From 7b70b5d552b42c3071d95204715c57b509be4ee2 Mon Sep 17 00:00:00 2001 From: pandamicro Date: Fri, 2 Sep 2016 11:44:19 +0800 Subject: [PATCH] Update chipmunk to 7.0.1 --- android/arm64-v8a/include/chipmunk/chipmunk.h | 117 ++- .../arm64-v8a/include/chipmunk/chipmunk_ffi.h | 136 +-- .../include/chipmunk/chipmunk_private.h | 876 ++++++++++++++---- .../include/chipmunk/chipmunk_types.h | 98 +- .../include/chipmunk/chipmunk_unsafe.h | 19 +- .../chipmunk/constraints/cpConstraint.h | 161 ---- .../constraints/cpDampedRotarySpring.h | 56 -- .../chipmunk/constraints/cpDampedSpring.h | 64 -- .../chipmunk/constraints/cpGearJoint.h | 51 - .../chipmunk/constraints/cpGrooveJoint.h | 57 -- .../include/chipmunk/constraints/cpPinJoint.h | 52 -- .../chipmunk/constraints/cpPivotJoint.h | 51 - .../chipmunk/constraints/cpRatchetJoint.h | 49 - .../chipmunk/constraints/cpRotaryLimitJoint.h | 48 - .../chipmunk/constraints/cpSimpleMotor.h | 46 - .../chipmunk/constraints/cpSlideJoint.h | 53 -- .../include/chipmunk/constraints/util.h | 126 --- .../arm64-v8a/include/chipmunk/cpArbiter.h | 216 ++--- android/arm64-v8a/include/chipmunk/cpBB.h | 52 +- android/arm64-v8a/include/chipmunk/cpBody.h | 288 +++--- .../arm64-v8a/include/chipmunk/cpPolyShape.h | 67 +- android/arm64-v8a/include/chipmunk/cpShape.h | 281 +++--- android/arm64-v8a/include/chipmunk/cpSpace.h | 394 ++++---- .../include/chipmunk/cpSpatialIndex.h | 26 +- android/arm64-v8a/include/chipmunk/cpVect.h | 47 +- android/arm64-v8a/libchipmunk.a | Bin 302634 -> 419462 bytes .../armeabi-v7a/include/chipmunk/chipmunk.h | 117 ++- .../include/chipmunk/chipmunk/chipmunk.h | 222 ----- .../include/chipmunk/chipmunk/chipmunk_ffi.h | 177 ---- .../chipmunk/chipmunk/chipmunk_private.h | 254 ----- .../chipmunk/chipmunk/chipmunk_types.h | 222 ----- .../chipmunk/chipmunk/chipmunk_unsafe.h | 65 -- .../chipmunk/constraints/cpConstraint.h | 161 ---- .../constraints/cpDampedRotarySpring.h | 56 -- .../chipmunk/constraints/cpDampedSpring.h | 64 -- .../chipmunk/constraints/cpGearJoint.h | 51 - .../chipmunk/constraints/cpGrooveJoint.h | 57 -- .../chipmunk/constraints/cpPinJoint.h | 52 -- .../chipmunk/constraints/cpPivotJoint.h | 51 - .../chipmunk/constraints/cpRatchetJoint.h | 49 - .../chipmunk/constraints/cpRotaryLimitJoint.h | 48 - .../chipmunk/constraints/cpSimpleMotor.h | 46 - .../chipmunk/constraints/cpSlideJoint.h | 53 -- .../chipmunk/chipmunk/constraints/util.h | 126 --- .../include/chipmunk/chipmunk/cpArbiter.h | 207 ----- .../include/chipmunk/chipmunk/cpBB.h | 143 --- .../include/chipmunk/chipmunk/cpBody.h | 251 ----- .../include/chipmunk/chipmunk/cpPolyShape.h | 81 -- .../include/chipmunk/chipmunk/cpShape.h | 232 ----- .../include/chipmunk/chipmunk/cpSpace.h | 283 ------ .../chipmunk/chipmunk/cpSpatialIndex.h | 227 ----- .../include/chipmunk/chipmunk/cpVect.h | 213 ----- .../include/chipmunk/chipmunk_ffi.h | 136 +-- .../include/chipmunk/chipmunk_private.h | 876 ++++++++++++++---- .../include/chipmunk/chipmunk_types.h | 98 +- .../include/chipmunk/chipmunk_unsafe.h | 19 +- .../chipmunk/constraints/cpConstraint.h | 161 ---- .../constraints/cpDampedRotarySpring.h | 56 -- .../chipmunk/constraints/cpDampedSpring.h | 64 -- .../chipmunk/constraints/cpGearJoint.h | 51 - .../chipmunk/constraints/cpGrooveJoint.h | 57 -- .../include/chipmunk/constraints/cpPinJoint.h | 52 -- .../chipmunk/constraints/cpPivotJoint.h | 51 - .../chipmunk/constraints/cpRatchetJoint.h | 49 - .../chipmunk/constraints/cpRotaryLimitJoint.h | 48 - .../chipmunk/constraints/cpSimpleMotor.h | 46 - .../chipmunk/constraints/cpSlideJoint.h | 53 -- .../include/chipmunk/constraints/util.h | 126 --- .../armeabi-v7a/include/chipmunk/cpArbiter.h | 216 ++--- android/armeabi-v7a/include/chipmunk/cpBB.h | 52 +- android/armeabi-v7a/include/chipmunk/cpBody.h | 288 +++--- .../include/chipmunk/cpPolyShape.h | 67 +- .../armeabi-v7a/include/chipmunk/cpShape.h | 281 +++--- .../armeabi-v7a/include/chipmunk/cpSpace.h | 394 ++++---- .../include/chipmunk/cpSpatialIndex.h | 26 +- android/armeabi-v7a/include/chipmunk/cpVect.h | 47 +- android/armeabi-v7a/libchipmunk.a | Bin 150630 -> 190000 bytes android/armeabi/include/chipmunk/chipmunk.h | 117 ++- .../include/chipmunk/chipmunk/chipmunk.h | 222 ----- .../include/chipmunk/chipmunk/chipmunk_ffi.h | 177 ---- .../chipmunk/chipmunk/chipmunk_private.h | 254 ----- .../chipmunk/chipmunk/chipmunk_types.h | 222 ----- .../chipmunk/chipmunk/chipmunk_unsafe.h | 65 -- .../chipmunk/constraints/cpConstraint.h | 161 ---- .../constraints/cpDampedRotarySpring.h | 56 -- .../chipmunk/constraints/cpDampedSpring.h | 64 -- .../chipmunk/constraints/cpGearJoint.h | 51 - .../chipmunk/constraints/cpGrooveJoint.h | 57 -- .../chipmunk/constraints/cpPinJoint.h | 52 -- .../chipmunk/constraints/cpPivotJoint.h | 51 - .../chipmunk/constraints/cpRatchetJoint.h | 49 - .../chipmunk/constraints/cpRotaryLimitJoint.h | 48 - .../chipmunk/constraints/cpSimpleMotor.h | 46 - .../chipmunk/constraints/cpSlideJoint.h | 53 -- .../chipmunk/chipmunk/constraints/util.h | 126 --- .../include/chipmunk/chipmunk/cpArbiter.h | 207 ----- .../armeabi/include/chipmunk/chipmunk/cpBB.h | 143 --- .../include/chipmunk/chipmunk/cpBody.h | 251 ----- .../include/chipmunk/chipmunk/cpPolyShape.h | 81 -- .../include/chipmunk/chipmunk/cpShape.h | 232 ----- .../include/chipmunk/chipmunk/cpSpace.h | 283 ------ .../chipmunk/chipmunk/cpSpatialIndex.h | 227 ----- .../include/chipmunk/chipmunk/cpVect.h | 213 ----- .../armeabi/include/chipmunk/chipmunk_ffi.h | 136 +-- .../include/chipmunk/chipmunk_private.h | 876 ++++++++++++++---- .../armeabi/include/chipmunk/chipmunk_types.h | 98 +- .../include/chipmunk/chipmunk_unsafe.h | 19 +- .../chipmunk/constraints/cpConstraint.h | 161 ---- .../constraints/cpDampedRotarySpring.h | 56 -- .../chipmunk/constraints/cpDampedSpring.h | 64 -- .../chipmunk/constraints/cpGearJoint.h | 51 - .../chipmunk/constraints/cpGrooveJoint.h | 57 -- .../include/chipmunk/constraints/cpPinJoint.h | 52 -- .../chipmunk/constraints/cpPivotJoint.h | 51 - .../chipmunk/constraints/cpRatchetJoint.h | 49 - .../chipmunk/constraints/cpRotaryLimitJoint.h | 48 - .../chipmunk/constraints/cpSimpleMotor.h | 46 - .../chipmunk/constraints/cpSlideJoint.h | 53 -- .../include/chipmunk/constraints/util.h | 126 --- android/armeabi/include/chipmunk/cpArbiter.h | 216 ++--- android/armeabi/include/chipmunk/cpBB.h | 52 +- android/armeabi/include/chipmunk/cpBody.h | 288 +++--- .../armeabi/include/chipmunk/cpPolyShape.h | 67 +- android/armeabi/include/chipmunk/cpShape.h | 281 +++--- android/armeabi/include/chipmunk/cpSpace.h | 394 ++++---- .../armeabi/include/chipmunk/cpSpatialIndex.h | 26 +- android/armeabi/include/chipmunk/cpVect.h | 47 +- android/armeabi/libchipmunk.a | Bin 400834 -> 476362 bytes android/x86/include/chipmunk/chipmunk.h | 117 ++- .../x86/include/chipmunk/chipmunk/chipmunk.h | 222 ----- .../include/chipmunk/chipmunk/chipmunk_ffi.h | 177 ---- .../chipmunk/chipmunk/chipmunk_private.h | 254 ----- .../chipmunk/chipmunk/chipmunk_types.h | 222 ----- .../chipmunk/chipmunk/chipmunk_unsafe.h | 65 -- .../chipmunk/constraints/cpConstraint.h | 161 ---- .../constraints/cpDampedRotarySpring.h | 56 -- .../chipmunk/constraints/cpDampedSpring.h | 64 -- .../chipmunk/constraints/cpGearJoint.h | 51 - .../chipmunk/constraints/cpGrooveJoint.h | 57 -- .../chipmunk/constraints/cpPinJoint.h | 52 -- .../chipmunk/constraints/cpPivotJoint.h | 51 - .../chipmunk/constraints/cpRatchetJoint.h | 49 - .../chipmunk/constraints/cpRotaryLimitJoint.h | 48 - .../chipmunk/constraints/cpSimpleMotor.h | 46 - .../chipmunk/constraints/cpSlideJoint.h | 53 -- .../chipmunk/chipmunk/constraints/util.h | 126 --- .../x86/include/chipmunk/chipmunk/cpArbiter.h | 207 ----- android/x86/include/chipmunk/chipmunk/cpBB.h | 143 --- .../x86/include/chipmunk/chipmunk/cpBody.h | 251 ----- .../include/chipmunk/chipmunk/cpPolyShape.h | 81 -- .../x86/include/chipmunk/chipmunk/cpShape.h | 232 ----- .../x86/include/chipmunk/chipmunk/cpSpace.h | 283 ------ .../chipmunk/chipmunk/cpSpatialIndex.h | 227 ----- .../x86/include/chipmunk/chipmunk/cpVect.h | 213 ----- android/x86/include/chipmunk/chipmunk_ffi.h | 136 +-- .../x86/include/chipmunk/chipmunk_private.h | 876 ++++++++++++++---- android/x86/include/chipmunk/chipmunk_types.h | 98 +- .../x86/include/chipmunk/chipmunk_unsafe.h | 19 +- .../chipmunk/constraints/cpConstraint.h | 161 ---- .../constraints/cpDampedRotarySpring.h | 56 -- .../chipmunk/constraints/cpDampedSpring.h | 64 -- .../chipmunk/constraints/cpGearJoint.h | 51 - .../chipmunk/constraints/cpGrooveJoint.h | 57 -- .../include/chipmunk/constraints/cpPinJoint.h | 52 -- .../chipmunk/constraints/cpPivotJoint.h | 51 - .../chipmunk/constraints/cpRatchetJoint.h | 49 - .../chipmunk/constraints/cpRotaryLimitJoint.h | 48 - .../chipmunk/constraints/cpSimpleMotor.h | 46 - .../chipmunk/constraints/cpSlideJoint.h | 53 -- .../x86/include/chipmunk/constraints/util.h | 126 --- android/x86/include/chipmunk/cpArbiter.h | 216 ++--- android/x86/include/chipmunk/cpBB.h | 52 +- android/x86/include/chipmunk/cpBody.h | 288 +++--- android/x86/include/chipmunk/cpPolyShape.h | 67 +- android/x86/include/chipmunk/cpShape.h | 281 +++--- android/x86/include/chipmunk/cpSpace.h | 394 ++++---- android/x86/include/chipmunk/cpSpatialIndex.h | 26 +- android/x86/include/chipmunk/cpVect.h | 47 +- android/x86/libchipmunk.a | Bin 325514 -> 412100 bytes ios/include/chipmunk/chipmunk.h | 121 ++- ios/include/chipmunk/chipmunk_ffi.h | 136 +-- ios/include/chipmunk/chipmunk_private.h | 876 ++++++++++++++---- ios/include/chipmunk/chipmunk_types.h | 98 +- ios/include/chipmunk/chipmunk_unsafe.h | 19 +- .../chipmunk/constraints/cpConstraint.h | 161 ---- .../constraints/cpDampedRotarySpring.h | 56 -- .../chipmunk/constraints/cpDampedSpring.h | 64 -- .../chipmunk/constraints/cpGearJoint.h | 51 - .../chipmunk/constraints/cpGrooveJoint.h | 57 -- ios/include/chipmunk/constraints/cpPinJoint.h | 52 -- .../chipmunk/constraints/cpPivotJoint.h | 51 - .../chipmunk/constraints/cpRatchetJoint.h | 49 - .../chipmunk/constraints/cpRotaryLimitJoint.h | 48 - .../chipmunk/constraints/cpSimpleMotor.h | 46 - .../chipmunk/constraints/cpSlideJoint.h | 53 -- ios/include/chipmunk/constraints/util.h | 126 --- ios/include/chipmunk/cpArbiter.h | 216 ++--- ios/include/chipmunk/cpBB.h | 52 +- ios/include/chipmunk/cpBody.h | 288 +++--- .../include}/chipmunk/cpConstraint.h | 0 .../include}/chipmunk/cpDampedRotarySpring.h | 0 .../include}/chipmunk/cpDampedSpring.h | 0 .../include}/chipmunk/cpGearJoint.h | 0 .../include}/chipmunk/cpGrooveJoint.h | 0 .../include}/chipmunk/cpHastySpace.h | 0 .../include}/chipmunk/cpMarch.h | 0 .../include}/chipmunk/cpPinJoint.h | 0 .../include}/chipmunk/cpPivotJoint.h | 0 ios/include/chipmunk/cpPolyShape.h | 67 +- .../include}/chipmunk/cpPolyline.h | 0 .../include}/chipmunk/cpRatchetJoint.h | 0 .../include}/chipmunk/cpRobust.h | 0 .../include}/chipmunk/cpRotaryLimitJoint.h | 0 ios/include/chipmunk/cpShape.h | 281 +++--- .../include}/chipmunk/cpSimpleMotor.h | 0 .../include}/chipmunk/cpSlideJoint.h | 0 ios/include/chipmunk/cpSpace.h | 394 ++++---- ios/include/chipmunk/cpSpatialIndex.h | 26 +- .../include}/chipmunk/cpTransform.h | 0 ios/include/chipmunk/cpVect.h | 47 +- ios/libs/libchipmunk.a | Bin 616592 -> 839264 bytes mac/include/chipmunk/chipmunk.h | 117 ++- mac/include/chipmunk/chipmunk_ffi.h | 136 +-- mac/include/chipmunk/chipmunk_private.h | 876 ++++++++++++++---- mac/include/chipmunk/chipmunk_types.h | 98 +- mac/include/chipmunk/chipmunk_unsafe.h | 19 +- .../chipmunk/constraints/cpConstraint.h | 161 ---- .../constraints/cpDampedRotarySpring.h | 56 -- .../chipmunk/constraints/cpDampedSpring.h | 64 -- .../chipmunk/constraints/cpGearJoint.h | 51 - .../chipmunk/constraints/cpGrooveJoint.h | 57 -- mac/include/chipmunk/constraints/cpPinJoint.h | 52 -- .../chipmunk/constraints/cpPivotJoint.h | 51 - .../chipmunk/constraints/cpRatchetJoint.h | 49 - .../chipmunk/constraints/cpRotaryLimitJoint.h | 48 - .../chipmunk/constraints/cpSimpleMotor.h | 46 - .../chipmunk/constraints/cpSlideJoint.h | 53 -- mac/include/chipmunk/constraints/util.h | 126 --- mac/include/chipmunk/cpArbiter.h | 216 ++--- mac/include/chipmunk/cpBB.h | 52 +- mac/include/chipmunk/cpBody.h | 288 +++--- .../include}/chipmunk/cpConstraint.h | 0 .../include}/chipmunk/cpDampedRotarySpring.h | 0 .../include}/chipmunk/cpDampedSpring.h | 0 .../include}/chipmunk/cpGearJoint.h | 0 .../include}/chipmunk/cpGrooveJoint.h | 0 .../include}/chipmunk/cpHastySpace.h | 0 .../include}/chipmunk/cpMarch.h | 0 .../include}/chipmunk/cpPinJoint.h | 0 .../include}/chipmunk/cpPivotJoint.h | 0 mac/include/chipmunk/cpPolyShape.h | 67 +- .../include}/chipmunk/cpPolyline.h | 0 .../include}/chipmunk/cpRatchetJoint.h | 0 .../include}/chipmunk/cpRobust.h | 0 .../include}/chipmunk/cpRotaryLimitJoint.h | 0 mac/include/chipmunk/cpShape.h | 281 +++--- .../include}/chipmunk/cpSimpleMotor.h | 0 .../include}/chipmunk/cpSlideJoint.h | 0 mac/include/chipmunk/cpSpace.h | 394 ++++---- mac/include/chipmunk/cpSpatialIndex.h | 26 +- .../include}/chipmunk/cpTransform.h | 0 mac/include/chipmunk/cpVect.h | 47 +- mac/libs/libchipmunk.a | Bin 190112 -> 246224 bytes versions.txt | 8 +- win32/include/chipmunk/chipmunk.h | 121 ++- win32/include/chipmunk/chipmunk_ffi.h | 136 +-- win32/include/chipmunk/chipmunk_private.h | 876 ++++++++++++++---- win32/include/chipmunk/chipmunk_types.h | 98 +- win32/include/chipmunk/chipmunk_unsafe.h | 19 +- .../chipmunk/constraints/cpConstraint.h | 161 ---- .../constraints/cpDampedRotarySpring.h | 56 -- .../chipmunk/constraints/cpDampedSpring.h | 64 -- .../chipmunk/constraints/cpGearJoint.h | 51 - .../chipmunk/constraints/cpGrooveJoint.h | 57 -- .../include/chipmunk/constraints/cpPinJoint.h | 52 -- .../chipmunk/constraints/cpPivotJoint.h | 51 - .../chipmunk/constraints/cpRatchetJoint.h | 49 - .../chipmunk/constraints/cpRotaryLimitJoint.h | 48 - .../chipmunk/constraints/cpSimpleMotor.h | 46 - .../chipmunk/constraints/cpSlideJoint.h | 53 -- win32/include/chipmunk/constraints/util.h | 126 --- win32/include/chipmunk/cpArbiter.h | 216 ++--- win32/include/chipmunk/cpBB.h | 52 +- win32/include/chipmunk/cpBody.h | 288 +++--- .../include}/chipmunk/cpConstraint.h | 0 .../include}/chipmunk/cpDampedRotarySpring.h | 0 .../include}/chipmunk/cpDampedSpring.h | 0 .../include}/chipmunk/cpGearJoint.h | 0 .../include}/chipmunk/cpGrooveJoint.h | 0 .../include}/chipmunk/cpHastySpace.h | 0 .../include}/chipmunk/cpMarch.h | 0 .../include}/chipmunk/cpPinJoint.h | 0 .../include}/chipmunk/cpPivotJoint.h | 0 win32/include/chipmunk/cpPolyShape.h | 67 +- .../include}/chipmunk/cpPolyline.h | 0 .../include}/chipmunk/cpRatchetJoint.h | 0 .../include}/chipmunk/cpRobust.h | 0 .../include}/chipmunk/cpRotaryLimitJoint.h | 0 win32/include/chipmunk/cpShape.h | 281 +++--- .../include}/chipmunk/cpSimpleMotor.h | 0 .../include}/chipmunk/cpSlideJoint.h | 0 win32/include/chipmunk/cpSpace.h | 394 ++++---- win32/include/chipmunk/cpSpatialIndex.h | 26 +- .../include}/chipmunk/cpTransform.h | 0 win32/include/chipmunk/cpVect.h | 47 +- win32/libs/Debug/libchipmunk-2015.lib | Bin 231862 -> 2641300 bytes win32/libs/Debug/libchipmunk.lib | Bin 308320 -> 3179954 bytes win32/libs/libchipmunk-2015.lib | Bin 231862 -> 2641300 bytes win32/libs/libchipmunk.lib | Bin 308320 -> 3179954 bytes 309 files changed, 10561 insertions(+), 23645 deletions(-) delete mode 100644 android/arm64-v8a/include/chipmunk/constraints/cpConstraint.h delete mode 100644 android/arm64-v8a/include/chipmunk/constraints/cpDampedRotarySpring.h delete mode 100644 android/arm64-v8a/include/chipmunk/constraints/cpDampedSpring.h delete mode 100644 android/arm64-v8a/include/chipmunk/constraints/cpGearJoint.h delete mode 100644 android/arm64-v8a/include/chipmunk/constraints/cpGrooveJoint.h delete mode 100644 android/arm64-v8a/include/chipmunk/constraints/cpPinJoint.h delete mode 100644 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android/armeabi/include/chipmunk/constraints/cpDampedSpring.h delete mode 100644 android/armeabi/include/chipmunk/constraints/cpGearJoint.h delete mode 100644 android/armeabi/include/chipmunk/constraints/cpGrooveJoint.h delete mode 100644 android/armeabi/include/chipmunk/constraints/cpPinJoint.h delete mode 100644 android/armeabi/include/chipmunk/constraints/cpPivotJoint.h delete mode 100644 android/armeabi/include/chipmunk/constraints/cpRatchetJoint.h delete mode 100644 android/armeabi/include/chipmunk/constraints/cpRotaryLimitJoint.h delete mode 100644 android/armeabi/include/chipmunk/constraints/cpSimpleMotor.h delete mode 100644 android/armeabi/include/chipmunk/constraints/cpSlideJoint.h delete mode 100644 android/armeabi/include/chipmunk/constraints/util.h delete mode 100644 android/x86/include/chipmunk/chipmunk/chipmunk.h delete mode 100644 android/x86/include/chipmunk/chipmunk/chipmunk_ffi.h delete mode 100644 android/x86/include/chipmunk/chipmunk/chipmunk_private.h delete mode 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android/x86/include/chipmunk/constraints/cpGearJoint.h delete mode 100644 android/x86/include/chipmunk/constraints/cpGrooveJoint.h delete mode 100644 android/x86/include/chipmunk/constraints/cpPinJoint.h delete mode 100644 android/x86/include/chipmunk/constraints/cpPivotJoint.h delete mode 100644 android/x86/include/chipmunk/constraints/cpRatchetJoint.h delete mode 100644 android/x86/include/chipmunk/constraints/cpRotaryLimitJoint.h delete mode 100644 android/x86/include/chipmunk/constraints/cpSimpleMotor.h delete mode 100644 android/x86/include/chipmunk/constraints/cpSlideJoint.h delete mode 100644 android/x86/include/chipmunk/constraints/util.h delete mode 100644 ios/include/chipmunk/constraints/cpConstraint.h delete mode 100644 ios/include/chipmunk/constraints/cpDampedRotarySpring.h delete mode 100644 ios/include/chipmunk/constraints/cpDampedSpring.h delete mode 100644 ios/include/chipmunk/constraints/cpGearJoint.h delete mode 100644 ios/include/chipmunk/constraints/cpGrooveJoint.h delete mode 100644 ios/include/chipmunk/constraints/cpPinJoint.h delete mode 100644 ios/include/chipmunk/constraints/cpPivotJoint.h delete mode 100644 ios/include/chipmunk/constraints/cpRatchetJoint.h delete mode 100644 ios/include/chipmunk/constraints/cpRotaryLimitJoint.h delete mode 100644 ios/include/chipmunk/constraints/cpSimpleMotor.h delete mode 100644 ios/include/chipmunk/constraints/cpSlideJoint.h delete mode 100644 ios/include/chipmunk/constraints/util.h rename {android/armeabi-v7a/include/chipmunk => ios/include}/chipmunk/cpConstraint.h (100%) rename {android/armeabi-v7a/include/chipmunk => ios/include}/chipmunk/cpDampedRotarySpring.h (100%) rename {android/armeabi-v7a/include/chipmunk => ios/include}/chipmunk/cpDampedSpring.h (100%) rename {android/armeabi-v7a/include/chipmunk => ios/include}/chipmunk/cpGearJoint.h (100%) rename {android/armeabi-v7a/include/chipmunk => ios/include}/chipmunk/cpGrooveJoint.h (100%) rename {android/armeabi-v7a/include/chipmunk => ios/include}/chipmunk/cpHastySpace.h (100%) rename {android/armeabi-v7a/include/chipmunk => ios/include}/chipmunk/cpMarch.h (100%) rename {android/armeabi-v7a/include/chipmunk => ios/include}/chipmunk/cpPinJoint.h (100%) rename {android/armeabi-v7a/include/chipmunk => ios/include}/chipmunk/cpPivotJoint.h (100%) rename {android/armeabi-v7a/include/chipmunk => ios/include}/chipmunk/cpPolyline.h (100%) rename {android/armeabi-v7a/include/chipmunk => ios/include}/chipmunk/cpRatchetJoint.h (100%) rename {android/armeabi-v7a/include/chipmunk => ios/include}/chipmunk/cpRobust.h (100%) rename {android/armeabi-v7a/include/chipmunk => ios/include}/chipmunk/cpRotaryLimitJoint.h (100%) rename {android/armeabi-v7a/include/chipmunk => ios/include}/chipmunk/cpSimpleMotor.h (100%) rename {android/armeabi-v7a/include/chipmunk => ios/include}/chipmunk/cpSlideJoint.h (100%) rename {android/armeabi-v7a/include/chipmunk => ios/include}/chipmunk/cpTransform.h (100%) delete mode 100644 mac/include/chipmunk/constraints/cpConstraint.h delete mode 100644 mac/include/chipmunk/constraints/cpDampedRotarySpring.h delete mode 100644 mac/include/chipmunk/constraints/cpDampedSpring.h delete mode 100644 mac/include/chipmunk/constraints/cpGearJoint.h delete mode 100644 mac/include/chipmunk/constraints/cpGrooveJoint.h delete mode 100644 mac/include/chipmunk/constraints/cpPinJoint.h delete mode 100644 mac/include/chipmunk/constraints/cpPivotJoint.h delete mode 100644 mac/include/chipmunk/constraints/cpRatchetJoint.h delete mode 100644 mac/include/chipmunk/constraints/cpRotaryLimitJoint.h delete mode 100644 mac/include/chipmunk/constraints/cpSimpleMotor.h delete mode 100644 mac/include/chipmunk/constraints/cpSlideJoint.h delete mode 100644 mac/include/chipmunk/constraints/util.h rename {android/armeabi/include/chipmunk => mac/include}/chipmunk/cpConstraint.h (100%) rename {android/armeabi/include/chipmunk => mac/include}/chipmunk/cpDampedRotarySpring.h (100%) rename {android/armeabi/include/chipmunk => mac/include}/chipmunk/cpDampedSpring.h (100%) rename {android/armeabi/include/chipmunk => mac/include}/chipmunk/cpGearJoint.h (100%) rename {android/armeabi/include/chipmunk => mac/include}/chipmunk/cpGrooveJoint.h (100%) rename {android/armeabi/include/chipmunk => mac/include}/chipmunk/cpHastySpace.h (100%) rename {android/armeabi/include/chipmunk => mac/include}/chipmunk/cpMarch.h (100%) rename {android/armeabi/include/chipmunk => mac/include}/chipmunk/cpPinJoint.h (100%) rename {android/armeabi/include/chipmunk => mac/include}/chipmunk/cpPivotJoint.h (100%) rename {android/armeabi/include/chipmunk => mac/include}/chipmunk/cpPolyline.h (100%) rename {android/armeabi/include/chipmunk => mac/include}/chipmunk/cpRatchetJoint.h (100%) rename {android/armeabi/include/chipmunk => mac/include}/chipmunk/cpRobust.h (100%) rename {android/armeabi/include/chipmunk => mac/include}/chipmunk/cpRotaryLimitJoint.h (100%) rename {android/armeabi/include/chipmunk => mac/include}/chipmunk/cpSimpleMotor.h (100%) rename {android/armeabi/include/chipmunk => mac/include}/chipmunk/cpSlideJoint.h (100%) rename {android/armeabi/include/chipmunk => mac/include}/chipmunk/cpTransform.h (100%) delete mode 100644 win32/include/chipmunk/constraints/cpConstraint.h delete mode 100644 win32/include/chipmunk/constraints/cpDampedRotarySpring.h delete mode 100644 win32/include/chipmunk/constraints/cpDampedSpring.h delete mode 100644 win32/include/chipmunk/constraints/cpGearJoint.h delete mode 100644 win32/include/chipmunk/constraints/cpGrooveJoint.h delete mode 100644 win32/include/chipmunk/constraints/cpPinJoint.h delete mode 100644 win32/include/chipmunk/constraints/cpPivotJoint.h delete mode 100644 win32/include/chipmunk/constraints/cpRatchetJoint.h delete mode 100644 win32/include/chipmunk/constraints/cpRotaryLimitJoint.h delete mode 100644 win32/include/chipmunk/constraints/cpSimpleMotor.h delete mode 100644 win32/include/chipmunk/constraints/cpSlideJoint.h delete mode 100644 win32/include/chipmunk/constraints/util.h rename {android/x86/include/chipmunk => win32/include}/chipmunk/cpConstraint.h (100%) rename {android/x86/include/chipmunk => win32/include}/chipmunk/cpDampedRotarySpring.h (100%) rename {android/x86/include/chipmunk => win32/include}/chipmunk/cpDampedSpring.h (100%) rename {android/x86/include/chipmunk => win32/include}/chipmunk/cpGearJoint.h (100%) rename {android/x86/include/chipmunk => win32/include}/chipmunk/cpGrooveJoint.h (100%) rename {android/x86/include/chipmunk => win32/include}/chipmunk/cpHastySpace.h (100%) rename {android/x86/include/chipmunk => win32/include}/chipmunk/cpMarch.h (100%) rename {android/x86/include/chipmunk => win32/include}/chipmunk/cpPinJoint.h (100%) rename {android/x86/include/chipmunk => win32/include}/chipmunk/cpPivotJoint.h (100%) rename {android/x86/include/chipmunk => win32/include}/chipmunk/cpPolyline.h (100%) rename {android/x86/include/chipmunk => win32/include}/chipmunk/cpRatchetJoint.h (100%) rename {android/x86/include/chipmunk => win32/include}/chipmunk/cpRobust.h (100%) rename {android/x86/include/chipmunk => win32/include}/chipmunk/cpRotaryLimitJoint.h (100%) rename {android/x86/include/chipmunk => win32/include}/chipmunk/cpSimpleMotor.h (100%) rename {android/x86/include/chipmunk => win32/include}/chipmunk/cpSlideJoint.h (100%) rename {android/x86/include/chipmunk => win32/include}/chipmunk/cpTransform.h (100%) diff --git a/android/arm64-v8a/include/chipmunk/chipmunk.h b/android/arm64-v8a/include/chipmunk/chipmunk.h index 6337fb1a..d7faf039 100644 --- a/android/arm64-v8a/include/chipmunk/chipmunk.h +++ b/android/arm64-v8a/include/chipmunk/chipmunk.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,20 +19,26 @@ * SOFTWARE. */ -#ifndef CHIPMUNK_HEADER -#define CHIPMUNK_HEADER - -#ifdef _MSC_VER - #define _USE_MATH_DEFINES -#endif +#ifndef CHIPMUNK_H +#define CHIPMUNK_H #include #include +#ifdef WIN32 + // For alloca(). + #include + #define CP_EXPORT __declspec(dllexport) +#else + #include + #define CP_EXPORT +#endif + #ifdef __cplusplus extern "C" { #endif +// NUKE #ifndef CP_ALLOW_PRIVATE_ACCESS #define CP_ALLOW_PRIVATE_ACCESS 0 #endif @@ -43,22 +49,17 @@ extern "C" { #define CP_PRIVATE(__symbol__) __symbol__##_private #endif -void cpMessage(const char *condition, const char *file, int line, int isError, int isHardError, const char *message, ...); +CP_EXPORT void cpMessage(const char *condition, const char *file, int line, int isError, int isHardError, const char *message, ...); #ifdef NDEBUG #define cpAssertWarn(__condition__, ...) + #define cpAssertSoft(__condition__, ...) #else + #define cpAssertSoft(__condition__, ...) if(!(__condition__)){cpMessage(#__condition__, __FILE__, __LINE__, 1, 0, __VA_ARGS__); abort();} #define cpAssertWarn(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 0, 0, __VA_ARGS__) #endif -#ifdef NDEBUG - #define cpAssertSoft(__condition__, ...) -#else - #define cpAssertSoft(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 0, __VA_ARGS__) -#endif - -// Hard assertions are important and cheap to execute. They are not disabled by compiling as debug. -#define cpAssertHard(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 1, __VA_ARGS__) - +// Hard assertions are used in situations where the program definitely will crash anyway, and the reason is inexpensive to detect. +#define cpAssertHard(__condition__, ...) if(!(__condition__)){cpMessage(#__condition__, __FILE__, __LINE__, 1, 1, __VA_ARGS__); abort();} #include "chipmunk_types.h" @@ -89,81 +90,90 @@ typedef struct cpArray cpArray; typedef struct cpHashSet cpHashSet; typedef struct cpBody cpBody; + typedef struct cpShape cpShape; +typedef struct cpCircleShape cpCircleShape; +typedef struct cpSegmentShape cpSegmentShape; +typedef struct cpPolyShape cpPolyShape; + typedef struct cpConstraint cpConstraint; +typedef struct cpPinJoint cpPinJoint; +typedef struct cpSlideJoint cpSlideJoint; +typedef struct cpPivotJoint cpPivotJoint; +typedef struct cpGrooveJoint cpGrooveJoint; +typedef struct cpDampedSpring cpDampedSpring; +typedef struct cpDampedRotarySpring cpDampedRotarySpring; +typedef struct cpRotaryLimitJoint cpRotaryLimitJoint; +typedef struct cpRatchetJoint cpRatchetJoint; +typedef struct cpGearJoint cpGearJoint; +typedef struct cpSimpleMotorJoint cpSimpleMotorJoint; typedef struct cpCollisionHandler cpCollisionHandler; +typedef struct cpContactPointSet cpContactPointSet; typedef struct cpArbiter cpArbiter; typedef struct cpSpace cpSpace; #include "cpVect.h" #include "cpBB.h" +#include "cpTransform.h" #include "cpSpatialIndex.h" +#include "cpArbiter.h" + #include "cpBody.h" #include "cpShape.h" #include "cpPolyShape.h" -#include "cpArbiter.h" -#include "constraints/cpConstraint.h" +#include "cpConstraint.h" #include "cpSpace.h" +#include "cpHastySpace.h" -// Chipmunk 6.2.1 -#define CP_VERSION_MAJOR 6 -#define CP_VERSION_MINOR 2 +// Chipmunk 7.0.1 +#define CP_VERSION_MAJOR 7 +#define CP_VERSION_MINOR 0 #define CP_VERSION_RELEASE 1 /// Version string. -extern const char *cpVersionString; - -/// @deprecated -void cpInitChipmunk(void); - -/// Enables segment to segment shape collisions. -void cpEnableSegmentToSegmentCollisions(void); - +CP_EXPORT extern const char *cpVersionString; /// Calculate the moment of inertia for a circle. /// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset); +CP_EXPORT cpFloat cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset); /// Calculate area of a hollow circle. /// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpAreaForCircle(cpFloat r1, cpFloat r2); +CP_EXPORT cpFloat cpAreaForCircle(cpFloat r1, cpFloat r2); /// Calculate the moment of inertia for a line segment. /// Beveling radius is not supported. -cpFloat cpMomentForSegment(cpFloat m, cpVect a, cpVect b); +CP_EXPORT cpFloat cpMomentForSegment(cpFloat m, cpVect a, cpVect b, cpFloat radius); /// Calculate the area of a fattened (capsule shaped) line segment. -cpFloat cpAreaForSegment(cpVect a, cpVect b, cpFloat r); +CP_EXPORT cpFloat cpAreaForSegment(cpVect a, cpVect b, cpFloat radius); /// Calculate the moment of inertia for a solid polygon shape assuming it's center of gravity is at it's centroid. The offset is added to each vertex. -cpFloat cpMomentForPoly(cpFloat m, int numVerts, const cpVect *verts, cpVect offset); +CP_EXPORT cpFloat cpMomentForPoly(cpFloat m, int count, const cpVect *verts, cpVect offset, cpFloat radius); /// Calculate the signed area of a polygon. A Clockwise winding gives positive area. /// This is probably backwards from what you expect, but matches Chipmunk's the winding for poly shapes. -cpFloat cpAreaForPoly(const int numVerts, const cpVect *verts); +CP_EXPORT cpFloat cpAreaForPoly(const int count, const cpVect *verts, cpFloat radius); /// Calculate the natural centroid of a polygon. -cpVect cpCentroidForPoly(const int numVerts, const cpVect *verts); - -/// Center the polygon on the origin. (Subtracts the centroid of the polygon from each vertex) -void cpRecenterPoly(const int numVerts, cpVect *verts); +CP_EXPORT cpVect cpCentroidForPoly(const int count, const cpVect *verts); /// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox(cpFloat m, cpFloat width, cpFloat height); +CP_EXPORT cpFloat cpMomentForBox(cpFloat m, cpFloat width, cpFloat height); /// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox2(cpFloat m, cpBB box); +CP_EXPORT cpFloat cpMomentForBox2(cpFloat m, cpBB box); /// Calculate the convex hull of a given set of points. Returns the count of points in the hull. -/// @c result must be a pointer to a @c cpVect array with at least @c count elements. If @c result is @c NULL, then @c verts will be reduced instead. +/// @c result must be a pointer to a @c cpVect array with at least @c count elements. If @c verts == @c result, then @c verts will be reduced inplace. /// @c first is an optional pointer to an integer to store where the first vertex in the hull came from (i.e. verts[first] == result[0]) /// @c tol is the allowed amount to shrink the hull when simplifying it. A tolerance of 0.0 creates an exact hull. -int cpConvexHull(int count, cpVect *verts, cpVect *result, int *first, cpFloat tol); +CP_EXPORT int cpConvexHull(int count, const cpVect *verts, cpVect *result, int *first, cpFloat tol); #ifdef _MSC_VER #include "malloc.h" @@ -177,6 +187,15 @@ int cpConvexHull(int count, cpVect *verts, cpVect *result, int *first, cpFloat t cpVect *__verts_var__ = (cpVect *)alloca(__count__*sizeof(cpVect)); \ int __count_var__ = cpConvexHull(__count__, __verts__, __verts_var__, NULL, 0.0); \ +/// Returns the closest point on the line segment ab, to the point p. +static inline cpVect +cpClosetPointOnSegment(const cpVect p, const cpVect a, const cpVect b) +{ + cpVect delta = cpvsub(a, b); + cpFloat t = cpfclamp01(cpvdot(delta, cpvsub(p, b))/cpvlengthsq(delta)); + return cpvadd(b, cpvmult(delta, t)); +} + #if defined(__has_extension) #if __has_extension(blocks) // Define alternate block based alternatives for a few of the callback heavy functions. @@ -191,14 +210,14 @@ void cpBodyEachShape_b(cpBody *body, void (^block)(cpShape *shape)); void cpBodyEachConstraint_b(cpBody *body, void (^block)(cpConstraint *constraint)); void cpBodyEachArbiter_b(cpBody *body, void (^block)(cpArbiter *arbiter)); -typedef void (^cpSpaceNearestPointQueryBlock)(cpShape *shape, cpFloat distance, cpVect point); -void cpSpaceNearestPointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryBlock block); +typedef void (^cpSpacePointQueryBlock)(cpShape *shape, cpVect point, cpFloat distance, cpVect gradient); +void cpSpacePointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpSpacePointQueryBlock block); -typedef void (^cpSpaceSegmentQueryBlock)(cpShape *shape, cpFloat t, cpVect n); -void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryBlock block); +typedef void (^cpSpaceSegmentQueryBlock)(cpShape *shape, cpVect point, cpVect normal, cpFloat alpha); +void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSpaceSegmentQueryBlock block); typedef void (^cpSpaceBBQueryBlock)(cpShape *shape); -void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryBlock block); +void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpShapeFilter filter, cpSpaceBBQueryBlock block); typedef void (^cpSpaceShapeQueryBlock)(cpShape *shape, cpContactPointSet *points); cpBool cpSpaceShapeQuery_b(cpSpace *space, cpShape *shape, cpSpaceShapeQueryBlock block); diff --git a/android/arm64-v8a/include/chipmunk/chipmunk_ffi.h b/android/arm64-v8a/include/chipmunk/chipmunk_ffi.h index 53ac6937..c0248410 100644 --- a/android/arm64-v8a/include/chipmunk/chipmunk_ffi.h +++ b/android/arm64-v8a/include/chipmunk/chipmunk_ffi.h @@ -1,11 +1,35 @@ +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + #ifdef CHIPMUNK_FFI // Create non static inlined copies of Chipmunk functions, useful for working with dynamic FFIs // This file should only be included in chipmunk.c +// TODO: get rid of the reliance on static inlines. +// They make a mess for FFIs. + #ifdef _MSC_VER #if _MSC_VER >= 1600 - #define MAKE_REF(name) decltype(name) *_##name = name + #define MAKE_REF(name) CP_EXPORT decltype(name) *_##name = name #else #define MAKE_REF(name) #endif @@ -13,8 +37,9 @@ #define MAKE_REF(name) __typeof__(name) *_##name = name #endif -#define MAKE_PROPERTIES_REF(struct, property) \ - MAKE_REF(struct##Get##property); MAKE_REF(struct##Set##property) +#ifdef __cplusplus +extern "C" { +#endif MAKE_REF(cpv); // makes a variable named _cpv that contains the function pointer for cpv() MAKE_REF(cpveql); @@ -35,7 +60,6 @@ MAKE_REF(cpvlengthsq); MAKE_REF(cpvlength); MAKE_REF(cpvlerp); MAKE_REF(cpvnormalize); -MAKE_REF(cpvnormalize_safe); MAKE_REF(cpvclamp); MAKE_REF(cpvlerpconst); MAKE_REF(cpvdist); @@ -50,104 +74,20 @@ MAKE_REF(cpflerp); MAKE_REF(cpflerpconst); MAKE_REF(cpBBNew); +MAKE_REF(cpBBNewForExtents); MAKE_REF(cpBBNewForCircle); MAKE_REF(cpBBIntersects); MAKE_REF(cpBBContainsBB); MAKE_REF(cpBBContainsVect); MAKE_REF(cpBBMerge); MAKE_REF(cpBBExpand); +MAKE_REF(cpBBCenter); MAKE_REF(cpBBArea); MAKE_REF(cpBBMergedArea); MAKE_REF(cpBBSegmentQuery); MAKE_REF(cpBBIntersectsSegment); MAKE_REF(cpBBClampVect); -MAKE_REF(cpBodyGetMass); -MAKE_REF(cpBodyGetMoment); -MAKE_REF(cpBodyGetPos); -MAKE_REF(cpBodyGetAngle); -MAKE_REF(cpBodyGetRot); -MAKE_PROPERTIES_REF(cpBody, Vel); -MAKE_PROPERTIES_REF(cpBody, Force); -MAKE_PROPERTIES_REF(cpBody, AngVel); -MAKE_PROPERTIES_REF(cpBody, Torque); -MAKE_PROPERTIES_REF(cpBody, VelLimit); -MAKE_PROPERTIES_REF(cpBody, AngVelLimit); -MAKE_PROPERTIES_REF(cpBody, UserData); -MAKE_REF(cpBodyIsSleeping); -MAKE_REF(cpBodyIsStatic); -MAKE_REF(cpBodyIsRogue); -MAKE_REF(cpBodyLocal2World); -MAKE_REF(cpBodyWorld2Local); -MAKE_REF(cpBodyKineticEnergy); - -MAKE_REF(cpShapeGetBB); -MAKE_PROPERTIES_REF(cpShape, Body); -MAKE_PROPERTIES_REF(cpShape, Sensor); -MAKE_PROPERTIES_REF(cpShape, Elasticity); -MAKE_PROPERTIES_REF(cpShape, Friction); -MAKE_PROPERTIES_REF(cpShape, SurfaceVelocity); -MAKE_PROPERTIES_REF(cpShape, UserData); -MAKE_PROPERTIES_REF(cpShape, CollisionType); -MAKE_PROPERTIES_REF(cpShape, Group); -MAKE_PROPERTIES_REF(cpShape, Layers); - -MAKE_REF(cpArbiterGetShapes); -MAKE_REF(cpArbiterGetBodies); -MAKE_REF(cpArbiterIsFirstContact); -MAKE_REF(cpArbiterGetCount); - -MAKE_REF(cpConstraintGetA); -MAKE_REF(cpConstraintGetB); -MAKE_PROPERTIES_REF(cpConstraint, MaxForce); -MAKE_PROPERTIES_REF(cpConstraint, ErrorBias); -MAKE_PROPERTIES_REF(cpConstraint, MaxBias); -MAKE_PROPERTIES_REF(cpConstraint, UserData); -MAKE_REF(cpConstraintGetImpulse); - -MAKE_PROPERTIES_REF(cpDampedRotarySpring, RestAngle); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedRotarySpring, SpringTorqueFunc); - -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr1); -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr2); -MAKE_PROPERTIES_REF(cpDampedSpring, RestLength); -MAKE_PROPERTIES_REF(cpDampedSpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedSpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedSpring, SpringForceFunc); - -MAKE_PROPERTIES_REF(cpGearJoint, Phase); -MAKE_REF(cpGearJointGetRatio); - -MAKE_PROPERTIES_REF(cpGrooveJoint, Anchr2); -MAKE_REF(cpGrooveJointGetGrooveA); -MAKE_REF(cpGrooveJointGetGrooveB); - -MAKE_PROPERTIES_REF(cpPinJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPinJoint, Anchr2); -MAKE_PROPERTIES_REF(cpPinJoint, Dist); - -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr2); - -MAKE_PROPERTIES_REF(cpRatchetJoint, Angle); -MAKE_PROPERTIES_REF(cpRatchetJoint, Phase); -MAKE_PROPERTIES_REF(cpRatchetJoint, Ratchet); - -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Min); -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Max); - -MAKE_PROPERTIES_REF(cpSimpleMotor, Rate); - -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr1); -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr2); -MAKE_PROPERTIES_REF(cpSlideJoint, Min); -MAKE_PROPERTIES_REF(cpSlideJoint, Max); - -MAKE_REF(cpSegmentQueryHitPoint); -MAKE_REF(cpSegmentQueryHitDist); - MAKE_REF(cpSpatialIndexDestroy); MAKE_REF(cpSpatialIndexCount); MAKE_REF(cpSpatialIndexEach); @@ -160,18 +100,8 @@ MAKE_REF(cpSpatialIndexSegmentQuery); MAKE_REF(cpSpatialIndexQuery); MAKE_REF(cpSpatialIndexReindexQuery); -MAKE_PROPERTIES_REF(cpSpace, Iterations); -MAKE_PROPERTIES_REF(cpSpace, Gravity); -MAKE_PROPERTIES_REF(cpSpace, Damping); -MAKE_PROPERTIES_REF(cpSpace, IdleSpeedThreshold); -MAKE_PROPERTIES_REF(cpSpace, SleepTimeThreshold); -MAKE_PROPERTIES_REF(cpSpace, CollisionSlop); -MAKE_PROPERTIES_REF(cpSpace, CollisionBias); -MAKE_PROPERTIES_REF(cpSpace, CollisionPersistence); -MAKE_PROPERTIES_REF(cpSpace, EnableContactGraph); -MAKE_PROPERTIES_REF(cpSpace, UserData); -MAKE_REF(cpSpaceGetStaticBody); -MAKE_REF(cpSpaceGetCurrentTimeStep); -MAKE_REF(cpSpaceIsLocked); +#ifdef __cplusplus +} +#endif #endif diff --git a/android/arm64-v8a/include/chipmunk/chipmunk_private.h b/android/arm64-v8a/include/chipmunk/chipmunk_private.h index f676345b..abe56395 100644 --- a/android/arm64-v8a/include/chipmunk/chipmunk_private.h +++ b/android/arm64-v8a/include/chipmunk/chipmunk_private.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -18,9 +18,14 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. */ +#ifndef CHIPMUNK_PRIVATE_H +#define CHIPMUNK_PRIVATE_H +#ifdef CHIPMUNK_H +#error Cannot include chipmunk_private.h after chipmunk.h. +#endif #define CP_ALLOW_PRIVATE_ACCESS 1 -#include "chipmunk.h" +#include "chipmunk/chipmunk.h" #define CP_HASH_COEF (3344921057ul) #define CP_HASH_PAIR(A, B) ((cpHashValue)(A)*CP_HASH_COEF ^ (cpHashValue)(B)*CP_HASH_COEF) @@ -28,6 +33,7 @@ // TODO: Eww. Magic numbers. #define MAGIC_EPSILON 1e-5 + //MARK: cpArray struct cpArray { @@ -47,6 +53,690 @@ cpBool cpArrayContains(cpArray *arr, void *ptr); void cpArrayFreeEach(cpArray *arr, void (freeFunc)(void*)); +//MARK: cpHashSet + +typedef cpBool (*cpHashSetEqlFunc)(void *ptr, void *elt); +typedef void *(*cpHashSetTransFunc)(void *ptr, void *data); + +cpHashSet *cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc); +void cpHashSetSetDefaultValue(cpHashSet *set, void *default_value); + +void cpHashSetFree(cpHashSet *set); + +int cpHashSetCount(cpHashSet *set); +void *cpHashSetInsert(cpHashSet *set, cpHashValue hash, void *ptr, cpHashSetTransFunc trans, void *data); +void *cpHashSetRemove(cpHashSet *set, cpHashValue hash, void *ptr); +void *cpHashSetFind(cpHashSet *set, cpHashValue hash, void *ptr); + +typedef void (*cpHashSetIteratorFunc)(void *elt, void *data); +void cpHashSetEach(cpHashSet *set, cpHashSetIteratorFunc func, void *data); + +typedef cpBool (*cpHashSetFilterFunc)(void *elt, void *data); +void cpHashSetFilter(cpHashSet *set, cpHashSetFilterFunc func, void *data); + + +//MARK: Bodies + +struct cpBody { + // Integration functions + cpBodyVelocityFunc velocity_func; + cpBodyPositionFunc position_func; + + // mass and it's inverse + cpFloat m; + cpFloat m_inv; + + // moment of inertia and it's inverse + cpFloat i; + cpFloat i_inv; + + // center of gravity + cpVect cog; + + // position, velocity, force + cpVect p; + cpVect v; + cpVect f; + + // Angle, angular velocity, torque (radians) + cpFloat a; + cpFloat w; + cpFloat t; + + cpTransform transform; + + cpDataPointer userData; + + // "pseudo-velocities" used for eliminating overlap. + // Erin Catto has some papers that talk about what these are. + cpVect v_bias; + cpFloat w_bias; + + cpSpace *space; + + cpShape *shapeList; + cpArbiter *arbiterList; + cpConstraint *constraintList; + + struct { + cpBody *root; + cpBody *next; + cpFloat idleTime; + } sleeping; +}; + +void cpBodyAddShape(cpBody *body, cpShape *shape); +void cpBodyRemoveShape(cpBody *body, cpShape *shape); + +//void cpBodyAccumulateMassForShape(cpBody *body, cpShape *shape); +void cpBodyAccumulateMassFromShapes(cpBody *body); + +void cpBodyRemoveConstraint(cpBody *body, cpConstraint *constraint); + + +//MARK: Spatial Index Functions + +cpSpatialIndex *cpSpatialIndexInit(cpSpatialIndex *index, cpSpatialIndexClass *klass, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); + + +//MARK: Arbiters + +enum cpArbiterState { + // Arbiter is active and its the first collision. + CP_ARBITER_STATE_FIRST_COLLISION, + // Arbiter is active and its not the first collision. + CP_ARBITER_STATE_NORMAL, + // Collision has been explicitly ignored. + // Either by returning false from a begin collision handler or calling cpArbiterIgnore(). + CP_ARBITER_STATE_IGNORE, + // Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps. + CP_ARBITER_STATE_CACHED, + // Collison arbiter is invalid because one of the shapes was removed. + CP_ARBITER_STATE_INVALIDATED, +}; + +struct cpArbiterThread { + struct cpArbiter *next, *prev; +}; + +struct cpContact { + cpVect r1, r2; + + cpFloat nMass, tMass; + cpFloat bounce; // TODO: look for an alternate bounce solution. + + cpFloat jnAcc, jtAcc, jBias; + cpFloat bias; + + cpHashValue hash; +}; + +struct cpCollisionInfo { + const cpShape *a, *b; + cpCollisionID id; + + cpVect n; + + int count; + // TODO Should this be a unique struct type? + struct cpContact *arr; +}; + +struct cpArbiter { + cpFloat e; + cpFloat u; + cpVect surface_vr; + + cpDataPointer data; + + const cpShape *a, *b; + cpBody *body_a, *body_b; + struct cpArbiterThread thread_a, thread_b; + + int count; + struct cpContact *contacts; + cpVect n; + + // Regular, wildcard A and wildcard B collision handlers. + cpCollisionHandler *handler, *handlerA, *handlerB; + cpBool swapped; + + cpTimestamp stamp; + enum cpArbiterState state; +}; + +cpArbiter* cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b); + +static inline struct cpArbiterThread * +cpArbiterThreadForBody(cpArbiter *arb, cpBody *body) +{ + return (arb->body_a == body ? &arb->thread_a : &arb->thread_b); +} + +void cpArbiterUnthread(cpArbiter *arb); + +void cpArbiterUpdate(cpArbiter *arb, struct cpCollisionInfo *info, cpSpace *space); +void cpArbiterPreStep(cpArbiter *arb, cpFloat dt, cpFloat bias, cpFloat slop); +void cpArbiterApplyCachedImpulse(cpArbiter *arb, cpFloat dt_coef); +void cpArbiterApplyImpulse(cpArbiter *arb); + + +//MARK: Shapes/Collisions + +struct cpShapeMassInfo { + cpFloat m; + cpFloat i; + cpVect cog; + cpFloat area; +}; + +typedef enum cpShapeType{ + CP_CIRCLE_SHAPE, + CP_SEGMENT_SHAPE, + CP_POLY_SHAPE, + CP_NUM_SHAPES +} cpShapeType; + +typedef cpBB (*cpShapeCacheDataImpl)(cpShape *shape, cpTransform transform); +typedef void (*cpShapeDestroyImpl)(cpShape *shape); +typedef void (*cpShapePointQueryImpl)(const cpShape *shape, cpVect p, cpPointQueryInfo *info); +typedef void (*cpShapeSegmentQueryImpl)(const cpShape *shape, cpVect a, cpVect b, cpFloat radius, cpSegmentQueryInfo *info); + +typedef struct cpShapeClass cpShapeClass; + +struct cpShapeClass { + cpShapeType type; + + cpShapeCacheDataImpl cacheData; + cpShapeDestroyImpl destroy; + cpShapePointQueryImpl pointQuery; + cpShapeSegmentQueryImpl segmentQuery; +}; + +struct cpShape { + const cpShapeClass *klass; + + cpSpace *space; + cpBody *body; + struct cpShapeMassInfo massInfo; + cpBB bb; + + cpBool sensor; + + cpFloat e; + cpFloat u; + cpVect surfaceV; + + cpDataPointer userData; + + cpCollisionType type; + cpShapeFilter filter; + + cpShape *next; + cpShape *prev; + + cpHashValue hashid; +}; + +struct cpCircleShape { + cpShape shape; + + cpVect c, tc; + cpFloat r; +}; + +struct cpSegmentShape { + cpShape shape; + + cpVect a, b, n; + cpVect ta, tb, tn; + cpFloat r; + + cpVect a_tangent, b_tangent; +}; + +struct cpSplittingPlane { + cpVect v0, n; +}; + +#define CP_POLY_SHAPE_INLINE_ALLOC 6 + +struct cpPolyShape { + cpShape shape; + + cpFloat r; + + int count; + // The untransformed planes are appended at the end of the transformed planes. + struct cpSplittingPlane *planes; + + // Allocate a small number of splitting planes internally for simple poly. + struct cpSplittingPlane _planes[2*CP_POLY_SHAPE_INLINE_ALLOC]; +}; + +cpShape *cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body, struct cpShapeMassInfo massInfo); + +static inline cpBool +cpShapeActive(cpShape *shape) +{ + // checks if the shape is added to a shape list. + // TODO could this just check the space now? + return (shape->prev || (shape->body && shape->body->shapeList == shape)); +} + +// Note: This function returns contact points with r1/r2 in absolute coordinates, not body relative. +struct cpCollisionInfo cpCollide(const cpShape *a, const cpShape *b, cpCollisionID id, struct cpContact *contacts); + +static inline void +CircleSegmentQuery(cpShape *shape, cpVect center, cpFloat r1, cpVect a, cpVect b, cpFloat r2, cpSegmentQueryInfo *info) +{ + cpVect da = cpvsub(a, center); + cpVect db = cpvsub(b, center); + cpFloat rsum = r1 + r2; + + cpFloat qa = cpvdot(da, da) - 2.0f*cpvdot(da, db) + cpvdot(db, db); + cpFloat qb = cpvdot(da, db) - cpvdot(da, da); + cpFloat det = qb*qb - qa*(cpvdot(da, da) - rsum*rsum); + + if(det >= 0.0f){ + cpFloat t = (-qb - cpfsqrt(det))/(qa); + if(0.0f<= t && t <= 1.0f){ + cpVect n = cpvnormalize(cpvlerp(da, db, t)); + + info->shape = shape; + info->point = cpvsub(cpvlerp(a, b, t), cpvmult(n, r2)); + info->normal = n; + info->alpha = t; + } + } +} + +static inline cpBool +cpShapeFilterReject(cpShapeFilter a, cpShapeFilter b) +{ + // Reject the collision if: + return ( + // They are in the same non-zero group. + (a.group != 0 && a.group == b.group) || + // One of the category/mask combinations fails. + (a.categories & b.mask) == 0 || + (b.categories & a.mask) == 0 + ); +} + +void cpLoopIndexes(const cpVect *verts, int count, int *start, int *end); + + +//MARK: Constraints +// TODO naming conventions here + +typedef void (*cpConstraintPreStepImpl)(cpConstraint *constraint, cpFloat dt); +typedef void (*cpConstraintApplyCachedImpulseImpl)(cpConstraint *constraint, cpFloat dt_coef); +typedef void (*cpConstraintApplyImpulseImpl)(cpConstraint *constraint, cpFloat dt); +typedef cpFloat (*cpConstraintGetImpulseImpl)(cpConstraint *constraint); + +typedef struct cpConstraintClass { + cpConstraintPreStepImpl preStep; + cpConstraintApplyCachedImpulseImpl applyCachedImpulse; + cpConstraintApplyImpulseImpl applyImpulse; + cpConstraintGetImpulseImpl getImpulse; +} cpConstraintClass; + +struct cpConstraint { + const cpConstraintClass *klass; + + cpSpace *space; + + cpBody *a, *b; + cpConstraint *next_a, *next_b; + + cpFloat maxForce; + cpFloat errorBias; + cpFloat maxBias; + + cpBool collideBodies; + + cpConstraintPreSolveFunc preSolve; + cpConstraintPostSolveFunc postSolve; + + cpDataPointer userData; +}; + +struct cpPinJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat dist; + + cpVect r1, r2; + cpVect n; + cpFloat nMass; + + cpFloat jnAcc; + cpFloat bias; +}; + +struct cpSlideJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat min, max; + + cpVect r1, r2; + cpVect n; + cpFloat nMass; + + cpFloat jnAcc; + cpFloat bias; +}; + +struct cpPivotJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + + cpVect r1, r2; + cpMat2x2 k; + + cpVect jAcc; + cpVect bias; +}; + +struct cpGrooveJoint { + cpConstraint constraint; + cpVect grv_n, grv_a, grv_b; + cpVect anchorB; + + cpVect grv_tn; + cpFloat clamp; + cpVect r1, r2; + cpMat2x2 k; + + cpVect jAcc; + cpVect bias; +}; + +struct cpDampedSpring { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat restLength; + cpFloat stiffness; + cpFloat damping; + cpDampedSpringForceFunc springForceFunc; + + cpFloat target_vrn; + cpFloat v_coef; + + cpVect r1, r2; + cpFloat nMass; + cpVect n; + + cpFloat jAcc; +}; + +struct cpDampedRotarySpring { + cpConstraint constraint; + cpFloat restAngle; + cpFloat stiffness; + cpFloat damping; + cpDampedRotarySpringTorqueFunc springTorqueFunc; + + cpFloat target_wrn; + cpFloat w_coef; + + cpFloat iSum; + cpFloat jAcc; +}; + +struct cpRotaryLimitJoint { + cpConstraint constraint; + cpFloat min, max; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpRatchetJoint { + cpConstraint constraint; + cpFloat angle, phase, ratchet; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpGearJoint { + cpConstraint constraint; + cpFloat phase, ratio; + cpFloat ratio_inv; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpSimpleMotor { + cpConstraint constraint; + cpFloat rate; + + cpFloat iSum; + + cpFloat jAcc; +}; + +void cpConstraintInit(cpConstraint *constraint, const struct cpConstraintClass *klass, cpBody *a, cpBody *b); + +static inline void +cpConstraintActivateBodies(cpConstraint *constraint) +{ + cpBody *a = constraint->a; cpBodyActivate(a); + cpBody *b = constraint->b; cpBodyActivate(b); +} + +static inline cpVect +relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){ + cpVect v1_sum = cpvadd(a->CP_PRIVATE(v), cpvmult(cpvperp(r1), a->CP_PRIVATE(w))); + cpVect v2_sum = cpvadd(b->CP_PRIVATE(v), cpvmult(cpvperp(r2), b->CP_PRIVATE(w))); + + return cpvsub(v2_sum, v1_sum); +} + +static inline cpFloat +normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){ + return cpvdot(relative_velocity(a, b, r1, r2), n); +} + +static inline void +apply_impulse(cpBody *body, cpVect j, cpVect r){ + body->CP_PRIVATE(v) = cpvadd(body->CP_PRIVATE(v), cpvmult(j, body->CP_PRIVATE(m_inv))); + body->CP_PRIVATE(w) += body->CP_PRIVATE(i_inv)*cpvcross(r, j); +} + +static inline void +apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) +{ + apply_impulse(a, cpvneg(j), r1); + apply_impulse(b, j, r2); +} + +static inline void +apply_bias_impulse(cpBody *body, cpVect j, cpVect r) +{ + body->CP_PRIVATE(v_bias) = cpvadd(body->CP_PRIVATE(v_bias), cpvmult(j, body->CP_PRIVATE(m_inv))); + body->CP_PRIVATE(w_bias) += body->CP_PRIVATE(i_inv)*cpvcross(r, j); +} + +static inline void +apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) +{ + apply_bias_impulse(a, cpvneg(j), r1); + apply_bias_impulse(b, j, r2); +} + +static inline cpFloat +k_scalar_body(cpBody *body, cpVect r, cpVect n) +{ + cpFloat rcn = cpvcross(r, n); + return body->CP_PRIVATE(m_inv) + body->CP_PRIVATE(i_inv)*rcn*rcn; +} + +static inline cpFloat +k_scalar(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n) +{ + cpFloat value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n); + cpAssertSoft(value != 0.0, "Unsolvable collision or constraint."); + + return value; +} + +static inline cpMat2x2 +k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2) +{ + cpFloat m_sum = a->CP_PRIVATE(m_inv) + b->CP_PRIVATE(m_inv); + + // start with Identity*m_sum + cpFloat k11 = m_sum, k12 = 0.0f; + cpFloat k21 = 0.0f, k22 = m_sum; + + // add the influence from r1 + cpFloat a_i_inv = a->CP_PRIVATE(i_inv); + cpFloat r1xsq = r1.x * r1.x * a_i_inv; + cpFloat r1ysq = r1.y * r1.y * a_i_inv; + cpFloat r1nxy = -r1.x * r1.y * a_i_inv; + k11 += r1ysq; k12 += r1nxy; + k21 += r1nxy; k22 += r1xsq; + + // add the influnce from r2 + cpFloat b_i_inv = b->CP_PRIVATE(i_inv); + cpFloat r2xsq = r2.x * r2.x * b_i_inv; + cpFloat r2ysq = r2.y * r2.y * b_i_inv; + cpFloat r2nxy = -r2.x * r2.y * b_i_inv; + k11 += r2ysq; k12 += r2nxy; + k21 += r2nxy; k22 += r2xsq; + + // invert + cpFloat det = k11*k22 - k12*k21; + cpAssertSoft(det != 0.0, "Unsolvable constraint."); + + cpFloat det_inv = 1.0f/det; + return cpMat2x2New( + k22*det_inv, -k12*det_inv, + -k21*det_inv, k11*det_inv + ); +} + +static inline cpFloat +bias_coef(cpFloat errorBias, cpFloat dt) +{ + return 1.0f - cpfpow(errorBias, dt); +} + + +//MARK: Spaces + +typedef struct cpContactBufferHeader cpContactBufferHeader; +typedef void (*cpSpaceArbiterApplyImpulseFunc)(cpArbiter *arb); + +struct cpSpace { + int iterations; + + cpVect gravity; + cpFloat damping; + + cpFloat idleSpeedThreshold; + cpFloat sleepTimeThreshold; + + cpFloat collisionSlop; + cpFloat collisionBias; + cpTimestamp collisionPersistence; + + cpDataPointer userData; + + cpTimestamp stamp; + cpFloat curr_dt; + + cpArray *dynamicBodies; + cpArray *staticBodies; + cpArray *rousedBodies; + cpArray *sleepingComponents; + + cpHashValue shapeIDCounter; + cpSpatialIndex *staticShapes; + cpSpatialIndex *dynamicShapes; + + cpArray *constraints; + + cpArray *arbiters; + cpContactBufferHeader *contactBuffersHead; + cpHashSet *cachedArbiters; + cpArray *pooledArbiters; + + cpArray *allocatedBuffers; + unsigned int locked; + + cpBool usesWildcards; + cpHashSet *collisionHandlers; + cpCollisionHandler defaultHandler; + + cpBool skipPostStep; + cpArray *postStepCallbacks; + + cpBody *staticBody; + cpBody _staticBody; +}; + +#define cpAssertSpaceUnlocked(space) \ + cpAssertHard(!space->locked, \ + "This operation cannot be done safely during a call to cpSpaceStep() or during a query. " \ + "Put these calls into a post-step callback." \ + ); + +void cpSpaceSetStaticBody(cpSpace *space, cpBody *body); + +extern cpCollisionHandler cpCollisionHandlerDoNothing; + +void cpSpaceProcessComponents(cpSpace *space, cpFloat dt); + +void cpSpacePushFreshContactBuffer(cpSpace *space); +struct cpContact *cpContactBufferGetArray(cpSpace *space); +void cpSpacePushContacts(cpSpace *space, int count); + +typedef struct cpPostStepCallback { + cpPostStepFunc func; + void *key; + void *data; +} cpPostStepCallback; + +cpPostStepCallback *cpSpaceGetPostStepCallback(cpSpace *space, void *key); + +cpBool cpSpaceArbiterSetFilter(cpArbiter *arb, cpSpace *space); +void cpSpaceFilterArbiters(cpSpace *space, cpBody *body, cpShape *filter); + +void cpSpaceActivateBody(cpSpace *space, cpBody *body); +void cpSpaceLock(cpSpace *space); +void cpSpaceUnlock(cpSpace *space, cpBool runPostStep); + +static inline void +cpSpaceUncacheArbiter(cpSpace *space, cpArbiter *arb) +{ + const cpShape *a = arb->a, *b = arb->b; + const cpShape *shape_pair[] = {a, b}; + cpHashValue arbHashID = CP_HASH_PAIR((cpHashValue)a, (cpHashValue)b); + cpHashSetRemove(space->cachedArbiters, arbHashID, shape_pair); + cpArrayDeleteObj(space->arbiters, arb); +} + +static inline cpArray * +cpSpaceArrayForBodyType(cpSpace *space, cpBodyType type) +{ + return (type == CP_BODY_TYPE_STATIC ? space->staticBodies : space->dynamicBodies); +} + +void cpShapeUpdateFunc(cpShape *shape, void *unused); +cpCollisionID cpSpaceCollideShapes(cpShape *a, cpShape *b, cpCollisionID id, cpSpace *space); + + //MARK: Foreach loops static inline cpConstraint * @@ -71,184 +761,6 @@ cpArbiterNext(cpArbiter *node, cpBody *body) for(cpShape *var = body->shapeList; var; var = var->next) #define CP_BODY_FOREACH_COMPONENT(root, var)\ - for(cpBody *var = root; var; var = var->node.next) + for(cpBody *var = root; var; var = var->sleeping.next) - -//MARK: cpHashSet - -typedef cpBool (*cpHashSetEqlFunc)(void *ptr, void *elt); -typedef void *(*cpHashSetTransFunc)(void *ptr, void *data); - -cpHashSet *cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc); -void cpHashSetSetDefaultValue(cpHashSet *set, void *default_value); - -void cpHashSetFree(cpHashSet *set); - -int cpHashSetCount(cpHashSet *set); -void *cpHashSetInsert(cpHashSet *set, cpHashValue hash, void *ptr, void *data, cpHashSetTransFunc trans); -void *cpHashSetRemove(cpHashSet *set, cpHashValue hash, void *ptr); -void *cpHashSetFind(cpHashSet *set, cpHashValue hash, void *ptr); - -typedef void (*cpHashSetIteratorFunc)(void *elt, void *data); -void cpHashSetEach(cpHashSet *set, cpHashSetIteratorFunc func, void *data); - -typedef cpBool (*cpHashSetFilterFunc)(void *elt, void *data); -void cpHashSetFilter(cpHashSet *set, cpHashSetFilterFunc func, void *data); - - -//MARK: Body Functions - -void cpBodyAddShape(cpBody *body, cpShape *shape); -void cpBodyRemoveShape(cpBody *body, cpShape *shape); -void cpBodyRemoveConstraint(cpBody *body, cpConstraint *constraint); - - -//MARK: Shape/Collision Functions - -// TODO should move this to the cpVect API. It's pretty useful. -static inline cpVect -cpClosetPointOnSegment(const cpVect p, const cpVect a, const cpVect b) -{ - cpVect delta = cpvsub(a, b); - cpFloat t = cpfclamp01(cpvdot(delta, cpvsub(p, b))/cpvlengthsq(delta)); - return cpvadd(b, cpvmult(delta, t)); -} - -cpShape* cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body); - -static inline cpBool -cpShapeActive(cpShape *shape) -{ - return shape->prev || (shape->body && shape->body->shapeList == shape); -} - -int cpCollideShapes(const cpShape *a, const cpShape *b, cpCollisionID *id, cpContact *arr); - -static inline void -CircleSegmentQuery(cpShape *shape, cpVect center, cpFloat r, cpVect a, cpVect b, cpSegmentQueryInfo *info) -{ - cpVect da = cpvsub(a, center); - cpVect db = cpvsub(b, center); - - cpFloat qa = cpvdot(da, da) - 2.0f*cpvdot(da, db) + cpvdot(db, db); - cpFloat qb = -2.0f*cpvdot(da, da) + 2.0f*cpvdot(da, db); - cpFloat qc = cpvdot(da, da) - r*r; - - cpFloat det = qb*qb - 4.0f*qa*qc; - - if(det >= 0.0f){ - cpFloat t = (-qb - cpfsqrt(det))/(2.0f*qa); - if(0.0f<= t && t <= 1.0f){ - info->shape = shape; - info->t = t; - info->n = cpvnormalize(cpvlerp(da, db, t)); - } - } -} - -// TODO doesn't really need to be inline, but need a better place to put this function -static inline cpSplittingPlane -cpSplittingPlaneNew(cpVect a, cpVect b) -{ - cpVect n = cpvnormalize(cpvperp(cpvsub(b, a))); - cpSplittingPlane plane = {n, cpvdot(n, a)}; - return plane; -} - -static inline cpFloat -cpSplittingPlaneCompare(cpSplittingPlane plane, cpVect v) -{ - return cpvdot(plane.n, v) - plane.d; -} - -void cpLoopIndexes(cpVect *verts, int count, int *start, int *end); - - -//MARK: Spatial Index Functions - -cpSpatialIndex *cpSpatialIndexInit(cpSpatialIndex *index, cpSpatialIndexClass *klass, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - - -//MARK: Space Functions - -extern cpCollisionHandler cpDefaultCollisionHandler; -void cpSpaceProcessComponents(cpSpace *space, cpFloat dt); - -void cpSpacePushFreshContactBuffer(cpSpace *space); -cpContact *cpContactBufferGetArray(cpSpace *space); -void cpSpacePushContacts(cpSpace *space, int count); - -typedef struct cpPostStepCallback { - cpPostStepFunc func; - void *key; - void *data; -} cpPostStepCallback; - -cpPostStepCallback *cpSpaceGetPostStepCallback(cpSpace *space, void *key); - -cpBool cpSpaceArbiterSetFilter(cpArbiter *arb, cpSpace *space); -void cpSpaceFilterArbiters(cpSpace *space, cpBody *body, cpShape *filter); - -void cpSpaceActivateBody(cpSpace *space, cpBody *body); -void cpSpaceLock(cpSpace *space); -void cpSpaceUnlock(cpSpace *space, cpBool runPostStep); - -static inline cpCollisionHandler * -cpSpaceLookupHandler(cpSpace *space, cpCollisionType a, cpCollisionType b) -{ - cpCollisionType types[] = {a, b}; - return (cpCollisionHandler *)cpHashSetFind(space->collisionHandlers, CP_HASH_PAIR(a, b), types); -} - -static inline void -cpSpaceUncacheArbiter(cpSpace *space, cpArbiter *arb) -{ - cpShape *a = arb->a, *b = arb->b; - cpShape *shape_pair[] = {a, b}; - cpHashValue arbHashID = CP_HASH_PAIR((cpHashValue)a, (cpHashValue)b); - cpHashSetRemove(space->cachedArbiters, arbHashID, shape_pair); - cpArrayDeleteObj(space->arbiters, arb); -} - -void cpShapeUpdateFunc(cpShape *shape, void *unused); -cpCollisionID cpSpaceCollideShapes(cpShape *a, cpShape *b, cpCollisionID id, cpSpace *space); - - -//MARK: Arbiters - -struct cpContact { - cpVect p, n; - cpFloat dist; - - cpVect r1, r2; - cpFloat nMass, tMass, bounce; - - cpFloat jnAcc, jtAcc, jBias; - cpFloat bias; - - cpHashValue hash; -}; - -cpContact* cpContactInit(cpContact *con, cpVect p, cpVect n, cpFloat dist, cpHashValue hash); -cpArbiter* cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b); - -static inline void -cpArbiterCallSeparate(cpArbiter *arb, cpSpace *space) -{ - // The handler needs to be looked up again as the handler cached on the arbiter may have been deleted since the last step. - cpCollisionHandler *handler = cpSpaceLookupHandler(space, arb->a->collision_type, arb->b->collision_type); - handler->separate(arb, space, handler->data); -} - -static inline struct cpArbiterThread * -cpArbiterThreadForBody(cpArbiter *arb, cpBody *body) -{ - return (arb->body_a == body ? &arb->thread_a : &arb->thread_b); -} - -void cpArbiterUnthread(cpArbiter *arb); - -void cpArbiterUpdate(cpArbiter *arb, cpContact *contacts, int numContacts, struct cpCollisionHandler *handler, cpShape *a, cpShape *b); -void cpArbiterPreStep(cpArbiter *arb, cpFloat dt, cpFloat bias, cpFloat slop); -void cpArbiterApplyCachedImpulse(cpArbiter *arb, cpFloat dt_coef); -void cpArbiterApplyImpulse(cpArbiter *arb); +#endif diff --git a/android/arm64-v8a/include/chipmunk/chipmunk_types.h b/android/arm64-v8a/include/chipmunk/chipmunk_types.h index 9ed23391..7aee0c79 100644 --- a/android/arm64-v8a/include/chipmunk/chipmunk_types.h +++ b/android/arm64-v8a/include/chipmunk/chipmunk_types.h @@ -1,31 +1,34 @@ +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +#ifndef CHIPMUNK_TYPES_H +#define CHIPMUNK_TYPES_H + #include #include - -#ifdef __APPLE__ - #include "TargetConditionals.h" -#endif - -#if ((TARGET_OS_IPHONE == 1) || (TARGET_OS_MAC == 1)) && (!defined CP_USE_CGPOINTS) - #define CP_USE_CGPOINTS 1 -#endif - -#if CP_USE_CGPOINTS == 1 - #if TARGET_OS_IPHONE - #import - #elif TARGET_OS_MAC - #include - #endif - - #if defined(__LP64__) && __LP64__ - #define CP_USE_DOUBLES 1 - #else - #define CP_USE_DOUBLES 0 - #endif -#endif +#include #ifndef CP_USE_DOUBLES - // use doubles by default for higher precision - #define CP_USE_DOUBLES 1 + // Use doubles by default for higher precision. + #define CP_USE_DOUBLES 0 #endif /// @defgroup basicTypes Basic Types @@ -82,13 +85,8 @@ #endif #endif -#ifndef M_PI - #define M_PI 3.14159265358979323846264338327950288 -#endif -#ifndef M_E - #define M_E 2.71828182845904523536028747135266250 -#endif +#define CP_PI ((cpFloat)3.14159265358979323846264338327950288) /// Return the max of two cpFloats. @@ -136,7 +134,11 @@ static inline cpFloat cpflerpconst(cpFloat f1, cpFloat f2, cpFloat d) } /// Hash value type. -typedef uintptr_t cpHashValue; +#ifdef CP_HASH_VALUE_TYPE + typedef CP_HASH_VALUE_TYPE cpHashValue; +#else + typedef uintptr_t cpHashValue; +#endif /// Type used internally to cache colliding object info for cpCollideShapes(). /// Should be at least 32 bits. @@ -147,7 +149,7 @@ typedef uint32_t cpCollisionID; #ifdef CP_BOOL_TYPE typedef CP_BOOL_TYPE cpBool; #else - typedef int cpBool; + typedef unsigned char cpBool; #endif #ifndef cpTrue @@ -181,11 +183,11 @@ typedef uint32_t cpCollisionID; typedef uintptr_t cpGroup; #endif -#ifdef CP_LAYERS_TYPE - typedef CP_LAYERS_TYPE cpLayers; +#ifdef CP_BITMASK_TYPE + typedef CP_BITMASK_TYPE cpBitmask; #else -/// Type used for cpShape.layers. - typedef unsigned int cpLayers; +/// Type used for cpShapeFilter category and mask. + typedef unsigned int cpBitmask; #endif #ifdef CP_TIMESTAMP_TYPE @@ -200,15 +202,21 @@ typedef uint32_t cpCollisionID; #define CP_NO_GROUP ((cpGroup)0) #endif -#ifndef CP_ALL_LAYERS +#ifndef CP_ALL_CATEGORIES /// Value for cpShape.layers signifying that a shape is in every layer. - #define CP_ALL_LAYERS (~(cpLayers)0) + #define CP_ALL_CATEGORIES (~(cpBitmask)0) #endif + +#ifndef CP_WILDCARD_COLLISION_TYPE +/// cpCollisionType value internally reserved for hashing wildcard handlers. + #define CP_WILDCARD_COLLISION_TYPE (~(cpCollisionType)0) +#endif + /// @} // CGPoints are structurally the same, and allow // easy interoperability with other Cocoa libraries -#if CP_USE_CGPOINTS +#if CP_USE_CGTYPES typedef CGPoint cpVect; #else /// Chipmunk's 2D vector type. @@ -216,7 +224,19 @@ typedef uint32_t cpCollisionID; typedef struct cpVect{cpFloat x,y;} cpVect; #endif +#if CP_USE_CGTYPES + typedef CGAffineTransform cpTransform; +#else + /// Column major affine transform. + typedef struct cpTransform { + cpFloat a, b, c, d, tx, ty; + } cpTransform; +#endif + +// NUKE typedef struct cpMat2x2 { // Row major [[a, b][c d]] cpFloat a, b, c, d; } cpMat2x2; + +#endif diff --git a/android/arm64-v8a/include/chipmunk/chipmunk_unsafe.h b/android/arm64-v8a/include/chipmunk/chipmunk_unsafe.h index 4428814c..990bd012 100644 --- a/android/arm64-v8a/include/chipmunk/chipmunk_unsafe.h +++ b/android/arm64-v8a/include/chipmunk/chipmunk_unsafe.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -36,27 +36,28 @@ /// so the results will be unrealistic. You must explicity include the chipmunk_unsafe.h header to use them. /// @{ -#ifndef CHIPMUNK_UNSAFE_HEADER -#define CHIPMUNK_UNSAFE_HEADER +#ifndef CHIPMUNK_UNSAFE_H +#define CHIPMUNK_UNSAFE_H #ifdef __cplusplus extern "C" { #endif /// Set the radius of a circle shape. -void cpCircleShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpCircleShapeSetRadius(cpShape *shape, cpFloat radius); /// Set the offset of a circle shape. -void cpCircleShapeSetOffset(cpShape *shape, cpVect offset); +CP_EXPORT void cpCircleShapeSetOffset(cpShape *shape, cpVect offset); /// Set the endpoints of a segment shape. -void cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b); +CP_EXPORT void cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b); /// Set the radius of a segment shape. -void cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius); /// Set the vertexes of a poly shape. -void cpPolyShapeSetVerts(cpShape *shape, int numVerts, cpVect *verts, cpVect offset); +CP_EXPORT void cpPolyShapeSetVerts(cpShape *shape, int count, cpVect *verts, cpTransform transform); +CP_EXPORT void cpPolyShapeSetVertsRaw(cpShape *shape, int count, cpVect *verts); /// Set the radius of a poly shape. -void cpPolyShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpPolyShapeSetRadius(cpShape *shape, cpFloat radius); #ifdef __cplusplus } diff --git a/android/arm64-v8a/include/chipmunk/constraints/cpConstraint.h b/android/arm64-v8a/include/chipmunk/constraints/cpConstraint.h deleted file mode 100644 index d1059fff..00000000 --- a/android/arm64-v8a/include/chipmunk/constraints/cpConstraint.h +++ /dev/null @@ -1,161 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpConstraint cpConstraint -/// @{ - -typedef struct cpConstraintClass cpConstraintClass; - -typedef void (*cpConstraintPreStepImpl)(cpConstraint *constraint, cpFloat dt); -typedef void (*cpConstraintApplyCachedImpulseImpl)(cpConstraint *constraint, cpFloat dt_coef); -typedef void (*cpConstraintApplyImpulseImpl)(cpConstraint *constraint, cpFloat dt); -typedef cpFloat (*cpConstraintGetImpulseImpl)(cpConstraint *constraint); - -/// @private -struct cpConstraintClass { - cpConstraintPreStepImpl preStep; - cpConstraintApplyCachedImpulseImpl applyCachedImpulse; - cpConstraintApplyImpulseImpl applyImpulse; - cpConstraintGetImpulseImpl getImpulse; -}; - -/// Callback function type that gets called before solving a joint. -typedef void (*cpConstraintPreSolveFunc)(cpConstraint *constraint, cpSpace *space); -/// Callback function type that gets called after solving a joint. -typedef void (*cpConstraintPostSolveFunc)(cpConstraint *constraint, cpSpace *space); - - -/// Opaque cpConstraint struct. -struct cpConstraint { - CP_PRIVATE(const cpConstraintClass *klass); - - /// The first body connected to this constraint. - cpBody *a; - /// The second body connected to this constraint. - cpBody *b; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpConstraint *next_a); - CP_PRIVATE(cpConstraint *next_b); - - /// The maximum force that this constraint is allowed to use. - /// Defaults to infinity. - cpFloat maxForce; - /// The rate at which joint error is corrected. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that it will - /// correct 10% of the error every 1/60th of a second. - cpFloat errorBias; - /// The maximum rate at which joint error is corrected. - /// Defaults to infinity. - cpFloat maxBias; - - /// Function called before the solver runs. - /// Animate your joint anchors, update your motor torque, etc. - cpConstraintPreSolveFunc preSolve; - - /// Function called after the solver runs. - /// Use the applied impulse to perform effects like breakable joints. - cpConstraintPostSolveFunc postSolve; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpConstraint reference in a callback. - cpDataPointer data; -}; - -/// Destroy a constraint. -void cpConstraintDestroy(cpConstraint *constraint); -/// Destroy and free a constraint. -void cpConstraintFree(cpConstraint *constraint); - -/// @private -static inline void cpConstraintActivateBodies(cpConstraint *constraint) -{ - cpBody *a = constraint->a; if(a) cpBodyActivate(a); - cpBody *b = constraint->b; if(b) cpBodyActivate(b); -} - -/// @private -#define CP_DefineConstraintStructGetter(type, member, name) \ -static inline type cpConstraint##Get##name(const cpConstraint *constraint){return constraint->member;} - -/// @private -#define CP_DefineConstraintStructSetter(type, member, name) \ -static inline void cpConstraint##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintActivateBodies(constraint); \ - constraint->member = value; \ -} - -/// @private -#define CP_DefineConstraintStructProperty(type, member, name) \ -CP_DefineConstraintStructGetter(type, member, name) \ -CP_DefineConstraintStructSetter(type, member, name) - -CP_DefineConstraintStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineConstraintStructGetter(cpBody*, a, A) -CP_DefineConstraintStructGetter(cpBody*, b, B) -CP_DefineConstraintStructProperty(cpFloat, maxForce, MaxForce) -CP_DefineConstraintStructProperty(cpFloat, errorBias, ErrorBias) -CP_DefineConstraintStructProperty(cpFloat, maxBias, MaxBias) -CP_DefineConstraintStructProperty(cpConstraintPreSolveFunc, preSolve, PreSolveFunc) -CP_DefineConstraintStructProperty(cpConstraintPostSolveFunc, postSolve, PostSolveFunc) -CP_DefineConstraintStructProperty(cpDataPointer, data, UserData) - -// Get the last impulse applied by this constraint. -static inline cpFloat cpConstraintGetImpulse(cpConstraint *constraint) -{ - return constraint->CP_PRIVATE(klass)->getImpulse(constraint); -} - -/// @} - -#define cpConstraintCheckCast(constraint, struct) \ - cpAssertHard(constraint->CP_PRIVATE(klass) == struct##GetClass(), "Constraint is not a "#struct) - -#define CP_DefineConstraintGetter(struct, type, member, name) \ -static inline type struct##Get##name(const cpConstraint *constraint){ \ - cpConstraintCheckCast(constraint, struct); \ - return ((struct *)constraint)->member; \ -} - -#define CP_DefineConstraintSetter(struct, type, member, name) \ -static inline void struct##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintCheckCast(constraint, struct); \ - cpConstraintActivateBodies(constraint); \ - ((struct *)constraint)->member = value; \ -} - -#define CP_DefineConstraintProperty(struct, type, member, name) \ -CP_DefineConstraintGetter(struct, type, member, name) \ -CP_DefineConstraintSetter(struct, type, member, name) - -#include "cpPinJoint.h" -#include "cpSlideJoint.h" -#include "cpPivotJoint.h" -#include "cpGrooveJoint.h" -#include "cpDampedSpring.h" -#include "cpDampedRotarySpring.h" -#include "cpRotaryLimitJoint.h" -#include "cpRatchetJoint.h" -#include "cpGearJoint.h" -#include "cpSimpleMotor.h" diff --git a/android/arm64-v8a/include/chipmunk/constraints/cpDampedRotarySpring.h b/android/arm64-v8a/include/chipmunk/constraints/cpDampedRotarySpring.h deleted file mode 100644 index 86cf915b..00000000 --- a/android/arm64-v8a/include/chipmunk/constraints/cpDampedRotarySpring.h +++ /dev/null @@ -1,56 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedRotarySpring cpDampedRotarySpring -/// @{ - -typedef cpFloat (*cpDampedRotarySpringTorqueFunc)(struct cpConstraint *spring, cpFloat relativeAngle); - -const cpConstraintClass *cpDampedRotarySpringGetClass(void); - -/// @private -typedef struct cpDampedRotarySpring { - cpConstraint constraint; - cpFloat restAngle; - cpFloat stiffness; - cpFloat damping; - cpDampedRotarySpringTorqueFunc springTorqueFunc; - - cpFloat target_wrn; - cpFloat w_coef; - - cpFloat iSum; - cpFloat jAcc; -} cpDampedRotarySpring; - -/// Allocate a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringAlloc(void); -/// Initialize a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringInit(cpDampedRotarySpring *joint, cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped rotary spring. -cpConstraint* cpDampedRotarySpringNew(cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, restAngle, RestAngle) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpDampedRotarySpringTorqueFunc, springTorqueFunc, SpringTorqueFunc) - -/// @} diff --git a/android/arm64-v8a/include/chipmunk/constraints/cpDampedSpring.h b/android/arm64-v8a/include/chipmunk/constraints/cpDampedSpring.h deleted file mode 100644 index f5120647..00000000 --- a/android/arm64-v8a/include/chipmunk/constraints/cpDampedSpring.h +++ /dev/null @@ -1,64 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedSpring cpDampedSpring -/// @{ - -typedef struct cpDampedSpring cpDampedSpring; - -typedef cpFloat (*cpDampedSpringForceFunc)(cpConstraint *spring, cpFloat dist); - -const cpConstraintClass *cpDampedSpringGetClass(void); - -/// @private -struct cpDampedSpring { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat restLength; - cpFloat stiffness; - cpFloat damping; - cpDampedSpringForceFunc springForceFunc; - - cpFloat target_vrn; - cpFloat v_coef; - - cpVect r1, r2; - cpFloat nMass; - cpVect n; - - cpFloat jAcc; -}; - -/// Allocate a damped spring. -cpDampedSpring* cpDampedSpringAlloc(void); -/// Initialize a damped spring. -cpDampedSpring* cpDampedSpringInit(cpDampedSpring *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped spring. -cpConstraint* cpDampedSpringNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, restLength, RestLength) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedSpring, cpDampedSpringForceFunc, springForceFunc, SpringForceFunc) - -/// @} diff --git a/android/arm64-v8a/include/chipmunk/constraints/cpGearJoint.h b/android/arm64-v8a/include/chipmunk/constraints/cpGearJoint.h deleted file mode 100644 index c9ebf942..00000000 --- a/android/arm64-v8a/include/chipmunk/constraints/cpGearJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGearJoint cpGearJoint -/// @{ - -const cpConstraintClass *cpGearJointGetClass(void); - -/// @private -typedef struct cpGearJoint { - cpConstraint constraint; - cpFloat phase, ratio; - cpFloat ratio_inv; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpGearJoint; - -/// Allocate a gear joint. -cpGearJoint* cpGearJointAlloc(void); -/// Initialize a gear joint. -cpGearJoint* cpGearJointInit(cpGearJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); -/// Allocate and initialize a gear joint. -cpConstraint* cpGearJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); - -CP_DefineConstraintProperty(cpGearJoint, cpFloat, phase, Phase) -CP_DefineConstraintGetter(cpGearJoint, cpFloat, ratio, Ratio) -/// Set the ratio of a gear joint. -void cpGearJointSetRatio(cpConstraint *constraint, cpFloat value); - -/// @} diff --git a/android/arm64-v8a/include/chipmunk/constraints/cpGrooveJoint.h b/android/arm64-v8a/include/chipmunk/constraints/cpGrooveJoint.h deleted file mode 100644 index b260218f..00000000 --- a/android/arm64-v8a/include/chipmunk/constraints/cpGrooveJoint.h +++ /dev/null @@ -1,57 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGrooveJoint cpGrooveJoint -/// @{ - -const cpConstraintClass *cpGrooveJointGetClass(void); - -/// @private -typedef struct cpGrooveJoint { - cpConstraint constraint; - cpVect grv_n, grv_a, grv_b; - cpVect anchr2; - - cpVect grv_tn; - cpFloat clamp; - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpGrooveJoint; - -/// Allocate a groove joint. -cpGrooveJoint* cpGrooveJointAlloc(void); -/// Initialize a groove joint. -cpGrooveJoint* cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); -/// Allocate and initialize a groove joint. -cpConstraint* cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); - -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_a, GrooveA) -/// Set endpoint a of a groove joint's groove -void cpGrooveJointSetGrooveA(cpConstraint *constraint, cpVect value); -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_b, GrooveB) -/// Set endpoint b of a groove joint's groove -void cpGrooveJointSetGrooveB(cpConstraint *constraint, cpVect value); -CP_DefineConstraintProperty(cpGrooveJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/android/arm64-v8a/include/chipmunk/constraints/cpPinJoint.h b/android/arm64-v8a/include/chipmunk/constraints/cpPinJoint.h deleted file mode 100644 index 2413e84a..00000000 --- a/android/arm64-v8a/include/chipmunk/constraints/cpPinJoint.h +++ /dev/null @@ -1,52 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPinJoint cpPinJoint -/// @{ - -const cpConstraintClass *cpPinJointGetClass(void); - -/// @private -typedef struct cpPinJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat dist; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpPinJoint; - -/// Allocate a pin joint. -cpPinJoint* cpPinJointAlloc(void); -/// Initialize a pin joint. -cpPinJoint* cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pin joint. -cpConstraint* cpPinJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpPinJoint, cpFloat, dist, Dist) - -///@} diff --git a/android/arm64-v8a/include/chipmunk/constraints/cpPivotJoint.h b/android/arm64-v8a/include/chipmunk/constraints/cpPivotJoint.h deleted file mode 100644 index a5d33174..00000000 --- a/android/arm64-v8a/include/chipmunk/constraints/cpPivotJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPivotJoint cpPivotJoint -/// @{ - -const cpConstraintClass *cpPivotJointGetClass(void); - -/// @private -typedef struct cpPivotJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpPivotJoint; - -/// Allocate a pivot joint -cpPivotJoint* cpPivotJointAlloc(void); -/// Initialize a pivot joint. -cpPivotJoint* cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pivot joint. -cpConstraint* cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot); -/// Allocate and initialize a pivot joint with specific anchors. -cpConstraint* cpPivotJointNew2(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/android/arm64-v8a/include/chipmunk/constraints/cpRatchetJoint.h b/android/arm64-v8a/include/chipmunk/constraints/cpRatchetJoint.h deleted file mode 100644 index e371b108..00000000 --- a/android/arm64-v8a/include/chipmunk/constraints/cpRatchetJoint.h +++ /dev/null @@ -1,49 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRatchetJoint cpRatchetJoint -/// @{ - -const cpConstraintClass *cpRatchetJointGetClass(void); - -/// @private -typedef struct cpRatchetJoint { - cpConstraint constraint; - cpFloat angle, phase, ratchet; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRatchetJoint; - -/// Allocate a ratchet joint. -cpRatchetJoint* cpRatchetJointAlloc(void); -/// Initialize a ratched joint. -cpRatchetJoint* cpRatchetJointInit(cpRatchetJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); -/// Allocate and initialize a ratchet joint. -cpConstraint* cpRatchetJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); - -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, angle, Angle) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, phase, Phase) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, ratchet, Ratchet) - -/// @} diff --git a/android/arm64-v8a/include/chipmunk/constraints/cpRotaryLimitJoint.h b/android/arm64-v8a/include/chipmunk/constraints/cpRotaryLimitJoint.h deleted file mode 100644 index 2277e40f..00000000 --- a/android/arm64-v8a/include/chipmunk/constraints/cpRotaryLimitJoint.h +++ /dev/null @@ -1,48 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRotaryLimitJoint cpRotaryLimitJoint -/// @{ - -const cpConstraintClass *cpRotaryLimitJointGetClass(void); - -/// @private -typedef struct cpRotaryLimitJoint { - cpConstraint constraint; - cpFloat min, max; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRotaryLimitJoint; - -/// Allocate a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointAlloc(void); -/// Initialize a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointInit(cpRotaryLimitJoint *joint, cpBody *a, cpBody *b, cpFloat min, cpFloat max); -/// Allocate and initialize a damped rotary limit joint. -cpConstraint* cpRotaryLimitJointNew(cpBody *a, cpBody *b, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, max, Max) - -/// @} diff --git a/android/arm64-v8a/include/chipmunk/constraints/cpSimpleMotor.h b/android/arm64-v8a/include/chipmunk/constraints/cpSimpleMotor.h deleted file mode 100644 index 37d28c5d..00000000 --- a/android/arm64-v8a/include/chipmunk/constraints/cpSimpleMotor.h +++ /dev/null @@ -1,46 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSimpleMotor cpSimpleMotor -/// @{ - -const cpConstraintClass *cpSimpleMotorGetClass(void); - -/// @private -typedef struct cpSimpleMotor { - cpConstraint constraint; - cpFloat rate; - - cpFloat iSum; - - cpFloat jAcc; -} cpSimpleMotor; - -/// Allocate a simple motor. -cpSimpleMotor* cpSimpleMotorAlloc(void); -/// initialize a simple motor. -cpSimpleMotor* cpSimpleMotorInit(cpSimpleMotor *joint, cpBody *a, cpBody *b, cpFloat rate); -/// Allocate and initialize a simple motor. -cpConstraint* cpSimpleMotorNew(cpBody *a, cpBody *b, cpFloat rate); - -CP_DefineConstraintProperty(cpSimpleMotor, cpFloat, rate, Rate) - -/// @} diff --git a/android/arm64-v8a/include/chipmunk/constraints/cpSlideJoint.h b/android/arm64-v8a/include/chipmunk/constraints/cpSlideJoint.h deleted file mode 100644 index 40db8bba..00000000 --- a/android/arm64-v8a/include/chipmunk/constraints/cpSlideJoint.h +++ /dev/null @@ -1,53 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSlideJoint cpSlideJoint -/// @{ - -const cpConstraintClass *cpSlideJointGetClass(void); - -/// @private -typedef struct cpSlideJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat min, max; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpSlideJoint; - -/// Allocate a slide joint. -cpSlideJoint* cpSlideJointAlloc(void); -/// Initialize a slide joint. -cpSlideJoint* cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); -/// Allocate and initialize a slide joint. -cpConstraint* cpSlideJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, max, Max) - -/// @} diff --git a/android/arm64-v8a/include/chipmunk/constraints/util.h b/android/arm64-v8a/include/chipmunk/constraints/util.h deleted file mode 100644 index 0a620475..00000000 --- a/android/arm64-v8a/include/chipmunk/constraints/util.h +++ /dev/null @@ -1,126 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -// These are utility routines to use when creating custom constraints. -// I'm not sure if this should be part of the private API or not. -// I should probably clean up the naming conventions if it is... - -#define CP_DefineClassGetter(t) const cpConstraintClass * t##GetClass(void){return (cpConstraintClass *)&klass;} - -void cpConstraintInit(cpConstraint *constraint, const cpConstraintClass *klass, cpBody *a, cpBody *b); - -static inline cpVect -relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){ - cpVect v1_sum = cpvadd(a->v, cpvmult(cpvperp(r1), a->w)); - cpVect v2_sum = cpvadd(b->v, cpvmult(cpvperp(r2), b->w)); - - return cpvsub(v2_sum, v1_sum); -} - -static inline cpFloat -normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){ - return cpvdot(relative_velocity(a, b, r1, r2), n); -} - -static inline void -apply_impulse(cpBody *body, cpVect j, cpVect r){ - body->v = cpvadd(body->v, cpvmult(j, body->m_inv)); - body->w += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_impulse(a, cpvneg(j), r1); - apply_impulse(b, j, r2); -} - -static inline void -apply_bias_impulse(cpBody *body, cpVect j, cpVect r) -{ - body->CP_PRIVATE(v_bias) = cpvadd(body->CP_PRIVATE(v_bias), cpvmult(j, body->m_inv)); - body->CP_PRIVATE(w_bias) += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_bias_impulse(a, cpvneg(j), r1); - apply_bias_impulse(b, j, r2); -} - -static inline cpFloat -k_scalar_body(cpBody *body, cpVect r, cpVect n) -{ - cpFloat rcn = cpvcross(r, n); - return body->m_inv + body->i_inv*rcn*rcn; -} - -static inline cpFloat -k_scalar(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n) -{ - cpFloat value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n); - cpAssertSoft(value != 0.0, "Unsolvable collision or constraint."); - - return value; -} - -static inline cpMat2x2 -k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2) -{ - cpFloat m_sum = a->m_inv + b->m_inv; - - // start with Identity*m_sum - cpFloat k11 = m_sum, k12 = 0.0f; - cpFloat k21 = 0.0f, k22 = m_sum; - - // add the influence from r1 - cpFloat a_i_inv = a->i_inv; - cpFloat r1xsq = r1.x * r1.x * a_i_inv; - cpFloat r1ysq = r1.y * r1.y * a_i_inv; - cpFloat r1nxy = -r1.x * r1.y * a_i_inv; - k11 += r1ysq; k12 += r1nxy; - k21 += r1nxy; k22 += r1xsq; - - // add the influnce from r2 - cpFloat b_i_inv = b->i_inv; - cpFloat r2xsq = r2.x * r2.x * b_i_inv; - cpFloat r2ysq = r2.y * r2.y * b_i_inv; - cpFloat r2nxy = -r2.x * r2.y * b_i_inv; - k11 += r2ysq; k12 += r2nxy; - k21 += r2nxy; k22 += r2xsq; - - // invert - cpFloat det = k11*k22 - k12*k21; - cpAssertSoft(det != 0.0, "Unsolvable constraint."); - - cpFloat det_inv = 1.0f/det; - return cpMat2x2New( - k22*det_inv, -k12*det_inv, - -k21*det_inv, k11*det_inv - ); -} - -static inline cpFloat -bias_coef(cpFloat errorBias, cpFloat dt) -{ - return 1.0f - cpfpow(errorBias, dt); -} diff --git a/android/arm64-v8a/include/chipmunk/cpArbiter.h b/android/arm64-v8a/include/chipmunk/cpArbiter.h index 1ccb693d..1dc130af 100644 --- a/android/arm64-v8a/include/chipmunk/cpArbiter.h +++ b/android/arm64-v8a/include/chipmunk/cpArbiter.