reflexion 0.1.7 → 0.1.8

data/src/physics/Box2D/Dynamics/Contacts/b2ContactSolver.h

@@ -0,0 +1,95 @@
+/*
+* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B2_CONTACT_SOLVER_H
+#define B2_CONTACT_SOLVER_H
+
+#include <Box2D/Common/b2Math.h>
+#include <Box2D/Collision/b2Collision.h>
+#include <Box2D/Dynamics/b2TimeStep.h>
+
+class b2Contact;
+class b2Body;
+class b2StackAllocator;
+struct b2ContactPositionConstraint;
+
+struct b2VelocityConstraintPoint
+{
+	b2Vec2 rA;
+	b2Vec2 rB;
+	float32 normalImpulse;
+	float32 tangentImpulse;
+	float32 normalMass;
+	float32 tangentMass;
+	float32 velocityBias;
+};
+
+struct b2ContactVelocityConstraint
+{
+	b2VelocityConstraintPoint points[b2_maxManifoldPoints];
+	b2Vec2 normal;
+	b2Mat22 normalMass;
+	b2Mat22 K;
+	int32 indexA;
+	int32 indexB;
+	float32 invMassA, invMassB;
+	float32 invIA, invIB;
+	float32 friction;
+	float32 restitution;
+	float32 tangentSpeed;
+	int32 pointCount;
+	int32 contactIndex;
+};
+
+struct b2ContactSolverDef
+{
+	b2TimeStep step;
+	b2Contact** contacts;
+	int32 count;
+	b2Position* positions;
+	b2Velocity* velocities;
+	b2StackAllocator* allocator;
+};
+
+class b2ContactSolver
+{
+public:
+	b2ContactSolver(b2ContactSolverDef* def);
+	~b2ContactSolver();
+
+	void InitializeVelocityConstraints();
+
+	void WarmStart();
+	void SolveVelocityConstraints();
+	void StoreImpulses();
+
+	bool SolvePositionConstraints();
+	bool SolveTOIPositionConstraints(int32 toiIndexA, int32 toiIndexB);
+
+	b2TimeStep m_step;
+	b2Position* m_positions;
+	b2Velocity* m_velocities;
+	b2StackAllocator* m_allocator;
+	b2ContactPositionConstraint* m_positionConstraints;
+	b2ContactVelocityConstraint* m_velocityConstraints;
+	b2Contact** m_contacts;
+	int m_count;
+};
+
+#endif
+

data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndCircleContact.cpp

@@ -0,0 +1,49 @@
+/*
+* Copyright (c) 2006-2010 Erin Catto http://www.box2d.org
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <Box2D/Dynamics/Contacts/b2EdgeAndCircleContact.h>
+#include <Box2D/Common/b2BlockAllocator.h>
+#include <Box2D/Dynamics/b2Fixture.h>
+
+#include <new>
+
+b2Contact* b2EdgeAndCircleContact::Create(b2Fixture* fixtureA, int32, b2Fixture* fixtureB, int32, b2BlockAllocator* allocator)
+{
+	void* mem = allocator->Allocate(sizeof(b2EdgeAndCircleContact));
+	return new (mem) b2EdgeAndCircleContact(fixtureA, fixtureB);
+}
+
+void b2EdgeAndCircleContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
+{
+	((b2EdgeAndCircleContact*)contact)->~b2EdgeAndCircleContact();
+	allocator->Free(contact, sizeof(b2EdgeAndCircleContact));
+}
+
+b2EdgeAndCircleContact::b2EdgeAndCircleContact(b2Fixture* fixtureA, b2Fixture* fixtureB)
+: b2Contact(fixtureA, 0, fixtureB, 0)
+{
+	b2Assert(m_fixtureA->GetType() == b2Shape::e_edge);
+	b2Assert(m_fixtureB->GetType() == b2Shape::e_circle);
+}
+
+void b2EdgeAndCircleContact::Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB)
+{
+	b2CollideEdgeAndCircle(	manifold,
+								(b2EdgeShape*)m_fixtureA->GetShape(), xfA,
+								(b2CircleShape*)m_fixtureB->GetShape(), xfB);
+}

