0]);
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b2Vec2 localPointB = m_proxyB->GetVertex(cache->indexB[0]);
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b2Vec2 pointA = b2Mul(xfA, localPointA);
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b2Vec2 pointB = b2Mul(xfB, localPointB);
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m_axis = pointB - pointA;
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float32 s = m_axis.Normalize();
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return s;
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}
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else if (cache->indexA[0] == cache->indexA[1])
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{
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// Two points on B and one on A.
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m_type = e_faceB;
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b2Vec2 localPointB1 = proxyB->GetVertex(cache->indexB[0]);
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b2Vec2 localPointB2 = proxyB->GetVertex(cache->indexB[1]);
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m_axis = b2Cross(localPointB2 - localPointB1, 1.0f);
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m_axis.Normalize();
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b2Vec2 normal = b2Mul(xfB.q, m_axis);
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m_localPoint = 0.5f * (localPointB1 + localPointB2);
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b2Vec2 pointB = b2Mul(xfB, m_localPoint);
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b2Vec2 localPointA = proxyA->GetVertex(cache->indexA[0]);
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b2Vec2 pointA = b2Mul(xfA, localPointA);
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float32 s = b2Dot(pointA - pointB, normal);
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if (s < 0.0f)
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{
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m_axis = -m_axis;
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s = -s;
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}
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return s;
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}
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else
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{
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// Two points on A and one or two points on B.
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m_type = e_faceA;
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b2Vec2 localPointA1 = m_proxyA->GetVertex(cache->indexA[0]);
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b2Vec2 localPointA2 = m_proxyA->GetVertex(cache->indexA[1]);
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m_axis = b2Cross(localPointA2 - localPointA1, 1.0f);
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m_axis.Normalize();
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b2Vec2 normal = b2Mul(xfA.q, m_axis);
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m_localPoint = 0.5f * (localPointA1 + localPointA2);
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b2Vec2 pointA = b2Mul(xfA, m_localPoint);
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b2Vec2 localPointB = m_proxyB->GetVertex(cache->indexB[0]);
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b2Vec2 pointB = b2Mul(xfB, localPointB);
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float32 s = b2Dot(pointB - pointA, normal);
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if (s < 0.0f)
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{
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m_axis = -m_axis;
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s = -s;
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}
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return s;
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}
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}
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//
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float32 FindMinSeparation(int32* indexA, int32* indexB, float32 t) const
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{
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b2Transform xfA, xfB;
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m_sweepA.GetTransform(&xfA, t);
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m_sweepB.GetTransform(&xfB, t);
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switch (m_type)
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{
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case e_points:
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{
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b2Vec2 axisA = b2MulT(xfA.q, m_axis);
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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
|
+
}
|
@@ -0,0 +1,58 @@
|
|
1
|
+
/*
|
2
|
+
* Copyright (c) 2006-2009 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
|
+
#ifndef B2_TIME_OF_IMPACT_H
|
20
|
+
#define B2_TIME_OF_IMPACT_H
|
21
|
+
|
22
|
+
#include <Box2D/Common/b2Math.h>
|
23
|
+
#include <Box2D/Collision/b2Distance.h>
|
24
|
+
|
25
|
+
/// Input parameters for b2TimeOfImpact
|
26
|
+
struct b2TOIInput
|
27
|
+
{
|
28
|
+
b2DistanceProxy proxyA;
|
29
|
+
b2DistanceProxy proxyB;
|
30
|
+
b2Sweep sweepA;
|
31
|
+
b2Sweep sweepB;
|
32
|
+
float32 tMax; // defines sweep interval [0, tMax]
|
33
|
+
};
|
34
|
+
|
35
|
+
// Output parameters for b2TimeOfImpact.
|
36
|
+
struct b2TOIOutput
|
37
|
+
{
|
38
|
+
enum State
|
39
|
+
{
|
40
|
+
e_unknown,
|
41
|
+
e_failed,
|
42
|
+
e_overlapped,
|
43
|
+
e_touching,
|
44
|
+
e_separated
|
45
|
+
};
|
46
|
+
|
47
|
+
State state;
|
48
|
+
float32 t;
|
49
|
+
};
|
50
|
+
|
51
|
+
/// Compute the upper bound on time before two shapes penetrate. Time is represented as
|
52
|
+
/// a fraction between [0,tMax]. This uses a swept separating axis and may miss some intermediate,
|
53
|
+
/// non-tunneling collision. If you change the time interval, you should call this function
|
54
|
+
/// again.
|
55
|
+
/// Note: use b2Distance to compute the contact point and normal at the time of impact.
|
56
|
+
void b2TimeOfImpact(b2TOIOutput* output, const b2TOIInput* input);
|
57
|
+
|
58
|
+
#endif
|