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -20,188 +20,126 @@ */ /// @defgroup cpArbiter cpArbiter -/// The cpArbiter struct controls pairs of colliding shapes. +/// The cpArbiter struct tracks pairs of colliding shapes. /// They are also used in conjuction with collision handler callbacks -/// allowing you to retrieve information on the collision and control it. +/// allowing you to retrieve information on the collision or change it. +/// A unique arbiter value is used for each pair of colliding objects. It persists until the shapes separate. /// @{ -/// Collision begin event function callback type. -/// Returning false from a begin callback causes the collision to be ignored until -/// the the separate callback is called when the objects stop colliding. -typedef cpBool (*cpCollisionBeginFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision pre-solve event function callback type. -/// Returning false from a pre-step callback causes the collision to be ignored until the next step. -typedef cpBool (*cpCollisionPreSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision post-solve event function callback type. -typedef void (*cpCollisionPostSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision separate event function callback type. -typedef void (*cpCollisionSeparateFunc)(cpArbiter *arb, cpSpace *space, void *data); - -/// @private -struct cpCollisionHandler { - cpCollisionType a; - cpCollisionType b; - cpCollisionBeginFunc begin; - cpCollisionPreSolveFunc preSolve; - cpCollisionPostSolveFunc postSolve; - cpCollisionSeparateFunc separate; - void *data; -}; - -typedef struct cpContact cpContact; - #define CP_MAX_CONTACTS_PER_ARBITER 2 -/// @private -typedef enum cpArbiterState { - // Arbiter is active and its the first collision. - cpArbiterStateFirstColl, - // Arbiter is active and its not the first collision. - cpArbiterStateNormal, - // Collision has been explicitly ignored. - // Either by returning false from a begin collision handler or calling cpArbiterIgnore(). - cpArbiterStateIgnore, - // Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps. - cpArbiterStateCached, -} cpArbiterState; - -/// @private -struct cpArbiterThread { - // Links to next and previous arbiters in the contact graph. - struct cpArbiter *next, *prev; -}; - -/// A colliding pair of shapes. -struct cpArbiter { - /// Calculated value to use for the elasticity coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat e; - /// Calculated value to use for the friction coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat u; - /// Calculated value to use for applying surface velocities. - /// Override in a pre-solve collision handler for custom behavior. - cpVect surface_vr; - - /// User definable data pointer. - /// The value will persist for the pair of shapes until the separate() callback is called. - /// NOTE: If you need to clean up this pointer, you should implement the separate() callback to do it. - cpDataPointer data; - - CP_PRIVATE(cpShape *a); - CP_PRIVATE(cpShape *b); - CP_PRIVATE(cpBody *body_a); - CP_PRIVATE(cpBody *body_b); - - CP_PRIVATE(struct cpArbiterThread thread_a); - CP_PRIVATE(struct cpArbiterThread thread_b); - - CP_PRIVATE(int numContacts); - CP_PRIVATE(cpContact *contacts); - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpCollisionHandler *handler); - CP_PRIVATE(cpBool swappedColl); - CP_PRIVATE(cpArbiterState state); -}; - -#define CP_DefineArbiterStructGetter(type, member, name) \ -static inline type cpArbiterGet##name(const cpArbiter *arb){return arb->member;} - -#define CP_DefineArbiterStructSetter(type, member, name) \ -static inline void cpArbiterSet##name(cpArbiter *arb, type value){arb->member = value;} - -#define CP_DefineArbiterStructProperty(type, member, name) \ -CP_DefineArbiterStructGetter(type, member, name) \ -CP_DefineArbiterStructSetter(type, member, name) - -CP_DefineArbiterStructProperty(cpFloat, e, Elasticity) -CP_DefineArbiterStructProperty(cpFloat, u, Friction) +/// Get the restitution (elasticity) that will be applied to the pair of colliding objects. +CP_EXPORT cpFloat cpArbiterGetRestitution(const cpArbiter *arb); +/// Override the restitution (elasticity) that will be applied to the pair of colliding objects. +CP_EXPORT void cpArbiterSetRestitution(cpArbiter *arb, cpFloat restitution); +/// Get the friction coefficient that will be applied to the pair of colliding objects. +CP_EXPORT cpFloat cpArbiterGetFriction(const cpArbiter *arb); +/// Override the friction coefficient that will be applied to the pair of colliding objects. +CP_EXPORT void cpArbiterSetFriction(cpArbiter *arb, cpFloat friction); // Get the relative surface velocity of the two shapes in contact. -cpVect cpArbiterGetSurfaceVelocity(cpArbiter *arb); +CP_EXPORT cpVect cpArbiterGetSurfaceVelocity(cpArbiter *arb); // Override the relative surface velocity of the two shapes in contact. -// By default this is calculated to be the difference of the two -// surface velocities clamped to the tangent plane. -void cpArbiterSetSurfaceVelocity(cpArbiter *arb, cpVect vr); +// By default this is calculated to be the difference of the two surface velocities clamped to the tangent plane. +CP_EXPORT void cpArbiterSetSurfaceVelocity(cpArbiter *arb, cpVect vr); -CP_DefineArbiterStructProperty(cpDataPointer, data, UserData) +/// Get the user data pointer associated with this pair of colliding objects. +CP_EXPORT cpDataPointer cpArbiterGetUserData(const cpArbiter *arb); +/// Set a user data point associated with this pair of colliding objects. +/// If you need to perform any cleanup for this pointer, you must do it yourself, in the separate callback for instance. +CP_EXPORT void cpArbiterSetUserData(cpArbiter *arb, cpDataPointer userData); -/// Calculate the total impulse that was applied by this arbiter. -/// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulse(const cpArbiter *arb); /// Calculate the total impulse including the friction that was applied by this arbiter. /// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulseWithFriction(const cpArbiter *arb); +CP_EXPORT cpVect cpArbiterTotalImpulse(const cpArbiter *arb); /// Calculate the amount of energy lost in a collision including static, but not dynamic friction. /// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpFloat cpArbiterTotalKE(const cpArbiter *arb); +CP_EXPORT cpFloat cpArbiterTotalKE(const cpArbiter *arb); - -/// Causes a collision pair to be ignored as if you returned false from a begin callback. -/// If called from a pre-step callback, you will still need to return false -/// if you want it to be ignored in the current step. -void cpArbiterIgnore(cpArbiter *arb); +/// Mark a collision pair to be ignored until the two objects separate. +/// Pre-solve and post-solve callbacks will not be called, but the separate callback will be called. +CP_EXPORT cpBool cpArbiterIgnore(cpArbiter *arb); /// Return the colliding shapes involved for this arbiter. /// The order of their cpSpace.collision_type values will match /// the order set when the collision handler was registered. -static inline void cpArbiterGetShapes(const cpArbiter *arb, cpShape **a, cpShape **b) -{ - if(arb->CP_PRIVATE(swappedColl)){ - (*a) = arb->CP_PRIVATE(b), (*b) = arb->CP_PRIVATE(a); - } else { - (*a) = arb->CP_PRIVATE(a), (*b) = arb->CP_PRIVATE(b); - } -} +CP_EXPORT void cpArbiterGetShapes(const cpArbiter *arb, cpShape **a, cpShape **b); + /// A macro shortcut for defining and retrieving the shapes from an arbiter. #define CP_ARBITER_GET_SHAPES(__arb__, __a__, __b__) cpShape *__a__, *__b__; cpArbiterGetShapes(__arb__, &__a__, &__b__); /// Return the colliding bodies involved for this arbiter. /// The order of the cpSpace.collision_type the bodies are associated with values will match /// the order set when the collision handler was registered. -static inline void cpArbiterGetBodies(const cpArbiter *arb, cpBody **a, cpBody **b) -{ - CP_ARBITER_GET_SHAPES(arb, shape_a, shape_b); - (*a) = shape_a->body; - (*b) = shape_b->body; -} +CP_EXPORT void cpArbiterGetBodies(const cpArbiter *arb, cpBody **a, cpBody **b); + /// A macro shortcut for defining and retrieving the bodies from an arbiter. #define CP_ARBITER_GET_BODIES(__arb__, __a__, __b__) cpBody *__a__, *__b__; cpArbiterGetBodies(__arb__, &__a__, &__b__); /// A struct that wraps up the important collision data for an arbiter. -typedef struct cpContactPointSet { +struct cpContactPointSet { /// The number of contact points in the set. int count; + /// The normal of the collision. + cpVect normal; + /// The array of contact points. struct { - /// The position of the contact point. - cpVect point; - /// The normal of the contact point. - cpVect normal; - /// The depth of the contact point. - cpFloat dist; + /// The position of the contact on the surface of each shape. + cpVect pointA, pointB; + /// Penetration distance of the two shapes. Overlapping means it will be negative. + /// This value is calculated as cpvdot(cpvsub(point2, point1), normal) and is ignored by cpArbiterSetContactPointSet(). + cpFloat distance; } points[CP_MAX_CONTACTS_PER_ARBITER]; -} cpContactPointSet; +}; /// Return a contact set from an arbiter. -cpContactPointSet cpArbiterGetContactPointSet(const cpArbiter *arb); +CP_EXPORT cpContactPointSet cpArbiterGetContactPointSet(const cpArbiter *arb); /// Replace the contact point set for an arbiter. /// This can be a very powerful feature, but use it with caution! -void cpArbiterSetContactPointSet(cpArbiter *arb, cpContactPointSet *set); +CP_EXPORT void cpArbiterSetContactPointSet(cpArbiter *arb, cpContactPointSet *set); /// Returns true if this is the first step a pair of objects started colliding. -cpBool cpArbiterIsFirstContact(const cpArbiter *arb); +CP_EXPORT cpBool cpArbiterIsFirstContact(const cpArbiter *arb); +/// Returns true if the separate callback is due to a shape being removed from the space. +CP_EXPORT cpBool cpArbiterIsRemoval(const cpArbiter *arb); + /// Get the number of contact points for this arbiter. -int cpArbiterGetCount(const cpArbiter *arb); -/// Get the normal of the @c ith contact point. -cpVect cpArbiterGetNormal(const cpArbiter *arb, int i); -/// Get the position of the @c ith contact point. -cpVect cpArbiterGetPoint(const cpArbiter *arb, int i); +CP_EXPORT int cpArbiterGetCount(const cpArbiter *arb); +/// Get the normal of the collision. +CP_EXPORT cpVect cpArbiterGetNormal(const cpArbiter *arb); +/// Get the position of the @c ith contact point on the surface of the first shape. +CP_EXPORT cpVect cpArbiterGetPointA(const cpArbiter *arb, int i); +/// Get the position of the @c ith contact point on the surface of the second shape. +CP_EXPORT cpVect cpArbiterGetPointB(const cpArbiter *arb, int i); /// Get the depth of the @c ith contact point. -cpFloat cpArbiterGetDepth(const cpArbiter *arb, int i); +CP_EXPORT cpFloat cpArbiterGetDepth(const cpArbiter *arb, int i); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardBeginA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardBeginB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardPreSolveA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardPreSolveB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardPostSolveA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardPostSolveB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardSeparateA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardSeparateB(cpArbiter *arb, cpSpace *space); /// @} diff --git a/android/arm64-v8a/include/chipmunk/cpBB.h b/android/arm64-v8a/include/chipmunk/cpBB.h index 4e59c2d4..40200600 100644 --- a/android/arm64-v8a/include/chipmunk/cpBB.h +++ b/android/arm64-v8a/include/chipmunk/cpBB.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,6 +19,12 @@ * SOFTWARE. */ +#ifndef CHIPMUNK_BB_H +#define CHIPMUNK_BB_H + +#include "chipmunk_types.h" +#include "cpVect.h" + /// @defgroup cpBBB cpBB /// Chipmunk's axis-aligned 2D bounding box type along with a few handy routines. /// @{ @@ -35,10 +41,17 @@ static inline cpBB cpBBNew(const cpFloat l, const cpFloat b, const cpFloat r, co return bb; } +/// Constructs a cpBB centered on a point with the given extents (half sizes). +static inline cpBB +cpBBNewForExtents(const cpVect c, const cpFloat hw, const cpFloat hh) +{ + return cpBBNew(c.x - hw, c.y - hh, c.x + hw, c.y + hh); +} + /// Constructs a cpBB for a circle with the given position and radius. static inline cpBB cpBBNewForCircle(const cpVect p, const cpFloat r) { - return cpBBNew(p.x - r, p.y - r, p.x + r, p.y + r); + return cpBBNewForExtents(p, r, r); } /// Returns true if @c a and @c b intersect. @@ -102,6 +115,9 @@ static inline cpFloat cpBBMergedArea(cpBB a, cpBB b) static inline cpFloat cpBBSegmentQuery(cpBB bb, cpVect a, cpVect b) { cpFloat idx = 1.0f/(b.x - a.x); +#ifdef _MSC_VER +#pragma warning(disable: 4056) +#endif cpFloat tx1 = (bb.l == a.x ? -INFINITY : (bb.l - a.x)*idx); cpFloat tx2 = (bb.r == a.x ? INFINITY : (bb.r - a.x)*idx); cpFloat txmin = cpfmin(tx1, tx2); @@ -110,6 +126,9 @@ static inline cpFloat cpBBSegmentQuery(cpBB bb, cpVect a, cpVect b) cpFloat idy = 1.0f/(b.y - a.y); cpFloat ty1 = (bb.b == a.y ? -INFINITY : (bb.b - a.y)*idy); cpFloat ty2 = (bb.t == a.y ? INFINITY : (bb.t - a.y)*idy); +#ifdef _MSC_VER +#pragma warning(default: 4056) +#endif cpFloat tymin = cpfmin(ty1, ty2); cpFloat tymax = cpfmax(ty1, ty2); @@ -136,8 +155,33 @@ cpBBClampVect(const cpBB bb, const cpVect v) return cpv(cpfclamp(v.x, bb.l, bb.r), cpfclamp(v.y, bb.b, bb.t)); } -// TODO edge case issue /// Wrap a vector to a bounding box. -cpVect cpBBWrapVect(const cpBB bb, const cpVect v); // wrap a vector to a bbox +static inline cpVect +cpBBWrapVect(const cpBB bb, const cpVect v) +{ + cpFloat dx = cpfabs(bb.r - bb.l); + cpFloat modx = cpfmod(v.x - bb.l, dx); + cpFloat x = (modx > 0.0f) ? modx : modx + dx; + + cpFloat dy = cpfabs(bb.t - bb.b); + cpFloat mody = cpfmod(v.y - bb.b, dy); + cpFloat y = (mody > 0.0f) ? mody : mody + dy; + + return cpv(x + bb.l, y + bb.b); +} + +/// Returns a bounding box offseted by @c v. +static inline cpBB +cpBBOffset(const cpBB bb, const cpVect v) +{ + return cpBBNew( + bb.l + v.x, + bb.b + v.y, + bb.r + v.x, + bb.t + v.y + ); +} ///@} + +#endif diff --git a/android/arm64-v8a/include/chipmunk/cpBody.h b/android/arm64-v8a/include/chipmunk/cpBody.h index 6168b0fe..7e6943d1 100644 --- a/android/arm64-v8a/include/chipmunk/cpBody.h +++ b/android/arm64-v8a/include/chipmunk/cpBody.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -25,227 +25,165 @@ /// They are given a shape by creating collision shapes (cpShape) that point to the body. /// @{ +typedef enum cpBodyType { + /// A dynamic body is one that is affected by gravity, forces, and collisions. + /// This is the default body type. + CP_BODY_TYPE_DYNAMIC, + /// A kinematic body is an infinite mass, user controlled body that is not affected by gravity, forces or collisions. + /// Instead the body only moves based on it's velocity. + /// Dynamic bodies collide normally with kinematic bodies, though the kinematic body will be unaffected. + /// Collisions between two kinematic bodies, or a kinematic body and a static body produce collision callbacks, but no collision response. + CP_BODY_TYPE_KINEMATIC, + /// A static body is a body that never (or rarely) moves. If you move a static body, you must call one of the cpSpaceReindex*() functions. + /// Chipmunk uses this information to optimize the collision detection. + /// Static bodies do not produce collision callbacks when colliding with other static bodies. + CP_BODY_TYPE_STATIC, +} cpBodyType; + /// Rigid body velocity update function type. typedef void (*cpBodyVelocityFunc)(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); /// Rigid body position update function type. typedef void (*cpBodyPositionFunc)(cpBody *body, cpFloat dt); -/// Used internally to track information on the collision graph. -/// @private -typedef struct cpComponentNode { - cpBody *root; - cpBody *next; - cpFloat idleTime; -} cpComponentNode; - -/// Chipmunk's rigid body struct. -struct cpBody { - /// Function that is called to integrate the body's velocity. (Defaults to cpBodyUpdateVelocity) - cpBodyVelocityFunc velocity_func; - - /// Function that is called to integrate the body's position. (Defaults to cpBodyUpdatePosition) - cpBodyPositionFunc position_func; - - /// Mass of the body. - /// Must agree with cpBody.m_inv! Use cpBodySetMass() when changing the mass for this reason. - cpFloat m; - /// Mass inverse. - cpFloat m_inv; - - /// Moment of inertia of the body. - /// Must agree with cpBody.i_inv! Use cpBodySetMoment() when changing the moment for this reason. - cpFloat i; - /// Moment of inertia inverse. - cpFloat i_inv; - - /// Position of the rigid body's center of gravity. - cpVect p; - /// Velocity of the rigid body's center of gravity. - cpVect v; - /// Force acting on the rigid body's center of gravity. - cpVect f; - - /// Rotation of the body around it's center of gravity in radians. - /// Must agree with cpBody.rot! Use cpBodySetAngle() when changing the angle for this reason. - cpFloat a; - /// Angular velocity of the body around it's center of gravity in radians/second. - cpFloat w; - /// Torque applied to the body around it's center of gravity. - cpFloat t; - - /// Cached unit length vector representing the angle of the body. - /// Used for fast rotations using cpvrotate(). - cpVect rot; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpBody reference in a callback. - cpDataPointer data; - - /// Maximum velocity allowed when updating the velocity. - cpFloat v_limit; - /// Maximum rotational rate (in radians/second) allowed when updating the angular velocity. - cpFloat w_limit; - - CP_PRIVATE(cpVect v_bias); - CP_PRIVATE(cpFloat w_bias); - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *shapeList); - CP_PRIVATE(cpArbiter *arbiterList); - CP_PRIVATE(cpConstraint *constraintList); - - CP_PRIVATE(cpComponentNode node); -}; - /// Allocate a cpBody. -cpBody* cpBodyAlloc(void); +CP_EXPORT cpBody* cpBodyAlloc(void); /// Initialize a cpBody. -cpBody* cpBodyInit(cpBody *body, cpFloat m, cpFloat i); +CP_EXPORT cpBody* cpBodyInit(cpBody *body, cpFloat mass, cpFloat moment); /// Allocate and initialize a cpBody. -cpBody* cpBodyNew(cpFloat m, cpFloat i); +CP_EXPORT cpBody* cpBodyNew(cpFloat mass, cpFloat moment); -/// Initialize a static cpBody. -cpBody* cpBodyInitStatic(cpBody *body); -/// Allocate and initialize a static cpBody. -cpBody* cpBodyNewStatic(void); +/// Allocate and initialize a cpBody, and set it as a kinematic body. +CP_EXPORT cpBody* cpBodyNewKinematic(void); +/// Allocate and initialize a cpBody, and set it as a static body. +CP_EXPORT cpBody* cpBodyNewStatic(void); /// Destroy a cpBody. -void cpBodyDestroy(cpBody *body); +CP_EXPORT void cpBodyDestroy(cpBody *body); /// Destroy and free a cpBody. -void cpBodyFree(cpBody *body); - -/// Check that the properties of a body is sane. (Only in debug mode) -#ifdef NDEBUG - #define cpBodyAssertSane(body) -#else - void cpBodySanityCheck(cpBody *body); - #define cpBodyAssertSane(body) cpBodySanityCheck(body) -#endif +CP_EXPORT void cpBodyFree(cpBody *body); // Defined in cpSpace.c /// Wake up a sleeping or idle body. -void cpBodyActivate(cpBody *body); +CP_EXPORT void cpBodyActivate(cpBody *body); /// Wake up any sleeping or idle bodies touching a static body. -void cpBodyActivateStatic(cpBody *body, cpShape *filter); +CP_EXPORT void cpBodyActivateStatic(cpBody *body, cpShape *filter); /// Force a body to fall asleep immediately. -void cpBodySleep(cpBody *body); +CP_EXPORT void cpBodySleep(cpBody *body); /// Force a body to fall asleep immediately along with other bodies in a group. -void cpBodySleepWithGroup(cpBody *body, cpBody *group); +CP_EXPORT void cpBodySleepWithGroup(cpBody *body, cpBody *group); /// Returns true if the body is sleeping. -static inline cpBool cpBodyIsSleeping(const cpBody *body) -{ - return (CP_PRIVATE(body->node).root != ((cpBody*)0)); -} +CP_EXPORT cpBool cpBodyIsSleeping(const cpBody *body); -/// Returns true if the body is static. -static inline cpBool cpBodyIsStatic(const cpBody *body) -{ - return CP_PRIVATE(body->node).idleTime == INFINITY; -} +/// Get the type of the body. +CP_EXPORT cpBodyType cpBodyGetType(cpBody *body); +/// Set the type of the body. +CP_EXPORT void cpBodySetType(cpBody *body, cpBodyType type); -/// Returns true if the body has not been added to a space. -/// Note: Static bodies are a subtype of rogue bodies. -static inline cpBool cpBodyIsRogue(const cpBody *body) -{ - return (body->CP_PRIVATE(space) == ((cpSpace*)0)); -} +/// Get the space this body is added to. +CP_EXPORT cpSpace* cpBodyGetSpace(const cpBody *body); +/// Get the mass of the body. +CP_EXPORT cpFloat cpBodyGetMass(const cpBody *body); +/// Set the mass of the body. +CP_EXPORT void cpBodySetMass(cpBody *body, cpFloat m); -#define CP_DefineBodyStructGetter(type, member, name) \ -static inline type cpBodyGet##name(const cpBody *body){return body->member;} +/// Get the moment of inertia of the body. +CP_EXPORT cpFloat cpBodyGetMoment(const cpBody *body); +/// Set the moment of inertia of the body. +CP_EXPORT void cpBodySetMoment(cpBody *body, cpFloat i); -#define CP_DefineBodyStructSetter(type, member, name) \ -static inline void cpBodySet##name(cpBody *body, const type value){ \ - cpBodyActivate(body); \ - body->member = value; \ - cpBodyAssertSane(body); \ -} - -#define CP_DefineBodyStructProperty(type, member, name) \ -CP_DefineBodyStructGetter(type, member, name) \ -CP_DefineBodyStructSetter(type, member, name) - -// TODO add to docs -CP_DefineBodyStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineBodyStructGetter(cpFloat, m, Mass) -/// Set the mass of a body. -void cpBodySetMass(cpBody *body, cpFloat m); - -CP_DefineBodyStructGetter(cpFloat, i, Moment) -/// Set the moment of a body. -void cpBodySetMoment(cpBody *body, cpFloat i); - -CP_DefineBodyStructGetter(cpVect, p, Pos) /// Set the position of a body. -void cpBodySetPos(cpBody *body, cpVect pos); -CP_DefineBodyStructProperty(cpVect, v, Vel) -CP_DefineBodyStructProperty(cpVect, f, Force) -CP_DefineBodyStructGetter(cpFloat, a, Angle) -/// Set the angle of a body. -void cpBodySetAngle(cpBody *body, cpFloat a); -CP_DefineBodyStructProperty(cpFloat, w, AngVel) -CP_DefineBodyStructProperty(cpFloat, t, Torque) -CP_DefineBodyStructGetter(cpVect, rot, Rot) -CP_DefineBodyStructProperty(cpFloat, v_limit, VelLimit) -CP_DefineBodyStructProperty(cpFloat, w_limit, AngVelLimit) -CP_DefineBodyStructProperty(cpDataPointer, data, UserData) +CP_EXPORT cpVect cpBodyGetPosition(const cpBody *body); +/// Set the position of the body. +CP_EXPORT void cpBodySetPosition(cpBody *body, cpVect pos); -/// Default Integration functions. -void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); -void cpBodyUpdatePosition(cpBody *body, cpFloat dt); +/// Get the offset of the center of gravity in body local coordinates. +CP_EXPORT cpVect cpBodyGetCenterOfGravity(const cpBody *body); +/// Set the offset of the center of gravity in body local coordinates. +CP_EXPORT void cpBodySetCenterOfGravity(cpBody *body, cpVect cog); + +/// Get the velocity of the body. +CP_EXPORT cpVect cpBodyGetVelocity(const cpBody *body); +/// Set the velocity of the body. +CP_EXPORT void cpBodySetVelocity(cpBody *body, cpVect velocity); + +/// Get the force applied to the body for the next time step. +CP_EXPORT cpVect cpBodyGetForce(const cpBody *body); +/// Set the force applied to the body for the next time step. +CP_EXPORT void cpBodySetForce(cpBody *body, cpVect force); + +/// Get the angle of the body. +CP_EXPORT cpFloat cpBodyGetAngle(const cpBody *body); +/// Set the angle of a body. +CP_EXPORT void cpBodySetAngle(cpBody *body, cpFloat a); + +/// Get the angular velocity of the body. +CP_EXPORT cpFloat cpBodyGetAngularVelocity(const cpBody *body); +/// Set the angular velocity of the body. +CP_EXPORT void cpBodySetAngularVelocity(cpBody *body, cpFloat angularVelocity); + +/// Get the torque applied to the body for the next time step. +CP_EXPORT cpFloat cpBodyGetTorque(const cpBody *body); +/// Set the torque applied to the body for the next time step. +CP_EXPORT void cpBodySetTorque(cpBody *body, cpFloat torque); + +/// Get the rotation vector of the body. (The x basis vector of it's transform.) +CP_EXPORT cpVect cpBodyGetRotation(const cpBody *body); + +/// Get the user data pointer assigned to the body. +CP_EXPORT cpDataPointer cpBodyGetUserData(const cpBody *body); +/// Set the user data pointer assigned to the body. +CP_EXPORT void cpBodySetUserData(cpBody *body, cpDataPointer userData); + +/// Set the callback used to update a body's velocity. +CP_EXPORT void cpBodySetVelocityUpdateFunc(cpBody *body, cpBodyVelocityFunc velocityFunc); +/// Set the callback used to update a body's position. +/// NOTE: It's not generally recommended to override this unless you call the default position update function. +CP_EXPORT void cpBodySetPositionUpdateFunc(cpBody *body, cpBodyPositionFunc positionFunc); + +/// Default velocity integration function.. +CP_EXPORT void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); +/// Default position integration function. +CP_EXPORT void cpBodyUpdatePosition(cpBody *body, cpFloat dt); /// Convert body relative/local coordinates to absolute/world coordinates. -static inline cpVect cpBodyLocal2World(const cpBody *body, const cpVect v) -{ - return cpvadd(body->p, cpvrotate(v, body->rot)); -} - +CP_EXPORT cpVect cpBodyLocalToWorld(const cpBody *body, const cpVect point); /// Convert body absolute/world coordinates to relative/local coordinates. -static inline cpVect cpBodyWorld2Local(const cpBody *body, const cpVect v) -{ - return cpvunrotate(cpvsub(v, body->p), body->rot); -} +CP_EXPORT cpVect cpBodyWorldToLocal(const cpBody *body, const cpVect point); -/// Set the forces and torque or a body to zero. -void cpBodyResetForces(cpBody *body); -/// Apply an force (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyForce(cpBody *body, const cpVect f, const cpVect r); -/// Apply an impulse (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyImpulse(cpBody *body, const cpVect j, const cpVect r); +/// Apply a force to a body. Both the force and point are expressed in world coordinates. +CP_EXPORT void cpBodyApplyForceAtWorldPoint(cpBody *body, cpVect force, cpVect point); +/// Apply a force to a body. Both the force and point are expressed in body local coordinates. +CP_EXPORT void cpBodyApplyForceAtLocalPoint(cpBody *body, cpVect force, cpVect point); + +/// Apply an impulse to a body. Both the impulse and point are expressed in world coordinates. +CP_EXPORT void cpBodyApplyImpulseAtWorldPoint(cpBody *body, cpVect impulse, cpVect point); +/// Apply an impulse to a body. Both the impulse and point are expressed in body local coordinates. +CP_EXPORT void cpBodyApplyImpulseAtLocalPoint(cpBody *body, cpVect impulse, cpVect point); /// Get the velocity on a body (in world units) at a point on the body in world coordinates. -cpVect cpBodyGetVelAtWorldPoint(cpBody *body, cpVect point); +CP_EXPORT cpVect cpBodyGetVelocityAtWorldPoint(const cpBody *body, cpVect point); /// Get the velocity on a body (in world units) at a point on the body in local coordinates. -cpVect cpBodyGetVelAtLocalPoint(cpBody *body, cpVect point); +CP_EXPORT cpVect cpBodyGetVelocityAtLocalPoint(const cpBody *body, cpVect point); - -/// Get the kinetic energy of a body. -static inline cpFloat cpBodyKineticEnergy(const cpBody *body) -{ - // Need to do some fudging to avoid NaNs - cpFloat vsq = cpvdot(body->v, body->v); - cpFloat wsq = body->w*body->w; - return (vsq ? vsq*body->m : 0.0f) + (wsq ? wsq*body->i : 0.0f); -} +/// Get the amount of kinetic energy contained by the body. +CP_EXPORT cpFloat cpBodyKineticEnergy(const cpBody *body); /// Body/shape iterator callback function type. typedef void (*cpBodyShapeIteratorFunc)(cpBody *body, cpShape *shape, void *data); /// Call @c func once for each shape attached to @c body and added to the space. -void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data); /// Body/constraint iterator callback function type. typedef void (*cpBodyConstraintIteratorFunc)(cpBody *body, cpConstraint *constraint, void *data); /// Call @c func once for each constraint attached to @c body and added to the space. -void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data); /// Body/arbiter iterator callback function type. typedef void (*cpBodyArbiterIteratorFunc)(cpBody *body, cpArbiter *arbiter, void *data); /// Call @c func once for each arbiter that is currently active on the body. -void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data); ///@} diff --git a/android/arm64-v8a/include/chipmunk/cpPolyShape.h b/android/arm64-v8a/include/chipmunk/cpPolyShape.h index a5587ba2..25f688b8 100644 --- a/android/arm64-v8a/include/chipmunk/cpPolyShape.h +++ b/android/arm64-v8a/include/chipmunk/cpPolyShape.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -22,60 +22,35 @@ /// @defgroup cpPolyShape cpPolyShape /// @{ -/// @private -typedef struct cpSplittingPlane { - cpVect n; - cpFloat d; -} cpSplittingPlane; - -/// @private -typedef struct cpPolyShape { - cpShape shape; - - int numVerts; - cpVect *verts, *tVerts; - cpSplittingPlane *planes, *tPlanes; - - cpFloat r; -} cpPolyShape; - /// Allocate a polygon shape. -cpPolyShape* cpPolyShapeAlloc(void); -/// Initialize a polygon shape. +CP_EXPORT cpPolyShape* cpPolyShapeAlloc(void); +/// Initialize a polygon shape with rounded corners. /// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Initialize a polygon shape. +CP_EXPORT cpPolyShape* cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int count, const cpVect *verts, cpTransform transform, cpFloat radius); +/// Initialize a polygon shape with rounded corners. +/// The vertexes must be convex with a counter-clockwise winding. +CP_EXPORT cpPolyShape* cpPolyShapeInitRaw(cpPolyShape *poly, cpBody *body, int count, const cpVect *verts, cpFloat radius); +/// Allocate and initialize a polygon shape with rounded corners. /// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit2(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew(cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew2(cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); +CP_EXPORT cpShape* cpPolyShapeNew(cpBody *body, int count, const cpVect *verts, cpTransform transform, cpFloat radius); +/// Allocate and initialize a polygon shape with rounded corners. +/// The vertexes must be convex with a counter-clockwise winding. +CP_EXPORT cpShape* cpPolyShapeNewRaw(cpBody *body, int count, const cpVect *verts, cpFloat radius); -/// Initialize a box shaped polygon shape. -cpPolyShape* cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit2(cpPolyShape *poly, cpBody *body, cpBB box); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit3(cpPolyShape *poly, cpBody *body, cpBB box, cpFloat radius); +/// Initialize a box shaped polygon shape with rounded corners. +CP_EXPORT cpPolyShape* cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height, cpFloat radius); +/// Initialize an offset box shaped polygon shape with rounded corners. +CP_EXPORT cpPolyShape* cpBoxShapeInit2(cpPolyShape *poly, cpBody *body, cpBB box, cpFloat radius); /// Allocate and initialize a box shaped polygon shape. -cpShape* cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height); +CP_EXPORT cpShape* cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height, cpFloat radius); /// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew2(cpBody *body, cpBB box); -/// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew3(cpBody *body, cpBB box, cpFloat radius); - -/// Check that a set of vertexes is convex and has a clockwise winding. -/// NOTE: Due to floating point precision issues, hulls created with cpQuickHull() are not guaranteed to validate! -cpBool cpPolyValidate(const cpVect *verts, const int numVerts); +CP_EXPORT cpShape* cpBoxShapeNew2(cpBody *body, cpBB box, cpFloat radius); /// Get the number of verts in a polygon shape. -int cpPolyShapeGetNumVerts(const cpShape *shape); +CP_EXPORT int cpPolyShapeGetCount(const cpShape *shape); /// Get the @c ith vertex of a polygon shape. -cpVect cpPolyShapeGetVert(const cpShape *shape, int idx); +CP_EXPORT cpVect cpPolyShapeGetVert(const cpShape *shape, int index); /// Get the radius of a polygon shape. -cpFloat cpPolyShapeGetRadius(const cpShape *shape); +CP_EXPORT cpFloat cpPolyShapeGetRadius(const cpShape *shape); /// @} diff --git a/android/arm64-v8a/include/chipmunk/cpShape.h b/android/arm64-v8a/include/chipmunk/cpShape.h index 62920c37..cc20f809 100644 --- a/android/arm64-v8a/include/chipmunk/cpShape.h +++ b/android/arm64-v8a/include/chipmunk/cpShape.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -18,215 +18,182 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. */ - + /// @defgroup cpShape cpShape /// The cpShape struct defines the shape of a rigid body. /// @{ -typedef struct cpShapeClass cpShapeClass; - -/// Nearest point query info struct. -typedef struct cpNearestPointQueryInfo { +/// Point query info struct. +typedef struct cpPointQueryInfo { /// The nearest shape, NULL if no shape was within range. - cpShape *shape; + const cpShape *shape; /// The closest point on the shape's surface. (in world space coordinates) - cpVect p; + cpVect point; /// The distance to the point. The distance is negative if the point is inside the shape. - cpFloat d; + cpFloat distance; /// The gradient of the signed distance function. - /// The same as info.p/info.d, but accurate even for very small values of info.d. - cpVect g; -} cpNearestPointQueryInfo; + /// The value should be similar to info.p/info.d, but accurate even for very small values of info.d. + cpVect gradient; +} cpPointQueryInfo; /// Segment query info struct. typedef struct cpSegmentQueryInfo { - /// The shape that was hit, NULL if no collision occured. - cpShape *shape; - /// The normalized distance along the query segment in the range [0, 1]. - cpFloat t; + /// The shape that was hit, or NULL if no collision occured. + const cpShape *shape; + /// The point of impact. + cpVect point; /// The normal of the surface hit. - cpVect n; + cpVect normal; + /// The normalized distance along the query segment in the range [0, 1]. + cpFloat alpha; } cpSegmentQueryInfo; -/// @private -typedef enum cpShapeType{ - CP_CIRCLE_SHAPE, - CP_SEGMENT_SHAPE, - CP_POLY_SHAPE, - CP_NUM_SHAPES -} cpShapeType; - -typedef cpBB (*cpShapeCacheDataImpl)(cpShape *shape, cpVect p, cpVect rot); -typedef void (*cpShapeDestroyImpl)(cpShape *shape); -typedef void (*cpShapeNearestPointQueryImpl)(cpShape *shape, cpVect p, cpNearestPointQueryInfo *info); -typedef void (*cpShapeSegmentQueryImpl)(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); - -/// @private -struct cpShapeClass { - cpShapeType type; - - cpShapeCacheDataImpl cacheData; - cpShapeDestroyImpl destroy; - cpShapeNearestPointQueryImpl nearestPointQuery; - cpShapeSegmentQueryImpl segmentQuery; -}; - -/// Opaque collision shape struct. -struct cpShape { - CP_PRIVATE(const cpShapeClass *klass); - - /// The rigid body this collision shape is attached to. - cpBody *body; - - /// The current bounding box of the shape. - cpBB bb; - - /// Sensor flag. - /// Sensor shapes call collision callbacks but don't produce collisions. - cpBool sensor; - - /// Coefficient of restitution. (elasticity) - cpFloat e; - /// Coefficient of friction. - cpFloat u; - /// Surface velocity used when solving for friction. - cpVect surface_v; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpShape reference in a callback. - cpDataPointer data; - - /// Collision type of this shape used when picking collision handlers. - cpCollisionType collision_type; - /// Group of this shape. Shapes in the same group don't collide. +/// Fast collision filtering type that is used to determine if two objects collide before calling collision or query callbacks. +typedef struct cpShapeFilter { + /// Two objects with the same non-zero group value do not collide. + /// This is generally used to group objects in a composite object together to disable self collisions. cpGroup group; - // Layer bitmask for this shape. Shapes only collide if the bitwise and of their layers is non-zero. - cpLayers layers; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *next); - CP_PRIVATE(cpShape *prev); - - CP_PRIVATE(cpHashValue hashid); -}; + /// A bitmask of user definable categories that this object belongs to. + /// The category/mask combinations of both objects in a collision must agree for a collision to occur. + cpBitmask categories; + /// A bitmask of user definable category types that this object object collides with. + /// The category/mask combinations of both objects in a collision must agree for a collision to occur. + cpBitmask mask; +} cpShapeFilter; + +/// Collision filter value for a shape that will collide with anything except CP_SHAPE_FILTER_NONE. +static const cpShapeFilter CP_SHAPE_FILTER_ALL = {CP_NO_GROUP, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES}; +/// Collision filter value for a shape that does not collide with anything. +static const cpShapeFilter CP_SHAPE_FILTER_NONE = {CP_NO_GROUP, ~CP_ALL_CATEGORIES, ~CP_ALL_CATEGORIES}; + +/// Create a new collision filter. +static inline cpShapeFilter +cpShapeFilterNew(cpGroup group, cpBitmask categories, cpBitmask mask) +{ + cpShapeFilter filter = {group, categories, mask}; + return filter; +} /// Destroy a shape. -void cpShapeDestroy(cpShape *shape); +CP_EXPORT void cpShapeDestroy(cpShape *shape); /// Destroy and Free a shape. -void cpShapeFree(cpShape *shape); +CP_EXPORT void cpShapeFree(cpShape *shape); /// Update, cache and return the bounding box of a shape based on the body it's attached to. -cpBB cpShapeCacheBB(cpShape *shape); +CP_EXPORT cpBB cpShapeCacheBB(cpShape *shape); /// Update, cache and return the bounding box of a shape with an explicit transformation. -cpBB cpShapeUpdate(cpShape *shape, cpVect pos, cpVect rot); - -/// Test if a point lies within a shape. -cpBool cpShapePointQuery(cpShape *shape, cpVect p); +CP_EXPORT cpBB cpShapeUpdate(cpShape *shape, cpTransform transform); /// Perform a nearest point query. It finds the closest point on the surface of shape to a specific point. /// The value returned is the distance between the points. A negative distance means the point is inside the shape. -cpFloat cpShapeNearestPointQuery(cpShape *shape, cpVect p, cpNearestPointQueryInfo *out); +CP_EXPORT cpFloat cpShapePointQuery(const cpShape *shape, cpVect p, cpPointQueryInfo *out); /// Perform a segment query against a shape. @c info must be a pointer to a valid cpSegmentQueryInfo structure. -cpBool cpShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); +CP_EXPORT cpBool cpShapeSegmentQuery(const cpShape *shape, cpVect a, cpVect b, cpFloat radius, cpSegmentQueryInfo *info); -/// Get the hit point for a segment query. -static inline cpVect cpSegmentQueryHitPoint(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvlerp(start, end, info.t); -} +/// Return contact information about two shapes. +CP_EXPORT cpContactPointSet cpShapesCollide(const cpShape *a, const cpShape *b); -/// Get the hit distance for a segment query. -static inline cpFloat cpSegmentQueryHitDist(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvdist(start, end)*info.t; -} +/// The cpSpace this body is added to. +CP_EXPORT cpSpace* cpShapeGetSpace(const cpShape *shape); -#define CP_DefineShapeStructGetter(type, member, name) \ -static inline type cpShapeGet##name(const cpShape *shape){return shape->member;} +/// The cpBody this shape is connected to. +CP_EXPORT cpBody* cpShapeGetBody(const cpShape *shape); +/// Set the cpBody this shape is connected to. +/// Can only be used if the shape is not currently added to a space. +CP_EXPORT void cpShapeSetBody(cpShape *shape, cpBody *body); -#define CP_DefineShapeStructSetter(type, member, name, activates) \ -static inline void cpShapeSet##name(cpShape *shape, type value){ \ - if(activates && shape->body) cpBodyActivate(shape->body); \ - shape->member = value; \ -} +/// Get the mass of the shape if you are having Chipmunk calculate mass properties for you. +cpFloat cpShapeGetMass(cpShape *shape); +/// Set the mass of this shape to have Chipmunk calculate mass properties for you. +CP_EXPORT void cpShapeSetMass(cpShape *shape, cpFloat mass); -#define CP_DefineShapeStructProperty(type, member, name, activates) \ -CP_DefineShapeStructGetter(type, member, name) \ -CP_DefineShapeStructSetter(type, member, name, activates) +/// Get the density of the shape if you are having Chipmunk calculate mass properties for you. +CP_EXPORT cpFloat cpShapeGetDensity(cpShape *shape); +/// Set the density of this shape to have Chipmunk calculate mass properties for you. +CP_EXPORT void cpShapeSetDensity(cpShape *shape, cpFloat density); -CP_DefineShapeStructGetter(cpSpace*, CP_PRIVATE(space), Space) +/// Get the calculated moment of inertia for this shape. +CP_EXPORT cpFloat cpShapeGetMoment(cpShape *shape); +/// Get the calculated area of this shape. +CP_EXPORT cpFloat cpShapeGetArea(cpShape *shape); +/// Get the centroid of this shape. +CP_EXPORT cpVect cpShapeGetCenterOfGravity(cpShape *shape); -CP_DefineShapeStructGetter(cpBody*, body, Body) -void cpShapeSetBody(cpShape *shape, cpBody *body); +/// Get the bounding box that contains the shape given it's current position and angle. +CP_EXPORT cpBB cpShapeGetBB(const cpShape *shape); -CP_DefineShapeStructGetter(cpBB, bb, BB) -CP_DefineShapeStructProperty(cpBool, sensor, Sensor, cpTrue) -CP_DefineShapeStructProperty(cpFloat, e, Elasticity, cpFalse) -CP_DefineShapeStructProperty(cpFloat, u, Friction, cpTrue) -CP_DefineShapeStructProperty(cpVect, surface_v, SurfaceVelocity, cpTrue) -CP_DefineShapeStructProperty(cpDataPointer, data, UserData, cpFalse) -CP_DefineShapeStructProperty(cpCollisionType, collision_type, CollisionType, cpTrue) -CP_DefineShapeStructProperty(cpGroup, group, Group, cpTrue) -CP_DefineShapeStructProperty(cpLayers, layers, Layers, cpTrue) +/// Get if the shape is set to be a sensor or not. +CP_EXPORT cpBool cpShapeGetSensor(const cpShape *shape); +/// Set if the shape is a sensor or not. +CP_EXPORT void cpShapeSetSensor(cpShape *shape, cpBool sensor); -/// When initializing a shape, it's hash value comes from a counter. -/// Because the hash value may affect iteration order, you can reset the shape ID counter -/// when recreating a space. This will make the simulation be deterministic. -void cpResetShapeIdCounter(void); +/// Get the elasticity of this shape. +CP_EXPORT cpFloat cpShapeGetElasticity(const cpShape *shape); +/// Set the elasticity of this shape. +CP_EXPORT void cpShapeSetElasticity(cpShape *shape, cpFloat elasticity); + +/// Get the friction of this shape. +CP_EXPORT cpFloat cpShapeGetFriction(const cpShape *shape); +/// Set the friction of this shape. +CP_EXPORT void cpShapeSetFriction(cpShape *shape, cpFloat friction); + +/// Get the surface velocity of this shape. +CP_EXPORT cpVect cpShapeGetSurfaceVelocity(const cpShape *shape); +/// Set the surface velocity of this shape. +CP_EXPORT void cpShapeSetSurfaceVelocity(cpShape *shape, cpVect surfaceVelocity); + +/// Get the user definable data pointer of this shape. +CP_EXPORT cpDataPointer cpShapeGetUserData(const cpShape *shape); +/// Set the user definable data pointer of this shape. +CP_EXPORT void cpShapeSetUserData(cpShape *shape, cpDataPointer userData); + +/// Set the collision type of this shape. +CP_EXPORT cpCollisionType cpShapeGetCollisionType(const cpShape *shape); +/// Get the collision type of this shape. +CP_EXPORT void cpShapeSetCollisionType(cpShape *shape, cpCollisionType collisionType); + +/// Get the collision filtering parameters of this shape. +CP_EXPORT cpShapeFilter cpShapeGetFilter(const cpShape *shape); +/// Set the collision filtering parameters of this shape. +CP_EXPORT void cpShapeSetFilter(cpShape *shape, cpShapeFilter filter); -#define CP_DeclareShapeGetter(struct, type, name) type struct##Get##name(const cpShape *shape) /// @} /// @defgroup cpCircleShape cpCircleShape -/// @private -typedef struct cpCircleShape { - cpShape shape; - - cpVect c, tc; - cpFloat r; -} cpCircleShape; - /// Allocate a circle shape. -cpCircleShape* cpCircleShapeAlloc(void); +CP_EXPORT cpCircleShape* cpCircleShapeAlloc(void); /// Initialize a circle shape. -cpCircleShape* cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset); +CP_EXPORT cpCircleShape* cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset); /// Allocate and initialize a circle shape. -cpShape* cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset); +CP_EXPORT cpShape* cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset); -CP_DeclareShapeGetter(cpCircleShape, cpVect, Offset); -CP_DeclareShapeGetter(cpCircleShape, cpFloat, Radius); +/// Get the offset of a circle shape. +CP_EXPORT cpVect cpCircleShapeGetOffset(const cpShape *shape); +/// Get the radius of a circle shape. +CP_EXPORT cpFloat cpCircleShapeGetRadius(const cpShape *shape); /// @} /// @defgroup cpSegmentShape cpSegmentShape -/// @private -typedef struct cpSegmentShape { - cpShape shape; - - cpVect a, b, n; - cpVect ta, tb, tn; - cpFloat r; - - cpVect a_tangent, b_tangent; -} cpSegmentShape; - /// Allocate a segment shape. -cpSegmentShape* cpSegmentShapeAlloc(void); +CP_EXPORT cpSegmentShape* cpSegmentShapeAlloc(void); /// Initialize a segment shape. -cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius); +CP_EXPORT cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius); /// Allocate and initialize a segment shape. -cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius); +CP_EXPORT cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius); /// Let Chipmunk know about the geometry of adjacent segments to avoid colliding with endcaps. -void cpSegmentShapeSetNeighbors(cpShape *shape, cpVect prev, cpVect next); +CP_EXPORT void cpSegmentShapeSetNeighbors(cpShape *shape, cpVect prev, cpVect next); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, A); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, B); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, Normal); -CP_DeclareShapeGetter(cpSegmentShape, cpFloat, Radius); +/// Get the first endpoint of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetA(const cpShape *shape); +/// Get the second endpoint of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetB(const cpShape *shape); +/// Get the normal of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetNormal(const cpShape *shape); +/// Get the first endpoint of a segment shape. +CP_EXPORT cpFloat cpSegmentShapeGetRadius(const cpShape *shape); /// @} diff --git a/android/arm64-v8a/include/chipmunk/cpSpace.h b/android/arm64-v8a/include/chipmunk/cpSpace.h index 26439f76..7bbabb85 100644 --- a/android/arm64-v8a/include/chipmunk/cpSpace.h +++ b/android/arm64-v8a/include/chipmunk/cpSpace.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -22,191 +22,161 @@ /// @defgroup cpSpace cpSpace /// @{ -typedef struct cpContactBufferHeader cpContactBufferHeader; -typedef void (*cpSpaceArbiterApplyImpulseFunc)(cpArbiter *arb); +//MARK: Definitions -/// Basic Unit of Simulation in Chipmunk -struct cpSpace { - /// Number of iterations to use in the impulse solver to solve contacts. - int iterations; - - /// Gravity to pass to rigid bodies when integrating velocity. - cpVect gravity; - - /// Damping rate expressed as the fraction of velocity bodies retain each second. - /// A value of 0.9 would mean that each body's velocity will drop 10% per second. - /// The default value is 1.0, meaning no damping is applied. - /// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring. - cpFloat damping; - - /// Speed threshold for a body to be considered idle. - /// The default value of 0 means to let the space guess a good threshold based on gravity. - cpFloat idleSpeedThreshold; - - /// Time a group of bodies must remain idle in order to fall asleep. - /// Enabling sleeping also implicitly enables the the contact graph. - /// The default value of INFINITY disables the sleeping algorithm. - cpFloat sleepTimeThreshold; - - /// Amount of encouraged penetration between colliding shapes. - /// Used to reduce oscillating contacts and keep the collision cache warm. - /// Defaults to 0.1. If you have poor simulation quality, - /// increase this number as much as possible without allowing visible amounts of overlap. - cpFloat collisionSlop; - - /// Determines how fast overlapping shapes are pushed apart. - /// Expressed as a fraction of the error remaining after each second. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz. - cpFloat collisionBias; - - /// Number of frames that contact information should persist. - /// Defaults to 3. There is probably never a reason to change this value. - cpTimestamp collisionPersistence; - - /// Rebuild the contact graph during each step. Must be enabled to use the cpBodyEachArbiter() function. - /// Disabled by default for a small performance boost. Enabled implicitly when the sleeping feature is enabled. - cpBool enableContactGraph; - - /// User definable data pointer. - /// Generally this points to your game's controller or game state - /// class so you can access it when given a cpSpace reference in a callback. - cpDataPointer data; - - /// The designated static body for this space. - /// You can modify this body, or replace it with your own static body. - /// By default it points to a statically allocated cpBody in the cpSpace struct. - cpBody *staticBody; - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpFloat curr_dt); +/// Collision begin event function callback type. +/// Returning false from a begin callback causes the collision to be ignored until +/// the the separate callback is called when the objects stop colliding. +typedef cpBool (*cpCollisionBeginFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision pre-solve event function callback type. +/// Returning false from a pre-step callback causes the collision to be ignored until the next step. +typedef cpBool (*cpCollisionPreSolveFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision post-solve event function callback type. +typedef void (*cpCollisionPostSolveFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision separate event function callback type. +typedef void (*cpCollisionSeparateFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); - CP_PRIVATE(cpArray *bodies); - CP_PRIVATE(cpArray *rousedBodies); - CP_PRIVATE(cpArray *sleepingComponents); - - CP_PRIVATE(cpSpatialIndex *staticShapes); - CP_PRIVATE(cpSpatialIndex *activeShapes); - - CP_PRIVATE(cpArray *arbiters); - CP_PRIVATE(cpContactBufferHeader *contactBuffersHead); - CP_PRIVATE(cpHashSet *cachedArbiters); - CP_PRIVATE(cpArray *pooledArbiters); - CP_PRIVATE(cpArray *constraints); - - CP_PRIVATE(cpArray *allocatedBuffers); - CP_PRIVATE(int locked); - - CP_PRIVATE(cpHashSet *collisionHandlers); - CP_PRIVATE(cpCollisionHandler defaultHandler); - - CP_PRIVATE(cpBool skipPostStep); - CP_PRIVATE(cpArray *postStepCallbacks); - - CP_PRIVATE(cpBody _staticBody); +/// Struct that holds function callback pointers to configure custom collision handling. +/// Collision handlers have a pair of types; when a collision occurs between two shapes that have these types, the collision handler functions are triggered. +struct cpCollisionHandler { + /// Collision type identifier of the first shape that this handler recognizes. + /// In the collision handler callback, the shape with this type will be the first argument. Read only. + const cpCollisionType typeA; + /// Collision type identifier of the second shape that this handler recognizes. + /// In the collision handler callback, the shape with this type will be the second argument. Read only. + const cpCollisionType typeB; + /// This function is called when two shapes with types that match this collision handler begin colliding. + cpCollisionBeginFunc beginFunc; + /// This function is called each step when two shapes with types that match this collision handler are colliding. + /// It's called before the collision solver runs so that you can affect a collision's outcome. + cpCollisionPreSolveFunc preSolveFunc; + /// This function is called each step when two shapes with types that match this collision handler are colliding. + /// It's called after the collision solver runs so that you can read back information about the collision to trigger events in your game. + cpCollisionPostSolveFunc postSolveFunc; + /// This function is called when two shapes with types that match this collision handler stop colliding. + cpCollisionSeparateFunc separateFunc; + /// This is a user definable context pointer that is passed to all of the collision handler functions. + cpDataPointer userData; }; +// TODO: Make timestep a parameter? + + +//MARK: Memory and Initialization + /// Allocate a cpSpace. -cpSpace* cpSpaceAlloc(void); +CP_EXPORT cpSpace* cpSpaceAlloc(void); /// Initialize a cpSpace. -cpSpace* cpSpaceInit(cpSpace *space); +CP_EXPORT cpSpace* cpSpaceInit(cpSpace *space); /// Allocate and initialize a cpSpace. -cpSpace* cpSpaceNew(void); +CP_EXPORT cpSpace* cpSpaceNew(void); /// Destroy a cpSpace. -void cpSpaceDestroy(cpSpace *space); +CP_EXPORT void cpSpaceDestroy(cpSpace *space); /// Destroy and free a cpSpace. -void cpSpaceFree(cpSpace *space); +CP_EXPORT void cpSpaceFree(cpSpace *space); -#define CP_DefineSpaceStructGetter(type, member, name) \ -static inline type cpSpaceGet##name(const cpSpace *space){return space->member;} -#define CP_DefineSpaceStructSetter(type, member, name) \ -static inline void cpSpaceSet##name(cpSpace *space, type value){space->member = value;} +//MARK: Properties -#define CP_DefineSpaceStructProperty(type, member, name) \ -CP_DefineSpaceStructGetter(type, member, name) \ -CP_DefineSpaceStructSetter(type, member, name) +/// Number of iterations to use in the impulse solver to solve contacts and other constraints. +CP_EXPORT int cpSpaceGetIterations(const cpSpace *space); +CP_EXPORT void cpSpaceSetIterations(cpSpace *space, int iterations); -CP_DefineSpaceStructProperty(int, iterations, Iterations) -CP_DefineSpaceStructProperty(cpVect, gravity, Gravity) -CP_DefineSpaceStructProperty(cpFloat, damping, Damping) -CP_DefineSpaceStructProperty(cpFloat, idleSpeedThreshold, IdleSpeedThreshold) -CP_DefineSpaceStructProperty(cpFloat, sleepTimeThreshold, SleepTimeThreshold) -CP_DefineSpaceStructProperty(cpFloat, collisionSlop, CollisionSlop) -CP_DefineSpaceStructProperty(cpFloat, collisionBias, CollisionBias) -CP_DefineSpaceStructProperty(cpTimestamp, collisionPersistence, CollisionPersistence) -CP_DefineSpaceStructProperty(cpBool, enableContactGraph, EnableContactGraph) -CP_DefineSpaceStructProperty(cpDataPointer, data, UserData) -CP_DefineSpaceStructGetter(cpBody*, staticBody, StaticBody) -CP_DefineSpaceStructGetter(cpFloat, CP_PRIVATE(curr_dt), CurrentTimeStep) +/// Gravity to pass to rigid bodies when integrating velocity. +CP_EXPORT cpVect cpSpaceGetGravity(const cpSpace *space); +CP_EXPORT void cpSpaceSetGravity(cpSpace *space, cpVect gravity); -/// returns true from inside a callback and objects cannot be added/removed. -static inline cpBool -cpSpaceIsLocked(cpSpace *space) -{ - return space->CP_PRIVATE(locked); -} +/// Damping rate expressed as the fraction of velocity bodies retain each second. +/// A value of 0.9 would mean that each body's velocity will drop 10% per second. +/// The default value is 1.0, meaning no damping is applied. +/// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring. +CP_EXPORT cpFloat cpSpaceGetDamping(const cpSpace *space); +CP_EXPORT void cpSpaceSetDamping(cpSpace *space, cpFloat damping); -/// Set a default collision handler for this space. -/// The default collision handler is invoked for each colliding pair of shapes -/// that isn't explicitly handled by a specific collision handler. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceSetDefaultCollisionHandler( - cpSpace *space, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); +/// Speed threshold for a body to be considered idle. +/// The default value of 0 means to let the space guess a good threshold based on gravity. +CP_EXPORT cpFloat cpSpaceGetIdleSpeedThreshold(const cpSpace *space); +CP_EXPORT void cpSpaceSetIdleSpeedThreshold(cpSpace *space, cpFloat idleSpeedThreshold); -/// Set a collision handler to be used whenever the two shapes with the given collision types collide. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceAddCollisionHandler( - cpSpace *space, - cpCollisionType a, cpCollisionType b, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); +/// Time a group of bodies must remain idle in order to fall asleep. +/// Enabling sleeping also implicitly enables the the contact graph. +/// The default value of INFINITY disables the sleeping algorithm. +CP_EXPORT cpFloat cpSpaceGetSleepTimeThreshold(const cpSpace *space); +CP_EXPORT void cpSpaceSetSleepTimeThreshold(cpSpace *space, cpFloat sleepTimeThreshold); -/// Unset a collision handler. -void cpSpaceRemoveCollisionHandler(cpSpace *space, cpCollisionType a, cpCollisionType b); +/// Amount of encouraged penetration between colliding shapes. +/// Used to reduce oscillating contacts and keep the collision cache warm. +/// Defaults to 0.1. If you have poor simulation quality, +/// increase this number as much as possible without allowing visible amounts of overlap. +CP_EXPORT cpFloat cpSpaceGetCollisionSlop(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionSlop(cpSpace *space, cpFloat collisionSlop); + +/// Determines how fast overlapping shapes are pushed apart. +/// Expressed as a fraction of the error remaining after each second. +/// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz. +CP_EXPORT cpFloat cpSpaceGetCollisionBias(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionBias(cpSpace *space, cpFloat collisionBias); + +/// Number of frames that contact information should persist. +/// Defaults to 3. There is probably never a reason to change this value. +CP_EXPORT cpTimestamp cpSpaceGetCollisionPersistence(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionPersistence(cpSpace *space, cpTimestamp collisionPersistence); + +/// User definable data pointer. +/// Generally this points to your game's controller or game state +/// class so you can access it when given a cpSpace reference in a callback. +CP_EXPORT cpDataPointer cpSpaceGetUserData(const cpSpace *space); +CP_EXPORT void cpSpaceSetUserData(cpSpace *space, cpDataPointer userData); + +/// The Space provided static body for a given cpSpace. +/// This is merely provided for convenience and you are not required to use it. +CP_EXPORT cpBody* cpSpaceGetStaticBody(const cpSpace *space); + +/// Returns the current (or most recent) time step used with the given space. +/// Useful from callbacks if your time step is not a compile-time global. +CP_EXPORT cpFloat cpSpaceGetCurrentTimeStep(const cpSpace *space); + +/// returns true from inside a callback when objects cannot be added/removed. +CP_EXPORT cpBool cpSpaceIsLocked(cpSpace *space); + + +//MARK: Collision Handlers + +/// Create or return the existing collision handler that is called for all collisions that are not handled by a more specific collision handler. +CP_EXPORT cpCollisionHandler *cpSpaceAddDefaultCollisionHandler(cpSpace *space); +/// Create or return the existing collision handler for the specified pair of collision types. +/// If wildcard handlers are used with either of the collision types, it's the responibility of the custom handler to invoke the wildcard handlers. +CP_EXPORT cpCollisionHandler *cpSpaceAddCollisionHandler(cpSpace *space, cpCollisionType a, cpCollisionType b); +/// Create or return the existing wildcard collision handler for the specified type. +CP_EXPORT cpCollisionHandler *cpSpaceAddWildcardHandler(cpSpace *space, cpCollisionType type); + + +//MARK: Add/Remove objects /// Add a collision shape to the simulation. /// If the shape is attached to a static body, it will be added as a static shape. -cpShape* cpSpaceAddShape(cpSpace *space, cpShape *shape); -/// Explicity add a shape as a static shape to the simulation. -cpShape* cpSpaceAddStaticShape(cpSpace *space, cpShape *shape); +CP_EXPORT cpShape* cpSpaceAddShape(cpSpace *space, cpShape *shape); /// Add a rigid body to the simulation. -cpBody* cpSpaceAddBody(cpSpace *space, cpBody *body); +CP_EXPORT cpBody* cpSpaceAddBody(cpSpace *space, cpBody *body); /// Add a constraint to the simulation. -cpConstraint* cpSpaceAddConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT cpConstraint* cpSpaceAddConstraint(cpSpace *space, cpConstraint *constraint); /// Remove a collision shape from the simulation. -void cpSpaceRemoveShape(cpSpace *space, cpShape *shape); -/// Remove a collision shape added using cpSpaceAddStaticShape() from the simulation. -void cpSpaceRemoveStaticShape(cpSpace *space, cpShape *shape); +CP_EXPORT void cpSpaceRemoveShape(cpSpace *space, cpShape *shape); /// Remove a rigid body from the simulation. -void cpSpaceRemoveBody(cpSpace *space, cpBody *body); +CP_EXPORT void cpSpaceRemoveBody(cpSpace *space, cpBody *body); /// Remove a constraint from the simulation. -void cpSpaceRemoveConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT void cpSpaceRemoveConstraint(cpSpace *space, cpConstraint *constraint); /// Test if a collision shape has been added to the space. -cpBool cpSpaceContainsShape(cpSpace *space, cpShape *shape); +CP_EXPORT cpBool cpSpaceContainsShape(cpSpace *space, cpShape *shape); /// Test if a rigid body has been added to the space. -cpBool cpSpaceContainsBody(cpSpace *space, cpBody *body); +CP_EXPORT cpBool cpSpaceContainsBody(cpSpace *space, cpBody *body); /// Test if a constraint has been added to the space. -cpBool cpSpaceContainsConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT cpBool cpSpaceContainsConstraint(cpSpace *space, cpConstraint *constraint); -/// Convert a dynamic rogue body to a static one. -/// If the body is active, you must remove it from the space first. -void cpSpaceConvertBodyToStatic(cpSpace *space, cpBody *body); -/// Convert a body to a dynamic rogue body. -/// If you want the body to be active after the transition, you must add it to the space also. -void cpSpaceConvertBodyToDynamic(cpSpace *space, cpBody *body, cpFloat mass, cpFloat moment); +//MARK: Post-Step Callbacks /// Post Step callback function type. typedef void (*cpPostStepFunc)(cpSpace *space, void *key, void *data); @@ -214,70 +184,136 @@ typedef void (*cpPostStepFunc)(cpSpace *space, void *key, void *data); /// You can only register one callback per unique value for @c key. /// Returns true only if @c key has never been scheduled before. /// It's possible to pass @c NULL for @c func if you only want to mark @c key as being used. -cpBool cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *key, void *data); +CP_EXPORT cpBool cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *key, void *data); -/// Point query callback function type. -typedef void (*cpSpacePointQueryFunc)(cpShape *shape, void *data); -/// Query the space at a point and call @c func for each shape found. -void cpSpacePointQuery(cpSpace *space, cpVect point, cpLayers layers, cpGroup group, cpSpacePointQueryFunc func, void *data); -/// Query the space at a point and return the first shape found. Returns NULL if no shapes were found. -cpShape *cpSpacePointQueryFirst(cpSpace *space, cpVect point, cpLayers layers, cpGroup group); + +//MARK: Queries + +// TODO: Queries and iterators should take a cpSpace parametery. +// TODO: They should also be abortable. /// Nearest point query callback function type. -typedef void (*cpSpaceNearestPointQueryFunc)(cpShape *shape, cpFloat distance, cpVect point, void *data); +typedef void (*cpSpacePointQueryFunc)(cpShape *shape, cpVect point, cpFloat distance, cpVect gradient, void *data); /// Query the space at a point and call @c func for each shape found. -void cpSpaceNearestPointQuery(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryFunc func, void *data); +CP_EXPORT void cpSpacePointQuery(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpSpacePointQueryFunc func, void *data); /// Query the space at a point and return the nearest shape found. Returns NULL if no shapes were found. -cpShape *cpSpaceNearestPointQueryNearest(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpNearestPointQueryInfo *out); +CP_EXPORT cpShape *cpSpacePointQueryNearest(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpPointQueryInfo *out); /// Segment query callback function type. -typedef void (*cpSpaceSegmentQueryFunc)(cpShape *shape, cpFloat t, cpVect n, void *data); +typedef void (*cpSpaceSegmentQueryFunc)(cpShape *shape, cpVect point, cpVect normal, cpFloat alpha, void *data); /// Perform a directed line segment query (like a raycast) against the space calling @c func for each shape intersected. -void cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryFunc func, void *data); +CP_EXPORT void cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSpaceSegmentQueryFunc func, void *data); /// Perform a directed line segment query (like a raycast) against the space and return the first shape hit. Returns NULL if no shapes were hit. -cpShape *cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSegmentQueryInfo *out); +CP_EXPORT cpShape *cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSegmentQueryInfo *out); /// Rectangle Query callback function type. typedef void (*cpSpaceBBQueryFunc)(cpShape *shape, void *data); /// Perform a fast rectangle query on the space calling @c func for each shape found. /// Only the shape's bounding boxes are checked for overlap, not their full shape. -void cpSpaceBBQuery(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryFunc func, void *data); +CP_EXPORT void cpSpaceBBQuery(cpSpace *space, cpBB bb, cpShapeFilter filter, cpSpaceBBQueryFunc func, void *data); /// Shape query callback function type. typedef void (*cpSpaceShapeQueryFunc)(cpShape *shape, cpContactPointSet *points, void *data); /// Query a space for any shapes overlapping the given shape and call @c func for each shape found. -cpBool cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data); +CP_EXPORT cpBool cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data); -/// Call cpBodyActivate() for any shape that is overlaps the given shape. -void cpSpaceActivateShapesTouchingShape(cpSpace *space, cpShape *shape); +//MARK: Iteration /// Space/body iterator callback function type. typedef void (*cpSpaceBodyIteratorFunc)(cpBody *body, void *data); /// Call @c func for each body in the space. -void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIteratorFunc func, void *data); /// Space/body iterator callback function type. typedef void (*cpSpaceShapeIteratorFunc)(cpShape *shape, void *data); /// Call @c func for each shape in the space. -void cpSpaceEachShape(cpSpace *space, cpSpaceShapeIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachShape(cpSpace *space, cpSpaceShapeIteratorFunc func, void *data); /// Space/constraint iterator callback function type. typedef void (*cpSpaceConstraintIteratorFunc)(cpConstraint *constraint, void *data); /// Call @c func for each shape in the space. -void cpSpaceEachConstraint(cpSpace *space, cpSpaceConstraintIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachConstraint(cpSpace *space, cpSpaceConstraintIteratorFunc func, void *data); + + +//MARK: Indexing /// Update the collision detection info for the static shapes in the space. -void cpSpaceReindexStatic(cpSpace *space); +CP_EXPORT void cpSpaceReindexStatic(cpSpace *space); /// Update the collision detection data for a specific shape in the space. -void cpSpaceReindexShape(cpSpace *space, cpShape *shape); +CP_EXPORT void cpSpaceReindexShape(cpSpace *space, cpShape *shape); /// Update the collision detection data for all shapes attached to a body. -void cpSpaceReindexShapesForBody(cpSpace *space, cpBody *body); +CP_EXPORT void cpSpaceReindexShapesForBody(cpSpace *space, cpBody *body); /// Switch the space to use a spatial has as it's spatial index. -void cpSpaceUseSpatialHash(cpSpace *space, cpFloat dim, int count); +CP_EXPORT void cpSpaceUseSpatialHash(cpSpace *space, cpFloat dim, int count); + + +//MARK: Time Stepping /// Step the space forward in time by @c dt. -void cpSpaceStep(cpSpace *space, cpFloat dt); +CP_EXPORT void cpSpaceStep(cpSpace *space, cpFloat dt); + + +//MARK: Debug API + +#ifndef CP_SPACE_DISABLE_DEBUG_API + +/// Color type to use with the space debug drawing API. +typedef struct cpSpaceDebugColor { + float r, g, b, a; +} cpSpaceDebugColor; + +/// Callback type for a function that draws a filled, stroked circle. +typedef void (*cpSpaceDebugDrawCircleImpl)(cpVect pos, cpFloat angle, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a line segment. +typedef void (*cpSpaceDebugDrawSegmentImpl)(cpVect a, cpVect b, cpSpaceDebugColor color, cpDataPointer data); +/// Callback type for a function that draws a thick line segment. +typedef void (*cpSpaceDebugDrawFatSegmentImpl)(cpVect a, cpVect b, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a convex polygon. +typedef void (*cpSpaceDebugDrawPolygonImpl)(int count, const cpVect *verts, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a dot. +typedef void (*cpSpaceDebugDrawDotImpl)(cpFloat size, cpVect pos, cpSpaceDebugColor color, cpDataPointer data); +/// Callback type for a function that returns a color for a given shape. This gives you an opportunity to color shapes based on how they are used in your engine. +typedef cpSpaceDebugColor (*cpSpaceDebugDrawColorForShapeImpl)(cpShape *shape, cpDataPointer data); + +typedef enum cpSpaceDebugDrawFlags { + CP_SPACE_DEBUG_DRAW_SHAPES = 1<<0, + CP_SPACE_DEBUG_DRAW_CONSTRAINTS = 1<<1, + CP_SPACE_DEBUG_DRAW_COLLISION_POINTS = 1<<2, +} cpSpaceDebugDrawFlags; + +/// Struct used with cpSpaceDebugDraw() containing drawing callbacks and other drawing settings. +typedef struct cpSpaceDebugDrawOptions { + /// Function that will be invoked to draw circles. + cpSpaceDebugDrawCircleImpl drawCircle; + /// Function that will be invoked to draw line segments. + cpSpaceDebugDrawSegmentImpl drawSegment; + /// Function that will be invoked to draw thick line segments. + cpSpaceDebugDrawFatSegmentImpl drawFatSegment; + /// Function that will be invoked to draw convex polygons. + cpSpaceDebugDrawPolygonImpl drawPolygon; + /// Function that will be invoked to draw dots. + cpSpaceDebugDrawDotImpl drawDot; + + /// Flags that request which things to draw (collision shapes, constraints, contact points). + cpSpaceDebugDrawFlags flags; + /// Outline color passed to the drawing function. + cpSpaceDebugColor shapeOutlineColor; + /// Function that decides what fill color to draw shapes using. + cpSpaceDebugDrawColorForShapeImpl colorForShape; + /// Color passed to drawing functions for constraints. + cpSpaceDebugColor constraintColor; + /// Color passed to drawing functions for collision points. + cpSpaceDebugColor collisionPointColor; + + /// User defined context pointer passed to all of the callback functions as the 'data' argument. + cpDataPointer data; +} cpSpaceDebugDrawOptions; + +/// Debug draw the current state of the space using the supplied drawing options. +CP_EXPORT void cpSpaceDebugDraw(cpSpace *space, cpSpaceDebugDrawOptions *options); + +#endif /// @} diff --git a/android/arm64-v8a/include/chipmunk/cpSpatialIndex.h b/android/arm64-v8a/include/chipmunk/cpSpatialIndex.h index c279cad0..a386ba9a 100644 --- a/android/arm64-v8a/include/chipmunk/cpSpatialIndex.h +++ b/android/arm64-v8a/include/chipmunk/cpSpatialIndex.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2010 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -69,48 +69,48 @@ struct cpSpatialIndex { typedef struct cpSpaceHash cpSpaceHash; /// Allocate a spatial hash. -cpSpaceHash* cpSpaceHashAlloc(void); +CP_EXPORT cpSpaceHash* cpSpaceHashAlloc(void); /// Initialize a spatial hash. -cpSpatialIndex* cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a spatial hash. -cpSpatialIndex* cpSpaceHashNew(cpFloat celldim, int cells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSpaceHashNew(cpFloat celldim, int cells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Change the cell dimensions and table size of the spatial hash to tune it. /// The cell dimensions should roughly match the average size of your objects /// and the table size should be ~10 larger than the number of objects inserted. /// Some trial and error is required to find the optimum numbers for efficiency. -void cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells); +CP_EXPORT void cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells); //MARK: AABB Tree typedef struct cpBBTree cpBBTree; /// Allocate a bounding box tree. -cpBBTree* cpBBTreeAlloc(void); +CP_EXPORT cpBBTree* cpBBTreeAlloc(void); /// Initialize a bounding box tree. -cpSpatialIndex* cpBBTreeInit(cpBBTree *tree, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpBBTreeInit(cpBBTree *tree, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a bounding box tree. -cpSpatialIndex* cpBBTreeNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpBBTreeNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Perform a static top down optimization of the tree. -void cpBBTreeOptimize(cpSpatialIndex *index); +CP_EXPORT void cpBBTreeOptimize(cpSpatialIndex *index); /// Bounding box tree velocity callback function. /// This function should return an estimate for the object's velocity. typedef cpVect (*cpBBTreeVelocityFunc)(void *obj); /// Set the velocity function for the bounding box tree to enable temporal coherence. -void cpBBTreeSetVelocityFunc(cpSpatialIndex *index, cpBBTreeVelocityFunc func); +CP_EXPORT void cpBBTreeSetVelocityFunc(cpSpatialIndex *index, cpBBTreeVelocityFunc func); //MARK: Single Axis Sweep typedef struct cpSweep1D cpSweep1D; /// Allocate a 1D sort and sweep broadphase. -cpSweep1D* cpSweep1DAlloc(void); +CP_EXPORT cpSweep1D* cpSweep1DAlloc(void); /// Initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DInit(cpSweep1D *sweep, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSweep1DInit(cpSweep1D *sweep, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSweep1DNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); //MARK: Spatial Index Implementation diff --git a/android/arm64-v8a/include/chipmunk/cpVect.h b/android/arm64-v8a/include/chipmunk/cpVect.h index 90855e56..8ec02bdc 100644 --- a/android/arm64-v8a/include/chipmunk/cpVect.h +++ b/android/arm64-v8a/include/chipmunk/cpVect.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,6 +19,11 @@ * SOFTWARE. */ +#ifndef CHIPMUNK_VECT_H +#define CHIPMUNK_VECT_H + +#include "chipmunk_types.h" + /// @defgroup cpVect cpVect /// Chipmunk's 2D vector type along with a handy 2D vector math lib. /// @{ @@ -33,17 +38,6 @@ static inline cpVect cpv(const cpFloat x, const cpFloat y) return v; } -/// Spherical linearly interpolate between v1 and v2. -cpVect cpvslerp(const cpVect v1, const cpVect v2, const cpFloat t); - -/// Spherical linearly interpolate between v1 towards v2 by no more than angle a radians -cpVect cpvslerpconst(const cpVect v1, const cpVect v2, const cpFloat a); - -/// Returns a string representation of v. Intended mostly for debugging purposes and not production use. -/// @attention The string points to a static local and is reset every time the function is called. -/// If you want to print more than one vector you will have to split up your printing onto separate lines. -char* cpvstr(const cpVect v); - /// Check if two vectors are equal. (Be careful when comparing floating point numbers!) static inline cpBool cpveql(const cpVect v1, const cpVect v2) { @@ -155,10 +149,30 @@ static inline cpVect cpvnormalize(const cpVect v) return cpvmult(v, 1.0f/(cpvlength(v) + CPFLOAT_MIN)); } -/// @deprecated Just an alias for cpvnormalize() now. -static inline cpVect cpvnormalize_safe(const cpVect v) +/// Spherical linearly interpolate between v1 and v2. +static inline cpVect +cpvslerp(const cpVect v1, const cpVect v2, const cpFloat t) { - return cpvnormalize(v); + cpFloat dot = cpvdot(cpvnormalize(v1), cpvnormalize(v2)); + cpFloat omega = cpfacos(cpfclamp(dot, -1.0f, 1.0f)); + + if(omega < 1e-3){ + // If the angle between two vectors is very small, lerp instead to avoid precision issues. + return cpvlerp(v1, v2, t); + } else { + cpFloat denom = 1.0f/cpfsin(omega); + return cpvadd(cpvmult(v1, cpfsin((1.0f - t)*omega)*denom), cpvmult(v2, cpfsin(t*omega)*denom)); + } +} + +/// Spherical linearly interpolate between v1 towards v2 by no more than angle a radians +static inline cpVect +cpvslerpconst(const cpVect v1, const cpVect v2, const cpFloat a) +{ + cpFloat dot = cpvdot(cpvnormalize(v1), cpvnormalize(v2)); + cpFloat omega = cpfacos(cpfclamp(dot, -1.0f, 1.0f)); + + return cpvslerp(v1, v2, cpfmin(a, omega)/omega); } /// Clamp v to length len. @@ -197,6 +211,7 @@ static inline cpBool cpvnear(const cpVect v1, const cpVect v2, const cpFloat dis /// 2x2 matrix type used for tensors and such. /// @{ +// NUKE static inline cpMat2x2 cpMat2x2New(cpFloat a, cpFloat b, cpFloat c, cpFloat d) { @@ -211,3 +226,5 @@ cpMat2x2Transform(cpMat2x2 m, cpVect v) } ///@} + +#endif diff --git a/android/arm64-v8a/libchipmunk.a b/android/arm64-v8a/libchipmunk.a index 7c17dc65d4b5785ccf3e68349c4916bc0a41d688..87d379d0164c223e859c9773d2562dc04024c698 100644 GIT binary patch literal 419462 zcmeFa3t*JhnKypsk`P102;m~exg-GsA_hbWR_kOE5D+aww61k!CX>Mg0!fo#QLIcL zw*G6oA1QdL^%8EbQunJ}p_MMFL8x_m`POP{ZR_p^v@0uaKX*d(O;RvoD)fTN?`1$RPVS z6q;ExbIxTF9xE2Y^N0{rZ~Wu$Yi}0ff2F(cAB4zv_rD^9>-L=Un)pBJ?kX0Z!!!QF zZ?E@v;*Yv7x?6bvl)HJO@Sf`42>xese+_(2cYpVr!t1`@{|3Ucw zH@*w5|7(%+{=(-(!H#z_?_-6cAje%e$}7(JzPwNrn)~V_qEOw5j%$-$UGdwJ0#EI$ zlWV%?w|CaJb|%^gsq0L}ZGReLS@JgGIw%exjkBb^?G6V)`|3f}+1}a=t{RfYkG8L~ zBLVL$_!qagcPw1foLraeg0H@P&F#r`3)Z%^!Ev#Ygz&9d&!)-|`mU)R~x+MVpY zVNG`n;@#{(7Iw{V?d<9Xad$kSA}ui&b}db=ZofTFW}5iwB+%CClu0B&u50gH?Lu18 z-nyo{E`v^jq8XruWJh;P21Lg};x0>Cae*gqSYvy4ylvs?j!yPL5OWM0yb*UvVEdtLCr~sYqES?O}DdOY8u4Qe>WQVdG1faw<-qDfC*hEK@ zvru-R&^z91<6SaophxU2A5fKH)3^+k=GCEHidt>OTAHFH^o0n=VO$(USMtEh1*uCU z)~;ULhJwHt%U6DzLnjNh&*x8{>O02D4w zL8J=;9N7G{?tox>5n8wAHreKANw(LN5~M|!1@&}I>zd?h=uj3F1zJX(8o%NS#dNwN z1L@$OBLEbQ?VX=qYqFTCv;7FSY?Y2`HpGZi#nTjKl@%uMvceX(C*p05?VoJ#Y-8I+ z=JL6*U503otg}*eb=@*pHYGU%B~ezOuI>3~)4^HPNV!Q>UH7R&v!ca(LaxkPlkB|B zR7DyIyVTL2Rrm?i)*mUXZ*OaBZD!Uuh)(@>V7it&09}3@01{&=at4q(XFHGur2WkR zUK?L$%C7@QX~_wPxOttO?VZuqxbDR0Iu3%|0iXb_Ud)t3xuIpM%}TBwHj>W*YH4QJ;a%R1QYGqyfEL}z+-fHEPD zcGBmD0`E;#9(<)G2#I9~lqNTl)RZvAr1wbpg1JV?%pE)Vq0ia+O zEl#evP4>)PM0vxgxvZQ^$1YzGs3^eBtu#&U0Lqa$B&|zE2Bj&p5w1?gI~U0jiSAvc z0Xk38{_G4%2SJ7DXGCL3OI(gN(lF#g77Tbx*@>}fSqluTv%UTHWM<49kcpcE$q_pz zkTM(}Br6{aiv@@DobWV0OGGYw7aaJi%(>v{vPk%XcvlMmy1~&tl?d%YXhU*Ed~I9z zjqx_wtUXSPRCfIIq5O%)R5v@&T%hmU%`0F=LHyd;dx2xnv6U)ex1R_o1MER#Nv_G zJM-0qrP6 zBdbzi=v@gj;54>Mg#o9rB^c8yZRl9(%;Ibcy$ieQ+uFO5GFvogS?lVKw$>GQV7{bV z&!ZS@6I8#p^L9C~P6wd)Yg=N0j6w`!OpVClqJ`pg$Sj~Mjz|Z)B*{d#Gi_wB8{45x zXO72!6|f<8>Z85gH#&q z;%kROknNR)QjO7Uuq>3>U|^fp!iAj+EcGCx?-B~`nj8W3Ey={HWv#cZNj7t4lBlvP zxENCcu5`QLChab8j`X`Qa>zhjuWjXYnp-&Hnmd3LaZYaLqL2aU0tY1d>{KJ^)fGrS zgPR$=7(d4?h7z%`y;8R9ZAxUuQO#Kx+J@vB%%0ffE(kf8sS87-)o;An(*hgP# z%OI+q4V45SDwzNXn%9Q5s#Q-Y8mw#}Fs(^RgXabTD|;r=Am<4IjWrB0$Zim@dg zWw0Q+9>{5bNrec1V#SIsIYDjV0h~5B+H_|Kv0++@4N_uk2pFNk zF4UaSLCLx<*?L<`Q+uZzZ#(HiNSeY*7r^P{+5!Ndx2Cy+J!>*@1*JL3Ry28SdpCwI zy3w>iMiFd<6;ig@vCt{UL6sVp6TB8sra}QZA(GL1S(b(vxoJQSvFR{MO?#Lt>4BI7 zhS*%-G`7sPG?O%TCK%YtNM`VLgNUUJqs>o)*uhQfnI2#-L=TvQ4ms0oy1>~$U^;V} z2F(Qljx#nhI4%e!Hn%00btIF`>``~Mw9835gPuPSlyc&^v2}Ga7iIoHP^OK`vNkyf zZ^Y$<+xU7WDGT3*+xScPYOSj~xkgUdW|8Fx2DNP^^&rFz0+yPgHBFSxKJ-63G3QLB z=+_rUW;VJpUz`o30bUSagRJOmXuqz#yG0GPC9$?Pl(4W1GnT7lr&tDI4qT7Q(wfs; 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zcQ2&8C`d^!;{>SR*ZZQ-91J>L;Mb+JBoU+9vWEh5C;mA*O#!^xO95+b*pCd!SLjR2OGH zs89c*5+qi6CBKW4nEppae?=Hse}0Xqyxtc+pVY7A6!zq(RMfsZm_}X(jn)5@r)Iyu z4I4_5R8BcB27$B?bJUl?Tx;ptAsnm!ajE}|C}MpVVh^=K29&O#z` #include +#ifdef WIN32 + // For alloca(). + #include + #define CP_EXPORT __declspec(dllexport) +#else + #include + #define CP_EXPORT +#endif + #ifdef __cplusplus extern "C" { #endif +// NUKE #ifndef CP_ALLOW_PRIVATE_ACCESS #define CP_ALLOW_PRIVATE_ACCESS 0 #endif @@ -43,22 +49,17 @@ extern "C" { #define CP_PRIVATE(__symbol__) __symbol__##_private #endif -void cpMessage(const char *condition, const char *file, int line, int isError, int isHardError, const char *message, ...); +CP_EXPORT void cpMessage(const char *condition, const char *file, int line, int isError, int isHardError, const char *message, ...); #ifdef NDEBUG #define cpAssertWarn(__condition__, ...) + #define cpAssertSoft(__condition__, ...) #else + #define cpAssertSoft(__condition__, ...) if(!(__condition__)){cpMessage(#__condition__, __FILE__, __LINE__, 1, 0, __VA_ARGS__); abort();} #define cpAssertWarn(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 0, 0, __VA_ARGS__) #endif -#ifdef NDEBUG - #define cpAssertSoft(__condition__, ...) -#else - #define cpAssertSoft(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 0, __VA_ARGS__) -#endif - -// Hard assertions are important and cheap to execute. They are not disabled by compiling as debug. -#define cpAssertHard(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 1, __VA_ARGS__) - +// Hard assertions are used in situations where the program definitely will crash anyway, and the reason is inexpensive to detect. +#define cpAssertHard(__condition__, ...) if(!(__condition__)){cpMessage(#__condition__, __FILE__, __LINE__, 1, 1, __VA_ARGS__); abort();} #include "chipmunk_types.h" @@ -89,81 +90,90 @@ typedef struct cpArray cpArray; typedef struct cpHashSet cpHashSet; typedef struct cpBody cpBody; + typedef struct cpShape cpShape; +typedef struct cpCircleShape cpCircleShape; +typedef struct cpSegmentShape cpSegmentShape; +typedef struct cpPolyShape cpPolyShape; + typedef struct cpConstraint cpConstraint; +typedef struct cpPinJoint cpPinJoint; +typedef struct cpSlideJoint cpSlideJoint; +typedef struct cpPivotJoint cpPivotJoint; +typedef struct cpGrooveJoint cpGrooveJoint; +typedef struct cpDampedSpring cpDampedSpring; +typedef struct cpDampedRotarySpring cpDampedRotarySpring; +typedef struct cpRotaryLimitJoint cpRotaryLimitJoint; +typedef struct cpRatchetJoint cpRatchetJoint; +typedef struct cpGearJoint cpGearJoint; +typedef struct cpSimpleMotorJoint cpSimpleMotorJoint; typedef struct cpCollisionHandler cpCollisionHandler; +typedef struct cpContactPointSet cpContactPointSet; typedef struct cpArbiter cpArbiter; typedef struct cpSpace cpSpace; #include "cpVect.h" #include "cpBB.h" +#include "cpTransform.h" #include "cpSpatialIndex.h" +#include "cpArbiter.h" + #include "cpBody.h" #include "cpShape.h" #include "cpPolyShape.h" -#include "cpArbiter.h" -#include "constraints/cpConstraint.h" +#include "cpConstraint.h" #include "cpSpace.h" +#include "cpHastySpace.h" -// Chipmunk 6.2.1 -#define CP_VERSION_MAJOR 6 -#define CP_VERSION_MINOR 2 +// Chipmunk 7.0.1 +#define CP_VERSION_MAJOR 7 +#define CP_VERSION_MINOR 0 #define CP_VERSION_RELEASE 1 /// Version string. -extern const char *cpVersionString; - -/// @deprecated -void cpInitChipmunk(void); - -/// Enables segment to segment shape collisions. -void cpEnableSegmentToSegmentCollisions(void); - +CP_EXPORT extern const char *cpVersionString; /// Calculate the moment of inertia for a circle. /// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset); +CP_EXPORT cpFloat cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset); /// Calculate area of a hollow circle. /// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpAreaForCircle(cpFloat r1, cpFloat r2); +CP_EXPORT cpFloat cpAreaForCircle(cpFloat r1, cpFloat r2); /// Calculate the moment of inertia for a line segment. /// Beveling radius is not supported. -cpFloat cpMomentForSegment(cpFloat m, cpVect a, cpVect b); +CP_EXPORT cpFloat cpMomentForSegment(cpFloat m, cpVect a, cpVect b, cpFloat radius); /// Calculate the area of a fattened (capsule shaped) line segment. -cpFloat cpAreaForSegment(cpVect a, cpVect b, cpFloat r); +CP_EXPORT cpFloat cpAreaForSegment(cpVect a, cpVect b, cpFloat radius); /// Calculate the moment of inertia for a solid polygon shape assuming it's center of gravity is at it's centroid. The offset is added to each vertex. -cpFloat cpMomentForPoly(cpFloat m, int numVerts, const cpVect *verts, cpVect offset); +CP_EXPORT cpFloat cpMomentForPoly(cpFloat m, int count, const cpVect *verts, cpVect offset, cpFloat radius); /// Calculate the signed area of a polygon. A Clockwise winding gives positive area. /// This is probably backwards from what you expect, but matches Chipmunk's the winding for poly shapes. -cpFloat cpAreaForPoly(const int numVerts, const cpVect *verts); +CP_EXPORT cpFloat cpAreaForPoly(const int count, const cpVect *verts, cpFloat radius); /// Calculate the natural centroid of a polygon. -cpVect cpCentroidForPoly(const int numVerts, const cpVect *verts); - -/// Center the polygon on the origin. (Subtracts the centroid of the polygon from each vertex) -void cpRecenterPoly(const int numVerts, cpVect *verts); +CP_EXPORT cpVect cpCentroidForPoly(const int count, const cpVect *verts); /// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox(cpFloat m, cpFloat width, cpFloat height); +CP_EXPORT cpFloat cpMomentForBox(cpFloat m, cpFloat width, cpFloat height); /// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox2(cpFloat m, cpBB box); +CP_EXPORT cpFloat cpMomentForBox2(cpFloat m, cpBB box); /// Calculate the convex hull of a given set of points. Returns the count of points in the hull. -/// @c result must be a pointer to a @c cpVect array with at least @c count elements. If @c result is @c NULL, then @c verts will be reduced instead. +/// @c result must be a pointer to a @c cpVect array with at least @c count elements. If @c verts == @c result, then @c verts will be reduced inplace. /// @c first is an optional pointer to an integer to store where the first vertex in the hull came from (i.e. verts[first] == result[0]) /// @c tol is the allowed amount to shrink the hull when simplifying it. A tolerance of 0.0 creates an exact hull. -int cpConvexHull(int count, cpVect *verts, cpVect *result, int *first, cpFloat tol); +CP_EXPORT int cpConvexHull(int count, const cpVect *verts, cpVect *result, int *first, cpFloat tol); #ifdef _MSC_VER #include "malloc.h" @@ -177,6 +187,15 @@ int cpConvexHull(int count, cpVect *verts, cpVect *result, int *first, cpFloat t cpVect *__verts_var__ = (cpVect *)alloca(__count__*sizeof(cpVect)); \ int __count_var__ = cpConvexHull(__count__, __verts__, __verts_var__, NULL, 0.0); \ +/// Returns the closest point on the line segment ab, to the point p. +static inline cpVect +cpClosetPointOnSegment(const cpVect p, const cpVect a, const cpVect b) +{ + cpVect delta = cpvsub(a, b); + cpFloat t = cpfclamp01(cpvdot(delta, cpvsub(p, b))/cpvlengthsq(delta)); + return cpvadd(b, cpvmult(delta, t)); +} + #if defined(__has_extension) #if __has_extension(blocks) // Define alternate block based alternatives for a few of the callback heavy functions. @@ -191,14 +210,14 @@ void cpBodyEachShape_b(cpBody *body, void (^block)(cpShape *shape)); void cpBodyEachConstraint_b(cpBody *body, void (^block)(cpConstraint *constraint)); void cpBodyEachArbiter_b(cpBody *body, void (^block)(cpArbiter *arbiter)); -typedef void (^cpSpaceNearestPointQueryBlock)(cpShape *shape, cpFloat distance, cpVect point); -void cpSpaceNearestPointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryBlock block); +typedef void (^cpSpacePointQueryBlock)(cpShape *shape, cpVect point, cpFloat distance, cpVect gradient); +void cpSpacePointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpSpacePointQueryBlock block); -typedef void (^cpSpaceSegmentQueryBlock)(cpShape *shape, cpFloat t, cpVect n); -void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryBlock block); +typedef void (^cpSpaceSegmentQueryBlock)(cpShape *shape, cpVect point, cpVect normal, cpFloat alpha); +void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSpaceSegmentQueryBlock block); typedef void (^cpSpaceBBQueryBlock)(cpShape *shape); -void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryBlock block); +void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpShapeFilter filter, cpSpaceBBQueryBlock block); typedef void (^cpSpaceShapeQueryBlock)(cpShape *shape, cpContactPointSet *points); cpBool cpSpaceShapeQuery_b(cpSpace *space, cpShape *shape, cpSpaceShapeQueryBlock block); diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/chipmunk.h b/android/armeabi-v7a/include/chipmunk/chipmunk/chipmunk.h deleted file mode 100644 index 6337fb1a..