data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndCircleContact.h

@@ -0,0 +1,39 @@
+/*
+* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B2_EDGE_AND_CIRCLE_CONTACT_H
+#define B2_EDGE_AND_CIRCLE_CONTACT_H
+
+#include <Box2D/Dynamics/Contacts/b2Contact.h>
+
+class b2BlockAllocator;
+
+class b2EdgeAndCircleContact : public b2Contact
+{
+public:
+	static b2Contact* Create(	b2Fixture* fixtureA, int32 indexA,
+								b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator);
+	static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);
+
+	b2EdgeAndCircleContact(b2Fixture* fixtureA, b2Fixture* fixtureB);
+	~b2EdgeAndCircleContact() {}
+
+	void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB);
+};
+
+#endif

data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndPolygonContact.cpp

@@ -0,0 +1,49 @@
+/*
+* Copyright (c) 2006-2010 Erin Catto http://www.box2d.org
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <Box2D/Dynamics/Contacts/b2EdgeAndPolygonContact.h>
+#include <Box2D/Common/b2BlockAllocator.h>
+#include <Box2D/Dynamics/b2Fixture.h>
+
+#include <new>
+
+b2Contact* b2EdgeAndPolygonContact::Create(b2Fixture* fixtureA, int32, b2Fixture* fixtureB, int32, b2BlockAllocator* allocator)
+{
+	void* mem = allocator->Allocate(sizeof(b2EdgeAndPolygonContact));
+	return new (mem) b2EdgeAndPolygonContact(fixtureA, fixtureB);
+}
+
+void b2EdgeAndPolygonContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
+{
+	((b2EdgeAndPolygonContact*)contact)->~b2EdgeAndPolygonContact();
+	allocator->Free(contact, sizeof(b2EdgeAndPolygonContact));
+}
+
+b2EdgeAndPolygonContact::b2EdgeAndPolygonContact(b2Fixture* fixtureA, b2Fixture* fixtureB)
+: b2Contact(fixtureA, 0, fixtureB, 0)
+{
+	b2Assert(m_fixtureA->GetType() == b2Shape::e_edge);
+	b2Assert(m_fixtureB->GetType() == b2Shape::e_polygon);
+}
+
+void b2EdgeAndPolygonContact::Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB)
+{
+	b2CollideEdgeAndPolygon(	manifold,
+								(b2EdgeShape*)m_fixtureA->GetShape(), xfA,
+								(b2PolygonShape*)m_fixtureB->GetShape(), xfB);
+}

data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndPolygonContact.h

@@ -0,0 +1,39 @@
+/*
+* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B2_EDGE_AND_POLYGON_CONTACT_H
+#define B2_EDGE_AND_POLYGON_CONTACT_H
+
+#include <Box2D/Dynamics/Contacts/b2Contact.h>
+
+class b2BlockAllocator;
+
+class b2EdgeAndPolygonContact : public b2Contact
+{
+public:
+	static b2Contact* Create(	b2Fixture* fixtureA, int32 indexA,
+								b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator);
+	static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);
+
+	b2EdgeAndPolygonContact(b2Fixture* fixtureA, b2Fixture* fixtureB);
+	~b2EdgeAndPolygonContact() {}
+
+	void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB);
+};
+
+#endif