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/chipmunk.h +++ /dev/null @@ -1,222 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -#ifndef CHIPMUNK_HEADER -#define CHIPMUNK_HEADER - -#ifdef _MSC_VER - #define _USE_MATH_DEFINES -#endif - -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -#ifndef CP_ALLOW_PRIVATE_ACCESS - #define CP_ALLOW_PRIVATE_ACCESS 0 -#endif - -#if CP_ALLOW_PRIVATE_ACCESS == 1 - #define CP_PRIVATE(__symbol__) __symbol__ -#else - #define CP_PRIVATE(__symbol__) __symbol__##_private -#endif - -void cpMessage(const char *condition, const char *file, int line, int isError, int isHardError, const char *message, ...); -#ifdef NDEBUG - #define cpAssertWarn(__condition__, ...) -#else - #define cpAssertWarn(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 0, 0, __VA_ARGS__) -#endif - -#ifdef NDEBUG - #define cpAssertSoft(__condition__, ...) -#else - #define cpAssertSoft(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 0, __VA_ARGS__) -#endif - -// Hard assertions are important and cheap to execute. They are not disabled by compiling as debug. -#define cpAssertHard(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 1, __VA_ARGS__) - - -#include "chipmunk_types.h" - -/// @defgroup misc Misc -/// @{ - -/// Allocated size for various Chipmunk buffers -#ifndef CP_BUFFER_BYTES - #define CP_BUFFER_BYTES (32*1024) -#endif - -#ifndef cpcalloc - /// Chipmunk calloc() alias. - #define cpcalloc calloc -#endif - -#ifndef cprealloc - /// Chipmunk realloc() alias. - #define cprealloc realloc -#endif - -#ifndef cpfree - /// Chipmunk free() alias. - #define cpfree free -#endif - -typedef struct cpArray cpArray; -typedef struct cpHashSet cpHashSet; - -typedef struct cpBody cpBody; -typedef struct cpShape cpShape; -typedef struct cpConstraint cpConstraint; - -typedef struct cpCollisionHandler cpCollisionHandler; -typedef struct cpArbiter cpArbiter; - -typedef struct cpSpace cpSpace; - -#include "cpVect.h" -#include "cpBB.h" -#include "cpSpatialIndex.h" - -#include "cpBody.h" -#include "cpShape.h" -#include "cpPolyShape.h" - -#include "cpArbiter.h" -#include "constraints/cpConstraint.h" - -#include "cpSpace.h" - -// Chipmunk 6.2.1 -#define CP_VERSION_MAJOR 6 -#define CP_VERSION_MINOR 2 -#define CP_VERSION_RELEASE 1 - -/// Version string. -extern const char *cpVersionString; - -/// @deprecated -void cpInitChipmunk(void); - -/// Enables segment to segment shape collisions. -void cpEnableSegmentToSegmentCollisions(void); - - -/// Calculate the moment of inertia for a circle. -/// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset); - -/// Calculate area of a hollow circle. -/// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpAreaForCircle(cpFloat r1, cpFloat r2); - -/// Calculate the moment of inertia for a line segment. -/// Beveling radius is not supported. -cpFloat cpMomentForSegment(cpFloat m, cpVect a, cpVect b); - -/// Calculate the area of a fattened (capsule shaped) line segment. -cpFloat cpAreaForSegment(cpVect a, cpVect b, cpFloat r); - -/// Calculate the moment of inertia for a solid polygon shape assuming it's center of gravity is at it's centroid. The offset is added to each vertex. -cpFloat cpMomentForPoly(cpFloat m, int numVerts, const cpVect *verts, cpVect offset); - -/// Calculate the signed area of a polygon. A Clockwise winding gives positive area. -/// This is probably backwards from what you expect, but matches Chipmunk's the winding for poly shapes. -cpFloat cpAreaForPoly(const int numVerts, const cpVect *verts); - -/// Calculate the natural centroid of a polygon. -cpVect cpCentroidForPoly(const int numVerts, const cpVect *verts); - -/// Center the polygon on the origin. (Subtracts the centroid of the polygon from each vertex) -void cpRecenterPoly(const int numVerts, cpVect *verts); - -/// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox(cpFloat m, cpFloat width, cpFloat height); - -/// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox2(cpFloat m, cpBB box); - -/// Calculate the convex hull of a given set of points. Returns the count of points in the hull. -/// @c result must be a pointer to a @c cpVect array with at least @c count elements. If @c result is @c NULL, then @c verts will be reduced instead. -/// @c first is an optional pointer to an integer to store where the first vertex in the hull came from (i.e. verts[first] == result[0]) -/// @c tol is the allowed amount to shrink the hull when simplifying it. A tolerance of 0.0 creates an exact hull. -int cpConvexHull(int count, cpVect *verts, cpVect *result, int *first, cpFloat tol); - -#ifdef _MSC_VER -#include "malloc.h" -#endif - -/// Convenience macro to work with cpConvexHull. -/// @c count and @c verts is the input array passed to cpConvexHull(). -/// @c count_var and @c verts_var are the names of the variables the macro creates to store the result. -/// The output vertex array is allocated on the stack using alloca() so it will be freed automatically, but cannot be returned from the current scope. -#define CP_CONVEX_HULL(__count__, __verts__, __count_var__, __verts_var__) \ -cpVect *__verts_var__ = (cpVect *)alloca(__count__*sizeof(cpVect)); \ -int __count_var__ = cpConvexHull(__count__, __verts__, __verts_var__, NULL, 0.0); \ - -#if defined(__has_extension) -#if __has_extension(blocks) -// Define alternate block based alternatives for a few of the callback heavy functions. -// Collision handlers are post-step callbacks are not included to avoid memory management issues. -// If you want to use blocks for those and are aware of how to correctly manage the memory, the implementation is trivial. - -void cpSpaceEachBody_b(cpSpace *space, void (^block)(cpBody *body)); -void cpSpaceEachShape_b(cpSpace *space, void (^block)(cpShape *shape)); -void cpSpaceEachConstraint_b(cpSpace *space, void (^block)(cpConstraint *constraint)); - -void cpBodyEachShape_b(cpBody *body, void (^block)(cpShape *shape)); -void cpBodyEachConstraint_b(cpBody *body, void (^block)(cpConstraint *constraint)); -void cpBodyEachArbiter_b(cpBody *body, void (^block)(cpArbiter *arbiter)); - -typedef void (^cpSpaceNearestPointQueryBlock)(cpShape *shape, cpFloat distance, cpVect point); -void cpSpaceNearestPointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryBlock block); - -typedef void (^cpSpaceSegmentQueryBlock)(cpShape *shape, cpFloat t, cpVect n); -void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryBlock block); - -typedef void (^cpSpaceBBQueryBlock)(cpShape *shape); -void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryBlock block); - -typedef void (^cpSpaceShapeQueryBlock)(cpShape *shape, cpContactPointSet *points); -cpBool cpSpaceShapeQuery_b(cpSpace *space, cpShape *shape, cpSpaceShapeQueryBlock block); - -#endif -#endif - - -//@} - -#ifdef __cplusplus -} - -static inline cpVect operator *(const cpVect v, const cpFloat s){return cpvmult(v, s);} -static inline cpVect operator +(const cpVect v1, const cpVect v2){return cpvadd(v1, v2);} -static inline cpVect operator -(const cpVect v1, const cpVect v2){return cpvsub(v1, v2);} -static inline cpBool operator ==(const cpVect v1, const cpVect v2){return cpveql(v1, v2);} -static inline cpVect operator -(const cpVect v){return cpvneg(v);} - -#endif -#endif diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/chipmunk_ffi.h b/android/armeabi-v7a/include/chipmunk/chipmunk/chipmunk_ffi.h deleted file mode 100644 index 53ac6937..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/chipmunk_ffi.h +++ /dev/null @@ -1,177 +0,0 @@ -#ifdef CHIPMUNK_FFI - -// Create non static inlined copies of Chipmunk functions, useful for working with dynamic FFIs -// This file should only be included in chipmunk.c - -#ifdef _MSC_VER - #if _MSC_VER >= 1600 - #define MAKE_REF(name) decltype(name) *_##name = name - #else - #define MAKE_REF(name) - #endif -#else - #define MAKE_REF(name) __typeof__(name) *_##name = name -#endif - -#define MAKE_PROPERTIES_REF(struct, property) \ - MAKE_REF(struct##Get##property); MAKE_REF(struct##Set##property) - -MAKE_REF(cpv); // makes a variable named _cpv that contains the function pointer for cpv() -MAKE_REF(cpveql); -MAKE_REF(cpvadd); -MAKE_REF(cpvneg); -MAKE_REF(cpvsub); -MAKE_REF(cpvmult); -MAKE_REF(cpvdot); -MAKE_REF(cpvcross); -MAKE_REF(cpvperp); -MAKE_REF(cpvrperp); -MAKE_REF(cpvproject); -MAKE_REF(cpvforangle); -MAKE_REF(cpvtoangle); -MAKE_REF(cpvrotate); -MAKE_REF(cpvunrotate); -MAKE_REF(cpvlengthsq); -MAKE_REF(cpvlength); -MAKE_REF(cpvlerp); -MAKE_REF(cpvnormalize); -MAKE_REF(cpvnormalize_safe); -MAKE_REF(cpvclamp); -MAKE_REF(cpvlerpconst); -MAKE_REF(cpvdist); -MAKE_REF(cpvdistsq); -MAKE_REF(cpvnear); - -MAKE_REF(cpfmax); -MAKE_REF(cpfmin); -MAKE_REF(cpfabs); -MAKE_REF(cpfclamp); -MAKE_REF(cpflerp); -MAKE_REF(cpflerpconst); - -MAKE_REF(cpBBNew); -MAKE_REF(cpBBNewForCircle); -MAKE_REF(cpBBIntersects); -MAKE_REF(cpBBContainsBB); -MAKE_REF(cpBBContainsVect); -MAKE_REF(cpBBMerge); -MAKE_REF(cpBBExpand); -MAKE_REF(cpBBArea); -MAKE_REF(cpBBMergedArea); -MAKE_REF(cpBBSegmentQuery); -MAKE_REF(cpBBIntersectsSegment); -MAKE_REF(cpBBClampVect); - -MAKE_REF(cpBodyGetMass); -MAKE_REF(cpBodyGetMoment); -MAKE_REF(cpBodyGetPos); -MAKE_REF(cpBodyGetAngle); -MAKE_REF(cpBodyGetRot); -MAKE_PROPERTIES_REF(cpBody, Vel); -MAKE_PROPERTIES_REF(cpBody, Force); -MAKE_PROPERTIES_REF(cpBody, AngVel); -MAKE_PROPERTIES_REF(cpBody, Torque); -MAKE_PROPERTIES_REF(cpBody, VelLimit); -MAKE_PROPERTIES_REF(cpBody, AngVelLimit); -MAKE_PROPERTIES_REF(cpBody, UserData); -MAKE_REF(cpBodyIsSleeping); -MAKE_REF(cpBodyIsStatic); -MAKE_REF(cpBodyIsRogue); -MAKE_REF(cpBodyLocal2World); -MAKE_REF(cpBodyWorld2Local); -MAKE_REF(cpBodyKineticEnergy); - -MAKE_REF(cpShapeGetBB); -MAKE_PROPERTIES_REF(cpShape, Body); -MAKE_PROPERTIES_REF(cpShape, Sensor); -MAKE_PROPERTIES_REF(cpShape, Elasticity); -MAKE_PROPERTIES_REF(cpShape, Friction); -MAKE_PROPERTIES_REF(cpShape, SurfaceVelocity); -MAKE_PROPERTIES_REF(cpShape, UserData); -MAKE_PROPERTIES_REF(cpShape, CollisionType); -MAKE_PROPERTIES_REF(cpShape, Group); -MAKE_PROPERTIES_REF(cpShape, Layers); - -MAKE_REF(cpArbiterGetShapes); -MAKE_REF(cpArbiterGetBodies); -MAKE_REF(cpArbiterIsFirstContact); -MAKE_REF(cpArbiterGetCount); - -MAKE_REF(cpConstraintGetA); -MAKE_REF(cpConstraintGetB); -MAKE_PROPERTIES_REF(cpConstraint, MaxForce); -MAKE_PROPERTIES_REF(cpConstraint, ErrorBias); -MAKE_PROPERTIES_REF(cpConstraint, MaxBias); -MAKE_PROPERTIES_REF(cpConstraint, UserData); -MAKE_REF(cpConstraintGetImpulse); - -MAKE_PROPERTIES_REF(cpDampedRotarySpring, RestAngle); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedRotarySpring, SpringTorqueFunc); - -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr1); -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr2); -MAKE_PROPERTIES_REF(cpDampedSpring, RestLength); -MAKE_PROPERTIES_REF(cpDampedSpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedSpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedSpring, SpringForceFunc); - -MAKE_PROPERTIES_REF(cpGearJoint, Phase); -MAKE_REF(cpGearJointGetRatio); - -MAKE_PROPERTIES_REF(cpGrooveJoint, Anchr2); -MAKE_REF(cpGrooveJointGetGrooveA); -MAKE_REF(cpGrooveJointGetGrooveB); - -MAKE_PROPERTIES_REF(cpPinJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPinJoint, Anchr2); -MAKE_PROPERTIES_REF(cpPinJoint, Dist); - -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr2); - -MAKE_PROPERTIES_REF(cpRatchetJoint, Angle); -MAKE_PROPERTIES_REF(cpRatchetJoint, Phase); -MAKE_PROPERTIES_REF(cpRatchetJoint, Ratchet); - -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Min); -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Max); - -MAKE_PROPERTIES_REF(cpSimpleMotor, Rate); - -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr1); -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr2); -MAKE_PROPERTIES_REF(cpSlideJoint, Min); -MAKE_PROPERTIES_REF(cpSlideJoint, Max); - -MAKE_REF(cpSegmentQueryHitPoint); -MAKE_REF(cpSegmentQueryHitDist); - -MAKE_REF(cpSpatialIndexDestroy); -MAKE_REF(cpSpatialIndexCount); -MAKE_REF(cpSpatialIndexEach); -MAKE_REF(cpSpatialIndexContains); -MAKE_REF(cpSpatialIndexInsert); -MAKE_REF(cpSpatialIndexRemove); -MAKE_REF(cpSpatialIndexReindex); -MAKE_REF(cpSpatialIndexReindexObject); -MAKE_REF(cpSpatialIndexSegmentQuery); -MAKE_REF(cpSpatialIndexQuery); -MAKE_REF(cpSpatialIndexReindexQuery); - -MAKE_PROPERTIES_REF(cpSpace, Iterations); -MAKE_PROPERTIES_REF(cpSpace, Gravity); -MAKE_PROPERTIES_REF(cpSpace, Damping); -MAKE_PROPERTIES_REF(cpSpace, IdleSpeedThreshold); -MAKE_PROPERTIES_REF(cpSpace, SleepTimeThreshold); -MAKE_PROPERTIES_REF(cpSpace, CollisionSlop); -MAKE_PROPERTIES_REF(cpSpace, CollisionBias); -MAKE_PROPERTIES_REF(cpSpace, CollisionPersistence); -MAKE_PROPERTIES_REF(cpSpace, EnableContactGraph); -MAKE_PROPERTIES_REF(cpSpace, UserData); -MAKE_REF(cpSpaceGetStaticBody); -MAKE_REF(cpSpaceGetCurrentTimeStep); -MAKE_REF(cpSpaceIsLocked); - -#endif diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/chipmunk_private.h b/android/armeabi-v7a/include/chipmunk/chipmunk/chipmunk_private.h deleted file mode 100644 index f676345b..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/chipmunk_private.h +++ /dev/null @@ -1,254 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -#define CP_ALLOW_PRIVATE_ACCESS 1 -#include "chipmunk.h" - -#define CP_HASH_COEF (3344921057ul) -#define CP_HASH_PAIR(A, B) ((cpHashValue)(A)*CP_HASH_COEF ^ (cpHashValue)(B)*CP_HASH_COEF) - -// TODO: Eww. Magic numbers. -#define MAGIC_EPSILON 1e-5 - -//MARK: cpArray - -struct cpArray { - int num, max; - void **arr; -}; - -cpArray *cpArrayNew(int size); - -void cpArrayFree(cpArray *arr); - -void cpArrayPush(cpArray *arr, void *object); -void *cpArrayPop(cpArray *arr); -void cpArrayDeleteObj(cpArray *arr, void *obj); -cpBool cpArrayContains(cpArray *arr, void *ptr); - -void cpArrayFreeEach(cpArray *arr, void (freeFunc)(void*)); - - -//MARK: Foreach loops - -static inline cpConstraint * -cpConstraintNext(cpConstraint *node, cpBody *body) -{ - return (node->a == body ? node->next_a : node->next_b); -} - -#define CP_BODY_FOREACH_CONSTRAINT(bdy, var)\ - for(cpConstraint *var = bdy->constraintList; var; var = cpConstraintNext(var, bdy)) - -static inline cpArbiter * -cpArbiterNext(cpArbiter *node, cpBody *body) -{ - return (node->body_a == body ? node->thread_a.next : node->thread_b.next); -} - -#define CP_BODY_FOREACH_ARBITER(bdy, var)\ - for(cpArbiter *var = bdy->arbiterList; var; var = cpArbiterNext(var, bdy)) - -#define CP_BODY_FOREACH_SHAPE(body, var)\ - for(cpShape *var = body->shapeList; var; var = var->next) - -#define CP_BODY_FOREACH_COMPONENT(root, var)\ - for(cpBody *var = root; var; var = var->node.next) - - -//MARK: cpHashSet - -typedef cpBool (*cpHashSetEqlFunc)(void *ptr, void *elt); -typedef void *(*cpHashSetTransFunc)(void *ptr, void *data); - -cpHashSet *cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc); -void cpHashSetSetDefaultValue(cpHashSet *set, void *default_value); - -void cpHashSetFree(cpHashSet *set); - -int cpHashSetCount(cpHashSet *set); -void *cpHashSetInsert(cpHashSet *set, cpHashValue hash, void *ptr, void *data, cpHashSetTransFunc trans); -void *cpHashSetRemove(cpHashSet *set, cpHashValue hash, void *ptr); -void *cpHashSetFind(cpHashSet *set, cpHashValue hash, void *ptr); - -typedef void (*cpHashSetIteratorFunc)(void *elt, void *data); -void cpHashSetEach(cpHashSet *set, cpHashSetIteratorFunc func, void *data); - -typedef cpBool (*cpHashSetFilterFunc)(void *elt, void *data); -void cpHashSetFilter(cpHashSet *set, cpHashSetFilterFunc func, void *data); - - -//MARK: Body Functions - -void cpBodyAddShape(cpBody *body, cpShape *shape); -void cpBodyRemoveShape(cpBody *body, cpShape *shape); -void cpBodyRemoveConstraint(cpBody *body, cpConstraint *constraint); - - -//MARK: Shape/Collision Functions - -// TODO should move this to the cpVect API. It's pretty useful. -static inline cpVect -cpClosetPointOnSegment(const cpVect p, const cpVect a, const cpVect b) -{ - cpVect delta = cpvsub(a, b); - cpFloat t = cpfclamp01(cpvdot(delta, cpvsub(p, b))/cpvlengthsq(delta)); - return cpvadd(b, cpvmult(delta, t)); -} - -cpShape* cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body); - -static inline cpBool -cpShapeActive(cpShape *shape) -{ - return shape->prev || (shape->body && shape->body->shapeList == shape); -} - -int cpCollideShapes(const cpShape *a, const cpShape *b, cpCollisionID *id, cpContact *arr); - -static inline void -CircleSegmentQuery(cpShape *shape, cpVect center, cpFloat r, cpVect a, cpVect b, cpSegmentQueryInfo *info) -{ - cpVect da = cpvsub(a, center); - cpVect db = cpvsub(b, center); - - cpFloat qa = cpvdot(da, da) - 2.0f*cpvdot(da, db) + cpvdot(db, db); - cpFloat qb = -2.0f*cpvdot(da, da) + 2.0f*cpvdot(da, db); - cpFloat qc = cpvdot(da, da) - r*r; - - cpFloat det = qb*qb - 4.0f*qa*qc; - - if(det >= 0.0f){ - cpFloat t = (-qb - cpfsqrt(det))/(2.0f*qa); - if(0.0f<= t && t <= 1.0f){ - info->shape = shape; - info->t = t; - info->n = cpvnormalize(cpvlerp(da, db, t)); - } - } -} - -// TODO doesn't really need to be inline, but need a better place to put this function -static inline cpSplittingPlane -cpSplittingPlaneNew(cpVect a, cpVect b) -{ - cpVect n = cpvnormalize(cpvperp(cpvsub(b, a))); - cpSplittingPlane plane = {n, cpvdot(n, a)}; - return plane; -} - -static inline cpFloat -cpSplittingPlaneCompare(cpSplittingPlane plane, cpVect v) -{ - return cpvdot(plane.n, v) - plane.d; -} - -void cpLoopIndexes(cpVect *verts, int count, int *start, int *end); - - -//MARK: Spatial Index Functions - -cpSpatialIndex *cpSpatialIndexInit(cpSpatialIndex *index, cpSpatialIndexClass *klass, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - - -//MARK: Space Functions - -extern cpCollisionHandler cpDefaultCollisionHandler; -void cpSpaceProcessComponents(cpSpace *space, cpFloat dt); - -void cpSpacePushFreshContactBuffer(cpSpace *space); -cpContact *cpContactBufferGetArray(cpSpace *space); -void cpSpacePushContacts(cpSpace *space, int count); - -typedef struct cpPostStepCallback { - cpPostStepFunc func; - void *key; - void *data; -} cpPostStepCallback; - -cpPostStepCallback *cpSpaceGetPostStepCallback(cpSpace *space, void *key); - -cpBool cpSpaceArbiterSetFilter(cpArbiter *arb, cpSpace *space); -void cpSpaceFilterArbiters(cpSpace *space, cpBody *body, cpShape *filter); - -void cpSpaceActivateBody(cpSpace *space, cpBody *body); -void cpSpaceLock(cpSpace *space); -void cpSpaceUnlock(cpSpace *space, cpBool runPostStep); - -static inline cpCollisionHandler * -cpSpaceLookupHandler(cpSpace *space, cpCollisionType a, cpCollisionType b) -{ - cpCollisionType types[] = {a, b}; - return (cpCollisionHandler *)cpHashSetFind(space->collisionHandlers, CP_HASH_PAIR(a, b), types); -} - -static inline void -cpSpaceUncacheArbiter(cpSpace *space, cpArbiter *arb) -{ - cpShape *a = arb->a, *b = arb->b; - cpShape *shape_pair[] = {a, b}; - cpHashValue arbHashID = CP_HASH_PAIR((cpHashValue)a, (cpHashValue)b); - cpHashSetRemove(space->cachedArbiters, arbHashID, shape_pair); - cpArrayDeleteObj(space->arbiters, arb); -} - -void cpShapeUpdateFunc(cpShape *shape, void *unused); -cpCollisionID cpSpaceCollideShapes(cpShape *a, cpShape *b, cpCollisionID id, cpSpace *space); - - -//MARK: Arbiters - -struct cpContact { - cpVect p, n; - cpFloat dist; - - cpVect r1, r2; - cpFloat nMass, tMass, bounce; - - cpFloat jnAcc, jtAcc, jBias; - cpFloat bias; - - cpHashValue hash; -}; - -cpContact* cpContactInit(cpContact *con, cpVect p, cpVect n, cpFloat dist, cpHashValue hash); -cpArbiter* cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b); - -static inline void -cpArbiterCallSeparate(cpArbiter *arb, cpSpace *space) -{ - // The handler needs to be looked up again as the handler cached on the arbiter may have been deleted since the last step. - cpCollisionHandler *handler = cpSpaceLookupHandler(space, arb->a->collision_type, arb->b->collision_type); - handler->separate(arb, space, handler->data); -} - -static inline struct cpArbiterThread * -cpArbiterThreadForBody(cpArbiter *arb, cpBody *body) -{ - return (arb->body_a == body ? &arb->thread_a : &arb->thread_b); -} - -void cpArbiterUnthread(cpArbiter *arb); - -void cpArbiterUpdate(cpArbiter *arb, cpContact *contacts, int numContacts, struct cpCollisionHandler *handler, cpShape *a, cpShape *b); -void cpArbiterPreStep(cpArbiter *arb, cpFloat dt, cpFloat bias, cpFloat slop); -void cpArbiterApplyCachedImpulse(cpArbiter *arb, cpFloat dt_coef); -void cpArbiterApplyImpulse(cpArbiter *arb); diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/chipmunk_types.h b/android/armeabi-v7a/include/chipmunk/chipmunk/chipmunk_types.h deleted file mode 100644 index 9ed23391..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/chipmunk_types.h +++ /dev/null @@ -1,222 +0,0 @@ -#include -#include - -#ifdef __APPLE__ - #include "TargetConditionals.h" -#endif - -#if ((TARGET_OS_IPHONE == 1) || (TARGET_OS_MAC == 1)) && (!defined CP_USE_CGPOINTS) - #define CP_USE_CGPOINTS 1 -#endif - -#if CP_USE_CGPOINTS == 1 - #if TARGET_OS_IPHONE - #import - #elif TARGET_OS_MAC - #include - #endif - - #if defined(__LP64__) && __LP64__ - #define CP_USE_DOUBLES 1 - #else - #define CP_USE_DOUBLES 0 - #endif -#endif - -#ifndef CP_USE_DOUBLES - // use doubles by default for higher precision - #define CP_USE_DOUBLES 1 -#endif - -/// @defgroup basicTypes Basic Types -/// Most of these types can be configured at compile time. -/// @{ - -#if CP_USE_DOUBLES -/// Chipmunk's floating point type. -/// Can be reconfigured at compile time. - typedef double cpFloat; - #define cpfsqrt sqrt - #define cpfsin sin - #define cpfcos cos - #define cpfacos acos - #define cpfatan2 atan2 - #define cpfmod fmod - #define cpfexp exp - #define cpfpow pow - #define cpffloor floor - #define cpfceil ceil - #define CPFLOAT_MIN DBL_MIN -#else - typedef float cpFloat; - #define cpfsqrt sqrtf - #define cpfsin sinf - #define cpfcos cosf - #define cpfacos acosf - #define cpfatan2 atan2f - #define cpfmod fmodf - #define cpfexp expf - #define cpfpow powf - #define cpffloor floorf - #define cpfceil ceilf - #define CPFLOAT_MIN FLT_MIN -#endif - -#ifndef INFINITY - #ifdef _MSC_VER - union MSVC_EVIL_FLOAT_HACK - { - unsigned __int8 Bytes[4]; - float Value; - }; - static union MSVC_EVIL_FLOAT_HACK INFINITY_HACK = {{0x00, 0x00, 0x80, 0x7F}}; - #define INFINITY (INFINITY_HACK.Value) - #endif - - #ifdef __GNUC__ - #define INFINITY (__builtin_inf()) - #endif - - #ifndef INFINITY - #define INFINITY (1e1000) - #endif -#endif - -#ifndef M_PI - #define M_PI 3.14159265358979323846264338327950288 -#endif - -#ifndef M_E - #define M_E 2.71828182845904523536028747135266250 -#endif - - -/// Return the max of two cpFloats. -static inline cpFloat cpfmax(cpFloat a, cpFloat b) -{ - return (a > b) ? a : b; -} - -/// Return the min of two cpFloats. -static inline cpFloat cpfmin(cpFloat a, cpFloat b) -{ - return (a < b) ? a : b; -} - -/// Return the absolute value of a cpFloat. -static inline cpFloat cpfabs(cpFloat f) -{ - return (f < 0) ? -f : f; -} - -/// Clamp @c f to be between @c min and @c max. -static inline cpFloat cpfclamp(cpFloat f, cpFloat min, cpFloat max) -{ - return cpfmin(cpfmax(f, min), max); -} - -/// Clamp @c f to be between 0 and 1. -static inline cpFloat cpfclamp01(cpFloat f) -{ - return cpfmax(0.0f, cpfmin(f, 1.0f)); -} - - - -/// Linearly interpolate (or extrapolate) between @c f1 and @c f2 by @c t percent. -static inline cpFloat cpflerp(cpFloat f1, cpFloat f2, cpFloat t) -{ - return f1*(1.0f - t) + f2*t; -} - -/// Linearly interpolate from @c f1 to @c f2 by no more than @c d. -static inline cpFloat cpflerpconst(cpFloat f1, cpFloat f2, cpFloat d) -{ - return f1 + cpfclamp(f2 - f1, -d, d); -} - -/// Hash value type. -typedef uintptr_t cpHashValue; - -/// Type used internally to cache colliding object info for cpCollideShapes(). -/// Should be at least 32 bits. -typedef uint32_t cpCollisionID; - -// Oh C, how we love to define our own boolean types to get compiler compatibility -/// Chipmunk's boolean type. -#ifdef CP_BOOL_TYPE - typedef CP_BOOL_TYPE cpBool; -#else - typedef int cpBool; -#endif - -#ifndef cpTrue -/// true value. - #define cpTrue 1 -#endif - -#ifndef cpFalse -/// false value. - #define cpFalse 0 -#endif - -#ifdef CP_DATA_POINTER_TYPE - typedef CP_DATA_POINTER_TYPE cpDataPointer; -#else -/// Type used for user data pointers. - typedef void * cpDataPointer; -#endif - -#ifdef CP_COLLISION_TYPE_TYPE - typedef CP_COLLISION_TYPE_TYPE cpCollisionType; -#else -/// Type used for cpSpace.collision_type. - typedef uintptr_t cpCollisionType; -#endif - -#ifdef CP_GROUP_TYPE - typedef CP_GROUP_TYPE cpGroup; -#else -/// Type used for cpShape.group. - typedef uintptr_t cpGroup; -#endif - -#ifdef CP_LAYERS_TYPE - typedef CP_LAYERS_TYPE cpLayers; -#else -/// Type used for cpShape.layers. - typedef unsigned int cpLayers; -#endif - -#ifdef CP_TIMESTAMP_TYPE - typedef CP_TIMESTAMP_TYPE cpTimestamp; -#else -/// Type used for various timestamps in Chipmunk. - typedef unsigned int cpTimestamp; -#endif - -#ifndef CP_NO_GROUP -/// Value for cpShape.group signifying that a shape is in no group. - #define CP_NO_GROUP ((cpGroup)0) -#endif - -#ifndef CP_ALL_LAYERS -/// Value for cpShape.layers signifying that a shape is in every layer. - #define CP_ALL_LAYERS (~(cpLayers)0) -#endif -/// @} - -// CGPoints are structurally the same, and allow -// easy interoperability with other Cocoa libraries -#if CP_USE_CGPOINTS - typedef CGPoint cpVect; -#else -/// Chipmunk's 2D vector type. -/// @addtogroup cpVect - typedef struct cpVect{cpFloat x,y;} cpVect; -#endif - -typedef struct cpMat2x2 { - // Row major [[a, b][c d]] - cpFloat a, b, c, d; -} cpMat2x2; diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/chipmunk_unsafe.h b/android/armeabi-v7a/include/chipmunk/chipmunk/chipmunk_unsafe.h deleted file mode 100644 index 4428814c..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/chipmunk_unsafe.h +++ /dev/null @@ -1,65 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/* This header defines a number of "unsafe" operations on Chipmunk objects. - * In this case "unsafe" is referring to operations which may reduce the - * physical accuracy or numerical stability of the simulation, but will not - * cause crashes. - * - * The prime example is mutating collision shapes. Chipmunk does not support - * this directly. Mutating shapes using this API will caused objects in contact - * to be pushed apart using Chipmunk's overlap solver, but not using real - * persistent velocities. Probably not what you meant, but perhaps close enough. - */ - -/// @defgroup unsafe Chipmunk Unsafe Shape Operations -/// These functions are used for mutating collision shapes. -/// Chipmunk does not have any way to get velocity information on changing shapes, -/// so the results will be unrealistic. You must explicity include the chipmunk_unsafe.h header to use them. -/// @{ - -#ifndef CHIPMUNK_UNSAFE_HEADER -#define CHIPMUNK_UNSAFE_HEADER - -#ifdef __cplusplus -extern "C" { -#endif - -/// Set the radius of a circle shape. -void cpCircleShapeSetRadius(cpShape *shape, cpFloat radius); -/// Set the offset of a circle shape. -void cpCircleShapeSetOffset(cpShape *shape, cpVect offset); - -/// Set the endpoints of a segment shape. -void cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b); -/// Set the radius of a segment shape. -void cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius); - -/// Set the vertexes of a poly shape. -void cpPolyShapeSetVerts(cpShape *shape, int numVerts, cpVect *verts, cpVect offset); -/// Set the radius of a poly shape. -void cpPolyShapeSetRadius(cpShape *shape, cpFloat radius); - -#ifdef __cplusplus -} -#endif -#endif -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpConstraint.h b/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpConstraint.h deleted file mode 100644 index d1059fff..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpConstraint.h +++ /dev/null @@ -1,161 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpConstraint cpConstraint -/// @{ - -typedef struct cpConstraintClass cpConstraintClass; - -typedef void (*cpConstraintPreStepImpl)(cpConstraint *constraint, cpFloat dt); -typedef void (*cpConstraintApplyCachedImpulseImpl)(cpConstraint *constraint, cpFloat dt_coef); -typedef void (*cpConstraintApplyImpulseImpl)(cpConstraint *constraint, cpFloat dt); -typedef cpFloat (*cpConstraintGetImpulseImpl)(cpConstraint *constraint); - -/// @private -struct cpConstraintClass { - cpConstraintPreStepImpl preStep; - cpConstraintApplyCachedImpulseImpl applyCachedImpulse; - cpConstraintApplyImpulseImpl applyImpulse; - cpConstraintGetImpulseImpl getImpulse; -}; - -/// Callback function type that gets called before solving a joint. -typedef void (*cpConstraintPreSolveFunc)(cpConstraint *constraint, cpSpace *space); -/// Callback function type that gets called after solving a joint. -typedef void (*cpConstraintPostSolveFunc)(cpConstraint *constraint, cpSpace *space); - - -/// Opaque cpConstraint struct. -struct cpConstraint { - CP_PRIVATE(const cpConstraintClass *klass); - - /// The first body connected to this constraint. - cpBody *a; - /// The second body connected to this constraint. - cpBody *b; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpConstraint *next_a); - CP_PRIVATE(cpConstraint *next_b); - - /// The maximum force that this constraint is allowed to use. - /// Defaults to infinity. - cpFloat maxForce; - /// The rate at which joint error is corrected. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that it will - /// correct 10% of the error every 1/60th of a second. - cpFloat errorBias; - /// The maximum rate at which joint error is corrected. - /// Defaults to infinity. - cpFloat maxBias; - - /// Function called before the solver runs. - /// Animate your joint anchors, update your motor torque, etc. - cpConstraintPreSolveFunc preSolve; - - /// Function called after the solver runs. - /// Use the applied impulse to perform effects like breakable joints. - cpConstraintPostSolveFunc postSolve; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpConstraint reference in a callback. - cpDataPointer data; -}; - -/// Destroy a constraint. -void cpConstraintDestroy(cpConstraint *constraint); -/// Destroy and free a constraint. -void cpConstraintFree(cpConstraint *constraint); - -/// @private -static inline void cpConstraintActivateBodies(cpConstraint *constraint) -{ - cpBody *a = constraint->a; if(a) cpBodyActivate(a); - cpBody *b = constraint->b; if(b) cpBodyActivate(b); -} - -/// @private -#define CP_DefineConstraintStructGetter(type, member, name) \ -static inline type cpConstraint##Get##name(const cpConstraint *constraint){return constraint->member;} - -/// @private -#define CP_DefineConstraintStructSetter(type, member, name) \ -static inline void cpConstraint##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintActivateBodies(constraint); \ - constraint->member = value; \ -} - -/// @private -#define CP_DefineConstraintStructProperty(type, member, name) \ -CP_DefineConstraintStructGetter(type, member, name) \ -CP_DefineConstraintStructSetter(type, member, name) - -CP_DefineConstraintStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineConstraintStructGetter(cpBody*, a, A) -CP_DefineConstraintStructGetter(cpBody*, b, B) -CP_DefineConstraintStructProperty(cpFloat, maxForce, MaxForce) -CP_DefineConstraintStructProperty(cpFloat, errorBias, ErrorBias) -CP_DefineConstraintStructProperty(cpFloat, maxBias, MaxBias) -CP_DefineConstraintStructProperty(cpConstraintPreSolveFunc, preSolve, PreSolveFunc) -CP_DefineConstraintStructProperty(cpConstraintPostSolveFunc, postSolve, PostSolveFunc) -CP_DefineConstraintStructProperty(cpDataPointer, data, UserData) - -// Get the last impulse applied by this constraint. -static inline cpFloat cpConstraintGetImpulse(cpConstraint *constraint) -{ - return constraint->CP_PRIVATE(klass)->getImpulse(constraint); -} - -/// @} - -#define cpConstraintCheckCast(constraint, struct) \ - cpAssertHard(constraint->CP_PRIVATE(klass) == struct##GetClass(), "Constraint is not a "#struct) - -#define CP_DefineConstraintGetter(struct, type, member, name) \ -static inline type struct##Get##name(const cpConstraint *constraint){ \ - cpConstraintCheckCast(constraint, struct); \ - return ((struct *)constraint)->member; \ -} - -#define CP_DefineConstraintSetter(struct, type, member, name) \ -static inline void struct##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintCheckCast(constraint, struct); \ - cpConstraintActivateBodies(constraint); \ - ((struct *)constraint)->member = value; \ -} - -#define CP_DefineConstraintProperty(struct, type, member, name) \ -CP_DefineConstraintGetter(struct, type, member, name) \ -CP_DefineConstraintSetter(struct, type, member, name) - -#include "cpPinJoint.h" -#include "cpSlideJoint.h" -#include "cpPivotJoint.h" -#include "cpGrooveJoint.h" -#include "cpDampedSpring.h" -#include "cpDampedRotarySpring.h" -#include "cpRotaryLimitJoint.h" -#include "cpRatchetJoint.h" -#include "cpGearJoint.h" -#include "cpSimpleMotor.h" diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpDampedRotarySpring.h b/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpDampedRotarySpring.h deleted file mode 100644 index 86cf915b..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpDampedRotarySpring.h +++ /dev/null @@ -1,56 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedRotarySpring cpDampedRotarySpring -/// @{ - -typedef cpFloat (*cpDampedRotarySpringTorqueFunc)(struct cpConstraint *spring, cpFloat relativeAngle); - -const cpConstraintClass *cpDampedRotarySpringGetClass(void); - -/// @private -typedef struct cpDampedRotarySpring { - cpConstraint constraint; - cpFloat restAngle; - cpFloat stiffness; - cpFloat damping; - cpDampedRotarySpringTorqueFunc springTorqueFunc; - - cpFloat target_wrn; - cpFloat w_coef; - - cpFloat iSum; - cpFloat jAcc; -} cpDampedRotarySpring; - -/// Allocate a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringAlloc(void); -/// Initialize a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringInit(cpDampedRotarySpring *joint, cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped rotary spring. -cpConstraint* cpDampedRotarySpringNew(cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, restAngle, RestAngle) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpDampedRotarySpringTorqueFunc, springTorqueFunc, SpringTorqueFunc) - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpDampedSpring.h b/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpDampedSpring.h deleted file mode 100644 index f5120647..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpDampedSpring.h +++ /dev/null @@ -1,64 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedSpring cpDampedSpring -/// @{ - -typedef struct cpDampedSpring cpDampedSpring; - -typedef cpFloat (*cpDampedSpringForceFunc)(cpConstraint *spring, cpFloat dist); - -const cpConstraintClass *cpDampedSpringGetClass(void); - -/// @private -struct cpDampedSpring { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat restLength; - cpFloat stiffness; - cpFloat damping; - cpDampedSpringForceFunc springForceFunc; - - cpFloat target_vrn; - cpFloat v_coef; - - cpVect r1, r2; - cpFloat nMass; - cpVect n; - - cpFloat jAcc; -}; - -/// Allocate a damped spring. -cpDampedSpring* cpDampedSpringAlloc(void); -/// Initialize a damped spring. -cpDampedSpring* cpDampedSpringInit(cpDampedSpring *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped spring. -cpConstraint* cpDampedSpringNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, restLength, RestLength) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedSpring, cpDampedSpringForceFunc, springForceFunc, SpringForceFunc) - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpGearJoint.h b/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpGearJoint.h deleted file mode 100644 index c9ebf942..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpGearJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGearJoint cpGearJoint -/// @{ - -const cpConstraintClass *cpGearJointGetClass(void); - -/// @private -typedef struct cpGearJoint { - cpConstraint constraint; - cpFloat phase, ratio; - cpFloat ratio_inv; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpGearJoint; - -/// Allocate a gear joint. -cpGearJoint* cpGearJointAlloc(void); -/// Initialize a gear joint. -cpGearJoint* cpGearJointInit(cpGearJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); -/// Allocate and initialize a gear joint. -cpConstraint* cpGearJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); - -CP_DefineConstraintProperty(cpGearJoint, cpFloat, phase, Phase) -CP_DefineConstraintGetter(cpGearJoint, cpFloat, ratio, Ratio) -/// Set the ratio of a gear joint. -void cpGearJointSetRatio(cpConstraint *constraint, cpFloat value); - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpGrooveJoint.h b/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpGrooveJoint.h deleted file mode 100644 index b260218f..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpGrooveJoint.h +++ /dev/null @@ -1,57 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGrooveJoint cpGrooveJoint -/// @{ - -const cpConstraintClass *cpGrooveJointGetClass(void); - -/// @private -typedef struct cpGrooveJoint { - cpConstraint constraint; - cpVect grv_n, grv_a, grv_b; - cpVect anchr2; - - cpVect grv_tn; - cpFloat clamp; - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpGrooveJoint; - -/// Allocate a groove joint. -cpGrooveJoint* cpGrooveJointAlloc(void); -/// Initialize a groove joint. -cpGrooveJoint* cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); -/// Allocate and initialize a groove joint. -cpConstraint* cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); - -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_a, GrooveA) -/// Set endpoint a of a groove joint's groove -void cpGrooveJointSetGrooveA(cpConstraint *constraint, cpVect value); -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_b, GrooveB) -/// Set endpoint b of a groove joint's groove -void cpGrooveJointSetGrooveB(cpConstraint *constraint, cpVect value); -CP_DefineConstraintProperty(cpGrooveJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpPinJoint.h b/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpPinJoint.h deleted file mode 100644 index 2413e84a..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpPinJoint.h +++ /dev/null @@ -1,52 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPinJoint cpPinJoint -/// @{ - -const cpConstraintClass *cpPinJointGetClass(void); - -/// @private -typedef struct cpPinJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat dist; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpPinJoint; - -/// Allocate a pin joint. -cpPinJoint* cpPinJointAlloc(void); -/// Initialize a pin joint. -cpPinJoint* cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pin joint. -cpConstraint* cpPinJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpPinJoint, cpFloat, dist, Dist) - -///@} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpPivotJoint.h b/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpPivotJoint.h deleted file mode 100644 index a5d33174..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpPivotJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPivotJoint cpPivotJoint -/// @{ - -const cpConstraintClass *cpPivotJointGetClass(void); - -/// @private -typedef struct cpPivotJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpPivotJoint; - -/// Allocate a pivot joint -cpPivotJoint* cpPivotJointAlloc(void); -/// Initialize a pivot joint. -cpPivotJoint* cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pivot joint. -cpConstraint* cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot); -/// Allocate and initialize a pivot joint with specific anchors. -cpConstraint* cpPivotJointNew2(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpRatchetJoint.h b/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpRatchetJoint.h deleted file mode 100644 index e371b108..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpRatchetJoint.h +++ /dev/null @@ -1,49 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRatchetJoint cpRatchetJoint -/// @{ - -const cpConstraintClass *cpRatchetJointGetClass(void); - -/// @private -typedef struct cpRatchetJoint { - cpConstraint constraint; - cpFloat angle, phase, ratchet; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRatchetJoint; - -/// Allocate a ratchet joint. -cpRatchetJoint* cpRatchetJointAlloc(void); -/// Initialize a ratched joint. -cpRatchetJoint* cpRatchetJointInit(cpRatchetJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); -/// Allocate and initialize a ratchet joint. -cpConstraint* cpRatchetJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); - -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, angle, Angle) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, phase, Phase) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, ratchet, Ratchet) - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpRotaryLimitJoint.h b/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpRotaryLimitJoint.h deleted file mode 100644 index 2277e40f..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpRotaryLimitJoint.h +++ /dev/null @@ -1,48 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRotaryLimitJoint cpRotaryLimitJoint -/// @{ - -const cpConstraintClass *cpRotaryLimitJointGetClass(void); - -/// @private -typedef struct cpRotaryLimitJoint { - cpConstraint constraint; - cpFloat min, max; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRotaryLimitJoint; - -/// Allocate a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointAlloc(void); -/// Initialize a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointInit(cpRotaryLimitJoint *joint, cpBody *a, cpBody *b, cpFloat min, cpFloat max); -/// Allocate and initialize a damped rotary limit joint. -cpConstraint* cpRotaryLimitJointNew(cpBody *a, cpBody *b, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, max, Max) - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpSimpleMotor.h b/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpSimpleMotor.h deleted file mode 100644 index 37d28c5d..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpSimpleMotor.h +++ /dev/null @@ -1,46 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSimpleMotor cpSimpleMotor -/// @{ - -const cpConstraintClass *cpSimpleMotorGetClass(void); - -/// @private -typedef struct cpSimpleMotor { - cpConstraint constraint; - cpFloat rate; - - cpFloat iSum; - - cpFloat jAcc; -} cpSimpleMotor; - -/// Allocate a simple motor. -cpSimpleMotor* cpSimpleMotorAlloc(void); -/// initialize a simple motor. -cpSimpleMotor* cpSimpleMotorInit(cpSimpleMotor *joint, cpBody *a, cpBody *b, cpFloat rate); -/// Allocate and initialize a simple motor. -cpConstraint* cpSimpleMotorNew(cpBody *a, cpBody *b, cpFloat rate); - -CP_DefineConstraintProperty(cpSimpleMotor, cpFloat, rate, Rate) - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpSlideJoint.h b/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpSlideJoint.h deleted file mode 100644 index 40db8bba..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/cpSlideJoint.h +++ /dev/null @@ -1,53 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSlideJoint cpSlideJoint -/// @{ - -const cpConstraintClass *cpSlideJointGetClass(void); - -/// @private -typedef struct cpSlideJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat min, max; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpSlideJoint; - -/// Allocate a slide joint. -cpSlideJoint* cpSlideJointAlloc(void); -/// Initialize a slide joint. -cpSlideJoint* cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); -/// Allocate and initialize a slide joint. -cpConstraint* cpSlideJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, max, Max) - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/util.h b/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/util.h deleted file mode 100644 index 0a620475..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/constraints/util.h +++ /dev/null @@ -1,126 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -// These are utility routines to use when creating custom constraints. -// I'm not sure if this should be part of the private API or not. -// I should probably clean up the naming conventions if it is... - -#define CP_DefineClassGetter(t) const cpConstraintClass * t##GetClass(void){return (cpConstraintClass *)&klass;} - -void cpConstraintInit(cpConstraint *constraint, const cpConstraintClass *klass, cpBody *a, cpBody *b); - -static inline cpVect -relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){ - cpVect v1_sum = cpvadd(a->v, cpvmult(cpvperp(r1), a->w)); - cpVect v2_sum = cpvadd(b->v, cpvmult(cpvperp(r2), b->w)); - - return cpvsub(v2_sum, v1_sum); -} - -static inline cpFloat -normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){ - return cpvdot(relative_velocity(a, b, r1, r2), n); -} - -static inline void -apply_impulse(cpBody *body, cpVect j, cpVect r){ - body->v = cpvadd(body->v, cpvmult(j, body->m_inv)); - body->w += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_impulse(a, cpvneg(j), r1); - apply_impulse(b, j, r2); -} - -static inline void -apply_bias_impulse(cpBody *body, cpVect j, cpVect r) -{ - body->CP_PRIVATE(v_bias) = cpvadd(body->CP_PRIVATE(v_bias), cpvmult(j, body->m_inv)); - body->CP_PRIVATE(w_bias) += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_bias_impulse(a, cpvneg(j), r1); - apply_bias_impulse(b, j, r2); -} - -static inline cpFloat -k_scalar_body(cpBody *body, cpVect r, cpVect n) -{ - cpFloat rcn = cpvcross(r, n); - return body->m_inv + body->i_inv*rcn*rcn; -} - -static inline cpFloat -k_scalar(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n) -{ - cpFloat value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n); - cpAssertSoft(value != 0.0, "Unsolvable collision or constraint."); - - return value; -} - -static inline cpMat2x2 -k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2) -{ - cpFloat m_sum = a->m_inv + b->m_inv; - - // start with Identity*m_sum - cpFloat k11 = m_sum, k12 = 0.0f; - cpFloat k21 = 0.0f, k22 = m_sum; - - // add the influence from r1 - cpFloat a_i_inv = a->i_inv; - cpFloat r1xsq = r1.x * r1.x * a_i_inv; - cpFloat r1ysq = r1.y * r1.y * a_i_inv; - cpFloat r1nxy = -r1.x * r1.y * a_i_inv; - k11 += r1ysq; k12 += r1nxy; - k21 += r1nxy; k22 += r1xsq; - - // add the influnce from r2 - cpFloat b_i_inv = b->i_inv; - cpFloat r2xsq = r2.x * r2.x * b_i_inv; - cpFloat r2ysq = r2.y * r2.y * b_i_inv; - cpFloat r2nxy = -r2.x * r2.y * b_i_inv; - k11 += r2ysq; k12 += r2nxy; - k21 += r2nxy; k22 += r2xsq; - - // invert - cpFloat det = k11*k22 - k12*k21; - cpAssertSoft(det != 0.0, "Unsolvable constraint."); - - cpFloat det_inv = 1.0f/det; - return cpMat2x2New( - k22*det_inv, -k12*det_inv, - -k21*det_inv, k11*det_inv - ); -} - -static inline cpFloat -bias_coef(cpFloat errorBias, cpFloat dt) -{ - return 1.0f - cpfpow(errorBias, dt); -} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpArbiter.h b/android/armeabi-v7a/include/chipmunk/chipmunk/cpArbiter.h deleted file mode 100644 index 1ccb693d..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/cpArbiter.h +++ /dev/null @@ -1,207 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpArbiter cpArbiter -/// The cpArbiter struct controls pairs of colliding shapes. -/// They are also used in conjuction with collision handler callbacks -/// allowing you to retrieve information on the collision and control it. -/// @{ - -/// Collision begin event function callback type. -/// Returning false from a begin callback causes the collision to be ignored until -/// the the separate callback is called when the objects stop colliding. -typedef cpBool (*cpCollisionBeginFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision pre-solve event function callback type. -/// Returning false from a pre-step callback causes the collision to be ignored until the next step. -typedef cpBool (*cpCollisionPreSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision post-solve event function callback type. -typedef void (*cpCollisionPostSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision separate event function callback type. -typedef void (*cpCollisionSeparateFunc)(cpArbiter *arb, cpSpace *space, void *data); - -/// @private -struct cpCollisionHandler { - cpCollisionType a; - cpCollisionType b; - cpCollisionBeginFunc begin; - cpCollisionPreSolveFunc preSolve; - cpCollisionPostSolveFunc postSolve; - cpCollisionSeparateFunc separate; - void *data; -}; - -typedef struct cpContact cpContact; - -#define CP_MAX_CONTACTS_PER_ARBITER 2 - -/// @private -typedef enum cpArbiterState { - // Arbiter is active and its the first collision. - cpArbiterStateFirstColl, - // Arbiter is active and its not the first collision. - cpArbiterStateNormal, - // Collision has been explicitly ignored. - // Either by returning false from a begin collision handler or calling cpArbiterIgnore(). - cpArbiterStateIgnore, - // Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps. - cpArbiterStateCached, -} cpArbiterState; - -/// @private -struct cpArbiterThread { - // Links to next and previous arbiters in the contact graph. - struct cpArbiter *next, *prev; -}; - -/// A colliding pair of shapes. -struct cpArbiter { - /// Calculated value to use for the elasticity coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat e; - /// Calculated value to use for the friction coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat u; - /// Calculated value to use for applying surface velocities. - /// Override in a pre-solve collision handler for custom behavior. - cpVect surface_vr; - - /// User definable data pointer. - /// The value will persist for the pair of shapes until the separate() callback is called. - /// NOTE: If you need to clean up this pointer, you should implement the separate() callback to do it. - cpDataPointer data; - - CP_PRIVATE(cpShape *a); - CP_PRIVATE(cpShape *b); - CP_PRIVATE(cpBody *body_a); - CP_PRIVATE(cpBody *body_b); - - CP_PRIVATE(struct cpArbiterThread thread_a); - CP_PRIVATE(struct cpArbiterThread thread_b); - - CP_PRIVATE(int numContacts); - CP_PRIVATE(cpContact *contacts); - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpCollisionHandler *handler); - CP_PRIVATE(cpBool swappedColl); - CP_PRIVATE(cpArbiterState state); -}; - -#define CP_DefineArbiterStructGetter(type, member, name) \ -static inline type cpArbiterGet##name(const cpArbiter *arb){return arb->member;} - -#define CP_DefineArbiterStructSetter(type, member, name) \ -static inline void cpArbiterSet##name(cpArbiter *arb, type value){arb->member = value;} - -#define CP_DefineArbiterStructProperty(type, member, name) \ -CP_DefineArbiterStructGetter(type, member, name) \ -CP_DefineArbiterStructSetter(type, member, name) - -CP_DefineArbiterStructProperty(cpFloat, e, Elasticity) -CP_DefineArbiterStructProperty(cpFloat, u, Friction) - -// Get the relative surface velocity of the two shapes in contact. -cpVect cpArbiterGetSurfaceVelocity(cpArbiter *arb); - -// Override the relative surface velocity of the two shapes in contact. -// By default this is calculated to be the difference of the two -// surface velocities clamped to the tangent plane. -void cpArbiterSetSurfaceVelocity(cpArbiter *arb, cpVect vr); - -CP_DefineArbiterStructProperty(cpDataPointer, data, UserData) - -/// Calculate the total impulse that was applied by this arbiter. -/// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulse(const cpArbiter *arb); -/// Calculate the total impulse including the friction that was applied by this arbiter. -/// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulseWithFriction(const cpArbiter *arb); -/// Calculate the amount of energy lost in a collision including static, but not dynamic friction. -/// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpFloat cpArbiterTotalKE(const cpArbiter *arb); - - -/// Causes a collision pair to be ignored as if you returned false from a begin callback. -/// If called from a pre-step callback, you will still need to return false -/// if you want it to be ignored in the current step. -void cpArbiterIgnore(cpArbiter *arb); - -/// Return the colliding shapes involved for this arbiter. -/// The order of their cpSpace.collision_type values will match -/// the order set when the collision handler was registered. -static inline void cpArbiterGetShapes(const cpArbiter *arb, cpShape **a, cpShape **b) -{ - if(arb->CP_PRIVATE(swappedColl)){ - (*a) = arb->CP_PRIVATE(b), (*b) = arb->CP_PRIVATE(a); - } else { - (*a) = arb->CP_PRIVATE(a), (*b) = arb->CP_PRIVATE(b); - } -} -/// A macro shortcut for defining and retrieving the shapes from an arbiter. -#define CP_ARBITER_GET_SHAPES(__arb__, __a__, __b__) cpShape *__a__, *__b__; cpArbiterGetShapes(__arb__, &__a__, &__b__); - -/// Return the colliding bodies involved for this arbiter. -/// The order of the cpSpace.collision_type the bodies are associated with values will match -/// the order set when the collision handler was registered. -static inline void cpArbiterGetBodies(const cpArbiter *arb, cpBody **a, cpBody **b) -{ - CP_ARBITER_GET_SHAPES(arb, shape_a, shape_b); - (*a) = shape_a->body; - (*b) = shape_b->body; -} -/// A macro shortcut for defining and retrieving the bodies from an arbiter. -#define CP_ARBITER_GET_BODIES(__arb__, __a__, __b__) cpBody *__a__, *__b__; cpArbiterGetBodies(__arb__, &__a__, &__b__); - -/// A struct that wraps up the important collision data for an arbiter. -typedef struct cpContactPointSet { - /// The number of contact points in the set. - int count; - - /// The array of contact points. - struct { - /// The position of the contact point. - cpVect point; - /// The normal of the contact point. - cpVect normal; - /// The depth of the contact point. - cpFloat dist; - } points[CP_MAX_CONTACTS_PER_ARBITER]; -} cpContactPointSet; - -/// Return a contact set from an arbiter. -cpContactPointSet cpArbiterGetContactPointSet(const cpArbiter *arb); - -/// Replace the contact point set for an arbiter. -/// This can be a very powerful feature, but use it with caution! -void cpArbiterSetContactPointSet(cpArbiter *arb, cpContactPointSet *set); - -/// Returns true if this is the first step a pair of objects started colliding. -cpBool cpArbiterIsFirstContact(const cpArbiter *arb); -/// Get the number of contact points for this arbiter. -int cpArbiterGetCount(const cpArbiter *arb); -/// Get the normal of the @c ith contact point. -cpVect cpArbiterGetNormal(const cpArbiter *arb, int i); -/// Get the position of the @c ith contact point. -cpVect cpArbiterGetPoint(const cpArbiter *arb, int i); -/// Get the depth of the @c ith contact point. -cpFloat cpArbiterGetDepth(const cpArbiter *arb, int i); - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpBB.h b/android/armeabi-v7a/include/chipmunk/chipmunk/cpBB.h deleted file mode 100644 index 4e59c2d4..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/cpBB.h +++ /dev/null @@ -1,143 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpBBB cpBB -/// Chipmunk's axis-aligned 2D bounding box type along with a few handy routines. -/// @{ - -/// Chipmunk's axis-aligned 2D bounding box type. (left, bottom, right, top) -typedef struct cpBB{ - cpFloat l, b, r ,t; -} cpBB; - -/// Convenience constructor for cpBB structs. -static inline cpBB cpBBNew(const cpFloat l, const cpFloat b, const cpFloat r, const cpFloat t) -{ - cpBB bb = {l, b, r, t}; - return bb; -} - -/// Constructs a cpBB for a circle with the given position and radius. -static inline cpBB cpBBNewForCircle(const cpVect p, const cpFloat r) -{ - return cpBBNew(p.x - r, p.y - r, p.x + r, p.y + r); -} - -/// Returns true if @c a and @c b intersect. -static inline cpBool cpBBIntersects(const cpBB a, const cpBB b) -{ - return (a.l <= b.r && b.l <= a.r && a.b <= b.t && b.b <= a.t); -} - -/// Returns true if @c other lies completely within @c bb. -static inline cpBool cpBBContainsBB(const cpBB bb, const cpBB other) -{ - return (bb.l <= other.l && bb.r >= other.r && bb.b <= other.b && bb.t >= other.t); -} - -/// Returns true if @c bb contains @c v. -static inline cpBool cpBBContainsVect(const cpBB bb, const cpVect v) -{ - return (bb.l <= v.x && bb.r >= v.x && bb.b <= v.y && bb.t >= v.y); -} - -/// Returns a bounding box that holds both bounding boxes. -static inline cpBB cpBBMerge(const cpBB a, const cpBB b){ - return cpBBNew( - cpfmin(a.l, b.l), - cpfmin(a.b, b.b), - cpfmax(a.r, b.r), - cpfmax(a.t, b.t) - ); -} - -/// Returns a bounding box that holds both @c bb and @c v. -static inline cpBB cpBBExpand(const cpBB bb, const cpVect v){ - return cpBBNew( - cpfmin(bb.l, v.x), - cpfmin(bb.b, v.y), - cpfmax(bb.r, v.x), - cpfmax(bb.t, v.y) - ); -} - -/// Returns the center of a bounding box. -static inline cpVect -cpBBCenter(cpBB bb) -{ - return cpvlerp(cpv(bb.l, bb.b), cpv(bb.r, bb.t), 0.5f); -} - -/// Returns the area of the bounding box. -static inline cpFloat cpBBArea(cpBB bb) -{ - return (bb.r - bb.l)*(bb.t - bb.b); -} - -/// Merges @c a and @c b and returns the area of the merged bounding box. -static inline cpFloat cpBBMergedArea(cpBB a, cpBB b) -{ - return (cpfmax(a.r, b.r) - cpfmin(a.l, b.l))*(cpfmax(a.t, b.t) - cpfmin(a.b, b.b)); -} - -/// Returns the fraction along the segment query the cpBB is hit. Returns INFINITY if it doesn't hit. -static inline cpFloat cpBBSegmentQuery(cpBB bb, cpVect a, cpVect b) -{ - cpFloat idx = 1.0f/(b.x - a.x); - cpFloat tx1 = (bb.l == a.x ? -INFINITY : (bb.l - a.x)*idx); - cpFloat tx2 = (bb.r == a.x ? INFINITY : (bb.r - a.x)*idx); - cpFloat txmin = cpfmin(tx1, tx2); - cpFloat txmax = cpfmax(tx1, tx2); - - cpFloat idy = 1.0f/(b.y - a.y); - cpFloat ty1 = (bb.b == a.y ? -INFINITY : (bb.b - a.y)*idy); - cpFloat ty2 = (bb.t == a.y ? INFINITY : (bb.t - a.y)*idy); - cpFloat tymin = cpfmin(ty1, ty2); - cpFloat tymax = cpfmax(ty1, ty2); - - if(tymin <= txmax && txmin <= tymax){ - cpFloat min = cpfmax(txmin, tymin); - cpFloat max = cpfmin(txmax, tymax); - - if(0.0 <= max && min <= 1.0) return cpfmax(min, 0.0); - } - - return INFINITY; -} - -/// Return true if the bounding box intersects the line segment with ends @c a and @c b. -static inline cpBool cpBBIntersectsSegment(cpBB bb, cpVect a, cpVect b) -{ - return (cpBBSegmentQuery(bb, a, b) != INFINITY); -} - -/// Clamp a vector to a bounding box. -static inline cpVect -cpBBClampVect(const cpBB bb, const cpVect v) -{ - return cpv(cpfclamp(v.x, bb.l, bb.r), cpfclamp(v.y, bb.b, bb.t)); -} - -// TODO edge case issue -/// Wrap a vector to a bounding box. -cpVect cpBBWrapVect(const cpBB bb, const cpVect v); // wrap a vector to a bbox - -///@} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpBody.h b/android/armeabi-v7a/include/chipmunk/chipmunk/cpBody.h deleted file mode 100644 index 6168b0fe..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/cpBody.h +++ /dev/null @@ -1,251 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpBody cpBody -/// Chipmunk's rigid body type. Rigid bodies hold the physical properties of an object like -/// it's mass, and position and velocity of it's center of gravity. They don't have an shape on their own. -/// They are given a shape by creating collision shapes (cpShape) that point to the body. -/// @{ - -/// Rigid body velocity update function type. -typedef void (*cpBodyVelocityFunc)(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); -/// Rigid body position update function type. -typedef void (*cpBodyPositionFunc)(cpBody *body, cpFloat dt); - -/// Used internally to track information on the collision graph. -/// @private -typedef struct cpComponentNode { - cpBody *root; - cpBody *next; - cpFloat idleTime; -} cpComponentNode; - -/// Chipmunk's rigid body struct. -struct cpBody { - /// Function that is called to integrate the body's velocity. (Defaults to cpBodyUpdateVelocity) - cpBodyVelocityFunc velocity_func; - - /// Function that is called to integrate the body's position. (Defaults to cpBodyUpdatePosition) - cpBodyPositionFunc position_func; - - /// Mass of the body. - /// Must agree with cpBody.m_inv! Use cpBodySetMass() when changing the mass for this reason. - cpFloat m; - /// Mass inverse. - cpFloat m_inv; - - /// Moment of inertia of the body. - /// Must agree with cpBody.i_inv! Use cpBodySetMoment() when changing the moment for this reason. - cpFloat i; - /// Moment of inertia inverse. - cpFloat i_inv; - - /// Position of the rigid body's center of gravity. - cpVect p; - /// Velocity of the rigid body's center of gravity. - cpVect v; - /// Force acting on the rigid body's center of gravity. - cpVect f; - - /// Rotation of the body around it's center of gravity in radians. - /// Must agree with cpBody.rot! Use cpBodySetAngle() when changing the angle for this reason. - cpFloat a; - /// Angular velocity of the body around it's center of gravity in radians/second. - cpFloat w; - /// Torque applied to the body around it's center of gravity. - cpFloat t; - - /// Cached unit length vector representing the angle of the body. - /// Used for fast rotations using cpvrotate(). - cpVect rot; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpBody reference in a callback. - cpDataPointer data; - - /// Maximum velocity allowed when updating the velocity. - cpFloat v_limit; - /// Maximum rotational rate (in radians/second) allowed when updating the angular velocity. - cpFloat w_limit; - - CP_PRIVATE(cpVect v_bias); - CP_PRIVATE(cpFloat w_bias); - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *shapeList); - CP_PRIVATE(cpArbiter *arbiterList); - CP_PRIVATE(cpConstraint *constraintList); - - CP_PRIVATE(cpComponentNode node); -}; - -/// Allocate a cpBody. -cpBody* cpBodyAlloc(void); -/// Initialize a cpBody. -cpBody* cpBodyInit(cpBody *body, cpFloat m, cpFloat i); -/// Allocate and initialize a cpBody. -cpBody* cpBodyNew(cpFloat m, cpFloat i); - -/// Initialize a static cpBody. -cpBody* cpBodyInitStatic(cpBody *body); -/// Allocate and initialize a static cpBody. -cpBody* cpBodyNewStatic(void); - -/// Destroy a cpBody. -void cpBodyDestroy(cpBody *body); -/// Destroy and free a cpBody. -void cpBodyFree(cpBody *body); - -/// Check that the properties of a body is sane. (Only in debug mode) -#ifdef NDEBUG - #define cpBodyAssertSane(body) -#else - void cpBodySanityCheck(cpBody *body); - #define cpBodyAssertSane(body) cpBodySanityCheck(body) -#endif - -// Defined in cpSpace.c -/// Wake up a sleeping or idle body. -void cpBodyActivate(cpBody *body); -/// Wake up any sleeping or idle bodies touching a static body. -void cpBodyActivateStatic(cpBody *body, cpShape *filter); - -/// Force a body to fall asleep immediately. -void cpBodySleep(cpBody *body); -/// Force a body to fall asleep immediately along with other bodies in a group. -void cpBodySleepWithGroup(cpBody *body, cpBody *group); - -/// Returns true if the body is sleeping. -static inline cpBool cpBodyIsSleeping(const cpBody *body) -{ - return (CP_PRIVATE(body->node).root != ((cpBody*)0)); -} - -/// Returns true if the body is static. -static inline cpBool cpBodyIsStatic(const cpBody *body) -{ - return CP_PRIVATE(body->node).idleTime == INFINITY; -} - -/// Returns true if the body has not been added to a space. -/// Note: Static bodies are a subtype of rogue bodies. -static inline cpBool cpBodyIsRogue(const cpBody *body) -{ - return (body->CP_PRIVATE(space) == ((cpSpace*)0)); -} - - -#define CP_DefineBodyStructGetter(type, member, name) \ -static inline type cpBodyGet##name(const cpBody *body){return body->member;} - -#define CP_DefineBodyStructSetter(type, member, name) \ -static inline void cpBodySet##name(cpBody *body, const type value){ \ - cpBodyActivate(body); \ - body->member = value; \ - cpBodyAssertSane(body); \ -} - -#define CP_DefineBodyStructProperty(type, member, name) \ -CP_DefineBodyStructGetter(type, member, name) \ -CP_DefineBodyStructSetter(type, member, name) - -// TODO add to docs -CP_DefineBodyStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineBodyStructGetter(cpFloat, m, Mass) -/// Set the mass of a body. -void cpBodySetMass(cpBody *body, cpFloat m); - -CP_DefineBodyStructGetter(cpFloat, i, Moment) -/// Set the moment of a body. -void cpBodySetMoment(cpBody *body, cpFloat i); - -CP_DefineBodyStructGetter(cpVect, p, Pos) -/// Set the position of a body. -void cpBodySetPos(cpBody *body, cpVect pos); -CP_DefineBodyStructProperty(cpVect, v, Vel) -CP_DefineBodyStructProperty(cpVect, f, Force) -CP_DefineBodyStructGetter(cpFloat, a, Angle) -/// Set the angle of a body. -void cpBodySetAngle(cpBody *body, cpFloat a); -CP_DefineBodyStructProperty(cpFloat, w, AngVel) -CP_DefineBodyStructProperty(cpFloat, t, Torque) -CP_DefineBodyStructGetter(cpVect, rot, Rot) -CP_DefineBodyStructProperty(cpFloat, v_limit, VelLimit) -CP_DefineBodyStructProperty(cpFloat, w_limit, AngVelLimit) -CP_DefineBodyStructProperty(cpDataPointer, data, UserData) - -/// Default Integration functions. -void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); -void cpBodyUpdatePosition(cpBody *body, cpFloat dt); - -/// Convert body relative/local coordinates to absolute/world coordinates. -static inline cpVect cpBodyLocal2World(const cpBody *body, const cpVect v) -{ - return cpvadd(body->p, cpvrotate(v, body->rot)); -} - -/// Convert body absolute/world coordinates to relative/local coordinates. -static inline cpVect cpBodyWorld2Local(const cpBody *body, const cpVect v) -{ - return cpvunrotate(cpvsub(v, body->p), body->rot); -} - -/// Set the forces and torque or a body to zero. -void cpBodyResetForces(cpBody *body); -/// Apply an force (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyForce(cpBody *body, const cpVect f, const cpVect r); -/// Apply an impulse (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyImpulse(cpBody *body, const cpVect j, const cpVect r); - -/// Get the velocity on a body (in world units) at a point on the body in world coordinates. -cpVect cpBodyGetVelAtWorldPoint(cpBody *body, cpVect point); -/// Get the velocity on a body (in world units) at a point on the body in local coordinates. -cpVect cpBodyGetVelAtLocalPoint(cpBody *body, cpVect point); - - -/// Get the kinetic energy of a body. -static inline cpFloat cpBodyKineticEnergy(const cpBody *body) -{ - // Need to do some fudging to avoid NaNs - cpFloat vsq = cpvdot(body->v, body->v); - cpFloat wsq = body->w*body->w; - return (vsq ? vsq*body->m : 0.0f) + (wsq ? wsq*body->i : 0.0f); -} - -/// Body/shape iterator callback function type. -typedef void (*cpBodyShapeIteratorFunc)(cpBody *body, cpShape *shape, void *data); -/// Call @c func once for each shape attached to @c body and added to the space. -void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data); - -/// Body/constraint iterator callback function type. -typedef void (*cpBodyConstraintIteratorFunc)(cpBody *body, cpConstraint *constraint, void *data); -/// Call @c func once for each constraint attached to @c body and added to the space. -void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data); - -/// Body/arbiter iterator callback function type. -typedef void (*cpBodyArbiterIteratorFunc)(cpBody *body, cpArbiter *arbiter, void *data); -/// Call @c func once for each arbiter that is currently active on the body. -void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data); - -///@} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpPolyShape.h b/android/armeabi-v7a/include/chipmunk/chipmunk/cpPolyShape.h deleted file mode 100644 index a5587ba2..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/cpPolyShape.h +++ /dev/null @@ -1,81 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPolyShape cpPolyShape -/// @{ - -/// @private -typedef struct cpSplittingPlane { - cpVect n; - cpFloat d; -} cpSplittingPlane; - -/// @private -typedef struct cpPolyShape { - cpShape shape; - - int numVerts; - cpVect *verts, *tVerts; - cpSplittingPlane *planes, *tPlanes; - - cpFloat r; -} cpPolyShape; - -/// Allocate a polygon shape. -cpPolyShape* cpPolyShapeAlloc(void); -/// Initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit2(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew(cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew2(cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); - -/// Initialize a box shaped polygon shape. -cpPolyShape* cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit2(cpPolyShape *poly, cpBody *body, cpBB box); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit3(cpPolyShape *poly, cpBody *body, cpBB box, cpFloat radius); -/// Allocate and initialize a box shaped polygon shape. -cpShape* cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height); -/// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew2(cpBody *body, cpBB box); -/// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew3(cpBody *body, cpBB box, cpFloat radius); - -/// Check that a set of vertexes is convex and has a clockwise winding. -/// NOTE: Due to floating point precision issues, hulls created with cpQuickHull() are not guaranteed to validate! -cpBool cpPolyValidate(const cpVect *verts, const int numVerts); - -/// Get the number of verts in a polygon shape. -int cpPolyShapeGetNumVerts(const cpShape *shape); -/// Get the @c ith vertex of a polygon shape. -cpVect cpPolyShapeGetVert(const cpShape *shape, int idx); -/// Get the radius of a polygon shape. -cpFloat cpPolyShapeGetRadius(const cpShape *shape); - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpShape.h b/android/armeabi-v7a/include/chipmunk/chipmunk/cpShape.h deleted file mode 100644 index 62920c37..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/cpShape.h +++ /dev/null @@ -1,232 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpShape cpShape -/// The cpShape struct defines the shape of a rigid body. -/// @{ - -typedef struct cpShapeClass cpShapeClass; - -/// Nearest point query info struct. -typedef struct cpNearestPointQueryInfo { - /// The nearest shape, NULL if no shape was within range. - cpShape *shape; - /// The closest point on the shape's surface. (in world space coordinates) - cpVect p; - /// The distance to the point. The distance is negative if the point is inside the shape. - cpFloat d; - /// The gradient of the signed distance function. - /// The same as info.p/info.d, but accurate even for very small values of info.d. - cpVect g; -} cpNearestPointQueryInfo; - -/// Segment query info struct. -typedef struct cpSegmentQueryInfo { - /// The shape that was hit, NULL if no collision occured. - cpShape *shape; - /// The normalized distance along the query segment in the range [0, 1]. - cpFloat t; - /// The normal of the surface hit. - cpVect n; -} cpSegmentQueryInfo; - -/// @private -typedef enum cpShapeType{ - CP_CIRCLE_SHAPE, - CP_SEGMENT_SHAPE, - CP_POLY_SHAPE, - CP_NUM_SHAPES -} cpShapeType; - -typedef cpBB (*cpShapeCacheDataImpl)(cpShape *shape, cpVect p, cpVect rot); -typedef void (*cpShapeDestroyImpl)(cpShape *shape); -typedef void (*cpShapeNearestPointQueryImpl)(cpShape *shape, cpVect p, cpNearestPointQueryInfo *info); -typedef void (*cpShapeSegmentQueryImpl)(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); - -/// @private -struct cpShapeClass { - cpShapeType type; - - cpShapeCacheDataImpl cacheData; - cpShapeDestroyImpl destroy; - cpShapeNearestPointQueryImpl nearestPointQuery; - cpShapeSegmentQueryImpl segmentQuery; -}; - -/// Opaque collision shape struct. -struct cpShape { - CP_PRIVATE(const cpShapeClass *klass); - - /// The rigid body this collision shape is attached to. - cpBody *body; - - /// The current bounding box of the shape. - cpBB bb; - - /// Sensor flag. - /// Sensor shapes call collision callbacks but don't produce collisions. - cpBool sensor; - - /// Coefficient of restitution. (elasticity) - cpFloat e; - /// Coefficient of friction. - cpFloat u; - /// Surface velocity used when solving for friction. - cpVect surface_v; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpShape reference in a callback. - cpDataPointer data; - - /// Collision type of this shape used when picking collision handlers. - cpCollisionType collision_type; - /// Group of this shape. Shapes in the same group don't collide. - cpGroup group; - // Layer bitmask for this shape. Shapes only collide if the bitwise and of their layers is non-zero. - cpLayers layers; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *next); - CP_PRIVATE(cpShape *prev); - - CP_PRIVATE(cpHashValue hashid); -}; - -/// Destroy a shape. -void cpShapeDestroy(cpShape *shape); -/// Destroy and Free a shape. -void cpShapeFree(cpShape *shape); - -/// Update, cache and return the bounding box of a shape based on the body it's attached to. -cpBB cpShapeCacheBB(cpShape *shape); -/// Update, cache and return the bounding box of a shape with an explicit transformation. -cpBB cpShapeUpdate(cpShape *shape, cpVect pos, cpVect rot); - -/// Test if a point lies within a shape. -cpBool cpShapePointQuery(cpShape *shape, cpVect p); - -/// Perform a nearest point query. It finds the closest point on the surface of shape to a specific point. -/// The value returned is the distance between the points. A negative distance means the point is inside the shape. -cpFloat cpShapeNearestPointQuery(cpShape *shape, cpVect p, cpNearestPointQueryInfo *out); - -/// Perform a segment query against a shape. @c info must be a pointer to a valid cpSegmentQueryInfo structure. -cpBool cpShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); - -/// Get the hit point for a segment query. -static inline cpVect cpSegmentQueryHitPoint(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvlerp(start, end, info.t); -} - -/// Get the hit distance for a segment query. -static inline cpFloat cpSegmentQueryHitDist(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvdist(start, end)*info.t; -} - -#define CP_DefineShapeStructGetter(type, member, name) \ -static inline type cpShapeGet##name(const cpShape *shape){return shape->member;} - -#define CP_DefineShapeStructSetter(type, member, name, activates) \ -static inline void cpShapeSet##name(cpShape *shape, type value){ \ - if(activates && shape->body) cpBodyActivate(shape->body); \ - shape->member = value; \ -} - -#define CP_DefineShapeStructProperty(type, member, name, activates) \ -CP_DefineShapeStructGetter(type, member, name) \ -CP_DefineShapeStructSetter(type, member, name, activates) - -CP_DefineShapeStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineShapeStructGetter(cpBody*, body, Body) -void cpShapeSetBody(cpShape *shape, cpBody *body); - -CP_DefineShapeStructGetter(cpBB, bb, BB) -CP_DefineShapeStructProperty(cpBool, sensor, Sensor, cpTrue) -CP_DefineShapeStructProperty(cpFloat, e, Elasticity, cpFalse) -CP_DefineShapeStructProperty(cpFloat, u, Friction, cpTrue) -CP_DefineShapeStructProperty(cpVect, surface_v, SurfaceVelocity, cpTrue) -CP_DefineShapeStructProperty(cpDataPointer, data, UserData, cpFalse) -CP_DefineShapeStructProperty(cpCollisionType, collision_type, CollisionType, cpTrue) -CP_DefineShapeStructProperty(cpGroup, group, Group, cpTrue) -CP_DefineShapeStructProperty(cpLayers, layers, Layers, cpTrue) - -/// When initializing a shape, it's hash value comes from a counter. -/// Because the hash value may affect iteration order, you can reset the shape ID counter -/// when recreating a space. This will make the simulation be deterministic. -void cpResetShapeIdCounter(void); - -#define CP_DeclareShapeGetter(struct, type, name) type struct##Get##name(const cpShape *shape) - -/// @} -/// @defgroup cpCircleShape cpCircleShape - -/// @private -typedef struct cpCircleShape { - cpShape shape; - - cpVect c, tc; - cpFloat r; -} cpCircleShape; - -/// Allocate a circle shape. -cpCircleShape* cpCircleShapeAlloc(void); -/// Initialize a circle shape. -cpCircleShape* cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset); -/// Allocate and initialize a circle shape. -cpShape* cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset); - -CP_DeclareShapeGetter(cpCircleShape, cpVect, Offset); -CP_DeclareShapeGetter(cpCircleShape, cpFloat, Radius); - -/// @} -/// @defgroup cpSegmentShape cpSegmentShape - -/// @private -typedef struct cpSegmentShape { - cpShape shape; - - cpVect a, b, n; - cpVect ta, tb, tn; - cpFloat r; - - cpVect a_tangent, b_tangent; -} cpSegmentShape; - -/// Allocate a segment shape. -cpSegmentShape* cpSegmentShapeAlloc(void); -/// Initialize a segment shape. -cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius); -/// Allocate and initialize a segment shape. -cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius); - -/// Let Chipmunk know about the geometry of adjacent segments to avoid colliding with endcaps. -void cpSegmentShapeSetNeighbors(cpShape *shape, cpVect prev, cpVect next); - -CP_DeclareShapeGetter(cpSegmentShape, cpVect, A); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, B); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, Normal); -CP_DeclareShapeGetter(cpSegmentShape, cpFloat, Radius); - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpSpace.h b/android/armeabi-v7a/include/chipmunk/chipmunk/cpSpace.h deleted file mode 100644 index 26439f76..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/cpSpace.h +++ /dev/null @@ -1,283 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSpace cpSpace -/// @{ - -typedef struct cpContactBufferHeader cpContactBufferHeader; -typedef void (*cpSpaceArbiterApplyImpulseFunc)(cpArbiter *arb); - -/// Basic Unit of Simulation in Chipmunk -struct cpSpace { - /// Number of iterations to use in the impulse solver to solve contacts. - int iterations; - - /// Gravity to pass to rigid bodies when integrating velocity. - cpVect gravity; - - /// Damping rate expressed as the fraction of velocity bodies retain each second. - /// A value of 0.9 would mean that each body's velocity will drop 10% per second. - /// The default value is 1.0, meaning no damping is applied. - /// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring. - cpFloat damping; - - /// Speed threshold for a body to be considered idle. - /// The default value of 0 means to let the space guess a good threshold based on gravity. - cpFloat idleSpeedThreshold; - - /// Time a group of bodies must remain idle in order to fall asleep. - /// Enabling sleeping also implicitly enables the the contact graph. - /// The default value of INFINITY disables the sleeping algorithm. - cpFloat sleepTimeThreshold; - - /// Amount of encouraged penetration between colliding shapes. - /// Used to reduce oscillating contacts and keep the collision cache warm. - /// Defaults to 0.1. If you have poor simulation quality, - /// increase this number as much as possible without allowing visible amounts of overlap. - cpFloat collisionSlop; - - /// Determines how fast overlapping shapes are pushed apart. - /// Expressed as a fraction of the error remaining after each second. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz. - cpFloat collisionBias; - - /// Number of frames that contact information should persist. - /// Defaults to 3. There is probably never a reason to change this value. - cpTimestamp collisionPersistence; - - /// Rebuild the contact graph during each step. Must be enabled to use the cpBodyEachArbiter() function. - /// Disabled by default for a small performance boost. Enabled implicitly when the sleeping feature is enabled. - cpBool enableContactGraph; - - /// User definable data pointer. - /// Generally this points to your game's controller or game state - /// class so you can access it when given a cpSpace reference in a callback. - cpDataPointer data; - - /// The designated static body for this space. - /// You can modify this body, or replace it with your own static body. - /// By default it points to a statically allocated cpBody in the cpSpace struct. - cpBody *staticBody; - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpFloat curr_dt); - - CP_PRIVATE(cpArray *bodies); - CP_PRIVATE(cpArray *rousedBodies); - CP_PRIVATE(cpArray *sleepingComponents); - - CP_PRIVATE(cpSpatialIndex *staticShapes); - CP_PRIVATE(cpSpatialIndex *activeShapes); - - CP_PRIVATE(cpArray *arbiters); - CP_PRIVATE(cpContactBufferHeader *contactBuffersHead); - CP_PRIVATE(cpHashSet *cachedArbiters); - CP_PRIVATE(cpArray *pooledArbiters); - CP_PRIVATE(cpArray *constraints); - - CP_PRIVATE(cpArray *allocatedBuffers); - CP_PRIVATE(int locked); - - CP_PRIVATE(cpHashSet *collisionHandlers); - CP_PRIVATE(cpCollisionHandler defaultHandler); - - CP_PRIVATE(cpBool skipPostStep); - CP_PRIVATE(cpArray *postStepCallbacks); - - CP_PRIVATE(cpBody _staticBody); -}; - -/// Allocate a cpSpace. -cpSpace* cpSpaceAlloc(void); -/// Initialize a cpSpace. -cpSpace* cpSpaceInit(cpSpace *space); -/// Allocate and initialize a cpSpace. -cpSpace* cpSpaceNew(void); - -/// Destroy a cpSpace. -void cpSpaceDestroy(cpSpace *space); -/// Destroy and free a cpSpace. -void cpSpaceFree(cpSpace *space); - -#define CP_DefineSpaceStructGetter(type, member, name) \ -static inline type cpSpaceGet##name(const cpSpace *space){return space->member;} - -#define CP_DefineSpaceStructSetter(type, member, name) \ -static inline void cpSpaceSet##name(cpSpace *space, type value){space->member = value;} - -#define CP_DefineSpaceStructProperty(type, member, name) \ -CP_DefineSpaceStructGetter(type, member, name) \ -CP_DefineSpaceStructSetter(type, member, name) - -CP_DefineSpaceStructProperty(int, iterations, Iterations) -CP_DefineSpaceStructProperty(cpVect, gravity, Gravity) -CP_DefineSpaceStructProperty(cpFloat, damping, Damping) -CP_DefineSpaceStructProperty(cpFloat, idleSpeedThreshold, IdleSpeedThreshold) -CP_DefineSpaceStructProperty(cpFloat, sleepTimeThreshold, SleepTimeThreshold) -CP_DefineSpaceStructProperty(cpFloat, collisionSlop, CollisionSlop) -CP_DefineSpaceStructProperty(cpFloat, collisionBias, CollisionBias) -CP_DefineSpaceStructProperty(cpTimestamp, collisionPersistence, CollisionPersistence) -CP_DefineSpaceStructProperty(cpBool, enableContactGraph, EnableContactGraph) -CP_DefineSpaceStructProperty(cpDataPointer, data, UserData) -CP_DefineSpaceStructGetter(cpBody*, staticBody, StaticBody) -CP_DefineSpaceStructGetter(cpFloat, CP_PRIVATE(curr_dt), CurrentTimeStep) - -/// returns true from inside a callback and objects cannot be added/removed. -static inline cpBool -cpSpaceIsLocked(cpSpace *space) -{ - return space->CP_PRIVATE(locked); -} - -/// Set a default collision handler for this space. -/// The default collision handler is invoked for each colliding pair of shapes -/// that isn't explicitly handled by a specific collision handler. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceSetDefaultCollisionHandler( - cpSpace *space, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); - -/// Set a collision handler to be used whenever the two shapes with the given collision types collide. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceAddCollisionHandler( - cpSpace *space, - cpCollisionType a, cpCollisionType b, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); - -/// Unset a collision handler. -void cpSpaceRemoveCollisionHandler(cpSpace *space, cpCollisionType a, cpCollisionType b); - -/// Add a collision shape to the simulation. -/// If the shape is attached to a static body, it will be added as a static shape. -cpShape* cpSpaceAddShape(cpSpace *space, cpShape *shape); -/// Explicity add a shape as a static shape to the simulation. -cpShape* cpSpaceAddStaticShape(cpSpace *space, cpShape *shape); -/// Add a rigid body to the simulation. -cpBody* cpSpaceAddBody(cpSpace *space, cpBody *body); -/// Add a constraint to the simulation. -cpConstraint* cpSpaceAddConstraint(cpSpace *space, cpConstraint *constraint); - -/// Remove a collision shape from the simulation. -void cpSpaceRemoveShape(cpSpace *space, cpShape *shape); -/// Remove a collision shape added using cpSpaceAddStaticShape() from the simulation. -void cpSpaceRemoveStaticShape(cpSpace *space, cpShape *shape); -/// Remove a rigid body from the simulation. -void cpSpaceRemoveBody(cpSpace *space, cpBody *body); -/// Remove a constraint from the simulation. -void cpSpaceRemoveConstraint(cpSpace *space, cpConstraint *constraint); - -/// Test if a collision shape has been added to the space. -cpBool cpSpaceContainsShape(cpSpace *space, cpShape *shape); -/// Test if a rigid body has been added to the space. -cpBool cpSpaceContainsBody(cpSpace *space, cpBody *body); -/// Test if a constraint has been added to the space. -cpBool cpSpaceContainsConstraint(cpSpace *space, cpConstraint *constraint); - -/// Convert a dynamic rogue body to a static one. -/// If the body is active, you must remove it from the space first. -void cpSpaceConvertBodyToStatic(cpSpace *space, cpBody *body); -/// Convert a body to a dynamic rogue body. -/// If you want the body to be active after the transition, you must add it to the space also. -void cpSpaceConvertBodyToDynamic(cpSpace *space, cpBody *body, cpFloat mass, cpFloat moment); - -/// Post Step callback function type. -typedef void (*cpPostStepFunc)(cpSpace *space, void *key, void *data); -/// Schedule a post-step callback to be called when cpSpaceStep() finishes. -/// You can only register one callback per unique value for @c key. -/// Returns true only if @c key has never been scheduled before. -/// It's possible to pass @c NULL for @c func if you only want to mark @c key as being used. -cpBool cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *key, void *data); - -/// Point query callback function type. -typedef void (*cpSpacePointQueryFunc)(cpShape *shape, void *data); -/// Query the space at a point and call @c func for each shape found. -void cpSpacePointQuery(cpSpace *space, cpVect point, cpLayers layers, cpGroup group, cpSpacePointQueryFunc func, void *data); -/// Query the space at a point and return the first shape found. Returns NULL if no shapes were found. -cpShape *cpSpacePointQueryFirst(cpSpace *space, cpVect point, cpLayers layers, cpGroup group); - -/// Nearest point query callback function type. -typedef void (*cpSpaceNearestPointQueryFunc)(cpShape *shape, cpFloat distance, cpVect point, void *data); -/// Query the space at a point and call @c func for each shape found. -void cpSpaceNearestPointQuery(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryFunc func, void *data); -/// Query the space at a point and return the nearest shape found. Returns NULL if no shapes were found. -cpShape *cpSpaceNearestPointQueryNearest(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpNearestPointQueryInfo *out); - -/// Segment query callback function type. -typedef void (*cpSpaceSegmentQueryFunc)(cpShape *shape, cpFloat t, cpVect n, void *data); -/// Perform a directed line segment query (like a raycast) against the space calling @c func for each shape intersected. -void cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryFunc func, void *data); -/// Perform a directed line segment query (like a raycast) against the space and return the first shape hit. Returns NULL if no shapes were hit. -cpShape *cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSegmentQueryInfo *out); - -/// Rectangle Query callback function type. -typedef void (*cpSpaceBBQueryFunc)(cpShape *shape, void *data); -/// Perform a fast rectangle query on the space calling @c func for each shape found. -/// Only the shape's bounding boxes are checked for overlap, not their full shape. -void cpSpaceBBQuery(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryFunc func, void *data); - -/// Shape query callback function type. -typedef void (*cpSpaceShapeQueryFunc)(cpShape *shape, cpContactPointSet *points, void *data); -/// Query a space for any shapes overlapping the given shape and call @c func for each shape found. -cpBool cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data); - -/// Call cpBodyActivate() for any shape that is overlaps the given shape. -void cpSpaceActivateShapesTouchingShape(cpSpace *space, cpShape *shape); - - -/// Space/body iterator callback function type. -typedef void (*cpSpaceBodyIteratorFunc)(cpBody *body, void *data); -/// Call @c func for each body in the space. -void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIteratorFunc func, void *data); - -/// Space/body iterator callback function type. -typedef void (*cpSpaceShapeIteratorFunc)(cpShape *shape, void *data); -/// Call @c func for each shape in the space. -void cpSpaceEachShape(cpSpace *space, cpSpaceShapeIteratorFunc func, void *data); - -/// Space/constraint iterator callback function type. -typedef void (*cpSpaceConstraintIteratorFunc)(cpConstraint *constraint, void *data); -/// Call @c func for each shape in the space. -void cpSpaceEachConstraint(cpSpace *space, cpSpaceConstraintIteratorFunc func, void *data); - -/// Update the collision detection info for the static shapes in the space. -void cpSpaceReindexStatic(cpSpace *space); -/// Update the collision detection data for a specific shape in the space. -void cpSpaceReindexShape(cpSpace *space, cpShape *shape); -/// Update the collision detection data for all shapes attached to a body. -void cpSpaceReindexShapesForBody(cpSpace *space, cpBody *body); - -/// Switch the space to use a spatial has as it's spatial index. -void cpSpaceUseSpatialHash(cpSpace *space, cpFloat dim, int count); - -/// Step the space forward in time by @c dt. -void cpSpaceStep(cpSpace *space, cpFloat dt); - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpSpatialIndex.h b/android/armeabi-v7a/include/chipmunk/chipmunk/cpSpatialIndex.h deleted file mode 100644 index c279cad0..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/cpSpatialIndex.h +++ /dev/null @@ -1,227 +0,0 @@ -/* Copyright (c) 2010 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/** - @defgroup cpSpatialIndex cpSpatialIndex - - Spatial indexes are data structures that are used to accelerate collision detection - and spatial queries. Chipmunk provides a number of spatial index algorithms to pick from - and they are programmed in a generic way so that you can use them for holding more than - just cpShape structs. - - It works by using @c void pointers to the objects you add and using a callback to ask your code - for bounding boxes when it needs them. Several types of queries can be performed an index as well - as reindexing and full collision information. All communication to the spatial indexes is performed - through callback functions. - - Spatial indexes should be treated as opaque structs. - This meanns you shouldn't be reading any of the struct fields. - @{ -*/ - -//MARK: Spatial Index - -/// Spatial index bounding box callback function type. -/// The spatial index calls this function and passes you a pointer to an object you added -/// when it needs to get the bounding box associated with that object. -typedef cpBB (*cpSpatialIndexBBFunc)(void *obj); -/// Spatial index/object iterator callback function type. -typedef void (*cpSpatialIndexIteratorFunc)(void *obj, void *data); -/// Spatial query callback function type. -typedef cpCollisionID (*cpSpatialIndexQueryFunc)(void *obj1, void *obj2, cpCollisionID id, void *data); -/// Spatial segment query callback function type. -typedef cpFloat (*cpSpatialIndexSegmentQueryFunc)(void *obj1, void *obj2, void *data); - - -typedef struct cpSpatialIndexClass cpSpatialIndexClass; -typedef struct cpSpatialIndex cpSpatialIndex; - -/// @private -struct cpSpatialIndex { - cpSpatialIndexClass *klass; - - cpSpatialIndexBBFunc bbfunc; - - cpSpatialIndex *staticIndex, *dynamicIndex; -}; - - -//MARK: Spatial Hash - -typedef struct cpSpaceHash cpSpaceHash; - -/// Allocate a spatial hash. -cpSpaceHash* cpSpaceHashAlloc(void); -/// Initialize a spatial hash. -cpSpatialIndex* cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); -/// Allocate and initialize a spatial hash. -cpSpatialIndex* cpSpaceHashNew(cpFloat celldim, int cells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - -/// Change the cell dimensions and table size of the spatial hash to tune it. -/// The cell dimensions should roughly match the average size of your objects -/// and the table size should be ~10 larger than the number of objects inserted. -/// Some trial and error is required to find the optimum numbers for efficiency. -void cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells); - -//MARK: AABB Tree - -typedef struct cpBBTree cpBBTree; - -/// Allocate a bounding box tree. -cpBBTree* cpBBTreeAlloc(void); -/// Initialize a bounding box tree. -cpSpatialIndex* cpBBTreeInit(cpBBTree *tree, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); -/// Allocate and initialize a bounding box tree. -cpSpatialIndex* cpBBTreeNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - -/// Perform a static top down optimization of the tree. -void cpBBTreeOptimize(cpSpatialIndex *index); - -/// Bounding box tree velocity callback function. -/// This function should return an estimate for the object's velocity. -typedef cpVect (*cpBBTreeVelocityFunc)(void *obj); -/// Set the velocity function for the bounding box tree to enable temporal coherence. -void cpBBTreeSetVelocityFunc(cpSpatialIndex *index, cpBBTreeVelocityFunc func); - -//MARK: Single Axis Sweep - -typedef struct cpSweep1D cpSweep1D; - -/// Allocate a 1D sort and sweep broadphase. -cpSweep1D* cpSweep1DAlloc(void); -/// Initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DInit(cpSweep1D *sweep, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); -/// Allocate and initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - -//MARK: Spatial Index Implementation - -typedef void (*cpSpatialIndexDestroyImpl)(cpSpatialIndex *index); - -typedef int (*cpSpatialIndexCountImpl)(cpSpatialIndex *index); -typedef void (*cpSpatialIndexEachImpl)(cpSpatialIndex *index, cpSpatialIndexIteratorFunc func, void *data); - -typedef cpBool (*cpSpatialIndexContainsImpl)(cpSpatialIndex *index, void *obj, cpHashValue hashid); -typedef void (*cpSpatialIndexInsertImpl)(cpSpatialIndex *index, void *obj, cpHashValue hashid); -typedef void (*cpSpatialIndexRemoveImpl)(cpSpatialIndex *index, void *obj, cpHashValue hashid); - -typedef void (*cpSpatialIndexReindexImpl)(cpSpatialIndex *index); -typedef void (*cpSpatialIndexReindexObjectImpl)(cpSpatialIndex *index, void *obj, cpHashValue hashid); -typedef void (*cpSpatialIndexReindexQueryImpl)(cpSpatialIndex *index, cpSpatialIndexQueryFunc func, void *data); - -typedef void (*cpSpatialIndexQueryImpl)(cpSpatialIndex *index, void *obj, cpBB bb, cpSpatialIndexQueryFunc func, void *data); -typedef void (*cpSpatialIndexSegmentQueryImpl)(cpSpatialIndex *index, void *obj, cpVect a, cpVect b, cpFloat t_exit, cpSpatialIndexSegmentQueryFunc func, void *data); - -struct cpSpatialIndexClass { - cpSpatialIndexDestroyImpl destroy; - - cpSpatialIndexCountImpl count; - cpSpatialIndexEachImpl each; - - cpSpatialIndexContainsImpl contains; - cpSpatialIndexInsertImpl insert; - cpSpatialIndexRemoveImpl remove; - - cpSpatialIndexReindexImpl reindex; - cpSpatialIndexReindexObjectImpl reindexObject; - cpSpatialIndexReindexQueryImpl reindexQuery; - - cpSpatialIndexQueryImpl query; - cpSpatialIndexSegmentQueryImpl segmentQuery; -}; - -/// Destroy and free a spatial index. -void cpSpatialIndexFree(cpSpatialIndex *index); -/// Collide the objects in @c dynamicIndex against the objects in @c staticIndex using the query callback function. -void cpSpatialIndexCollideStatic(cpSpatialIndex *dynamicIndex, cpSpatialIndex *staticIndex, cpSpatialIndexQueryFunc func, void *data); - -/// Destroy a spatial index. -static inline void cpSpatialIndexDestroy(cpSpatialIndex *index) -{ - if(index->klass) index->klass->destroy(index); -} - -/// Get the number of objects in the spatial index. -static inline int cpSpatialIndexCount(cpSpatialIndex *index) -{ - return index->klass->count(index); -} - -/// Iterate the objects in the spatial index. @c func will be called once for each object. -static inline void cpSpatialIndexEach(cpSpatialIndex *index, cpSpatialIndexIteratorFunc func, void *data) -{ - index->klass->each(index, func, data); -} - -/// Returns true if the spatial index contains the given object. -/// Most spatial indexes use hashed storage, so you must provide a hash value too. -static inline cpBool cpSpatialIndexContains(cpSpatialIndex *index, void *obj, cpHashValue hashid) -{ - return index->klass->contains(index, obj, hashid); -} - -/// Add an object to a spatial index. -/// Most spatial indexes use hashed storage, so you must provide a hash value too. -static inline void cpSpatialIndexInsert(cpSpatialIndex *index, void *obj, cpHashValue hashid) -{ - index->klass->insert(index, obj, hashid); -} - -/// Remove an object from a spatial index. -/// Most spatial indexes use hashed storage, so you must provide a hash value too. -static inline void cpSpatialIndexRemove(cpSpatialIndex *index, void *obj, cpHashValue hashid) -{ - index->klass->remove(index, obj, hashid); -} - -/// Perform a full reindex of a spatial index. -static inline void cpSpatialIndexReindex(cpSpatialIndex *index) -{ - index->klass->reindex(index); -} - -/// Reindex a single object in the spatial index. -static inline void cpSpatialIndexReindexObject(cpSpatialIndex *index, void *obj, cpHashValue hashid) -{ - index->klass->reindexObject(index, obj, hashid); -} - -/// Perform a rectangle query against the spatial index, calling @c func for each potential match. -static inline void cpSpatialIndexQuery(cpSpatialIndex *index, void *obj, cpBB bb, cpSpatialIndexQueryFunc func, void *data) -{ - index->klass->query(index, obj, bb, func, data); -} - -/// Perform a segment query against the spatial index, calling @c func for each potential match. -static inline void cpSpatialIndexSegmentQuery(cpSpatialIndex *index, void *obj, cpVect a, cpVect b, cpFloat t_exit, cpSpatialIndexSegmentQueryFunc func, void *data) -{ - index->klass->segmentQuery(index, obj, a, b, t_exit, func, data); -} - -/// Simultaneously reindex and find all colliding objects. -/// @c func will be called once for each potentially overlapping pair of objects found. -/// If the spatial index was initialized with a static index, it will collide it's objects against that as well. -static inline void cpSpatialIndexReindexQuery(cpSpatialIndex *index, cpSpatialIndexQueryFunc func, void *data) -{ - index->klass->reindexQuery(index, func, data); -} - -///@} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpVect.h b/android/armeabi-v7a/include/chipmunk/chipmunk/cpVect.h deleted file mode 100644 index 90855e56..00000000 --- a/android/armeabi-v7a/include/chipmunk/chipmunk/cpVect.h +++ /dev/null @@ -1,213 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpVect cpVect -/// Chipmunk's 2D vector type along with a handy 2D vector math lib. -/// @{ - -/// Constant for the zero vector. -static const cpVect cpvzero = {0.0f,0.0f}; - -/// Convenience constructor for cpVect structs. -static inline cpVect cpv(const cpFloat x, const cpFloat y) -{ - cpVect v = {x, y}; - return v; -} - -/// Spherical linearly interpolate between v1 and v2. -cpVect cpvslerp(const cpVect v1, const cpVect v2, const cpFloat t); - -/// Spherical linearly interpolate between v1 towards v2 by no more than angle a radians -cpVect cpvslerpconst(const cpVect v1, const cpVect v2, const cpFloat a); - -/// Returns a string representation of v. Intended mostly for debugging purposes and not production use. -/// @attention The string points to a static local and is reset every time the function is called. -/// If you want to print more than one vector you will have to split up your printing onto separate lines. -char* cpvstr(const cpVect v); - -/// Check if two vectors are equal. (Be careful when comparing floating point numbers!) -static inline cpBool cpveql(const cpVect v1, const cpVect v2) -{ - return (v1.x == v2.x && v1.y == v2.y); -} - -/// Add two vectors -static inline cpVect cpvadd(const cpVect v1, const cpVect v2) -{ - return cpv(v1.x + v2.x, v1.y + v2.y); -} - -/// Subtract two vectors. -static inline cpVect cpvsub(const cpVect v1, const cpVect v2) -{ - return cpv(v1.x - v2.x, v1.y - v2.y); -} - -/// Negate a vector. -static inline cpVect cpvneg(const cpVect v) -{ - return cpv(-v.x, -v.y); -} - -/// Scalar multiplication. -static inline cpVect cpvmult(const cpVect v, const cpFloat s) -{ - return cpv(v.x*s, v.y*s); -} - -/// Vector dot product. -static inline cpFloat cpvdot(const cpVect v1, const cpVect v2) -{ - return v1.x*v2.x + v1.y*v2.y; -} - -/// 2D vector cross product analog. -/// The cross product of 2D vectors results in a 3D vector with only a z component. -/// This function returns the magnitude of the z value. -static inline cpFloat cpvcross(const cpVect v1, const cpVect v2) -{ - return v1.x*v2.y - v1.y*v2.x; -} - -/// Returns a perpendicular vector. (90 degree rotation) -static inline cpVect cpvperp(const cpVect v) -{ - return cpv(-v.y, v.x); -} - -/// Returns a perpendicular vector. (-90 degree rotation) -static inline cpVect cpvrperp(const cpVect v) -{ - return cpv(v.y, -v.x); -} - -/// Returns the vector projection of v1 onto v2. -static inline cpVect cpvproject(const cpVect v1, const cpVect v2) -{ - return cpvmult(v2, cpvdot(v1, v2)/cpvdot(v2, v2)); -} - -/// Returns the unit length vector for the given angle (in radians). -static inline cpVect cpvforangle(const cpFloat a) -{ - return cpv(cpfcos(a), cpfsin(a)); -} - -/// Returns the angular direction v is pointing in (in radians). -static inline cpFloat cpvtoangle(const cpVect v) -{ - return cpfatan2(v.y, v.x); -} - -/// Uses complex number multiplication to rotate v1 by v2. Scaling will occur if v1 is not a unit vector. -static inline cpVect cpvrotate(const cpVect v1, const cpVect v2) -{ - return cpv(v1.x*v2.x - v1.y*v2.y, v1.x*v2.y + v1.y*v2.x); -} - -/// Inverse of cpvrotate(). -static inline cpVect cpvunrotate(const cpVect v1, const cpVect v2) -{ - return cpv(v1.x*v2.x + v1.y*v2.y, v1.y*v2.x - v1.x*v2.y); -} - -/// Returns the squared length of v. Faster than cpvlength() when you only need to compare lengths. -static inline cpFloat cpvlengthsq(const cpVect v) -{ - return cpvdot(v, v); -} - -/// Returns the length of v. -static inline cpFloat cpvlength(const cpVect v) -{ - return cpfsqrt(cpvdot(v, v)); -} - -/// Linearly interpolate between v1 and v2. -static inline cpVect cpvlerp(const cpVect v1, const cpVect v2, const cpFloat t) -{ - return cpvadd(cpvmult(v1, 1.0f - t), cpvmult(v2, t)); -} - -/// Returns a normalized copy of v. -static inline cpVect cpvnormalize(const cpVect v) -{ - // Neat trick I saw somewhere to avoid div/0. - return cpvmult(v, 1.0f/(cpvlength(v) + CPFLOAT_MIN)); -} - -/// @deprecated Just an alias for cpvnormalize() now. -static inline cpVect cpvnormalize_safe(const cpVect v) -{ - return cpvnormalize(v); -} - -/// Clamp v to length len. -static inline cpVect cpvclamp(const cpVect v, const cpFloat len) -{ - return (cpvdot(v,v) > len*len) ? cpvmult(cpvnormalize(v), len) : v; -} - -/// Linearly interpolate between v1 towards v2 by distance d. -static inline cpVect cpvlerpconst(cpVect v1, cpVect v2, cpFloat d) -{ - return cpvadd(v1, cpvclamp(cpvsub(v2, v1), d)); -} - -/// Returns the distance between v1 and v2. -static inline cpFloat cpvdist(const cpVect v1, const cpVect v2) -{ - return cpvlength(cpvsub(v1, v2)); -} - -/// Returns the squared distance between v1 and v2. Faster than cpvdist() when you only need to compare distances. -static inline cpFloat cpvdistsq(const cpVect v1, const cpVect v2) -{ - return cpvlengthsq(cpvsub(v1, v2)); -} - -/// Returns true if the distance between v1 and v2 is less than dist. -static inline cpBool cpvnear(const cpVect v1, const cpVect v2, const cpFloat dist) -{ - return cpvdistsq(v1, v2) < dist*dist; -} - -/// @} - -/// @defgroup cpMat2x2 cpMat2x2 -/// 2x2 matrix type used for tensors and such. -/// @{ - -static inline cpMat2x2 -cpMat2x2New(cpFloat a, cpFloat b, cpFloat c, cpFloat d) -{ - cpMat2x2 m = {a, b, c, d}; - return m; -} - -static inline cpVect -cpMat2x2Transform(cpMat2x2 m, cpVect v) -{ - return cpv(v.x*m.a + v.y*m.b, v.x*m.c + v.y*m.d); -} - -///@} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk_ffi.h b/android/armeabi-v7a/include/chipmunk/chipmunk_ffi.h index 53ac6937..c0248410 100644 --- a/android/armeabi-v7a/include/chipmunk/chipmunk_ffi.h +++ b/android/armeabi-v7a/include/chipmunk/chipmunk_ffi.h @@ -1,11 +1,35 @@ +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + #ifdef CHIPMUNK_FFI // Create non static inlined copies of Chipmunk functions, useful for working with dynamic FFIs // This file should only be included in chipmunk.c +// TODO: get rid of the reliance on static inlines. +// They make a mess for FFIs. + #ifdef _MSC_VER #if _MSC_VER >= 1600 - #define MAKE_REF(name) decltype(name) *_##name = name + #define MAKE_REF(name) CP_EXPORT decltype(name) *_##name = name #else #define MAKE_REF(name) #endif @@ -13,8 +37,9 @@ #define MAKE_REF(name) __typeof__(name) *_##name = name #endif -#define MAKE_PROPERTIES_REF(struct, property) \ - MAKE_REF(struct##Get##property); MAKE_REF(struct##Set##property) +#ifdef __cplusplus +extern "C" { +#endif MAKE_REF(cpv); // makes a variable named _cpv that contains the function pointer for cpv() MAKE_REF(cpveql); @@ -35,7 +60,6 @@ MAKE_REF(cpvlengthsq); MAKE_REF(cpvlength); MAKE_REF(cpvlerp); MAKE_REF(cpvnormalize); -MAKE_REF(cpvnormalize_safe); MAKE_REF(cpvclamp); MAKE_REF(cpvlerpconst); MAKE_REF(cpvdist); @@ -50,104 +74,20 @@ MAKE_REF(cpflerp); MAKE_REF(cpflerpconst); MAKE_REF(cpBBNew); +MAKE_REF(cpBBNewForExtents); MAKE_REF(cpBBNewForCircle); MAKE_REF(cpBBIntersects); MAKE_REF(cpBBContainsBB); MAKE_REF(cpBBContainsVect); MAKE_REF(cpBBMerge); MAKE_REF(cpBBExpand); +MAKE_REF(cpBBCenter); MAKE_REF(cpBBArea); MAKE_REF(cpBBMergedArea); MAKE_REF(cpBBSegmentQuery); MAKE_REF(cpBBIntersectsSegment); MAKE_REF(cpBBClampVect); -MAKE_REF(cpBodyGetMass); -MAKE_REF(cpBodyGetMoment); -MAKE_REF(cpBodyGetPos); -MAKE_REF(cpBodyGetAngle); -MAKE_REF(cpBodyGetRot); -MAKE_PROPERTIES_REF(cpBody, Vel); -MAKE_PROPERTIES_REF(cpBody, Force); -MAKE_PROPERTIES_REF(cpBody, AngVel); -MAKE_PROPERTIES_REF(cpBody, Torque); -MAKE_PROPERTIES_REF(cpBody, VelLimit); -MAKE_PROPERTIES_REF(cpBody, AngVelLimit); -MAKE_PROPERTIES_REF(cpBody, UserData); -MAKE_REF(cpBodyIsSleeping); -MAKE_REF(cpBodyIsStatic); -MAKE_REF(cpBodyIsRogue); -MAKE_REF(cpBodyLocal2World); -MAKE_REF(cpBodyWorld2Local); -MAKE_REF(cpBodyKineticEnergy); - -MAKE_REF(cpShapeGetBB); -MAKE_PROPERTIES_REF(cpShape, Body); -MAKE_PROPERTIES_REF(cpShape, Sensor); -MAKE_PROPERTIES_REF(cpShape, Elasticity); -MAKE_PROPERTIES_REF(cpShape, Friction); -MAKE_PROPERTIES_REF(cpShape, SurfaceVelocity); -MAKE_PROPERTIES_REF(cpShape, UserData); -MAKE_PROPERTIES_REF(cpShape, CollisionType); -MAKE_PROPERTIES_REF(cpShape, Group); -MAKE_PROPERTIES_REF(cpShape, Layers); - -MAKE_REF(cpArbiterGetShapes); -MAKE_REF(cpArbiterGetBodies); -MAKE_REF(cpArbiterIsFirstContact); -MAKE_REF(cpArbiterGetCount); - -MAKE_REF(cpConstraintGetA); -MAKE_REF(cpConstraintGetB); -MAKE_PROPERTIES_REF(cpConstraint, MaxForce); -MAKE_PROPERTIES_REF(cpConstraint, ErrorBias); -MAKE_PROPERTIES_REF(cpConstraint, MaxBias); -MAKE_PROPERTIES_REF(cpConstraint, UserData); -MAKE_REF(cpConstraintGetImpulse); - -MAKE_PROPERTIES_REF(cpDampedRotarySpring, RestAngle); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedRotarySpring, SpringTorqueFunc); - -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr1); -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr2); -MAKE_PROPERTIES_REF(cpDampedSpring, RestLength); -MAKE_PROPERTIES_REF(cpDampedSpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedSpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedSpring, SpringForceFunc); - -MAKE_PROPERTIES_REF(cpGearJoint, Phase); -MAKE_REF(cpGearJointGetRatio); - -MAKE_PROPERTIES_REF(cpGrooveJoint, Anchr2); -MAKE_REF(cpGrooveJointGetGrooveA); -MAKE_REF(cpGrooveJointGetGrooveB); - -MAKE_PROPERTIES_REF(cpPinJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPinJoint, Anchr2); -MAKE_PROPERTIES_REF(cpPinJoint, Dist); - -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr2); - -MAKE_PROPERTIES_REF(cpRatchetJoint, Angle); -MAKE_PROPERTIES_REF(cpRatchetJoint, Phase); -MAKE_PROPERTIES_REF(cpRatchetJoint, Ratchet); - -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Min); -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Max); - -MAKE_PROPERTIES_REF(cpSimpleMotor, Rate); - -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr1); -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr2); -MAKE_PROPERTIES_REF(cpSlideJoint, Min); -MAKE_PROPERTIES_REF(cpSlideJoint, Max); - -MAKE_REF(cpSegmentQueryHitPoint); -MAKE_REF(cpSegmentQueryHitDist); - MAKE_REF(cpSpatialIndexDestroy); MAKE_REF(cpSpatialIndexCount); MAKE_REF(cpSpatialIndexEach); @@ -160,18 +100,8 @@ MAKE_REF(cpSpatialIndexSegmentQuery); MAKE_REF(cpSpatialIndexQuery); MAKE_REF(cpSpatialIndexReindexQuery); -MAKE_PROPERTIES_REF(cpSpace, Iterations); -MAKE_PROPERTIES_REF(cpSpace, Gravity); -MAKE_PROPERTIES_REF(cpSpace, Damping); -MAKE_PROPERTIES_REF(cpSpace, IdleSpeedThreshold); -MAKE_PROPERTIES_REF(cpSpace, SleepTimeThreshold); -MAKE_PROPERTIES_REF(cpSpace, CollisionSlop); -MAKE_PROPERTIES_REF(cpSpace, CollisionBias); -MAKE_PROPERTIES_REF(cpSpace, CollisionPersistence); -MAKE_PROPERTIES_REF(cpSpace, EnableContactGraph); -MAKE_PROPERTIES_REF(cpSpace, UserData); -MAKE_REF(cpSpaceGetStaticBody); -MAKE_REF(cpSpaceGetCurrentTimeStep); -MAKE_REF(cpSpaceIsLocked); +#ifdef __cplusplus +} +#endif #endif diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk_private.h b/android/armeabi-v7a/include/chipmunk/chipmunk_private.h index f676345b..abe56395 100644 --- a/android/armeabi-v7a/include/chipmunk/chipmunk_private.h +++ b/android/armeabi-v7a/include/chipmunk/chipmunk_private.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -18,9 +18,14 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. */ +#ifndef CHIPMUNK_PRIVATE_H +#define CHIPMUNK_PRIVATE_H +#ifdef CHIPMUNK_H +#error Cannot include chipmunk_private.h after chipmunk.h. +#endif #define CP_ALLOW_PRIVATE_ACCESS 1 -#include "chipmunk.h" +#include "chipmunk/chipmunk.h" #define CP_HASH_COEF (3344921057ul) #define CP_HASH_PAIR(A, B) ((cpHashValue)(A)*CP_HASH_COEF ^ (cpHashValue)(B)*CP_HASH_COEF) @@ -28,6 +33,7 @@ // TODO: Eww. Magic numbers. #define MAGIC_EPSILON 1e-5 + //MARK: cpArray struct cpArray { @@ -47,6 +53,690 @@ cpBool cpArrayContains(cpArray *arr, void *ptr); void cpArrayFreeEach(cpArray *arr, void (freeFunc)(void*)); +//MARK: cpHashSet + +typedef cpBool (*cpHashSetEqlFunc)(void *ptr, void *elt); +typedef void *(*cpHashSetTransFunc)(void *ptr, void *data); + +cpHashSet *cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc); +void cpHashSetSetDefaultValue(cpHashSet *set, void *default_value); + +void cpHashSetFree(cpHashSet *set); + +int cpHashSetCount(cpHashSet *set); +void *cpHashSetInsert(cpHashSet *set, cpHashValue hash, void *ptr, cpHashSetTransFunc trans, void *data); +void *cpHashSetRemove(cpHashSet *set, cpHashValue hash, void *ptr); +void *cpHashSetFind(cpHashSet *set, cpHashValue hash, void *ptr); + +typedef void (*cpHashSetIteratorFunc)(void *elt, void *data); +void cpHashSetEach(cpHashSet *set, cpHashSetIteratorFunc func, void *data); + +typedef cpBool (*cpHashSetFilterFunc)(void *elt, void *data); +void cpHashSetFilter(cpHashSet *set, cpHashSetFilterFunc func, void *data); + + +//MARK: Bodies + +struct cpBody { + // Integration functions + cpBodyVelocityFunc velocity_func; + cpBodyPositionFunc position_func; + + // mass and it's inverse + cpFloat m; + cpFloat m_inv; + + // moment of inertia and it's inverse + cpFloat i; + cpFloat i_inv; + + // center of gravity + cpVect cog; + + // position, velocity, force + cpVect p; + cpVect v; + cpVect f; + + // Angle, angular velocity, torque (radians) + cpFloat a; + cpFloat w; + cpFloat t; + + cpTransform transform; + + cpDataPointer userData; + + // "pseudo-velocities" used for eliminating overlap. + // Erin Catto has some papers that talk about what these are. + cpVect v_bias; + cpFloat w_bias; + + cpSpace *space; + + cpShape *shapeList; + cpArbiter *arbiterList; + cpConstraint *constraintList; + + struct { + cpBody *root; + cpBody *next; + cpFloat idleTime; + } sleeping; +}; + +void cpBodyAddShape(cpBody *body, cpShape *shape); +void cpBodyRemoveShape(cpBody *body, cpShape *shape); + +//void cpBodyAccumulateMassForShape(cpBody *body, cpShape *shape); +void cpBodyAccumulateMassFromShapes(cpBody *body); + +void cpBodyRemoveConstraint(cpBody *body, cpConstraint *constraint); + + +//MARK: Spatial Index Functions + +cpSpatialIndex *cpSpatialIndexInit(cpSpatialIndex *index, cpSpatialIndexClass *klass, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); + + +//MARK: Arbiters + +enum cpArbiterState { + // Arbiter is active and its the first collision. + CP_ARBITER_STATE_FIRST_COLLISION, + // Arbiter is active and its not the first collision. + CP_ARBITER_STATE_NORMAL, + // Collision has been explicitly ignored. + // Either by returning false from a begin collision handler or calling cpArbiterIgnore(). + CP_ARBITER_STATE_IGNORE, + // Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps. + CP_ARBITER_STATE_CACHED, + // Collison arbiter is invalid because one of the shapes was removed. + CP_ARBITER_STATE_INVALIDATED, +}; + +struct cpArbiterThread { + struct cpArbiter *next, *prev; +}; + +struct cpContact { + cpVect r1, r2; + + cpFloat nMass, tMass; + cpFloat bounce; // TODO: look for an alternate bounce solution. + + cpFloat jnAcc, jtAcc, jBias; + cpFloat bias; + + cpHashValue hash; +}; + +struct cpCollisionInfo { + const cpShape *a, *b; + cpCollisionID id; + + cpVect n; + + int count; + // TODO Should this be a unique struct type? + struct cpContact *arr; +}; + +struct cpArbiter { + cpFloat e; + cpFloat u; + cpVect surface_vr; + + cpDataPointer data; + + const cpShape *a, *b; + cpBody *body_a, *body_b; + struct cpArbiterThread thread_a, thread_b; + + int count; + struct cpContact *contacts; + cpVect n; + + // Regular, wildcard A and wildcard B collision handlers. + cpCollisionHandler *handler, *handlerA, *handlerB; + cpBool swapped; + + cpTimestamp stamp; + enum cpArbiterState state; +}; + +cpArbiter* cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b); + +static inline struct cpArbiterThread * +cpArbiterThreadForBody(cpArbiter *arb, cpBody *body) +{ + return (arb->body_a == body ? &arb->thread_a : &arb->thread_b); +} + +void cpArbiterUnthread(cpArbiter *arb); + +void cpArbiterUpdate(cpArbiter *arb, struct cpCollisionInfo *info, cpSpace *space); +void cpArbiterPreStep(cpArbiter *arb, cpFloat dt, cpFloat bias, cpFloat slop); +void cpArbiterApplyCachedImpulse(cpArbiter *arb, cpFloat dt_coef); +void cpArbiterApplyImpulse(cpArbiter *arb); + + +//MARK: Shapes/Collisions + +struct cpShapeMassInfo { + cpFloat m; + cpFloat i; + cpVect cog; + cpFloat area; +}; + +typedef enum cpShapeType{ + CP_CIRCLE_SHAPE, + CP_SEGMENT_SHAPE, + CP_POLY_SHAPE, + CP_NUM_SHAPES +} cpShapeType; + +typedef cpBB (*cpShapeCacheDataImpl)(cpShape *shape, cpTransform transform); +typedef void (*cpShapeDestroyImpl)(cpShape *shape); +typedef void (*cpShapePointQueryImpl)(const cpShape *shape, cpVect p, cpPointQueryInfo *info); +typedef void (*cpShapeSegmentQueryImpl)(const cpShape *shape, cpVect a, cpVect b, cpFloat radius, cpSegmentQueryInfo *info); + +typedef struct cpShapeClass cpShapeClass; + +struct cpShapeClass { + cpShapeType type; + + cpShapeCacheDataImpl cacheData; + cpShapeDestroyImpl destroy; + cpShapePointQueryImpl pointQuery; + cpShapeSegmentQueryImpl segmentQuery; +}; + +struct cpShape { + const cpShapeClass *klass; + + cpSpace *space; + cpBody *body; + struct cpShapeMassInfo massInfo; + cpBB bb; + + cpBool sensor; + + cpFloat e; + cpFloat u; + cpVect surfaceV; + + cpDataPointer userData; + + cpCollisionType type; + cpShapeFilter filter; + + cpShape *next; + cpShape *prev; + + cpHashValue hashid; +}; + +struct cpCircleShape { + cpShape shape; + + cpVect c, tc; + cpFloat r; +}; + +struct cpSegmentShape { + cpShape shape; + + cpVect a, b, n; + cpVect ta, tb, tn; + cpFloat r; + + cpVect a_tangent, b_tangent; +}; + +struct cpSplittingPlane { + cpVect v0, n; +}; + +#define CP_POLY_SHAPE_INLINE_ALLOC 6 + +struct cpPolyShape { + cpShape shape; + + cpFloat r; + + int count; + // The untransformed planes are appended at the end of the transformed planes. + struct cpSplittingPlane *planes; + + // Allocate a small number of splitting planes internally for simple poly. + struct cpSplittingPlane _planes[2*CP_POLY_SHAPE_INLINE_ALLOC]; +}; + +cpShape *cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body, struct cpShapeMassInfo massInfo); + +static inline cpBool +cpShapeActive(cpShape *shape) +{ + // checks if the shape is added to a shape list. + // TODO could this just check the space now? + return (shape->prev || (shape->body && shape->body->shapeList == shape)); +} + +// Note: This function returns contact points with r1/r2 in absolute coordinates, not body relative. +struct cpCollisionInfo cpCollide(const cpShape *a, const cpShape *b, cpCollisionID id, struct cpContact *contacts); + +static inline void +CircleSegmentQuery(cpShape *shape, cpVect center, cpFloat r1, cpVect a, cpVect b, cpFloat r2, cpSegmentQueryInfo *info) +{ + cpVect da = cpvsub(a, center); + cpVect db = cpvsub(b, center); + cpFloat rsum = r1 + r2; + + cpFloat qa = cpvdot(da, da) - 2.0f*cpvdot(da, db) + cpvdot(db, db); + cpFloat qb = cpvdot(da, db) - cpvdot(da, da); + cpFloat det = qb*qb - qa*(cpvdot(da, da) - rsum*rsum); + + if(det >= 0.0f){ + cpFloat t = (-qb - cpfsqrt(det))/(qa); + if(0.0f<= t && t <= 1.0f){ + cpVect n = cpvnormalize(cpvlerp(da, db, t)); + + info->shape = shape; + info->point = cpvsub(cpvlerp(a, b, t), cpvmult(n, r2)); + info->normal = n; + info->alpha = t; + } + } +} + +static inline cpBool +cpShapeFilterReject(cpShapeFilter a, cpShapeFilter b) +{ + // Reject the collision if: + return ( + // They are in the same non-zero group. + (a.group != 0 && a.group == b.group) || + // One of the category/mask combinations fails. + (a.categories & b.mask) == 0 || + (b.categories & a.mask) == 0 + ); +} + +void cpLoopIndexes(const cpVect *verts, int count, int *start, int *end); + + +//MARK: Constraints +// TODO naming conventions here + +typedef void (*cpConstraintPreStepImpl)(cpConstraint *constraint, cpFloat dt); +typedef void (*cpConstraintApplyCachedImpulseImpl)(cpConstraint *constraint, cpFloat dt_coef); +typedef void (*cpConstraintApplyImpulseImpl)(cpConstraint *constraint, cpFloat dt); +typedef cpFloat (*cpConstraintGetImpulseImpl)(cpConstraint *constraint); + +typedef struct cpConstraintClass { + cpConstraintPreStepImpl preStep; + cpConstraintApplyCachedImpulseImpl applyCachedImpulse; + cpConstraintApplyImpulseImpl applyImpulse; + cpConstraintGetImpulseImpl getImpulse; +} cpConstraintClass; + +struct cpConstraint { + const cpConstraintClass *klass; + + cpSpace *space; + + cpBody *a, *b; + cpConstraint *next_a, *next_b; + + cpFloat maxForce; + cpFloat errorBias; + cpFloat maxBias; + + cpBool collideBodies; + + cpConstraintPreSolveFunc preSolve; + cpConstraintPostSolveFunc postSolve; + + cpDataPointer userData; +}; + +struct cpPinJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat dist; + + cpVect r1, r2; + cpVect n; + cpFloat nMass; + + cpFloat jnAcc; + cpFloat bias; +}; + +struct cpSlideJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat min, max; + + cpVect r1, r2; + cpVect n; + cpFloat nMass; + + cpFloat jnAcc; + cpFloat bias; +}; + +struct cpPivotJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + + cpVect r1, r2; + cpMat2x2 k; + + cpVect jAcc; + cpVect bias; +}; + +struct cpGrooveJoint { + cpConstraint constraint; + cpVect grv_n, grv_a, grv_b; + cpVect anchorB; + + cpVect grv_tn; + cpFloat clamp; + cpVect r1, r2; + cpMat2x2 k; + + cpVect jAcc; + cpVect bias; +}; + +struct cpDampedSpring { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat restLength; + cpFloat stiffness; + cpFloat damping; + cpDampedSpringForceFunc springForceFunc; + + cpFloat target_vrn; + cpFloat v_coef; + + cpVect r1, r2; + cpFloat nMass; + cpVect n; + + cpFloat jAcc; +}; + +struct cpDampedRotarySpring { + cpConstraint constraint; + cpFloat restAngle; + cpFloat stiffness; + cpFloat damping; + cpDampedRotarySpringTorqueFunc springTorqueFunc; + + cpFloat target_wrn; + cpFloat w_coef; + + cpFloat iSum; + cpFloat jAcc; +}; + +struct cpRotaryLimitJoint { + cpConstraint constraint; + cpFloat min, max; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpRatchetJoint { + cpConstraint constraint; + cpFloat angle, phase, ratchet; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpGearJoint { + cpConstraint constraint; + cpFloat phase, ratio; + cpFloat ratio_inv; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpSimpleMotor { + cpConstraint constraint; + cpFloat rate; + + cpFloat iSum; + + cpFloat jAcc; +}; + +void cpConstraintInit(cpConstraint *constraint, const struct cpConstraintClass *klass, cpBody *a, cpBody *b); + +static inline void +cpConstraintActivateBodies(cpConstraint *constraint) +{ + cpBody *a = constraint->a; cpBodyActivate(a); + cpBody *b = constraint->b; cpBodyActivate(b); +} + +static inline cpVect +relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){ + cpVect v1_sum = cpvadd(a->CP_PRIVATE(v), cpvmult(cpvperp(r1), a->CP_PRIVATE(w))); + cpVect v2_sum = cpvadd(b->CP_PRIVATE(v), cpvmult(cpvperp(r2), b->CP_PRIVATE(w))); + + return cpvsub(v2_sum, v1_sum); +} + +static inline cpFloat +normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){ + return cpvdot(relative_velocity(a, b, r1, r2), n); +} + +static inline void +apply_impulse(cpBody *body, cpVect j, cpVect r){ + body->CP_PRIVATE(v) = cpvadd(body->CP_PRIVATE(v), cpvmult(j, body->CP_PRIVATE(m_inv))); + body->CP_PRIVATE(w) += body->CP_PRIVATE(i_inv)*cpvcross(r, j); +} + +static inline void +apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) +{ + apply_impulse(a, cpvneg(j), r1); + apply_impulse(b, j, r2); +} + +static inline void +apply_bias_impulse(cpBody *body, cpVect j, cpVect r) +{ + body->CP_PRIVATE(v_bias) = cpvadd(body->CP_PRIVATE(v_bias), cpvmult(j, body->CP_PRIVATE(m_inv))); + body->CP_PRIVATE(w_bias) += body->CP_PRIVATE(i_inv)*cpvcross(r, j); +} + +static inline void +apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) +{ + apply_bias_impulse(a, cpvneg(j), r1); + apply_bias_impulse(b, j, r2); +} + +static inline cpFloat +k_scalar_body(cpBody *body, cpVect r, cpVect n) +{ + cpFloat rcn = cpvcross(r, n); + return body->CP_PRIVATE(m_inv) + body->CP_PRIVATE(i_inv)*rcn*rcn; +} + +static inline cpFloat +k_scalar(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n) +{ + cpFloat value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n); + cpAssertSoft(value != 0.0, "Unsolvable collision or constraint."); + + return value; +} + +static inline cpMat2x2 +k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2) +{ + cpFloat m_sum = a->CP_PRIVATE(m_inv) + b->CP_PRIVATE(m_inv); + + // start with Identity*m_sum + cpFloat k11 = m_sum, k12 = 0.0f; + cpFloat k21 = 0.0f, k22 = m_sum; + + // add the influence from r1 + cpFloat a_i_inv = a->CP_PRIVATE(i_inv); + cpFloat r1xsq = r1.x * r1.x * a_i_inv; + cpFloat r1ysq = r1.y * r1.y * a_i_inv; + cpFloat r1nxy = -r1.x * r1.y * a_i_inv; + k11 += r1ysq; k12 += r1nxy; + k21 += r1nxy; k22 += r1xsq; + + // add the influnce from r2 + cpFloat b_i_inv = b->CP_PRIVATE(i_inv); + cpFloat r2xsq = r2.x * r2.x * b_i_inv; + cpFloat r2ysq = r2.y * r2.y * b_i_inv; + cpFloat r2nxy = -r2.x * r2.y * b_i_inv; + k11 += r2ysq; k12 += r2nxy; + k21 += r2nxy; k22 += r2xsq; + + // invert + cpFloat det = k11*k22 - k12*k21; + cpAssertSoft(det != 0.0, "Unsolvable constraint."); + + cpFloat det_inv = 1.0f/det; + return cpMat2x2New( + k22*det_inv, -k12*det_inv, + -k21*det_inv, k11*det_inv + ); +} + +static inline cpFloat +bias_coef(cpFloat errorBias, cpFloat dt) +{ + return 1.0f - cpfpow(errorBias, dt); +} + + +//MARK: Spaces + +typedef struct cpContactBufferHeader cpContactBufferHeader; +typedef void (*cpSpaceArbiterApplyImpulseFunc)(cpArbiter *arb); + +struct cpSpace { + int iterations; + + cpVect gravity; + cpFloat damping; + + cpFloat idleSpeedThreshold; + cpFloat sleepTimeThreshold; + + cpFloat collisionSlop; + cpFloat collisionBias; + cpTimestamp collisionPersistence; + + cpDataPointer userData; + + cpTimestamp stamp; + cpFloat curr_dt; + + cpArray *dynamicBodies; + cpArray *staticBodies; + cpArray *rousedBodies; + cpArray *sleepingComponents; + + cpHashValue shapeIDCounter; + cpSpatialIndex *staticShapes; + cpSpatialIndex *dynamicShapes; + + cpArray *constraints; + + cpArray *arbiters; + cpContactBufferHeader *contactBuffersHead; + cpHashSet *cachedArbiters; + cpArray *pooledArbiters; + + cpArray *allocatedBuffers; + unsigned int locked; + + cpBool usesWildcards; + cpHashSet *collisionHandlers; + cpCollisionHandler defaultHandler; + + cpBool skipPostStep; + cpArray *postStepCallbacks; + + cpBody *staticBody; + cpBody _staticBody; +}; + +#define cpAssertSpaceUnlocked(space) \ + cpAssertHard(!space->locked, \ + "This operation cannot be done safely during a call to cpSpaceStep() or during a query. " \ + "Put these calls into a post-step callback." \ + ); + +void cpSpaceSetStaticBody(cpSpace *space, cpBody *body); + +extern cpCollisionHandler cpCollisionHandlerDoNothing; + +void cpSpaceProcessComponents(cpSpace *space, cpFloat dt); + +void cpSpacePushFreshContactBuffer(cpSpace *space); +struct cpContact *cpContactBufferGetArray(cpSpace *space); +void cpSpacePushContacts(cpSpace *space, int count); + +typedef struct cpPostStepCallback { + cpPostStepFunc func; + void *key; + void *data; +} cpPostStepCallback; + +cpPostStepCallback *cpSpaceGetPostStepCallback(cpSpace *space, void *key); + +cpBool cpSpaceArbiterSetFilter(cpArbiter *arb, cpSpace *space); +void cpSpaceFilterArbiters(cpSpace *space, cpBody *body, cpShape *filter); + +void cpSpaceActivateBody(cpSpace *space, cpBody *body); +void cpSpaceLock(cpSpace *space); +void cpSpaceUnlock(cpSpace *space, cpBool runPostStep); + +static inline void +cpSpaceUncacheArbiter(cpSpace *space, cpArbiter *arb) +{ + const cpShape *a = arb->a, *b = arb->b; + const cpShape *shape_pair[] = {a, b}; + cpHashValue arbHashID = CP_HASH_PAIR((cpHashValue)a, (cpHashValue)b); + cpHashSetRemove(space->cachedArbiters, arbHashID, shape_pair); + cpArrayDeleteObj(space->arbiters, arb); +} + +static inline cpArray * +cpSpaceArrayForBodyType(cpSpace *space, cpBodyType type) +{ + return (type == CP_BODY_TYPE_STATIC ? space->staticBodies : space->dynamicBodies); +} + +void cpShapeUpdateFunc(cpShape *shape, void *unused); +cpCollisionID cpSpaceCollideShapes(cpShape *a, cpShape *b, cpCollisionID id, cpSpace *space); + + //MARK: Foreach loops static inline cpConstraint * @@ -71,184 +761,6 @@ cpArbiterNext(cpArbiter *node, cpBody *body) for(cpShape *var = body->shapeList; var; var = var->next) #define CP_BODY_FOREACH_COMPONENT(root, var)\ - for(cpBody *var = root; var; var = var->node.next) + for(cpBody *var = root; var; var = var->sleeping.next) - -//MARK: cpHashSet - -typedef cpBool (*cpHashSetEqlFunc)(void *ptr, void *elt); -typedef void *(*cpHashSetTransFunc)(void *ptr, void *data); - -cpHashSet *cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc); -void cpHashSetSetDefaultValue(cpHashSet *set, void *default_value); - -void cpHashSetFree(cpHashSet *set); - -int cpHashSetCount(cpHashSet *set); -void *cpHashSetInsert(cpHashSet *set, cpHashValue hash, void *ptr, void *data, cpHashSetTransFunc trans); -void *cpHashSetRemove(cpHashSet *set, cpHashValue hash, void *ptr); -void *cpHashSetFind(cpHashSet *set, cpHashValue hash, void *ptr); - -typedef void (*cpHashSetIteratorFunc)(void *elt, void *data); -void cpHashSetEach(cpHashSet *set, cpHashSetIteratorFunc func, void *data); - -typedef cpBool (*cpHashSetFilterFunc)(void *elt, void *data); -void cpHashSetFilter(cpHashSet *set, cpHashSetFilterFunc func, void *data); - - -//MARK: Body Functions - -void cpBodyAddShape(cpBody *body, cpShape *shape); -void cpBodyRemoveShape(cpBody *body, cpShape *shape); -void cpBodyRemoveConstraint(cpBody *body, cpConstraint *constraint); - - -//MARK: Shape/Collision Functions - -// TODO should move this to the cpVect API. It's pretty useful. -static inline cpVect -cpClosetPointOnSegment(const cpVect p, const cpVect a, const cpVect b) -{ - cpVect delta = cpvsub(a, b); - cpFloat t = cpfclamp01(cpvdot(delta, cpvsub(p, b))/cpvlengthsq(delta)); - return cpvadd(b, cpvmult(delta, t)); -} - -cpShape* cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body); - -static inline cpBool -cpShapeActive(cpShape *shape) -{ - return shape->prev || (shape->body && shape->body->shapeList == shape); -} - -int cpCollideShapes(const cpShape *a, const cpShape *b, cpCollisionID *id, cpContact *arr); - -static inline void -CircleSegmentQuery(cpShape *shape, cpVect center, cpFloat r, cpVect a, cpVect b, cpSegmentQueryInfo *info) -{ - cpVect da = cpvsub(a, center); - cpVect db = cpvsub(b, center); - - cpFloat qa = cpvdot(da, da) - 2.0f*cpvdot(da, db) + cpvdot(db, db); - cpFloat qb = -2.0f*cpvdot(da, da) + 2.0f*cpvdot(da, db); - cpFloat qc = cpvdot(da, da) - r*r; - - cpFloat det = qb*qb - 4.0f*qa*qc; - - if(det >= 0.0f){ - cpFloat t = (-qb - cpfsqrt(det))/(2.0f*qa); - if(0.0f<= t && t <= 1.0f){ - info->shape = shape; - info->t = t; - info->n = cpvnormalize(cpvlerp(da, db, t)); - } - } -} - -// TODO doesn't really need to be inline, but need a better place to put this function -static inline cpSplittingPlane -cpSplittingPlaneNew(cpVect a, cpVect b) -{ - cpVect n = cpvnormalize(cpvperp(cpvsub(b, a))); - cpSplittingPlane plane = {n, cpvdot(n, a)}; - return plane; -} - -static inline cpFloat -cpSplittingPlaneCompare(cpSplittingPlane plane, cpVect v) -{ - return cpvdot(plane.n, v) - plane.d; -} - -void cpLoopIndexes(cpVect *verts, int count, int *start, int *end); - - -//MARK: Spatial Index Functions - -cpSpatialIndex *cpSpatialIndexInit(cpSpatialIndex *index, cpSpatialIndexClass *klass, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - - -//MARK: Space Functions - -extern cpCollisionHandler cpDefaultCollisionHandler; -void cpSpaceProcessComponents(cpSpace *space, cpFloat dt); - -void cpSpacePushFreshContactBuffer(cpSpace *space); -cpContact *cpContactBufferGetArray(cpSpace *space); -void cpSpacePushContacts(cpSpace *space, int count); - -typedef struct cpPostStepCallback { - cpPostStepFunc func; - void *key; - void *data; -} cpPostStepCallback; - -cpPostStepCallback *cpSpaceGetPostStepCallback(cpSpace *space, void *key); - -cpBool cpSpaceArbiterSetFilter(cpArbiter *arb, cpSpace *space); -void cpSpaceFilterArbiters(cpSpace *space, cpBody *body, cpShape *filter); - -void cpSpaceActivateBody(cpSpace *space, cpBody *body); -void cpSpaceLock(cpSpace *space); -void cpSpaceUnlock(cpSpace *space, cpBool runPostStep); - -static inline cpCollisionHandler * -cpSpaceLookupHandler(cpSpace *space, cpCollisionType a, cpCollisionType b) -{ - cpCollisionType types[] = {a, b}; - return (cpCollisionHandler *)cpHashSetFind(space->collisionHandlers, CP_HASH_PAIR(a, b), types); -} - -static inline void -cpSpaceUncacheArbiter(cpSpace *space, cpArbiter *arb) -{ - cpShape *a = arb->a, *b = arb->b; - cpShape *shape_pair[] = {a, b}; - cpHashValue arbHashID = CP_HASH_PAIR((cpHashValue)a, (cpHashValue)b); - cpHashSetRemove(space->cachedArbiters, arbHashID, shape_pair); - cpArrayDeleteObj(space->arbiters, arb); -} - -void cpShapeUpdateFunc(cpShape *shape, void *unused); -cpCollisionID cpSpaceCollideShapes(cpShape *a, cpShape *b, cpCollisionID id, cpSpace *space); - - -//MARK: Arbiters - -struct cpContact { - cpVect p, n; - cpFloat dist; - - cpVect r1, r2; - cpFloat nMass, tMass, bounce; - - cpFloat jnAcc, jtAcc, jBias; - cpFloat bias; - - cpHashValue hash; -}; - -cpContact* cpContactInit(cpContact *con, cpVect p, cpVect n, cpFloat dist, cpHashValue hash); -cpArbiter* cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b); - -static inline void -cpArbiterCallSeparate(cpArbiter *arb, cpSpace *space) -{ - // The handler needs to be looked up again as the handler cached on the arbiter may have been deleted since the last step. - cpCollisionHandler *handler = cpSpaceLookupHandler(space, arb->a->collision_type, arb->b->collision_type); - handler->separate(arb, space, handler->data); -} - -static inline struct cpArbiterThread * -cpArbiterThreadForBody(cpArbiter *arb, cpBody *body) -{ - return (arb->body_a == body ? &arb->thread_a : &arb->thread_b); -} - -void cpArbiterUnthread(cpArbiter *arb); - -void cpArbiterUpdate(cpArbiter *arb, cpContact *contacts, int numContacts, struct cpCollisionHandler *handler, cpShape *a, cpShape *b); -void cpArbiterPreStep(cpArbiter *arb, cpFloat dt, cpFloat bias, cpFloat slop); -void cpArbiterApplyCachedImpulse(cpArbiter *arb, cpFloat dt_coef); -void cpArbiterApplyImpulse(cpArbiter *arb); +#endif diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk_types.h b/android/armeabi-v7a/include/chipmunk/chipmunk_types.h index 9ed23391..7aee0c79 100644 --- a/android/armeabi-v7a/include/chipmunk/chipmunk_types.h +++ b/android/armeabi-v7a/include/chipmunk/chipmunk_types.h @@ -1,31 +1,34 @@ +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +#ifndef CHIPMUNK_TYPES_H +#define CHIPMUNK_TYPES_H + #include #include - -#ifdef __APPLE__ - #include "TargetConditionals.h" -#endif - -#if ((TARGET_OS_IPHONE == 1) || (TARGET_OS_MAC == 1)) && (!defined CP_USE_CGPOINTS) - #define CP_USE_CGPOINTS 1 -#endif - -#if CP_USE_CGPOINTS == 1 - #if TARGET_OS_IPHONE - #import - #elif TARGET_OS_MAC - #include - #endif - - #if defined(__LP64__) && __LP64__ - #define CP_USE_DOUBLES 1 - #else - #define CP_USE_DOUBLES 0 - #endif -#endif +#include #ifndef CP_USE_DOUBLES - // use doubles by default for higher precision - #define CP_USE_DOUBLES 1 + // Use doubles by default for higher precision. + #define CP_USE_DOUBLES 0 #endif /// @defgroup basicTypes Basic Types @@ -82,13 +85,8 @@ #endif #endif -#ifndef M_PI - #define M_PI 3.14159265358979323846264338327950288 -#endif -#ifndef M_E - #define M_E 2.71828182845904523536028747135266250 -#endif +#define CP_PI ((cpFloat)3.14159265358979323846264338327950288) /// Return the max of two cpFloats. @@ -136,7 +134,11 @@ static inline cpFloat cpflerpconst(cpFloat f1, cpFloat f2, cpFloat d) } /// Hash value type. -typedef uintptr_t cpHashValue; +#ifdef CP_HASH_VALUE_TYPE + typedef CP_HASH_VALUE_TYPE cpHashValue; +#else + typedef uintptr_t cpHashValue; +#endif /// Type used internally to cache colliding object info for cpCollideShapes(). /// Should be at least 32 bits. @@ -147,7 +149,7 @@ typedef uint32_t cpCollisionID; #ifdef CP_BOOL_TYPE typedef CP_BOOL_TYPE cpBool; #else - typedef int cpBool; + typedef unsigned char cpBool; #endif #ifndef cpTrue @@ -181,11 +183,11 @@ typedef uint32_t cpCollisionID; typedef uintptr_t cpGroup; #endif -#ifdef CP_LAYERS_TYPE - typedef CP_LAYERS_TYPE cpLayers; +#ifdef CP_BITMASK_TYPE + typedef CP_BITMASK_TYPE cpBitmask; #else -/// Type used for cpShape.layers. - typedef unsigned int cpLayers; +/// Type used for cpShapeFilter category and mask. + typedef unsigned int cpBitmask; #endif #ifdef CP_TIMESTAMP_TYPE @@ -200,15 +202,21 @@ typedef uint32_t cpCollisionID; #define CP_NO_GROUP ((cpGroup)0) #endif -#ifndef CP_ALL_LAYERS +#ifndef CP_ALL_CATEGORIES /// Value for cpShape.layers signifying that a shape is in every layer. - #define CP_ALL_LAYERS (~(cpLayers)0) + #define CP_ALL_CATEGORIES (~(cpBitmask)0) #endif + +#ifndef CP_WILDCARD_COLLISION_TYPE +/// cpCollisionType value internally reserved for hashing wildcard handlers. + #define CP_WILDCARD_COLLISION_TYPE (~(cpCollisionType)0) +#endif + /// @} // CGPoints are structurally the same, and allow // easy interoperability with other Cocoa libraries -#if CP_USE_CGPOINTS +#if CP_USE_CGTYPES typedef CGPoint cpVect; #else /// Chipmunk's 2D vector type. @@ -216,7 +224,19 @@ typedef uint32_t cpCollisionID; typedef struct cpVect{cpFloat x,y;} cpVect; #endif +#if CP_USE_CGTYPES + typedef CGAffineTransform cpTransform; +#else + /// Column major affine transform. + typedef struct cpTransform { + cpFloat a, b, c, d, tx, ty; + } cpTransform; +#endif + +// NUKE typedef struct cpMat2x2 { // Row major [[a, b][c d]] cpFloat a, b, c, d; } cpMat2x2; + +#endif diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk_unsafe.h b/android/armeabi-v7a/include/chipmunk/chipmunk_unsafe.h index 4428814c..990bd012 100644 --- a/android/armeabi-v7a/include/chipmunk/chipmunk_unsafe.h +++ b/android/armeabi-v7a/include/chipmunk/chipmunk_unsafe.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -36,27 +36,28 @@ /// so the results will be unrealistic. You must explicity include the chipmunk_unsafe.h header to use them. /// @{ -#ifndef CHIPMUNK_UNSAFE_HEADER -#define CHIPMUNK_UNSAFE_HEADER +#ifndef CHIPMUNK_UNSAFE_H +#define CHIPMUNK_UNSAFE_H #ifdef __cplusplus extern "C" { #endif /// Set the radius of a circle shape. -void cpCircleShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpCircleShapeSetRadius(cpShape *shape, cpFloat radius); /// Set the offset of a circle shape. -void cpCircleShapeSetOffset(cpShape *shape, cpVect offset); +CP_EXPORT void cpCircleShapeSetOffset(cpShape *shape, cpVect offset); /// Set the endpoints of a segment shape. -void cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b); +CP_EXPORT void cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b); /// Set the radius of a segment shape. -void cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius); /// Set the vertexes of a poly shape. -void cpPolyShapeSetVerts(cpShape *shape, int numVerts, cpVect *verts, cpVect offset); +CP_EXPORT void cpPolyShapeSetVerts(cpShape *shape, int count, cpVect *verts, cpTransform transform); +CP_EXPORT void cpPolyShapeSetVertsRaw(cpShape *shape, int count, cpVect *verts); /// Set the radius of a poly shape. -void cpPolyShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpPolyShapeSetRadius(cpShape *shape, cpFloat radius); #ifdef __cplusplus } diff --git a/android/armeabi-v7a/include/chipmunk/constraints/cpConstraint.h b/android/armeabi-v7a/include/chipmunk/constraints/cpConstraint.h deleted file mode 100644 index d1059fff..00000000 --- a/android/armeabi-v7a/include/chipmunk/constraints/cpConstraint.h +++ /dev/null @@ -1,161 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpConstraint cpConstraint -/// @{ - -typedef struct cpConstraintClass cpConstraintClass; - -typedef void (*cpConstraintPreStepImpl)(cpConstraint *constraint, cpFloat dt); -typedef void (*cpConstraintApplyCachedImpulseImpl)(cpConstraint *constraint, cpFloat dt_coef); -typedef void (*cpConstraintApplyImpulseImpl)(cpConstraint *constraint, cpFloat dt); -typedef cpFloat (*cpConstraintGetImpulseImpl)(cpConstraint *constraint); - -/// @private -struct cpConstraintClass { - cpConstraintPreStepImpl preStep; - cpConstraintApplyCachedImpulseImpl applyCachedImpulse; - cpConstraintApplyImpulseImpl applyImpulse; - cpConstraintGetImpulseImpl getImpulse; -}; - -/// Callback function type that gets called before solving a joint. -typedef void (*cpConstraintPreSolveFunc)(cpConstraint *constraint, cpSpace *space); -/// Callback function type that gets called after solving a joint. -typedef void (*cpConstraintPostSolveFunc)(cpConstraint *constraint, cpSpace *space); - - -/// Opaque cpConstraint struct. -struct cpConstraint { - CP_PRIVATE(const cpConstraintClass *klass); - - /// The first body connected to this constraint. - cpBody *a; - /// The second body connected to this constraint. - cpBody *b; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpConstraint *next_a); - CP_PRIVATE(cpConstraint *next_b); - - /// The maximum force that this constraint is allowed to use. - /// Defaults to infinity. - cpFloat maxForce; - /// The rate at which joint error is corrected. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that it will - /// correct 10% of the error every 1/60th of a second. - cpFloat errorBias; - /// The maximum rate at which joint error is corrected. - /// Defaults to infinity. - cpFloat maxBias; - - /// Function called before the solver runs. - /// Animate your joint anchors, update your motor torque, etc. - cpConstraintPreSolveFunc preSolve; - - /// Function called after the solver runs. - /// Use the applied impulse to perform effects like breakable joints. - cpConstraintPostSolveFunc postSolve; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpConstraint reference in a callback. - cpDataPointer data; -}; - -/// Destroy a constraint. -void cpConstraintDestroy(cpConstraint *constraint); -/// Destroy and free a constraint. -void cpConstraintFree(cpConstraint *constraint); - -/// @private -static inline void cpConstraintActivateBodies(cpConstraint *constraint) -{ - cpBody *a = constraint->a; if(a) cpBodyActivate(a); - cpBody *b = constraint->b; if(b) cpBodyActivate(b); -} - -/// @private -#define CP_DefineConstraintStructGetter(type, member, name) \ -static inline type cpConstraint##Get##name(const cpConstraint *constraint){return constraint->member;} - -/// @private -#define CP_DefineConstraintStructSetter(type, member, name) \ -static inline void cpConstraint##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintActivateBodies(constraint); \ - constraint->member = value; \ -} - -/// @private -#define CP_DefineConstraintStructProperty(type, member, name) \ -CP_DefineConstraintStructGetter(type, member, name) \ -CP_DefineConstraintStructSetter(type, member, name) - -CP_DefineConstraintStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineConstraintStructGetter(cpBody*, a, A) -CP_DefineConstraintStructGetter(cpBody*, b, B) -CP_DefineConstraintStructProperty(cpFloat, maxForce, MaxForce) -CP_DefineConstraintStructProperty(cpFloat, errorBias, ErrorBias) -CP_DefineConstraintStructProperty(cpFloat, maxBias, MaxBias) -CP_DefineConstraintStructProperty(cpConstraintPreSolveFunc, preSolve, PreSolveFunc) -CP_DefineConstraintStructProperty(cpConstraintPostSolveFunc, postSolve, PostSolveFunc) -CP_DefineConstraintStructProperty(cpDataPointer, data, UserData) - -// Get the last impulse applied by this constraint. -static inline cpFloat cpConstraintGetImpulse(cpConstraint *constraint) -{ - return constraint->CP_PRIVATE(klass)->getImpulse(constraint); -} - -/// @} - -#define cpConstraintCheckCast(constraint, struct) \ - cpAssertHard(constraint->CP_PRIVATE(klass) == struct##GetClass(), "Constraint is not a "#struct) - -#define CP_DefineConstraintGetter(struct, type, member, name) \ -static inline type struct##Get##name(const cpConstraint *constraint){ \ - cpConstraintCheckCast(constraint, struct); \ - return ((struct *)constraint)->member; \ -} - -#define CP_DefineConstraintSetter(struct, type, member, name) \ -static inline void struct##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintCheckCast(constraint, struct); \ - cpConstraintActivateBodies(constraint); \ - ((struct *)constraint)->member = value; \ -} - -#define CP_DefineConstraintProperty(struct, type, member, name) \ -CP_DefineConstraintGetter(struct, type, member, name) \ -CP_DefineConstraintSetter(struct, type, member, name) - -#include "cpPinJoint.h" -#include "cpSlideJoint.h" -#include "cpPivotJoint.h" -#include "cpGrooveJoint.h" -#include "cpDampedSpring.h" -#include "cpDampedRotarySpring.h" -#include "cpRotaryLimitJoint.h" -#include "cpRatchetJoint.h" -#include "cpGearJoint.h" -#include "cpSimpleMotor.h" diff --git a/android/armeabi-v7a/include/chipmunk/constraints/cpDampedRotarySpring.h b/android/armeabi-v7a/include/chipmunk/constraints/cpDampedRotarySpring.h deleted file mode 100644 index 86cf915b..00000000 --- a/android/armeabi-v7a/include/chipmunk/constraints/cpDampedRotarySpring.h +++ /dev/null @@ -1,56 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedRotarySpring cpDampedRotarySpring -/// @{ - -typedef cpFloat (*cpDampedRotarySpringTorqueFunc)(struct cpConstraint *spring, cpFloat relativeAngle); - -const cpConstraintClass *cpDampedRotarySpringGetClass(void); - -/// @private -typedef struct cpDampedRotarySpring { - cpConstraint constraint; - cpFloat restAngle; - cpFloat stiffness; - cpFloat damping; - cpDampedRotarySpringTorqueFunc springTorqueFunc; - - cpFloat target_wrn; - cpFloat w_coef; - - cpFloat iSum; - cpFloat jAcc; -} cpDampedRotarySpring; - -/// Allocate a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringAlloc(void); -/// Initialize a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringInit(cpDampedRotarySpring *joint, cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped rotary spring. -cpConstraint* cpDampedRotarySpringNew(cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, restAngle, RestAngle) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpDampedRotarySpringTorqueFunc, springTorqueFunc, SpringTorqueFunc) - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/constraints/cpDampedSpring.h b/android/armeabi-v7a/include/chipmunk/constraints/cpDampedSpring.h deleted file mode 100644 index f5120647..00000000 --- a/android/armeabi-v7a/include/chipmunk/constraints/cpDampedSpring.h +++ /dev/null @@ -1,64 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedSpring cpDampedSpring -/// @{ - -typedef struct cpDampedSpring cpDampedSpring; - -typedef cpFloat (*cpDampedSpringForceFunc)(cpConstraint *spring, cpFloat dist); - -const cpConstraintClass *cpDampedSpringGetClass(void); - -/// @private -struct cpDampedSpring { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat restLength; - cpFloat stiffness; - cpFloat damping; - cpDampedSpringForceFunc springForceFunc; - - cpFloat target_vrn; - cpFloat v_coef; - - cpVect r1, r2; - cpFloat nMass; - cpVect n; - - cpFloat jAcc; -}; - -/// Allocate a damped spring. -cpDampedSpring* cpDampedSpringAlloc(void); -/// Initialize a damped spring. -cpDampedSpring* cpDampedSpringInit(cpDampedSpring *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped spring. -cpConstraint* cpDampedSpringNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, restLength, RestLength) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedSpring, cpDampedSpringForceFunc, springForceFunc, SpringForceFunc) - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/constraints/cpGearJoint.h b/android/armeabi-v7a/include/chipmunk/constraints/cpGearJoint.h deleted file mode 100644 index c9ebf942..00000000 --- a/android/armeabi-v7a/include/chipmunk/constraints/cpGearJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGearJoint cpGearJoint -/// @{ - -const cpConstraintClass *cpGearJointGetClass(void); - -/// @private -typedef struct cpGearJoint { - cpConstraint constraint; - cpFloat phase, ratio; - cpFloat ratio_inv; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpGearJoint; - -/// Allocate a gear joint. -cpGearJoint* cpGearJointAlloc(void); -/// Initialize a gear joint. -cpGearJoint* cpGearJointInit(cpGearJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); -/// Allocate and initialize a gear joint. -cpConstraint* cpGearJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); - -CP_DefineConstraintProperty(cpGearJoint, cpFloat, phase, Phase) -CP_DefineConstraintGetter(cpGearJoint, cpFloat, ratio, Ratio) -/// Set the ratio of a gear joint. -void cpGearJointSetRatio(cpConstraint *constraint, cpFloat value); - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/constraints/cpGrooveJoint.h b/android/armeabi-v7a/include/chipmunk/constraints/cpGrooveJoint.h deleted file mode 100644 index b260218f..00000000 --- a/android/armeabi-v7a/include/chipmunk/constraints/cpGrooveJoint.h +++ /dev/null @@ -1,57 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGrooveJoint cpGrooveJoint -/// @{ - -const cpConstraintClass *cpGrooveJointGetClass(void); - -/// @private -typedef struct cpGrooveJoint { - cpConstraint constraint; - cpVect grv_n, grv_a, grv_b; - cpVect anchr2; - - cpVect grv_tn; - cpFloat clamp; - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpGrooveJoint; - -/// Allocate a groove joint. -cpGrooveJoint* cpGrooveJointAlloc(void); -/// Initialize a groove joint. -cpGrooveJoint* cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); -/// Allocate and initialize a groove joint. -cpConstraint* cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); - -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_a, GrooveA) -/// Set endpoint a of a groove joint's groove -void cpGrooveJointSetGrooveA(cpConstraint *constraint, cpVect value); -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_b, GrooveB) -/// Set endpoint b of a groove joint's groove -void cpGrooveJointSetGrooveB(cpConstraint *constraint, cpVect value); -CP_DefineConstraintProperty(cpGrooveJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/constraints/cpPinJoint.h b/android/armeabi-v7a/include/chipmunk/constraints/cpPinJoint.h deleted file mode 100644 index 2413e84a..00000000 --- a/android/armeabi-v7a/include/chipmunk/constraints/cpPinJoint.h +++ /dev/null @@ -1,52 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPinJoint cpPinJoint -/// @{ - -const cpConstraintClass *cpPinJointGetClass(void); - -/// @private -typedef struct cpPinJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat dist; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpPinJoint; - -/// Allocate a pin joint. -cpPinJoint* cpPinJointAlloc(void); -/// Initialize a pin joint. -cpPinJoint* cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pin joint. -cpConstraint* cpPinJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpPinJoint, cpFloat, dist, Dist) - -///@} diff --git a/android/armeabi-v7a/include/chipmunk/constraints/cpPivotJoint.h b/android/armeabi-v7a/include/chipmunk/constraints/cpPivotJoint.h deleted file mode 100644 index a5d33174..00000000 --- a/android/armeabi-v7a/include/chipmunk/constraints/cpPivotJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPivotJoint cpPivotJoint -/// @{ - -const cpConstraintClass *cpPivotJointGetClass(void); - -/// @private -typedef struct cpPivotJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpPivotJoint; - -/// Allocate a pivot joint -cpPivotJoint* cpPivotJointAlloc(void); -/// Initialize a pivot joint. -cpPivotJoint* cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pivot joint. -cpConstraint* cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot); -/// Allocate and initialize a pivot joint with specific anchors. -cpConstraint* cpPivotJointNew2(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/constraints/cpRatchetJoint.h b/android/armeabi-v7a/include/chipmunk/constraints/cpRatchetJoint.h deleted file mode 100644 index e371b108..00000000 --- a/android/armeabi-v7a/include/chipmunk/constraints/cpRatchetJoint.h +++ /dev/null @@ -1,49 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRatchetJoint cpRatchetJoint -/// @{ - -const cpConstraintClass *cpRatchetJointGetClass(void); - -/// @private -typedef struct cpRatchetJoint { - cpConstraint constraint; - cpFloat angle, phase, ratchet; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRatchetJoint; - -/// Allocate a ratchet joint. -cpRatchetJoint* cpRatchetJointAlloc(void); -/// Initialize a ratched joint. -cpRatchetJoint* cpRatchetJointInit(cpRatchetJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); -/// Allocate and initialize a ratchet joint. -cpConstraint* cpRatchetJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); - -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, angle, Angle) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, phase, Phase) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, ratchet, Ratchet) - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/constraints/cpRotaryLimitJoint.h b/android/armeabi-v7a/include/chipmunk/constraints/cpRotaryLimitJoint.h deleted file mode 100644 index 2277e40f..00000000 --- a/android/armeabi-v7a/include/chipmunk/constraints/cpRotaryLimitJoint.h +++ /dev/null @@ -1,48 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRotaryLimitJoint cpRotaryLimitJoint -/// @{ - -const cpConstraintClass *cpRotaryLimitJointGetClass(void); - -/// @private -typedef struct cpRotaryLimitJoint { - cpConstraint constraint; - cpFloat min, max; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRotaryLimitJoint; - -/// Allocate a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointAlloc(void); -/// Initialize a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointInit(cpRotaryLimitJoint *joint, cpBody *a, cpBody *b, cpFloat min, cpFloat max); -/// Allocate and initialize a damped rotary limit joint. -cpConstraint* cpRotaryLimitJointNew(cpBody *a, cpBody *b, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, max, Max) - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/constraints/cpSimpleMotor.h b/android/armeabi-v7a/include/chipmunk/constraints/cpSimpleMotor.h deleted file mode 100644 index 37d28c5d..00000000 --- a/android/armeabi-v7a/include/chipmunk/constraints/cpSimpleMotor.h +++ /dev/null @@ -1,46 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSimpleMotor cpSimpleMotor -/// @{ - -const cpConstraintClass *cpSimpleMotorGetClass(void); - -/// @private -typedef struct cpSimpleMotor { - cpConstraint constraint; - cpFloat rate; - - cpFloat iSum; - - cpFloat jAcc; -} cpSimpleMotor; - -/// Allocate a simple motor. -cpSimpleMotor* cpSimpleMotorAlloc(void); -/// initialize a simple motor. -cpSimpleMotor* cpSimpleMotorInit(cpSimpleMotor *joint, cpBody *a, cpBody *b, cpFloat rate); -/// Allocate and initialize a simple motor. -cpConstraint* cpSimpleMotorNew(cpBody *a, cpBody *b, cpFloat rate); - -CP_DefineConstraintProperty(cpSimpleMotor, cpFloat, rate, Rate) - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/constraints/cpSlideJoint.h b/android/armeabi-v7a/include/chipmunk/constraints/cpSlideJoint.h deleted file mode 100644 index 40db8bba..00000000 --- a/android/armeabi-v7a/include/chipmunk/constraints/cpSlideJoint.h +++ /dev/null @@ -1,53 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSlideJoint cpSlideJoint -/// @{ - -const cpConstraintClass *cpSlideJointGetClass(void); - -/// @private -typedef struct cpSlideJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat min, max; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpSlideJoint; - -/// Allocate a slide joint. -cpSlideJoint* cpSlideJointAlloc(void); -/// Initialize a slide joint. -cpSlideJoint* cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); -/// Allocate and initialize a slide joint. -cpConstraint* cpSlideJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, max, Max) - -/// @} diff --git a/android/armeabi-v7a/include/chipmunk/constraints/util.h b/android/armeabi-v7a/include/chipmunk/constraints/util.h deleted file mode 100644 index 0a620475..00000000 --- a/android/armeabi-v7a/include/chipmunk/constraints/util.h +++ /dev/null @@ -1,126 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -// These are utility routines to use when creating custom constraints. -// I'm not sure if this should be part of the private API or not. -// I should probably clean up the naming conventions if it is... - -#define CP_DefineClassGetter(t) const cpConstraintClass * t##GetClass(void){return (cpConstraintClass *)&klass;} - -void cpConstraintInit(cpConstraint *constraint, const cpConstraintClass *klass, cpBody *a, cpBody *b); - -static inline cpVect -relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){ - cpVect v1_sum = cpvadd(a->v, cpvmult(cpvperp(r1), a->w)); - cpVect v2_sum = cpvadd(b->v, cpvmult(cpvperp(r2), b->w)); - - return cpvsub(v2_sum, v1_sum); -} - -static inline cpFloat -normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){ - return cpvdot(relative_velocity(a, b, r1, r2), n); -} - -static inline void -apply_impulse(cpBody *body, cpVect j, cpVect r){ - body->v = cpvadd(body->v, cpvmult(j, body->m_inv)); - body->w += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_impulse(a, cpvneg(j), r1); - apply_impulse(b, j, r2); -} - -static inline void -apply_bias_impulse(cpBody *body, cpVect j, cpVect r) -{ - body->CP_PRIVATE(v_bias) = cpvadd(body->CP_PRIVATE(v_bias), cpvmult(j, body->m_inv)); - body->CP_PRIVATE(w_bias) += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_bias_impulse(a, cpvneg(j), r1); - apply_bias_impulse(b, j, r2); -} - -static inline cpFloat -k_scalar_body(cpBody *body, cpVect r, cpVect n) -{ - cpFloat rcn = cpvcross(r, n); - return body->m_inv + body->i_inv*rcn*rcn; -} - -static inline cpFloat -k_scalar(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n) -{ - cpFloat value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n); - cpAssertSoft(value != 0.0, "Unsolvable collision or constraint."); - - return value; -} - -static inline cpMat2x2 -k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2) -{ - cpFloat m_sum = a->m_inv + b->m_inv; - - // start with Identity*m_sum - cpFloat k11 = m_sum, k12 = 0.0f; - cpFloat k21 = 0.0f, k22 = m_sum; - - // add the influence from r1 - cpFloat a_i_inv = a->i_inv; - cpFloat r1xsq = r1.x * r1.x * a_i_inv; - cpFloat r1ysq = r1.y * r1.y * a_i_inv; - cpFloat r1nxy = -r1.x * r1.y * a_i_inv; - k11 += r1ysq; k12 += r1nxy; - k21 += r1nxy; k22 += r1xsq; - - // add the influnce from r2 - cpFloat b_i_inv = b->i_inv; - cpFloat r2xsq = r2.x * r2.x * b_i_inv; - cpFloat r2ysq = r2.y * r2.y * b_i_inv; - cpFloat r2nxy = -r2.x * r2.y * b_i_inv; - k11 += r2ysq; k12 += r2nxy; - k21 += r2nxy; k22 += r2xsq; - - // invert - cpFloat det = k11*k22 - k12*k21; - cpAssertSoft(det != 0.0, "Unsolvable constraint."); - - cpFloat det_inv = 1.0f/det; - return cpMat2x2New( - k22*det_inv, -k12*det_inv, - -k21*det_inv, k11*det_inv - ); -} - -static inline cpFloat -bias_coef(cpFloat errorBias, cpFloat dt) -{ - return 1.0f - cpfpow(errorBias, dt); -} diff --git a/android/armeabi-v7a/include/chipmunk/cpArbiter.h b/android/armeabi-v7a/include/chipmunk/cpArbiter.h index 1ccb693d..1dc130af 100644 --- a/android/armeabi-v7a/include/chipmunk/cpArbiter.h +++ b/android/armeabi-v7a/include/chipmunk/cpArbiter.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -20,188 +20,126 @@ */ /// @defgroup cpArbiter cpArbiter -/// The cpArbiter struct controls pairs of colliding shapes. +/// The cpArbiter struct tracks pairs of colliding shapes. /// They are also used in conjuction with collision handler callbacks -/// allowing you to retrieve information on the collision and control it. +/// allowing you to retrieve information on the collision or change it. +/// A unique arbiter value is used for each pair of colliding objects. It persists until the shapes separate. /// @{ -/// Collision begin event function callback type. -/// Returning false from a begin callback causes the collision to be ignored until -/// the the separate callback is called when the objects stop colliding. -typedef cpBool (*cpCollisionBeginFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision pre-solve event function callback type. -/// Returning false from a pre-step callback causes the collision to be ignored until the next step. -typedef cpBool (*cpCollisionPreSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision post-solve event function callback type. -typedef void (*cpCollisionPostSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision separate event function callback type. -typedef void (*cpCollisionSeparateFunc)(cpArbiter *arb, cpSpace *space, void *data); - -/// @private -struct cpCollisionHandler { - cpCollisionType a; - cpCollisionType b; - cpCollisionBeginFunc begin; - cpCollisionPreSolveFunc preSolve; - cpCollisionPostSolveFunc postSolve; - cpCollisionSeparateFunc separate; - void *data; -}; - -typedef struct cpContact cpContact; - #define CP_MAX_CONTACTS_PER_ARBITER 2 -/// @private -typedef enum cpArbiterState { - // Arbiter is active and its the first collision. - cpArbiterStateFirstColl, - // Arbiter is active and its not the first collision. - cpArbiterStateNormal, - // Collision has been explicitly ignored. - // Either by returning false from a begin collision handler or calling cpArbiterIgnore(). - cpArbiterStateIgnore, - // Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps. - cpArbiterStateCached, -} cpArbiterState; - -/// @private -struct cpArbiterThread { - // Links to next and previous arbiters in the contact graph. - struct cpArbiter *next, *prev; -}; - -/// A colliding pair of shapes. -struct cpArbiter { - /// Calculated value to use for the elasticity coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat e; - /// Calculated value to use for the friction coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat u; - /// Calculated value to use for applying surface velocities. - /// Override in a pre-solve collision handler for custom behavior. - cpVect surface_vr; - - /// User definable data pointer. - /// The value will persist for the pair of shapes until the separate() callback is called. - /// NOTE: If you need to clean up this pointer, you should implement the separate() callback to do it. - cpDataPointer data; - - CP_PRIVATE(cpShape *a); - CP_PRIVATE(cpShape *b); - CP_PRIVATE(cpBody *body_a); - CP_PRIVATE(cpBody *body_b); - - CP_PRIVATE(struct cpArbiterThread thread_a); - CP_PRIVATE(struct cpArbiterThread thread_b); - - CP_PRIVATE(int numContacts); - CP_PRIVATE(cpContact *contacts); - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpCollisionHandler *handler); - CP_PRIVATE(cpBool swappedColl); - CP_PRIVATE(cpArbiterState state); -}; - -#define CP_DefineArbiterStructGetter(type, member, name) \ -static inline type cpArbiterGet##name(const cpArbiter *arb){return arb->member;} - -#define CP_DefineArbiterStructSetter(type, member, name) \ -static inline void cpArbiterSet##name(cpArbiter *arb, type value){arb->member = value;} - -#define CP_DefineArbiterStructProperty(type, member, name) \ -CP_DefineArbiterStructGetter(type, member, name) \ -CP_DefineArbiterStructSetter(type, member, name) - -CP_DefineArbiterStructProperty(cpFloat, e, Elasticity) -CP_DefineArbiterStructProperty(cpFloat, u, Friction) +/// Get the restitution (elasticity) that will be applied to the pair of colliding objects. +CP_EXPORT cpFloat cpArbiterGetRestitution(const cpArbiter *arb); +/// Override the restitution (elasticity) that will be applied to the pair of colliding objects. +CP_EXPORT void cpArbiterSetRestitution(cpArbiter *arb, cpFloat restitution); +/// Get the friction coefficient that will be applied to the pair of colliding objects. +CP_EXPORT cpFloat cpArbiterGetFriction(const cpArbiter *arb); +/// Override the friction coefficient that will be applied to the pair of colliding objects. +CP_EXPORT void cpArbiterSetFriction(cpArbiter *arb, cpFloat friction); // Get the relative surface velocity of the two shapes in contact. -cpVect cpArbiterGetSurfaceVelocity(cpArbiter *arb); +CP_EXPORT cpVect cpArbiterGetSurfaceVelocity(cpArbiter *arb); // Override the relative surface velocity of the two shapes in contact. -// By default this is calculated to be the difference of the two -// surface velocities clamped to the tangent plane. -void cpArbiterSetSurfaceVelocity(cpArbiter *arb, cpVect vr); +// By default this is calculated to be the difference of the two surface velocities clamped to the tangent plane. +CP_EXPORT void cpArbiterSetSurfaceVelocity(cpArbiter *arb, cpVect vr); -CP_DefineArbiterStructProperty(cpDataPointer, data, UserData) +/// Get the user data pointer associated with this pair of colliding objects. +CP_EXPORT cpDataPointer cpArbiterGetUserData(const cpArbiter *arb); +/// Set a user data point associated with this pair of colliding objects. +/// If you need to perform any cleanup for this pointer, you must do it yourself, in the separate callback for instance. +CP_EXPORT void cpArbiterSetUserData(cpArbiter *arb, cpDataPointer userData); -/// Calculate the total impulse that was applied by this arbiter. -/// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulse(const cpArbiter *arb); /// Calculate the total impulse including the friction that was applied by this arbiter. /// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulseWithFriction(const cpArbiter *arb); +CP_EXPORT cpVect cpArbiterTotalImpulse(const cpArbiter *arb); /// Calculate the amount of energy lost in a collision including static, but not dynamic friction. /// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpFloat cpArbiterTotalKE(const cpArbiter *arb); +CP_EXPORT cpFloat cpArbiterTotalKE(const cpArbiter *arb); - -/// Causes a collision pair to be ignored as if you returned false from a begin callback. -/// If called from a pre-step callback, you will still need to return false -/// if you want it to be ignored in the current step. -void cpArbiterIgnore(cpArbiter *arb); +/// Mark a collision pair to be ignored until the two objects separate. +/// Pre-solve and post-solve callbacks will not be called, but the separate callback will be called. +CP_EXPORT cpBool cpArbiterIgnore(cpArbiter *arb); /// Return the colliding shapes involved for this arbiter. /// The order of their cpSpace.collision_type values will match /// the order set when the collision handler was registered. -static inline void cpArbiterGetShapes(const cpArbiter *arb, cpShape **a, cpShape **b) -{ - if(arb->CP_PRIVATE(swappedColl)){ - (*a) = arb->CP_PRIVATE(b), (*b) = arb->CP_PRIVATE(a); - } else { - (*a) = arb->CP_PRIVATE(a), (*b) = arb->CP_PRIVATE(b); - } -} +CP_EXPORT void cpArbiterGetShapes(const cpArbiter *arb, cpShape **a, cpShape **b); + /// A macro shortcut for defining and retrieving the shapes from an arbiter. #define CP_ARBITER_GET_SHAPES(__arb__, __a__, __b__) cpShape *__a__, *__b__; cpArbiterGetShapes(__arb__, &__a__, &__b__); /// Return the colliding bodies involved for this arbiter. /// The order of the cpSpace.collision_type the bodies are associated with values will match /// the order set when the collision handler was registered. -static inline void cpArbiterGetBodies(const cpArbiter *arb, cpBody **a, cpBody **b) -{ - CP_ARBITER_GET_SHAPES(arb, shape_a, shape_b); - (*a) = shape_a->body; - (*b) = shape_b->body; -} +CP_EXPORT void cpArbiterGetBodies(const cpArbiter *arb, cpBody **a, cpBody **b); + /// A macro shortcut for defining and retrieving the bodies from an arbiter. #define CP_ARBITER_GET_BODIES(__arb__, __a__, __b__) cpBody *__a__, *__b__; cpArbiterGetBodies(__arb__, &__a__, &__b__); /// A struct that wraps up the important collision data for an arbiter. -typedef struct cpContactPointSet { +struct cpContactPointSet { /// The number of contact points in the set. int count; + /// The normal of the collision. + cpVect normal; + /// The array of contact points. struct { - /// The position of the contact point. - cpVect point; - /// The normal of the contact point. - cpVect normal; - /// The depth of the contact point. - cpFloat dist; + /// The position of the contact on the surface of each shape. + cpVect pointA, pointB; + /// Penetration distance of the two shapes. Overlapping means it will be negative. + /// This value is calculated as cpvdot(cpvsub(point2, point1), normal) and is ignored by cpArbiterSetContactPointSet(). + cpFloat distance; } points[CP_MAX_CONTACTS_PER_ARBITER]; -} cpContactPointSet; +}; /// Return a contact set from an arbiter. -cpContactPointSet cpArbiterGetContactPointSet(const cpArbiter *arb); +CP_EXPORT cpContactPointSet cpArbiterGetContactPointSet(const cpArbiter *arb); /// Replace the contact point set for an arbiter. /// This can be a very powerful feature, but use it with caution! -void cpArbiterSetContactPointSet(cpArbiter *arb, cpContactPointSet *set); +CP_EXPORT void cpArbiterSetContactPointSet(cpArbiter *arb, cpContactPointSet *set); /// Returns true if this is the first step a pair of objects started colliding. -cpBool cpArbiterIsFirstContact(const cpArbiter *arb); +CP_EXPORT cpBool cpArbiterIsFirstContact(const cpArbiter *arb); +/// Returns true if the separate callback is due to a shape being removed from the space. +CP_EXPORT cpBool cpArbiterIsRemoval(const cpArbiter *arb); + /// Get the number of contact points for this arbiter. -int cpArbiterGetCount(const cpArbiter *arb); -/// Get the normal of the @c ith contact point. -cpVect cpArbiterGetNormal(const cpArbiter *arb, int i); -/// Get the position of the @c ith contact point. -cpVect cpArbiterGetPoint(const cpArbiter *arb, int i); +CP_EXPORT int cpArbiterGetCount(const cpArbiter *arb); +/// Get the normal of the collision. +CP_EXPORT cpVect cpArbiterGetNormal(const cpArbiter *arb); +/// Get the position of the @c ith contact point on the surface of the first shape. +CP_EXPORT cpVect cpArbiterGetPointA(const cpArbiter *arb, int i); +/// Get the position of the @c ith contact point on the surface of the second shape. +CP_EXPORT cpVect cpArbiterGetPointB(const cpArbiter *arb, int i); /// Get the depth of the @c ith contact point. -cpFloat cpArbiterGetDepth(const cpArbiter *arb, int i); +CP_EXPORT cpFloat cpArbiterGetDepth(const cpArbiter *arb, int i); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardBeginA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardBeginB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardPreSolveA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardPreSolveB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardPostSolveA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardPostSolveB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardSeparateA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardSeparateB(cpArbiter *arb, cpSpace *space); /// @} diff --git a/android/armeabi-v7a/include/chipmunk/cpBB.h b/android/armeabi-v7a/include/chipmunk/cpBB.h index 4e59c2d4..40200600 100644 --- a/android/armeabi-v7a/include/chipmunk/cpBB.h +++ b/android/armeabi-v7a/include/chipmunk/cpBB.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,6 +19,12 @@ * SOFTWARE. */ +#ifndef CHIPMUNK_BB_H +#define CHIPMUNK_BB_H + +#include "chipmunk_types.h" +#include "cpVect.h" + /// @defgroup cpBBB cpBB /// Chipmunk's axis-aligned 2D bounding box type along with a few handy routines. /// @{ @@ -35,10 +41,17 @@ static inline cpBB cpBBNew(const cpFloat l, const cpFloat b, const cpFloat r, co return bb; } +/// Constructs a cpBB centered on a point with the given extents (half sizes). +static inline cpBB +cpBBNewForExtents(const cpVect c, const cpFloat hw, const cpFloat hh) +{ + return cpBBNew(c.x - hw, c.y - hh, c.x + hw, c.y + hh); +} + /// Constructs a cpBB for a circle with the given position and radius. static inline cpBB cpBBNewForCircle(const cpVect p, const cpFloat r) { - return cpBBNew(p.x - r, p.y - r, p.x + r, p.y + r); + return cpBBNewForExtents(p, r, r); } /// Returns true if @c a and @c b intersect. @@ -102,6 +115,9 @@ static inline cpFloat cpBBMergedArea(cpBB a, cpBB b) static inline cpFloat cpBBSegmentQuery(cpBB bb, cpVect a, cpVect b) { cpFloat idx = 1.0f/(b.x - a.x); +#ifdef _MSC_VER +#pragma warning(disable: 4056) +#endif cpFloat tx1 = (bb.l == a.x ? -INFINITY : (bb.l - a.x)*idx); cpFloat tx2 = (bb.r == a.x ? INFINITY : (bb.r - a.x)*idx); cpFloat txmin = cpfmin(tx1, tx2); @@ -110,6 +126,9 @@ static inline cpFloat cpBBSegmentQuery(cpBB bb, cpVect a, cpVect b) cpFloat idy = 1.0f/(b.y - a.y); cpFloat ty1 = (bb.b == a.y ? -INFINITY : (bb.b - a.y)*idy); cpFloat ty2 = (bb.t == a.y ? INFINITY : (bb.t - a.y)*idy); +#ifdef _MSC_VER +#pragma warning(default: 4056) +#endif cpFloat tymin = cpfmin(ty1, ty2); cpFloat tymax = cpfmax(ty1, ty2); @@ -136,8 +155,33 @@ cpBBClampVect(const cpBB bb, const cpVect v) return cpv(cpfclamp(v.x, bb.l, bb.r), cpfclamp(v.y, bb.b, bb.t)); } -// TODO edge case issue /// Wrap a vector to a bounding box. -cpVect cpBBWrapVect(const cpBB bb, const cpVect v); // wrap a vector to a bbox +static inline cpVect +cpBBWrapVect(const cpBB bb, const cpVect v) +{ + cpFloat dx = cpfabs(bb.r - bb.l); + cpFloat modx = cpfmod(v.x - bb.l, dx); + cpFloat x = (modx > 0.0f) ? modx : modx + dx; + + cpFloat dy = cpfabs(bb.t - bb.b); + cpFloat mody = cpfmod(v.y - bb.b, dy); + cpFloat y = (mody > 0.0f) ? mody : mody + dy; + + return cpv(x + bb.l, y + bb.b); +} + +/// Returns a bounding box offseted by @c v. +static inline cpBB +cpBBOffset(const cpBB bb, const cpVect v) +{ + return cpBBNew( + bb.l + v.x, + bb.b + v.y, + bb.r + v.x, + bb.t + v.y + ); +} ///@} + +#endif diff --git a/android/armeabi-v7a/include/chipmunk/cpBody.h b/android/armeabi-v7a/include/chipmunk/cpBody.h index 6168b0fe..7e6943d1 100644 --- a/android/armeabi-v7a/include/chipmunk/cpBody.h +++ b/android/armeabi-v7a/include/chipmunk/cpBody.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -25,227 +25,165 @@ /// They are given a shape by creating collision shapes (cpShape) that point to the body. /// @{ +typedef enum cpBodyType { + /// A dynamic body is one that is affected by gravity, forces, and collisions. + /// This is the default body type. + CP_BODY_TYPE_DYNAMIC, + /// A kinematic body is an infinite mass, user controlled body that is not affected by gravity, forces or collisions. + /// Instead the body only moves based on it's velocity. + /// Dynamic bodies collide normally with kinematic bodies, though the kinematic body will be unaffected. + /// Collisions between two kinematic bodies, or a kinematic body and a static body produce collision callbacks, but no collision response. + CP_BODY_TYPE_KINEMATIC, + /// A static body is a body that never (or rarely) moves. If you move a static body, you must call one of the cpSpaceReindex*() functions. + /// Chipmunk uses this information to optimize the collision detection. + /// Static bodies do not produce collision callbacks when colliding with other static bodies. + CP_BODY_TYPE_STATIC, +} cpBodyType; + /// Rigid body velocity update function type. typedef void (*cpBodyVelocityFunc)(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); /// Rigid body position update function type. typedef void (*cpBodyPositionFunc)(cpBody *body, cpFloat dt); -/// Used internally to track information on the collision graph. -/// @private -typedef struct cpComponentNode { - cpBody *root; - cpBody *next; - cpFloat idleTime; -} cpComponentNode; - -/// Chipmunk's rigid body struct. -struct cpBody { - /// Function that is called to integrate the body's velocity. (Defaults to cpBodyUpdateVelocity) - cpBodyVelocityFunc velocity_func; - - /// Function that is called to integrate the body's position. (Defaults to cpBodyUpdatePosition) - cpBodyPositionFunc position_func; - - /// Mass of the body. - /// Must agree with cpBody.m_inv! Use cpBodySetMass() when changing the mass for this reason. - cpFloat m; - /// Mass inverse. - cpFloat m_inv; - - /// Moment of inertia of the body. - /// Must agree with cpBody.i_inv! Use cpBodySetMoment() when changing the moment for this reason. - cpFloat i; - /// Moment of inertia inverse. - cpFloat i_inv; - - /// Position of the rigid body's center of gravity. - cpVect p; - /// Velocity of the rigid body's center of gravity. - cpVect v; - /// Force acting on the rigid body's center of gravity. - cpVect f; - - /// Rotation of the body around it's center of gravity in radians. - /// Must agree with cpBody.rot! Use cpBodySetAngle() when changing the angle for this reason. - cpFloat a; - /// Angular velocity of the body around it's center of gravity in radians/second. - cpFloat w; - /// Torque applied to the body around it's center of gravity. - cpFloat t; - - /// Cached unit length vector representing the angle of the body. - /// Used for fast rotations using cpvrotate(). - cpVect rot; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpBody reference in a callback. - cpDataPointer data; - - /// Maximum velocity allowed when updating the velocity. - cpFloat v_limit; - /// Maximum rotational rate (in radians/second) allowed when updating the angular velocity. - cpFloat w_limit; - - CP_PRIVATE(cpVect v_bias); - CP_PRIVATE(cpFloat w_bias); - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *shapeList); - CP_PRIVATE(cpArbiter *arbiterList); - CP_PRIVATE(cpConstraint *constraintList); - - CP_PRIVATE(cpComponentNode node); -}; - /// Allocate a cpBody. -cpBody* cpBodyAlloc(void); +CP_EXPORT cpBody* cpBodyAlloc(void); /// Initialize a cpBody. -cpBody* cpBodyInit(cpBody *body, cpFloat m, cpFloat i); +CP_EXPORT cpBody* cpBodyInit(cpBody *body, cpFloat mass, cpFloat moment); /// Allocate and initialize a cpBody. -cpBody* cpBodyNew(cpFloat m, cpFloat i); +CP_EXPORT cpBody* cpBodyNew(cpFloat mass, cpFloat moment); -/// Initialize a static cpBody. -cpBody* cpBodyInitStatic(cpBody *body); -/// Allocate and initialize a static cpBody. -cpBody* cpBodyNewStatic(void); +/// Allocate and initialize a cpBody, and set it as a kinematic body. +CP_EXPORT cpBody* cpBodyNewKinematic(void); +/// Allocate and initialize a cpBody, and set it as a static body. +CP_EXPORT cpBody* cpBodyNewStatic(void); /// Destroy a cpBody. -void cpBodyDestroy(cpBody *body); +CP_EXPORT void cpBodyDestroy(cpBody *body); /// Destroy and free a cpBody. -void cpBodyFree(cpBody *body); - -/// Check that the properties of a body is sane. (Only in debug mode) -#ifdef NDEBUG - #define cpBodyAssertSane(body) -#else - void cpBodySanityCheck(cpBody *body); - #define cpBodyAssertSane(body) cpBodySanityCheck(body) -#endif +CP_EXPORT void cpBodyFree(cpBody *body); // Defined in cpSpace.c /// Wake up a sleeping or idle body. -void cpBodyActivate(cpBody *body); +CP_EXPORT void cpBodyActivate(cpBody *body); /// Wake up any sleeping or idle bodies touching a static body. -void cpBodyActivateStatic(cpBody *body, cpShape *filter); +CP_EXPORT void cpBodyActivateStatic(cpBody *body, cpShape *filter); /// Force a body to fall asleep immediately. -void cpBodySleep(cpBody *body); +CP_EXPORT void cpBodySleep(cpBody *body); /// Force a body to fall asleep immediately along with other bodies in a group. -void cpBodySleepWithGroup(cpBody *body, cpBody *group); +CP_EXPORT void cpBodySleepWithGroup(cpBody *body, cpBody *group); /// Returns true if the body is sleeping. -static inline cpBool cpBodyIsSleeping(const cpBody *body) -{ - return (CP_PRIVATE(body->node).root != ((cpBody*)0)); -} +CP_EXPORT cpBool cpBodyIsSleeping(const cpBody *body); -/// Returns true if the body is static. -static inline cpBool cpBodyIsStatic(const cpBody *body) -{ - return CP_PRIVATE(body->node).idleTime == INFINITY; -} +/// Get the type of the body. +CP_EXPORT cpBodyType cpBodyGetType(cpBody *body); +/// Set the type of the body. +CP_EXPORT void cpBodySetType(cpBody *body, cpBodyType type); -/// Returns true if the body has not been added to a space. -/// Note: Static bodies are a subtype of rogue bodies. -static inline cpBool cpBodyIsRogue(const cpBody *body) -{ - return (body->CP_PRIVATE(space) == ((cpSpace*)0)); -} +/// Get the space this body is added to. +CP_EXPORT cpSpace* cpBodyGetSpace(const cpBody *body); +/// Get the mass of the body. +CP_EXPORT cpFloat cpBodyGetMass(const cpBody *body); +/// Set the mass of the body. +CP_EXPORT void cpBodySetMass(cpBody *body, cpFloat m); -#define CP_DefineBodyStructGetter(type, member, name) \ -static inline type cpBodyGet##name(const cpBody *body){return body->member;} +/// Get the moment of inertia of the body. +CP_EXPORT cpFloat cpBodyGetMoment(const cpBody *body); +/// Set the moment of inertia of the body. +CP_EXPORT void cpBodySetMoment(cpBody *body, cpFloat i); -#define CP_DefineBodyStructSetter(type, member, name) \ -static inline void cpBodySet##name(cpBody *body, const type value){ \ - cpBodyActivate(body); \ - body->member = value; \ - cpBodyAssertSane(body); \ -} - -#define CP_DefineBodyStructProperty(type, member, name) \ -CP_DefineBodyStructGetter(type, member, name) \ -CP_DefineBodyStructSetter(type, member, name) - -// TODO add to docs -CP_DefineBodyStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineBodyStructGetter(cpFloat, m, Mass) -/// Set the mass of a body. -void cpBodySetMass(cpBody *body, cpFloat m); - -CP_DefineBodyStructGetter(cpFloat, i, Moment) -/// Set the moment of a body. -void cpBodySetMoment(cpBody *body, cpFloat i); - -CP_DefineBodyStructGetter(cpVect, p, Pos) /// Set the position of a body. -void cpBodySetPos(cpBody *body, cpVect pos); -CP_DefineBodyStructProperty(cpVect, v, Vel) -CP_DefineBodyStructProperty(cpVect, f, Force) -CP_DefineBodyStructGetter(cpFloat, a, Angle) -/// Set the angle of a body. -void cpBodySetAngle(cpBody *body, cpFloat a); -CP_DefineBodyStructProperty(cpFloat, w, AngVel) -CP_DefineBodyStructProperty(cpFloat, t, Torque) -CP_DefineBodyStructGetter(cpVect, rot, Rot) -CP_DefineBodyStructProperty(cpFloat, v_limit, VelLimit) -CP_DefineBodyStructProperty(cpFloat, w_limit, AngVelLimit) -CP_DefineBodyStructProperty(cpDataPointer, data, UserData) +CP_EXPORT cpVect cpBodyGetPosition(const cpBody *body); +/// Set the position of the body. +CP_EXPORT void cpBodySetPosition(cpBody *body, cpVect pos); -/// Default Integration functions. -void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); -void cpBodyUpdatePosition(cpBody *body, cpFloat dt); +/// Get the offset of the center of gravity in body local coordinates. +CP_EXPORT cpVect cpBodyGetCenterOfGravity(const cpBody *body); +/// Set the offset of the center of gravity in body local coordinates. +CP_EXPORT void cpBodySetCenterOfGravity(cpBody *body, cpVect cog); + +/// Get the velocity of the body. +CP_EXPORT cpVect cpBodyGetVelocity(const cpBody *body); +/// Set the velocity of the body. +CP_EXPORT void cpBodySetVelocity(cpBody *body, cpVect velocity); + +/// Get the force applied to the body for the next time step. +CP_EXPORT cpVect cpBodyGetForce(const cpBody *body); +/// Set the force applied to the body for the next time step. +CP_EXPORT void cpBodySetForce(cpBody *body, cpVect force); + +/// Get the angle of the body. +CP_EXPORT cpFloat cpBodyGetAngle(const cpBody *body); +/// Set the angle of a body. +CP_EXPORT void cpBodySetAngle(cpBody *body, cpFloat a); + +/// Get the angular velocity of the body. +CP_EXPORT cpFloat cpBodyGetAngularVelocity(const cpBody *body); +/// Set the angular velocity of the body. +CP_EXPORT void cpBodySetAngularVelocity(cpBody *body, cpFloat angularVelocity); + +/// Get the torque applied to the body for the next time step. +CP_EXPORT cpFloat cpBodyGetTorque(const cpBody *body); +/// Set the torque applied to the body for the next time step. +CP_EXPORT void cpBodySetTorque(cpBody *body, cpFloat torque); + +/// Get the rotation vector of the body. (The x basis vector of it's transform.) +CP_EXPORT cpVect cpBodyGetRotation(const cpBody *body); + +/// Get the user data pointer assigned to the body. +CP_EXPORT cpDataPointer cpBodyGetUserData(const cpBody *body); +/// Set the user data pointer assigned to the body. +CP_EXPORT void cpBodySetUserData(cpBody *body, cpDataPointer userData); + +/// Set the callback used to update a body's velocity. +CP_EXPORT void cpBodySetVelocityUpdateFunc(cpBody *body, cpBodyVelocityFunc velocityFunc); +/// Set the callback used to update a body's position. +/// NOTE: It's not generally recommended to override this unless you call the default position update function. +CP_EXPORT void cpBodySetPositionUpdateFunc(cpBody *body, cpBodyPositionFunc positionFunc); + +/// Default velocity integration function.. +CP_EXPORT void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); +/// Default position integration function. +CP_EXPORT void cpBodyUpdatePosition(cpBody *body, cpFloat dt); /// Convert body relative/local coordinates to absolute/world coordinates. -static inline cpVect cpBodyLocal2World(const cpBody *body, const cpVect v) -{ - return cpvadd(body->p, cpvrotate(v, body->rot)); -} - +CP_EXPORT cpVect cpBodyLocalToWorld(const cpBody *body, const cpVect point); /// Convert body absolute/world coordinates to relative/local coordinates. -static inline cpVect cpBodyWorld2Local(const cpBody *body, const cpVect v) -{ - return cpvunrotate(cpvsub(v, body->p), body->rot); -} +CP_EXPORT cpVect cpBodyWorldToLocal(const cpBody *body, const cpVect point); -/// Set the forces and torque or a body to zero. -void cpBodyResetForces(cpBody *body); -/// Apply an force (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyForce(cpBody *body, const cpVect f, const cpVect r); -/// Apply an impulse (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyImpulse(cpBody *body, const cpVect j, const cpVect r); +/// Apply a force to a body. Both the force and point are expressed in world coordinates. +CP_EXPORT void cpBodyApplyForceAtWorldPoint(cpBody *body, cpVect force, cpVect point); +/// Apply a force to a body. Both the force and point are expressed in body local coordinates. +CP_EXPORT void cpBodyApplyForceAtLocalPoint(cpBody *body, cpVect force, cpVect point); + +/// Apply an impulse to a body. Both the impulse and point are expressed in world coordinates. +CP_EXPORT void cpBodyApplyImpulseAtWorldPoint(cpBody *body, cpVect impulse, cpVect point); +/// Apply an impulse to a body. Both the impulse and point are expressed in body local coordinates. +CP_EXPORT void cpBodyApplyImpulseAtLocalPoint(cpBody *body, cpVect impulse, cpVect point); /// Get the velocity on a body (in world units) at a point on the body in world coordinates. -cpVect cpBodyGetVelAtWorldPoint(cpBody *body, cpVect point); +CP_EXPORT cpVect cpBodyGetVelocityAtWorldPoint(const cpBody *body, cpVect point); /// Get the velocity on a body (in world units) at a point on the body in local coordinates. -cpVect cpBodyGetVelAtLocalPoint(cpBody *body, cpVect point); +CP_EXPORT cpVect cpBodyGetVelocityAtLocalPoint(const cpBody *body, cpVect point); - -/// Get the kinetic energy of a body. -static inline cpFloat cpBodyKineticEnergy(const cpBody *body) -{ - // Need to do some fudging to avoid NaNs - cpFloat vsq = cpvdot(body->v, body->v); - cpFloat wsq = body->w*body->w; - return (vsq ? vsq*body->m : 0.0f) + (wsq ? wsq*body->i : 0.0f); -} +/// Get the amount of kinetic energy contained by the body. +CP_EXPORT cpFloat cpBodyKineticEnergy(const cpBody *body); /// Body/shape iterator callback function type. typedef void (*cpBodyShapeIteratorFunc)(cpBody *body, cpShape *shape, void *data); /// Call @c func once for each shape attached to @c body and added to the space. -void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data); /// Body/constraint iterator callback function type. typedef void (*cpBodyConstraintIteratorFunc)(cpBody *body, cpConstraint *constraint, void *data); /// Call @c func once for each constraint attached to @c body and added to the space. -void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data); /// Body/arbiter iterator callback function type. typedef void (*cpBodyArbiterIteratorFunc)(cpBody *body, cpArbiter *arbiter, void *data); /// Call @c func once for each arbiter that is currently active on the body. -void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data); ///@} diff --git a/android/armeabi-v7a/include/chipmunk/cpPolyShape.h b/android/armeabi-v7a/include/chipmunk/cpPolyShape.h index a5587ba2..25f688b8 100644 --- a/android/armeabi-v7a/include/chipmunk/cpPolyShape.h +++ b/android/armeabi-v7a/include/chipmunk/cpPolyShape.