data/src/physics/Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.cpp

@@ -0,0 +1,49 @@
+/*
+* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.h>
+#include <Box2D/Common/b2BlockAllocator.h>
+#include <Box2D/Dynamics/b2Fixture.h>
+
+#include <new>
+
+b2Contact* b2PolygonAndCircleContact::Create(b2Fixture* fixtureA, int32, b2Fixture* fixtureB, int32, b2BlockAllocator* allocator)
+{
+	void* mem = allocator->Allocate(sizeof(b2PolygonAndCircleContact));
+	return new (mem) b2PolygonAndCircleContact(fixtureA, fixtureB);
+}
+
+void b2PolygonAndCircleContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
+{
+	((b2PolygonAndCircleContact*)contact)->~b2PolygonAndCircleContact();
+	allocator->Free(contact, sizeof(b2PolygonAndCircleContact));
+}
+
+b2PolygonAndCircleContact::b2PolygonAndCircleContact(b2Fixture* fixtureA, b2Fixture* fixtureB)
+: b2Contact(fixtureA, 0, fixtureB, 0)
+{
+	b2Assert(m_fixtureA->GetType() == b2Shape::e_polygon);
+	b2Assert(m_fixtureB->GetType() == b2Shape::e_circle);
+}
+
+void b2PolygonAndCircleContact::Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB)
+{
+	b2CollidePolygonAndCircle(	manifold,
+								(b2PolygonShape*)m_fixtureA->GetShape(), xfA,
+								(b2CircleShape*)m_fixtureB->GetShape(), xfB);
+}

data/src/physics/Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.h

@@ -0,0 +1,38 @@
+/*
+* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B2_POLYGON_AND_CIRCLE_CONTACT_H
+#define B2_POLYGON_AND_CIRCLE_CONTACT_H
+
+#include <Box2D/Dynamics/Contacts/b2Contact.h>
+
+class b2BlockAllocator;
+
+class b2PolygonAndCircleContact : public b2Contact
+{
+public:
+	static b2Contact* Create(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator);
+	static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);
+
+	b2PolygonAndCircleContact(b2Fixture* fixtureA, b2Fixture* fixtureB);
+	~b2PolygonAndCircleContact() {}
+
+	void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB);
+};
+
+#endif

data/src/physics/Box2D/Dynamics/Contacts/b2PolygonContact.cpp

@@ -0,0 +1,52 @@
+/*
+* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <Box2D/Dynamics/Contacts/b2PolygonContact.h>
+#include <Box2D/Common/b2BlockAllocator.h>
+#include <Box2D/Collision/b2TimeOfImpact.h>
+#include <Box2D/Dynamics/b2Body.h>
+#include <Box2D/Dynamics/b2Fixture.h>
+#include <Box2D/Dynamics/b2WorldCallbacks.h>
+
+#include <new>
+
+b2Contact* b2PolygonContact::Create(b2Fixture* fixtureA, int32, b2Fixture* fixtureB, int32, b2BlockAllocator* allocator)
+{
+	void* mem = allocator->Allocate(sizeof(b2PolygonContact));
+	return new (mem) b2PolygonContact(fixtureA, fixtureB);
+}
+
+void b2PolygonContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
+{
+	((b2PolygonContact*)contact)->~b2PolygonContact();
+	allocator->Free(contact, sizeof(b2PolygonContact));
+}
+
+b2PolygonContact::b2PolygonContact(b2Fixture* fixtureA, b2Fixture* fixtureB)
+	: b2Contact(fixtureA, 0, fixtureB, 0)
+{
+	b2Assert(m_fixtureA->GetType() == b2Shape::e_polygon);
+	b2Assert(m_fixtureB->GetType() == b2Shape::e_polygon);
+}
+
+void b2PolygonContact::Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB)
+{
+	b2CollidePolygons(	manifold,
+						(b2PolygonShape*)m_fixtureA->GetShape(), xfA,
+						(b2PolygonShape*)m_fixtureB->GetShape(), xfB);
+}

data/src/physics/Box2D/Dynamics/Contacts/b2PolygonContact.h

@@ -0,0 +1,39 @@
+/*
+* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B2_POLYGON_CONTACT_H
+#define B2_POLYGON_CONTACT_H
+
+#include <Box2D/Dynamics/Contacts/b2Contact.h>
+
+class b2BlockAllocator;
+
+class b2PolygonContact : public b2Contact
+{
+public:
+	static b2Contact* Create(	b2Fixture* fixtureA, int32 indexA,
+								b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator);
+	static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);
+
+	b2PolygonContact(b2Fixture* fixtureA, b2Fixture* fixtureB);
+	~b2PolygonContact() {}
+
+	void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB);
+};
+
+#endif