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -22,60 +22,35 @@ /// @defgroup cpPolyShape cpPolyShape /// @{ -/// @private -typedef struct cpSplittingPlane { - cpVect n; - cpFloat d; -} cpSplittingPlane; - -/// @private -typedef struct cpPolyShape { - cpShape shape; - - int numVerts; - cpVect *verts, *tVerts; - cpSplittingPlane *planes, *tPlanes; - - cpFloat r; -} cpPolyShape; - /// Allocate a polygon shape. -cpPolyShape* cpPolyShapeAlloc(void); -/// Initialize a polygon shape. +CP_EXPORT cpPolyShape* cpPolyShapeAlloc(void); +/// Initialize a polygon shape with rounded corners. /// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Initialize a polygon shape. +CP_EXPORT cpPolyShape* cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int count, const cpVect *verts, cpTransform transform, cpFloat radius); +/// Initialize a polygon shape with rounded corners. +/// The vertexes must be convex with a counter-clockwise winding. +CP_EXPORT cpPolyShape* cpPolyShapeInitRaw(cpPolyShape *poly, cpBody *body, int count, const cpVect *verts, cpFloat radius); +/// Allocate and initialize a polygon shape with rounded corners. /// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit2(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew(cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew2(cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); +CP_EXPORT cpShape* cpPolyShapeNew(cpBody *body, int count, const cpVect *verts, cpTransform transform, cpFloat radius); +/// Allocate and initialize a polygon shape with rounded corners. +/// The vertexes must be convex with a counter-clockwise winding. +CP_EXPORT cpShape* cpPolyShapeNewRaw(cpBody *body, int count, const cpVect *verts, cpFloat radius); -/// Initialize a box shaped polygon shape. -cpPolyShape* cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit2(cpPolyShape *poly, cpBody *body, cpBB box); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit3(cpPolyShape *poly, cpBody *body, cpBB box, cpFloat radius); +/// Initialize a box shaped polygon shape with rounded corners. +CP_EXPORT cpPolyShape* cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height, cpFloat radius); +/// Initialize an offset box shaped polygon shape with rounded corners. +CP_EXPORT cpPolyShape* cpBoxShapeInit2(cpPolyShape *poly, cpBody *body, cpBB box, cpFloat radius); /// Allocate and initialize a box shaped polygon shape. -cpShape* cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height); +CP_EXPORT cpShape* cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height, cpFloat radius); /// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew2(cpBody *body, cpBB box); -/// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew3(cpBody *body, cpBB box, cpFloat radius); - -/// Check that a set of vertexes is convex and has a clockwise winding. -/// NOTE: Due to floating point precision issues, hulls created with cpQuickHull() are not guaranteed to validate! -cpBool cpPolyValidate(const cpVect *verts, const int numVerts); +CP_EXPORT cpShape* cpBoxShapeNew2(cpBody *body, cpBB box, cpFloat radius); /// Get the number of verts in a polygon shape. -int cpPolyShapeGetNumVerts(const cpShape *shape); +CP_EXPORT int cpPolyShapeGetCount(const cpShape *shape); /// Get the @c ith vertex of a polygon shape. -cpVect cpPolyShapeGetVert(const cpShape *shape, int idx); +CP_EXPORT cpVect cpPolyShapeGetVert(const cpShape *shape, int index); /// Get the radius of a polygon shape. -cpFloat cpPolyShapeGetRadius(const cpShape *shape); +CP_EXPORT cpFloat cpPolyShapeGetRadius(const cpShape *shape); /// @} diff --git a/android/armeabi-v7a/include/chipmunk/cpShape.h b/android/armeabi-v7a/include/chipmunk/cpShape.h index 62920c37..cc20f809 100644 --- a/android/armeabi-v7a/include/chipmunk/cpShape.h +++ b/android/armeabi-v7a/include/chipmunk/cpShape.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -18,215 +18,182 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. */ - + /// @defgroup cpShape cpShape /// The cpShape struct defines the shape of a rigid body. /// @{ -typedef struct cpShapeClass cpShapeClass; - -/// Nearest point query info struct. -typedef struct cpNearestPointQueryInfo { +/// Point query info struct. +typedef struct cpPointQueryInfo { /// The nearest shape, NULL if no shape was within range. - cpShape *shape; + const cpShape *shape; /// The closest point on the shape's surface. (in world space coordinates) - cpVect p; + cpVect point; /// The distance to the point. The distance is negative if the point is inside the shape. - cpFloat d; + cpFloat distance; /// The gradient of the signed distance function. - /// The same as info.p/info.d, but accurate even for very small values of info.d. - cpVect g; -} cpNearestPointQueryInfo; + /// The value should be similar to info.p/info.d, but accurate even for very small values of info.d. + cpVect gradient; +} cpPointQueryInfo; /// Segment query info struct. typedef struct cpSegmentQueryInfo { - /// The shape that was hit, NULL if no collision occured. - cpShape *shape; - /// The normalized distance along the query segment in the range [0, 1]. - cpFloat t; + /// The shape that was hit, or NULL if no collision occured. + const cpShape *shape; + /// The point of impact. + cpVect point; /// The normal of the surface hit. - cpVect n; + cpVect normal; + /// The normalized distance along the query segment in the range [0, 1]. + cpFloat alpha; } cpSegmentQueryInfo; -/// @private -typedef enum cpShapeType{ - CP_CIRCLE_SHAPE, - CP_SEGMENT_SHAPE, - CP_POLY_SHAPE, - CP_NUM_SHAPES -} cpShapeType; - -typedef cpBB (*cpShapeCacheDataImpl)(cpShape *shape, cpVect p, cpVect rot); -typedef void (*cpShapeDestroyImpl)(cpShape *shape); -typedef void (*cpShapeNearestPointQueryImpl)(cpShape *shape, cpVect p, cpNearestPointQueryInfo *info); -typedef void (*cpShapeSegmentQueryImpl)(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); - -/// @private -struct cpShapeClass { - cpShapeType type; - - cpShapeCacheDataImpl cacheData; - cpShapeDestroyImpl destroy; - cpShapeNearestPointQueryImpl nearestPointQuery; - cpShapeSegmentQueryImpl segmentQuery; -}; - -/// Opaque collision shape struct. -struct cpShape { - CP_PRIVATE(const cpShapeClass *klass); - - /// The rigid body this collision shape is attached to. - cpBody *body; - - /// The current bounding box of the shape. - cpBB bb; - - /// Sensor flag. - /// Sensor shapes call collision callbacks but don't produce collisions. - cpBool sensor; - - /// Coefficient of restitution. (elasticity) - cpFloat e; - /// Coefficient of friction. - cpFloat u; - /// Surface velocity used when solving for friction. - cpVect surface_v; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpShape reference in a callback. - cpDataPointer data; - - /// Collision type of this shape used when picking collision handlers. - cpCollisionType collision_type; - /// Group of this shape. Shapes in the same group don't collide. +/// Fast collision filtering type that is used to determine if two objects collide before calling collision or query callbacks. +typedef struct cpShapeFilter { + /// Two objects with the same non-zero group value do not collide. + /// This is generally used to group objects in a composite object together to disable self collisions. cpGroup group; - // Layer bitmask for this shape. Shapes only collide if the bitwise and of their layers is non-zero. - cpLayers layers; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *next); - CP_PRIVATE(cpShape *prev); - - CP_PRIVATE(cpHashValue hashid); -}; + /// A bitmask of user definable categories that this object belongs to. + /// The category/mask combinations of both objects in a collision must agree for a collision to occur. + cpBitmask categories; + /// A bitmask of user definable category types that this object object collides with. + /// The category/mask combinations of both objects in a collision must agree for a collision to occur. + cpBitmask mask; +} cpShapeFilter; + +/// Collision filter value for a shape that will collide with anything except CP_SHAPE_FILTER_NONE. +static const cpShapeFilter CP_SHAPE_FILTER_ALL = {CP_NO_GROUP, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES}; +/// Collision filter value for a shape that does not collide with anything. +static const cpShapeFilter CP_SHAPE_FILTER_NONE = {CP_NO_GROUP, ~CP_ALL_CATEGORIES, ~CP_ALL_CATEGORIES}; + +/// Create a new collision filter. +static inline cpShapeFilter +cpShapeFilterNew(cpGroup group, cpBitmask categories, cpBitmask mask) +{ + cpShapeFilter filter = {group, categories, mask}; + return filter; +} /// Destroy a shape. -void cpShapeDestroy(cpShape *shape); +CP_EXPORT void cpShapeDestroy(cpShape *shape); /// Destroy and Free a shape. -void cpShapeFree(cpShape *shape); +CP_EXPORT void cpShapeFree(cpShape *shape); /// Update, cache and return the bounding box of a shape based on the body it's attached to. -cpBB cpShapeCacheBB(cpShape *shape); +CP_EXPORT cpBB cpShapeCacheBB(cpShape *shape); /// Update, cache and return the bounding box of a shape with an explicit transformation. -cpBB cpShapeUpdate(cpShape *shape, cpVect pos, cpVect rot); - -/// Test if a point lies within a shape. -cpBool cpShapePointQuery(cpShape *shape, cpVect p); +CP_EXPORT cpBB cpShapeUpdate(cpShape *shape, cpTransform transform); /// Perform a nearest point query. It finds the closest point on the surface of shape to a specific point. /// The value returned is the distance between the points. A negative distance means the point is inside the shape. -cpFloat cpShapeNearestPointQuery(cpShape *shape, cpVect p, cpNearestPointQueryInfo *out); +CP_EXPORT cpFloat cpShapePointQuery(const cpShape *shape, cpVect p, cpPointQueryInfo *out); /// Perform a segment query against a shape. @c info must be a pointer to a valid cpSegmentQueryInfo structure. -cpBool cpShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); +CP_EXPORT cpBool cpShapeSegmentQuery(const cpShape *shape, cpVect a, cpVect b, cpFloat radius, cpSegmentQueryInfo *info); -/// Get the hit point for a segment query. -static inline cpVect cpSegmentQueryHitPoint(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvlerp(start, end, info.t); -} +/// Return contact information about two shapes. +CP_EXPORT cpContactPointSet cpShapesCollide(const cpShape *a, const cpShape *b); -/// Get the hit distance for a segment query. -static inline cpFloat cpSegmentQueryHitDist(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvdist(start, end)*info.t; -} +/// The cpSpace this body is added to. +CP_EXPORT cpSpace* cpShapeGetSpace(const cpShape *shape); -#define CP_DefineShapeStructGetter(type, member, name) \ -static inline type cpShapeGet##name(const cpShape *shape){return shape->member;} +/// The cpBody this shape is connected to. +CP_EXPORT cpBody* cpShapeGetBody(const cpShape *shape); +/// Set the cpBody this shape is connected to. +/// Can only be used if the shape is not currently added to a space. +CP_EXPORT void cpShapeSetBody(cpShape *shape, cpBody *body); -#define CP_DefineShapeStructSetter(type, member, name, activates) \ -static inline void cpShapeSet##name(cpShape *shape, type value){ \ - if(activates && shape->body) cpBodyActivate(shape->body); \ - shape->member = value; \ -} +/// Get the mass of the shape if you are having Chipmunk calculate mass properties for you. +cpFloat cpShapeGetMass(cpShape *shape); +/// Set the mass of this shape to have Chipmunk calculate mass properties for you. +CP_EXPORT void cpShapeSetMass(cpShape *shape, cpFloat mass); -#define CP_DefineShapeStructProperty(type, member, name, activates) \ -CP_DefineShapeStructGetter(type, member, name) \ -CP_DefineShapeStructSetter(type, member, name, activates) +/// Get the density of the shape if you are having Chipmunk calculate mass properties for you. +CP_EXPORT cpFloat cpShapeGetDensity(cpShape *shape); +/// Set the density of this shape to have Chipmunk calculate mass properties for you. +CP_EXPORT void cpShapeSetDensity(cpShape *shape, cpFloat density); -CP_DefineShapeStructGetter(cpSpace*, CP_PRIVATE(space), Space) +/// Get the calculated moment of inertia for this shape. +CP_EXPORT cpFloat cpShapeGetMoment(cpShape *shape); +/// Get the calculated area of this shape. +CP_EXPORT cpFloat cpShapeGetArea(cpShape *shape); +/// Get the centroid of this shape. +CP_EXPORT cpVect cpShapeGetCenterOfGravity(cpShape *shape); -CP_DefineShapeStructGetter(cpBody*, body, Body) -void cpShapeSetBody(cpShape *shape, cpBody *body); +/// Get the bounding box that contains the shape given it's current position and angle. +CP_EXPORT cpBB cpShapeGetBB(const cpShape *shape); -CP_DefineShapeStructGetter(cpBB, bb, BB) -CP_DefineShapeStructProperty(cpBool, sensor, Sensor, cpTrue) -CP_DefineShapeStructProperty(cpFloat, e, Elasticity, cpFalse) -CP_DefineShapeStructProperty(cpFloat, u, Friction, cpTrue) -CP_DefineShapeStructProperty(cpVect, surface_v, SurfaceVelocity, cpTrue) -CP_DefineShapeStructProperty(cpDataPointer, data, UserData, cpFalse) -CP_DefineShapeStructProperty(cpCollisionType, collision_type, CollisionType, cpTrue) -CP_DefineShapeStructProperty(cpGroup, group, Group, cpTrue) -CP_DefineShapeStructProperty(cpLayers, layers, Layers, cpTrue) +/// Get if the shape is set to be a sensor or not. +CP_EXPORT cpBool cpShapeGetSensor(const cpShape *shape); +/// Set if the shape is a sensor or not. +CP_EXPORT void cpShapeSetSensor(cpShape *shape, cpBool sensor); -/// When initializing a shape, it's hash value comes from a counter. -/// Because the hash value may affect iteration order, you can reset the shape ID counter -/// when recreating a space. This will make the simulation be deterministic. -void cpResetShapeIdCounter(void); +/// Get the elasticity of this shape. +CP_EXPORT cpFloat cpShapeGetElasticity(const cpShape *shape); +/// Set the elasticity of this shape. +CP_EXPORT void cpShapeSetElasticity(cpShape *shape, cpFloat elasticity); + +/// Get the friction of this shape. +CP_EXPORT cpFloat cpShapeGetFriction(const cpShape *shape); +/// Set the friction of this shape. +CP_EXPORT void cpShapeSetFriction(cpShape *shape, cpFloat friction); + +/// Get the surface velocity of this shape. +CP_EXPORT cpVect cpShapeGetSurfaceVelocity(const cpShape *shape); +/// Set the surface velocity of this shape. +CP_EXPORT void cpShapeSetSurfaceVelocity(cpShape *shape, cpVect surfaceVelocity); + +/// Get the user definable data pointer of this shape. +CP_EXPORT cpDataPointer cpShapeGetUserData(const cpShape *shape); +/// Set the user definable data pointer of this shape. +CP_EXPORT void cpShapeSetUserData(cpShape *shape, cpDataPointer userData); + +/// Set the collision type of this shape. +CP_EXPORT cpCollisionType cpShapeGetCollisionType(const cpShape *shape); +/// Get the collision type of this shape. +CP_EXPORT void cpShapeSetCollisionType(cpShape *shape, cpCollisionType collisionType); + +/// Get the collision filtering parameters of this shape. +CP_EXPORT cpShapeFilter cpShapeGetFilter(const cpShape *shape); +/// Set the collision filtering parameters of this shape. +CP_EXPORT void cpShapeSetFilter(cpShape *shape, cpShapeFilter filter); -#define CP_DeclareShapeGetter(struct, type, name) type struct##Get##name(const cpShape *shape) /// @} /// @defgroup cpCircleShape cpCircleShape -/// @private -typedef struct cpCircleShape { - cpShape shape; - - cpVect c, tc; - cpFloat r; -} cpCircleShape; - /// Allocate a circle shape. -cpCircleShape* cpCircleShapeAlloc(void); +CP_EXPORT cpCircleShape* cpCircleShapeAlloc(void); /// Initialize a circle shape. -cpCircleShape* cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset); +CP_EXPORT cpCircleShape* cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset); /// Allocate and initialize a circle shape. -cpShape* cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset); +CP_EXPORT cpShape* cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset); -CP_DeclareShapeGetter(cpCircleShape, cpVect, Offset); -CP_DeclareShapeGetter(cpCircleShape, cpFloat, Radius); +/// Get the offset of a circle shape. +CP_EXPORT cpVect cpCircleShapeGetOffset(const cpShape *shape); +/// Get the radius of a circle shape. +CP_EXPORT cpFloat cpCircleShapeGetRadius(const cpShape *shape); /// @} /// @defgroup cpSegmentShape cpSegmentShape -/// @private -typedef struct cpSegmentShape { - cpShape shape; - - cpVect a, b, n; - cpVect ta, tb, tn; - cpFloat r; - - cpVect a_tangent, b_tangent; -} cpSegmentShape; - /// Allocate a segment shape. -cpSegmentShape* cpSegmentShapeAlloc(void); +CP_EXPORT cpSegmentShape* cpSegmentShapeAlloc(void); /// Initialize a segment shape. -cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius); +CP_EXPORT cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius); /// Allocate and initialize a segment shape. -cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius); +CP_EXPORT cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius); /// Let Chipmunk know about the geometry of adjacent segments to avoid colliding with endcaps. -void cpSegmentShapeSetNeighbors(cpShape *shape, cpVect prev, cpVect next); +CP_EXPORT void cpSegmentShapeSetNeighbors(cpShape *shape, cpVect prev, cpVect next); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, A); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, B); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, Normal); -CP_DeclareShapeGetter(cpSegmentShape, cpFloat, Radius); +/// Get the first endpoint of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetA(const cpShape *shape); +/// Get the second endpoint of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetB(const cpShape *shape); +/// Get the normal of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetNormal(const cpShape *shape); +/// Get the first endpoint of a segment shape. +CP_EXPORT cpFloat cpSegmentShapeGetRadius(const cpShape *shape); /// @} diff --git a/android/armeabi-v7a/include/chipmunk/cpSpace.h b/android/armeabi-v7a/include/chipmunk/cpSpace.h index 26439f76..7bbabb85 100644 --- a/android/armeabi-v7a/include/chipmunk/cpSpace.h +++ b/android/armeabi-v7a/include/chipmunk/cpSpace.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -22,191 +22,161 @@ /// @defgroup cpSpace cpSpace /// @{ -typedef struct cpContactBufferHeader cpContactBufferHeader; -typedef void (*cpSpaceArbiterApplyImpulseFunc)(cpArbiter *arb); +//MARK: Definitions -/// Basic Unit of Simulation in Chipmunk -struct cpSpace { - /// Number of iterations to use in the impulse solver to solve contacts. - int iterations; - - /// Gravity to pass to rigid bodies when integrating velocity. - cpVect gravity; - - /// Damping rate expressed as the fraction of velocity bodies retain each second. - /// A value of 0.9 would mean that each body's velocity will drop 10% per second. - /// The default value is 1.0, meaning no damping is applied. - /// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring. - cpFloat damping; - - /// Speed threshold for a body to be considered idle. - /// The default value of 0 means to let the space guess a good threshold based on gravity. - cpFloat idleSpeedThreshold; - - /// Time a group of bodies must remain idle in order to fall asleep. - /// Enabling sleeping also implicitly enables the the contact graph. - /// The default value of INFINITY disables the sleeping algorithm. - cpFloat sleepTimeThreshold; - - /// Amount of encouraged penetration between colliding shapes. - /// Used to reduce oscillating contacts and keep the collision cache warm. - /// Defaults to 0.1. If you have poor simulation quality, - /// increase this number as much as possible without allowing visible amounts of overlap. - cpFloat collisionSlop; - - /// Determines how fast overlapping shapes are pushed apart. - /// Expressed as a fraction of the error remaining after each second. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz. - cpFloat collisionBias; - - /// Number of frames that contact information should persist. - /// Defaults to 3. There is probably never a reason to change this value. - cpTimestamp collisionPersistence; - - /// Rebuild the contact graph during each step. Must be enabled to use the cpBodyEachArbiter() function. - /// Disabled by default for a small performance boost. Enabled implicitly when the sleeping feature is enabled. - cpBool enableContactGraph; - - /// User definable data pointer. - /// Generally this points to your game's controller or game state - /// class so you can access it when given a cpSpace reference in a callback. - cpDataPointer data; - - /// The designated static body for this space. - /// You can modify this body, or replace it with your own static body. - /// By default it points to a statically allocated cpBody in the cpSpace struct. - cpBody *staticBody; - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpFloat curr_dt); +/// Collision begin event function callback type. +/// Returning false from a begin callback causes the collision to be ignored until +/// the the separate callback is called when the objects stop colliding. +typedef cpBool (*cpCollisionBeginFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision pre-solve event function callback type. +/// Returning false from a pre-step callback causes the collision to be ignored until the next step. +typedef cpBool (*cpCollisionPreSolveFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision post-solve event function callback type. +typedef void (*cpCollisionPostSolveFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision separate event function callback type. +typedef void (*cpCollisionSeparateFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); - CP_PRIVATE(cpArray *bodies); - CP_PRIVATE(cpArray *rousedBodies); - CP_PRIVATE(cpArray *sleepingComponents); - - CP_PRIVATE(cpSpatialIndex *staticShapes); - CP_PRIVATE(cpSpatialIndex *activeShapes); - - CP_PRIVATE(cpArray *arbiters); - CP_PRIVATE(cpContactBufferHeader *contactBuffersHead); - CP_PRIVATE(cpHashSet *cachedArbiters); - CP_PRIVATE(cpArray *pooledArbiters); - CP_PRIVATE(cpArray *constraints); - - CP_PRIVATE(cpArray *allocatedBuffers); - CP_PRIVATE(int locked); - - CP_PRIVATE(cpHashSet *collisionHandlers); - CP_PRIVATE(cpCollisionHandler defaultHandler); - - CP_PRIVATE(cpBool skipPostStep); - CP_PRIVATE(cpArray *postStepCallbacks); - - CP_PRIVATE(cpBody _staticBody); +/// Struct that holds function callback pointers to configure custom collision handling. +/// Collision handlers have a pair of types; when a collision occurs between two shapes that have these types, the collision handler functions are triggered. +struct cpCollisionHandler { + /// Collision type identifier of the first shape that this handler recognizes. + /// In the collision handler callback, the shape with this type will be the first argument. Read only. + const cpCollisionType typeA; + /// Collision type identifier of the second shape that this handler recognizes. + /// In the collision handler callback, the shape with this type will be the second argument. Read only. + const cpCollisionType typeB; + /// This function is called when two shapes with types that match this collision handler begin colliding. + cpCollisionBeginFunc beginFunc; + /// This function is called each step when two shapes with types that match this collision handler are colliding. + /// It's called before the collision solver runs so that you can affect a collision's outcome. + cpCollisionPreSolveFunc preSolveFunc; + /// This function is called each step when two shapes with types that match this collision handler are colliding. + /// It's called after the collision solver runs so that you can read back information about the collision to trigger events in your game. + cpCollisionPostSolveFunc postSolveFunc; + /// This function is called when two shapes with types that match this collision handler stop colliding. + cpCollisionSeparateFunc separateFunc; + /// This is a user definable context pointer that is passed to all of the collision handler functions. + cpDataPointer userData; }; +// TODO: Make timestep a parameter? + + +//MARK: Memory and Initialization + /// Allocate a cpSpace. -cpSpace* cpSpaceAlloc(void); +CP_EXPORT cpSpace* cpSpaceAlloc(void); /// Initialize a cpSpace. -cpSpace* cpSpaceInit(cpSpace *space); +CP_EXPORT cpSpace* cpSpaceInit(cpSpace *space); /// Allocate and initialize a cpSpace. -cpSpace* cpSpaceNew(void); +CP_EXPORT cpSpace* cpSpaceNew(void); /// Destroy a cpSpace. -void cpSpaceDestroy(cpSpace *space); +CP_EXPORT void cpSpaceDestroy(cpSpace *space); /// Destroy and free a cpSpace. -void cpSpaceFree(cpSpace *space); +CP_EXPORT void cpSpaceFree(cpSpace *space); -#define CP_DefineSpaceStructGetter(type, member, name) \ -static inline type cpSpaceGet##name(const cpSpace *space){return space->member;} -#define CP_DefineSpaceStructSetter(type, member, name) \ -static inline void cpSpaceSet##name(cpSpace *space, type value){space->member = value;} +//MARK: Properties -#define CP_DefineSpaceStructProperty(type, member, name) \ -CP_DefineSpaceStructGetter(type, member, name) \ -CP_DefineSpaceStructSetter(type, member, name) +/// Number of iterations to use in the impulse solver to solve contacts and other constraints. +CP_EXPORT int cpSpaceGetIterations(const cpSpace *space); +CP_EXPORT void cpSpaceSetIterations(cpSpace *space, int iterations); -CP_DefineSpaceStructProperty(int, iterations, Iterations) -CP_DefineSpaceStructProperty(cpVect, gravity, Gravity) -CP_DefineSpaceStructProperty(cpFloat, damping, Damping) -CP_DefineSpaceStructProperty(cpFloat, idleSpeedThreshold, IdleSpeedThreshold) -CP_DefineSpaceStructProperty(cpFloat, sleepTimeThreshold, SleepTimeThreshold) -CP_DefineSpaceStructProperty(cpFloat, collisionSlop, CollisionSlop) -CP_DefineSpaceStructProperty(cpFloat, collisionBias, CollisionBias) -CP_DefineSpaceStructProperty(cpTimestamp, collisionPersistence, CollisionPersistence) -CP_DefineSpaceStructProperty(cpBool, enableContactGraph, EnableContactGraph) -CP_DefineSpaceStructProperty(cpDataPointer, data, UserData) -CP_DefineSpaceStructGetter(cpBody*, staticBody, StaticBody) -CP_DefineSpaceStructGetter(cpFloat, CP_PRIVATE(curr_dt), CurrentTimeStep) +/// Gravity to pass to rigid bodies when integrating velocity. +CP_EXPORT cpVect cpSpaceGetGravity(const cpSpace *space); +CP_EXPORT void cpSpaceSetGravity(cpSpace *space, cpVect gravity); -/// returns true from inside a callback and objects cannot be added/removed. -static inline cpBool -cpSpaceIsLocked(cpSpace *space) -{ - return space->CP_PRIVATE(locked); -} +/// Damping rate expressed as the fraction of velocity bodies retain each second. +/// A value of 0.9 would mean that each body's velocity will drop 10% per second. +/// The default value is 1.0, meaning no damping is applied. +/// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring. +CP_EXPORT cpFloat cpSpaceGetDamping(const cpSpace *space); +CP_EXPORT void cpSpaceSetDamping(cpSpace *space, cpFloat damping); -/// Set a default collision handler for this space. -/// The default collision handler is invoked for each colliding pair of shapes -/// that isn't explicitly handled by a specific collision handler. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceSetDefaultCollisionHandler( - cpSpace *space, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); +/// Speed threshold for a body to be considered idle. +/// The default value of 0 means to let the space guess a good threshold based on gravity. +CP_EXPORT cpFloat cpSpaceGetIdleSpeedThreshold(const cpSpace *space); +CP_EXPORT void cpSpaceSetIdleSpeedThreshold(cpSpace *space, cpFloat idleSpeedThreshold); -/// Set a collision handler to be used whenever the two shapes with the given collision types collide. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceAddCollisionHandler( - cpSpace *space, - cpCollisionType a, cpCollisionType b, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); +/// Time a group of bodies must remain idle in order to fall asleep. +/// Enabling sleeping also implicitly enables the the contact graph. +/// The default value of INFINITY disables the sleeping algorithm. +CP_EXPORT cpFloat cpSpaceGetSleepTimeThreshold(const cpSpace *space); +CP_EXPORT void cpSpaceSetSleepTimeThreshold(cpSpace *space, cpFloat sleepTimeThreshold); -/// Unset a collision handler. -void cpSpaceRemoveCollisionHandler(cpSpace *space, cpCollisionType a, cpCollisionType b); +/// Amount of encouraged penetration between colliding shapes. +/// Used to reduce oscillating contacts and keep the collision cache warm. +/// Defaults to 0.1. If you have poor simulation quality, +/// increase this number as much as possible without allowing visible amounts of overlap. +CP_EXPORT cpFloat cpSpaceGetCollisionSlop(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionSlop(cpSpace *space, cpFloat collisionSlop); + +/// Determines how fast overlapping shapes are pushed apart. +/// Expressed as a fraction of the error remaining after each second. +/// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz. +CP_EXPORT cpFloat cpSpaceGetCollisionBias(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionBias(cpSpace *space, cpFloat collisionBias); + +/// Number of frames that contact information should persist. +/// Defaults to 3. There is probably never a reason to change this value. +CP_EXPORT cpTimestamp cpSpaceGetCollisionPersistence(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionPersistence(cpSpace *space, cpTimestamp collisionPersistence); + +/// User definable data pointer. +/// Generally this points to your game's controller or game state +/// class so you can access it when given a cpSpace reference in a callback. +CP_EXPORT cpDataPointer cpSpaceGetUserData(const cpSpace *space); +CP_EXPORT void cpSpaceSetUserData(cpSpace *space, cpDataPointer userData); + +/// The Space provided static body for a given cpSpace. +/// This is merely provided for convenience and you are not required to use it. +CP_EXPORT cpBody* cpSpaceGetStaticBody(const cpSpace *space); + +/// Returns the current (or most recent) time step used with the given space. +/// Useful from callbacks if your time step is not a compile-time global. +CP_EXPORT cpFloat cpSpaceGetCurrentTimeStep(const cpSpace *space); + +/// returns true from inside a callback when objects cannot be added/removed. +CP_EXPORT cpBool cpSpaceIsLocked(cpSpace *space); + + +//MARK: Collision Handlers + +/// Create or return the existing collision handler that is called for all collisions that are not handled by a more specific collision handler. +CP_EXPORT cpCollisionHandler *cpSpaceAddDefaultCollisionHandler(cpSpace *space); +/// Create or return the existing collision handler for the specified pair of collision types. +/// If wildcard handlers are used with either of the collision types, it's the responibility of the custom handler to invoke the wildcard handlers. +CP_EXPORT cpCollisionHandler *cpSpaceAddCollisionHandler(cpSpace *space, cpCollisionType a, cpCollisionType b); +/// Create or return the existing wildcard collision handler for the specified type. +CP_EXPORT cpCollisionHandler *cpSpaceAddWildcardHandler(cpSpace *space, cpCollisionType type); + + +//MARK: Add/Remove objects /// Add a collision shape to the simulation. /// If the shape is attached to a static body, it will be added as a static shape. -cpShape* cpSpaceAddShape(cpSpace *space, cpShape *shape); -/// Explicity add a shape as a static shape to the simulation. -cpShape* cpSpaceAddStaticShape(cpSpace *space, cpShape *shape); +CP_EXPORT cpShape* cpSpaceAddShape(cpSpace *space, cpShape *shape); /// Add a rigid body to the simulation. -cpBody* cpSpaceAddBody(cpSpace *space, cpBody *body); +CP_EXPORT cpBody* cpSpaceAddBody(cpSpace *space, cpBody *body); /// Add a constraint to the simulation. -cpConstraint* cpSpaceAddConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT cpConstraint* cpSpaceAddConstraint(cpSpace *space, cpConstraint *constraint); /// Remove a collision shape from the simulation. -void cpSpaceRemoveShape(cpSpace *space, cpShape *shape); -/// Remove a collision shape added using cpSpaceAddStaticShape() from the simulation. -void cpSpaceRemoveStaticShape(cpSpace *space, cpShape *shape); +CP_EXPORT void cpSpaceRemoveShape(cpSpace *space, cpShape *shape); /// Remove a rigid body from the simulation. -void cpSpaceRemoveBody(cpSpace *space, cpBody *body); +CP_EXPORT void cpSpaceRemoveBody(cpSpace *space, cpBody *body); /// Remove a constraint from the simulation. -void cpSpaceRemoveConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT void cpSpaceRemoveConstraint(cpSpace *space, cpConstraint *constraint); /// Test if a collision shape has been added to the space. -cpBool cpSpaceContainsShape(cpSpace *space, cpShape *shape); +CP_EXPORT cpBool cpSpaceContainsShape(cpSpace *space, cpShape *shape); /// Test if a rigid body has been added to the space. -cpBool cpSpaceContainsBody(cpSpace *space, cpBody *body); +CP_EXPORT cpBool cpSpaceContainsBody(cpSpace *space, cpBody *body); /// Test if a constraint has been added to the space. -cpBool cpSpaceContainsConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT cpBool cpSpaceContainsConstraint(cpSpace *space, cpConstraint *constraint); -/// Convert a dynamic rogue body to a static one. -/// If the body is active, you must remove it from the space first. -void cpSpaceConvertBodyToStatic(cpSpace *space, cpBody *body); -/// Convert a body to a dynamic rogue body. -/// If you want the body to be active after the transition, you must add it to the space also. -void cpSpaceConvertBodyToDynamic(cpSpace *space, cpBody *body, cpFloat mass, cpFloat moment); +//MARK: Post-Step Callbacks /// Post Step callback function type. typedef void (*cpPostStepFunc)(cpSpace *space, void *key, void *data); @@ -214,70 +184,136 @@ typedef void (*cpPostStepFunc)(cpSpace *space, void *key, void *data); /// You can only register one callback per unique value for @c key. /// Returns true only if @c key has never been scheduled before. /// It's possible to pass @c NULL for @c func if you only want to mark @c key as being used. -cpBool cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *key, void *data); +CP_EXPORT cpBool cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *key, void *data); -/// Point query callback function type. -typedef void (*cpSpacePointQueryFunc)(cpShape *shape, void *data); -/// Query the space at a point and call @c func for each shape found. -void cpSpacePointQuery(cpSpace *space, cpVect point, cpLayers layers, cpGroup group, cpSpacePointQueryFunc func, void *data); -/// Query the space at a point and return the first shape found. Returns NULL if no shapes were found. -cpShape *cpSpacePointQueryFirst(cpSpace *space, cpVect point, cpLayers layers, cpGroup group); + +//MARK: Queries + +// TODO: Queries and iterators should take a cpSpace parametery. +// TODO: They should also be abortable. /// Nearest point query callback function type. -typedef void (*cpSpaceNearestPointQueryFunc)(cpShape *shape, cpFloat distance, cpVect point, void *data); +typedef void (*cpSpacePointQueryFunc)(cpShape *shape, cpVect point, cpFloat distance, cpVect gradient, void *data); /// Query the space at a point and call @c func for each shape found. -void cpSpaceNearestPointQuery(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryFunc func, void *data); +CP_EXPORT void cpSpacePointQuery(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpSpacePointQueryFunc func, void *data); /// Query the space at a point and return the nearest shape found. Returns NULL if no shapes were found. -cpShape *cpSpaceNearestPointQueryNearest(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpNearestPointQueryInfo *out); +CP_EXPORT cpShape *cpSpacePointQueryNearest(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpPointQueryInfo *out); /// Segment query callback function type. -typedef void (*cpSpaceSegmentQueryFunc)(cpShape *shape, cpFloat t, cpVect n, void *data); +typedef void (*cpSpaceSegmentQueryFunc)(cpShape *shape, cpVect point, cpVect normal, cpFloat alpha, void *data); /// Perform a directed line segment query (like a raycast) against the space calling @c func for each shape intersected. -void cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryFunc func, void *data); +CP_EXPORT void cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSpaceSegmentQueryFunc func, void *data); /// Perform a directed line segment query (like a raycast) against the space and return the first shape hit. Returns NULL if no shapes were hit. -cpShape *cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSegmentQueryInfo *out); +CP_EXPORT cpShape *cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSegmentQueryInfo *out); /// Rectangle Query callback function type. typedef void (*cpSpaceBBQueryFunc)(cpShape *shape, void *data); /// Perform a fast rectangle query on the space calling @c func for each shape found. /// Only the shape's bounding boxes are checked for overlap, not their full shape. -void cpSpaceBBQuery(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryFunc func, void *data); +CP_EXPORT void cpSpaceBBQuery(cpSpace *space, cpBB bb, cpShapeFilter filter, cpSpaceBBQueryFunc func, void *data); /// Shape query callback function type. typedef void (*cpSpaceShapeQueryFunc)(cpShape *shape, cpContactPointSet *points, void *data); /// Query a space for any shapes overlapping the given shape and call @c func for each shape found. -cpBool cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data); +CP_EXPORT cpBool cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data); -/// Call cpBodyActivate() for any shape that is overlaps the given shape. -void cpSpaceActivateShapesTouchingShape(cpSpace *space, cpShape *shape); +//MARK: Iteration /// Space/body iterator callback function type. typedef void (*cpSpaceBodyIteratorFunc)(cpBody *body, void *data); /// Call @c func for each body in the space. -void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIteratorFunc func, void *data); /// Space/body iterator callback function type. typedef void (*cpSpaceShapeIteratorFunc)(cpShape *shape, void *data); /// Call @c func for each shape in the space. -void cpSpaceEachShape(cpSpace *space, cpSpaceShapeIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachShape(cpSpace *space, cpSpaceShapeIteratorFunc func, void *data); /// Space/constraint iterator callback function type. typedef void (*cpSpaceConstraintIteratorFunc)(cpConstraint *constraint, void *data); /// Call @c func for each shape in the space. -void cpSpaceEachConstraint(cpSpace *space, cpSpaceConstraintIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachConstraint(cpSpace *space, cpSpaceConstraintIteratorFunc func, void *data); + + +//MARK: Indexing /// Update the collision detection info for the static shapes in the space. -void cpSpaceReindexStatic(cpSpace *space); +CP_EXPORT void cpSpaceReindexStatic(cpSpace *space); /// Update the collision detection data for a specific shape in the space. -void cpSpaceReindexShape(cpSpace *space, cpShape *shape); +CP_EXPORT void cpSpaceReindexShape(cpSpace *space, cpShape *shape); /// Update the collision detection data for all shapes attached to a body. -void cpSpaceReindexShapesForBody(cpSpace *space, cpBody *body); +CP_EXPORT void cpSpaceReindexShapesForBody(cpSpace *space, cpBody *body); /// Switch the space to use a spatial has as it's spatial index. -void cpSpaceUseSpatialHash(cpSpace *space, cpFloat dim, int count); +CP_EXPORT void cpSpaceUseSpatialHash(cpSpace *space, cpFloat dim, int count); + + +//MARK: Time Stepping /// Step the space forward in time by @c dt. -void cpSpaceStep(cpSpace *space, cpFloat dt); +CP_EXPORT void cpSpaceStep(cpSpace *space, cpFloat dt); + + +//MARK: Debug API + +#ifndef CP_SPACE_DISABLE_DEBUG_API + +/// Color type to use with the space debug drawing API. +typedef struct cpSpaceDebugColor { + float r, g, b, a; +} cpSpaceDebugColor; + +/// Callback type for a function that draws a filled, stroked circle. +typedef void (*cpSpaceDebugDrawCircleImpl)(cpVect pos, cpFloat angle, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a line segment. +typedef void (*cpSpaceDebugDrawSegmentImpl)(cpVect a, cpVect b, cpSpaceDebugColor color, cpDataPointer data); +/// Callback type for a function that draws a thick line segment. +typedef void (*cpSpaceDebugDrawFatSegmentImpl)(cpVect a, cpVect b, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a convex polygon. +typedef void (*cpSpaceDebugDrawPolygonImpl)(int count, const cpVect *verts, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a dot. +typedef void (*cpSpaceDebugDrawDotImpl)(cpFloat size, cpVect pos, cpSpaceDebugColor color, cpDataPointer data); +/// Callback type for a function that returns a color for a given shape. This gives you an opportunity to color shapes based on how they are used in your engine. +typedef cpSpaceDebugColor (*cpSpaceDebugDrawColorForShapeImpl)(cpShape *shape, cpDataPointer data); + +typedef enum cpSpaceDebugDrawFlags { + CP_SPACE_DEBUG_DRAW_SHAPES = 1<<0, + CP_SPACE_DEBUG_DRAW_CONSTRAINTS = 1<<1, + CP_SPACE_DEBUG_DRAW_COLLISION_POINTS = 1<<2, +} cpSpaceDebugDrawFlags; + +/// Struct used with cpSpaceDebugDraw() containing drawing callbacks and other drawing settings. +typedef struct cpSpaceDebugDrawOptions { + /// Function that will be invoked to draw circles. + cpSpaceDebugDrawCircleImpl drawCircle; + /// Function that will be invoked to draw line segments. + cpSpaceDebugDrawSegmentImpl drawSegment; + /// Function that will be invoked to draw thick line segments. + cpSpaceDebugDrawFatSegmentImpl drawFatSegment; + /// Function that will be invoked to draw convex polygons. + cpSpaceDebugDrawPolygonImpl drawPolygon; + /// Function that will be invoked to draw dots. + cpSpaceDebugDrawDotImpl drawDot; + + /// Flags that request which things to draw (collision shapes, constraints, contact points). + cpSpaceDebugDrawFlags flags; + /// Outline color passed to the drawing function. + cpSpaceDebugColor shapeOutlineColor; + /// Function that decides what fill color to draw shapes using. + cpSpaceDebugDrawColorForShapeImpl colorForShape; + /// Color passed to drawing functions for constraints. + cpSpaceDebugColor constraintColor; + /// Color passed to drawing functions for collision points. + cpSpaceDebugColor collisionPointColor; + + /// User defined context pointer passed to all of the callback functions as the 'data' argument. + cpDataPointer data; +} cpSpaceDebugDrawOptions; + +/// Debug draw the current state of the space using the supplied drawing options. +CP_EXPORT void cpSpaceDebugDraw(cpSpace *space, cpSpaceDebugDrawOptions *options); + +#endif /// @} diff --git a/android/armeabi-v7a/include/chipmunk/cpSpatialIndex.h b/android/armeabi-v7a/include/chipmunk/cpSpatialIndex.h index c279cad0..a386ba9a 100644 --- a/android/armeabi-v7a/include/chipmunk/cpSpatialIndex.h +++ b/android/armeabi-v7a/include/chipmunk/cpSpatialIndex.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2010 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -69,48 +69,48 @@ struct cpSpatialIndex { typedef struct cpSpaceHash cpSpaceHash; /// Allocate a spatial hash. -cpSpaceHash* cpSpaceHashAlloc(void); +CP_EXPORT cpSpaceHash* cpSpaceHashAlloc(void); /// Initialize a spatial hash. -cpSpatialIndex* cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a spatial hash. -cpSpatialIndex* cpSpaceHashNew(cpFloat celldim, int cells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSpaceHashNew(cpFloat celldim, int cells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Change the cell dimensions and table size of the spatial hash to tune it. /// The cell dimensions should roughly match the average size of your objects /// and the table size should be ~10 larger than the number of objects inserted. /// Some trial and error is required to find the optimum numbers for efficiency. -void cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells); +CP_EXPORT void cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells); //MARK: AABB Tree typedef struct cpBBTree cpBBTree; /// Allocate a bounding box tree. -cpBBTree* cpBBTreeAlloc(void); +CP_EXPORT cpBBTree* cpBBTreeAlloc(void); /// Initialize a bounding box tree. -cpSpatialIndex* cpBBTreeInit(cpBBTree *tree, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpBBTreeInit(cpBBTree *tree, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a bounding box tree. -cpSpatialIndex* cpBBTreeNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpBBTreeNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Perform a static top down optimization of the tree. -void cpBBTreeOptimize(cpSpatialIndex *index); +CP_EXPORT void cpBBTreeOptimize(cpSpatialIndex *index); /// Bounding box tree velocity callback function. /// This function should return an estimate for the object's velocity. typedef cpVect (*cpBBTreeVelocityFunc)(void *obj); /// Set the velocity function for the bounding box tree to enable temporal coherence. -void cpBBTreeSetVelocityFunc(cpSpatialIndex *index, cpBBTreeVelocityFunc func); +CP_EXPORT void cpBBTreeSetVelocityFunc(cpSpatialIndex *index, cpBBTreeVelocityFunc func); //MARK: Single Axis Sweep typedef struct cpSweep1D cpSweep1D; /// Allocate a 1D sort and sweep broadphase. -cpSweep1D* cpSweep1DAlloc(void); +CP_EXPORT cpSweep1D* cpSweep1DAlloc(void); /// Initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DInit(cpSweep1D *sweep, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSweep1DInit(cpSweep1D *sweep, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSweep1DNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); //MARK: Spatial Index Implementation diff --git a/android/armeabi-v7a/include/chipmunk/cpVect.h b/android/armeabi-v7a/include/chipmunk/cpVect.h index 90855e56..8ec02bdc 100644 --- a/android/armeabi-v7a/include/chipmunk/cpVect.h +++ b/android/armeabi-v7a/include/chipmunk/cpVect.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,6 +19,11 @@ * SOFTWARE. */ +#ifndef CHIPMUNK_VECT_H +#define CHIPMUNK_VECT_H + +#include "chipmunk_types.h" + /// @defgroup cpVect cpVect /// Chipmunk's 2D vector type along with a handy 2D vector math lib. /// @{ @@ -33,17 +38,6 @@ static inline cpVect cpv(const cpFloat x, const cpFloat y) return v; } -/// Spherical linearly interpolate between v1 and v2. -cpVect cpvslerp(const cpVect v1, const cpVect v2, const cpFloat t); - -/// Spherical linearly interpolate between v1 towards v2 by no more than angle a radians -cpVect cpvslerpconst(const cpVect v1, const cpVect v2, const cpFloat a); - -/// Returns a string representation of v. Intended mostly for debugging purposes and not production use. -/// @attention The string points to a static local and is reset every time the function is called. -/// If you want to print more than one vector you will have to split up your printing onto separate lines. -char* cpvstr(const cpVect v); - /// Check if two vectors are equal. (Be careful when comparing floating point numbers!) static inline cpBool cpveql(const cpVect v1, const cpVect v2) { @@ -155,10 +149,30 @@ static inline cpVect cpvnormalize(const cpVect v) return cpvmult(v, 1.0f/(cpvlength(v) + CPFLOAT_MIN)); } -/// @deprecated Just an alias for cpvnormalize() now. -static inline cpVect cpvnormalize_safe(const cpVect v) +/// Spherical linearly interpolate between v1 and v2. +static inline cpVect +cpvslerp(const cpVect v1, const cpVect v2, const cpFloat t) { - return cpvnormalize(v); + cpFloat dot = cpvdot(cpvnormalize(v1), cpvnormalize(v2)); + cpFloat omega = cpfacos(cpfclamp(dot, -1.0f, 1.0f)); + + if(omega < 1e-3){ + // If the angle between two vectors is very small, lerp instead to avoid precision issues. + return cpvlerp(v1, v2, t); + } else { + cpFloat denom = 1.0f/cpfsin(omega); + return cpvadd(cpvmult(v1, cpfsin((1.0f - t)*omega)*denom), cpvmult(v2, cpfsin(t*omega)*denom)); + } +} + +/// Spherical linearly interpolate between v1 towards v2 by no more than angle a radians +static inline cpVect +cpvslerpconst(const cpVect v1, const cpVect v2, const cpFloat a) +{ + cpFloat dot = cpvdot(cpvnormalize(v1), cpvnormalize(v2)); + cpFloat omega = cpfacos(cpfclamp(dot, -1.0f, 1.0f)); + + return cpvslerp(v1, v2, cpfmin(a, omega)/omega); } /// Clamp v to length len. @@ -197,6 +211,7 @@ static inline cpBool cpvnear(const cpVect v1, const cpVect v2, const cpFloat dis /// 2x2 matrix type used for tensors and such. /// @{ +// NUKE static inline cpMat2x2 cpMat2x2New(cpFloat a, cpFloat b, cpFloat c, cpFloat d) { @@ -211,3 +226,5 @@ cpMat2x2Transform(cpMat2x2 m, cpVect v) } ///@} + +#endif diff --git a/android/armeabi-v7a/libchipmunk.a b/android/armeabi-v7a/libchipmunk.a index 730f5e2939b9f13aa8cd7969328e24195a317532..49b967c7bc53291eda8ec73562862cfd7a948e1b 100644 GIT binary patch literal 190000 zcmeFa3w%`7^)J5Xl}sif2@o{|#3A7k!fSX5L~4^sazcU%0=`CDGf5_yGvw7Iyv9}o z0l`5uJggYx2MQ`i+a?8ieUv5&Dq8s6iBLr}1*;Mj=ll}IGS)}_-?h&s_jSC=bo5qvf7rXag6aO=yZLua 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z8DFl)X7Qm1vH;I_vXt-Q4Q)N*Z&AKu`FeYdcgeR^lD8yzq_;NkqBQInDuE*y~`Mw^t$7bUr-7A)_x5s(O+k+qjmv_1(Z;cwY zE*|u_QJ3p+&g2ON=;q7nLdKWt;l8Yp1$e%%mhv4_zTU5HGCuU+J%~E;;Spa}@Hx0V z-dE%H-5%+&Rm`r(wGxE9TTH;X #include +#ifdef WIN32 + // For alloca(). + #include + #define CP_EXPORT __declspec(dllexport) +#else + #include + #define CP_EXPORT +#endif + #ifdef __cplusplus extern "C" { #endif +// NUKE #ifndef CP_ALLOW_PRIVATE_ACCESS #define CP_ALLOW_PRIVATE_ACCESS 0 #endif @@ -43,22 +49,17 @@ extern "C" { #define CP_PRIVATE(__symbol__) __symbol__##_private #endif -void cpMessage(const char *condition, const char *file, int line, int isError, int isHardError, const char *message, ...); +CP_EXPORT void cpMessage(const char *condition, const char *file, int line, int isError, int isHardError, const char *message, ...); #ifdef NDEBUG #define cpAssertWarn(__condition__, ...) + #define cpAssertSoft(__condition__, ...) #else + #define cpAssertSoft(__condition__, ...) if(!(__condition__)){cpMessage(#__condition__, __FILE__, __LINE__, 1, 0, __VA_ARGS__); abort();} #define cpAssertWarn(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 0, 0, __VA_ARGS__) #endif -#ifdef NDEBUG - #define cpAssertSoft(__condition__, ...) -#else - #define cpAssertSoft(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 0, __VA_ARGS__) -#endif - -// Hard assertions are important and cheap to execute. They are not disabled by compiling as debug. -#define cpAssertHard(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 1, __VA_ARGS__) - +// Hard assertions are used in situations where the program definitely will crash anyway, and the reason is inexpensive to detect. +#define cpAssertHard(__condition__, ...) if(!(__condition__)){cpMessage(#__condition__, __FILE__, __LINE__, 1, 1, __VA_ARGS__); abort();} #include "chipmunk_types.h" @@ -89,81 +90,90 @@ typedef struct cpArray cpArray; typedef struct cpHashSet cpHashSet; typedef struct cpBody cpBody; + typedef struct cpShape cpShape; +typedef struct cpCircleShape cpCircleShape; +typedef struct cpSegmentShape cpSegmentShape; +typedef struct cpPolyShape cpPolyShape; + typedef struct cpConstraint cpConstraint; +typedef struct cpPinJoint cpPinJoint; +typedef struct cpSlideJoint cpSlideJoint; +typedef struct cpPivotJoint cpPivotJoint; +typedef struct cpGrooveJoint cpGrooveJoint; +typedef struct cpDampedSpring cpDampedSpring; +typedef struct cpDampedRotarySpring cpDampedRotarySpring; +typedef struct cpRotaryLimitJoint cpRotaryLimitJoint; +typedef struct cpRatchetJoint cpRatchetJoint; +typedef struct cpGearJoint cpGearJoint; +typedef struct cpSimpleMotorJoint cpSimpleMotorJoint; typedef struct cpCollisionHandler cpCollisionHandler; +typedef struct cpContactPointSet cpContactPointSet; typedef struct cpArbiter cpArbiter; typedef struct cpSpace cpSpace; #include "cpVect.h" #include "cpBB.h" +#include "cpTransform.h" #include "cpSpatialIndex.h" +#include "cpArbiter.h" + #include "cpBody.h" #include "cpShape.h" #include "cpPolyShape.h" -#include "cpArbiter.h" -#include "constraints/cpConstraint.h" +#include "cpConstraint.h" #include "cpSpace.h" +#include "cpHastySpace.h" -// Chipmunk 6.2.1 -#define CP_VERSION_MAJOR 6 -#define CP_VERSION_MINOR 2 +// Chipmunk 7.0.1 +#define CP_VERSION_MAJOR 7 +#define CP_VERSION_MINOR 0 #define CP_VERSION_RELEASE 1 /// Version string. -extern const char *cpVersionString; - -/// @deprecated -void cpInitChipmunk(void); - -/// Enables segment to segment shape collisions. -void cpEnableSegmentToSegmentCollisions(void); - +CP_EXPORT extern const char *cpVersionString; /// Calculate the moment of inertia for a circle. /// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset); +CP_EXPORT cpFloat cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset); /// Calculate area of a hollow circle. /// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpAreaForCircle(cpFloat r1, cpFloat r2); +CP_EXPORT cpFloat cpAreaForCircle(cpFloat r1, cpFloat r2); /// Calculate the moment of inertia for a line segment. /// Beveling radius is not supported. -cpFloat cpMomentForSegment(cpFloat m, cpVect a, cpVect b); +CP_EXPORT cpFloat cpMomentForSegment(cpFloat m, cpVect a, cpVect b, cpFloat radius); /// Calculate the area of a fattened (capsule shaped) line segment. -cpFloat cpAreaForSegment(cpVect a, cpVect b, cpFloat r); +CP_EXPORT cpFloat cpAreaForSegment(cpVect a, cpVect b, cpFloat radius); /// Calculate the moment of inertia for a solid polygon shape assuming it's center of gravity is at it's centroid. The offset is added to each vertex. -cpFloat cpMomentForPoly(cpFloat m, int numVerts, const cpVect *verts, cpVect offset); +CP_EXPORT cpFloat cpMomentForPoly(cpFloat m, int count, const cpVect *verts, cpVect offset, cpFloat radius); /// Calculate the signed area of a polygon. A Clockwise winding gives positive area. /// This is probably backwards from what you expect, but matches Chipmunk's the winding for poly shapes. -cpFloat cpAreaForPoly(const int numVerts, const cpVect *verts); +CP_EXPORT cpFloat cpAreaForPoly(const int count, const cpVect *verts, cpFloat radius); /// Calculate the natural centroid of a polygon. -cpVect cpCentroidForPoly(const int numVerts, const cpVect *verts); - -/// Center the polygon on the origin. (Subtracts the centroid of the polygon from each vertex) -void cpRecenterPoly(const int numVerts, cpVect *verts); +CP_EXPORT cpVect cpCentroidForPoly(const int count, const cpVect *verts); /// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox(cpFloat m, cpFloat width, cpFloat height); +CP_EXPORT cpFloat cpMomentForBox(cpFloat m, cpFloat width, cpFloat height); /// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox2(cpFloat m, cpBB box); +CP_EXPORT cpFloat cpMomentForBox2(cpFloat m, cpBB box); /// Calculate the convex hull of a given set of points. Returns the count of points in the hull. -/// @c result must be a pointer to a @c cpVect array with at least @c count elements. If @c result is @c NULL, then @c verts will be reduced instead. +/// @c result must be a pointer to a @c cpVect array with at least @c count elements. If @c verts == @c result, then @c verts will be reduced inplace. /// @c first is an optional pointer to an integer to store where the first vertex in the hull came from (i.e. verts[first] == result[0]) /// @c tol is the allowed amount to shrink the hull when simplifying it. A tolerance of 0.0 creates an exact hull. -int cpConvexHull(int count, cpVect *verts, cpVect *result, int *first, cpFloat tol); +CP_EXPORT int cpConvexHull(int count, const cpVect *verts, cpVect *result, int *first, cpFloat tol); #ifdef _MSC_VER #include "malloc.h" @@ -177,6 +187,15 @@ int cpConvexHull(int count, cpVect *verts, cpVect *result, int *first, cpFloat t cpVect *__verts_var__ = (cpVect *)alloca(__count__*sizeof(cpVect)); \ int __count_var__ = cpConvexHull(__count__, __verts__, __verts_var__, NULL, 0.0); \ +/// Returns the closest point on the line segment ab, to the point p. +static inline cpVect +cpClosetPointOnSegment(const cpVect p, const cpVect a, const cpVect b) +{ + cpVect delta = cpvsub(a, b); + cpFloat t = cpfclamp01(cpvdot(delta, cpvsub(p, b))/cpvlengthsq(delta)); + return cpvadd(b, cpvmult(delta, t)); +} + #if defined(__has_extension) #if __has_extension(blocks) // Define alternate block based alternatives for a few of the callback heavy functions. @@ -191,14 +210,14 @@ void cpBodyEachShape_b(cpBody *body, void (^block)(cpShape *shape)); void cpBodyEachConstraint_b(cpBody *body, void (^block)(cpConstraint *constraint)); void cpBodyEachArbiter_b(cpBody *body, void (^block)(cpArbiter *arbiter)); -typedef void (^cpSpaceNearestPointQueryBlock)(cpShape *shape, cpFloat distance, cpVect point); -void cpSpaceNearestPointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryBlock block); +typedef void (^cpSpacePointQueryBlock)(cpShape *shape, cpVect point, cpFloat distance, cpVect gradient); +void cpSpacePointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpSpacePointQueryBlock block); -typedef void (^cpSpaceSegmentQueryBlock)(cpShape *shape, cpFloat t, cpVect n); -void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryBlock block); +typedef void (^cpSpaceSegmentQueryBlock)(cpShape *shape, cpVect point, cpVect normal, cpFloat alpha); +void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSpaceSegmentQueryBlock block); typedef void (^cpSpaceBBQueryBlock)(cpShape *shape); -void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryBlock block); +void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpShapeFilter filter, cpSpaceBBQueryBlock block); typedef void (^cpSpaceShapeQueryBlock)(cpShape *shape, cpContactPointSet *points); cpBool cpSpaceShapeQuery_b(cpSpace *space, cpShape *shape, cpSpaceShapeQueryBlock block); diff --git a/android/x86/include/chipmunk/chipmunk/chipmunk.h b/android/x86/include/chipmunk/chipmunk/chipmunk.h deleted file mode 100644 index 6337fb1a..00000000 --- a/android/x86/include/chipmunk/chipmunk/chipmunk.h +++ /dev/null @@ -1,222 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -#ifndef CHIPMUNK_HEADER -#define CHIPMUNK_HEADER - -#ifdef _MSC_VER - #define _USE_MATH_DEFINES -#endif - -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -#ifndef CP_ALLOW_PRIVATE_ACCESS - #define CP_ALLOW_PRIVATE_ACCESS 0 -#endif - -#if CP_ALLOW_PRIVATE_ACCESS == 1 - #define CP_PRIVATE(__symbol__) __symbol__ -#else - #define CP_PRIVATE(__symbol__) __symbol__##_private -#endif - -void cpMessage(const char *condition, const char *file, int line, int isError, int isHardError, const char *message, ...); -#ifdef NDEBUG - #define cpAssertWarn(__condition__, ...) -#else - #define cpAssertWarn(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 0, 0, __VA_ARGS__) -#endif - -#ifdef NDEBUG - #define cpAssertSoft(__condition__, ...) -#else - #define cpAssertSoft(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 0, __VA_ARGS__) -#endif - -// Hard assertions are important and cheap to execute. They are not disabled by compiling as debug. -#define cpAssertHard(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 1, __VA_ARGS__) - - -#include "chipmunk_types.h" - -/// @defgroup misc Misc -/// @{ - -/// Allocated size for various Chipmunk buffers -#ifndef CP_BUFFER_BYTES - #define CP_BUFFER_BYTES (32*1024) -#endif - -#ifndef cpcalloc - /// Chipmunk calloc() alias. - #define cpcalloc calloc -#endif - -#ifndef cprealloc - /// Chipmunk realloc() alias. - #define cprealloc realloc -#endif - -#ifndef cpfree - /// Chipmunk free() alias. - #define cpfree free -#endif - -typedef struct cpArray cpArray; -typedef struct cpHashSet cpHashSet; - -typedef struct cpBody cpBody; -typedef struct cpShape cpShape; -typedef struct cpConstraint cpConstraint; - -typedef struct cpCollisionHandler cpCollisionHandler; -typedef struct cpArbiter cpArbiter; - -typedef struct cpSpace cpSpace; - -#include "cpVect.h" -#include "cpBB.h" -#include "cpSpatialIndex.h" - -#include "cpBody.h" -#include "cpShape.h" -#include "cpPolyShape.h" - -#include "cpArbiter.h" -#include "constraints/cpConstraint.h" - -#include "cpSpace.h" - -// Chipmunk 6.2.1 -#define CP_VERSION_MAJOR 6 -#define CP_VERSION_MINOR 2 -#define CP_VERSION_RELEASE 1 - -/// Version string. -extern const char *cpVersionString; - -/// @deprecated -void cpInitChipmunk(void); - -/// Enables segment to segment shape collisions. -void cpEnableSegmentToSegmentCollisions(void); - - -/// Calculate the moment of inertia for a circle. -/// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset); - -/// Calculate area of a hollow circle. -/// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpAreaForCircle(cpFloat r1, cpFloat r2); - -/// Calculate the moment of inertia for a line segment. -/// Beveling radius is not supported. -cpFloat cpMomentForSegment(cpFloat m, cpVect a, cpVect b); - -/// Calculate the area of a fattened (capsule shaped) line segment. -cpFloat cpAreaForSegment(cpVect a, cpVect b, cpFloat r); - -/// Calculate the moment of inertia for a solid polygon shape assuming it's center of gravity is at it's centroid. The offset is added to each vertex. -cpFloat cpMomentForPoly(cpFloat m, int numVerts, const cpVect *verts, cpVect offset); - -/// Calculate the signed area of a polygon. A Clockwise winding gives positive area. -/// This is probably backwards from what you expect, but matches Chipmunk's the winding for poly shapes. -cpFloat cpAreaForPoly(const int numVerts, const cpVect *verts); - -/// Calculate the natural centroid of a polygon. -cpVect cpCentroidForPoly(const int numVerts, const cpVect *verts); - -/// Center the polygon on the origin. (Subtracts the centroid of the polygon from each vertex) -void cpRecenterPoly(const int numVerts, cpVect *verts); - -/// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox(cpFloat m, cpFloat width, cpFloat height); - -/// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox2(cpFloat m, cpBB box); - -/// Calculate the convex hull of a given set of points. Returns the count of points in the hull. -/// @c result must be a pointer to a @c cpVect array with at least @c count elements. If @c result is @c NULL, then @c verts will be reduced instead. -/// @c first is an optional pointer to an integer to store where the first vertex in the hull came from (i.e. verts[first] == result[0]) -/// @c tol is the allowed amount to shrink the hull when simplifying it. A tolerance of 0.0 creates an exact hull. -int cpConvexHull(int count, cpVect *verts, cpVect *result, int *first, cpFloat tol); - -#ifdef _MSC_VER -#include "malloc.h" -#endif - -/// Convenience macro to work with cpConvexHull. -/// @c count and @c verts is the input array passed to cpConvexHull(). -/// @c count_var and @c verts_var are the names of the variables the macro creates to store the result. -/// The output vertex array is allocated on the stack using alloca() so it will be freed automatically, but cannot be returned from the current scope. -#define CP_CONVEX_HULL(__count__, __verts__, __count_var__, __verts_var__) \ -cpVect *__verts_var__ = (cpVect *)alloca(__count__*sizeof(cpVect)); \ -int __count_var__ = cpConvexHull(__count__, __verts__, __verts_var__, NULL, 0.0); \ - -#if defined(__has_extension) -#if __has_extension(blocks) -// Define alternate block based alternatives for a few of the callback heavy functions. -// Collision handlers are post-step callbacks are not included to avoid memory management issues. -// If you want to use blocks for those and are aware of how to correctly manage the memory, the implementation is trivial. - -void cpSpaceEachBody_b(cpSpace *space, void (^block)(cpBody *body)); -void cpSpaceEachShape_b(cpSpace *space, void (^block)(cpShape *shape)); -void cpSpaceEachConstraint_b(cpSpace *space, void (^block)(cpConstraint *constraint)); - -void cpBodyEachShape_b(cpBody *body, void (^block)(cpShape *shape)); -void cpBodyEachConstraint_b(cpBody *body, void (^block)(cpConstraint *constraint)); -void cpBodyEachArbiter_b(cpBody *body, void (^block)(cpArbiter *arbiter)); - -typedef void (^cpSpaceNearestPointQueryBlock)(cpShape *shape, cpFloat distance, cpVect point); -void cpSpaceNearestPointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryBlock block); - -typedef void (^cpSpaceSegmentQueryBlock)(cpShape *shape, cpFloat t, cpVect n); -void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryBlock block); - -typedef void (^cpSpaceBBQueryBlock)(cpShape *shape); -void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryBlock block); - -typedef void (^cpSpaceShapeQueryBlock)(cpShape *shape, cpContactPointSet *points); -cpBool cpSpaceShapeQuery_b(cpSpace *space, cpShape *shape, cpSpaceShapeQueryBlock block); - -#endif -#endif - - -//@} - -#ifdef __cplusplus -} - -static inline cpVect operator *(const cpVect v, const cpFloat s){return cpvmult(v, s);} -static inline cpVect operator +(const cpVect v1, const cpVect v2){return cpvadd(v1, v2);} -static inline cpVect operator -(const cpVect v1, const cpVect v2){return cpvsub(v1, v2);} -static inline cpBool operator ==(const cpVect v1, const cpVect v2){return cpveql(v1, v2);} -static inline cpVect operator -(const cpVect v){return cpvneg(v);} - -#endif -#endif diff --git a/android/x86/include/chipmunk/chipmunk/chipmunk_ffi.h b/android/x86/include/chipmunk/chipmunk/chipmunk_ffi.h deleted file mode 100644 index 53ac6937..00000000 --- a/android/x86/include/chipmunk/chipmunk/chipmunk_ffi.h +++ /dev/null @@ -1,177 +0,0 @@ -#ifdef CHIPMUNK_FFI - -// Create non static inlined copies of Chipmunk functions, useful for working with dynamic FFIs -// This file should only be included in chipmunk.c - -#ifdef _MSC_VER - #if _MSC_VER >= 1600 - #define MAKE_REF(name) decltype(name) *_##name = name - #else - #define MAKE_REF(name) - #endif -#else - #define MAKE_REF(name) __typeof__(name) *_##name = name -#endif - -#define MAKE_PROPERTIES_REF(struct, property) \ - MAKE_REF(struct##Get##property); MAKE_REF(struct##Set##property) - -MAKE_REF(cpv); // makes a variable named _cpv that contains the function pointer for cpv() -MAKE_REF(cpveql); -MAKE_REF(cpvadd); -MAKE_REF(cpvneg); -MAKE_REF(cpvsub); -MAKE_REF(cpvmult); -MAKE_REF(cpvdot); -MAKE_REF(cpvcross); -MAKE_REF(cpvperp); -MAKE_REF(cpvrperp); -MAKE_REF(cpvproject); -MAKE_REF(cpvforangle); -MAKE_REF(cpvtoangle); -MAKE_REF(cpvrotate); -MAKE_REF(cpvunrotate); -MAKE_REF(cpvlengthsq); -MAKE_REF(cpvlength); -MAKE_REF(cpvlerp); -MAKE_REF(cpvnormalize); -MAKE_REF(cpvnormalize_safe); -MAKE_REF(cpvclamp); -MAKE_REF(cpvlerpconst); -MAKE_REF(cpvdist); -MAKE_REF(cpvdistsq); -MAKE_REF(cpvnear); - -MAKE_REF(cpfmax); -MAKE_REF(cpfmin); -MAKE_REF(cpfabs); -MAKE_REF(cpfclamp); -MAKE_REF(cpflerp); -MAKE_REF(cpflerpconst); - -MAKE_REF(cpBBNew); -MAKE_REF(cpBBNewForCircle); -MAKE_REF(cpBBIntersects); -MAKE_REF(cpBBContainsBB); -MAKE_REF(cpBBContainsVect); -MAKE_REF(cpBBMerge); -MAKE_REF(cpBBExpand); -MAKE_REF(cpBBArea); -MAKE_REF(cpBBMergedArea); -MAKE_REF(cpBBSegmentQuery); -MAKE_REF(cpBBIntersectsSegment); -MAKE_REF(cpBBClampVect); - -MAKE_REF(cpBodyGetMass); -MAKE_REF(cpBodyGetMoment); -MAKE_REF(cpBodyGetPos); -MAKE_REF(cpBodyGetAngle); -MAKE_REF(cpBodyGetRot); -MAKE_PROPERTIES_REF(cpBody, Vel); -MAKE_PROPERTIES_REF(cpBody, Force); -MAKE_PROPERTIES_REF(cpBody, AngVel); -MAKE_PROPERTIES_REF(cpBody, Torque); -MAKE_PROPERTIES_REF(cpBody, VelLimit); -MAKE_PROPERTIES_REF(cpBody, AngVelLimit); -MAKE_PROPERTIES_REF(cpBody, UserData); -MAKE_REF(cpBodyIsSleeping); -MAKE_REF(cpBodyIsStatic); -MAKE_REF(cpBodyIsRogue); -MAKE_REF(cpBodyLocal2World); -MAKE_REF(cpBodyWorld2Local); -MAKE_REF(cpBodyKineticEnergy); - -MAKE_REF(cpShapeGetBB); -MAKE_PROPERTIES_REF(cpShape, Body); -MAKE_PROPERTIES_REF(cpShape, Sensor); -MAKE_PROPERTIES_REF(cpShape, Elasticity); -MAKE_PROPERTIES_REF(cpShape, Friction); -MAKE_PROPERTIES_REF(cpShape, SurfaceVelocity); -MAKE_PROPERTIES_REF(cpShape, UserData); -MAKE_PROPERTIES_REF(cpShape, CollisionType); -MAKE_PROPERTIES_REF(cpShape, Group); -MAKE_PROPERTIES_REF(cpShape, Layers); - -MAKE_REF(cpArbiterGetShapes); -MAKE_REF(cpArbiterGetBodies); -MAKE_REF(cpArbiterIsFirstContact); -MAKE_REF(cpArbiterGetCount); - -MAKE_REF(cpConstraintGetA); -MAKE_REF(cpConstraintGetB); -MAKE_PROPERTIES_REF(cpConstraint, MaxForce); -MAKE_PROPERTIES_REF(cpConstraint, ErrorBias); -MAKE_PROPERTIES_REF(cpConstraint, MaxBias); -MAKE_PROPERTIES_REF(cpConstraint, UserData); -MAKE_REF(cpConstraintGetImpulse); - -MAKE_PROPERTIES_REF(cpDampedRotarySpring, RestAngle); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedRotarySpring, SpringTorqueFunc); - -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr1); -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr2); -MAKE_PROPERTIES_REF(cpDampedSpring, RestLength); -MAKE_PROPERTIES_REF(cpDampedSpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedSpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedSpring, SpringForceFunc); - -MAKE_PROPERTIES_REF(cpGearJoint, Phase); -MAKE_REF(cpGearJointGetRatio); - -MAKE_PROPERTIES_REF(cpGrooveJoint, Anchr2); -MAKE_REF(cpGrooveJointGetGrooveA); -MAKE_REF(cpGrooveJointGetGrooveB); - -MAKE_PROPERTIES_REF(cpPinJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPinJoint, Anchr2); -MAKE_PROPERTIES_REF(cpPinJoint, Dist); - -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr2); - -MAKE_PROPERTIES_REF(cpRatchetJoint, Angle); -MAKE_PROPERTIES_REF(cpRatchetJoint, Phase); -MAKE_PROPERTIES_REF(cpRatchetJoint, Ratchet); - -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Min); -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Max); - -MAKE_PROPERTIES_REF(cpSimpleMotor, Rate); - -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr1); -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr2); -MAKE_PROPERTIES_REF(cpSlideJoint, Min); -MAKE_PROPERTIES_REF(cpSlideJoint, Max); - -MAKE_REF(cpSegmentQueryHitPoint); -MAKE_REF(cpSegmentQueryHitDist); - -MAKE_REF(cpSpatialIndexDestroy); -MAKE_REF(cpSpatialIndexCount); -MAKE_REF(cpSpatialIndexEach); -MAKE_REF(cpSpatialIndexContains); -MAKE_REF(cpSpatialIndexInsert); -MAKE_REF(cpSpatialIndexRemove); -MAKE_REF(cpSpatialIndexReindex); -MAKE_REF(cpSpatialIndexReindexObject); -MAKE_REF(cpSpatialIndexSegmentQuery); -MAKE_REF(cpSpatialIndexQuery); -MAKE_REF(cpSpatialIndexReindexQuery); - -MAKE_PROPERTIES_REF(cpSpace, Iterations); -MAKE_PROPERTIES_REF(cpSpace, Gravity); -MAKE_PROPERTIES_REF(cpSpace, Damping); -MAKE_PROPERTIES_REF(cpSpace, IdleSpeedThreshold); -MAKE_PROPERTIES_REF(cpSpace, SleepTimeThreshold); -MAKE_PROPERTIES_REF(cpSpace, CollisionSlop); -MAKE_PROPERTIES_REF(cpSpace, CollisionBias); -MAKE_PROPERTIES_REF(cpSpace, CollisionPersistence); -MAKE_PROPERTIES_REF(cpSpace, EnableContactGraph); -MAKE_PROPERTIES_REF(cpSpace, UserData); -MAKE_REF(cpSpaceGetStaticBody); -MAKE_REF(cpSpaceGetCurrentTimeStep); -MAKE_REF(cpSpaceIsLocked); - -#endif diff --git a/android/x86/include/chipmunk/chipmunk/chipmunk_private.h b/android/x86/include/chipmunk/chipmunk/chipmunk_private.h deleted file mode 100644 index f676345b..00000000 --- a/android/x86/include/chipmunk/chipmunk/chipmunk_private.h +++ /dev/null @@ -1,254 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -#define CP_ALLOW_PRIVATE_ACCESS 1 -#include "chipmunk.h" - -#define CP_HASH_COEF (3344921057ul) -#define CP_HASH_PAIR(A, B) ((cpHashValue)(A)*CP_HASH_COEF ^ (cpHashValue)(B)*CP_HASH_COEF) - -// TODO: Eww. Magic numbers. -#define MAGIC_EPSILON 1e-5 - -//MARK: cpArray - -struct cpArray { - int num, max; - void **arr; -}; - -cpArray *cpArrayNew(int size); - -void cpArrayFree(cpArray *arr); - -void cpArrayPush(cpArray *arr, void *object); -void *cpArrayPop(cpArray *arr); -void cpArrayDeleteObj(cpArray *arr, void *obj); -cpBool cpArrayContains(cpArray *arr, void *ptr); - -void cpArrayFreeEach(cpArray *arr, void (freeFunc)(void*)); - - -//MARK: Foreach loops - -static inline cpConstraint * -cpConstraintNext(cpConstraint *node, cpBody *body) -{ - return (node->a == body ? node->next_a : node->next_b); -} - -#define CP_BODY_FOREACH_CONSTRAINT(bdy, var)\ - for(cpConstraint *var = bdy->constraintList; var; var = cpConstraintNext(var, bdy)) - -static inline cpArbiter * -cpArbiterNext(cpArbiter *node, cpBody *body) -{ - return (node->body_a == body ? node->thread_a.next : node->thread_b.next); -} - -#define CP_BODY_FOREACH_ARBITER(bdy, var)\ - for(cpArbiter *var = bdy->arbiterList; var; var = cpArbiterNext(var, bdy)) - -#define CP_BODY_FOREACH_SHAPE(body, var)\ - for(cpShape *var = body->shapeList; var; var = var->next) - -#define CP_BODY_FOREACH_COMPONENT(root, var)\ - for(cpBody *var = root; var; var = var->node.next) - - -//MARK: cpHashSet - -typedef cpBool (*cpHashSetEqlFunc)(void *ptr, void *elt); -typedef void *(*cpHashSetTransFunc)(void *ptr, void *data); - -cpHashSet *cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc); -void cpHashSetSetDefaultValue(cpHashSet *set, void *default_value); - -void cpHashSetFree(cpHashSet *set); - -int cpHashSetCount(cpHashSet *set); -void *cpHashSetInsert(cpHashSet *set, cpHashValue hash, void *ptr, void *data, cpHashSetTransFunc trans); -void *cpHashSetRemove(cpHashSet *set, cpHashValue hash, void *ptr); -void *cpHashSetFind(cpHashSet *set, cpHashValue hash, void *ptr); - -typedef void (*cpHashSetIteratorFunc)(void *elt, void *data); -void cpHashSetEach(cpHashSet *set, cpHashSetIteratorFunc func, void *data); - -typedef cpBool (*cpHashSetFilterFunc)(void *elt, void *data); -void cpHashSetFilter(cpHashSet *set, cpHashSetFilterFunc func, void *data); - - -//MARK: Body Functions - -void cpBodyAddShape(cpBody *body, cpShape *shape); -void cpBodyRemoveShape(cpBody *body, cpShape *shape); -void cpBodyRemoveConstraint(cpBody *body, cpConstraint *constraint); - - -//MARK: Shape/Collision Functions - -// TODO should move this to the cpVect API. It's pretty useful. -static inline cpVect -cpClosetPointOnSegment(const cpVect p, const cpVect a, const cpVect b) -{ - cpVect delta = cpvsub(a, b); - cpFloat t = cpfclamp01(cpvdot(delta, cpvsub(p, b))/cpvlengthsq(delta)); - return cpvadd(b, cpvmult(delta, t)); -} - -cpShape* cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body); - -static inline cpBool -cpShapeActive(cpShape *shape) -{ - return shape->prev || (shape->body && shape->body->shapeList == shape); -} - -int cpCollideShapes(const cpShape *a, const cpShape *b, cpCollisionID *id, cpContact *arr); - -static inline void -CircleSegmentQuery(cpShape *shape, cpVect center, cpFloat r, cpVect a, cpVect b, cpSegmentQueryInfo *info) -{ - cpVect da = cpvsub(a, center); - cpVect db = cpvsub(b, center); - - cpFloat qa = cpvdot(da, da) - 2.0f*cpvdot(da, db) + cpvdot(db, db); - cpFloat qb = -2.0f*cpvdot(da, da) + 2.0f*cpvdot(da, db); - cpFloat qc = cpvdot(da, da) - r*r; - - cpFloat det = qb*qb - 4.0f*qa*qc; - - if(det >= 0.0f){ - cpFloat t = (-qb - cpfsqrt(det))/(2.0f*qa); - if(0.0f<= t && t <= 1.0f){ - info->shape = shape; - info->t = t; - info->n = cpvnormalize(cpvlerp(da, db, t)); - } - } -} - -// TODO doesn't really need to be inline, but need a better place to put this function -static inline cpSplittingPlane -cpSplittingPlaneNew(cpVect a, cpVect b) -{ - cpVect n = cpvnormalize(cpvperp(cpvsub(b, a))); - cpSplittingPlane plane = {n, cpvdot(n, a)}; - return plane; -} - -static inline cpFloat -cpSplittingPlaneCompare(cpSplittingPlane plane, cpVect v) -{ - return cpvdot(plane.n, v) - plane.d; -} - -void cpLoopIndexes(cpVect *verts, int count, int *start, int *end); - - -//MARK: Spatial Index Functions - -cpSpatialIndex *cpSpatialIndexInit(cpSpatialIndex *index, cpSpatialIndexClass *klass, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - - -//MARK: Space Functions - -extern cpCollisionHandler cpDefaultCollisionHandler; -void cpSpaceProcessComponents(cpSpace *space, cpFloat dt); - -void cpSpacePushFreshContactBuffer(cpSpace *space); -cpContact *cpContactBufferGetArray(cpSpace *space); -void cpSpacePushContacts(cpSpace *space, int count); - -typedef struct cpPostStepCallback { - cpPostStepFunc func; - void *key; - void *data; -} cpPostStepCallback; - -cpPostStepCallback *cpSpaceGetPostStepCallback(cpSpace *space, void *key); - -cpBool cpSpaceArbiterSetFilter(cpArbiter *arb, cpSpace *space); -void cpSpaceFilterArbiters(cpSpace *space, cpBody *body, cpShape *filter); - -void cpSpaceActivateBody(cpSpace *space, cpBody *body); -void cpSpaceLock(cpSpace *space); -void cpSpaceUnlock(cpSpace *space, cpBool runPostStep); - -static inline cpCollisionHandler * -cpSpaceLookupHandler(cpSpace *space, cpCollisionType a, cpCollisionType b) -{ - cpCollisionType types[] = {a, b}; - return (cpCollisionHandler *)cpHashSetFind(space->collisionHandlers, CP_HASH_PAIR(a, b), types); -} - -static inline void -cpSpaceUncacheArbiter(cpSpace *space, cpArbiter *arb) -{ - cpShape *a = arb->a, *b = arb->b; - cpShape *shape_pair[] = {a, b}; - cpHashValue arbHashID = CP_HASH_PAIR((cpHashValue)a, (cpHashValue)b); - cpHashSetRemove(space->cachedArbiters, arbHashID, shape_pair); - cpArrayDeleteObj(space->arbiters, arb); -} - -void cpShapeUpdateFunc(cpShape *shape, void *unused); -cpCollisionID cpSpaceCollideShapes(cpShape *a, cpShape *b, cpCollisionID id, cpSpace *space); - - -//MARK: Arbiters - -struct cpContact { - cpVect p, n; - cpFloat dist; - - cpVect r1, r2; - cpFloat nMass, tMass, bounce; - - cpFloat jnAcc, jtAcc, jBias; - cpFloat bias; - - cpHashValue hash; -}; - -cpContact* cpContactInit(cpContact *con, cpVect p, cpVect n, cpFloat dist, cpHashValue hash); -cpArbiter* cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b); - -static inline void -cpArbiterCallSeparate(cpArbiter *arb, cpSpace *space) -{ - // The handler needs to be looked up again as the handler cached on the arbiter may have been deleted since the last step. - cpCollisionHandler *handler = cpSpaceLookupHandler(space, arb->a->collision_type, arb->b->collision_type); - handler->separate(arb, space, handler->data); -} - -static inline struct cpArbiterThread * -cpArbiterThreadForBody(cpArbiter *arb, cpBody *body) -{ - return (arb->body_a == body ? &arb->thread_a : &arb->thread_b); -} - -void cpArbiterUnthread(cpArbiter *arb); - -void cpArbiterUpdate(cpArbiter *arb, cpContact *contacts, int numContacts, struct cpCollisionHandler *handler, cpShape *a, cpShape *b); -void cpArbiterPreStep(cpArbiter *arb, cpFloat dt, cpFloat bias, cpFloat slop); -void cpArbiterApplyCachedImpulse(cpArbiter *arb, cpFloat dt_coef); -void cpArbiterApplyImpulse(cpArbiter *arb); diff --git a/android/x86/include/chipmunk/chipmunk/chipmunk_types.h b/android/x86/include/chipmunk/chipmunk/chipmunk_types.h deleted file mode 100644 index 9ed23391..00000000 --- a/android/x86/include/chipmunk/chipmunk/chipmunk_types.h +++ /dev/null @@ -1,222 +0,0 @@ -#include -#include - -#ifdef __APPLE__ - #include "TargetConditionals.h" -#endif - -#if ((TARGET_OS_IPHONE == 1) || (TARGET_OS_MAC == 1)) && (!defined CP_USE_CGPOINTS) - #define CP_USE_CGPOINTS 1 -#endif - -#if CP_USE_CGPOINTS == 1 - #if TARGET_OS_IPHONE - #import - #elif TARGET_OS_MAC - #include - #endif - - #if defined(__LP64__) && __LP64__ - #define CP_USE_DOUBLES 1 - #else - #define CP_USE_DOUBLES 0 - #endif -#endif - -#ifndef CP_USE_DOUBLES - // use doubles by default for higher precision - #define CP_USE_DOUBLES 1 -#endif - -/// @defgroup basicTypes Basic Types -/// Most of these types can be configured at compile time. -/// @{ - -#if CP_USE_DOUBLES -/// Chipmunk's floating point type. -/// Can be reconfigured at compile time. - typedef double cpFloat; - #define cpfsqrt sqrt - #define cpfsin sin - #define cpfcos cos - #define cpfacos acos - #define cpfatan2 atan2 - #define cpfmod fmod - #define cpfexp exp - #define cpfpow pow - #define cpffloor floor - #define cpfceil ceil - #define CPFLOAT_MIN DBL_MIN -#else - typedef float cpFloat; - #define cpfsqrt sqrtf - #define cpfsin sinf - #define cpfcos cosf - #define cpfacos acosf - #define cpfatan2 atan2f - #define cpfmod fmodf - #define cpfexp expf - #define cpfpow powf - #define cpffloor floorf - #define cpfceil ceilf - #define CPFLOAT_MIN FLT_MIN -#endif - -#ifndef INFINITY - #ifdef _MSC_VER - union MSVC_EVIL_FLOAT_HACK - { - unsigned __int8 Bytes[4]; - float Value; - }; - static union MSVC_EVIL_FLOAT_HACK INFINITY_HACK = {{0x00, 0x00, 0x80, 0x7F}}; - #define INFINITY (INFINITY_HACK.Value) - #endif - - #ifdef __GNUC__ - #define INFINITY (__builtin_inf()) - #endif - - #ifndef INFINITY - #define INFINITY (1e1000) - #endif -#endif - -#ifndef M_PI - #define M_PI 3.14159265358979323846264338327950288 -#endif - -#ifndef M_E - #define M_E 2.71828182845904523536028747135266250 -#endif - - -/// Return the max of two cpFloats. -static inline cpFloat cpfmax(cpFloat a, cpFloat b) -{ - return (a > b) ? a : b; -} - -/// Return the min of two cpFloats. -static inline cpFloat cpfmin(cpFloat a, cpFloat b) -{ - return (a < b) ? a : b; -} - -/// Return the absolute value of a cpFloat. -static inline cpFloat cpfabs(cpFloat f) -{ - return (f < 0) ? -f : f; -} - -/// Clamp @c f to be between @c min and @c max. -static inline cpFloat cpfclamp(cpFloat f, cpFloat min, cpFloat max) -{ - return cpfmin(cpfmax(f, min), max); -} - -/// Clamp @c f to be between 0 and 1. -static inline cpFloat cpfclamp01(cpFloat f) -{ - return cpfmax(0.0f, cpfmin(f, 1.0f)); -} - - - -/// Linearly interpolate (or extrapolate) between @c f1 and @c f2 by @c t percent. -static inline cpFloat cpflerp(cpFloat f1, cpFloat f2, cpFloat t) -{ - return f1*(1.0f - t) + f2*t; -} - -/// Linearly interpolate from @c f1 to @c f2 by no more than @c d. -static inline cpFloat cpflerpconst(cpFloat f1, cpFloat f2, cpFloat d) -{ - return f1 + cpfclamp(f2 - f1, -d, d); -} - -/// Hash value type. -typedef uintptr_t cpHashValue; - -/// Type used internally to cache colliding object info for cpCollideShapes(). -/// Should be at least 32 bits. -typedef uint32_t cpCollisionID; - -// Oh C, how we love to define our own boolean types to get compiler compatibility -/// Chipmunk's boolean type. -#ifdef CP_BOOL_TYPE - typedef CP_BOOL_TYPE cpBool; -#else - typedef int cpBool; -#endif - -#ifndef cpTrue -/// true value. - #define cpTrue 1 -#endif - -#ifndef cpFalse -/// false value. - #define cpFalse 0 -#endif - -#ifdef CP_DATA_POINTER_TYPE - typedef CP_DATA_POINTER_TYPE cpDataPointer; -#else -/// Type used for user data pointers. - typedef void * cpDataPointer; -#endif - -#ifdef CP_COLLISION_TYPE_TYPE - typedef CP_COLLISION_TYPE_TYPE cpCollisionType; -#else -/// Type used for cpSpace.collision_type. - typedef uintptr_t cpCollisionType; -#endif - -#ifdef CP_GROUP_TYPE - typedef CP_GROUP_TYPE cpGroup; -#else -/// Type used for cpShape.group. - typedef uintptr_t cpGroup; -#endif - -#ifdef CP_LAYERS_TYPE - typedef CP_LAYERS_TYPE cpLayers; -#else -/// Type used for cpShape.layers. - typedef unsigned int cpLayers; -#endif - -#ifdef CP_TIMESTAMP_TYPE - typedef CP_TIMESTAMP_TYPE cpTimestamp; -#else -/// Type used for various timestamps in Chipmunk. - typedef unsigned int cpTimestamp; -#endif - -#ifndef CP_NO_GROUP -/// Value for cpShape.group signifying that a shape is in no group. - #define CP_NO_GROUP ((cpGroup)0) -#endif - -#ifndef CP_ALL_LAYERS -/// Value for cpShape.layers signifying that a shape is in every layer. - #define CP_ALL_LAYERS (~(cpLayers)0) -#endif -/// @} - -// CGPoints are structurally the same, and allow -// easy interoperability with other Cocoa libraries -#if CP_USE_CGPOINTS - typedef CGPoint cpVect; -#else -/// Chipmunk's 2D vector type. -/// @addtogroup cpVect - typedef struct cpVect{cpFloat x,y;} cpVect; -#endif - -typedef struct cpMat2x2 { - // Row major [[a, b][c d]] - cpFloat a, b, c, d; -} cpMat2x2; diff --git a/android/x86/include/chipmunk/chipmunk/chipmunk_unsafe.h b/android/x86/include/chipmunk/chipmunk/chipmunk_unsafe.h deleted file mode 100644 index 4428814c..00000000 --- a/android/x86/include/chipmunk/chipmunk/chipmunk_unsafe.h +++ /dev/null @@ -1,65 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/* This header defines a number of "unsafe" operations on Chipmunk objects. - * In this case "unsafe" is referring to operations which may reduce the - * physical accuracy or numerical stability of the simulation, but will not - * cause crashes. - * - * The prime example is mutating collision shapes. Chipmunk does not support - * this directly. Mutating shapes using this API will caused objects in contact - * to be pushed apart using Chipmunk's overlap solver, but not using real - * persistent velocities. Probably not what you meant, but perhaps close enough. - */ - -/// @defgroup unsafe Chipmunk Unsafe Shape Operations -/// These functions are used for mutating collision shapes. -/// Chipmunk does not have any way to get velocity information on changing shapes, -/// so the results will be unrealistic. You must explicity include the chipmunk_unsafe.h header to use them. -/// @{ - -#ifndef CHIPMUNK_UNSAFE_HEADER -#define CHIPMUNK_UNSAFE_HEADER - -#ifdef __cplusplus -extern "C" { -#endif - -/// Set the radius of a circle shape. -void cpCircleShapeSetRadius(cpShape *shape, cpFloat radius); -/// Set the offset of a circle shape. -void cpCircleShapeSetOffset(cpShape *shape, cpVect offset); - -/// Set the endpoints of a segment shape. -void cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b); -/// Set the radius of a segment shape. -void cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius); - -/// Set the vertexes of a poly shape. -void cpPolyShapeSetVerts(cpShape *shape, int numVerts, cpVect *verts, cpVect offset); -/// Set the radius of a poly shape. -void cpPolyShapeSetRadius(cpShape *shape, cpFloat radius); - -#ifdef __cplusplus -} -#endif -#endif -/// @} diff --git a/android/x86/include/chipmunk/chipmunk/constraints/cpConstraint.h b/android/x86/include/chipmunk/chipmunk/constraints/cpConstraint.h deleted file mode 100644 index d1059fff..00000000 --- a/android/x86/include/chipmunk/chipmunk/constraints/cpConstraint.h +++ /dev/null @@ -1,161 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpConstraint cpConstraint -/// @{ - -typedef struct cpConstraintClass cpConstraintClass; - -typedef void (*cpConstraintPreStepImpl)(cpConstraint *constraint, cpFloat dt); -typedef void (*cpConstraintApplyCachedImpulseImpl)(cpConstraint *constraint, cpFloat dt_coef); -typedef void (*cpConstraintApplyImpulseImpl)(cpConstraint *constraint, cpFloat dt); -typedef cpFloat (*cpConstraintGetImpulseImpl)(cpConstraint *constraint); - -/// @private -struct cpConstraintClass { - cpConstraintPreStepImpl preStep; - cpConstraintApplyCachedImpulseImpl applyCachedImpulse; - cpConstraintApplyImpulseImpl applyImpulse; - cpConstraintGetImpulseImpl getImpulse; -}; - -/// Callback function type that gets called before solving a joint. -typedef void (*cpConstraintPreSolveFunc)(cpConstraint *constraint, cpSpace *space); -/// Callback function type that gets called after solving a joint. -typedef void (*cpConstraintPostSolveFunc)(cpConstraint *constraint, cpSpace *space); - - -/// Opaque cpConstraint struct. -struct cpConstraint { - CP_PRIVATE(const cpConstraintClass *klass); - - /// The first body connected to this constraint. - cpBody *a; - /// The second body connected to this constraint. - cpBody *b; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpConstraint *next_a); - CP_PRIVATE(cpConstraint *next_b); - - /// The maximum force that this constraint is allowed to use. - /// Defaults to infinity. - cpFloat maxForce; - /// The rate at which joint error is corrected. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that it will - /// correct 10% of the error every 1/60th of a second. - cpFloat errorBias; - /// The maximum rate at which joint error is corrected. - /// Defaults to infinity. - cpFloat maxBias; - - /// Function called before the solver runs. - /// Animate your joint anchors, update your motor torque, etc. - cpConstraintPreSolveFunc preSolve; - - /// Function called after the solver runs. - /// Use the applied impulse to perform effects like breakable joints. - cpConstraintPostSolveFunc postSolve; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpConstraint reference in a callback. - cpDataPointer data; -}; - -/// Destroy a constraint. -void cpConstraintDestroy(cpConstraint *constraint); -/// Destroy and free a constraint. -void cpConstraintFree(cpConstraint *constraint); - -/// @private -static inline void cpConstraintActivateBodies(cpConstraint *constraint) -{ - cpBody *a = constraint->a; if(a) cpBodyActivate(a); - cpBody *b = constraint->b; if(b) cpBodyActivate(b); -} - -/// @private -#define CP_DefineConstraintStructGetter(type, member, name) \ -static inline type cpConstraint##Get##name(const cpConstraint *constraint){return constraint->member;} - -/// @private -#define CP_DefineConstraintStructSetter(type, member, name) \ -static inline void cpConstraint##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintActivateBodies(constraint); \ - constraint->member = value; \ -} - -/// @private -#define CP_DefineConstraintStructProperty(type, member, name) \ -CP_DefineConstraintStructGetter(type, member, name) \ -CP_DefineConstraintStructSetter(type, member, name) - -CP_DefineConstraintStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineConstraintStructGetter(cpBody*, a, A) -CP_DefineConstraintStructGetter(cpBody*, b, B) -CP_DefineConstraintStructProperty(cpFloat, maxForce, MaxForce) -CP_DefineConstraintStructProperty(cpFloat, errorBias, ErrorBias) -CP_DefineConstraintStructProperty(cpFloat, maxBias, MaxBias) -CP_DefineConstraintStructProperty(cpConstraintPreSolveFunc, preSolve, PreSolveFunc) -CP_DefineConstraintStructProperty(cpConstraintPostSolveFunc, postSolve, PostSolveFunc) -CP_DefineConstraintStructProperty(cpDataPointer, data, UserData) - -// Get the last impulse applied by this constraint. -static inline cpFloat cpConstraintGetImpulse(cpConstraint *constraint) -{ - return constraint->CP_PRIVATE(klass)->getImpulse(constraint); -} - -/// @} - -#define cpConstraintCheckCast(constraint, struct) \ - cpAssertHard(constraint->CP_PRIVATE(klass) == struct##GetClass(), "Constraint is not a "#struct) - -#define CP_DefineConstraintGetter(struct, type, member, name) \ -static inline type struct##Get##name(const cpConstraint *constraint){ \ - cpConstraintCheckCast(constraint, struct); \ - return ((struct *)constraint)->member; \ -} - -#define CP_DefineConstraintSetter(struct, type, member, name) \ -static inline void struct##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintCheckCast(constraint, struct); \ - cpConstraintActivateBodies(constraint); \ - ((struct *)constraint)->member = value; \ -} - -#define CP_DefineConstraintProperty(struct, type, member, name) \ -CP_DefineConstraintGetter(struct, type, member, name) \ -CP_DefineConstraintSetter(struct, type, member, name) - -#include "cpPinJoint.h" -#include "cpSlideJoint.h" -#include "cpPivotJoint.h" -#include "cpGrooveJoint.h" -#include "cpDampedSpring.h" -#include "cpDampedRotarySpring.h" -#include "cpRotaryLimitJoint.h" -#include "cpRatchetJoint.h" -#include "cpGearJoint.h" -#include "cpSimpleMotor.h" diff --git a/android/x86/include/chipmunk/chipmunk/constraints/cpDampedRotarySpring.h b/android/x86/include/chipmunk/chipmunk/constraints/cpDampedRotarySpring.h deleted file mode 100644 index 86cf915b..00000000 --- a/android/x86/include/chipmunk/chipmunk/constraints/cpDampedRotarySpring.h +++ /dev/null @@ -1,56 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedRotarySpring cpDampedRotarySpring -/// @{ - -typedef cpFloat (*cpDampedRotarySpringTorqueFunc)(struct cpConstraint *spring, cpFloat relativeAngle); - -const cpConstraintClass *cpDampedRotarySpringGetClass(void); - -/// @private -typedef struct cpDampedRotarySpring { - cpConstraint constraint; - cpFloat restAngle; - cpFloat stiffness; - cpFloat damping; - cpDampedRotarySpringTorqueFunc springTorqueFunc; - - cpFloat target_wrn; - cpFloat w_coef; - - cpFloat iSum; - cpFloat jAcc; -} cpDampedRotarySpring; - -/// Allocate a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringAlloc(void); -/// Initialize a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringInit(cpDampedRotarySpring *joint, cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped rotary spring. -cpConstraint* cpDampedRotarySpringNew(cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, restAngle, RestAngle) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpDampedRotarySpringTorqueFunc, springTorqueFunc, SpringTorqueFunc) - -/// @} diff --git a/android/x86/include/chipmunk/chipmunk/constraints/cpDampedSpring.h b/android/x86/include/chipmunk/chipmunk/constraints/cpDampedSpring.h deleted file mode 100644 index f5120647..00000000 --- a/android/x86/include/chipmunk/chipmunk/constraints/cpDampedSpring.h +++ /dev/null @@ -1,64 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedSpring cpDampedSpring -/// @{ - -typedef struct cpDampedSpring cpDampedSpring; - -typedef cpFloat (*cpDampedSpringForceFunc)(cpConstraint *spring, cpFloat dist); - -const cpConstraintClass *cpDampedSpringGetClass(void); - -/// @private -struct cpDampedSpring { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat restLength; - cpFloat stiffness; - cpFloat damping; - cpDampedSpringForceFunc springForceFunc; - - cpFloat target_vrn; - cpFloat v_coef; - - cpVect r1, r2; - cpFloat nMass; - cpVect n; - - cpFloat jAcc; -}; - -/// Allocate a damped spring. -cpDampedSpring* cpDampedSpringAlloc(void); -/// Initialize a damped spring. -cpDampedSpring* cpDampedSpringInit(cpDampedSpring *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped spring. -cpConstraint* cpDampedSpringNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, restLength, RestLength) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedSpring, cpDampedSpringForceFunc, springForceFunc, SpringForceFunc) - -/// @} diff --git a/android/x86/include/chipmunk/chipmunk/constraints/cpGearJoint.h b/android/x86/include/chipmunk/chipmunk/constraints/cpGearJoint.h deleted file mode 100644 index c9ebf942..00000000 --- a/android/x86/include/chipmunk/chipmunk/constraints/cpGearJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGearJoint cpGearJoint -/// @{ - -const cpConstraintClass *cpGearJointGetClass(void); - -/// @private -typedef struct cpGearJoint { - cpConstraint constraint; - cpFloat phase, ratio; - cpFloat ratio_inv; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpGearJoint; - -/// Allocate a gear joint. -cpGearJoint* cpGearJointAlloc(void); -/// Initialize a gear joint. -cpGearJoint* cpGearJointInit(cpGearJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); -/// Allocate and initialize a gear joint. -cpConstraint* cpGearJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); - -CP_DefineConstraintProperty(cpGearJoint, cpFloat, phase, Phase) -CP_DefineConstraintGetter(cpGearJoint, cpFloat, ratio, Ratio) -/// Set the ratio of a gear joint. -void cpGearJointSetRatio(cpConstraint *constraint, cpFloat value); - -/// @} diff --git a/android/x86/include/chipmunk/chipmunk/constraints/cpGrooveJoint.h b/android/x86/include/chipmunk/chipmunk/constraints/cpGrooveJoint.h deleted file mode 100644 index b260218f..00000000 --- a/android/x86/include/chipmunk/chipmunk/constraints/cpGrooveJoint.h +++ /dev/null @@ -1,57 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGrooveJoint cpGrooveJoint -/// @{ - -const cpConstraintClass *cpGrooveJointGetClass(void); - -/// @private -typedef struct cpGrooveJoint { - cpConstraint constraint; - cpVect grv_n, grv_a, grv_b; - cpVect anchr2; - - cpVect grv_tn; - cpFloat clamp; - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpGrooveJoint; - -/// Allocate a groove joint. -cpGrooveJoint* cpGrooveJointAlloc(void); -/// Initialize a groove joint. -cpGrooveJoint* cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); -/// Allocate and initialize a groove joint. -cpConstraint* cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); - -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_a, GrooveA) -/// Set endpoint a of a groove joint's groove -void cpGrooveJointSetGrooveA(cpConstraint *constraint, cpVect value); -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_b, GrooveB) -/// Set endpoint b of a groove joint's groove -void cpGrooveJointSetGrooveB(cpConstraint *constraint, cpVect value); -CP_DefineConstraintProperty(cpGrooveJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/android/x86/include/chipmunk/chipmunk/constraints/cpPinJoint.h b/android/x86/include/chipmunk/chipmunk/constraints/cpPinJoint.h deleted file mode 100644 index 2413e84a..00000000 --- a/android/x86/include/chipmunk/chipmunk/constraints/cpPinJoint.h +++ /dev/null @@ -1,52 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPinJoint cpPinJoint -/// @{ - -const cpConstraintClass *cpPinJointGetClass(void); - -/// @private -typedef struct cpPinJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat dist; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpPinJoint; - -/// Allocate a pin joint. -cpPinJoint* cpPinJointAlloc(void); -/// Initialize a pin joint. -cpPinJoint* cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pin joint. -cpConstraint* cpPinJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpPinJoint, cpFloat, dist, Dist) - -///@} diff --git a/android/x86/include/chipmunk/chipmunk/constraints/cpPivotJoint.h b/android/x86/include/chipmunk/chipmunk/constraints/cpPivotJoint.h deleted file mode 100644 index a5d33174..00000000 --- a/android/x86/include/chipmunk/chipmunk/constraints/cpPivotJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPivotJoint cpPivotJoint -/// @{ - -const cpConstraintClass *cpPivotJointGetClass(void); - -/// @private -typedef struct cpPivotJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpPivotJoint; - -/// Allocate a pivot joint -cpPivotJoint* cpPivotJointAlloc(void); -/// Initialize a pivot joint. -cpPivotJoint* cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pivot joint. -cpConstraint* cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot); -/// Allocate and initialize a pivot joint with specific anchors. -cpConstraint* cpPivotJointNew2(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/android/x86/include/chipmunk/chipmunk/constraints/cpRatchetJoint.h b/android/x86/include/chipmunk/chipmunk/constraints/cpRatchetJoint.h deleted file mode 100644 index e371b108..00000000 --- a/android/x86/include/chipmunk/chipmunk/constraints/cpRatchetJoint.h +++ /dev/null @@ -1,49 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRatchetJoint cpRatchetJoint -/// @{ - -const cpConstraintClass *cpRatchetJointGetClass(void); - -/// @private -typedef struct cpRatchetJoint { - cpConstraint constraint; - cpFloat angle, phase, ratchet; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRatchetJoint; - -/// Allocate a ratchet joint. -cpRatchetJoint* cpRatchetJointAlloc(void); -/// Initialize a ratched joint. -cpRatchetJoint* cpRatchetJointInit(cpRatchetJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); -/// Allocate and initialize a ratchet joint. -cpConstraint* cpRatchetJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); - -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, angle, Angle) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, phase, Phase) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, ratchet, Ratchet) - -/// @} diff --git a/android/x86/include/chipmunk/chipmunk/constraints/cpRotaryLimitJoint.h b/android/x86/include/chipmunk/chipmunk/constraints/cpRotaryLimitJoint.h deleted file mode 100644 index 2277e40f..00000000 --- a/android/x86/include/chipmunk/chipmunk/constraints/cpRotaryLimitJoint.h +++ /dev/null @@ -1,48 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRotaryLimitJoint cpRotaryLimitJoint -/// @{ - -const cpConstraintClass *cpRotaryLimitJointGetClass(void); - -/// @private -typedef struct cpRotaryLimitJoint { - cpConstraint constraint; - cpFloat min, max; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRotaryLimitJoint; - -/// Allocate a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointAlloc(void); -/// Initialize a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointInit(cpRotaryLimitJoint *joint, cpBody *a, cpBody *b, cpFloat min, cpFloat max); -/// Allocate and initialize a damped rotary limit joint. -cpConstraint* cpRotaryLimitJointNew(cpBody *a, cpBody *b, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, max, Max) - -/// @} diff --git a/android/x86/include/chipmunk/chipmunk/constraints/cpSimpleMotor.h b/android/x86/include/chipmunk/chipmunk/constraints/cpSimpleMotor.h deleted file mode 100644 index 37d28c5d..00000000 --- a/android/x86/include/chipmunk/chipmunk/constraints/cpSimpleMotor.h +++ /dev/null @@ -1,46 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSimpleMotor cpSimpleMotor -/// @{ - -const cpConstraintClass *cpSimpleMotorGetClass(void); - -/// @private -typedef struct cpSimpleMotor { - cpConstraint constraint; - cpFloat rate; - - cpFloat iSum; - - cpFloat jAcc; -} cpSimpleMotor; - -/// Allocate a simple motor. -cpSimpleMotor* cpSimpleMotorAlloc(void); -/// initialize a simple motor. -cpSimpleMotor* cpSimpleMotorInit(cpSimpleMotor *joint, cpBody *a, cpBody *b, cpFloat rate); -/// Allocate and initialize a simple motor. -cpConstraint* cpSimpleMotorNew(cpBody *a, cpBody *b, cpFloat rate); - -CP_DefineConstraintProperty(cpSimpleMotor, cpFloat, rate, Rate) - -/// @} diff --git a/android/x86/include/chipmunk/chipmunk/constraints/cpSlideJoint.h b/android/x86/include/chipmunk/chipmunk/constraints/cpSlideJoint.h deleted file mode 100644 index 40db8bba..00000000 --- a/android/x86/include/chipmunk/chipmunk/constraints/cpSlideJoint.h +++ /dev/null @@ -1,53 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSlideJoint cpSlideJoint -/// @{ - -const cpConstraintClass *cpSlideJointGetClass(void); - -/// @private -typedef struct cpSlideJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat min, max; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpSlideJoint; - -/// Allocate a slide joint. -cpSlideJoint* cpSlideJointAlloc(void); -/// Initialize a slide joint. -cpSlideJoint* cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); -/// Allocate and initialize a slide joint. -cpConstraint* cpSlideJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, max, Max) - -/// @} diff --git a/android/x86/include/chipmunk/chipmunk/constraints/util.h b/android/x86/include/chipmunk/chipmunk/constraints/util.h deleted file mode 100644 index 0a620475..00000000 --- a/android/x86/include/chipmunk/chipmunk/constraints/util.h +++ /dev/null @@ -1,126 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -// These are utility routines to use when creating custom constraints. -// I'm not sure if this should be part of the private API or not. -// I should probably clean up the naming conventions if it is... - -#define CP_DefineClassGetter(t) const cpConstraintClass * t##GetClass(void){return (cpConstraintClass *)&klass;} - -void cpConstraintInit(cpConstraint *constraint, const cpConstraintClass *klass, cpBody *a, cpBody *b); - -static inline cpVect -relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){ - cpVect v1_sum = cpvadd(a->v, cpvmult(cpvperp(r1), a->w)); - cpVect v2_sum = cpvadd(b->v, cpvmult(cpvperp(r2), b->w)); - - return cpvsub(v2_sum, v1_sum); -} - -static inline cpFloat -normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){ - return cpvdot(relative_velocity(a, b, r1, r2), n); -} - -static inline void -apply_impulse(cpBody *body, cpVect j, cpVect r){ - body->v = cpvadd(body->v, cpvmult(j, body->m_inv)); - body->w += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_impulse(a, cpvneg(j), r1); - apply_impulse(b, j, r2); -} - -static inline void -apply_bias_impulse(cpBody *body, cpVect j, cpVect r) -{ - body->CP_PRIVATE(v_bias) = cpvadd(body->CP_PRIVATE(v_bias), cpvmult(j, body->m_inv)); - body->CP_PRIVATE(w_bias) += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_bias_impulse(a, cpvneg(j), r1); - apply_bias_impulse(b, j, r2); -} - -static inline cpFloat -k_scalar_body(cpBody *body, cpVect r, cpVect n) -{ - cpFloat rcn = cpvcross(r, n); - return body->m_inv + body->i_inv*rcn*rcn; -} - -static inline cpFloat -k_scalar(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n) -{ - cpFloat value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n); - cpAssertSoft(value != 0.0, "Unsolvable collision or constraint."); - - return value; -} - -static inline cpMat2x2 -k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2) -{ - cpFloat m_sum = a->m_inv + b->m_inv; - - // start with Identity*m_sum - cpFloat k11 = m_sum, k12 = 0.0f; - cpFloat k21 = 0.0f, k22 = m_sum; - - // add the influence from r1 - cpFloat a_i_inv = a->i_inv; - cpFloat r1xsq = r1.x * r1.x * a_i_inv; - cpFloat r1ysq = r1.y * r1.y * a_i_inv; - cpFloat r1nxy = -r1.x * r1.y * a_i_inv; - k11 += r1ysq; k12 += r1nxy; - k21 += r1nxy; k22 += r1xsq; - - // add the influnce from r2 - cpFloat b_i_inv = b->i_inv; - cpFloat r2xsq = r2.x * r2.x * b_i_inv; - cpFloat r2ysq = r2.y * r2.y * b_i_inv; - cpFloat r2nxy = -r2.x * r2.y * b_i_inv; - k11 += r2ysq; k12 += r2nxy; - k21 += r2nxy; k22 += r2xsq; - - // invert - cpFloat det = k11*k22 - k12*k21; - cpAssertSoft(det != 0.0, "Unsolvable constraint."); - - cpFloat det_inv = 1.0f/det; - return cpMat2x2New( - k22*det_inv, -k12*det_inv, - -k21*det_inv, k11*det_inv - ); -} - -static inline cpFloat -bias_coef(cpFloat errorBias, cpFloat dt) -{ - return 1.0f - cpfpow(errorBias, dt); -} diff --git a/android/x86/include/chipmunk/chipmunk/cpArbiter.h b/android/x86/include/chipmunk/chipmunk/cpArbiter.h deleted file mode 100644 index 1ccb693d..00000000 --- a/android/x86/include/chipmunk/chipmunk/cpArbiter.h +++ /dev/null @@ -1,207 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpArbiter cpArbiter -/// The cpArbiter struct controls pairs of colliding shapes. -/// They are also used in conjuction with collision handler callbacks -/// allowing you to retrieve information on the collision and control it. -/// @{ - -/// Collision begin event function callback type. -/// Returning false from a begin callback causes the collision to be ignored until -/// the the separate callback is called when the objects stop colliding. -typedef cpBool (*cpCollisionBeginFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision pre-solve event function callback type. -/// Returning false from a pre-step callback causes the collision to be ignored until the next step. -typedef cpBool (*cpCollisionPreSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision post-solve event function callback type. -typedef void (*cpCollisionPostSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision separate event function callback type. -typedef void (*cpCollisionSeparateFunc)(cpArbiter *arb, cpSpace *space, void *data); - -/// @private -struct cpCollisionHandler { - cpCollisionType a; - cpCollisionType b; - cpCollisionBeginFunc begin; - cpCollisionPreSolveFunc preSolve; - cpCollisionPostSolveFunc postSolve; - cpCollisionSeparateFunc separate; - void *data; -}; - -typedef struct cpContact cpContact; - -#define CP_MAX_CONTACTS_PER_ARBITER 2 - -/// @private -typedef enum cpArbiterState { - // Arbiter is active and its the first collision. - cpArbiterStateFirstColl, - // Arbiter is active and its not the first collision. - cpArbiterStateNormal, - // Collision has been explicitly ignored. - // Either by returning false from a begin collision handler or calling cpArbiterIgnore(). - cpArbiterStateIgnore, - // Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps. - cpArbiterStateCached, -} cpArbiterState; - -/// @private -struct cpArbiterThread { - // Links to next and previous arbiters in the contact graph. - struct cpArbiter *next, *prev; -}; - -/// A colliding pair of shapes. -struct cpArbiter { - /// Calculated value to use for the elasticity coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat e; - /// Calculated value to use for the friction coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat u; - /// Calculated value to use for applying surface velocities. - /// Override in a pre-solve collision handler for custom behavior. - cpVect surface_vr; - - /// User definable data pointer. - /// The value will persist for the pair of shapes until the separate() callback is called. - /// NOTE: If you need to clean up this pointer, you should implement the separate() callback to do it. - cpDataPointer data; - - CP_PRIVATE(cpShape *a); - CP_PRIVATE(cpShape *b); - CP_PRIVATE(cpBody *body_a); - CP_PRIVATE(cpBody *body_b); - - CP_PRIVATE(struct cpArbiterThread thread_a); - CP_PRIVATE(struct cpArbiterThread thread_b); - - CP_PRIVATE(int numContacts); - CP_PRIVATE(cpContact *contacts); - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpCollisionHandler *handler); - CP_PRIVATE(cpBool swappedColl); - CP_PRIVATE(cpArbiterState state); -}; - -#define CP_DefineArbiterStructGetter(type, member, name) \ -static inline type cpArbiterGet##name(const cpArbiter *arb){return arb->member;} - -#define CP_DefineArbiterStructSetter(type, member, name) \ -static inline void cpArbiterSet##name(cpArbiter *arb, type value){arb->member = value;} - -#define CP_DefineArbiterStructProperty(type, member, name) \ -CP_DefineArbiterStructGetter(type, member, name) \ -CP_DefineArbiterStructSetter(type, member, name) - -CP_DefineArbiterStructProperty(cpFloat, e, Elasticity) -CP_DefineArbiterStructProperty(cpFloat, u, Friction) - -// Get the relative surface velocity of the two shapes in contact. -cpVect cpArbiterGetSurfaceVelocity(cpArbiter *arb); - -// Override the relative surface velocity of the two shapes in contact. -// By default this is calculated to be the difference of the two -// surface velocities clamped to the tangent plane. -void cpArbiterSetSurfaceVelocity(cpArbiter *arb, cpVect vr); - -CP_DefineArbiterStructProperty(cpDataPointer, data, UserData) - -/// Calculate the total impulse that was applied by this arbiter. -/// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulse(const cpArbiter *arb); -/// Calculate the total impulse including the friction that was applied by this arbiter. -/// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulseWithFriction(const cpArbiter *arb); -/// Calculate the amount of energy lost in a collision including static, but not dynamic friction. -/// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpFloat cpArbiterTotalKE(const cpArbiter *arb); - - -/// Causes a collision pair to be ignored as if you returned false from a begin callback. -/// If called from a pre-step callback, you will still need to return false -/// if you want it to be ignored in the current step. -void cpArbiterIgnore(cpArbiter *arb); - -/// Return the colliding shapes involved for this arbiter. -/// The order of their cpSpace.collision_type values will match -/// the order set when the collision handler was registered. -static inline void cpArbiterGetShapes(const cpArbiter *arb, cpShape **a, cpShape **b) -{ - if(arb->CP_PRIVATE(swappedColl)){ - (*a) = arb->CP_PRIVATE(b), (*b) = arb->CP_PRIVATE(a); - } else { - (*a) = arb->CP_PRIVATE(a), (*b) = arb->CP_PRIVATE(b); - } -} -/// A macro shortcut for defining and retrieving the shapes from an arbiter. -#define CP_ARBITER_GET_SHAPES(__arb__, __a__, __b__) cpShape *__a__, *__b__; cpArbiterGetShapes(__arb__, &__a__, &__b__); - -/// Return the colliding bodies involved for this arbiter. -/// The order of the cpSpace.collision_type the bodies are associated with values will match -/// the order set when the collision handler was registered. -static inline void cpArbiterGetBodies(const cpArbiter *arb, cpBody **a, cpBody **b) -{ - CP_ARBITER_GET_SHAPES(arb, shape_a, shape_b); - (*a) = shape_a->body; - (*b) = shape_b->body; -} -/// A macro shortcut for defining and retrieving the bodies from an arbiter. -#define CP_ARBITER_GET_BODIES(__arb__, __a__, __b__) cpBody *__a__, *__b__; cpArbiterGetBodies(__arb__, &__a__, &__b__); - -/// A struct that wraps up the important collision data for an arbiter. -typedef struct cpContactPointSet { - /// The number of contact points in the set. - int count; - - /// The array of contact points. - struct { - /// The position of the contact point. - cpVect point; - /// The normal of the contact point. - cpVect normal; - /// The depth of the contact point. - cpFloat dist; - } points[CP_MAX_CONTACTS_PER_ARBITER]; -} cpContactPointSet; - -/// Return a contact set from an arbiter. -cpContactPointSet cpArbiterGetContactPointSet(const cpArbiter *arb); - -/// Replace the contact point set for an arbiter. -/// This can be a very powerful feature, but use it with caution! -void cpArbiterSetContactPointSet(cpArbiter *arb, cpContactPointSet *set); - -/// Returns true if this is the first step a pair of objects started colliding. -cpBool cpArbiterIsFirstContact(const cpArbiter *arb); -/// Get the number of contact points for this arbiter. -int cpArbiterGetCount(const cpArbiter *arb); -/// Get the normal of the @c ith contact point. -cpVect cpArbiterGetNormal(const cpArbiter *arb, int i); -/// Get the position of the @c ith contact point. -cpVect cpArbiterGetPoint(const cpArbiter *arb, int i); -/// Get the depth of the @c ith contact point. -cpFloat cpArbiterGetDepth(const cpArbiter *arb, int i); - -/// @} diff --git a/android/x86/include/chipmunk/chipmunk/cpBB.h b/android/x86/include/chipmunk/chipmunk/cpBB.h deleted file mode 100644 index 4e59c2d4..00000000 --- a/android/x86/include/chipmunk/chipmunk/cpBB.h +++ /dev/null @@ -1,143 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpBBB cpBB -/// Chipmunk's axis-aligned 2D bounding box type along with a few handy routines. -/// @{ - -/// Chipmunk's axis-aligned 2D bounding box type. (left, bottom, right, top) -typedef struct cpBB{ - cpFloat l, b, r ,t; -} cpBB; - -/// Convenience constructor for cpBB structs. -static inline cpBB cpBBNew(const cpFloat l, const cpFloat b, const cpFloat r, const cpFloat t) -{ - cpBB bb = {l, b, r, t}; - return bb; -} - -/// Constructs a cpBB for a circle with the given position and radius. -static inline cpBB cpBBNewForCircle(const cpVect p, const cpFloat r) -{ - return cpBBNew(p.x - r, p.y - r, p.x + r, p.y + r); -} - -/// Returns true if @c a and @c b intersect. -static inline cpBool cpBBIntersects(const cpBB a, const cpBB b) -{ - return (a.l <= b.r && b.l <= a.r && a.b <= b.t && b.b <= a.t); -} - -/// Returns true if @c other lies completely within @c bb. -static inline cpBool cpBBContainsBB(const cpBB bb, const cpBB other) -{ - return (bb.l <= other.l && bb.r >= other.r && bb.b <= other.b && bb.t >= other.t); -} - -/// Returns true if @c bb contains @c v. -static inline cpBool cpBBContainsVect(const cpBB bb, const cpVect v) -{ - return (bb.l <= v.x && bb.r >= v.x && bb.b <= v.y && bb.t >= v.y); -} - -/// Returns a bounding box that holds both bounding boxes. -static inline cpBB cpBBMerge(const cpBB a, const cpBB b){ - return cpBBNew( - cpfmin(a.l, b.l), - cpfmin(a.b, b.b), - cpfmax(a.r, b.r), - cpfmax(a.t, b.t) - ); -} - -/// Returns a bounding box that holds both @c bb and @c v. -static inline cpBB cpBBExpand(const cpBB bb, const cpVect v){ - return cpBBNew( - cpfmin(bb.l, v.x), - cpfmin(bb.b, v.y), - cpfmax(bb.r, v.x), - cpfmax(bb.t, v.y) - ); -} - -/// Returns the center of a bounding box. -static inline cpVect -cpBBCenter(cpBB bb) -{ - return cpvlerp(cpv(bb.l, bb.b), cpv(bb.r, bb.t), 0.5f); -} - -/// Returns the area of the bounding box. -static inline cpFloat cpBBArea(cpBB bb) -{ - return (bb.r - bb.l)*(bb.t - bb.b); -} - -/// Merges @c a and @c b and returns the area of the merged bounding box. -static inline cpFloat cpBBMergedArea(cpBB a, cpBB b) -{ - return (cpfmax(a.r, b.r) - cpfmin(a.l, b.l))*(cpfmax(a.t, b.t) - cpfmin(a.b, b.b)); -} - -/// Returns the fraction along the segment query the cpBB is hit. Returns INFINITY if it doesn't hit. -static inline cpFloat cpBBSegmentQuery(cpBB bb, cpVect a, cpVect b) -{ - cpFloat idx = 1.0f/(b.x - a.x); - cpFloat tx1 = (bb.l == a.x ? -INFINITY : (bb.l - a.x)*idx); - cpFloat tx2 = (bb.r == a.x ? INFINITY : (bb.r - a.x)*idx); - cpFloat txmin = cpfmin(tx1, tx2); - cpFloat txmax = cpfmax(tx1, tx2); - - cpFloat idy = 1.0f/(b.y - a.y); - cpFloat ty1 = (bb.b == a.y ? -INFINITY : (bb.b - a.y)*idy); - cpFloat ty2 = (bb.t == a.y ? INFINITY : (bb.t - a.y)*idy); - cpFloat tymin = cpfmin(ty1, ty2); - cpFloat tymax = cpfmax(ty1, ty2); - - if(tymin <= txmax && txmin <= tymax){ - cpFloat min = cpfmax(txmin, tymin); - cpFloat max = cpfmin(txmax, tymax); - - if(0.0 <= max && min <= 1.0) return cpfmax(min, 0.0); - } - - return INFINITY; -} - -/// Return true if the bounding box intersects the line segment with ends @c a and @c b. -static inline cpBool cpBBIntersectsSegment(cpBB bb, cpVect a, cpVect b) -{ - return (cpBBSegmentQuery(bb, a, b) != INFINITY); -} - -/// Clamp a vector to a bounding box. -static inline cpVect -cpBBClampVect(const cpBB bb, const cpVect v) -{ - return cpv(cpfclamp(v.x, bb.l, bb.r), cpfclamp(v.y, bb.b, bb.t)); -} - -// TODO edge case issue -/// Wrap a vector to a bounding box. -cpVect cpBBWrapVect(const cpBB bb, const cpVect v); // wrap a vector to a bbox - -///@} diff --git a/android/x86/include/chipmunk/chipmunk/cpBody.h b/android/x86/include/chipmunk/chipmunk/cpBody.h deleted file mode 100644 index 6168b0fe..00000000 --- a/android/x86/include/chipmunk/chipmunk/cpBody.h +++ /dev/null @@ -1,251 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpBody cpBody -/// Chipmunk's rigid body type. Rigid bodies hold the physical properties of an object like -/// it's mass, and position and velocity of it's center of gravity. They don't have an shape on their own. -/// They are given a shape by creating collision shapes (cpShape) that point to the body. -/// @{ - -/// Rigid body velocity update function type. -typedef void (*cpBodyVelocityFunc)(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); -/// Rigid body position update function type. -typedef void (*cpBodyPositionFunc)(cpBody *body, cpFloat dt); - -/// Used internally to track information on the collision graph. -/// @private -typedef struct cpComponentNode { - cpBody *root; - cpBody *next; - cpFloat idleTime; -} cpComponentNode; - -/// Chipmunk's rigid body struct. -struct cpBody { - /// Function that is called to integrate the body's velocity. (Defaults to cpBodyUpdateVelocity) - cpBodyVelocityFunc velocity_func; - - /// Function that is called to integrate the body's position. (Defaults to cpBodyUpdatePosition) - cpBodyPositionFunc position_func; - - /// Mass of the body. - /// Must agree with cpBody.m_inv! Use cpBodySetMass() when changing the mass for this reason. - cpFloat m; - /// Mass inverse. - cpFloat m_inv; - - /// Moment of inertia of the body. - /// Must agree with cpBody.i_inv! Use cpBodySetMoment() when changing the moment for this reason. - cpFloat i; - /// Moment of inertia inverse. - cpFloat i_inv; - - /// Position of the rigid body's center of gravity. - cpVect p; - /// Velocity of the rigid body's center of gravity. - cpVect v; - /// Force acting on the rigid body's center of gravity. - cpVect f; - - /// Rotation of the body around it's center of gravity in radians. - /// Must agree with cpBody.rot! Use cpBodySetAngle() when changing the angle for this reason. - cpFloat a; - /// Angular velocity of the body around it's center of gravity in radians/second. - cpFloat w; - /// Torque applied to the body around it's center of gravity. - cpFloat t; - - /// Cached unit length vector representing the angle of the body. - /// Used for fast rotations using cpvrotate(). - cpVect rot; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpBody reference in a callback. - cpDataPointer data; - - /// Maximum velocity allowed when updating the velocity. - cpFloat v_limit; - /// Maximum rotational rate (in radians/second) allowed when updating the angular velocity. - cpFloat w_limit; - - CP_PRIVATE(cpVect v_bias); - CP_PRIVATE(cpFloat w_bias); - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *shapeList); - CP_PRIVATE(cpArbiter *arbiterList); - CP_PRIVATE(cpConstraint *constraintList); - - CP_PRIVATE(cpComponentNode node); -}; - -/// Allocate a cpBody. -cpBody* cpBodyAlloc(void); -/// Initialize a cpBody. -cpBody* cpBodyInit(cpBody *body, cpFloat m, cpFloat i); -/// Allocate and initialize a cpBody. -cpBody* cpBodyNew(cpFloat m, cpFloat i); - -/// Initialize a static cpBody. -cpBody* cpBodyInitStatic(cpBody *body); -/// Allocate and initialize a static cpBody. -cpBody* cpBodyNewStatic(void); - -/// Destroy a cpBody. -void cpBodyDestroy(cpBody *body); -/// Destroy and free a cpBody. -void cpBodyFree(cpBody *body); - -/// Check that the properties of a body is sane. (Only in debug mode) -#ifdef NDEBUG - #define cpBodyAssertSane(body) -#else - void cpBodySanityCheck(cpBody *body); - #define cpBodyAssertSane(body) cpBodySanityCheck(body) -#endif - -// Defined in cpSpace.c -/// Wake up a sleeping or idle body. -void cpBodyActivate(cpBody *body); -/// Wake up any sleeping or idle bodies touching a static body. -void cpBodyActivateStatic(cpBody *body, cpShape *filter); - -/// Force a body to fall asleep immediately. -void cpBodySleep(cpBody *body); -/// Force a body to fall asleep immediately along with other bodies in a group. -void cpBodySleepWithGroup(cpBody *body, cpBody *group); - -/// Returns true if the body is sleeping. -static inline cpBool cpBodyIsSleeping(const cpBody *body) -{ - return (CP_PRIVATE(body->node).root != ((cpBody*)0)); -} - -/// Returns true if the body is static. -static inline cpBool cpBodyIsStatic(const cpBody *body) -{ - return CP_PRIVATE(body->node).idleTime == INFINITY; -} - -/// Returns true if the body has not been added to a space. -/// Note: Static bodies are a subtype of rogue bodies. -static inline cpBool cpBodyIsRogue(const cpBody *body) -{ - return (body->CP_PRIVATE(space) == ((cpSpace*)0)); -} - - -#define CP_DefineBodyStructGetter(type, member, name) \ -static inline type cpBodyGet##name(const cpBody *body){return body->member;} - -#define CP_DefineBodyStructSetter(type, member, name) \ -static inline void cpBodySet##name(cpBody *body, const type value){ \ - cpBodyActivate(body); \ - body->member = value; \ - cpBodyAssertSane(body); \ -} - -#define CP_DefineBodyStructProperty(type, member, name) \ -CP_DefineBodyStructGetter(type, member, name) \ -CP_DefineBodyStructSetter(type, member, name) - -// TODO add to docs -CP_DefineBodyStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineBodyStructGetter(cpFloat, m, Mass) -/// Set the mass of a body. -void cpBodySetMass(cpBody *body, cpFloat m); - -CP_DefineBodyStructGetter(cpFloat, i, Moment) -/// Set the moment of a body. -void cpBodySetMoment(cpBody *body, cpFloat i); - -CP_DefineBodyStructGetter(cpVect, p, Pos) -/// Set the position of a body. -void cpBodySetPos(cpBody *body, cpVect pos); -CP_DefineBodyStructProperty(cpVect, v, Vel) -CP_DefineBodyStructProperty(cpVect, f, Force) -CP_DefineBodyStructGetter(cpFloat, a, Angle) -/// Set the angle of a body. -void cpBodySetAngle(cpBody *body, cpFloat a); -CP_DefineBodyStructProperty(cpFloat, w, AngVel) -CP_DefineBodyStructProperty(cpFloat, t, Torque) -CP_DefineBodyStructGetter(cpVect, rot, Rot) -CP_DefineBodyStructProperty(cpFloat, v_limit, VelLimit) -CP_DefineBodyStructProperty(cpFloat, w_limit, AngVelLimit) -CP_DefineBodyStructProperty(cpDataPointer, data, UserData) - -/// Default Integration functions. -void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); -void cpBodyUpdatePosition(cpBody *body, cpFloat dt); - -/// Convert body relative/local coordinates to absolute/world coordinates. -static inline cpVect cpBodyLocal2World(const cpBody *body, const cpVect v) -{ - return cpvadd(body->p, cpvrotate(v, body->rot)); -} - -/// Convert body absolute/world coordinates to relative/local coordinates. -static inline cpVect cpBodyWorld2Local(const cpBody *body, const cpVect v) -{ - return cpvunrotate(cpvsub(v, body->p), body->rot); -} - -/// Set the forces and torque or a body to zero. -void cpBodyResetForces(cpBody *body); -/// Apply an force (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyForce(cpBody *body, const cpVect f, const cpVect r); -/// Apply an impulse (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyImpulse(cpBody *body, const cpVect j, const cpVect r); - -/// Get the velocity on a body (in world units) at a point on the body in world coordinates. -cpVect cpBodyGetVelAtWorldPoint(cpBody *body, cpVect point); -/// Get the velocity on a body (in world units) at a point on the body in local coordinates. -cpVect cpBodyGetVelAtLocalPoint(cpBody *body, cpVect point); - - -/// Get the kinetic energy of a body. -static inline cpFloat cpBodyKineticEnergy(const cpBody *body) -{ - // Need to do some fudging to avoid NaNs - cpFloat vsq = cpvdot(body->v, body->v); - cpFloat wsq = body->w*body->w; - return (vsq ? vsq*body->m : 0.0f) + (wsq ? wsq*body->i : 0.0f); -} - -/// Body/shape iterator callback function type. -typedef void (*cpBodyShapeIteratorFunc)(cpBody *body, cpShape *shape, void *data); -/// Call @c func once for each shape attached to @c body and added to the space. -void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data); - -/// Body/constraint iterator callback function type. -typedef void (*cpBodyConstraintIteratorFunc)(cpBody *body, cpConstraint *constraint, void *data); -/// Call @c func once for each constraint attached to @c body and added to the space. -void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data); - -/// Body/arbiter iterator callback function type. -typedef void (*cpBodyArbiterIteratorFunc)(cpBody *body, cpArbiter *arbiter, void *data); -/// Call @c func once for each arbiter that is currently active on the body. -void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data); - -///@} diff --git a/android/x86/include/chipmunk/chipmunk/cpPolyShape.h b/android/x86/include/chipmunk/chipmunk/cpPolyShape.h deleted file mode 100644 index a5587ba2..00000000 --- a/android/x86/include/chipmunk/chipmunk/cpPolyShape.h +++ /dev/null @@ -1,81 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPolyShape cpPolyShape -/// @{ - -/// @private -typedef struct cpSplittingPlane { - cpVect n; - cpFloat d; -} cpSplittingPlane; - -/// @private -typedef struct cpPolyShape { - cpShape shape; - - int numVerts; - cpVect *verts, *tVerts; - cpSplittingPlane *planes, *tPlanes; - - cpFloat r; -} cpPolyShape; - -/// Allocate a polygon shape. -cpPolyShape* cpPolyShapeAlloc(void); -/// Initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit2(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew(cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew2(cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); - -/// Initialize a box shaped polygon shape. -cpPolyShape* cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit2(cpPolyShape *poly, cpBody *body, cpBB box); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit3(cpPolyShape *poly, cpBody *body, cpBB box, cpFloat radius); -/// Allocate and initialize a box shaped polygon shape. -cpShape* cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height); -/// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew2(cpBody *body, cpBB box); -/// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew3(cpBody *body, cpBB box, cpFloat radius); - -/// Check that a set of vertexes is convex and has a clockwise winding. -/// NOTE: Due to floating point precision issues, hulls created with cpQuickHull() are not guaranteed to validate! -cpBool cpPolyValidate(const cpVect *verts, const int numVerts); - -/// Get the number of verts in a polygon shape. -int cpPolyShapeGetNumVerts(const cpShape *shape); -/// Get the @c ith vertex of a polygon shape. -cpVect cpPolyShapeGetVert(const cpShape *shape, int idx); -/// Get the radius of a polygon shape. -cpFloat cpPolyShapeGetRadius(const cpShape *shape); - -/// @} diff --git a/android/x86/include/chipmunk/chipmunk/cpShape.h b/android/x86/include/chipmunk/chipmunk/cpShape.h deleted file mode 100644 index 62920c37..00000000 --- a/android/x86/include/chipmunk/chipmunk/cpShape.h +++ /dev/null @@ -1,232 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpShape cpShape -/// The cpShape struct defines the shape of a rigid body. -/// @{ - -typedef struct cpShapeClass cpShapeClass; - -/// Nearest point query info struct. -typedef struct cpNearestPointQueryInfo { - /// The nearest shape, NULL if no shape was within range. - cpShape *shape; - /// The closest point on the shape's surface. (in world space coordinates) - cpVect p; - /// The distance to the point. The distance is negative if the point is inside the shape. - cpFloat d; - /// The gradient of the signed distance function. - /// The same as info.p/info.d, but accurate even for very small values of info.d. - cpVect g; -} cpNearestPointQueryInfo; - -/// Segment query info struct. -typedef struct cpSegmentQueryInfo { - /// The shape that was hit, NULL if no collision occured. - cpShape *shape; - /// The normalized distance along the query segment in the range [0, 1]. - cpFloat t; - /// The normal of the surface hit. - cpVect n; -} cpSegmentQueryInfo; - -/// @private -typedef enum cpShapeType{ - CP_CIRCLE_SHAPE, - CP_SEGMENT_SHAPE, - CP_POLY_SHAPE, - CP_NUM_SHAPES -} cpShapeType; - -typedef cpBB (*cpShapeCacheDataImpl)(cpShape *shape, cpVect p, cpVect rot); -typedef void (*cpShapeDestroyImpl)(cpShape *shape); -typedef void (*cpShapeNearestPointQueryImpl)(cpShape *shape, cpVect p, cpNearestPointQueryInfo *info); -typedef void (*cpShapeSegmentQueryImpl)(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); - -/// @private -struct cpShapeClass { - cpShapeType type; - - cpShapeCacheDataImpl cacheData; - cpShapeDestroyImpl destroy; - cpShapeNearestPointQueryImpl nearestPointQuery; - cpShapeSegmentQueryImpl segmentQuery; -}; - -/// Opaque collision shape struct. -struct cpShape { - CP_PRIVATE(const cpShapeClass *klass); - - /// The rigid body this collision shape is attached to. - cpBody *body; - - /// The current bounding box of the shape. - cpBB bb; - - /// Sensor flag. - /// Sensor shapes call collision callbacks but don't produce collisions. - cpBool sensor; - - /// Coefficient of restitution. (elasticity) - cpFloat e; - /// Coefficient of friction. - cpFloat u; - /// Surface velocity used when solving for friction. - cpVect surface_v; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpShape reference in a callback. - cpDataPointer data; - - /// Collision type of this shape used when picking collision handlers. - cpCollisionType collision_type; - /// Group of this shape. Shapes in the same group don't collide. - cpGroup group; - // Layer bitmask for this shape. Shapes only collide if the bitwise and of their layers is non-zero. - cpLayers layers; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *next); - CP_PRIVATE(cpShape *prev); - - CP_PRIVATE(cpHashValue hashid); -}; - -/// Destroy a shape. -void cpShapeDestroy(cpShape *shape); -/// Destroy and Free a shape. -void cpShapeFree(cpShape *shape); - -/// Update, cache and return the bounding box of a shape based on the body it's attached to. -cpBB cpShapeCacheBB(cpShape *shape); -/// Update, cache and return the bounding box of a shape with an explicit transformation. -cpBB cpShapeUpdate(cpShape *shape, cpVect pos, cpVect rot); - -/// Test if a point lies within a shape. -cpBool cpShapePointQuery(cpShape *shape, cpVect p); - -/// Perform a nearest point query. It finds the closest point on the surface of shape to a specific point. -/// The value returned is the distance between the points. A negative distance means the point is inside the shape. -cpFloat cpShapeNearestPointQuery(cpShape *shape, cpVect p, cpNearestPointQueryInfo *out); - -/// Perform a segment query against a shape. @c info must be a pointer to a valid cpSegmentQueryInfo structure. -cpBool cpShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); - -/// Get the hit point for a segment query. -static inline cpVect cpSegmentQueryHitPoint(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvlerp(start, end, info.t); -} - -/// Get the hit distance for a segment query. -static inline cpFloat cpSegmentQueryHitDist(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvdist(start, end)*info.t; -} - -#define CP_DefineShapeStructGetter(type, member, name) \ -static inline type cpShapeGet##name(const cpShape *shape){return shape->member;} - -#define CP_DefineShapeStructSetter(type, member, name, activates) \ -static inline void cpShapeSet##name(cpShape *shape, type value){ \ - if(activates && shape->body) cpBodyActivate(shape->body); \ - shape->member = value; \ -} - -#define CP_DefineShapeStructProperty(type, member, name, activates) \ -CP_DefineShapeStructGetter(type, member, name) \ -CP_DefineShapeStructSetter(type, member, name, activates) - -CP_DefineShapeStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineShapeStructGetter(cpBody*, body, Body) -void cpShapeSetBody(cpShape *shape, cpBody *body); - -CP_DefineShapeStructGetter(cpBB, bb, BB) -CP_DefineShapeStructProperty(cpBool, sensor, Sensor, cpTrue) -CP_DefineShapeStructProperty(cpFloat, e, Elasticity, cpFalse) -CP_DefineShapeStructProperty(cpFloat, u, Friction, cpTrue) -CP_DefineShapeStructProperty(cpVect, surface_v, SurfaceVelocity, cpTrue) -CP_DefineShapeStructProperty(cpDataPointer, data, UserData, cpFalse) -CP_DefineShapeStructProperty(cpCollisionType, collision_type, CollisionType, cpTrue) -CP_DefineShapeStructProperty(cpGroup, group, Group, cpTrue) -CP_DefineShapeStructProperty(cpLayers, layers, Layers, cpTrue) - -/// When initializing a shape, it's hash value comes from a counter. -/// Because the hash value may affect iteration order, you can reset the shape ID counter -/// when recreating a space. This will make the simulation be deterministic. -void cpResetShapeIdCounter(void); - -#define CP_DeclareShapeGetter(struct, type, name) type struct##Get##name(const cpShape *shape) - -/// @} -/// @defgroup cpCircleShape cpCircleShape - -/// @private -typedef struct cpCircleShape { - cpShape shape; - - cpVect c, tc; - cpFloat r; -} cpCircleShape; - -/// Allocate a circle shape. -cpCircleShape* cpCircleShapeAlloc(void); -/// Initialize a circle shape. -cpCircleShape* cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset); -/// Allocate and initialize a circle shape. -cpShape* cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset); - -CP_DeclareShapeGetter(cpCircleShape, cpVect, Offset); -CP_DeclareShapeGetter(cpCircleShape, cpFloat, Radius); - -/// @} -/// @defgroup cpSegmentShape cpSegmentShape - -/// @private -typedef struct cpSegmentShape { - cpShape shape; - - cpVect a, b, n; - cpVect ta, tb, tn; - cpFloat r; - - cpVect a_tangent, b_tangent; -} cpSegmentShape; - -/// Allocate a segment shape. -cpSegmentShape* cpSegmentShapeAlloc(void); -/// Initialize a segment shape. -cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius); -/// Allocate and initialize a segment shape. -cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius); - -/// Let Chipmunk know about the geometry of adjacent segments to avoid colliding with endcaps. -void cpSegmentShapeSetNeighbors(cpShape *shape, cpVect prev, cpVect next); - -CP_DeclareShapeGetter(cpSegmentShape, cpVect, A); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, B); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, Normal); -CP_DeclareShapeGetter(cpSegmentShape, cpFloat, Radius); - -/// @} diff --git a/android/x86/include/chipmunk/chipmunk/cpSpace.h b/android/x86/include/chipmunk/chipmunk/cpSpace.h deleted file mode 100644 index 26439f76..00000000 --- a/android/x86/include/chipmunk/chipmunk/cpSpace.h +++ /dev/null @@ -1,283 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSpace cpSpace -/// @{ - -typedef struct cpContactBufferHeader cpContactBufferHeader; -typedef void (*cpSpaceArbiterApplyImpulseFunc)(cpArbiter *arb); - -/// Basic Unit of Simulation in Chipmunk -struct cpSpace { - /// Number of iterations to use in the impulse solver to solve contacts. - int iterations; - - /// Gravity to pass to rigid bodies when integrating velocity. - cpVect gravity; - - /// Damping rate expressed as the fraction of velocity bodies retain each second. - /// A value of 0.9 would mean that each body's velocity will drop 10% per second. - /// The default value is 1.0, meaning no damping is applied. - /// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring. - cpFloat damping; - - /// Speed threshold for a body to be considered idle. - /// The default value of 0 means to let the space guess a good threshold based on gravity. - cpFloat idleSpeedThreshold; - - /// Time a group of bodies must remain idle in order to fall asleep. - /// Enabling sleeping also implicitly enables the the contact graph. - /// The default value of INFINITY disables the sleeping algorithm. - cpFloat sleepTimeThreshold; - - /// Amount of encouraged penetration between colliding shapes. - /// Used to reduce oscillating contacts and keep the collision cache warm. - /// Defaults to 0.1. If you have poor simulation quality, - /// increase this number as much as possible without allowing visible amounts of overlap. - cpFloat collisionSlop; - - /// Determines how fast overlapping shapes are pushed apart. - /// Expressed as a fraction of the error remaining after each second. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz. - cpFloat collisionBias; - - /// Number of frames that contact information should persist. - /// Defaults to 3. There is probably never a reason to change this value. - cpTimestamp collisionPersistence; - - /// Rebuild the contact graph during each step. Must be enabled to use the cpBodyEachArbiter() function. - /// Disabled by default for a small performance boost. Enabled implicitly when the sleeping feature is enabled. - cpBool enableContactGraph; - - /// User definable data pointer. - /// Generally this points to your game's controller or game state - /// class so you can access it when given a cpSpace reference in a callback. - cpDataPointer data; - - /// The designated static body for this space. - /// You can modify this body, or replace it with your own static body. - /// By default it points to a statically allocated cpBody in the cpSpace struct. - cpBody *staticBody; - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpFloat curr_dt); - - CP_PRIVATE(cpArray *bodies); - CP_PRIVATE(cpArray *rousedBodies); - CP_PRIVATE(cpArray *sleepingComponents); - - CP_PRIVATE(cpSpatialIndex *staticShapes); - CP_PRIVATE(cpSpatialIndex *activeShapes); - - CP_PRIVATE(cpArray *arbiters); - CP_PRIVATE(cpContactBufferHeader *contactBuffersHead); - CP_PRIVATE(cpHashSet *cachedArbiters); - CP_PRIVATE(cpArray *pooledArbiters); - CP_PRIVATE(cpArray *constraints); - - CP_PRIVATE(cpArray *allocatedBuffers); - CP_PRIVATE(int locked); - - CP_PRIVATE(cpHashSet *collisionHandlers); - CP_PRIVATE(cpCollisionHandler defaultHandler); - - CP_PRIVATE(cpBool skipPostStep); - CP_PRIVATE(cpArray *postStepCallbacks); - - CP_PRIVATE(cpBody _staticBody); -}; - -/// Allocate a cpSpace. -cpSpace* cpSpaceAlloc(void); -/// Initialize a cpSpace. -cpSpace* cpSpaceInit(cpSpace *space); -/// Allocate and initialize a cpSpace. -cpSpace* cpSpaceNew(void); - -/// Destroy a cpSpace. -void cpSpaceDestroy(cpSpace *space); -/// Destroy and free a cpSpace. -void cpSpaceFree(cpSpace *space); - -#define CP_DefineSpaceStructGetter(type, member, name) \ -static inline type cpSpaceGet##name(const cpSpace *space){return space->member;} - -#define CP_DefineSpaceStructSetter(type, member, name) \ -static inline void cpSpaceSet##name(cpSpace *space, type value){space->member = value;} - -#define CP_DefineSpaceStructProperty(type, member, name) \ -CP_DefineSpaceStructGetter(type, member, name) \ -CP_DefineSpaceStructSetter(type, member, name) - -CP_DefineSpaceStructProperty(int, iterations, Iterations) -CP_DefineSpaceStructProperty(cpVect, gravity, Gravity) -CP_DefineSpaceStructProperty(cpFloat, damping, Damping) -CP_DefineSpaceStructProperty(cpFloat, idleSpeedThreshold, IdleSpeedThreshold) -CP_DefineSpaceStructProperty(cpFloat, sleepTimeThreshold, SleepTimeThreshold) -CP_DefineSpaceStructProperty(cpFloat, collisionSlop, CollisionSlop) -CP_DefineSpaceStructProperty(cpFloat, collisionBias, CollisionBias) -CP_DefineSpaceStructProperty(cpTimestamp, collisionPersistence, CollisionPersistence) -CP_DefineSpaceStructProperty(cpBool, enableContactGraph, EnableContactGraph) -CP_DefineSpaceStructProperty(cpDataPointer, data, UserData) -CP_DefineSpaceStructGetter(cpBody*, staticBody, StaticBody) -CP_DefineSpaceStructGetter(cpFloat, CP_PRIVATE(curr_dt), CurrentTimeStep) - -/// returns true from inside a callback and objects cannot be added/removed. -static inline cpBool -cpSpaceIsLocked(cpSpace *space) -{ - return space->CP_PRIVATE(locked); -} - -/// Set a default collision handler for this space. -/// The default collision handler is invoked for each colliding pair of shapes -/// that isn't explicitly handled by a specific collision handler. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceSetDefaultCollisionHandler( - cpSpace *space, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); - -/// Set a collision handler to be used whenever the two shapes with the given collision types collide. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceAddCollisionHandler( - cpSpace *space, - cpCollisionType a, cpCollisionType b, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); - -/// Unset a collision handler. -void cpSpaceRemoveCollisionHandler(cpSpace *space, cpCollisionType a, cpCollisionType b); - -/// Add a collision shape to the simulation. -/// If the shape is attached to a static body, it will be added as a static shape. -cpShape* cpSpaceAddShape(cpSpace *space, cpShape *shape); -/// Explicity add a shape as a static shape to the simulation. -cpShape* cpSpaceAddStaticShape(cpSpace *space, cpShape *shape); -/// Add a rigid body to the simulation. -cpBody* cpSpaceAddBody(cpSpace *space, cpBody *body); -/// Add a constraint to the simulation. -cpConstraint* cpSpaceAddConstraint(cpSpace *space, cpConstraint *constraint); - -/// Remove a collision shape from the simulation. -void cpSpaceRemoveShape(cpSpace *space, cpShape *shape); -/// Remove a collision shape added using cpSpaceAddStaticShape() from the simulation. -void cpSpaceRemoveStaticShape(cpSpace *space, cpShape *shape); -/// Remove a rigid body from the simulation. -void cpSpaceRemoveBody(cpSpace *space, cpBody *body); -/// Remove a constraint from the simulation. -void cpSpaceRemoveConstraint(cpSpace *space, cpConstraint *constraint); - -/// Test if a collision shape has been added to the space. -cpBool cpSpaceContainsShape(cpSpace *space, cpShape *shape); -/// Test if a rigid body has been added to the space. -cpBool cpSpaceContainsBody(cpSpace *space, cpBody *body); -/// Test if a constraint has been added to the space. -cpBool cpSpaceContainsConstraint(cpSpace *space, cpConstraint *constraint); - -/// Convert a dynamic rogue body to a static one. -/// If the body is active, you must remove it from the space first. -void cpSpaceConvertBodyToStatic(cpSpace *space, cpBody *body); -/// Convert a body to a dynamic rogue body. -/// If you want the body to be active after the transition, you must add it to the space also. -void cpSpaceConvertBodyToDynamic(cpSpace *space, cpBody *body, cpFloat mass, cpFloat moment); - -/// Post Step callback function type. -typedef void (*cpPostStepFunc)(cpSpace *space, void *key, void *data); -/// Schedule a post-step callback to be called when cpSpaceStep() finishes. -/// You can only register one callback per unique value for @c key. -/// Returns true only if @c key has never been scheduled before. -/// It's possible to pass @c NULL for @c func if you only want to mark @c key as being used. -cpBool cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *key, void *data); - -/// Point query callback function type. -typedef void (*cpSpacePointQueryFunc)(cpShape *shape, void *data); -/// Query the space at a point and call @c func for each shape found. -void cpSpacePointQuery(cpSpace *space, cpVect point, cpLayers layers, cpGroup group, cpSpacePointQueryFunc func, void *data); -/// Query the space at a point and return the first shape found. Returns NULL if no shapes were found. -cpShape *cpSpacePointQueryFirst(cpSpace *space, cpVect point, cpLayers layers, cpGroup group); - -/// Nearest point query callback function type. -typedef void (*cpSpaceNearestPointQueryFunc)(cpShape *shape, cpFloat distance, cpVect point, void *data); -/// Query the space at a point and call @c func for each shape found. -void cpSpaceNearestPointQuery(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryFunc func, void *data); -/// Query the space at a point and return the nearest shape found. Returns NULL if no shapes were found. -cpShape *cpSpaceNearestPointQueryNearest(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpNearestPointQueryInfo *out); - -/// Segment query callback function type. -typedef void (*cpSpaceSegmentQueryFunc)(cpShape *shape, cpFloat t, cpVect n, void *data); -/// Perform a directed line segment query (like a raycast) against the space calling @c func for each shape intersected. -void cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryFunc func, void *data); -/// Perform a directed line segment query (like a raycast) against the space and return the first shape hit. Returns NULL if no shapes were hit. -cpShape *cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSegmentQueryInfo *out); - -/// Rectangle Query callback function type. -typedef void (*cpSpaceBBQueryFunc)(cpShape *shape, void *data); -/// Perform a fast rectangle query on the space calling @c func for each shape found. -/// Only the shape's bounding boxes are checked for overlap, not their full shape. -void cpSpaceBBQuery(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryFunc func, void *data); - -/// Shape query callback function type. -typedef void (*cpSpaceShapeQueryFunc)(cpShape *shape, cpContactPointSet *points, void *data); -/// Query a space for any shapes overlapping the given shape and call @c func for each shape found. -cpBool cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data); - -/// Call cpBodyActivate() for any shape that is overlaps the given shape. -void cpSpaceActivateShapesTouchingShape(cpSpace *space, cpShape *shape); - - -/// Space/body iterator callback function type. -typedef void (*cpSpaceBodyIteratorFunc)(cpBody *body, void *data); -/// Call @c func for each body in the space. -void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIteratorFunc func, void *data); - -/// Space/body iterator callback function type. -typedef void (*cpSpaceShapeIteratorFunc)(cpShape *shape, void *data); -/// Call @c func for each shape in the space. -void cpSpaceEachShape(cpSpace *space, cpSpaceShapeIteratorFunc func, void *data); - -/// Space/constraint iterator callback function type. -typedef void (*cpSpaceConstraintIteratorFunc)(cpConstraint *constraint, void *data); -/// Call @c func for each shape in the space. -void cpSpaceEachConstraint(cpSpace *space, cpSpaceConstraintIteratorFunc func, void *data); - -/// Update the collision detection info for the static shapes in the space. -void cpSpaceReindexStatic(cpSpace *space); -/// Update the collision detection data for a specific shape in the space. -void cpSpaceReindexShape(cpSpace *space, cpShape *shape); -/// Update the collision detection data for all shapes attached to a body. -void cpSpaceReindexShapesForBody(cpSpace *space, cpBody *body); - -/// Switch the space to use a spatial has as it's spatial index. -void cpSpaceUseSpatialHash(cpSpace *space, cpFloat dim, int count); - -/// Step the space forward in time by @c dt. -void cpSpaceStep(cpSpace *space, cpFloat dt); - -/// @} diff --git a/android/x86/include/chipmunk/chipmunk/cpSpatialIndex.h b/android/x86/include/chipmunk/chipmunk/cpSpatialIndex.h deleted file mode 100644 index c279cad0..00000000 --- a/android/x86/include/chipmunk/chipmunk/cpSpatialIndex.h +++ /dev/null @@ -1,227 +0,0 @@ -/* Copyright (c) 2010 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/** - @defgroup cpSpatialIndex cpSpatialIndex - - Spatial indexes are data structures that are used to accelerate collision detection - and spatial queries. Chipmunk provides a number of spatial index algorithms to pick from - and they are programmed in a generic way so that you can use them for holding more than - just cpShape structs. - - It works by using @c void pointers to the objects you add and using a callback to ask your code - for bounding boxes when it needs them. Several types of queries can be performed an index as well - as reindexing and full collision information. All communication to the spatial indexes is performed - through callback functions. - - Spatial indexes should be treated as opaque structs. - This meanns you shouldn't be reading any of the struct fields. - @{ -*/ - -//MARK: Spatial Index - -/// Spatial index bounding box callback function type. -/// The spatial index calls this function and passes you a pointer to an object you added -/// when it needs to get the bounding box associated with that object. -typedef cpBB (*cpSpatialIndexBBFunc)(void *obj); -/// Spatial index/object iterator callback function type. -typedef void (*cpSpatialIndexIteratorFunc)(void *obj, void *data); -/// Spatial query callback function type. -typedef cpCollisionID (*cpSpatialIndexQueryFunc)(void *obj1, void *obj2, cpCollisionID id, void *data); -/// Spatial segment query callback function type. -typedef cpFloat (*cpSpatialIndexSegmentQueryFunc)(void *obj1, void *obj2, void *data); - - -typedef struct cpSpatialIndexClass cpSpatialIndexClass; -typedef struct cpSpatialIndex cpSpatialIndex; - -/// @private -struct cpSpatialIndex { - cpSpatialIndexClass *klass; - - cpSpatialIndexBBFunc bbfunc; - - cpSpatialIndex *staticIndex, *dynamicIndex; -}; - - -//MARK: Spatial Hash - -typedef struct cpSpaceHash cpSpaceHash; - -/// Allocate a spatial hash. -cpSpaceHash* cpSpaceHashAlloc(void); -/// Initialize a spatial hash. -cpSpatialIndex* cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); -/// Allocate and initialize a spatial hash. -cpSpatialIndex* cpSpaceHashNew(cpFloat celldim, int cells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - -/// Change the cell dimensions and table size of the spatial hash to tune it. -/// The cell dimensions should roughly match the average size of your objects -/// and the table size should be ~10 larger than the number of objects inserted. -/// Some trial and error is required to find the optimum numbers for efficiency. -void cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells); - -//MARK: AABB Tree - -typedef struct cpBBTree cpBBTree; - -/// Allocate a bounding box tree. -cpBBTree* cpBBTreeAlloc(void); -/// Initialize a bounding box tree. -cpSpatialIndex* cpBBTreeInit(cpBBTree *tree, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); -/// Allocate and initialize a bounding box tree. -cpSpatialIndex* cpBBTreeNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - -/// Perform a static top down optimization of the tree. -void cpBBTreeOptimize(cpSpatialIndex *index); - -/// Bounding box tree velocity callback function. -/// This function should return an estimate for the object's velocity. -typedef cpVect (*cpBBTreeVelocityFunc)(void *obj); -/// Set the velocity function for the bounding box tree to enable temporal coherence. -void cpBBTreeSetVelocityFunc(cpSpatialIndex *index, cpBBTreeVelocityFunc func); - -//MARK: Single Axis Sweep - -typedef struct cpSweep1D cpSweep1D; - -/// Allocate a 1D sort and sweep broadphase. -cpSweep1D* cpSweep1DAlloc(void); -/// Initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DInit(cpSweep1D *sweep, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); -/// Allocate and initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - -//MARK: Spatial Index Implementation - -typedef void (*cpSpatialIndexDestroyImpl)(cpSpatialIndex *index); - -typedef int (*cpSpatialIndexCountImpl)(cpSpatialIndex *index); -typedef void (*cpSpatialIndexEachImpl)(cpSpatialIndex *index, cpSpatialIndexIteratorFunc func, void *data); - -typedef cpBool (*cpSpatialIndexContainsImpl)(cpSpatialIndex *index, void *obj, cpHashValue hashid); -typedef void (*cpSpatialIndexInsertImpl)(cpSpatialIndex *index, void *obj, cpHashValue hashid); -typedef void (*cpSpatialIndexRemoveImpl)(cpSpatialIndex *index, void *obj, cpHashValue hashid); - -typedef void (*cpSpatialIndexReindexImpl)(cpSpatialIndex *index); -typedef void (*cpSpatialIndexReindexObjectImpl)(cpSpatialIndex *index, void *obj, cpHashValue hashid); -typedef void (*cpSpatialIndexReindexQueryImpl)(cpSpatialIndex *index, cpSpatialIndexQueryFunc func, void *data); - -typedef void (*cpSpatialIndexQueryImpl)(cpSpatialIndex *index, void *obj, cpBB bb, cpSpatialIndexQueryFunc func, void *data); -typedef void (*cpSpatialIndexSegmentQueryImpl)(cpSpatialIndex *index, void *obj, cpVect a, cpVect b, cpFloat t_exit, cpSpatialIndexSegmentQueryFunc func, void *data); - -struct cpSpatialIndexClass { - cpSpatialIndexDestroyImpl destroy; - - cpSpatialIndexCountImpl count; - cpSpatialIndexEachImpl each; - - cpSpatialIndexContainsImpl contains; - cpSpatialIndexInsertImpl insert; - cpSpatialIndexRemoveImpl remove; - - cpSpatialIndexReindexImpl reindex; - cpSpatialIndexReindexObjectImpl reindexObject; - cpSpatialIndexReindexQueryImpl reindexQuery; - - cpSpatialIndexQueryImpl query; - cpSpatialIndexSegmentQueryImpl segmentQuery; -}; - -/// Destroy and free a spatial index. -void cpSpatialIndexFree(cpSpatialIndex *index); -/// Collide the objects in @c dynamicIndex against the objects in @c staticIndex using the query callback function. -void cpSpatialIndexCollideStatic(cpSpatialIndex *dynamicIndex, cpSpatialIndex *staticIndex, cpSpatialIndexQueryFunc func, void *data); - -/// Destroy a spatial index. -static inline void cpSpatialIndexDestroy(cpSpatialIndex *index) -{ - if(index->klass) index->klass->destroy(index); -} - -/// Get the number of objects in the spatial index. -static inline int cpSpatialIndexCount(cpSpatialIndex *index) -{ - return index->klass->count(index); -} - -/// Iterate the objects in the spatial index. @c func will be called once for each object. -static inline void cpSpatialIndexEach(cpSpatialIndex *index, cpSpatialIndexIteratorFunc func, void *data) -{ - index->klass->each(index, func, data); -} - -/// Returns true if the spatial index contains the given object. -/// Most spatial indexes use hashed storage, so you must provide a hash value too. -static inline cpBool cpSpatialIndexContains(cpSpatialIndex *index, void *obj, cpHashValue hashid) -{ - return index->klass->contains(index, obj, hashid); -} - -/// Add an object to a spatial index. -/// Most spatial indexes use hashed storage, so you must provide a hash value too. -static inline void cpSpatialIndexInsert(cpSpatialIndex *index, void *obj, cpHashValue hashid) -{ - index->klass->insert(index, obj, hashid); -} - -/// Remove an object from a spatial index. -/// Most spatial indexes use hashed storage, so you must provide a hash value too. -static inline void cpSpatialIndexRemove(cpSpatialIndex *index, void *obj, cpHashValue hashid) -{ - index->klass->remove(index, obj, hashid); -} - -/// Perform a full reindex of a spatial index. -static inline void cpSpatialIndexReindex(cpSpatialIndex *index) -{ - index->klass->reindex(index); -} - -/// Reindex a single object in the spatial index. -static inline void cpSpatialIndexReindexObject(cpSpatialIndex *index, void *obj, cpHashValue hashid) -{ - index->klass->reindexObject(index, obj, hashid); -} - -/// Perform a rectangle query against the spatial index, calling @c func for each potential match. -static inline void cpSpatialIndexQuery(cpSpatialIndex *index, void *obj, cpBB bb, cpSpatialIndexQueryFunc func, void *data) -{ - index->klass->query(index, obj, bb, func, data); -} - -/// Perform a segment query against the spatial index, calling @c func for each potential match. -static inline void cpSpatialIndexSegmentQuery(cpSpatialIndex *index, void *obj, cpVect a, cpVect b, cpFloat t_exit, cpSpatialIndexSegmentQueryFunc func, void *data) -{ - index->klass->segmentQuery(index, obj, a, b, t_exit, func, data); -} - -/// Simultaneously reindex and find all colliding objects. -/// @c func will be called once for each potentially overlapping pair of objects found. -/// If the spatial index was initialized with a static index, it will collide it's objects against that as well. -static inline void cpSpatialIndexReindexQuery(cpSpatialIndex *index, cpSpatialIndexQueryFunc func, void *data) -{ - index->klass->reindexQuery(index, func, data); -} - -///@} diff --git a/android/x86/include/chipmunk/chipmunk/cpVect.h b/android/x86/include/chipmunk/chipmunk/cpVect.h deleted file mode 100644 index 90855e56..00000000 --- a/android/x86/include/chipmunk/chipmunk/cpVect.h +++ /dev/null @@ -1,213 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpVect cpVect -/// Chipmunk's 2D vector type along with a handy 2D vector math lib. -/// @{ - -/// Constant for the zero vector. -static const cpVect cpvzero = {0.0f,0.0f}; - -/// Convenience constructor for cpVect structs. -static inline cpVect cpv(const cpFloat x, const cpFloat y) -{ - cpVect v = {x, y}; - return v; -} - -/// Spherical linearly interpolate between v1 and v2. -cpVect cpvslerp(const cpVect v1, const cpVect v2, const cpFloat t); - -/// Spherical linearly interpolate between v1 towards v2 by no more than angle a radians -cpVect cpvslerpconst(const cpVect v1, const cpVect v2, const cpFloat a); - -/// Returns a string representation of v. Intended mostly for debugging purposes and not production use. -/// @attention The string points to a static local and is reset every time the function is called. -/// If you want to print more than one vector you will have to split up your printing onto separate lines. -char* cpvstr(const cpVect v); - -/// Check if two vectors are equal. (Be careful when comparing floating point numbers!) -static inline cpBool cpveql(const cpVect v1, const cpVect v2) -{ - return (v1.x == v2.x && v1.y == v2.y); -} - -/// Add two vectors -static inline cpVect cpvadd(const cpVect v1, const cpVect v2) -{ - return cpv(v1.x + v2.x, v1.y + v2.y); -} - -/// Subtract two vectors. -static inline cpVect cpvsub(const cpVect v1, const cpVect v2) -{ - return cpv(v1.x - v2.x, v1.y - v2.y); -} - -/// Negate a vector. -static inline cpVect cpvneg(const cpVect v) -{ - return cpv(-v.x, -v.y); -} - -/// Scalar multiplication. -static inline cpVect cpvmult(const cpVect v, const cpFloat s) -{ - return cpv(v.x*s, v.y*s); -} - -/// Vector dot product. -static inline cpFloat cpvdot(const cpVect v1, const cpVect v2) -{ - return v1.x*v2.x + v1.y*v2.y; -} - -/// 2D vector cross product analog. -/// The cross product of 2D vectors results in a 3D vector with only a z component. -/// This function returns the magnitude of the z value. -static inline cpFloat cpvcross(const cpVect v1, const cpVect v2) -{ - return v1.x*v2.y - v1.y*v2.x; -} - -/// Returns a perpendicular vector. (90 degree rotation) -static inline cpVect cpvperp(const cpVect v) -{ - return cpv(-v.y, v.x); -} - -/// Returns a perpendicular vector. (-90 degree rotation) -static inline cpVect cpvrperp(const cpVect v) -{ - return cpv(v.y, -v.x); -} - -/// Returns the vector projection of v1 onto v2. -static inline cpVect cpvproject(const cpVect v1, const cpVect v2) -{ - return cpvmult(v2, cpvdot(v1, v2)/cpvdot(v2, v2)); -} - -/// Returns the unit length vector for the given angle (in radians). -static inline cpVect cpvforangle(const cpFloat a) -{ - return cpv(cpfcos(a), cpfsin(a)); -} - -/// Returns the angular direction v is pointing in (in radians). -static inline cpFloat cpvtoangle(const cpVect v) -{ - return cpfatan2(v.y, v.x); -} - -/// Uses complex number multiplication to rotate v1 by v2. Scaling will occur if v1 is not a unit vector. -static inline cpVect cpvrotate(const cpVect v1, const cpVect v2) -{ - return cpv(v1.x*v2.x - v1.y*v2.y, v1.x*v2.y + v1.y*v2.x); -} - -/// Inverse of cpvrotate(). -static inline cpVect cpvunrotate(const cpVect v1, const cpVect v2) -{ - return cpv(v1.x*v2.x + v1.y*v2.y, v1.y*v2.x - v1.x*v2.y); -} - -/// Returns the squared length of v. Faster than cpvlength() when you only need to compare lengths. -static inline cpFloat cpvlengthsq(const cpVect v) -{ - return cpvdot(v, v); -} - -/// Returns the length of v. -static inline cpFloat cpvlength(const cpVect v) -{ - return cpfsqrt(cpvdot(v, v)); -} - -/// Linearly interpolate between v1 and v2. -static inline cpVect cpvlerp(const cpVect v1, const cpVect v2, const cpFloat t) -{ - return cpvadd(cpvmult(v1, 1.0f - t), cpvmult(v2, t)); -} - -/// Returns a normalized copy of v. -static inline cpVect cpvnormalize(const cpVect v) -{ - // Neat trick I saw somewhere to avoid div/0. - return cpvmult(v, 1.0f/(cpvlength(v) + CPFLOAT_MIN)); -} - -/// @deprecated Just an alias for cpvnormalize() now. -static inline cpVect cpvnormalize_safe(const cpVect v) -{ - return cpvnormalize(v); -} - -/// Clamp v to length len. -static inline cpVect cpvclamp(const cpVect v, const cpFloat len) -{ - return (cpvdot(v,v) > len*len) ? cpvmult(cpvnormalize(v), len) : v; -} - -/// Linearly interpolate between v1 towards v2 by distance d. -static inline cpVect cpvlerpconst(cpVect v1, cpVect v2, cpFloat d) -{ - return cpvadd(v1, cpvclamp(cpvsub(v2, v1), d)); -} - -/// Returns the distance between v1 and v2. -static inline cpFloat cpvdist(const cpVect v1, const cpVect v2) -{ - return cpvlength(cpvsub(v1, v2)); -} - -/// Returns the squared distance between v1 and v2. Faster than cpvdist() when you only need to compare distances. -static inline cpFloat cpvdistsq(const cpVect v1, const cpVect v2) -{ - return cpvlengthsq(cpvsub(v1, v2)); -} - -/// Returns true if the distance between v1 and v2 is less than dist. -static inline cpBool cpvnear(const cpVect v1, const cpVect v2, const cpFloat dist) -{ - return cpvdistsq(v1, v2) < dist*dist; -} - -/// @} - -/// @defgroup cpMat2x2 cpMat2x2 -/// 2x2 matrix type used for tensors and such. -/// @{ - -static inline cpMat2x2 -cpMat2x2New(cpFloat a, cpFloat b, cpFloat c, cpFloat d) -{ - cpMat2x2 m = {a, b, c, d}; - return m; -} - -static inline cpVect -cpMat2x2Transform(cpMat2x2 m, cpVect v) -{ - return cpv(v.x*m.a + v.y*m.b, v.x*m.c + v.y*m.d); -} - -///@} diff --git a/android/x86/include/chipmunk/chipmunk_ffi.h b/android/x86/include/chipmunk/chipmunk_ffi.h index 53ac6937..c0248410 100644 --- a/android/x86/include/chipmunk/chipmunk_ffi.h +++ b/android/x86/include/chipmunk/chipmunk_ffi.h @@ -1,11 +1,35 @@ +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + #ifdef CHIPMUNK_FFI // Create non static inlined copies of Chipmunk functions, useful for working with dynamic FFIs // This file should only be included in chipmunk.c +// TODO: get rid of the reliance on static inlines. +// They make a mess for FFIs. + #ifdef _MSC_VER #if _MSC_VER >= 1600 - #define MAKE_REF(name) decltype(name) *_##name = name + #define MAKE_REF(name) CP_EXPORT decltype(name) *_##name = name #else #define MAKE_REF(name) #endif @@ -13,8 +37,9 @@ #define MAKE_REF(name) __typeof__(name) *_##name = name #endif -#define MAKE_PROPERTIES_REF(struct, property) \ - MAKE_REF(struct##Get##property); MAKE_REF(struct##Set##property) +#ifdef __cplusplus +extern "C" { +#endif MAKE_REF(cpv); // makes a variable named _cpv that contains the function pointer for cpv() MAKE_REF(cpveql); @@ -35,7 +60,6 @@ MAKE_REF(cpvlengthsq); MAKE_REF(cpvlength); MAKE_REF(cpvlerp); MAKE_REF(cpvnormalize); -MAKE_REF(cpvnormalize_safe); MAKE_REF(cpvclamp); MAKE_REF(cpvlerpconst); MAKE_REF(cpvdist); @@ -50,104 +74,20 @@ MAKE_REF(cpflerp); MAKE_REF(cpflerpconst); MAKE_REF(cpBBNew); +MAKE_REF(cpBBNewForExtents); MAKE_REF(cpBBNewForCircle); MAKE_REF(cpBBIntersects); MAKE_REF(cpBBContainsBB); MAKE_REF(cpBBContainsVect); MAKE_REF(cpBBMerge); MAKE_REF(cpBBExpand); +MAKE_REF(cpBBCenter); MAKE_REF(cpBBArea); MAKE_REF(cpBBMergedArea); MAKE_REF(cpBBSegmentQuery); MAKE_REF(cpBBIntersectsSegment); MAKE_REF(cpBBClampVect); -MAKE_REF(cpBodyGetMass); -MAKE_REF(cpBodyGetMoment); -MAKE_REF(cpBodyGetPos); -MAKE_REF(cpBodyGetAngle); -MAKE_REF(cpBodyGetRot); -MAKE_PROPERTIES_REF(cpBody, Vel); -MAKE_PROPERTIES_REF(cpBody, Force); -MAKE_PROPERTIES_REF(cpBody, AngVel); -MAKE_PROPERTIES_REF(cpBody, Torque); -MAKE_PROPERTIES_REF(cpBody, VelLimit); -MAKE_PROPERTIES_REF(cpBody, AngVelLimit); -MAKE_PROPERTIES_REF(cpBody, UserData); -MAKE_REF(cpBodyIsSleeping); -MAKE_REF(cpBodyIsStatic); -MAKE_REF(cpBodyIsRogue); -MAKE_REF(cpBodyLocal2World); -MAKE_REF(cpBodyWorld2Local); -MAKE_REF(cpBodyKineticEnergy); - -MAKE_REF(cpShapeGetBB); -MAKE_PROPERTIES_REF(cpShape, Body); -MAKE_PROPERTIES_REF(cpShape, Sensor); -MAKE_PROPERTIES_REF(cpShape, Elasticity); -MAKE_PROPERTIES_REF(cpShape, Friction); -MAKE_PROPERTIES_REF(cpShape, SurfaceVelocity); -MAKE_PROPERTIES_REF(cpShape, UserData); -MAKE_PROPERTIES_REF(cpShape, CollisionType); -MAKE_PROPERTIES_REF(cpShape, Group); -MAKE_PROPERTIES_REF(cpShape, Layers); - -MAKE_REF(cpArbiterGetShapes); -MAKE_REF(cpArbiterGetBodies); -MAKE_REF(cpArbiterIsFirstContact); -MAKE_REF(cpArbiterGetCount); - -MAKE_REF(cpConstraintGetA); -MAKE_REF(cpConstraintGetB); -MAKE_PROPERTIES_REF(cpConstraint, MaxForce); -MAKE_PROPERTIES_REF(cpConstraint, ErrorBias); -MAKE_PROPERTIES_REF(cpConstraint, MaxBias); -MAKE_PROPERTIES_REF(cpConstraint, UserData); -MAKE_REF(cpConstraintGetImpulse); - -MAKE_PROPERTIES_REF(cpDampedRotarySpring, RestAngle); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedRotarySpring, SpringTorqueFunc); - -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr1); -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr2); -MAKE_PROPERTIES_REF(cpDampedSpring, RestLength); -MAKE_PROPERTIES_REF(cpDampedSpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedSpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedSpring, SpringForceFunc); - -MAKE_PROPERTIES_REF(cpGearJoint, Phase); -MAKE_REF(cpGearJointGetRatio); - -MAKE_PROPERTIES_REF(cpGrooveJoint, Anchr2); -MAKE_REF(cpGrooveJointGetGrooveA); -MAKE_REF(cpGrooveJointGetGrooveB); - -MAKE_PROPERTIES_REF(cpPinJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPinJoint, Anchr2); -MAKE_PROPERTIES_REF(cpPinJoint, Dist); - -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr2); - -MAKE_PROPERTIES_REF(cpRatchetJoint, Angle); -MAKE_PROPERTIES_REF(cpRatchetJoint, Phase); -MAKE_PROPERTIES_REF(cpRatchetJoint, Ratchet); - -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Min); -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Max); - -MAKE_PROPERTIES_REF(cpSimpleMotor, Rate); - -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr1); -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr2); -MAKE_PROPERTIES_REF(cpSlideJoint, Min); -MAKE_PROPERTIES_REF(cpSlideJoint, Max); - -MAKE_REF(cpSegmentQueryHitPoint); -MAKE_REF(cpSegmentQueryHitDist); - MAKE_REF(cpSpatialIndexDestroy); MAKE_REF(cpSpatialIndexCount); MAKE_REF(cpSpatialIndexEach); @@ -160,18 +100,8 @@ MAKE_REF(cpSpatialIndexSegmentQuery); MAKE_REF(cpSpatialIndexQuery); MAKE_REF(cpSpatialIndexReindexQuery); -MAKE_PROPERTIES_REF(cpSpace, Iterations); -MAKE_PROPERTIES_REF(cpSpace, Gravity); -MAKE_PROPERTIES_REF(cpSpace, Damping); -MAKE_PROPERTIES_REF(cpSpace, IdleSpeedThreshold); -MAKE_PROPERTIES_REF(cpSpace, SleepTimeThreshold); -MAKE_PROPERTIES_REF(cpSpace, CollisionSlop); -MAKE_PROPERTIES_REF(cpSpace, CollisionBias); -MAKE_PROPERTIES_REF(cpSpace, CollisionPersistence); -MAKE_PROPERTIES_REF(cpSpace, EnableContactGraph); -MAKE_PROPERTIES_REF(cpSpace, UserData); -MAKE_REF(cpSpaceGetStaticBody); -MAKE_REF(cpSpaceGetCurrentTimeStep); -MAKE_REF(cpSpaceIsLocked); +#ifdef __cplusplus +} +#endif #endif diff --git a/android/x86/include/chipmunk/chipmunk_private.h b/android/x86/include/chipmunk/chipmunk_private.h index f676345b..abe56395 100644 --- a/android/x86/include/chipmunk/chipmunk_private.h +++ b/android/x86/include/chipmunk/chipmunk_private.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -18,9 +18,14 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. */ +#ifndef CHIPMUNK_PRIVATE_H +#define CHIPMUNK_PRIVATE_H +#ifdef CHIPMUNK_H +#error Cannot include chipmunk_private.h after chipmunk.h. +#endif #define CP_ALLOW_PRIVATE_ACCESS 1 -#include "chipmunk.h" +#include "chipmunk/chipmunk.h" #define CP_HASH_COEF (3344921057ul) #define CP_HASH_PAIR(A, B) ((cpHashValue)(A)*CP_HASH_COEF ^ (cpHashValue)(B)*CP_HASH_COEF) @@ -28,6 +33,7 @@ // TODO: Eww. Magic numbers. #define MAGIC_EPSILON 1e-5 + //MARK: cpArray struct cpArray { @@ -47,6 +53,690 @@ cpBool cpArrayContains(cpArray *arr, void *ptr); void cpArrayFreeEach(cpArray *arr, void (freeFunc)(void*)); +//MARK: cpHashSet + +typedef cpBool (*cpHashSetEqlFunc)(void *ptr, void *elt); +typedef void *(*cpHashSetTransFunc)(void *ptr, void *data); + +cpHashSet *cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc); +void cpHashSetSetDefaultValue(cpHashSet *set, void *default_value); + +void cpHashSetFree(cpHashSet *set); + +int cpHashSetCount(cpHashSet *set); +void *cpHashSetInsert(cpHashSet *set, cpHashValue hash, void *ptr, cpHashSetTransFunc trans, void *data); +void *cpHashSetRemove(cpHashSet *set, cpHashValue hash, void *ptr); +void *cpHashSetFind(cpHashSet *set, cpHashValue hash, void *ptr); + +typedef void (*cpHashSetIteratorFunc)(void *elt, void *data); +void cpHashSetEach(cpHashSet *set, cpHashSetIteratorFunc func, void *data); + +typedef cpBool (*cpHashSetFilterFunc)(void *elt, void *data); +void cpHashSetFilter(cpHashSet *set, cpHashSetFilterFunc func, void *data); + + +//MARK: Bodies + +struct cpBody { + // Integration functions + cpBodyVelocityFunc velocity_func; + cpBodyPositionFunc position_func; + + // mass and it's inverse + cpFloat m; + cpFloat m_inv; + + // moment of inertia and it's inverse + cpFloat i; + cpFloat i_inv; + + // center of gravity + cpVect cog; + + // position, velocity, force + cpVect p; + cpVect v; + cpVect f; + + // Angle, angular velocity, torque (radians) + cpFloat a; + cpFloat w; + cpFloat t; + + cpTransform transform; + + cpDataPointer userData; + + // "pseudo-velocities" used for eliminating overlap. + // Erin Catto has some papers that talk about what these are. + cpVect v_bias; + cpFloat w_bias; + + cpSpace *space; + + cpShape *shapeList; + cpArbiter *arbiterList; + cpConstraint *constraintList; + + struct { + cpBody *root; + cpBody *next; + cpFloat idleTime; + } sleeping; +}; + +void cpBodyAddShape(cpBody *body, cpShape *shape); +void cpBodyRemoveShape(cpBody *body, cpShape *shape); + +//void cpBodyAccumulateMassForShape(cpBody *body, cpShape *shape); +void cpBodyAccumulateMassFromShapes(cpBody *body); + +void cpBodyRemoveConstraint(cpBody *body, cpConstraint *constraint); + + +//MARK: Spatial Index Functions + +cpSpatialIndex *cpSpatialIndexInit(cpSpatialIndex *index, cpSpatialIndexClass *klass, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); + + +//MARK: Arbiters + +enum cpArbiterState { + // Arbiter is active and its the first collision. + CP_ARBITER_STATE_FIRST_COLLISION, + // Arbiter is active and its not the first collision. + CP_ARBITER_STATE_NORMAL, + // Collision has been explicitly ignored. + // Either by returning false from a begin collision handler or calling cpArbiterIgnore(). + CP_ARBITER_STATE_IGNORE, + // Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps. + CP_ARBITER_STATE_CACHED, + // Collison arbiter is invalid because one of the shapes was removed. + CP_ARBITER_STATE_INVALIDATED, +}; + +struct cpArbiterThread { + struct cpArbiter *next, *prev; +}; + +struct cpContact { + cpVect r1, r2; + + cpFloat nMass, tMass; + cpFloat bounce; // TODO: look for an alternate bounce solution. + + cpFloat jnAcc, jtAcc, jBias; + cpFloat bias; + + cpHashValue hash; +}; + +struct cpCollisionInfo { + const cpShape *a, *b; + cpCollisionID id; + + cpVect n; + + int count; + // TODO Should this be a unique struct type? + struct cpContact *arr; +}; + +struct cpArbiter { + cpFloat e; + cpFloat u; + cpVect surface_vr; + + cpDataPointer data; + + const cpShape *a, *b; + cpBody *body_a, *body_b; + struct cpArbiterThread thread_a, thread_b; + + int count; + struct cpContact *contacts; + cpVect n; + + // Regular, wildcard A and wildcard B collision handlers. + cpCollisionHandler *handler, *handlerA, *handlerB; + cpBool swapped; + + cpTimestamp stamp; + enum cpArbiterState state; +}; + +cpArbiter* cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b); + +static inline struct cpArbiterThread * +cpArbiterThreadForBody(cpArbiter *arb, cpBody *body) +{ + return (arb->body_a == body ? &arb->thread_a : &arb->thread_b); +} + +void cpArbiterUnthread(cpArbiter *arb); + +void cpArbiterUpdate(cpArbiter *arb, struct cpCollisionInfo *info, cpSpace *space); +void cpArbiterPreStep(cpArbiter *arb, cpFloat dt, cpFloat bias, cpFloat slop); +void cpArbiterApplyCachedImpulse(cpArbiter *arb, cpFloat dt_coef); +void cpArbiterApplyImpulse(cpArbiter *arb); + + +//MARK: Shapes/Collisions + +struct cpShapeMassInfo { + cpFloat m; + cpFloat i; + cpVect cog; + cpFloat area; +}; + +typedef enum cpShapeType{ + CP_CIRCLE_SHAPE, + CP_SEGMENT_SHAPE, + CP_POLY_SHAPE, + CP_NUM_SHAPES +} cpShapeType; + +typedef cpBB (*cpShapeCacheDataImpl)(cpShape *shape, cpTransform transform); +typedef void (*cpShapeDestroyImpl)(cpShape *shape); +typedef void (*cpShapePointQueryImpl)(const cpShape *shape, cpVect p, cpPointQueryInfo *info); +typedef void (*cpShapeSegmentQueryImpl)(const cpShape *shape, cpVect a, cpVect b, cpFloat radius, cpSegmentQueryInfo *info); + +typedef struct cpShapeClass cpShapeClass; + +struct cpShapeClass { + cpShapeType type; + + cpShapeCacheDataImpl cacheData; + cpShapeDestroyImpl destroy; + cpShapePointQueryImpl pointQuery; + cpShapeSegmentQueryImpl segmentQuery; +}; + +struct cpShape { + const cpShapeClass *klass; + + cpSpace *space; + cpBody *body; + struct cpShapeMassInfo massInfo; + cpBB bb; + + cpBool sensor; + + cpFloat e; + cpFloat u; + cpVect surfaceV; + + cpDataPointer userData; + + cpCollisionType type; + cpShapeFilter filter; + + cpShape *next; + cpShape *prev; + + cpHashValue hashid; +}; + +struct cpCircleShape { + cpShape shape; + + cpVect c, tc; + cpFloat r; +}; + +struct cpSegmentShape { + cpShape shape; + + cpVect a, b, n; + cpVect ta, tb, tn; + cpFloat r; + + cpVect a_tangent, b_tangent; +}; + +struct cpSplittingPlane { + cpVect v0, n; +}; + +#define CP_POLY_SHAPE_INLINE_ALLOC 6 + +struct cpPolyShape { + cpShape shape; + + cpFloat r; + + int count; + // The untransformed planes are appended at the end of the transformed planes. + struct cpSplittingPlane *planes; + + // Allocate a small number of splitting planes internally for simple poly. + struct cpSplittingPlane _planes[2*CP_POLY_SHAPE_INLINE_ALLOC]; +}; + +cpShape *cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body, struct cpShapeMassInfo massInfo); + +static inline cpBool +cpShapeActive(cpShape *shape) +{ + // checks if the shape is added to a shape list. + // TODO could this just check the space now? + return (shape->prev || (shape->body && shape->body->shapeList == shape)); +} + +// Note: This function returns contact points with r1/r2 in absolute coordinates, not body relative. +struct cpCollisionInfo cpCollide(const cpShape *a, const cpShape *b, cpCollisionID id, struct cpContact *contacts); + +static inline void +CircleSegmentQuery(cpShape *shape, cpVect center, cpFloat r1, cpVect a, cpVect b, cpFloat r2, cpSegmentQueryInfo *info) +{ + cpVect da = cpvsub(a, center); + cpVect db = cpvsub(b, center); + cpFloat rsum = r1 + r2; + + cpFloat qa = cpvdot(da, da) - 2.0f*cpvdot(da, db) + cpvdot(db, db); + cpFloat qb = cpvdot(da, db) - cpvdot(da, da); + cpFloat det = qb*qb - qa*(cpvdot(da, da) - rsum*rsum); + + if(det >= 0.0f){ + cpFloat t = (-qb - cpfsqrt(det))/(qa); + if(0.0f<= t && t <= 1.0f){ + cpVect n = cpvnormalize(cpvlerp(da, db, t)); + + info->shape = shape; + info->point = cpvsub(cpvlerp(a, b, t), cpvmult(n, r2)); + info->normal = n; + info->alpha = t; + } + } +} + +static inline cpBool +cpShapeFilterReject(cpShapeFilter a, cpShapeFilter b) +{ + // Reject the collision if: + return ( + // They are in the same non-zero group. + (a.group != 0 && a.group == b.group) || + // One of the category/mask combinations fails. + (a.categories & b.mask) == 0 || + (b.categories & a.mask) == 0 + ); +} + +void cpLoopIndexes(const cpVect *verts, int count, int *start, int *end); + + +//MARK: Constraints +// TODO naming conventions here + +typedef void (*cpConstraintPreStepImpl)(cpConstraint *constraint, cpFloat dt); +typedef void (*cpConstraintApplyCachedImpulseImpl)(cpConstraint *constraint, cpFloat dt_coef); +typedef void (*cpConstraintApplyImpulseImpl)(cpConstraint *constraint, cpFloat dt); +typedef cpFloat (*cpConstraintGetImpulseImpl)(cpConstraint *constraint); + +typedef struct cpConstraintClass { + cpConstraintPreStepImpl preStep; + cpConstraintApplyCachedImpulseImpl applyCachedImpulse; + cpConstraintApplyImpulseImpl applyImpulse; + cpConstraintGetImpulseImpl getImpulse; +} cpConstraintClass; + +struct cpConstraint { + const cpConstraintClass *klass; + + cpSpace *space; + + cpBody *a, *b; + cpConstraint *next_a, *next_b; + + cpFloat maxForce; + cpFloat errorBias; + cpFloat maxBias; + + cpBool collideBodies; + + cpConstraintPreSolveFunc preSolve; + cpConstraintPostSolveFunc postSolve; + + cpDataPointer userData; +}; + +struct cpPinJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat dist; + + cpVect r1, r2; + cpVect n; + cpFloat nMass; + + cpFloat jnAcc; + cpFloat bias; +}; + +struct cpSlideJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat min, max; + + cpVect r1, r2; + cpVect n; + cpFloat nMass; + + cpFloat jnAcc; + cpFloat bias; +}; + +struct cpPivotJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + + cpVect r1, r2; + cpMat2x2 k; + + cpVect jAcc; + cpVect bias; +}; + +struct cpGrooveJoint { + cpConstraint constraint; + cpVect grv_n, grv_a, grv_b; + cpVect anchorB; + + cpVect grv_tn; + cpFloat clamp; + cpVect r1, r2; + cpMat2x2 k; + + cpVect jAcc; + cpVect bias; +}; + +struct cpDampedSpring { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat restLength; + cpFloat stiffness; + cpFloat damping; + cpDampedSpringForceFunc springForceFunc; + + cpFloat target_vrn; + cpFloat v_coef; + + cpVect r1, r2; + cpFloat nMass; + cpVect n; + + cpFloat jAcc; +}; + +struct cpDampedRotarySpring { + cpConstraint constraint; + cpFloat restAngle; + cpFloat stiffness; + cpFloat damping; + cpDampedRotarySpringTorqueFunc springTorqueFunc; + + cpFloat target_wrn; + cpFloat w_coef; + + cpFloat iSum; + cpFloat jAcc; +}; + +struct cpRotaryLimitJoint { + cpConstraint constraint; + cpFloat min, max; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpRatchetJoint { + cpConstraint constraint; + cpFloat angle, phase, ratchet; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpGearJoint { + cpConstraint constraint; + cpFloat phase, ratio; + cpFloat ratio_inv; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpSimpleMotor { + cpConstraint constraint; + cpFloat rate; + + cpFloat iSum; + + cpFloat jAcc; +}; + +void cpConstraintInit(cpConstraint *constraint, const struct cpConstraintClass *klass, cpBody *a, cpBody *b); + +static inline void +cpConstraintActivateBodies(cpConstraint *constraint) +{ + cpBody *a = constraint->a; cpBodyActivate(a); + cpBody *b = constraint->b; cpBodyActivate(b); +} + +static inline cpVect +relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){ + cpVect v1_sum = cpvadd(a->CP_PRIVATE(v), cpvmult(cpvperp(r1), a->CP_PRIVATE(w))); + cpVect v2_sum = cpvadd(b->CP_PRIVATE(v), cpvmult(cpvperp(r2), b->CP_PRIVATE(w))); + + return cpvsub(v2_sum, v1_sum); +} + +static inline cpFloat +normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){ + return cpvdot(relative_velocity(a, b, r1, r2), n); +} + +static inline void +apply_impulse(cpBody *body, cpVect j, cpVect r){ + body->CP_PRIVATE(v) = cpvadd(body->CP_PRIVATE(v), cpvmult(j, body->CP_PRIVATE(m_inv))); + body->CP_PRIVATE(w) += body->CP_PRIVATE(i_inv)*cpvcross(r, j); +} + +static inline void +apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) +{ + apply_impulse(a, cpvneg(j), r1); + apply_impulse(b, j, r2); +} + +static inline void +apply_bias_impulse(cpBody *body, cpVect j, cpVect r) +{ + body->CP_PRIVATE(v_bias) = cpvadd(body->CP_PRIVATE(v_bias), cpvmult(j, body->CP_PRIVATE(m_inv))); + body->CP_PRIVATE(w_bias) += body->CP_PRIVATE(i_inv)*cpvcross(r, j); +} + +static inline void +apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) +{ + apply_bias_impulse(a, cpvneg(j), r1); + apply_bias_impulse(b, j, r2); +} + +static inline cpFloat +k_scalar_body(cpBody *body, cpVect r, cpVect n) +{ + cpFloat rcn = cpvcross(r, n); + return body->CP_PRIVATE(m_inv) + body->CP_PRIVATE(i_inv)*rcn*rcn; +} + +static inline cpFloat +k_scalar(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n) +{ + cpFloat value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n); + cpAssertSoft(value != 0.0, "Unsolvable collision or constraint."); + + return value; +} + +static inline cpMat2x2 +k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2) +{ + cpFloat m_sum = a->CP_PRIVATE(m_inv) + b->CP_PRIVATE(m_inv); + + // start with Identity*m_sum + cpFloat k11 = m_sum, k12 = 0.0f; + cpFloat k21 = 0.0f, k22 = m_sum; + + // add the influence from r1 + cpFloat a_i_inv = a->CP_PRIVATE(i_inv); + cpFloat r1xsq = r1.x * r1.x * a_i_inv; + cpFloat r1ysq = r1.y * r1.y * a_i_inv; + cpFloat r1nxy = -r1.x * r1.y * a_i_inv; + k11 += r1ysq; k12 += r1nxy; + k21 += r1nxy; k22 += r1xsq; + + // add the influnce from r2 + cpFloat b_i_inv = b->CP_PRIVATE(i_inv); + cpFloat r2xsq = r2.x * r2.x * b_i_inv; + cpFloat r2ysq = r2.y * r2.y * b_i_inv; + cpFloat r2nxy = -r2.x * r2.y * b_i_inv; + k11 += r2ysq; k12 += r2nxy; + k21 += r2nxy; k22 += r2xsq; + + // invert + cpFloat det = k11*k22 - k12*k21; + cpAssertSoft(det != 0.0, "Unsolvable constraint."); + + cpFloat det_inv = 1.0f/det; + return cpMat2x2New( + k22*det_inv, -k12*det_inv, + -k21*det_inv, k11*det_inv + ); +} + +static inline cpFloat +bias_coef(cpFloat errorBias, cpFloat dt) +{ + return 1.0f - cpfpow(errorBias, dt); +} + + +//MARK: Spaces + +typedef struct cpContactBufferHeader cpContactBufferHeader; +typedef void (*cpSpaceArbiterApplyImpulseFunc)(cpArbiter *arb); + +struct cpSpace { + int iterations; + + cpVect gravity; + cpFloat damping; + + cpFloat idleSpeedThreshold; + cpFloat sleepTimeThreshold; + + cpFloat collisionSlop; + cpFloat collisionBias; + cpTimestamp collisionPersistence; + + cpDataPointer userData; + + cpTimestamp stamp; + cpFloat curr_dt; + + cpArray *dynamicBodies; + cpArray *staticBodies; + cpArray *rousedBodies; + cpArray *sleepingComponents; + + cpHashValue shapeIDCounter; + cpSpatialIndex *staticShapes; + cpSpatialIndex *dynamicShapes; + + cpArray *constraints; + + cpArray *arbiters; + cpContactBufferHeader *contactBuffersHead; + cpHashSet *cachedArbiters; + cpArray *pooledArbiters; + + cpArray *allocatedBuffers; + unsigned int locked; + + cpBool usesWildcards; + cpHashSet *collisionHandlers; + cpCollisionHandler defaultHandler; + + cpBool skipPostStep; + cpArray *postStepCallbacks; + + cpBody *staticBody; + cpBody _staticBody; +}; + +#define cpAssertSpaceUnlocked(space) \ + cpAssertHard(!space->locked, \ + "This operation cannot be done safely during a call to cpSpaceStep() or during a query. " \ + "Put these calls into a post-step callback." \ + ); + +void cpSpaceSetStaticBody(cpSpace *space, cpBody *body); + +extern cpCollisionHandler cpCollisionHandlerDoNothing; + +void cpSpaceProcessComponents(cpSpace *space, cpFloat dt); + +void cpSpacePushFreshContactBuffer(cpSpace *space); +struct cpContact *cpContactBufferGetArray(cpSpace *space); +void cpSpacePushContacts(cpSpace *space, int count); + +typedef struct cpPostStepCallback { + cpPostStepFunc func; + void *key; + void *data; +} cpPostStepCallback; + +cpPostStepCallback *cpSpaceGetPostStepCallback(cpSpace *space, void *key); + +cpBool cpSpaceArbiterSetFilter(cpArbiter *arb, cpSpace *space); +void cpSpaceFilterArbiters(cpSpace *space, cpBody *body, cpShape *filter); + +void cpSpaceActivateBody(cpSpace *space, cpBody *body); +void cpSpaceLock(cpSpace *space); +void cpSpaceUnlock(cpSpace *space, cpBool runPostStep); + +static inline void +cpSpaceUncacheArbiter(cpSpace *space, cpArbiter *arb) +{ + const cpShape *a = arb->a, *b = arb->b; + const cpShape *shape_pair[] = {a, b}; + cpHashValue arbHashID = CP_HASH_PAIR((cpHashValue)a, (cpHashValue)b); + cpHashSetRemove(space->cachedArbiters, arbHashID, shape_pair); + cpArrayDeleteObj(space->arbiters, arb); +} + +static inline cpArray * +cpSpaceArrayForBodyType(cpSpace *space, cpBodyType type) +{ + return (type == CP_BODY_TYPE_STATIC ? space->staticBodies : space->dynamicBodies); +} + +void cpShapeUpdateFunc(cpShape *shape, void *unused); +cpCollisionID cpSpaceCollideShapes(cpShape *a, cpShape *b, cpCollisionID id, cpSpace *space); + + //MARK: Foreach loops static inline cpConstraint * @@ -71,184 +761,6 @@ cpArbiterNext(cpArbiter *node, cpBody *body) for(cpShape *var = body->shapeList; var; var = var->next) #define CP_BODY_FOREACH_COMPONENT(root, var)\ - for(cpBody *var = root; var; var = var->node.next) + for(cpBody *var = root; var; var = var->sleeping.next) - -//MARK: cpHashSet - -typedef cpBool (*cpHashSetEqlFunc)(void *ptr, void *elt); -typedef void *(*cpHashSetTransFunc)(void *ptr, void *data); - -cpHashSet *cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc); -void cpHashSetSetDefaultValue(cpHashSet *set, void *default_value); - -void cpHashSetFree(cpHashSet *set); - -int cpHashSetCount(cpHashSet *set); -void *cpHashSetInsert(cpHashSet *set, cpHashValue hash, void *ptr, void *data, cpHashSetTransFunc trans); -void *cpHashSetRemove(cpHashSet *set, cpHashValue hash, void *ptr); -void *cpHashSetFind(cpHashSet *set, cpHashValue hash, void *ptr); - -typedef void (*cpHashSetIteratorFunc)(void *elt, void *data); -void cpHashSetEach(cpHashSet *set, cpHashSetIteratorFunc func, void *data); - -typedef cpBool (*cpHashSetFilterFunc)(void *elt, void *data); -void cpHashSetFilter(cpHashSet *set, cpHashSetFilterFunc func, void *data); - - -//MARK: Body Functions - -void cpBodyAddShape(cpBody *body, cpShape *shape); -void cpBodyRemoveShape(cpBody *body, cpShape *shape); -void cpBodyRemoveConstraint(cpBody *body, cpConstraint *constraint); - - -//MARK: Shape/Collision Functions - -// TODO should move this to the cpVect API. It's pretty useful. -static inline cpVect -cpClosetPointOnSegment(const cpVect p, const cpVect a, const cpVect b) -{ - cpVect delta = cpvsub(a, b); - cpFloat t = cpfclamp01(cpvdot(delta, cpvsub(p, b))/cpvlengthsq(delta)); - return cpvadd(b, cpvmult(delta, t)); -} - -cpShape* cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body); - -static inline cpBool -cpShapeActive(cpShape *shape) -{ - return shape->prev || (shape->body && shape->body->shapeList == shape); -} - -int cpCollideShapes(const cpShape *a, const cpShape *b, cpCollisionID *id, cpContact *arr); - -static inline void -CircleSegmentQuery(cpShape *shape, cpVect center, cpFloat r, cpVect a, cpVect b, cpSegmentQueryInfo *info) -{ - cpVect da = cpvsub(a, center); - cpVect db = cpvsub(b, center); - - cpFloat qa = cpvdot(da, da) - 2.0f*cpvdot(da, db) + cpvdot(db, db); - cpFloat qb = -2.0f*cpvdot(da, da) + 2.0f*cpvdot(da, db); - cpFloat qc = cpvdot(da, da) - r*r; - - cpFloat det = qb*qb - 4.0f*qa*qc; - - if(det >= 0.0f){ - cpFloat t = (-qb - cpfsqrt(det))/(2.0f*qa); - if(0.0f<= t && t <= 1.0f){ - info->shape = shape; - info->t = t; - info->n = cpvnormalize(cpvlerp(da, db, t)); - } - } -} - -// TODO doesn't really need to be inline, but need a better place to put this function -static inline cpSplittingPlane -cpSplittingPlaneNew(cpVect a, cpVect b) -{ - cpVect n = cpvnormalize(cpvperp(cpvsub(b, a))); - cpSplittingPlane plane = {n, cpvdot(n, a)}; - return plane; -} - -static inline cpFloat -cpSplittingPlaneCompare(cpSplittingPlane plane, cpVect v) -{ - return cpvdot(plane.n, v) - plane.d; -} - -void cpLoopIndexes(cpVect *verts, int count, int *start, int *end); - - -//MARK: Spatial Index Functions - -cpSpatialIndex *cpSpatialIndexInit(cpSpatialIndex *index, cpSpatialIndexClass *klass, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - - -//MARK: Space Functions - -extern cpCollisionHandler cpDefaultCollisionHandler; -void cpSpaceProcessComponents(cpSpace *space, cpFloat dt); - -void cpSpacePushFreshContactBuffer(cpSpace *space); -cpContact *cpContactBufferGetArray(cpSpace *space); -void cpSpacePushContacts(cpSpace *space, int count); - -typedef struct cpPostStepCallback { - cpPostStepFunc func; - void *key; - void *data; -} cpPostStepCallback; - -cpPostStepCallback *cpSpaceGetPostStepCallback(cpSpace *space, void *key); - -cpBool cpSpaceArbiterSetFilter(cpArbiter *arb, cpSpace *space); -void cpSpaceFilterArbiters(cpSpace *space, cpBody *body, cpShape *filter); - -void cpSpaceActivateBody(cpSpace *space, cpBody *body); -void cpSpaceLock(cpSpace *space); -void cpSpaceUnlock(cpSpace *space, cpBool runPostStep); - -static inline cpCollisionHandler * -cpSpaceLookupHandler(cpSpace *space, cpCollisionType a, cpCollisionType b) -{ - cpCollisionType types[] = {a, b}; - return (cpCollisionHandler *)cpHashSetFind(space->collisionHandlers, CP_HASH_PAIR(a, b), types); -} - -static inline void -cpSpaceUncacheArbiter(cpSpace *space, cpArbiter *arb) -{ - cpShape *a = arb->a, *b = arb->b; - cpShape *shape_pair[] = {a, b}; - cpHashValue arbHashID = CP_HASH_PAIR((cpHashValue)a, (cpHashValue)b); - cpHashSetRemove(space->cachedArbiters, arbHashID, shape_pair); - cpArrayDeleteObj(space->arbiters, arb); -} - -void cpShapeUpdateFunc(cpShape *shape, void *unused); -cpCollisionID cpSpaceCollideShapes(cpShape *a, cpShape *b, cpCollisionID id, cpSpace *space); - - -//MARK: Arbiters - -struct cpContact { - cpVect p, n; - cpFloat dist; - - cpVect r1, r2; - cpFloat nMass, tMass, bounce; - - cpFloat jnAcc, jtAcc, jBias; - cpFloat bias; - - cpHashValue hash; -}; - -cpContact* cpContactInit(cpContact *con, cpVect p, cpVect n, cpFloat dist, cpHashValue hash); -cpArbiter* cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b); - -static inline void -cpArbiterCallSeparate(cpArbiter *arb, cpSpace *space) -{ - // The handler needs to be looked up again as the handler cached on the arbiter may have been deleted since the last step. - cpCollisionHandler *handler = cpSpaceLookupHandler(space, arb->a->collision_type, arb->b->collision_type); - handler->separate(arb, space, handler->data); -} - -static inline struct cpArbiterThread * -cpArbiterThreadForBody(cpArbiter *arb, cpBody *body) -{ - return (arb->body_a == body ? &arb->thread_a : &arb->thread_b); -} - -void cpArbiterUnthread(cpArbiter *arb); - -void cpArbiterUpdate(cpArbiter *arb, cpContact *contacts, int numContacts, struct cpCollisionHandler *handler, cpShape *a, cpShape *b); -void cpArbiterPreStep(cpArbiter *arb, cpFloat dt, cpFloat bias, cpFloat slop); -void cpArbiterApplyCachedImpulse(cpArbiter *arb, cpFloat dt_coef); -void cpArbiterApplyImpulse(cpArbiter *arb); +#endif diff --git a/android/x86/include/chipmunk/chipmunk_types.h b/android/x86/include/chipmunk/chipmunk_types.h index 9ed23391..7aee0c79 100644 --- a/android/x86/include/chipmunk/chipmunk_types.h +++ b/android/x86/include/chipmunk/chipmunk_types.h @@ -1,31 +1,34 @@ +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +#ifndef CHIPMUNK_TYPES_H +#define CHIPMUNK_TYPES_H + #include #include - -#ifdef __APPLE__ - #include "TargetConditionals.h" -#endif - -#if ((TARGET_OS_IPHONE == 1) || (TARGET_OS_MAC == 1)) && (!defined CP_USE_CGPOINTS) - #define CP_USE_CGPOINTS 1 -#endif - -#if CP_USE_CGPOINTS == 1 - #if TARGET_OS_IPHONE - #import - #elif TARGET_OS_MAC - #include - #endif - - #if defined(__LP64__) && __LP64__ - #define CP_USE_DOUBLES 1 - #else - #define CP_USE_DOUBLES 0 - #endif -#endif +#include #ifndef CP_USE_DOUBLES - // use doubles by default for higher precision - #define CP_USE_DOUBLES 1 + // Use doubles by default for higher precision. + #define CP_USE_DOUBLES 0 #endif /// @defgroup basicTypes Basic Types @@ -82,13 +85,8 @@ #endif #endif -#ifndef M_PI - #define M_PI 3.14159265358979323846264338327950288 -#endif -#ifndef M_E - #define M_E 2.71828182845904523536028747135266250 -#endif +#define CP_PI ((cpFloat)3.14159265358979323846264338327950288) /// Return the max of two cpFloats. @@ -136,7 +134,11 @@ static inline cpFloat cpflerpconst(cpFloat f1, cpFloat f2, cpFloat d) } /// Hash value type. -typedef uintptr_t cpHashValue; +#ifdef CP_HASH_VALUE_TYPE + typedef CP_HASH_VALUE_TYPE cpHashValue; +#else + typedef uintptr_t cpHashValue; +#endif /// Type used internally to cache colliding object info for cpCollideShapes(). /// Should be at least 32 bits. @@ -147,7 +149,7 @@ typedef uint32_t cpCollisionID; #ifdef CP_BOOL_TYPE typedef CP_BOOL_TYPE cpBool; #else - typedef int cpBool; + typedef unsigned char cpBool; #endif #ifndef cpTrue @@ -181,11 +183,11 @@ typedef uint32_t cpCollisionID; typedef uintptr_t cpGroup; #endif -#ifdef CP_LAYERS_TYPE - typedef CP_LAYERS_TYPE cpLayers; +#ifdef CP_BITMASK_TYPE + typedef CP_BITMASK_TYPE cpBitmask; #else -/// Type used for cpShape.layers. - typedef unsigned int cpLayers; +/// Type used for cpShapeFilter category and mask. + typedef unsigned int cpBitmask; #endif #ifdef CP_TIMESTAMP_TYPE @@ -200,15 +202,21 @@ typedef uint32_t cpCollisionID; #define CP_NO_GROUP ((cpGroup)0) #endif -#ifndef CP_ALL_LAYERS +#ifndef CP_ALL_CATEGORIES /// Value for cpShape.layers signifying that a shape is in every layer. - #define CP_ALL_LAYERS (~(cpLayers)0) + #define CP_ALL_CATEGORIES (~(cpBitmask)0) #endif + +#ifndef CP_WILDCARD_COLLISION_TYPE +/// cpCollisionType value internally reserved for hashing wildcard handlers. + #define CP_WILDCARD_COLLISION_TYPE (~(cpCollisionType)0) +#endif + /// @} // CGPoints are structurally the same, and allow // easy interoperability with other Cocoa libraries -#if CP_USE_CGPOINTS +#if CP_USE_CGTYPES typedef CGPoint cpVect; #else /// Chipmunk's 2D vector type. @@ -216,7 +224,19 @@ typedef uint32_t cpCollisionID; typedef struct cpVect{cpFloat x,y;} cpVect; #endif +#if CP_USE_CGTYPES + typedef CGAffineTransform cpTransform; +#else + /// Column major affine transform. + typedef struct cpTransform { + cpFloat a, b, c, d, tx, ty; + } cpTransform; +#endif + +// NUKE typedef struct cpMat2x2 { // Row major [[a, b][c d]] cpFloat a, b, c, d; } cpMat2x2; + +#endif diff --git a/android/x86/include/chipmunk/chipmunk_unsafe.h b/android/x86/include/chipmunk/chipmunk_unsafe.h index 4428814c..990bd012 100644 --- a/android/x86/include/chipmunk/chipmunk_unsafe.h +++ b/android/x86/include/chipmunk/chipmunk_unsafe.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -36,27 +36,28 @@ /// so the results will be unrealistic. You must explicity include the chipmunk_unsafe.h header to use them. /// @{ -#ifndef CHIPMUNK_UNSAFE_HEADER -#define CHIPMUNK_UNSAFE_HEADER +#ifndef CHIPMUNK_UNSAFE_H +#define CHIPMUNK_UNSAFE_H #ifdef __cplusplus extern "C" { #endif /// Set the radius of a circle shape. -void cpCircleShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpCircleShapeSetRadius(cpShape *shape, cpFloat radius); /// Set the offset of a circle shape. -void cpCircleShapeSetOffset(cpShape *shape, cpVect offset); +CP_EXPORT void cpCircleShapeSetOffset(cpShape *shape, cpVect offset); /// Set the endpoints of a segment shape. -void cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b); +CP_EXPORT void cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b); /// Set the radius of a segment shape. -void cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius); /// Set the vertexes of a poly shape. -void cpPolyShapeSetVerts(cpShape *shape, int numVerts, cpVect *verts, cpVect offset); +CP_EXPORT void cpPolyShapeSetVerts(cpShape *shape, int count, cpVect *verts, cpTransform transform); +CP_EXPORT void cpPolyShapeSetVertsRaw(cpShape *shape, int count, cpVect *verts); /// Set the radius of a poly shape. -void cpPolyShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpPolyShapeSetRadius(cpShape *shape, cpFloat radius); #ifdef __cplusplus } diff --git a/android/x86/include/chipmunk/constraints/cpConstraint.h b/android/x86/include/chipmunk/constraints/cpConstraint.h deleted file mode 100644 index d1059fff..00000000 --- a/android/x86/include/chipmunk/constraints/cpConstraint.h +++ /dev/null @@ -1,161 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpConstraint cpConstraint -/// @{ - -typedef struct cpConstraintClass cpConstraintClass; - -typedef void (*cpConstraintPreStepImpl)(cpConstraint *constraint, cpFloat dt); -typedef void (*cpConstraintApplyCachedImpulseImpl)(cpConstraint *constraint, cpFloat dt_coef); -typedef void (*cpConstraintApplyImpulseImpl)(cpConstraint *constraint, cpFloat dt); -typedef cpFloat (*cpConstraintGetImpulseImpl)(cpConstraint *constraint); - -/// @private -struct cpConstraintClass { - cpConstraintPreStepImpl preStep; - cpConstraintApplyCachedImpulseImpl applyCachedImpulse; - cpConstraintApplyImpulseImpl applyImpulse; - cpConstraintGetImpulseImpl getImpulse; -}; - -/// Callback function type that gets called before solving a joint. -typedef void (*cpConstraintPreSolveFunc)(cpConstraint *constraint, cpSpace *space); -/// Callback function type that gets called after solving a joint. -typedef void (*cpConstraintPostSolveFunc)(cpConstraint *constraint, cpSpace *space); - - -/// Opaque cpConstraint struct. -struct cpConstraint { - CP_PRIVATE(const cpConstraintClass *klass); - - /// The first body connected to this constraint. - cpBody *a; - /// The second body connected to this constraint. - cpBody *b; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpConstraint *next_a); - CP_PRIVATE(cpConstraint *next_b); - - /// The maximum force that this constraint is allowed to use. - /// Defaults to infinity. - cpFloat maxForce; - /// The rate at which joint error is corrected. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that it will - /// correct 10% of the error every 1/60th of a second. - cpFloat errorBias; - /// The maximum rate at which joint error is corrected. - /// Defaults to infinity. - cpFloat maxBias; - - /// Function called before the solver runs. - /// Animate your joint anchors, update your motor torque, etc. - cpConstraintPreSolveFunc preSolve; - - /// Function called after the solver runs. - /// Use the applied impulse to perform effects like breakable joints. - cpConstraintPostSolveFunc postSolve; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpConstraint reference in a callback. - cpDataPointer data; -}; - -/// Destroy a constraint. -void cpConstraintDestroy(cpConstraint *constraint); -/// Destroy and free a constraint. -void cpConstraintFree(cpConstraint *constraint); - -/// @private -static inline void cpConstraintActivateBodies(cpConstraint *constraint) -{ - cpBody *a = constraint->a; if(a) cpBodyActivate(a); - cpBody *b = constraint->b; if(b) cpBodyActivate(b); -} - -/// @private -#define CP_DefineConstraintStructGetter(type, member, name) \ -static inline type cpConstraint##Get##name(const cpConstraint *constraint){return constraint->member;} - -/// @private -#define CP_DefineConstraintStructSetter(type, member, name) \ -static inline void cpConstraint##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintActivateBodies(constraint); \ - constraint->member = value; \ -} - -/// @private -#define CP_DefineConstraintStructProperty(type, member, name) \ -CP_DefineConstraintStructGetter(type, member, name) \ -CP_DefineConstraintStructSetter(type, member, name) - -CP_DefineConstraintStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineConstraintStructGetter(cpBody*, a, A) -CP_DefineConstraintStructGetter(cpBody*, b, B) -CP_DefineConstraintStructProperty(cpFloat, maxForce, MaxForce) -CP_DefineConstraintStructProperty(cpFloat, errorBias, ErrorBias) -CP_DefineConstraintStructProperty(cpFloat, maxBias, MaxBias) -CP_DefineConstraintStructProperty(cpConstraintPreSolveFunc, preSolve, PreSolveFunc) -CP_DefineConstraintStructProperty(cpConstraintPostSolveFunc, postSolve, PostSolveFunc) -CP_DefineConstraintStructProperty(cpDataPointer, data, UserData) - -// Get the last impulse applied by this constraint. -static inline cpFloat cpConstraintGetImpulse(cpConstraint *constraint) -{ - return constraint->CP_PRIVATE(klass)->getImpulse(constraint); -} - -/// @} - -#define cpConstraintCheckCast(constraint, struct) \ - cpAssertHard(constraint->CP_PRIVATE(klass) == struct##GetClass(), "Constraint is not a "#struct) - -#define CP_DefineConstraintGetter(struct, type, member, name) \ -static inline type struct##Get##name(const cpConstraint *constraint){ \ - cpConstraintCheckCast(constraint, struct); \ - return ((struct *)constraint)->member; \ -} - -#define CP_DefineConstraintSetter(struct, type, member, name) \ -static inline void struct##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintCheckCast(constraint, struct); \ - cpConstraintActivateBodies(constraint); \ - ((struct *)constraint)->member = value; \ -} - -#define CP_DefineConstraintProperty(struct, type, member, name) \ -CP_DefineConstraintGetter(struct, type, member, name) \ -CP_DefineConstraintSetter(struct, type, member, name) - -#include "cpPinJoint.h" -#include "cpSlideJoint.h" -#include "cpPivotJoint.h" -#include "cpGrooveJoint.h" -#include "cpDampedSpring.h" -#include "cpDampedRotarySpring.h" -#include "cpRotaryLimitJoint.h" -#include "cpRatchetJoint.h" -#include "cpGearJoint.h" -#include "cpSimpleMotor.h" diff --git a/android/x86/include/chipmunk/constraints/cpDampedRotarySpring.h b/android/x86/include/chipmunk/constraints/cpDampedRotarySpring.h deleted file mode 100644 index 86cf915b..00000000 --- a/android/x86/include/chipmunk/constraints/cpDampedRotarySpring.h +++ /dev/null @@ -1,56 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedRotarySpring cpDampedRotarySpring -/// @{ - -typedef cpFloat (*cpDampedRotarySpringTorqueFunc)(struct cpConstraint *spring, cpFloat relativeAngle); - -const cpConstraintClass *cpDampedRotarySpringGetClass(void); - -/// @private -typedef struct cpDampedRotarySpring { - cpConstraint constraint; - cpFloat restAngle; - cpFloat stiffness; - cpFloat damping; - cpDampedRotarySpringTorqueFunc springTorqueFunc; - - cpFloat target_wrn; - cpFloat w_coef; - - cpFloat iSum; - cpFloat jAcc; -} cpDampedRotarySpring; - -/// Allocate a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringAlloc(void); -/// Initialize a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringInit(cpDampedRotarySpring *joint, cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped rotary spring. -cpConstraint* cpDampedRotarySpringNew(cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, restAngle, RestAngle) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpDampedRotarySpringTorqueFunc, springTorqueFunc, SpringTorqueFunc) - -/// @} diff --git a/android/x86/include/chipmunk/constraints/cpDampedSpring.h b/android/x86/include/chipmunk/constraints/cpDampedSpring.h deleted file mode 100644 index f5120647..00000000 --- a/android/x86/include/chipmunk/constraints/cpDampedSpring.h +++ /dev/null @@ -1,64 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedSpring cpDampedSpring -/// @{ - -typedef struct cpDampedSpring cpDampedSpring; - -typedef cpFloat (*cpDampedSpringForceFunc)(cpConstraint *spring, cpFloat dist); - -const cpConstraintClass *cpDampedSpringGetClass(void); - -/// @private -struct cpDampedSpring { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat restLength; - cpFloat stiffness; - cpFloat damping; - cpDampedSpringForceFunc springForceFunc; - - cpFloat target_vrn; - cpFloat v_coef; - - cpVect r1, r2; - cpFloat nMass; - cpVect n; - - cpFloat jAcc; -}; - -/// Allocate a damped spring. -cpDampedSpring* cpDampedSpringAlloc(void); -/// Initialize a damped spring. -cpDampedSpring* cpDampedSpringInit(cpDampedSpring *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped spring. -cpConstraint* cpDampedSpringNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, restLength, RestLength) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedSpring, cpDampedSpringForceFunc, springForceFunc, SpringForceFunc) - -/// @} diff --git a/android/x86/include/chipmunk/constraints/cpGearJoint.h b/android/x86/include/chipmunk/constraints/cpGearJoint.h deleted file mode 100644 index c9ebf942..00000000 --- a/android/x86/include/chipmunk/constraints/cpGearJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGearJoint cpGearJoint -/// @{ - -const cpConstraintClass *cpGearJointGetClass(void); - -/// @private -typedef struct cpGearJoint { - cpConstraint constraint; - cpFloat phase, ratio; - cpFloat ratio_inv; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpGearJoint; - -/// Allocate a gear joint. -cpGearJoint* cpGearJointAlloc(void); -/// Initialize a gear joint. -cpGearJoint* cpGearJointInit(cpGearJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); -/// Allocate and initialize a gear joint. -cpConstraint* cpGearJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); - -CP_DefineConstraintProperty(cpGearJoint, cpFloat, phase, Phase) -CP_DefineConstraintGetter(cpGearJoint, cpFloat, ratio, Ratio) -/// Set the ratio of a gear joint. -void cpGearJointSetRatio(cpConstraint *constraint, cpFloat value); - -/// @} diff --git a/android/x86/include/chipmunk/constraints/cpGrooveJoint.h b/android/x86/include/chipmunk/constraints/cpGrooveJoint.h deleted file mode 100644 index b260218f..00000000 --- a/android/x86/include/chipmunk/constraints/cpGrooveJoint.h +++ /dev/null @@ -1,57 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGrooveJoint cpGrooveJoint -/// @{ - -const cpConstraintClass *cpGrooveJointGetClass(void); - -/// @private -typedef struct cpGrooveJoint { - cpConstraint constraint; - cpVect grv_n, grv_a, grv_b; - cpVect anchr2; - - cpVect grv_tn; - cpFloat clamp; - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpGrooveJoint; - -/// Allocate a groove joint. -cpGrooveJoint* cpGrooveJointAlloc(void); -/// Initialize a groove joint. -cpGrooveJoint* cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); -/// Allocate and initialize a groove joint. -cpConstraint* cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); - -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_a, GrooveA) -/// Set endpoint a of a groove joint's groove -void cpGrooveJointSetGrooveA(cpConstraint *constraint, cpVect value); -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_b, GrooveB) -/// Set endpoint b of a groove joint's groove -void cpGrooveJointSetGrooveB(cpConstraint *constraint, cpVect value); -CP_DefineConstraintProperty(cpGrooveJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/android/x86/include/chipmunk/constraints/cpPinJoint.h b/android/x86/include/chipmunk/constraints/cpPinJoint.h deleted file mode 100644 index 2413e84a..00000000 --- a/android/x86/include/chipmunk/constraints/cpPinJoint.h +++ /dev/null @@ -1,52 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPinJoint cpPinJoint -/// @{ - -const cpConstraintClass *cpPinJointGetClass(void); - -/// @private -typedef struct cpPinJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat dist; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpPinJoint; - -/// Allocate a pin joint. -cpPinJoint* cpPinJointAlloc(void); -/// Initialize a pin joint. -cpPinJoint* cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pin joint. -cpConstraint* cpPinJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpPinJoint, cpFloat, dist, Dist) - -///@} diff --git a/android/x86/include/chipmunk/constraints/cpPivotJoint.h b/android/x86/include/chipmunk/constraints/cpPivotJoint.h deleted file mode 100644 index a5d33174..00000000 --- a/android/x86/include/chipmunk/constraints/cpPivotJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPivotJoint cpPivotJoint -/// @{ - -const cpConstraintClass *cpPivotJointGetClass(void); - -/// @private -typedef struct cpPivotJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpPivotJoint; - -/// Allocate a pivot joint -cpPivotJoint* cpPivotJointAlloc(void); -/// Initialize a pivot joint. -cpPivotJoint* cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pivot joint. -cpConstraint* cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot); -/// Allocate and initialize a pivot joint with specific anchors. -cpConstraint* cpPivotJointNew2(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/android/x86/include/chipmunk/constraints/cpRatchetJoint.h b/android/x86/include/chipmunk/constraints/cpRatchetJoint.h deleted file mode 100644 index e371b108..00000000 --- a/android/x86/include/chipmunk/constraints/cpRatchetJoint.h +++ /dev/null @@ -1,49 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRatchetJoint cpRatchetJoint -/// @{ - -const cpConstraintClass *cpRatchetJointGetClass(void); - -/// @private -typedef struct cpRatchetJoint { - cpConstraint constraint; - cpFloat angle, phase, ratchet; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRatchetJoint; - -/// Allocate a ratchet joint. -cpRatchetJoint* cpRatchetJointAlloc(void); -/// Initialize a ratched joint. -cpRatchetJoint* cpRatchetJointInit(cpRatchetJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); -/// Allocate and initialize a ratchet joint. -cpConstraint* cpRatchetJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); - -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, angle, Angle) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, phase, Phase) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, ratchet, Ratchet) - -/// @} diff --git a/android/x86/include/chipmunk/constraints/cpRotaryLimitJoint.h b/android/x86/include/chipmunk/constraints/cpRotaryLimitJoint.h deleted file mode 100644 index 2277e40f..00000000 --- a/android/x86/include/chipmunk/constraints/cpRotaryLimitJoint.h +++ /dev/null @@ -1,48 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRotaryLimitJoint cpRotaryLimitJoint -/// @{ - -const cpConstraintClass *cpRotaryLimitJointGetClass(void); - -/// @private -typedef struct cpRotaryLimitJoint { - cpConstraint constraint; - cpFloat min, max; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRotaryLimitJoint; - -/// Allocate a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointAlloc(void); -/// Initialize a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointInit(cpRotaryLimitJoint *joint, cpBody *a, cpBody *b, cpFloat min, cpFloat max); -/// Allocate and initialize a damped rotary limit joint. -cpConstraint* cpRotaryLimitJointNew(cpBody *a, cpBody *b, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, max, Max) - -/// @} diff --git a/android/x86/include/chipmunk/constraints/cpSimpleMotor.h b/android/x86/include/chipmunk/constraints/cpSimpleMotor.h deleted file mode 100644 index 37d28c5d..00000000 --- a/android/x86/include/chipmunk/constraints/cpSimpleMotor.h +++ /dev/null @@ -1,46 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSimpleMotor cpSimpleMotor -/// @{ - -const cpConstraintClass *cpSimpleMotorGetClass(void); - -/// @private -typedef struct cpSimpleMotor { - cpConstraint constraint; - cpFloat rate; - - cpFloat iSum; - - cpFloat jAcc; -} cpSimpleMotor; - -/// Allocate a simple motor. -cpSimpleMotor* cpSimpleMotorAlloc(void); -/// initialize a simple motor. -cpSimpleMotor* cpSimpleMotorInit(cpSimpleMotor *joint, cpBody *a, cpBody *b, cpFloat rate); -/// Allocate and initialize a simple motor. -cpConstraint* cpSimpleMotorNew(cpBody *a, cpBody *b, cpFloat rate); - -CP_DefineConstraintProperty(cpSimpleMotor, cpFloat, rate, Rate) - -/// @} diff --git a/android/x86/include/chipmunk/constraints/cpSlideJoint.h b/android/x86/include/chipmunk/constraints/cpSlideJoint.h deleted file mode 100644 index 40db8bba..00000000 --- a/android/x86/include/chipmunk/constraints/cpSlideJoint.h +++ /dev/null @@ -1,53 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSlideJoint cpSlideJoint -/// @{ - -const cpConstraintClass *cpSlideJointGetClass(void); - -/// @private -typedef struct cpSlideJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat min, max; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpSlideJoint; - -/// Allocate a slide joint. -cpSlideJoint* cpSlideJointAlloc(void); -/// Initialize a slide joint. -cpSlideJoint* cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); -/// Allocate and initialize a slide joint. -cpConstraint* cpSlideJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, max, Max) - -/// @} diff --git a/android/x86/include/chipmunk/constraints/util.h b/android/x86/include/chipmunk/constraints/util.h deleted file mode 100644 index 0a620475..00000000 --- a/android/x86/include/chipmunk/constraints/util.h +++ /dev/null @@ -1,126 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -// These are utility routines to use when creating custom constraints. -// I'm not sure if this should be part of the private API or not. -// I should probably clean up the naming conventions if it is... - -#define CP_DefineClassGetter(t) const cpConstraintClass * t##GetClass(void){return (cpConstraintClass *)&klass;} - -void cpConstraintInit(cpConstraint *constraint, const cpConstraintClass *klass, cpBody *a, cpBody *b); - -static inline cpVect -relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){ - cpVect v1_sum = cpvadd(a->v, cpvmult(cpvperp(r1), a->w)); - cpVect v2_sum = cpvadd(b->v, cpvmult(cpvperp(r2), b->w)); - - return cpvsub(v2_sum, v1_sum); -} - -static inline cpFloat -normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){ - return cpvdot(relative_velocity(a, b, r1, r2), n); -} - -static inline void -apply_impulse(cpBody *body, cpVect j, cpVect r){ - body->v = cpvadd(body->v, cpvmult(j, body->m_inv)); - body->w += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_impulse(a, cpvneg(j), r1); - apply_impulse(b, j, r2); -} - -static inline void -apply_bias_impulse(cpBody *body, cpVect j, cpVect r) -{ - body->CP_PRIVATE(v_bias) = cpvadd(body->CP_PRIVATE(v_bias), cpvmult(j, body->m_inv)); - body->CP_PRIVATE(w_bias) += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_bias_impulse(a, cpvneg(j), r1); - apply_bias_impulse(b, j, r2); -} - -static inline cpFloat -k_scalar_body(cpBody *body, cpVect r, cpVect n) -{ - cpFloat rcn = cpvcross(r, n); - return body->m_inv + body->i_inv*rcn*rcn; -} - -static inline cpFloat -k_scalar(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n) -{ - cpFloat value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n); - cpAssertSoft(value != 0.0, "Unsolvable collision or constraint."); - - return value; -} - -static inline cpMat2x2 -k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2) -{ - cpFloat m_sum = a->m_inv + b->m_inv; - - // start with Identity*m_sum - cpFloat k11 = m_sum, k12 = 0.0f; - cpFloat k21 = 0.0f, k22 = m_sum; - - // add the influence from r1 - cpFloat a_i_inv = a->i_inv; - cpFloat r1xsq = r1.x * r1.x * a_i_inv; - cpFloat r1ysq = r1.y * r1.y * a_i_inv; - cpFloat r1nxy = -r1.x * r1.y * a_i_inv; - k11 += r1ysq; k12 += r1nxy; - k21 += r1nxy; k22 += r1xsq; - - // add the influnce from r2 - cpFloat b_i_inv = b->i_inv; - cpFloat r2xsq = r2.x * r2.x * b_i_inv; - cpFloat r2ysq = r2.y * r2.y * b_i_inv; - cpFloat r2nxy = -r2.x * r2.y * b_i_inv; - k11 += r2ysq; k12 += r2nxy; - k21 += r2nxy; k22 += r2xsq; - - // invert - cpFloat det = k11*k22 - k12*k21; - cpAssertSoft(det != 0.0, "Unsolvable constraint."); - - cpFloat det_inv = 1.0f/det; - return cpMat2x2New( - k22*det_inv, -k12*det_inv, - -k21*det_inv, k11*det_inv - ); -} - -static inline cpFloat -bias_coef(cpFloat errorBias, cpFloat dt) -{ - return 1.0f - cpfpow(errorBias, dt); -} diff --git a/android/x86/include/chipmunk/cpArbiter.h b/android/x86/include/chipmunk/cpArbiter.h index 1ccb693d..1dc130af 100644 --- a/android/x86/include/chipmunk/cpArbiter.h +++ b/android/x86/include/chipmunk/cpArbiter.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -20,188 +20,126 @@ */ /// @defgroup cpArbiter cpArbiter -/// The cpArbiter struct controls pairs of colliding shapes. +/// The cpArbiter struct tracks pairs of colliding shapes. /// They are also used in conjuction with collision handler callbacks -/// allowing you to retrieve information on the collision and control it. +/// allowing you to retrieve information on the collision or change it. +/// A unique arbiter value is used for each pair of colliding objects. It persists until the shapes separate. /// @{ -/// Collision begin event function callback type. -/// Returning false from a begin callback causes the collision to be ignored until -/// the the separate callback is called when the objects stop colliding. -typedef cpBool (*cpCollisionBeginFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision pre-solve event function callback type. -/// Returning false from a pre-step callback causes the collision to be ignored until the next step. -typedef cpBool (*cpCollisionPreSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision post-solve event function callback type. -typedef void (*cpCollisionPostSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision separate event function callback type. -typedef void (*cpCollisionSeparateFunc)(cpArbiter *arb, cpSpace *space, void *data); - -/// @private -struct cpCollisionHandler { - cpCollisionType a; - cpCollisionType b; - cpCollisionBeginFunc begin; - cpCollisionPreSolveFunc preSolve; - cpCollisionPostSolveFunc postSolve; - cpCollisionSeparateFunc separate; - void *data; -}; - -typedef struct cpContact cpContact; - #define CP_MAX_CONTACTS_PER_ARBITER 2 -/// @private -typedef enum cpArbiterState { - // Arbiter is active and its the first collision. - cpArbiterStateFirstColl, - // Arbiter is active and its not the first collision. - cpArbiterStateNormal, - // Collision has been explicitly ignored. - // Either by returning false from a begin collision handler or calling cpArbiterIgnore(). - cpArbiterStateIgnore, - // Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps. - cpArbiterStateCached, -} cpArbiterState; - -/// @private -struct cpArbiterThread { - // Links to next and previous arbiters in the contact graph. - struct cpArbiter *next, *prev; -}; - -/// A colliding pair of shapes. -struct cpArbiter { - /// Calculated value to use for the elasticity coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat e; - /// Calculated value to use for the friction coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat u; - /// Calculated value to use for applying surface velocities. - /// Override in a pre-solve collision handler for custom behavior. - cpVect surface_vr; - - /// User definable data pointer. - /// The value will persist for the pair of shapes until the separate() callback is called. - /// NOTE: If you need to clean up this pointer, you should implement the separate() callback to do it. - cpDataPointer data; - - CP_PRIVATE(cpShape *a); - CP_PRIVATE(cpShape *b); - CP_PRIVATE(cpBody *body_a); - CP_PRIVATE(cpBody *body_b); - - CP_PRIVATE(struct cpArbiterThread thread_a); - CP_PRIVATE(struct cpArbiterThread thread_b); - - CP_PRIVATE(int numContacts); - CP_PRIVATE(cpContact *contacts); - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpCollisionHandler *handler); - CP_PRIVATE(cpBool swappedColl); - CP_PRIVATE(cpArbiterState state); -}; - -#define CP_DefineArbiterStructGetter(type, member, name) \ -static inline type cpArbiterGet##name(const cpArbiter *arb){return arb->member;} - -#define CP_DefineArbiterStructSetter(type, member, name) \ -static inline void cpArbiterSet##name(cpArbiter *arb, type value){arb->member = value;} - -#define CP_DefineArbiterStructProperty(type, member, name) \ -CP_DefineArbiterStructGetter(type, member, name) \ -CP_DefineArbiterStructSetter(type, member, name) - -CP_DefineArbiterStructProperty(cpFloat, e, Elasticity) -CP_DefineArbiterStructProperty(cpFloat, u, Friction) +/// Get the restitution (elasticity) that will be applied to the pair of colliding objects. +CP_EXPORT cpFloat cpArbiterGetRestitution(const cpArbiter *arb); +/// Override the restitution (elasticity) that will be applied to the pair of colliding objects. +CP_EXPORT void cpArbiterSetRestitution(cpArbiter *arb, cpFloat restitution); +/// Get the friction coefficient that will be applied to the pair of colliding objects. +CP_EXPORT cpFloat cpArbiterGetFriction(const cpArbiter *arb); +/// Override the friction coefficient that will be applied to the pair of colliding objects. +CP_EXPORT void cpArbiterSetFriction(cpArbiter *arb, cpFloat friction); // Get the relative surface velocity of the two shapes in contact. -cpVect cpArbiterGetSurfaceVelocity(cpArbiter *arb); +CP_EXPORT cpVect cpArbiterGetSurfaceVelocity(cpArbiter *arb); // Override the relative surface velocity of the two shapes in contact. -// By default this is calculated to be the difference of the two -// surface velocities clamped to the tangent plane. -void cpArbiterSetSurfaceVelocity(cpArbiter *arb, cpVect vr); +// By default this is calculated to be the difference of the two surface velocities clamped to the tangent plane. +CP_EXPORT void cpArbiterSetSurfaceVelocity(cpArbiter *arb, cpVect vr); -CP_DefineArbiterStructProperty(cpDataPointer, data, UserData) +/// Get the user data pointer associated with this pair of colliding objects. +CP_EXPORT cpDataPointer cpArbiterGetUserData(const cpArbiter *arb); +/// Set a user data point associated with this pair of colliding objects. +/// If you need to perform any cleanup for this pointer, you must do it yourself, in the separate callback for instance. +CP_EXPORT void cpArbiterSetUserData(cpArbiter *arb, cpDataPointer userData); -/// Calculate the total impulse that was applied by this arbiter. -/// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulse(const cpArbiter *arb); /// Calculate the total impulse including the friction that was applied by this arbiter. /// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulseWithFriction(const cpArbiter *arb); +CP_EXPORT cpVect cpArbiterTotalImpulse(const cpArbiter *arb); /// Calculate the amount of energy lost in a collision including static, but not dynamic friction. /// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpFloat cpArbiterTotalKE(const cpArbiter *arb); +CP_EXPORT cpFloat cpArbiterTotalKE(const cpArbiter *arb); - -/// Causes a collision pair to be ignored as if you returned false from a begin callback. -/// If called from a pre-step callback, you will still need to return false -/// if you want it to be ignored in the current step. -void cpArbiterIgnore(cpArbiter *arb); +/// Mark a collision pair to be ignored until the two objects separate. +/// Pre-solve and post-solve callbacks will not be called, but the separate callback will be called. +CP_EXPORT cpBool cpArbiterIgnore(cpArbiter *arb); /// Return the colliding shapes involved for this arbiter. /// The order of their cpSpace.collision_type values will match /// the order set when the collision handler was registered. -static inline void cpArbiterGetShapes(const cpArbiter *arb, cpShape **a, cpShape **b) -{ - if(arb->CP_PRIVATE(swappedColl)){ - (*a) = arb->CP_PRIVATE(b), (*b) = arb->CP_PRIVATE(a); - } else { - (*a) = arb->CP_PRIVATE(a), (*b) = arb->CP_PRIVATE(b); - } -} +CP_EXPORT void cpArbiterGetShapes(const cpArbiter *arb, cpShape **a, cpShape **b); + /// A macro shortcut for defining and retrieving the shapes from an arbiter. #define CP_ARBITER_GET_SHAPES(__arb__, __a__, __b__) cpShape *__a__, *__b__; cpArbiterGetShapes(__arb__, &__a__, &__b__); /// Return the colliding bodies involved for this arbiter. /// The order of the cpSpace.collision_type the bodies are associated with values will match /// the order set when the collision handler was registered. -static inline void cpArbiterGetBodies(const cpArbiter *arb, cpBody **a, cpBody **b) -{ - CP_ARBITER_GET_SHAPES(arb, shape_a, shape_b); - (*a) = shape_a->body; - (*b) = shape_b->body; -} +CP_EXPORT void cpArbiterGetBodies(const cpArbiter *arb, cpBody **a, cpBody **b); + /// A macro shortcut for defining and retrieving the bodies from an arbiter. #define CP_ARBITER_GET_BODIES(__arb__, __a__, __b__) cpBody *__a__, *__b__; cpArbiterGetBodies(__arb__, &__a__, &__b__); /// A struct that wraps up the important collision data for an arbiter. -typedef struct cpContactPointSet { +struct cpContactPointSet { /// The number of contact points in the set. int count; + /// The normal of the collision. + cpVect normal; + /// The array of contact points. struct { - /// The position of the contact point. - cpVect point; - /// The normal of the contact point. - cpVect normal; - /// The depth of the contact point. - cpFloat dist; + /// The position of the contact on the surface of each shape. + cpVect pointA, pointB; + /// Penetration distance of the two shapes. Overlapping means it will be negative. + /// This value is calculated as cpvdot(cpvsub(point2, point1), normal) and is ignored by cpArbiterSetContactPointSet(). + cpFloat distance; } points[CP_MAX_CONTACTS_PER_ARBITER]; -} cpContactPointSet; +}; /// Return a contact set from an arbiter. -cpContactPointSet cpArbiterGetContactPointSet(const cpArbiter *arb); +CP_EXPORT cpContactPointSet cpArbiterGetContactPointSet(const cpArbiter *arb); /// Replace the contact point set for an arbiter. /// This can be a very powerful feature, but use it with caution! -void cpArbiterSetContactPointSet(cpArbiter *arb, cpContactPointSet *set); +CP_EXPORT void cpArbiterSetContactPointSet(cpArbiter *arb, cpContactPointSet *set); /// Returns true if this is the first step a pair of objects started colliding. -cpBool cpArbiterIsFirstContact(const cpArbiter *arb); +CP_EXPORT cpBool cpArbiterIsFirstContact(const cpArbiter *arb); +/// Returns true if the separate callback is due to a shape being removed from the space. +CP_EXPORT cpBool cpArbiterIsRemoval(const cpArbiter *arb); + /// Get the number of contact points for this arbiter. -int cpArbiterGetCount(const cpArbiter *arb); -/// Get the normal of the @c ith contact point. -cpVect cpArbiterGetNormal(const cpArbiter *arb, int i); -/// Get the position of the @c ith contact point. -cpVect cpArbiterGetPoint(const cpArbiter *arb, int i); +CP_EXPORT int cpArbiterGetCount(const cpArbiter *arb); +/// Get the normal of the collision. +CP_EXPORT cpVect cpArbiterGetNormal(const cpArbiter *arb); +/// Get the position of the @c ith contact point on the surface of the first shape. +CP_EXPORT cpVect cpArbiterGetPointA(const cpArbiter *arb, int i); +/// Get the position of the @c ith contact point on the surface of the second shape. +CP_EXPORT cpVect cpArbiterGetPointB(const cpArbiter *arb, int i); /// Get the depth of the @c ith contact point. -cpFloat cpArbiterGetDepth(const cpArbiter *arb, int i); +CP_EXPORT cpFloat cpArbiterGetDepth(const cpArbiter *arb, int i); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardBeginA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardBeginB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardPreSolveA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardPreSolveB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardPostSolveA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardPostSolveB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardSeparateA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardSeparateB(cpArbiter *arb, cpSpace *space); /// @} diff --git a/android/x86/include/chipmunk/cpBB.h b/android/x86/include/chipmunk/cpBB.h index 4e59c2d4..40200600 100644 --- a/android/x86/include/chipmunk/cpBB.h +++ b/android/x86/include/chipmunk/cpBB.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,6 +19,12 @@ * SOFTWARE. */ +#ifndef CHIPMUNK_BB_H +#define CHIPMUNK_BB_H + +#include "chipmunk_types.h" +#include "cpVect.h" + /// @defgroup cpBBB cpBB /// Chipmunk's axis-aligned 2D bounding box type along with a few handy routines. /// @{ @@ -35,10 +41,17 @@ static inline cpBB cpBBNew(const cpFloat l, const cpFloat b, const cpFloat r, co return bb; } +/// Constructs a cpBB centered on a point with the given extents (half sizes). +static inline cpBB +cpBBNewForExtents(const cpVect c, const cpFloat hw, const cpFloat hh) +{ + return cpBBNew(c.x - hw, c.y - hh, c.x + hw, c.y + hh); +} + /// Constructs a cpBB for a circle with the given position and radius. static inline cpBB cpBBNewForCircle(const cpVect p, const cpFloat r) { - return cpBBNew(p.x - r, p.y - r, p.x + r, p.y + r); + return cpBBNewForExtents(p, r, r); } /// Returns true if @c a and @c b intersect. @@ -102,6 +115,9 @@ static inline cpFloat cpBBMergedArea(cpBB a, cpBB b) static inline cpFloat cpBBSegmentQuery(cpBB bb, cpVect a, cpVect b) { cpFloat idx = 1.0f/(b.x - a.x); +#ifdef _MSC_VER +#pragma warning(disable: 4056) +#endif cpFloat tx1 = (bb.l == a.x ? -INFINITY : (bb.l - a.x)*idx); cpFloat tx2 = (bb.r == a.x ? INFINITY : (bb.r - a.x)*idx); cpFloat txmin = cpfmin(tx1, tx2); @@ -110,6 +126,9 @@ static inline cpFloat cpBBSegmentQuery(cpBB bb, cpVect a, cpVect b) cpFloat idy = 1.0f/(b.y - a.y); cpFloat ty1 = (bb.b == a.y ? -INFINITY : (bb.b - a.y)*idy); cpFloat ty2 = (bb.t == a.y ? INFINITY : (bb.t - a.y)*idy); +#ifdef _MSC_VER +#pragma warning(default: 4056) +#endif cpFloat tymin = cpfmin(ty1, ty2); cpFloat tymax = cpfmax(ty1, ty2); @@ -136,8 +155,33 @@ cpBBClampVect(const cpBB bb, const cpVect v) return cpv(cpfclamp(v.x, bb.l, bb.r), cpfclamp(v.y, bb.b, bb.t)); } -// TODO edge case issue /// Wrap a vector to a bounding box. -cpVect cpBBWrapVect(const cpBB bb, const cpVect v); // wrap a vector to a bbox +static inline cpVect +cpBBWrapVect(const cpBB bb, const cpVect v) +{ + cpFloat dx = cpfabs(bb.r - bb.l); + cpFloat modx = cpfmod(v.x - bb.l, dx); + cpFloat x = (modx > 0.0f) ? modx : modx + dx; + + cpFloat dy = cpfabs(bb.t - bb.b); + cpFloat mody = cpfmod(v.y - bb.b, dy); + cpFloat y = (mody > 0.0f) ? mody : mody + dy; + + return cpv(x + bb.l, y + bb.b); +} + +/// Returns a bounding box offseted by @c v. +static inline cpBB +cpBBOffset(const cpBB bb, const cpVect v) +{ + return cpBBNew( + bb.l + v.x, + bb.b + v.y, + bb.r + v.x, + bb.t + v.y + ); +} ///@} + +#endif diff --git a/android/x86/include/chipmunk/cpBody.h b/android/x86/include/chipmunk/cpBody.h index 6168b0fe..7e6943d1 100644 --- a/android/x86/include/chipmunk/cpBody.h +++ b/android/x86/include/chipmunk/cpBody.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -25,227 +25,165 @@ /// They are given a shape by creating collision shapes (cpShape) that point to the body. /// @{ +typedef enum cpBodyType { + /// A dynamic body is one that is affected by gravity, forces, and collisions. + /// This is the default body type. + CP_BODY_TYPE_DYNAMIC, + /// A kinematic body is an infinite mass, user controlled body that is not affected by gravity, forces or collisions. + /// Instead the body only moves based on it's velocity. + /// Dynamic bodies collide normally with kinematic bodies, though the kinematic body will be unaffected. + /// Collisions between two kinematic bodies, or a kinematic body and a static body produce collision callbacks, but no collision response. + CP_BODY_TYPE_KINEMATIC, + /// A static body is a body that never (or rarely) moves. If you move a static body, you must call one of the cpSpaceReindex*() functions. + /// Chipmunk uses this information to optimize the collision detection. + /// Static bodies do not produce collision callbacks when colliding with other static bodies. + CP_BODY_TYPE_STATIC, +} cpBodyType; + /// Rigid body velocity update function type. typedef void (*cpBodyVelocityFunc)(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); /// Rigid body position update function type. typedef void (*cpBodyPositionFunc)(cpBody *body, cpFloat dt); -/// Used internally to track information on the collision graph. -/// @private -typedef struct cpComponentNode { - cpBody *root; - cpBody *next; - cpFloat idleTime; -} cpComponentNode; - -/// Chipmunk's rigid body struct. -struct cpBody { - /// Function that is called to integrate the body's velocity. (Defaults to cpBodyUpdateVelocity) - cpBodyVelocityFunc velocity_func; - - /// Function that is called to integrate the body's position. (Defaults to cpBodyUpdatePosition) - cpBodyPositionFunc position_func; - - /// Mass of the body. - /// Must agree with cpBody.m_inv! Use cpBodySetMass() when changing the mass for this reason. - cpFloat m; - /// Mass inverse. - cpFloat m_inv; - - /// Moment of inertia of the body. - /// Must agree with cpBody.i_inv! Use cpBodySetMoment() when changing the moment for this reason. - cpFloat i; - /// Moment of inertia inverse. - cpFloat i_inv; - - /// Position of the rigid body's center of gravity. - cpVect p; - /// Velocity of the rigid body's center of gravity. - cpVect v; - /// Force acting on the rigid body's center of gravity. - cpVect f; - - /// Rotation of the body around it's center of gravity in radians. - /// Must agree with cpBody.rot! Use cpBodySetAngle() when changing the angle for this reason. - cpFloat a; - /// Angular velocity of the body around it's center of gravity in radians/second. - cpFloat w; - /// Torque applied to the body around it's center of gravity. - cpFloat t; - - /// Cached unit length vector representing the angle of the body. - /// Used for fast rotations using cpvrotate(). - cpVect rot; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpBody reference in a callback. - cpDataPointer data; - - /// Maximum velocity allowed when updating the velocity. - cpFloat v_limit; - /// Maximum rotational rate (in radians/second) allowed when updating the angular velocity. - cpFloat w_limit; - - CP_PRIVATE(cpVect v_bias); - CP_PRIVATE(cpFloat w_bias); - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *shapeList); - CP_PRIVATE(cpArbiter *arbiterList); - CP_PRIVATE(cpConstraint *constraintList); - - CP_PRIVATE(cpComponentNode node); -}; - /// Allocate a cpBody. -cpBody* cpBodyAlloc(void); +CP_EXPORT cpBody* cpBodyAlloc(void); /// Initialize a cpBody. -cpBody* cpBodyInit(cpBody *body, cpFloat m, cpFloat i); +CP_EXPORT cpBody* cpBodyInit(cpBody *body, cpFloat mass, cpFloat moment); /// Allocate and initialize a cpBody. -cpBody* cpBodyNew(cpFloat m, cpFloat i); +CP_EXPORT cpBody* cpBodyNew(cpFloat mass, cpFloat moment); -/// Initialize a static cpBody. -cpBody* cpBodyInitStatic(cpBody *body); -/// Allocate and initialize a static cpBody. -cpBody* cpBodyNewStatic(void); +/// Allocate and initialize a cpBody, and set it as a kinematic body. +CP_EXPORT cpBody* cpBodyNewKinematic(void); +/// Allocate and initialize a cpBody, and set it as a static body. +CP_EXPORT cpBody* cpBodyNewStatic(void); /// Destroy a cpBody. -void cpBodyDestroy(cpBody *body); +CP_EXPORT void cpBodyDestroy(cpBody *body); /// Destroy and free a cpBody. -void cpBodyFree(cpBody *body); - -/// Check that the properties of a body is sane. (Only in debug mode) -#ifdef NDEBUG - #define cpBodyAssertSane(body) -#else - void cpBodySanityCheck(cpBody *body); - #define cpBodyAssertSane(body) cpBodySanityCheck(body) -#endif +CP_EXPORT void cpBodyFree(cpBody *body); // Defined in cpSpace.c /// Wake up a sleeping or idle body. -void cpBodyActivate(cpBody *body); +CP_EXPORT void cpBodyActivate(cpBody *body); /// Wake up any sleeping or idle bodies touching a static body. -void cpBodyActivateStatic(cpBody *body, cpShape *filter); +CP_EXPORT void cpBodyActivateStatic(cpBody *body, cpShape *filter); /// Force a body to fall asleep immediately. -void cpBodySleep(cpBody *body); +CP_EXPORT void cpBodySleep(cpBody *body); /// Force a body to fall asleep immediately along with other bodies in a group. -void cpBodySleepWithGroup(cpBody *body, cpBody *group); +CP_EXPORT void cpBodySleepWithGroup(cpBody *body, cpBody *group); /// Returns true if the body is sleeping. -static inline cpBool cpBodyIsSleeping(const cpBody *body) -{ - return (CP_PRIVATE(body->node).root != ((cpBody*)0)); -} +CP_EXPORT cpBool cpBodyIsSleeping(const cpBody *body); -/// Returns true if the body is static. -static inline cpBool cpBodyIsStatic(const cpBody *body) -{ - return CP_PRIVATE(body->node).idleTime == INFINITY; -} +/// Get the type of the body. +CP_EXPORT cpBodyType cpBodyGetType(cpBody *body); +/// Set the type of the body. +CP_EXPORT void cpBodySetType(cpBody *body, cpBodyType type); -/// Returns true if the body has not been added to a space. -/// Note: Static bodies are a subtype of rogue bodies. -static inline cpBool cpBodyIsRogue(const cpBody *body) -{ - return (body->CP_PRIVATE(space) == ((cpSpace*)0)); -} +/// Get the space this body is added to. +CP_EXPORT cpSpace* cpBodyGetSpace(const cpBody *body); +/// Get the mass of the body. +CP_EXPORT cpFloat cpBodyGetMass(const cpBody *body); +/// Set the mass of the body. +CP_EXPORT void cpBodySetMass(cpBody *body, cpFloat m); -#define CP_DefineBodyStructGetter(type, member, name) \ -static inline type cpBodyGet##name(const cpBody *body){return body->member;} +/// Get the moment of inertia of the body. +CP_EXPORT cpFloat cpBodyGetMoment(const cpBody *body); +/// Set the moment of inertia of the body. +CP_EXPORT void cpBodySetMoment(cpBody *body, cpFloat i); -#define CP_DefineBodyStructSetter(type, member, name) \ -static inline void cpBodySet##name(cpBody *body, const type value){ \ - cpBodyActivate(body); \ - body->member = value; \ - cpBodyAssertSane(body); \ -} - -#define CP_DefineBodyStructProperty(type, member, name) \ -CP_DefineBodyStructGetter(type, member, name) \ -CP_DefineBodyStructSetter(type, member, name) - -// TODO add to docs -CP_DefineBodyStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineBodyStructGetter(cpFloat, m, Mass) -/// Set the mass of a body. -void cpBodySetMass(cpBody *body, cpFloat m); - -CP_DefineBodyStructGetter(cpFloat, i, Moment) -/// Set the moment of a body. -void cpBodySetMoment(cpBody *body, cpFloat i); - -CP_DefineBodyStructGetter(cpVect, p, Pos) /// Set the position of a body. -void cpBodySetPos(cpBody *body, cpVect pos); -CP_DefineBodyStructProperty(cpVect, v, Vel) -CP_DefineBodyStructProperty(cpVect, f, Force) -CP_DefineBodyStructGetter(cpFloat, a, Angle) -/// Set the angle of a body. -void cpBodySetAngle(cpBody *body, cpFloat a); -CP_DefineBodyStructProperty(cpFloat, w, AngVel) -CP_DefineBodyStructProperty(cpFloat, t, Torque) -CP_DefineBodyStructGetter(cpVect, rot, Rot) -CP_DefineBodyStructProperty(cpFloat, v_limit, VelLimit) -CP_DefineBodyStructProperty(cpFloat, w_limit, AngVelLimit) -CP_DefineBodyStructProperty(cpDataPointer, data, UserData) +CP_EXPORT cpVect cpBodyGetPosition(const cpBody *body); +/// Set the position of the body. +CP_EXPORT void cpBodySetPosition(cpBody *body, cpVect pos); -/// Default Integration functions. -void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); -void cpBodyUpdatePosition(cpBody *body, cpFloat dt); +/// Get the offset of the center of gravity in body local coordinates. +CP_EXPORT cpVect cpBodyGetCenterOfGravity(const cpBody *body); +/// Set the offset of the center of gravity in body local coordinates. +CP_EXPORT void cpBodySetCenterOfGravity(cpBody *body, cpVect cog); + +/// Get the velocity of the body. +CP_EXPORT cpVect cpBodyGetVelocity(const cpBody *body); +/// Set the velocity of the body. +CP_EXPORT void cpBodySetVelocity(cpBody *body, cpVect velocity); + +/// Get the force applied to the body for the next time step. +CP_EXPORT cpVect cpBodyGetForce(const cpBody *body); +/// Set the force applied to the body for the next time step. +CP_EXPORT void cpBodySetForce(cpBody *body, cpVect force); + +/// Get the angle of the body. +CP_EXPORT cpFloat cpBodyGetAngle(const cpBody *body); +/// Set the angle of a body. +CP_EXPORT void cpBodySetAngle(cpBody *body, cpFloat a); + +/// Get the angular velocity of the body. +CP_EXPORT cpFloat cpBodyGetAngularVelocity(const cpBody *body); +/// Set the angular velocity of the body. +CP_EXPORT void cpBodySetAngularVelocity(cpBody *body, cpFloat angularVelocity); + +/// Get the torque applied to the body for the next time step. +CP_EXPORT cpFloat cpBodyGetTorque(const cpBody *body); +/// Set the torque applied to the body for the next time step. +CP_EXPORT void cpBodySetTorque(cpBody *body, cpFloat torque); + +/// Get the rotation vector of the body. (The x basis vector of it's transform.) +CP_EXPORT cpVect cpBodyGetRotation(const cpBody *body); + +/// Get the user data pointer assigned to the body. +CP_EXPORT cpDataPointer cpBodyGetUserData(const cpBody *body); +/// Set the user data pointer assigned to the body. +CP_EXPORT void cpBodySetUserData(cpBody *body, cpDataPointer userData); + +/// Set the callback used to update a body's velocity. +CP_EXPORT void cpBodySetVelocityUpdateFunc(cpBody *body, cpBodyVelocityFunc velocityFunc); +/// Set the callback used to update a body's position. +/// NOTE: It's not generally recommended to override this unless you call the default position update function. +CP_EXPORT void cpBodySetPositionUpdateFunc(cpBody *body, cpBodyPositionFunc positionFunc); + +/// Default velocity integration function.. +CP_EXPORT void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); +/// Default position integration function. +CP_EXPORT void cpBodyUpdatePosition(cpBody *body, cpFloat dt); /// Convert body relative/local coordinates to absolute/world coordinates. -static inline cpVect cpBodyLocal2World(const cpBody *body, const cpVect v) -{ - return cpvadd(body->p, cpvrotate(v, body->rot)); -} - +CP_EXPORT cpVect cpBodyLocalToWorld(const cpBody *body, const cpVect point); /// Convert body absolute/world coordinates to relative/local coordinates. -static inline cpVect cpBodyWorld2Local(const cpBody *body, const cpVect v) -{ - return cpvunrotate(cpvsub(v, body->p), body->rot); -} +CP_EXPORT cpVect cpBodyWorldToLocal(const cpBody *body, const cpVect point); -/// Set the forces and torque or a body to zero. -void cpBodyResetForces(cpBody *body); -/// Apply an force (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyForce(cpBody *body, const cpVect f, const cpVect r); -/// Apply an impulse (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyImpulse(cpBody *body, const cpVect j, const cpVect r); +/// Apply a force to a body. Both the force and point are expressed in world coordinates. +CP_EXPORT void cpBodyApplyForceAtWorldPoint(cpBody *body, cpVect force, cpVect point); +/// Apply a force to a body. Both the force and point are expressed in body local coordinates. +CP_EXPORT void cpBodyApplyForceAtLocalPoint(cpBody *body, cpVect force, cpVect point); + +/// Apply an impulse to a body. Both the impulse and point are expressed in world coordinates. +CP_EXPORT void cpBodyApplyImpulseAtWorldPoint(cpBody *body, cpVect impulse, cpVect point); +/// Apply an impulse to a body. Both the impulse and point are expressed in body local coordinates. +CP_EXPORT void cpBodyApplyImpulseAtLocalPoint(cpBody *body, cpVect impulse, cpVect point); /// Get the velocity on a body (in world units) at a point on the body in world coordinates. -cpVect cpBodyGetVelAtWorldPoint(cpBody *body, cpVect point); +CP_EXPORT cpVect cpBodyGetVelocityAtWorldPoint(const cpBody *body, cpVect point); /// Get the velocity on a body (in world units) at a point on the body in local coordinates. -cpVect cpBodyGetVelAtLocalPoint(cpBody *body, cpVect point); +CP_EXPORT cpVect cpBodyGetVelocityAtLocalPoint(const cpBody *body, cpVect point); - -/// Get the kinetic energy of a body. -static inline cpFloat cpBodyKineticEnergy(const cpBody *body) -{ - // Need to do some fudging to avoid NaNs - cpFloat vsq = cpvdot(body->v, body->v); - cpFloat wsq = body->w*body->w; - return (vsq ? vsq*body->m : 0.0f) + (wsq ? wsq*body->i : 0.0f); -} +/// Get the amount of kinetic energy contained by the body. +CP_EXPORT cpFloat cpBodyKineticEnergy(const cpBody *body); /// Body/shape iterator callback function type. typedef void (*cpBodyShapeIteratorFunc)(cpBody *body, cpShape *shape, void *data); /// Call @c func once for each shape attached to @c body and added to the space. -void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data); /// Body/constraint iterator callback function type. typedef void (*cpBodyConstraintIteratorFunc)(cpBody *body, cpConstraint *constraint, void *data); /// Call @c func once for each constraint attached to @c body and added to the space. -void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data); /// Body/arbiter iterator callback function type. typedef void (*cpBodyArbiterIteratorFunc)(cpBody *body, cpArbiter *arbiter, void *data); /// Call @c func once for each arbiter that is currently active on the body. -void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data); ///@} diff --git a/android/x86/include/chipmunk/cpPolyShape.h b/android/x86/include/chipmunk/cpPolyShape.h index a5587ba2..25f688b8 100644 --- a/android/x86/include/chipmunk/cpPolyShape.h +++ b/android/x86/include/chipmunk/cpPolyShape.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -22,60 +22,35 @@ /// @defgroup cpPolyShape cpPolyShape /// @{ -/// @private -typedef struct cpSplittingPlane { - cpVect n; - cpFloat d; -} cpSplittingPlane; - -/// @private -typedef struct cpPolyShape { - cpShape shape; - - int numVerts; - cpVect *verts, *tVerts; - cpSplittingPlane *planes, *tPlanes; - - cpFloat r; -} cpPolyShape; - /// Allocate a polygon shape. -cpPolyShape* cpPolyShapeAlloc(void); -/// Initialize a polygon shape. +CP_EXPORT cpPolyShape* cpPolyShapeAlloc(void); +/// Initialize a polygon shape with rounded corners. /// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Initialize a polygon shape. +CP_EXPORT cpPolyShape* cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int count, const cpVect *verts, cpTransform transform, cpFloat radius); +/// Initialize a polygon shape with rounded corners. +/// The vertexes must be convex with a counter-clockwise winding. +CP_EXPORT cpPolyShape* cpPolyShapeInitRaw(cpPolyShape *poly, cpBody *body, int count, const cpVect *verts, cpFloat radius); +/// Allocate and initialize a polygon shape with rounded corners. /// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit2(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew(cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew2(cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); +CP_EXPORT cpShape* cpPolyShapeNew(cpBody *body, int count, const cpVect *verts, cpTransform transform, cpFloat radius); +/// Allocate and initialize a polygon shape with rounded corners. +/// The vertexes must be convex with a counter-clockwise winding. +CP_EXPORT cpShape* cpPolyShapeNewRaw(cpBody *body, int count, const cpVect *verts, cpFloat radius); -/// Initialize a box shaped polygon shape. -cpPolyShape* cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit2(cpPolyShape *poly, cpBody *body, cpBB box); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit3(cpPolyShape *poly, cpBody *body, cpBB box, cpFloat radius); +/// Initialize a box shaped polygon shape with rounded corners. +CP_EXPORT cpPolyShape* cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height, cpFloat radius); +/// Initialize an offset box shaped polygon shape with rounded corners. +CP_EXPORT cpPolyShape* cpBoxShapeInit2(cpPolyShape *poly, cpBody *body, cpBB box, cpFloat radius); /// Allocate and initialize a box shaped polygon shape. -cpShape* cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height); +CP_EXPORT cpShape* cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height, cpFloat radius); /// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew2(cpBody *body, cpBB box); -/// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew3(cpBody *body, cpBB box, cpFloat radius); - -/// Check that a set of vertexes is convex and has a clockwise winding. -/// NOTE: Due to floating point precision issues, hulls created with cpQuickHull() are not guaranteed to validate! -cpBool cpPolyValidate(const cpVect *verts, const int numVerts); +CP_EXPORT cpShape* cpBoxShapeNew2(cpBody *body, cpBB box, cpFloat radius); /// Get the number of verts in a polygon shape. -int cpPolyShapeGetNumVerts(const cpShape *shape); +CP_EXPORT int cpPolyShapeGetCount(const cpShape *shape); /// Get the @c ith vertex of a polygon shape. -cpVect cpPolyShapeGetVert(const cpShape *shape, int idx); +CP_EXPORT cpVect cpPolyShapeGetVert(const cpShape *shape, int index); /// Get the radius of a polygon shape. -cpFloat cpPolyShapeGetRadius(const cpShape *shape); +CP_EXPORT cpFloat cpPolyShapeGetRadius(const cpShape *shape); /// @} diff --git a/android/x86/include/chipmunk/cpShape.h b/android/x86/include/chipmunk/cpShape.h index 62920c37..cc20f809 100644 --- a/android/x86/include/chipmunk/cpShape.h +++ b/android/x86/include/chipmunk/cpShape.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -18,215 +18,182 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. */ - + /// @defgroup cpShape cpShape /// The cpShape struct defines the shape of a rigid body. /// @{ -typedef struct cpShapeClass cpShapeClass; - -/// Nearest point query info struct. -typedef struct cpNearestPointQueryInfo { +/// Point query info struct. +typedef struct cpPointQueryInfo { /// The nearest shape, NULL if no shape was within range. - cpShape *shape; + const cpShape *shape; /// The closest point on the shape's surface. (in world space coordinates) - cpVect p; + cpVect point; /// The distance to the point. The distance is negative if the point is inside the shape. - cpFloat d; + cpFloat distance; /// The gradient of the signed distance function. - /// The same as info.p/info.d, but accurate even for very small values of info.d. - cpVect g; -} cpNearestPointQueryInfo; + /// The value should be similar to info.p/info.d, but accurate even for very small values of info.d. + cpVect gradient; +} cpPointQueryInfo; /// Segment query info struct. typedef struct cpSegmentQueryInfo { - /// The shape that was hit, NULL if no collision occured. - cpShape *shape; - /// The normalized distance along the query segment in the range [0, 1]. - cpFloat t; + /// The shape that was hit, or NULL if no collision occured. + const cpShape *shape; + /// The point of impact. + cpVect point; /// The normal of the surface hit. - cpVect n; + cpVect normal; + /// The normalized distance along the query segment in the range [0, 1]. + cpFloat alpha; } cpSegmentQueryInfo; -/// @private -typedef enum cpShapeType{ - CP_CIRCLE_SHAPE, - CP_SEGMENT_SHAPE, - CP_POLY_SHAPE, - CP_NUM_SHAPES -} cpShapeType; - -typedef cpBB (*cpShapeCacheDataImpl)(cpShape *shape, cpVect p, cpVect rot); -typedef void (*cpShapeDestroyImpl)(cpShape *shape); -typedef void (*cpShapeNearestPointQueryImpl)(cpShape *shape, cpVect p, cpNearestPointQueryInfo *info); -typedef void (*cpShapeSegmentQueryImpl)(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); - -/// @private -struct cpShapeClass { - cpShapeType type; - - cpShapeCacheDataImpl cacheData; - cpShapeDestroyImpl destroy; - cpShapeNearestPointQueryImpl nearestPointQuery; - cpShapeSegmentQueryImpl segmentQuery; -}; - -/// Opaque collision shape struct. -struct cpShape { - CP_PRIVATE(const cpShapeClass *klass); - - /// The rigid body this collision shape is attached to. - cpBody *body; - - /// The current bounding box of the shape. - cpBB bb; - - /// Sensor flag. - /// Sensor shapes call collision callbacks but don't produce collisions. - cpBool sensor; - - /// Coefficient of restitution. (elasticity) - cpFloat e; - /// Coefficient of friction. - cpFloat u; - /// Surface velocity used when solving for friction. - cpVect surface_v; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpShape reference in a callback. - cpDataPointer data; - - /// Collision type of this shape used when picking collision handlers. - cpCollisionType collision_type; - /// Group of this shape. Shapes in the same group don't collide. +/// Fast collision filtering type that is used to determine if two objects collide before calling collision or query callbacks. +typedef struct cpShapeFilter { + /// Two objects with the same non-zero group value do not collide. + /// This is generally used to group objects in a composite object together to disable self collisions. cpGroup group; - // Layer bitmask for this shape. Shapes only collide if the bitwise and of their layers is non-zero. - cpLayers layers; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *next); - CP_PRIVATE(cpShape *prev); - - CP_PRIVATE(cpHashValue hashid); -}; + /// A bitmask of user definable categories that this object belongs to. + /// The category/mask combinations of both objects in a collision must agree for a collision to occur. + cpBitmask categories; + /// A bitmask of user definable category types that this object object collides with. + /// The category/mask combinations of both objects in a collision must agree for a collision to occur. + cpBitmask mask; +} cpShapeFilter; + +/// Collision filter value for a shape that will collide with anything except CP_SHAPE_FILTER_NONE. +static const cpShapeFilter CP_SHAPE_FILTER_ALL = {CP_NO_GROUP, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES}; +/// Collision filter value for a shape that does not collide with anything. +static const cpShapeFilter CP_SHAPE_FILTER_NONE = {CP_NO_GROUP, ~CP_ALL_CATEGORIES, ~CP_ALL_CATEGORIES}; + +/// Create a new collision filter. +static inline cpShapeFilter +cpShapeFilterNew(cpGroup group, cpBitmask categories, cpBitmask mask) +{ + cpShapeFilter filter = {group, categories, mask}; + return filter; +} /// Destroy a shape. -void cpShapeDestroy(cpShape *shape); +CP_EXPORT void cpShapeDestroy(cpShape *shape); /// Destroy and Free a shape. -void cpShapeFree(cpShape *shape); +CP_EXPORT void cpShapeFree(cpShape *shape); /// Update, cache and return the bounding box of a shape based on the body it's attached to. -cpBB cpShapeCacheBB(cpShape *shape); +CP_EXPORT cpBB cpShapeCacheBB(cpShape *shape); /// Update, cache and return the bounding box of a shape with an explicit transformation. -cpBB cpShapeUpdate(cpShape *shape, cpVect pos, cpVect rot); - -/// Test if a point lies within a shape. -cpBool cpShapePointQuery(cpShape *shape, cpVect p); +CP_EXPORT cpBB cpShapeUpdate(cpShape *shape, cpTransform transform); /// Perform a nearest point query. It finds the closest point on the surface of shape to a specific point. /// The value returned is the distance between the points. A negative distance means the point is inside the shape. -cpFloat cpShapeNearestPointQuery(cpShape *shape, cpVect p, cpNearestPointQueryInfo *out); +CP_EXPORT cpFloat cpShapePointQuery(const cpShape *shape, cpVect p, cpPointQueryInfo *out); /// Perform a segment query against a shape. @c info must be a pointer to a valid cpSegmentQueryInfo structure. -cpBool cpShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); +CP_EXPORT cpBool cpShapeSegmentQuery(const cpShape *shape, cpVect a, cpVect b, cpFloat radius, cpSegmentQueryInfo *info); -/// Get the hit point for a segment query. -static inline cpVect cpSegmentQueryHitPoint(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvlerp(start, end, info.t); -} +/// Return contact information about two shapes. +CP_EXPORT cpContactPointSet cpShapesCollide(const cpShape *a, const cpShape *b); -/// Get the hit distance for a segment query. -static inline cpFloat cpSegmentQueryHitDist(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvdist(start, end)*info.t; -} +/// The cpSpace this body is added to. +CP_EXPORT cpSpace* cpShapeGetSpace(const cpShape *shape); -#define CP_DefineShapeStructGetter(type, member, name) \ -static inline type cpShapeGet##name(const cpShape *shape){return shape->member;} +/// The cpBody this shape is connected to. +CP_EXPORT cpBody* cpShapeGetBody(const cpShape *shape); +/// Set the cpBody this shape is connected to. +/// Can only be used if the shape is not currently added to a space. +CP_EXPORT void cpShapeSetBody(cpShape *shape, cpBody *body); -#define CP_DefineShapeStructSetter(type, member, name, activates) \ -static inline void cpShapeSet##name(cpShape *shape, type value){ \ - if(activates && shape->body) cpBodyActivate(shape->body); \ - shape->member = value; \ -} +/// Get the mass of the shape if you are having Chipmunk calculate mass properties for you. +cpFloat cpShapeGetMass(cpShape *shape); +/// Set the mass of this shape to have Chipmunk calculate mass properties for you. +CP_EXPORT void cpShapeSetMass(cpShape *shape, cpFloat mass); -#define CP_DefineShapeStructProperty(type, member, name, activates) \ -CP_DefineShapeStructGetter(type, member, name) \ -CP_DefineShapeStructSetter(type, member, name, activates) +/// Get the density of the shape if you are having Chipmunk calculate mass properties for you. +CP_EXPORT cpFloat cpShapeGetDensity(cpShape *shape); +/// Set the density of this shape to have Chipmunk calculate mass properties for you. +CP_EXPORT void cpShapeSetDensity(cpShape *shape, cpFloat density); -CP_DefineShapeStructGetter(cpSpace*, CP_PRIVATE(space), Space) +/// Get the calculated moment of inertia for this shape. +CP_EXPORT cpFloat cpShapeGetMoment(cpShape *shape); +/// Get the calculated area of this shape. +CP_EXPORT cpFloat cpShapeGetArea(cpShape *shape); +/// Get the centroid of this shape. +CP_EXPORT cpVect cpShapeGetCenterOfGravity(cpShape *shape); -CP_DefineShapeStructGetter(cpBody*, body, Body) -void cpShapeSetBody(cpShape *shape, cpBody *body); +/// Get the bounding box that contains the shape given it's current position and angle. +CP_EXPORT cpBB cpShapeGetBB(const cpShape *shape); -CP_DefineShapeStructGetter(cpBB, bb, BB) -CP_DefineShapeStructProperty(cpBool, sensor, Sensor, cpTrue) -CP_DefineShapeStructProperty(cpFloat, e, Elasticity, cpFalse) -CP_DefineShapeStructProperty(cpFloat, u, Friction, cpTrue) -CP_DefineShapeStructProperty(cpVect, surface_v, SurfaceVelocity, cpTrue) -CP_DefineShapeStructProperty(cpDataPointer, data, UserData, cpFalse) -CP_DefineShapeStructProperty(cpCollisionType, collision_type, CollisionType, cpTrue) -CP_DefineShapeStructProperty(cpGroup, group, Group, cpTrue) -CP_DefineShapeStructProperty(cpLayers, layers, Layers, cpTrue) +/// Get if the shape is set to be a sensor or not. +CP_EXPORT cpBool cpShapeGetSensor(const cpShape *shape); +/// Set if the shape is a sensor or not. +CP_EXPORT void cpShapeSetSensor(cpShape *shape, cpBool sensor); -/// When initializing a shape, it's hash value comes from a counter. -/// Because the hash value may affect iteration order, you can reset the shape ID counter -/// when recreating a space. This will make the simulation be deterministic. -void cpResetShapeIdCounter(void); +/// Get the elasticity of this shape. +CP_EXPORT cpFloat cpShapeGetElasticity(const cpShape *shape); +/// Set the elasticity of this shape. +CP_EXPORT void cpShapeSetElasticity(cpShape *shape, cpFloat elasticity); + +/// Get the friction of this shape. +CP_EXPORT cpFloat cpShapeGetFriction(const cpShape *shape); +/// Set the friction of this shape. +CP_EXPORT void cpShapeSetFriction(cpShape *shape, cpFloat friction); + +/// Get the surface velocity of this shape. +CP_EXPORT cpVect cpShapeGetSurfaceVelocity(const cpShape *shape); +/// Set the surface velocity of this shape. +CP_EXPORT void cpShapeSetSurfaceVelocity(cpShape *shape, cpVect surfaceVelocity); + +/// Get the user definable data pointer of this shape. +CP_EXPORT cpDataPointer cpShapeGetUserData(const cpShape *shape); +/// Set the user definable data pointer of this shape. +CP_EXPORT void cpShapeSetUserData(cpShape *shape, cpDataPointer userData); + +/// Set the collision type of this shape. +CP_EXPORT cpCollisionType cpShapeGetCollisionType(const cpShape *shape); +/// Get the collision type of this shape. +CP_EXPORT void cpShapeSetCollisionType(cpShape *shape, cpCollisionType collisionType); + +/// Get the collision filtering parameters of this shape. +CP_EXPORT cpShapeFilter cpShapeGetFilter(const cpShape *shape); +/// Set the collision filtering parameters of this shape. +CP_EXPORT void cpShapeSetFilter(cpShape *shape, cpShapeFilter filter); -#define CP_DeclareShapeGetter(struct, type, name) type struct##Get##name(const cpShape *shape) /// @} /// @defgroup cpCircleShape cpCircleShape -/// @private -typedef struct cpCircleShape { - cpShape shape; - - cpVect c, tc; - cpFloat r; -} cpCircleShape; - /// Allocate a circle shape. -cpCircleShape* cpCircleShapeAlloc(void); +CP_EXPORT cpCircleShape* cpCircleShapeAlloc(void); /// Initialize a circle shape. -cpCircleShape* cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset); +CP_EXPORT cpCircleShape* cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset); /// Allocate and initialize a circle shape. -cpShape* cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset); +CP_EXPORT cpShape* cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset); -CP_DeclareShapeGetter(cpCircleShape, cpVect, Offset); -CP_DeclareShapeGetter(cpCircleShape, cpFloat, Radius); +/// Get the offset of a circle shape. +CP_EXPORT cpVect cpCircleShapeGetOffset(const cpShape *shape); +/// Get the radius of a circle shape. +CP_EXPORT cpFloat cpCircleShapeGetRadius(const cpShape *shape); /// @} /// @defgroup cpSegmentShape cpSegmentShape -/// @private -typedef struct cpSegmentShape { - cpShape shape; - - cpVect a, b, n; - cpVect ta, tb, tn; - cpFloat r; - - cpVect a_tangent, b_tangent; -} cpSegmentShape; - /// Allocate a segment shape. -cpSegmentShape* cpSegmentShapeAlloc(void); +CP_EXPORT cpSegmentShape* cpSegmentShapeAlloc(void); /// Initialize a segment shape. -cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius); +CP_EXPORT cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius); /// Allocate and initialize a segment shape. -cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius); +CP_EXPORT cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius); /// Let Chipmunk know about the geometry of adjacent segments to avoid colliding with endcaps. -void cpSegmentShapeSetNeighbors(cpShape *shape, cpVect prev, cpVect next); +CP_EXPORT void cpSegmentShapeSetNeighbors(cpShape *shape, cpVect prev, cpVect next); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, A); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, B); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, Normal); -CP_DeclareShapeGetter(cpSegmentShape, cpFloat, Radius); +/// Get the first endpoint of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetA(const cpShape *shape); +/// Get the second endpoint of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetB(const cpShape *shape); +/// Get the normal of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetNormal(const cpShape *shape); +/// Get the first endpoint of a segment shape. +CP_EXPORT cpFloat cpSegmentShapeGetRadius(const cpShape *shape); /// @} diff --git a/android/x86/include/chipmunk/cpSpace.h b/android/x86/include/chipmunk/cpSpace.h index 26439f76..7bbabb85 100644 --- a/android/x86/include/chipmunk/cpSpace.h +++ b/android/x86/include/chipmunk/cpSpace.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -22,191 +22,161 @@ /// @defgroup cpSpace cpSpace /// @{ -typedef struct cpContactBufferHeader cpContactBufferHeader; -typedef void (*cpSpaceArbiterApplyImpulseFunc)(cpArbiter *arb); +//MARK: Definitions -/// Basic Unit of Simulation in Chipmunk -struct cpSpace { - /// Number of iterations to use in the impulse solver to solve contacts. - int iterations; - - /// Gravity to pass to rigid bodies when integrating velocity. - cpVect gravity; - - /// Damping rate expressed as the fraction of velocity bodies retain each second. - /// A value of 0.9 would mean that each body's velocity will drop 10% per second. - /// The default value is 1.0, meaning no damping is applied. - /// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring. - cpFloat damping; - - /// Speed threshold for a body to be considered idle. - /// The default value of 0 means to let the space guess a good threshold based on gravity. - cpFloat idleSpeedThreshold; - - /// Time a group of bodies must remain idle in order to fall asleep. - /// Enabling sleeping also implicitly enables the the contact graph. - /// The default value of INFINITY disables the sleeping algorithm. - cpFloat sleepTimeThreshold; - - /// Amount of encouraged penetration between colliding shapes. - /// Used to reduce oscillating contacts and keep the collision cache warm. - /// Defaults to 0.1. If you have poor simulation quality, - /// increase this number as much as possible without allowing visible amounts of overlap. - cpFloat collisionSlop; - - /// Determines how fast overlapping shapes are pushed apart. - /// Expressed as a fraction of the error remaining after each second. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz. - cpFloat collisionBias; - - /// Number of frames that contact information should persist. - /// Defaults to 3. There is probably never a reason to change this value. - cpTimestamp collisionPersistence; - - /// Rebuild the contact graph during each step. Must be enabled to use the cpBodyEachArbiter() function. - /// Disabled by default for a small performance boost. Enabled implicitly when the sleeping feature is enabled. - cpBool enableContactGraph; - - /// User definable data pointer. - /// Generally this points to your game's controller or game state - /// class so you can access it when given a cpSpace reference in a callback. - cpDataPointer data; - - /// The designated static body for this space. - /// You can modify this body, or replace it with your own static body. - /// By default it points to a statically allocated cpBody in the cpSpace struct. - cpBody *staticBody; - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpFloat curr_dt); +/// Collision begin event function callback type. +/// Returning false from a begin callback causes the collision to be ignored until +/// the the separate callback is called when the objects stop colliding. +typedef cpBool (*cpCollisionBeginFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision pre-solve event function callback type. +/// Returning false from a pre-step callback causes the collision to be ignored until the next step. +typedef cpBool (*cpCollisionPreSolveFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision post-solve event function callback type. +typedef void (*cpCollisionPostSolveFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision separate event function callback type. +typedef void (*cpCollisionSeparateFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); - CP_PRIVATE(cpArray *bodies); - CP_PRIVATE(cpArray *rousedBodies); - CP_PRIVATE(cpArray *sleepingComponents); - - CP_PRIVATE(cpSpatialIndex *staticShapes); - CP_PRIVATE(cpSpatialIndex *activeShapes); - - CP_PRIVATE(cpArray *arbiters); - CP_PRIVATE(cpContactBufferHeader *contactBuffersHead); - CP_PRIVATE(cpHashSet *cachedArbiters); - CP_PRIVATE(cpArray *pooledArbiters); - CP_PRIVATE(cpArray *constraints); - - CP_PRIVATE(cpArray *allocatedBuffers); - CP_PRIVATE(int locked); - - CP_PRIVATE(cpHashSet *collisionHandlers); - CP_PRIVATE(cpCollisionHandler defaultHandler); - - CP_PRIVATE(cpBool skipPostStep); - CP_PRIVATE(cpArray *postStepCallbacks); - - CP_PRIVATE(cpBody _staticBody); +/// Struct that holds function callback pointers to configure custom collision handling. +/// Collision handlers have a pair of types; when a collision occurs between two shapes that have these types, the collision handler functions are triggered. +struct cpCollisionHandler { + /// Collision type identifier of the first shape that this handler recognizes. + /// In the collision handler callback, the shape with this type will be the first argument. Read only. + const cpCollisionType typeA; + /// Collision type identifier of the second shape that this handler recognizes. + /// In the collision handler callback, the shape with this type will be the second argument. Read only. + const cpCollisionType typeB; + /// This function is called when two shapes with types that match this collision handler begin colliding. + cpCollisionBeginFunc beginFunc; + /// This function is called each step when two shapes with types that match this collision handler are colliding. + /// It's called before the collision solver runs so that you can affect a collision's outcome. + cpCollisionPreSolveFunc preSolveFunc; + /// This function is called each step when two shapes with types that match this collision handler are colliding. + /// It's called after the collision solver runs so that you can read back information about the collision to trigger events in your game. + cpCollisionPostSolveFunc postSolveFunc; + /// This function is called when two shapes with types that match this collision handler stop colliding. + cpCollisionSeparateFunc separateFunc; + /// This is a user definable context pointer that is passed to all of the collision handler functions. + cpDataPointer userData; }; +// TODO: Make timestep a parameter? + + +//MARK: Memory and Initialization + /// Allocate a cpSpace. -cpSpace* cpSpaceAlloc(void); +CP_EXPORT cpSpace* cpSpaceAlloc(void); /// Initialize a cpSpace. -cpSpace* cpSpaceInit(cpSpace *space); +CP_EXPORT cpSpace* cpSpaceInit(cpSpace *space); /// Allocate and initialize a cpSpace. -cpSpace* cpSpaceNew(void); +CP_EXPORT cpSpace* cpSpaceNew(void); /// Destroy a cpSpace. -void cpSpaceDestroy(cpSpace *space); +CP_EXPORT void cpSpaceDestroy(cpSpace *space); /// Destroy and free a cpSpace. -void cpSpaceFree(cpSpace *space); +CP_EXPORT void cpSpaceFree(cpSpace *space); -#define CP_DefineSpaceStructGetter(type, member, name) \ -static inline type cpSpaceGet##name(const cpSpace *space){return space->member;} -#define CP_DefineSpaceStructSetter(type, member, name) \ -static inline void cpSpaceSet##name(cpSpace *space, type value){space->member = value;} +//MARK: Properties -#define CP_DefineSpaceStructProperty(type, member, name) \ -CP_DefineSpaceStructGetter(type, member, name) \ -CP_DefineSpaceStructSetter(type, member, name) +/// Number of iterations to use in the impulse solver to solve contacts and other constraints. +CP_EXPORT int cpSpaceGetIterations(const cpSpace *space); +CP_EXPORT void cpSpaceSetIterations(cpSpace *space, int iterations); -CP_DefineSpaceStructProperty(int, iterations, Iterations) -CP_DefineSpaceStructProperty(cpVect, gravity, Gravity) -CP_DefineSpaceStructProperty(cpFloat, damping, Damping) -CP_DefineSpaceStructProperty(cpFloat, idleSpeedThreshold, IdleSpeedThreshold) -CP_DefineSpaceStructProperty(cpFloat, sleepTimeThreshold, SleepTimeThreshold) -CP_DefineSpaceStructProperty(cpFloat, collisionSlop, CollisionSlop) -CP_DefineSpaceStructProperty(cpFloat, collisionBias, CollisionBias) -CP_DefineSpaceStructProperty(cpTimestamp, collisionPersistence, CollisionPersistence) -CP_DefineSpaceStructProperty(cpBool, enableContactGraph, EnableContactGraph) -CP_DefineSpaceStructProperty(cpDataPointer, data, UserData) -CP_DefineSpaceStructGetter(cpBody*, staticBody, StaticBody) -CP_DefineSpaceStructGetter(cpFloat, CP_PRIVATE(curr_dt), CurrentTimeStep) +/// Gravity to pass to rigid bodies when integrating velocity. +CP_EXPORT cpVect cpSpaceGetGravity(const cpSpace *space); +CP_EXPORT void cpSpaceSetGravity(cpSpace *space, cpVect gravity); -/// returns true from inside a callback and objects cannot be added/removed. -static inline cpBool -cpSpaceIsLocked(cpSpace *space) -{ - return space->CP_PRIVATE(locked); -} +/// Damping rate expressed as the fraction of velocity bodies retain each second. +/// A value of 0.9 would mean that each body's velocity will drop 10% per second. +/// The default value is 1.0, meaning no damping is applied. +/// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring. +CP_EXPORT cpFloat cpSpaceGetDamping(const cpSpace *space); +CP_EXPORT void cpSpaceSetDamping(cpSpace *space, cpFloat damping); -/// Set a default collision handler for this space. -/// The default collision handler is invoked for each colliding pair of shapes -/// that isn't explicitly handled by a specific collision handler. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceSetDefaultCollisionHandler( - cpSpace *space, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); +/// Speed threshold for a body to be considered idle. +/// The default value of 0 means to let the space guess a good threshold based on gravity. +CP_EXPORT cpFloat cpSpaceGetIdleSpeedThreshold(const cpSpace *space); +CP_EXPORT void cpSpaceSetIdleSpeedThreshold(cpSpace *space, cpFloat idleSpeedThreshold); -/// Set a collision handler to be used whenever the two shapes with the given collision types collide. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceAddCollisionHandler( - cpSpace *space, - cpCollisionType a, cpCollisionType b, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); +/// Time a group of bodies must remain idle in order to fall asleep. +/// Enabling sleeping also implicitly enables the the contact graph. +/// The default value of INFINITY disables the sleeping algorithm. +CP_EXPORT cpFloat cpSpaceGetSleepTimeThreshold(const cpSpace *space); +CP_EXPORT void cpSpaceSetSleepTimeThreshold(cpSpace *space, cpFloat sleepTimeThreshold); -/// Unset a collision handler. -void cpSpaceRemoveCollisionHandler(cpSpace *space, cpCollisionType a, cpCollisionType b); +/// Amount of encouraged penetration between colliding shapes. +/// Used to reduce oscillating contacts and keep the collision cache warm. +/// Defaults to 0.1. If you have poor simulation quality, +/// increase this number as much as possible without allowing visible amounts of overlap. +CP_EXPORT cpFloat cpSpaceGetCollisionSlop(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionSlop(cpSpace *space, cpFloat collisionSlop); + +/// Determines how fast overlapping shapes are pushed apart. +/// Expressed as a fraction of the error remaining after each second. +/// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz. +CP_EXPORT cpFloat cpSpaceGetCollisionBias(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionBias(cpSpace *space, cpFloat collisionBias); + +/// Number of frames that contact information should persist. +/// Defaults to 3. There is probably never a reason to change this value. +CP_EXPORT cpTimestamp cpSpaceGetCollisionPersistence(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionPersistence(cpSpace *space, cpTimestamp collisionPersistence); + +/// User definable data pointer. +/// Generally this points to your game's controller or game state +/// class so you can access it when given a cpSpace reference in a callback. +CP_EXPORT cpDataPointer cpSpaceGetUserData(const cpSpace *space); +CP_EXPORT void cpSpaceSetUserData(cpSpace *space, cpDataPointer userData); + +/// The Space provided static body for a given cpSpace. +/// This is merely provided for convenience and you are not required to use it. +CP_EXPORT cpBody* cpSpaceGetStaticBody(const cpSpace *space); + +/// Returns the current (or most recent) time step used with the given space. +/// Useful from callbacks if your time step is not a compile-time global. +CP_EXPORT cpFloat cpSpaceGetCurrentTimeStep(const cpSpace *space); + +/// returns true from inside a callback when objects cannot be added/removed. +CP_EXPORT cpBool cpSpaceIsLocked(cpSpace *space); + + +//MARK: Collision Handlers + +/// Create or return the existing collision handler that is called for all collisions that are not handled by a more specific collision handler. +CP_EXPORT cpCollisionHandler *cpSpaceAddDefaultCollisionHandler(cpSpace *space); +/// Create or return the existing collision handler for the specified pair of collision types. +/// If wildcard handlers are used with either of the collision types, it's the responibility of the custom handler to invoke the wildcard handlers. +CP_EXPORT cpCollisionHandler *cpSpaceAddCollisionHandler(cpSpace *space, cpCollisionType a, cpCollisionType b); +/// Create or return the existing wildcard collision handler for the specified type. +CP_EXPORT cpCollisionHandler *cpSpaceAddWildcardHandler(cpSpace *space, cpCollisionType type); + + +//MARK: Add/Remove objects /// Add a collision shape to the simulation. /// If the shape is attached to a static body, it will be added as a static shape. -cpShape* cpSpaceAddShape(cpSpace *space, cpShape *shape); -/// Explicity add a shape as a static shape to the simulation. -cpShape* cpSpaceAddStaticShape(cpSpace *space, cpShape *shape); +CP_EXPORT cpShape* cpSpaceAddShape(cpSpace *space, cpShape *shape); /// Add a rigid body to the simulation. -cpBody* cpSpaceAddBody(cpSpace *space, cpBody *body); +CP_EXPORT cpBody* cpSpaceAddBody(cpSpace *space, cpBody *body); /// Add a constraint to the simulation. -cpConstraint* cpSpaceAddConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT cpConstraint* cpSpaceAddConstraint(cpSpace *space, cpConstraint *constraint); /// Remove a collision shape from the simulation. -void cpSpaceRemoveShape(cpSpace *space, cpShape *shape); -/// Remove a collision shape added using cpSpaceAddStaticShape() from the simulation. -void cpSpaceRemoveStaticShape(cpSpace *space, cpShape *shape); +CP_EXPORT void cpSpaceRemoveShape(cpSpace *space, cpShape *shape); /// Remove a rigid body from the simulation. -void cpSpaceRemoveBody(cpSpace *space, cpBody *body); +CP_EXPORT void cpSpaceRemoveBody(cpSpace *space, cpBody *body); /// Remove a constraint from the simulation. -void cpSpaceRemoveConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT void cpSpaceRemoveConstraint(cpSpace *space, cpConstraint *constraint); /// Test if a collision shape has been added to the space. -cpBool cpSpaceContainsShape(cpSpace *space, cpShape *shape); +CP_EXPORT cpBool cpSpaceContainsShape(cpSpace *space, cpShape *shape); /// Test if a rigid body has been added to the space. -cpBool cpSpaceContainsBody(cpSpace *space, cpBody *body); +CP_EXPORT cpBool cpSpaceContainsBody(cpSpace *space, cpBody *body); /// Test if a constraint has been added to the space. -cpBool cpSpaceContainsConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT cpBool cpSpaceContainsConstraint(cpSpace *space, cpConstraint *constraint); -/// Convert a dynamic rogue body to a static one. -/// If the body is active, you must remove it from the space first. -void cpSpaceConvertBodyToStatic(cpSpace *space, cpBody *body); -/// Convert a body to a dynamic rogue body. -/// If you want the body to be active after the transition, you must add it to the space also. -void cpSpaceConvertBodyToDynamic(cpSpace *space, cpBody *body, cpFloat mass, cpFloat moment); +//MARK: Post-Step Callbacks /// Post Step callback function type. typedef void (*cpPostStepFunc)(cpSpace *space, void *key, void *data); @@ -214,70 +184,136 @@ typedef void (*cpPostStepFunc)(cpSpace *space, void *key, void *data); /// You can only register one callback per unique value for @c key. /// Returns true only if @c key has never been scheduled before. /// It's possible to pass @c NULL for @c func if you only want to mark @c key as being used. -cpBool cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *key, void *data); +CP_EXPORT cpBool cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *key, void *data); -/// Point query callback function type. -typedef void (*cpSpacePointQueryFunc)(cpShape *shape, void *data); -/// Query the space at a point and call @c func for each shape found. -void cpSpacePointQuery(cpSpace *space, cpVect point, cpLayers layers, cpGroup group, cpSpacePointQueryFunc func, void *data); -/// Query the space at a point and return the first shape found. Returns NULL if no shapes were found. -cpShape *cpSpacePointQueryFirst(cpSpace *space, cpVect point, cpLayers layers, cpGroup group); + +//MARK: Queries + +// TODO: Queries and iterators should take a cpSpace parametery. +// TODO: They should also be abortable. /// Nearest point query callback function type. -typedef void (*cpSpaceNearestPointQueryFunc)(cpShape *shape, cpFloat distance, cpVect point, void *data); +typedef void (*cpSpacePointQueryFunc)(cpShape *shape, cpVect point, cpFloat distance, cpVect gradient, void *data); /// Query the space at a point and call @c func for each shape found. -void cpSpaceNearestPointQuery(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryFunc func, void *data); +CP_EXPORT void cpSpacePointQuery(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpSpacePointQueryFunc func, void *data); /// Query the space at a point and return the nearest shape found. Returns NULL if no shapes were found. -cpShape *cpSpaceNearestPointQueryNearest(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpNearestPointQueryInfo *out); +CP_EXPORT cpShape *cpSpacePointQueryNearest(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpPointQueryInfo *out); /// Segment query callback function type. -typedef void (*cpSpaceSegmentQueryFunc)(cpShape *shape, cpFloat t, cpVect n, void *data); +typedef void (*cpSpaceSegmentQueryFunc)(cpShape *shape, cpVect point, cpVect normal, cpFloat alpha, void *data); /// Perform a directed line segment query (like a raycast) against the space calling @c func for each shape intersected. -void cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryFunc func, void *data); +CP_EXPORT void cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSpaceSegmentQueryFunc func, void *data); /// Perform a directed line segment query (like a raycast) against the space and return the first shape hit. Returns NULL if no shapes were hit. -cpShape *cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSegmentQueryInfo *out); +CP_EXPORT cpShape *cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSegmentQueryInfo *out); /// Rectangle Query callback function type. typedef void (*cpSpaceBBQueryFunc)(cpShape *shape, void *data); /// Perform a fast rectangle query on the space calling @c func for each shape found. /// Only the shape's bounding boxes are checked for overlap, not their full shape. -void cpSpaceBBQuery(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryFunc func, void *data); +CP_EXPORT void cpSpaceBBQuery(cpSpace *space, cpBB bb, cpShapeFilter filter, cpSpaceBBQueryFunc func, void *data); /// Shape query callback function type. typedef void (*cpSpaceShapeQueryFunc)(cpShape *shape, cpContactPointSet *points, void *data); /// Query a space for any shapes overlapping the given shape and call @c func for each shape found. -cpBool cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data); +CP_EXPORT cpBool cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data); -/// Call cpBodyActivate() for any shape that is overlaps the given shape. -void cpSpaceActivateShapesTouchingShape(cpSpace *space, cpShape *shape); +//MARK: Iteration /// Space/body iterator callback function type. typedef void (*cpSpaceBodyIteratorFunc)(cpBody *body, void *data); /// Call @c func for each body in the space. -void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIteratorFunc func, void *data); /// Space/body iterator callback function type. typedef void (*cpSpaceShapeIteratorFunc)(cpShape *shape, void *data); /// Call @c func for each shape in the space. -void cpSpaceEachShape(cpSpace *space, cpSpaceShapeIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachShape(cpSpace *space, cpSpaceShapeIteratorFunc func, void *data); /// Space/constraint iterator callback function type. typedef void (*cpSpaceConstraintIteratorFunc)(cpConstraint *constraint, void *data); /// Call @c func for each shape in the space. -void cpSpaceEachConstraint(cpSpace *space, cpSpaceConstraintIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachConstraint(cpSpace *space, cpSpaceConstraintIteratorFunc func, void *data); + + +//MARK: Indexing /// Update the collision detection info for the static shapes in the space. -void cpSpaceReindexStatic(cpSpace *space); +CP_EXPORT void cpSpaceReindexStatic(cpSpace *space); /// Update the collision detection data for a specific shape in the space. -void cpSpaceReindexShape(cpSpace *space, cpShape *shape); +CP_EXPORT void cpSpaceReindexShape(cpSpace *space, cpShape *shape); /// Update the collision detection data for all shapes attached to a body. -void cpSpaceReindexShapesForBody(cpSpace *space, cpBody *body); +CP_EXPORT void cpSpaceReindexShapesForBody(cpSpace *space, cpBody *body); /// Switch the space to use a spatial has as it's spatial index. -void cpSpaceUseSpatialHash(cpSpace *space, cpFloat dim, int count); +CP_EXPORT void cpSpaceUseSpatialHash(cpSpace *space, cpFloat dim, int count); + + +//MARK: Time Stepping /// Step the space forward in time by @c dt. -void cpSpaceStep(cpSpace *space, cpFloat dt); +CP_EXPORT void cpSpaceStep(cpSpace *space, cpFloat dt); + + +//MARK: Debug API + +#ifndef CP_SPACE_DISABLE_DEBUG_API + +/// Color type to use with the space debug drawing API. +typedef struct cpSpaceDebugColor { + float r, g, b, a; +} cpSpaceDebugColor; + +/// Callback type for a function that draws a filled, stroked circle. +typedef void (*cpSpaceDebugDrawCircleImpl)(cpVect pos, cpFloat angle, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a line segment. +typedef void (*cpSpaceDebugDrawSegmentImpl)(cpVect a, cpVect b, cpSpaceDebugColor color, cpDataPointer data); +/// Callback type for a function that draws a thick line segment. +typedef void (*cpSpaceDebugDrawFatSegmentImpl)(cpVect a, cpVect b, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a convex polygon. +typedef void (*cpSpaceDebugDrawPolygonImpl)(int count, const cpVect *verts, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a dot. +typedef void (*cpSpaceDebugDrawDotImpl)(cpFloat size, cpVect pos, cpSpaceDebugColor color, cpDataPointer data); +/// Callback type for a function that returns a color for a given shape. This gives you an opportunity to color shapes based on how they are used in your engine. +typedef cpSpaceDebugColor (*cpSpaceDebugDrawColorForShapeImpl)(cpShape *shape, cpDataPointer data); + +typedef enum cpSpaceDebugDrawFlags { + CP_SPACE_DEBUG_DRAW_SHAPES = 1<<0, + CP_SPACE_DEBUG_DRAW_CONSTRAINTS = 1<<1, + CP_SPACE_DEBUG_DRAW_COLLISION_POINTS = 1<<2, +} cpSpaceDebugDrawFlags; + +/// Struct used with cpSpaceDebugDraw() containing drawing callbacks and other drawing settings. +typedef struct cpSpaceDebugDrawOptions { + /// Function that will be invoked to draw circles. + cpSpaceDebugDrawCircleImpl drawCircle; + /// Function that will be invoked to draw line segments. + cpSpaceDebugDrawSegmentImpl drawSegment; + /// Function that will be invoked to draw thick line segments. + cpSpaceDebugDrawFatSegmentImpl drawFatSegment; + /// Function that will be invoked to draw convex polygons. + cpSpaceDebugDrawPolygonImpl drawPolygon; + /// Function that will be invoked to draw dots. + cpSpaceDebugDrawDotImpl drawDot; + + /// Flags that request which things to draw (collision shapes, constraints, contact points). + cpSpaceDebugDrawFlags flags; + /// Outline color passed to the drawing function. + cpSpaceDebugColor shapeOutlineColor; + /// Function that decides what fill color to draw shapes using. + cpSpaceDebugDrawColorForShapeImpl colorForShape; + /// Color passed to drawing functions for constraints. + cpSpaceDebugColor constraintColor; + /// Color passed to drawing functions for collision points. + cpSpaceDebugColor collisionPointColor; + + /// User defined context pointer passed to all of the callback functions as the 'data' argument. + cpDataPointer data; +} cpSpaceDebugDrawOptions; + +/// Debug draw the current state of the space using the supplied drawing options. +CP_EXPORT void cpSpaceDebugDraw(cpSpace *space, cpSpaceDebugDrawOptions *options); + +#endif /// @} diff --git a/android/x86/include/chipmunk/cpSpatialIndex.h b/android/x86/include/chipmunk/cpSpatialIndex.h index c279cad0..a386ba9a 100644 --- a/android/x86/include/chipmunk/cpSpatialIndex.h +++ b/android/x86/include/chipmunk/cpSpatialIndex.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2010 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -69,48 +69,48 @@ struct cpSpatialIndex { typedef struct cpSpaceHash cpSpaceHash; /// Allocate a spatial hash. -cpSpaceHash* cpSpaceHashAlloc(void); +CP_EXPORT cpSpaceHash* cpSpaceHashAlloc(void); /// Initialize a spatial hash. -cpSpatialIndex* cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a spatial hash. -cpSpatialIndex* cpSpaceHashNew(cpFloat celldim, int cells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSpaceHashNew(cpFloat celldim, int cells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Change the cell dimensions and table size of the spatial hash to tune it. /// The cell dimensions should roughly match the average size of your objects /// and the table size should be ~10 larger than the number of objects inserted. /// Some trial and error is required to find the optimum numbers for efficiency. -void cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells); +CP_EXPORT void cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells); //MARK: AABB Tree typedef struct cpBBTree cpBBTree; /// Allocate a bounding box tree. -cpBBTree* cpBBTreeAlloc(void); +CP_EXPORT cpBBTree* cpBBTreeAlloc(void); /// Initialize a bounding box tree. -cpSpatialIndex* cpBBTreeInit(cpBBTree *tree, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpBBTreeInit(cpBBTree *tree, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a bounding box tree. -cpSpatialIndex* cpBBTreeNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpBBTreeNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Perform a static top down optimization of the tree. -void cpBBTreeOptimize(cpSpatialIndex *index); +CP_EXPORT void cpBBTreeOptimize(cpSpatialIndex *index); /// Bounding box tree velocity callback function. /// This function should return an estimate for the object's velocity. typedef cpVect (*cpBBTreeVelocityFunc)(void *obj); /// Set the velocity function for the bounding box tree to enable temporal coherence. -void cpBBTreeSetVelocityFunc(cpSpatialIndex *index, cpBBTreeVelocityFunc func); +CP_EXPORT void cpBBTreeSetVelocityFunc(cpSpatialIndex *index, cpBBTreeVelocityFunc func); //MARK: Single Axis Sweep typedef struct cpSweep1D cpSweep1D; /// Allocate a 1D sort and sweep broadphase. -cpSweep1D* cpSweep1DAlloc(void); +CP_EXPORT cpSweep1D* cpSweep1DAlloc(void); /// Initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DInit(cpSweep1D *sweep, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSweep1DInit(cpSweep1D *sweep, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSweep1DNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); //MARK: Spatial Index Implementation diff --git a/android/x86/include/chipmunk/cpVect.h b/android/x86/include/chipmunk/cpVect.h index 90855e56..8ec02bdc 100644 --- a/android/x86/include/chipmunk/cpVect.h +++ b/android/x86/include/chipmunk/cpVect.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,6 +19,11 @@ * SOFTWARE. */ +#ifndef CHIPMUNK_VECT_H +#define CHIPMUNK_VECT_H + +#include "chipmunk_types.h" + /// @defgroup cpVect cpVect /// Chipmunk's 2D vector type along with a handy 2D vector math lib. /// @{ @@ -33,17 +38,6 @@ static inline cpVect cpv(const cpFloat x, const cpFloat y) return v; } -/// Spherical linearly interpolate between v1 and v2. -cpVect cpvslerp(const cpVect v1, const cpVect v2, const cpFloat t); - -/// Spherical linearly interpolate between v1 towards v2 by no more than angle a radians -cpVect cpvslerpconst(const cpVect v1, const cpVect v2, const cpFloat a); - -/// Returns a string representation of v. Intended mostly for debugging purposes and not production use. -/// @attention The string points to a static local and is reset every time the function is called. -/// If you want to print more than one vector you will have to split up your printing onto separate lines. -char* cpvstr(const cpVect v); - /// Check if two vectors are equal. (Be careful when comparing floating point numbers!) static inline cpBool cpveql(const cpVect v1, const cpVect v2) { @@ -155,10 +149,30 @@ static inline cpVect cpvnormalize(const cpVect v) return cpvmult(v, 1.0f/(cpvlength(v) + CPFLOAT_MIN)); } -/// @deprecated Just an alias for cpvnormalize() now. -static inline cpVect cpvnormalize_safe(const cpVect v) +/// Spherical linearly interpolate between v1 and v2. +static inline cpVect +cpvslerp(const cpVect v1, const cpVect v2, const cpFloat t) { - return cpvnormalize(v); + cpFloat dot = cpvdot(cpvnormalize(v1), cpvnormalize(v2)); + cpFloat omega = cpfacos(cpfclamp(dot, -1.0f, 1.0f)); + + if(omega < 1e-3){ + // If the angle between two vectors is very small, lerp instead to avoid precision issues. + return cpvlerp(v1, v2, t); + } else { + cpFloat denom = 1.0f/cpfsin(omega); + return cpvadd(cpvmult(v1, cpfsin((1.0f - t)*omega)*denom), cpvmult(v2, cpfsin(t*omega)*denom)); + } +} + +/// Spherical linearly interpolate between v1 towards v2 by no more than angle a radians +static inline cpVect +cpvslerpconst(const cpVect v1, const cpVect v2, const cpFloat a) +{ + cpFloat dot = cpvdot(cpvnormalize(v1), cpvnormalize(v2)); + cpFloat omega = cpfacos(cpfclamp(dot, -1.0f, 1.0f)); + + return cpvslerp(v1, v2, cpfmin(a, omega)/omega); } /// Clamp v to length len. @@ -197,6 +211,7 @@ static inline cpBool cpvnear(const cpVect v1, const cpVect v2, const cpFloat dis /// 2x2 matrix type used for tensors and such. /// @{ +// NUKE static inline cpMat2x2 cpMat2x2New(cpFloat a, cpFloat b, cpFloat c, cpFloat d) { @@ -211,3 +226,5 @@ cpMat2x2Transform(cpMat2x2 m, cpVect v) } ///@} + +#endif diff --git a/android/x86/libchipmunk.a b/android/x86/libchipmunk.a index 7ead82e1bee9e266298b17eb48e6608eb6c0ce8b..814ef5de8ee167a2075238788eab2406e176fd25 100644 GIT binary patch literal 412100 zcmdqK3wT_`c{hHvy9U`7IxC}qNR+ZP3t3WONg%+&PO_49vyriE%a#Q4MYh&RAWQOU 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zjqlVG5&wsBqi$ht+ta>{ti2cSk2wCGt#W@M#@Y8z%$M5iJ{QyfTy9#9?zTJg`^fq` z?0<{6ve_MO`=h!t^v9RS>5;B_q?(I+33`b-@mNieUmsmBfKP;IwG3%wJ-W;0YPeZU zJz^8#T`fyJD}TI@Tr{tcUHt#J$@R` z|9eZUUvNscm#g<#p-{^0-E@IM>Fn&)-?pS}tll>WUK(A*x+|Eo4?{KBJP;WNu18{uQHzfG41yT6FD))p!;r+PU58y`%cS4hURq@Bm1#hcd;&;XP zFT{A9y7m8BO5dy;b@~v>F#|l6yM!x!N4`F;4|%K7yESjr^I52P^dNsKR{=o!4?Wu_ zJ14M8y7mhglMDVHxwFIGMAC;mrZ585=jEag>7qTP578P@=|hI)zJUD#-bulm=|iZx z$$eE`U3t7E#Ho#hM{^mD@FWYR2$|fq7k>&$6U^t5U+pSrg(umY_#6pu0XS3PJCMU0 zBy8`dxB}hJf_^T#p-|=$>?dI^uIiiWLoO$r@_n-gLIO$?{3ch5R|e1CYb~|L_eR1g z-^UWZN0FvBR(nYIk4N=8&-wlmo;tqZX`Xj*zP|uc z%6BB;`?DZB-~7G;zuSVZ^hYV*3GnQ@Au@Kpm*)6xN%+1t;hWc+{7nnKe~{yQ06aaX z9Gvg_a(s8gw*->nGRY9u+15Pm?}GejJ0n;K}yf z!OMCz2xe& diff --git a/ios/include/chipmunk/chipmunk.h b/ios/include/chipmunk/chipmunk.h index 6337fb1a..59197476 100644 --- a/ios/include/chipmunk/chipmunk.h +++ b/ios/include/chipmunk/chipmunk.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,20 +19,30 @@ * SOFTWARE. */ -#ifndef CHIPMUNK_HEADER -#define CHIPMUNK_HEADER - -#ifdef _MSC_VER - #define _USE_MATH_DEFINES -#endif +#ifndef CHIPMUNK_H +#define CHIPMUNK_H #include #include +#ifdef WIN32 + // For alloca(). + #include + #if !defined(WINAPI_FAMILY) || (WINAPI_FAMILY == WINAPI_FAMILY_DESKTOP_APP) + #define CP_EXPORT __declspec(dllexport) + #else + #define CP_EXPORT + #endif +#else + #include + #define CP_EXPORT +#endif + #ifdef __cplusplus extern "C" { #endif +// NUKE #ifndef CP_ALLOW_PRIVATE_ACCESS #define CP_ALLOW_PRIVATE_ACCESS 0 #endif @@ -43,22 +53,17 @@ extern "C" { #define CP_PRIVATE(__symbol__) __symbol__##_private #endif -void cpMessage(const char *condition, const char *file, int line, int isError, int isHardError, const char *message, ...); +CP_EXPORT void cpMessage(const char *condition, const char *file, int line, int isError, int isHardError, const char *message, ...); #ifdef NDEBUG #define cpAssertWarn(__condition__, ...) + #define cpAssertSoft(__condition__, ...) #else + #define cpAssertSoft(__condition__, ...) if(!(__condition__)){cpMessage(#__condition__, __FILE__, __LINE__, 1, 0, __VA_ARGS__); abort();} #define cpAssertWarn(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 0, 0, __VA_ARGS__) #endif -#ifdef NDEBUG - #define cpAssertSoft(__condition__, ...) -#else - #define cpAssertSoft(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 0, __VA_ARGS__) -#endif - -// Hard assertions are important and cheap to execute. They are not disabled by compiling as debug. -#define cpAssertHard(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 1, __VA_ARGS__) - +// Hard assertions are used in situations where the program definitely will crash anyway, and the reason is inexpensive to detect. +#define cpAssertHard(__condition__, ...) if(!(__condition__)){cpMessage(#__condition__, __FILE__, __LINE__, 1, 1, __VA_ARGS__); abort();} #include "chipmunk_types.h" @@ -89,81 +94,90 @@ typedef struct cpArray cpArray; typedef struct cpHashSet cpHashSet; typedef struct cpBody cpBody; + typedef struct cpShape cpShape; +typedef struct cpCircleShape cpCircleShape; +typedef struct cpSegmentShape cpSegmentShape; +typedef struct cpPolyShape cpPolyShape; + typedef struct cpConstraint cpConstraint; +typedef struct cpPinJoint cpPinJoint; +typedef struct cpSlideJoint cpSlideJoint; +typedef struct cpPivotJoint cpPivotJoint; +typedef struct cpGrooveJoint cpGrooveJoint; +typedef struct cpDampedSpring cpDampedSpring; +typedef struct cpDampedRotarySpring cpDampedRotarySpring; +typedef struct cpRotaryLimitJoint cpRotaryLimitJoint; +typedef struct cpRatchetJoint cpRatchetJoint; +typedef struct cpGearJoint cpGearJoint; +typedef struct cpSimpleMotorJoint cpSimpleMotorJoint; typedef struct cpCollisionHandler cpCollisionHandler; +typedef struct cpContactPointSet cpContactPointSet; typedef struct cpArbiter cpArbiter; typedef struct cpSpace cpSpace; #include "cpVect.h" #include "cpBB.h" +#include "cpTransform.h" #include "cpSpatialIndex.h" +#include "cpArbiter.h" + #include "cpBody.h" #include "cpShape.h" #include "cpPolyShape.h" -#include "cpArbiter.h" -#include "constraints/cpConstraint.h" +#include "cpConstraint.h" #include "cpSpace.h" +#include "cpHastySpace.h" -// Chipmunk 6.2.1 -#define CP_VERSION_MAJOR 6 -#define CP_VERSION_MINOR 2 +// Chipmunk 7.0.1 +#define CP_VERSION_MAJOR 7 +#define CP_VERSION_MINOR 0 #define CP_VERSION_RELEASE 1 /// Version string. -extern const char *cpVersionString; - -/// @deprecated -void cpInitChipmunk(void); - -/// Enables segment to segment shape collisions. -void cpEnableSegmentToSegmentCollisions(void); - +CP_EXPORT extern const char *cpVersionString; /// Calculate the moment of inertia for a circle. /// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset); +CP_EXPORT cpFloat cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset); /// Calculate area of a hollow circle. /// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpAreaForCircle(cpFloat r1, cpFloat r2); +CP_EXPORT cpFloat cpAreaForCircle(cpFloat r1, cpFloat r2); /// Calculate the moment of inertia for a line segment. /// Beveling radius is not supported. -cpFloat cpMomentForSegment(cpFloat m, cpVect a, cpVect b); +CP_EXPORT cpFloat cpMomentForSegment(cpFloat m, cpVect a, cpVect b, cpFloat radius); /// Calculate the area of a fattened (capsule shaped) line segment. -cpFloat cpAreaForSegment(cpVect a, cpVect b, cpFloat r); +CP_EXPORT cpFloat cpAreaForSegment(cpVect a, cpVect b, cpFloat radius); /// Calculate the moment of inertia for a solid polygon shape assuming it's center of gravity is at it's centroid. The offset is added to each vertex. -cpFloat cpMomentForPoly(cpFloat m, int numVerts, const cpVect *verts, cpVect offset); +CP_EXPORT cpFloat cpMomentForPoly(cpFloat m, int count, const cpVect *verts, cpVect offset, cpFloat radius); /// Calculate the signed area of a polygon. A Clockwise winding gives positive area. /// This is probably backwards from what you expect, but matches Chipmunk's the winding for poly shapes. -cpFloat cpAreaForPoly(const int numVerts, const cpVect *verts); +CP_EXPORT cpFloat cpAreaForPoly(const int count, const cpVect *verts, cpFloat radius); /// Calculate the natural centroid of a polygon. -cpVect cpCentroidForPoly(const int numVerts, const cpVect *verts); - -/// Center the polygon on the origin. (Subtracts the centroid of the polygon from each vertex) -void cpRecenterPoly(const int numVerts, cpVect *verts); +CP_EXPORT cpVect cpCentroidForPoly(const int count, const cpVect *verts); /// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox(cpFloat m, cpFloat width, cpFloat height); +CP_EXPORT cpFloat cpMomentForBox(cpFloat m, cpFloat width, cpFloat height); /// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox2(cpFloat m, cpBB box); +CP_EXPORT cpFloat cpMomentForBox2(cpFloat m, cpBB box); /// Calculate the convex hull of a given set of points. Returns the count of points in the hull. -/// @c result must be a pointer to a @c cpVect array with at least @c count elements. If @c result is @c NULL, then @c verts will be reduced instead. +/// @c result must be a pointer to a @c cpVect array with at least @c count elements. If @c verts == @c result, then @c verts will be reduced inplace. /// @c first is an optional pointer to an integer to store where the first vertex in the hull came from (i.e. verts[first] == result[0]) /// @c tol is the allowed amount to shrink the hull when simplifying it. A tolerance of 0.0 creates an exact hull. -int cpConvexHull(int count, cpVect *verts, cpVect *result, int *first, cpFloat tol); +CP_EXPORT int cpConvexHull(int count, const cpVect *verts, cpVect *result, int *first, cpFloat tol); #ifdef _MSC_VER #include "malloc.h" @@ -177,6 +191,15 @@ int cpConvexHull(int count, cpVect *verts, cpVect *result, int *first, cpFloat t cpVect *__verts_var__ = (cpVect *)alloca(__count__*sizeof(cpVect)); \ int __count_var__ = cpConvexHull(__count__, __verts__, __verts_var__, NULL, 0.0); \ +/// Returns the closest point on the line segment ab, to the point p. +static inline cpVect +cpClosetPointOnSegment(const cpVect p, const cpVect a, const cpVect b) +{ + cpVect delta = cpvsub(a, b); + cpFloat t = cpfclamp01(cpvdot(delta, cpvsub(p, b))/cpvlengthsq(delta)); + return cpvadd(b, cpvmult(delta, t)); +} + #if defined(__has_extension) #if __has_extension(blocks) // Define alternate block based alternatives for a few of the callback heavy functions. @@ -191,14 +214,14 @@ void cpBodyEachShape_b(cpBody *body, void (^block)(cpShape *shape)); void cpBodyEachConstraint_b(cpBody *body, void (^block)(cpConstraint *constraint)); void cpBodyEachArbiter_b(cpBody *body, void (^block)(cpArbiter *arbiter)); -typedef void (^cpSpaceNearestPointQueryBlock)(cpShape *shape, cpFloat distance, cpVect point); -void cpSpaceNearestPointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryBlock block); +typedef void (^cpSpacePointQueryBlock)(cpShape *shape, cpVect point, cpFloat distance, cpVect gradient); +void cpSpacePointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpSpacePointQueryBlock block); -typedef void (^cpSpaceSegmentQueryBlock)(cpShape *shape, cpFloat t, cpVect n); -void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryBlock block); +typedef void (^cpSpaceSegmentQueryBlock)(cpShape *shape, cpVect point, cpVect normal, cpFloat alpha); +void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSpaceSegmentQueryBlock block); typedef void (^cpSpaceBBQueryBlock)(cpShape *shape); -void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryBlock block); +void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpShapeFilter filter, cpSpaceBBQueryBlock block); typedef void (^cpSpaceShapeQueryBlock)(cpShape *shape, cpContactPointSet *points); cpBool cpSpaceShapeQuery_b(cpSpace *space, cpShape *shape, cpSpaceShapeQueryBlock block); diff --git a/ios/include/chipmunk/chipmunk_ffi.h b/ios/include/chipmunk/chipmunk_ffi.h index 53ac6937..c0248410 100644 --- a/ios/include/chipmunk/chipmunk_ffi.h +++ b/ios/include/chipmunk/chipmunk_ffi.h @@ -1,11 +1,35 @@ +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + #ifdef CHIPMUNK_FFI // Create non static inlined copies of Chipmunk functions, useful for working with dynamic FFIs // This file should only be included in chipmunk.c +// TODO: get rid of the reliance on static inlines. +// They make a mess for FFIs. + #ifdef _MSC_VER #if _MSC_VER >= 1600 - #define MAKE_REF(name) decltype(name) *_##name = name + #define MAKE_REF(name) CP_EXPORT decltype(name) *_##name = name #else #define MAKE_REF(name) #endif @@ -13,8 +37,9 @@ #define MAKE_REF(name) __typeof__(name) *_##name = name #endif -#define MAKE_PROPERTIES_REF(struct, property) \ - MAKE_REF(struct##Get##property); MAKE_REF(struct##Set##property) +#ifdef __cplusplus +extern "C" { +#endif MAKE_REF(cpv); // makes a variable named _cpv that contains the function pointer for cpv() MAKE_REF(cpveql); @@ -35,7 +60,6 @@ MAKE_REF(cpvlengthsq); MAKE_REF(cpvlength); MAKE_REF(cpvlerp); MAKE_REF(cpvnormalize); -MAKE_REF(cpvnormalize_safe); MAKE_REF(cpvclamp); MAKE_REF(cpvlerpconst); MAKE_REF(cpvdist); @@ -50,104 +74,20 @@ MAKE_REF(cpflerp); MAKE_REF(cpflerpconst); MAKE_REF(cpBBNew); +MAKE_REF(cpBBNewForExtents); MAKE_REF(cpBBNewForCircle); MAKE_REF(cpBBIntersects); MAKE_REF(cpBBContainsBB); MAKE_REF(cpBBContainsVect); MAKE_REF(cpBBMerge); MAKE_REF(cpBBExpand); +MAKE_REF(cpBBCenter); MAKE_REF(cpBBArea); MAKE_REF(cpBBMergedArea); MAKE_REF(cpBBSegmentQuery); MAKE_REF(cpBBIntersectsSegment); MAKE_REF(cpBBClampVect); -MAKE_REF(cpBodyGetMass); -MAKE_REF(cpBodyGetMoment); -MAKE_REF(cpBodyGetPos); -MAKE_REF(cpBodyGetAngle); -MAKE_REF(cpBodyGetRot); -MAKE_PROPERTIES_REF(cpBody, Vel); -MAKE_PROPERTIES_REF(cpBody, Force); -MAKE_PROPERTIES_REF(cpBody, AngVel); -MAKE_PROPERTIES_REF(cpBody, Torque); -MAKE_PROPERTIES_REF(cpBody, VelLimit); -MAKE_PROPERTIES_REF(cpBody, AngVelLimit); -MAKE_PROPERTIES_REF(cpBody, UserData); -MAKE_REF(cpBodyIsSleeping); -MAKE_REF(cpBodyIsStatic); -MAKE_REF(cpBodyIsRogue); -MAKE_REF(cpBodyLocal2World); -MAKE_REF(cpBodyWorld2Local); -MAKE_REF(cpBodyKineticEnergy); - -MAKE_REF(cpShapeGetBB); -MAKE_PROPERTIES_REF(cpShape, Body); -MAKE_PROPERTIES_REF(cpShape, Sensor); -MAKE_PROPERTIES_REF(cpShape, Elasticity); -MAKE_PROPERTIES_REF(cpShape, Friction); -MAKE_PROPERTIES_REF(cpShape, SurfaceVelocity); -MAKE_PROPERTIES_REF(cpShape, UserData); -MAKE_PROPERTIES_REF(cpShape, CollisionType); -MAKE_PROPERTIES_REF(cpShape, Group); -MAKE_PROPERTIES_REF(cpShape, Layers); - -MAKE_REF(cpArbiterGetShapes); -MAKE_REF(cpArbiterGetBodies); -MAKE_REF(cpArbiterIsFirstContact); -MAKE_REF(cpArbiterGetCount); - -MAKE_REF(cpConstraintGetA); -MAKE_REF(cpConstraintGetB); -MAKE_PROPERTIES_REF(cpConstraint, MaxForce); -MAKE_PROPERTIES_REF(cpConstraint, ErrorBias); -MAKE_PROPERTIES_REF(cpConstraint, MaxBias); -MAKE_PROPERTIES_REF(cpConstraint, UserData); -MAKE_REF(cpConstraintGetImpulse); - -MAKE_PROPERTIES_REF(cpDampedRotarySpring, RestAngle); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedRotarySpring, SpringTorqueFunc); - -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr1); -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr2); -MAKE_PROPERTIES_REF(cpDampedSpring, RestLength); -MAKE_PROPERTIES_REF(cpDampedSpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedSpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedSpring, SpringForceFunc); - -MAKE_PROPERTIES_REF(cpGearJoint, Phase); -MAKE_REF(cpGearJointGetRatio); - -MAKE_PROPERTIES_REF(cpGrooveJoint, Anchr2); -MAKE_REF(cpGrooveJointGetGrooveA); -MAKE_REF(cpGrooveJointGetGrooveB); - -MAKE_PROPERTIES_REF(cpPinJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPinJoint, Anchr2); -MAKE_PROPERTIES_REF(cpPinJoint, Dist); - -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr2); - -MAKE_PROPERTIES_REF(cpRatchetJoint, Angle); -MAKE_PROPERTIES_REF(cpRatchetJoint, Phase); -MAKE_PROPERTIES_REF(cpRatchetJoint, Ratchet); - -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Min); -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Max); - -MAKE_PROPERTIES_REF(cpSimpleMotor, Rate); - -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr1); -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr2); -MAKE_PROPERTIES_REF(cpSlideJoint, Min); -MAKE_PROPERTIES_REF(cpSlideJoint, Max); - -MAKE_REF(cpSegmentQueryHitPoint); -MAKE_REF(cpSegmentQueryHitDist); - MAKE_REF(cpSpatialIndexDestroy); MAKE_REF(cpSpatialIndexCount); MAKE_REF(cpSpatialIndexEach); @@ -160,18 +100,8 @@ MAKE_REF(cpSpatialIndexSegmentQuery); MAKE_REF(cpSpatialIndexQuery); MAKE_REF(cpSpatialIndexReindexQuery); -MAKE_PROPERTIES_REF(cpSpace, Iterations); -MAKE_PROPERTIES_REF(cpSpace, Gravity); -MAKE_PROPERTIES_REF(cpSpace, Damping); -MAKE_PROPERTIES_REF(cpSpace, IdleSpeedThreshold); -MAKE_PROPERTIES_REF(cpSpace, SleepTimeThreshold); -MAKE_PROPERTIES_REF(cpSpace, CollisionSlop); -MAKE_PROPERTIES_REF(cpSpace, CollisionBias); -MAKE_PROPERTIES_REF(cpSpace, CollisionPersistence); -MAKE_PROPERTIES_REF(cpSpace, EnableContactGraph); -MAKE_PROPERTIES_REF(cpSpace, UserData); -MAKE_REF(cpSpaceGetStaticBody); -MAKE_REF(cpSpaceGetCurrentTimeStep); -MAKE_REF(cpSpaceIsLocked); +#ifdef __cplusplus +} +#endif #endif diff --git a/ios/include/chipmunk/chipmunk_private.h b/ios/include/chipmunk/chipmunk_private.h index f676345b..abe56395 100644 --- a/ios/include/chipmunk/chipmunk_private.h +++ b/ios/include/chipmunk/chipmunk_private.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -18,9 +18,14 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. */ +#ifndef CHIPMUNK_PRIVATE_H +#define CHIPMUNK_PRIVATE_H +#ifdef CHIPMUNK_H +#error Cannot include chipmunk_private.h after chipmunk.h. +#endif #define CP_ALLOW_PRIVATE_ACCESS 1 -#include "chipmunk.h" +#include "chipmunk/chipmunk.h" #define CP_HASH_COEF (3344921057ul) #define CP_HASH_PAIR(A, B) ((cpHashValue)(A)*CP_HASH_COEF ^ (cpHashValue)(B)*CP_HASH_COEF) @@ -28,6 +33,7 @@ // TODO: Eww. Magic numbers. #define MAGIC_EPSILON 1e-5 + //MARK: cpArray struct cpArray { @@ -47,6 +53,690 @@ cpBool cpArrayContains(cpArray *arr, void *ptr); void cpArrayFreeEach(cpArray *arr, void (freeFunc)(void*)); +//MARK: cpHashSet + +typedef cpBool (*cpHashSetEqlFunc)(void *ptr, void *elt); +typedef void *(*cpHashSetTransFunc)(void *ptr, void *data); + +cpHashSet *cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc); +void cpHashSetSetDefaultValue(cpHashSet *set, void *default_value); + +void cpHashSetFree(cpHashSet *set); + +int cpHashSetCount(cpHashSet *set); +void *cpHashSetInsert(cpHashSet *set, cpHashValue hash, void *ptr, cpHashSetTransFunc trans, void *data); +void *cpHashSetRemove(cpHashSet *set, cpHashValue hash, void *ptr); +void *cpHashSetFind(cpHashSet *set, cpHashValue hash, void *ptr); + +typedef void (*cpHashSetIteratorFunc)(void *elt, void *data); +void cpHashSetEach(cpHashSet *set, cpHashSetIteratorFunc func, void *data); + +typedef cpBool (*cpHashSetFilterFunc)(void *elt, void *data); +void cpHashSetFilter(cpHashSet *set, cpHashSetFilterFunc func, void *data); + + +//MARK: Bodies + +struct cpBody { + // Integration functions + cpBodyVelocityFunc velocity_func; + cpBodyPositionFunc position_func; + + // mass and it's inverse + cpFloat m; + cpFloat m_inv; + + // moment of inertia and it's inverse + cpFloat i; + cpFloat i_inv; + + // center of gravity + cpVect cog; + + // position, velocity, force + cpVect p; + cpVect v; + cpVect f; + + // Angle, angular velocity, torque (radians) + cpFloat a; + cpFloat w; + cpFloat t; + + cpTransform transform; + + cpDataPointer userData; + + // "pseudo-velocities" used for eliminating overlap. + // Erin Catto has some papers that talk about what these are. + cpVect v_bias; + cpFloat w_bias; + + cpSpace *space; + + cpShape *shapeList; + cpArbiter *arbiterList; + cpConstraint *constraintList; + + struct { + cpBody *root; + cpBody *next; + cpFloat idleTime; + } sleeping; +}; + +void cpBodyAddShape(cpBody *body, cpShape *shape); +void cpBodyRemoveShape(cpBody *body, cpShape *shape); + +//void cpBodyAccumulateMassForShape(cpBody *body, cpShape *shape); +void cpBodyAccumulateMassFromShapes(cpBody *body); + +void cpBodyRemoveConstraint(cpBody *body, cpConstraint *constraint); + + +//MARK: Spatial Index Functions + +cpSpatialIndex *cpSpatialIndexInit(cpSpatialIndex *index, cpSpatialIndexClass *klass, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); + + +//MARK: Arbiters + +enum cpArbiterState { + // Arbiter is active and its the first collision. + CP_ARBITER_STATE_FIRST_COLLISION, + // Arbiter is active and its not the first collision. + CP_ARBITER_STATE_NORMAL, + // Collision has been explicitly ignored. + // Either by returning false from a begin collision handler or calling cpArbiterIgnore(). + CP_ARBITER_STATE_IGNORE, + // Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps. + CP_ARBITER_STATE_CACHED, + // Collison arbiter is invalid because one of the shapes was removed. + CP_ARBITER_STATE_INVALIDATED, +}; + +struct cpArbiterThread { + struct cpArbiter *next, *prev; +}; + +struct cpContact { + cpVect r1, r2; + + cpFloat nMass, tMass; + cpFloat bounce; // TODO: look for an alternate bounce solution. + + cpFloat jnAcc, jtAcc, jBias; + cpFloat bias; + + cpHashValue hash; +}; + +struct cpCollisionInfo { + const cpShape *a, *b; + cpCollisionID id; + + cpVect n; + + int count; + // TODO Should this be a unique struct type? + struct cpContact *arr; +}; + +struct cpArbiter { + cpFloat e; + cpFloat u; + cpVect surface_vr; + + cpDataPointer data; + + const cpShape *a, *b; + cpBody *body_a, *body_b; + struct cpArbiterThread thread_a, thread_b; + + int count; + struct cpContact *contacts; + cpVect n; + + // Regular, wildcard A and wildcard B collision handlers. + cpCollisionHandler *handler, *handlerA, *handlerB; + cpBool swapped; + + cpTimestamp stamp; + enum cpArbiterState state; +}; + +cpArbiter* cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b); + +static inline struct cpArbiterThread * +cpArbiterThreadForBody(cpArbiter *arb, cpBody *body) +{ + return (arb->body_a == body ? &arb->thread_a : &arb->thread_b); +} + +void cpArbiterUnthread(cpArbiter *arb); + +void cpArbiterUpdate(cpArbiter *arb, struct cpCollisionInfo *info, cpSpace *space); +void cpArbiterPreStep(cpArbiter *arb, cpFloat dt, cpFloat bias, cpFloat slop); +void cpArbiterApplyCachedImpulse(cpArbiter *arb, cpFloat dt_coef); +void cpArbiterApplyImpulse(cpArbiter *arb); + + +//MARK: Shapes/Collisions + +struct cpShapeMassInfo { + cpFloat m; + cpFloat i; + cpVect cog; + cpFloat area; +}; + +typedef enum cpShapeType{ + CP_CIRCLE_SHAPE, + CP_SEGMENT_SHAPE, + CP_POLY_SHAPE, + CP_NUM_SHAPES +} cpShapeType; + +typedef cpBB (*cpShapeCacheDataImpl)(cpShape *shape, cpTransform transform); +typedef void (*cpShapeDestroyImpl)(cpShape *shape); +typedef void (*cpShapePointQueryImpl)(const cpShape *shape, cpVect p, cpPointQueryInfo *info); +typedef void (*cpShapeSegmentQueryImpl)(const cpShape *shape, cpVect a, cpVect b, cpFloat radius, cpSegmentQueryInfo *info); + +typedef struct cpShapeClass cpShapeClass; + +struct cpShapeClass { + cpShapeType type; + + cpShapeCacheDataImpl cacheData; + cpShapeDestroyImpl destroy; + cpShapePointQueryImpl pointQuery; + cpShapeSegmentQueryImpl segmentQuery; +}; + +struct cpShape { + const cpShapeClass *klass; + + cpSpace *space; + cpBody *body; + struct cpShapeMassInfo massInfo; + cpBB bb; + + cpBool sensor; + + cpFloat e; + cpFloat u; + cpVect surfaceV; + + cpDataPointer userData; + + cpCollisionType type; + cpShapeFilter filter; + + cpShape *next; + cpShape *prev; + + cpHashValue hashid; +}; + +struct cpCircleShape { + cpShape shape; + + cpVect c, tc; + cpFloat r; +}; + +struct cpSegmentShape { + cpShape shape; + + cpVect a, b, n; + cpVect ta, tb, tn; + cpFloat r; + + cpVect a_tangent, b_tangent; +}; + +struct cpSplittingPlane { + cpVect v0, n; +}; + +#define CP_POLY_SHAPE_INLINE_ALLOC 6 + +struct cpPolyShape { + cpShape shape; + + cpFloat r; + + int count; + // The untransformed planes are appended at the end of the transformed planes. + struct cpSplittingPlane *planes; + + // Allocate a small number of splitting planes internally for simple poly. + struct cpSplittingPlane _planes[2*CP_POLY_SHAPE_INLINE_ALLOC]; +}; + +cpShape *cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body, struct cpShapeMassInfo massInfo); + +static inline cpBool +cpShapeActive(cpShape *shape) +{ + // checks if the shape is added to a shape list. + // TODO could this just check the space now? + return (shape->prev || (shape->body && shape->body->shapeList == shape)); +} + +// Note: This function returns contact points with r1/r2 in absolute coordinates, not body relative. +struct cpCollisionInfo cpCollide(const cpShape *a, const cpShape *b, cpCollisionID id, struct cpContact *contacts); + +static inline void +CircleSegmentQuery(cpShape *shape, cpVect center, cpFloat r1, cpVect a, cpVect b, cpFloat r2, cpSegmentQueryInfo *info) +{ + cpVect da = cpvsub(a, center); + cpVect db = cpvsub(b, center); + cpFloat rsum = r1 + r2; + + cpFloat qa = cpvdot(da, da) - 2.0f*cpvdot(da, db) + cpvdot(db, db); + cpFloat qb = cpvdot(da, db) - cpvdot(da, da); + cpFloat det = qb*qb - qa*(cpvdot(da, da) - rsum*rsum); + + if(det >= 0.0f){ + cpFloat t = (-qb - cpfsqrt(det))/(qa); + if(0.0f<= t && t <= 1.0f){ + cpVect n = cpvnormalize(cpvlerp(da, db, t)); + + info->shape = shape; + info->point = cpvsub(cpvlerp(a, b, t), cpvmult(n, r2)); + info->normal = n; + info->alpha = t; + } + } +} + +static inline cpBool +cpShapeFilterReject(cpShapeFilter a, cpShapeFilter b) +{ + // Reject the collision if: + return ( + // They are in the same non-zero group. + (a.group != 0 && a.group == b.group) || + // One of the category/mask combinations fails. + (a.categories & b.mask) == 0 || + (b.categories & a.mask) == 0 + ); +} + +void cpLoopIndexes(const cpVect *verts, int count, int *start, int *end); + + +//MARK: Constraints +// TODO naming conventions here + +typedef void (*cpConstraintPreStepImpl)(cpConstraint *constraint, cpFloat dt); +typedef void (*cpConstraintApplyCachedImpulseImpl)(cpConstraint *constraint, cpFloat dt_coef); +typedef void (*cpConstraintApplyImpulseImpl)(cpConstraint *constraint, cpFloat dt); +typedef cpFloat (*cpConstraintGetImpulseImpl)(cpConstraint *constraint); + +typedef struct cpConstraintClass { + cpConstraintPreStepImpl preStep; + cpConstraintApplyCachedImpulseImpl applyCachedImpulse; + cpConstraintApplyImpulseImpl applyImpulse; + cpConstraintGetImpulseImpl getImpulse; +} cpConstraintClass; + +struct cpConstraint { + const cpConstraintClass *klass; + + cpSpace *space; + + cpBody *a, *b; + cpConstraint *next_a, *next_b; + + cpFloat maxForce; + cpFloat errorBias; + cpFloat maxBias; + + cpBool collideBodies; + + cpConstraintPreSolveFunc preSolve; + cpConstraintPostSolveFunc postSolve; + + cpDataPointer userData; +}; + +struct cpPinJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat dist; + + cpVect r1, r2; + cpVect n; + cpFloat nMass; + + cpFloat jnAcc; + cpFloat bias; +}; + +struct cpSlideJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat min, max; + + cpVect r1, r2; + cpVect n; + cpFloat nMass; + + cpFloat jnAcc; + cpFloat bias; +}; + +struct cpPivotJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + + cpVect r1, r2; + cpMat2x2 k; + + cpVect jAcc; + cpVect bias; +}; + +struct cpGrooveJoint { + cpConstraint constraint; + cpVect grv_n, grv_a, grv_b; + cpVect anchorB; + + cpVect grv_tn; + cpFloat clamp; + cpVect r1, r2; + cpMat2x2 k; + + cpVect jAcc; + cpVect bias; +}; + +struct cpDampedSpring { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat restLength; + cpFloat stiffness; + cpFloat damping; + cpDampedSpringForceFunc springForceFunc; + + cpFloat target_vrn; + cpFloat v_coef; + + cpVect r1, r2; + cpFloat nMass; + cpVect n; + + cpFloat jAcc; +}; + +struct cpDampedRotarySpring { + cpConstraint constraint; + cpFloat restAngle; + cpFloat stiffness; + cpFloat damping; + cpDampedRotarySpringTorqueFunc springTorqueFunc; + + cpFloat target_wrn; + cpFloat w_coef; + + cpFloat iSum; + cpFloat jAcc; +}; + +struct cpRotaryLimitJoint { + cpConstraint constraint; + cpFloat min, max; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpRatchetJoint { + cpConstraint constraint; + cpFloat angle, phase, ratchet; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpGearJoint { + cpConstraint constraint; + cpFloat phase, ratio; + cpFloat ratio_inv; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpSimpleMotor { + cpConstraint constraint; + cpFloat rate; + + cpFloat iSum; + + cpFloat jAcc; +}; + +void cpConstraintInit(cpConstraint *constraint, const struct cpConstraintClass *klass, cpBody *a, cpBody *b); + +static inline void +cpConstraintActivateBodies(cpConstraint *constraint) +{ + cpBody *a = constraint->a; cpBodyActivate(a); + cpBody *b = constraint->b; cpBodyActivate(b); +} + +static inline cpVect +relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){ + cpVect v1_sum = cpvadd(a->CP_PRIVATE(v), cpvmult(cpvperp(r1), a->CP_PRIVATE(w))); + cpVect v2_sum = cpvadd(b->CP_PRIVATE(v), cpvmult(cpvperp(r2), b->CP_PRIVATE(w))); + + return cpvsub(v2_sum, v1_sum); +} + +static inline cpFloat +normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){ + return cpvdot(relative_velocity(a, b, r1, r2), n); +} + +static inline void +apply_impulse(cpBody *body, cpVect j, cpVect r){ + body->CP_PRIVATE(v) = cpvadd(body->CP_PRIVATE(v), cpvmult(j, body->CP_PRIVATE(m_inv))); + body->CP_PRIVATE(w) += body->CP_PRIVATE(i_inv)*cpvcross(r, j); +} + +static inline void +apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) +{ + apply_impulse(a, cpvneg(j), r1); + apply_impulse(b, j, r2); +} + +static inline void +apply_bias_impulse(cpBody *body, cpVect j, cpVect r) +{ + body->CP_PRIVATE(v_bias) = cpvadd(body->CP_PRIVATE(v_bias), cpvmult(j, body->CP_PRIVATE(m_inv))); + body->CP_PRIVATE(w_bias) += body->CP_PRIVATE(i_inv)*cpvcross(r, j); +} + +static inline void +apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) +{ + apply_bias_impulse(a, cpvneg(j), r1); + apply_bias_impulse(b, j, r2); +} + +static inline cpFloat +k_scalar_body(cpBody *body, cpVect r, cpVect n) +{ + cpFloat rcn = cpvcross(r, n); + return body->CP_PRIVATE(m_inv) + body->CP_PRIVATE(i_inv)*rcn*rcn; +} + +static inline cpFloat +k_scalar(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n) +{ + cpFloat value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n); + cpAssertSoft(value != 0.0, "Unsolvable collision or constraint."); + + return value; +} + +static inline cpMat2x2 +k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2) +{ + cpFloat m_sum = a->CP_PRIVATE(m_inv) + b->CP_PRIVATE(m_inv); + + // start with Identity*m_sum + cpFloat k11 = m_sum, k12 = 0.0f; + cpFloat k21 = 0.0f, k22 = m_sum; + + // add the influence from r1 + cpFloat a_i_inv = a->CP_PRIVATE(i_inv); + cpFloat r1xsq = r1.x * r1.x * a_i_inv; + cpFloat r1ysq = r1.y * r1.y * a_i_inv; + cpFloat r1nxy = -r1.x * r1.y * a_i_inv; + k11 += r1ysq; k12 += r1nxy; + k21 += r1nxy; k22 += r1xsq; + + // add the influnce from r2 + cpFloat b_i_inv = b->CP_PRIVATE(i_inv); + cpFloat r2xsq = r2.x * r2.x * b_i_inv; + cpFloat r2ysq = r2.y * r2.y * b_i_inv; + cpFloat r2nxy = -r2.x * r2.y * b_i_inv; + k11 += r2ysq; k12 += r2nxy; + k21 += r2nxy; k22 += r2xsq; + + // invert + cpFloat det = k11*k22 - k12*k21; + cpAssertSoft(det != 0.0, "Unsolvable constraint."); + + cpFloat det_inv = 1.0f/det; + return cpMat2x2New( + k22*det_inv, -k12*det_inv, + -k21*det_inv, k11*det_inv + ); +} + +static inline cpFloat +bias_coef(cpFloat errorBias, cpFloat dt) +{ + return 1.0f - cpfpow(errorBias, dt); +} + + +//MARK: Spaces + +typedef struct cpContactBufferHeader cpContactBufferHeader; +typedef void (*cpSpaceArbiterApplyImpulseFunc)(cpArbiter *arb); + +struct cpSpace { + int iterations; + + cpVect gravity; + cpFloat damping; + + cpFloat idleSpeedThreshold; + cpFloat sleepTimeThreshold; + + cpFloat collisionSlop; + cpFloat collisionBias; + cpTimestamp collisionPersistence; + + cpDataPointer userData; + + cpTimestamp stamp; + cpFloat curr_dt; + + cpArray *dynamicBodies; + cpArray *staticBodies; + cpArray *rousedBodies; + cpArray *sleepingComponents; + + cpHashValue shapeIDCounter; + cpSpatialIndex *staticShapes; + cpSpatialIndex *dynamicShapes; + + cpArray *constraints; + + cpArray *arbiters; + cpContactBufferHeader *contactBuffersHead; + cpHashSet *cachedArbiters; + cpArray *pooledArbiters; + + cpArray *allocatedBuffers; + unsigned int locked; + + cpBool usesWildcards; + cpHashSet *collisionHandlers; + cpCollisionHandler defaultHandler; + + cpBool skipPostStep; + cpArray *postStepCallbacks; + + cpBody *staticBody; + cpBody _staticBody; +}; + +#define cpAssertSpaceUnlocked(space) \ + cpAssertHard(!space->locked, \ + "This operation cannot be done safely during a call to cpSpaceStep() or during a query. " \ + "Put these calls into a post-step callback." \ + ); + +void cpSpaceSetStaticBody(cpSpace *space, cpBody *body); + +extern cpCollisionHandler cpCollisionHandlerDoNothing; + +void cpSpaceProcessComponents(cpSpace *space, cpFloat dt); + +void cpSpacePushFreshContactBuffer(cpSpace *space); +struct cpContact *cpContactBufferGetArray(cpSpace *space); +void cpSpacePushContacts(cpSpace *space, int count); + +typedef struct cpPostStepCallback { + cpPostStepFunc func; + void *key; + void *data; +} cpPostStepCallback; + +cpPostStepCallback *cpSpaceGetPostStepCallback(cpSpace *space, void *key); + +cpBool cpSpaceArbiterSetFilter(cpArbiter *arb, cpSpace *space); +void cpSpaceFilterArbiters(cpSpace *space, cpBody *body, cpShape *filter); + +void cpSpaceActivateBody(cpSpace *space, cpBody *body); +void cpSpaceLock(cpSpace *space); +void cpSpaceUnlock(cpSpace *space, cpBool runPostStep); + +static inline void +cpSpaceUncacheArbiter(cpSpace *space, cpArbiter *arb) +{ + const cpShape *a = arb->a, *b = arb->b; + const cpShape *shape_pair[] = {a, b}; + cpHashValue arbHashID = CP_HASH_PAIR((cpHashValue)a, (cpHashValue)b); + cpHashSetRemove(space->cachedArbiters, arbHashID, shape_pair); + cpArrayDeleteObj(space->arbiters, arb); +} + +static inline cpArray * +cpSpaceArrayForBodyType(cpSpace *space, cpBodyType type) +{ + return (type == CP_BODY_TYPE_STATIC ? space->staticBodies : space->dynamicBodies); +} + +void cpShapeUpdateFunc(cpShape *shape, void *unused); +cpCollisionID cpSpaceCollideShapes(cpShape *a, cpShape *b, cpCollisionID id, cpSpace *space); + + //MARK: Foreach loops static inline cpConstraint * @@ -71,184 +761,6 @@ cpArbiterNext(cpArbiter *node, cpBody *body) for(cpShape *var = body->shapeList; var; var = var->next) #define CP_BODY_FOREACH_COMPONENT(root, var)\ - for(cpBody *var = root; var; var = var->node.next) + for(cpBody *var = root; var; var = var->sleeping.next) - -//MARK: cpHashSet - -typedef cpBool (*cpHashSetEqlFunc)(void *ptr, void *elt); -typedef void *(*cpHashSetTransFunc)(void *ptr, void *data); - -cpHashSet *cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc); -void cpHashSetSetDefaultValue(cpHashSet *set, void *default_value); - -void cpHashSetFree(cpHashSet *set); - -int cpHashSetCount(cpHashSet *set); -void *cpHashSetInsert(cpHashSet *set, cpHashValue hash, void *ptr, void *data, cpHashSetTransFunc trans); -void *cpHashSetRemove(cpHashSet *set, cpHashValue hash, void *ptr); -void *cpHashSetFind(cpHashSet *set, cpHashValue hash, void *ptr); - -typedef void (*cpHashSetIteratorFunc)(void *elt, void *data); -void cpHashSetEach(cpHashSet *set, cpHashSetIteratorFunc func, void *data); - -typedef cpBool (*cpHashSetFilterFunc)(void *elt, void *data); -void cpHashSetFilter(cpHashSet *set, cpHashSetFilterFunc func, void *data); - - -//MARK: Body Functions - -void cpBodyAddShape(cpBody *body, cpShape *shape); -void cpBodyRemoveShape(cpBody *body, cpShape *shape); -void cpBodyRemoveConstraint(cpBody *body, cpConstraint *constraint); - - -//MARK: Shape/Collision Functions - -// TODO should move this to the cpVect API. It's pretty useful. -static inline cpVect -cpClosetPointOnSegment(const cpVect p, const cpVect a, const cpVect b) -{ - cpVect delta = cpvsub(a, b); - cpFloat t = cpfclamp01(cpvdot(delta, cpvsub(p, b))/cpvlengthsq(delta)); - return cpvadd(b, cpvmult(delta, t)); -} - -cpShape* cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body); - -static inline cpBool -cpShapeActive(cpShape *shape) -{ - return shape->prev || (shape->body && shape->body->shapeList == shape); -} - -int cpCollideShapes(const cpShape *a, const cpShape *b, cpCollisionID *id, cpContact *arr); - -static inline void -CircleSegmentQuery(cpShape *shape, cpVect center, cpFloat r, cpVect a, cpVect b, cpSegmentQueryInfo *info) -{ - cpVect da = cpvsub(a, center); - cpVect db = cpvsub(b, center); - - cpFloat qa = cpvdot(da, da) - 2.0f*cpvdot(da, db) + cpvdot(db, db); - cpFloat qb = -2.0f*cpvdot(da, da) + 2.0f*cpvdot(da, db); - cpFloat qc = cpvdot(da, da) - r*r; - - cpFloat det = qb*qb - 4.0f*qa*qc; - - if(det >= 0.0f){ - cpFloat t = (-qb - cpfsqrt(det))/(2.0f*qa); - if(0.0f<= t && t <= 1.0f){ - info->shape = shape; - info->t = t; - info->n = cpvnormalize(cpvlerp(da, db, t)); - } - } -} - -// TODO doesn't really need to be inline, but need a better place to put this function -static inline cpSplittingPlane -cpSplittingPlaneNew(cpVect a, cpVect b) -{ - cpVect n = cpvnormalize(cpvperp(cpvsub(b, a))); - cpSplittingPlane plane = {n, cpvdot(n, a)}; - return plane; -} - -static inline cpFloat -cpSplittingPlaneCompare(cpSplittingPlane plane, cpVect v) -{ - return cpvdot(plane.n, v) - plane.d; -} - -void cpLoopIndexes(cpVect *verts, int count, int *start, int *end); - - -//MARK: Spatial Index Functions - -cpSpatialIndex *cpSpatialIndexInit(cpSpatialIndex *index, cpSpatialIndexClass *klass, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - - -//MARK: Space Functions - -extern cpCollisionHandler cpDefaultCollisionHandler; -void cpSpaceProcessComponents(cpSpace *space, cpFloat dt); - -void cpSpacePushFreshContactBuffer(cpSpace *space); -cpContact *cpContactBufferGetArray(cpSpace *space); -void cpSpacePushContacts(cpSpace *space, int count); - -typedef struct cpPostStepCallback { - cpPostStepFunc func; - void *key; - void *data; -} cpPostStepCallback; - -cpPostStepCallback *cpSpaceGetPostStepCallback(cpSpace *space, void *key); - -cpBool cpSpaceArbiterSetFilter(cpArbiter *arb, cpSpace *space); -void cpSpaceFilterArbiters(cpSpace *space, cpBody *body, cpShape *filter); - -void cpSpaceActivateBody(cpSpace *space, cpBody *body); -void cpSpaceLock(cpSpace *space); -void cpSpaceUnlock(cpSpace *space, cpBool runPostStep); - -static inline cpCollisionHandler * -cpSpaceLookupHandler(cpSpace *space, cpCollisionType a, cpCollisionType b) -{ - cpCollisionType types[] = {a, b}; - return (cpCollisionHandler *)cpHashSetFind(space->collisionHandlers, CP_HASH_PAIR(a, b), types); -} - -static inline void -cpSpaceUncacheArbiter(cpSpace *space, cpArbiter *arb) -{ - cpShape *a = arb->a, *b = arb->b; - cpShape *shape_pair[] = {a, b}; - cpHashValue arbHashID = CP_HASH_PAIR((cpHashValue)a, (cpHashValue)b); - cpHashSetRemove(space->cachedArbiters, arbHashID, shape_pair); - cpArrayDeleteObj(space->arbiters, arb); -} - -void cpShapeUpdateFunc(cpShape *shape, void *unused); -cpCollisionID cpSpaceCollideShapes(cpShape *a, cpShape *b, cpCollisionID id, cpSpace *space); - - -//MARK: Arbiters - -struct cpContact { - cpVect p, n; - cpFloat dist; - - cpVect r1, r2; - cpFloat nMass, tMass, bounce; - - cpFloat jnAcc, jtAcc, jBias; - cpFloat bias; - - cpHashValue hash; -}; - -cpContact* cpContactInit(cpContact *con, cpVect p, cpVect n, cpFloat dist, cpHashValue hash); -cpArbiter* cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b); - -static inline void -cpArbiterCallSeparate(cpArbiter *arb, cpSpace *space) -{ - // The handler needs to be looked up again as the handler cached on the arbiter may have been deleted since the last step. - cpCollisionHandler *handler = cpSpaceLookupHandler(space, arb->a->collision_type, arb->b->collision_type); - handler->separate(arb, space, handler->data); -} - -static inline struct cpArbiterThread * -cpArbiterThreadForBody(cpArbiter *arb, cpBody *body) -{ - return (arb->body_a == body ? &arb->thread_a : &arb->thread_b); -} - -void cpArbiterUnthread(cpArbiter *arb); - -void cpArbiterUpdate(cpArbiter *arb, cpContact *contacts, int numContacts, struct cpCollisionHandler *handler, cpShape *a, cpShape *b); -void cpArbiterPreStep(cpArbiter *arb, cpFloat dt, cpFloat bias, cpFloat slop); -void cpArbiterApplyCachedImpulse(cpArbiter *arb, cpFloat dt_coef); -void cpArbiterApplyImpulse(cpArbiter *arb); +#endif diff --git a/ios/include/chipmunk/chipmunk_types.h b/ios/include/chipmunk/chipmunk_types.h index 9ed23391..7aee0c79 100644 --- a/ios/include/chipmunk/chipmunk_types.h +++ b/ios/include/chipmunk/chipmunk_types.h @@ -1,31 +1,34 @@ +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +#ifndef CHIPMUNK_TYPES_H +#define CHIPMUNK_TYPES_H + #include #include - -#ifdef __APPLE__ - #include "TargetConditionals.h" -#endif - -#if ((TARGET_OS_IPHONE == 1) || (TARGET_OS_MAC == 1)) && (!defined CP_USE_CGPOINTS) - #define CP_USE_CGPOINTS 1 -#endif - -#if CP_USE_CGPOINTS == 1 - #if TARGET_OS_IPHONE - #import - #elif TARGET_OS_MAC - #include - #endif - - #if defined(__LP64__) && __LP64__ - #define CP_USE_DOUBLES 1 - #else - #define CP_USE_DOUBLES 0 - #endif -#endif +#include #ifndef CP_USE_DOUBLES - // use doubles by default for higher precision - #define CP_USE_DOUBLES 1 + // Use doubles by default for higher precision. + #define CP_USE_DOUBLES 0 #endif /// @defgroup basicTypes Basic Types @@ -82,13 +85,8 @@ #endif #endif -#ifndef M_PI - #define M_PI 3.14159265358979323846264338327950288 -#endif -#ifndef M_E - #define M_E 2.71828182845904523536028747135266250 -#endif +#define CP_PI ((cpFloat)3.14159265358979323846264338327950288) /// Return the max of two cpFloats. @@ -136,7 +134,11 @@ static inline cpFloat cpflerpconst(cpFloat f1, cpFloat f2, cpFloat d) } /// Hash value type. -typedef uintptr_t cpHashValue; +#ifdef CP_HASH_VALUE_TYPE + typedef CP_HASH_VALUE_TYPE cpHashValue; +#else + typedef uintptr_t cpHashValue; +#endif /// Type used internally to cache colliding object info for cpCollideShapes(). /// Should be at least 32 bits. @@ -147,7 +149,7 @@ typedef uint32_t cpCollisionID; #ifdef CP_BOOL_TYPE typedef CP_BOOL_TYPE cpBool; #else - typedef int cpBool; + typedef unsigned char cpBool; #endif #ifndef cpTrue @@ -181,11 +183,11 @@ typedef uint32_t cpCollisionID; typedef uintptr_t cpGroup; #endif -#ifdef CP_LAYERS_TYPE - typedef CP_LAYERS_TYPE cpLayers; +#ifdef CP_BITMASK_TYPE + typedef CP_BITMASK_TYPE cpBitmask; #else -/// Type used for cpShape.layers. - typedef unsigned int cpLayers; +/// Type used for cpShapeFilter category and mask. + typedef unsigned int cpBitmask; #endif #ifdef CP_TIMESTAMP_TYPE @@ -200,15 +202,21 @@ typedef uint32_t cpCollisionID; #define CP_NO_GROUP ((cpGroup)0) #endif -#ifndef CP_ALL_LAYERS +#ifndef CP_ALL_CATEGORIES /// Value for cpShape.layers signifying that a shape is in every layer. - #define CP_ALL_LAYERS (~(cpLayers)0) + #define CP_ALL_CATEGORIES (~(cpBitmask)0) #endif + +#ifndef CP_WILDCARD_COLLISION_TYPE +/// cpCollisionType value internally reserved for hashing wildcard handlers. + #define CP_WILDCARD_COLLISION_TYPE (~(cpCollisionType)0) +#endif + /// @} // CGPoints are structurally the same, and allow // easy interoperability with other Cocoa libraries -#if CP_USE_CGPOINTS +#if CP_USE_CGTYPES typedef CGPoint cpVect; #else /// Chipmunk's 2D vector type. @@ -216,7 +224,19 @@ typedef uint32_t cpCollisionID; typedef struct cpVect{cpFloat x,y;} cpVect; #endif +#if CP_USE_CGTYPES + typedef CGAffineTransform cpTransform; +#else + /// Column major affine transform. + typedef struct cpTransform { + cpFloat a, b, c, d, tx, ty; + } cpTransform; +#endif + +// NUKE typedef struct cpMat2x2 { // Row major [[a, b][c d]] cpFloat a, b, c, d; } cpMat2x2; + +#endif diff --git a/ios/include/chipmunk/chipmunk_unsafe.h b/ios/include/chipmunk/chipmunk_unsafe.h index 4428814c..990bd012 100644 --- a/ios/include/chipmunk/chipmunk_unsafe.h +++ b/ios/include/chipmunk/chipmunk_unsafe.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -36,27 +36,28 @@ /// so the results will be unrealistic. You must explicity include the chipmunk_unsafe.h header to use them. /// @{ -#ifndef CHIPMUNK_UNSAFE_HEADER -#define CHIPMUNK_UNSAFE_HEADER +#ifndef CHIPMUNK_UNSAFE_H +#define CHIPMUNK_UNSAFE_H #ifdef __cplusplus extern "C" { #endif /// Set the radius of a circle shape. -void cpCircleShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpCircleShapeSetRadius(cpShape *shape, cpFloat radius); /// Set the offset of a circle shape. -void cpCircleShapeSetOffset(cpShape *shape, cpVect offset); +CP_EXPORT void cpCircleShapeSetOffset(cpShape *shape, cpVect offset); /// Set the endpoints of a segment shape. -void cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b); +CP_EXPORT void cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b); /// Set the radius of a segment shape. -void cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius); /// Set the vertexes of a poly shape. -void cpPolyShapeSetVerts(cpShape *shape, int numVerts, cpVect *verts, cpVect offset); +CP_EXPORT void cpPolyShapeSetVerts(cpShape *shape, int count, cpVect *verts, cpTransform transform); +CP_EXPORT void cpPolyShapeSetVertsRaw(cpShape *shape, int count, cpVect *verts); /// Set the radius of a poly shape. -void cpPolyShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpPolyShapeSetRadius(cpShape *shape, cpFloat radius); #ifdef __cplusplus } diff --git a/ios/include/chipmunk/constraints/cpConstraint.h b/ios/include/chipmunk/constraints/cpConstraint.h deleted file mode 100644 index d1059fff..00000000 --- a/ios/include/chipmunk/constraints/cpConstraint.h +++ /dev/null @@ -1,161 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpConstraint cpConstraint -/// @{ - -typedef struct cpConstraintClass cpConstraintClass; - -typedef void (*cpConstraintPreStepImpl)(cpConstraint *constraint, cpFloat dt); -typedef void (*cpConstraintApplyCachedImpulseImpl)(cpConstraint *constraint, cpFloat dt_coef); -typedef void (*cpConstraintApplyImpulseImpl)(cpConstraint *constraint, cpFloat dt); -typedef cpFloat (*cpConstraintGetImpulseImpl)(cpConstraint *constraint); - -/// @private -struct cpConstraintClass { - cpConstraintPreStepImpl preStep; - cpConstraintApplyCachedImpulseImpl applyCachedImpulse; - cpConstraintApplyImpulseImpl applyImpulse; - cpConstraintGetImpulseImpl getImpulse; -}; - -/// Callback function type that gets called before solving a joint. -typedef void (*cpConstraintPreSolveFunc)(cpConstraint *constraint, cpSpace *space); -/// Callback function type that gets called after solving a joint. -typedef void (*cpConstraintPostSolveFunc)(cpConstraint *constraint, cpSpace *space); - - -/// Opaque cpConstraint struct. -struct cpConstraint { - CP_PRIVATE(const cpConstraintClass *klass); - - /// The first body connected to this constraint. - cpBody *a; - /// The second body connected to this constraint. - cpBody *b; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpConstraint *next_a); - CP_PRIVATE(cpConstraint *next_b); - - /// The maximum force that this constraint is allowed to use. - /// Defaults to infinity. - cpFloat maxForce; - /// The rate at which joint error is corrected. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that it will - /// correct 10% of the error every 1/60th of a second. - cpFloat errorBias; - /// The maximum rate at which joint error is corrected. - /// Defaults to infinity. - cpFloat maxBias; - - /// Function called before the solver runs. - /// Animate your joint anchors, update your motor torque, etc. - cpConstraintPreSolveFunc preSolve; - - /// Function called after the solver runs. - /// Use the applied impulse to perform effects like breakable joints. - cpConstraintPostSolveFunc postSolve; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpConstraint reference in a callback. - cpDataPointer data; -}; - -/// Destroy a constraint. -void cpConstraintDestroy(cpConstraint *constraint); -/// Destroy and free a constraint. -void cpConstraintFree(cpConstraint *constraint); - -/// @private -static inline void cpConstraintActivateBodies(cpConstraint *constraint) -{ - cpBody *a = constraint->a; if(a) cpBodyActivate(a); - cpBody *b = constraint->b; if(b) cpBodyActivate(b); -} - -/// @private -#define CP_DefineConstraintStructGetter(type, member, name) \ -static inline type cpConstraint##Get##name(const cpConstraint *constraint){return constraint->member;} - -/// @private -#define CP_DefineConstraintStructSetter(type, member, name) \ -static inline void cpConstraint##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintActivateBodies(constraint); \ - constraint->member = value; \ -} - -/// @private -#define CP_DefineConstraintStructProperty(type, member, name) \ -CP_DefineConstraintStructGetter(type, member, name) \ -CP_DefineConstraintStructSetter(type, member, name) - -CP_DefineConstraintStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineConstraintStructGetter(cpBody*, a, A) -CP_DefineConstraintStructGetter(cpBody*, b, B) -CP_DefineConstraintStructProperty(cpFloat, maxForce, MaxForce) -CP_DefineConstraintStructProperty(cpFloat, errorBias, ErrorBias) -CP_DefineConstraintStructProperty(cpFloat, maxBias, MaxBias) -CP_DefineConstraintStructProperty(cpConstraintPreSolveFunc, preSolve, PreSolveFunc) -CP_DefineConstraintStructProperty(cpConstraintPostSolveFunc, postSolve, PostSolveFunc) -CP_DefineConstraintStructProperty(cpDataPointer, data, UserData) - -// Get the last impulse applied by this constraint. -static inline cpFloat cpConstraintGetImpulse(cpConstraint *constraint) -{ - return constraint->CP_PRIVATE(klass)->getImpulse(constraint); -} - -/// @} - -#define cpConstraintCheckCast(constraint, struct) \ - cpAssertHard(constraint->CP_PRIVATE(klass) == struct##GetClass(), "Constraint is not a "#struct) - -#define CP_DefineConstraintGetter(struct, type, member, name) \ -static inline type struct##Get##name(const cpConstraint *constraint){ \ - cpConstraintCheckCast(constraint, struct); \ - return ((struct *)constraint)->member; \ -} - -#define CP_DefineConstraintSetter(struct, type, member, name) \ -static inline void struct##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintCheckCast(constraint, struct); \ - cpConstraintActivateBodies(constraint); \ - ((struct *)constraint)->member = value; \ -} - -#define CP_DefineConstraintProperty(struct, type, member, name) \ -CP_DefineConstraintGetter(struct, type, member, name) \ -CP_DefineConstraintSetter(struct, type, member, name) - -#include "cpPinJoint.h" -#include "cpSlideJoint.h" -#include "cpPivotJoint.h" -#include "cpGrooveJoint.h" -#include "cpDampedSpring.h" -#include "cpDampedRotarySpring.h" -#include "cpRotaryLimitJoint.h" -#include "cpRatchetJoint.h" -#include "cpGearJoint.h" -#include "cpSimpleMotor.h" diff --git a/ios/include/chipmunk/constraints/cpDampedRotarySpring.h b/ios/include/chipmunk/constraints/cpDampedRotarySpring.h deleted file mode 100644 index 86cf915b..00000000 --- a/ios/include/chipmunk/constraints/cpDampedRotarySpring.h +++ /dev/null @@ -1,56 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedRotarySpring cpDampedRotarySpring -/// @{ - -typedef cpFloat (*cpDampedRotarySpringTorqueFunc)(struct cpConstraint *spring, cpFloat relativeAngle); - -const cpConstraintClass *cpDampedRotarySpringGetClass(void); - -/// @private -typedef struct cpDampedRotarySpring { - cpConstraint constraint; - cpFloat restAngle; - cpFloat stiffness; - cpFloat damping; - cpDampedRotarySpringTorqueFunc springTorqueFunc; - - cpFloat target_wrn; - cpFloat w_coef; - - cpFloat iSum; - cpFloat jAcc; -} cpDampedRotarySpring; - -/// Allocate a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringAlloc(void); -/// Initialize a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringInit(cpDampedRotarySpring *joint, cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped rotary spring. -cpConstraint* cpDampedRotarySpringNew(cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, restAngle, RestAngle) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpDampedRotarySpringTorqueFunc, springTorqueFunc, SpringTorqueFunc) - -/// @} diff --git a/ios/include/chipmunk/constraints/cpDampedSpring.h b/ios/include/chipmunk/constraints/cpDampedSpring.h deleted file mode 100644 index f5120647..00000000 --- a/ios/include/chipmunk/constraints/cpDampedSpring.h +++ /dev/null @@ -1,64 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedSpring cpDampedSpring -/// @{ - -typedef struct cpDampedSpring cpDampedSpring; - -typedef cpFloat (*cpDampedSpringForceFunc)(cpConstraint *spring, cpFloat dist); - -const cpConstraintClass *cpDampedSpringGetClass(void); - -/// @private -struct cpDampedSpring { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat restLength; - cpFloat stiffness; - cpFloat damping; - cpDampedSpringForceFunc springForceFunc; - - cpFloat target_vrn; - cpFloat v_coef; - - cpVect r1, r2; - cpFloat nMass; - cpVect n; - - cpFloat jAcc; -}; - -/// Allocate a damped spring. -cpDampedSpring* cpDampedSpringAlloc(void); -/// Initialize a damped spring. -cpDampedSpring* cpDampedSpringInit(cpDampedSpring *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped spring. -cpConstraint* cpDampedSpringNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, restLength, RestLength) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedSpring, cpDampedSpringForceFunc, springForceFunc, SpringForceFunc) - -/// @} diff --git a/ios/include/chipmunk/constraints/cpGearJoint.h b/ios/include/chipmunk/constraints/cpGearJoint.h deleted file mode 100644 index c9ebf942..00000000 --- a/ios/include/chipmunk/constraints/cpGearJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGearJoint cpGearJoint -/// @{ - -const cpConstraintClass *cpGearJointGetClass(void); - -/// @private -typedef struct cpGearJoint { - cpConstraint constraint; - cpFloat phase, ratio; - cpFloat ratio_inv; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpGearJoint; - -/// Allocate a gear joint. -cpGearJoint* cpGearJointAlloc(void); -/// Initialize a gear joint. -cpGearJoint* cpGearJointInit(cpGearJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); -/// Allocate and initialize a gear joint. -cpConstraint* cpGearJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); - -CP_DefineConstraintProperty(cpGearJoint, cpFloat, phase, Phase) -CP_DefineConstraintGetter(cpGearJoint, cpFloat, ratio, Ratio) -/// Set the ratio of a gear joint. -void cpGearJointSetRatio(cpConstraint *constraint, cpFloat value); - -/// @} diff --git a/ios/include/chipmunk/constraints/cpGrooveJoint.h b/ios/include/chipmunk/constraints/cpGrooveJoint.h deleted file mode 100644 index b260218f..00000000 --- a/ios/include/chipmunk/constraints/cpGrooveJoint.h +++ /dev/null @@ -1,57 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGrooveJoint cpGrooveJoint -/// @{ - -const cpConstraintClass *cpGrooveJointGetClass(void); - -/// @private -typedef struct cpGrooveJoint { - cpConstraint constraint; - cpVect grv_n, grv_a, grv_b; - cpVect anchr2; - - cpVect grv_tn; - cpFloat clamp; - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpGrooveJoint; - -/// Allocate a groove joint. -cpGrooveJoint* cpGrooveJointAlloc(void); -/// Initialize a groove joint. -cpGrooveJoint* cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); -/// Allocate and initialize a groove joint. -cpConstraint* cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); - -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_a, GrooveA) -/// Set endpoint a of a groove joint's groove -void cpGrooveJointSetGrooveA(cpConstraint *constraint, cpVect value); -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_b, GrooveB) -/// Set endpoint b of a groove joint's groove -void cpGrooveJointSetGrooveB(cpConstraint *constraint, cpVect value); -CP_DefineConstraintProperty(cpGrooveJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/ios/include/chipmunk/constraints/cpPinJoint.h b/ios/include/chipmunk/constraints/cpPinJoint.h deleted file mode 100644 index 2413e84a..00000000 --- a/ios/include/chipmunk/constraints/cpPinJoint.h +++ /dev/null @@ -1,52 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPinJoint cpPinJoint -/// @{ - -const cpConstraintClass *cpPinJointGetClass(void); - -/// @private -typedef struct cpPinJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat dist; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpPinJoint; - -/// Allocate a pin joint. -cpPinJoint* cpPinJointAlloc(void); -/// Initialize a pin joint. -cpPinJoint* cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pin joint. -cpConstraint* cpPinJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpPinJoint, cpFloat, dist, Dist) - -///@} diff --git a/ios/include/chipmunk/constraints/cpPivotJoint.h b/ios/include/chipmunk/constraints/cpPivotJoint.h deleted file mode 100644 index a5d33174..00000000 --- a/ios/include/chipmunk/constraints/cpPivotJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPivotJoint cpPivotJoint -/// @{ - -const cpConstraintClass *cpPivotJointGetClass(void); - -/// @private -typedef struct cpPivotJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpPivotJoint; - -/// Allocate a pivot joint -cpPivotJoint* cpPivotJointAlloc(void); -/// Initialize a pivot joint. -cpPivotJoint* cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pivot joint. -cpConstraint* cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot); -/// Allocate and initialize a pivot joint with specific anchors. -cpConstraint* cpPivotJointNew2(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/ios/include/chipmunk/constraints/cpRatchetJoint.h b/ios/include/chipmunk/constraints/cpRatchetJoint.h deleted file mode 100644 index e371b108..00000000 --- a/ios/include/chipmunk/constraints/cpRatchetJoint.h +++ /dev/null @@ -1,49 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRatchetJoint cpRatchetJoint -/// @{ - -const cpConstraintClass *cpRatchetJointGetClass(void); - -/// @private -typedef struct cpRatchetJoint { - cpConstraint constraint; - cpFloat angle, phase, ratchet; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRatchetJoint; - -/// Allocate a ratchet joint. -cpRatchetJoint* cpRatchetJointAlloc(void); -/// Initialize a ratched joint. -cpRatchetJoint* cpRatchetJointInit(cpRatchetJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); -/// Allocate and initialize a ratchet joint. -cpConstraint* cpRatchetJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); - -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, angle, Angle) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, phase, Phase) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, ratchet, Ratchet) - -/// @} diff --git a/ios/include/chipmunk/constraints/cpRotaryLimitJoint.h b/ios/include/chipmunk/constraints/cpRotaryLimitJoint.h deleted file mode 100644 index 2277e40f..00000000 --- a/ios/include/chipmunk/constraints/cpRotaryLimitJoint.h +++ /dev/null @@ -1,48 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRotaryLimitJoint cpRotaryLimitJoint -/// @{ - -const cpConstraintClass *cpRotaryLimitJointGetClass(void); - -/// @private -typedef struct cpRotaryLimitJoint { - cpConstraint constraint; - cpFloat min, max; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRotaryLimitJoint; - -/// Allocate a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointAlloc(void); -/// Initialize a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointInit(cpRotaryLimitJoint *joint, cpBody *a, cpBody *b, cpFloat min, cpFloat max); -/// Allocate and initialize a damped rotary limit joint. -cpConstraint* cpRotaryLimitJointNew(cpBody *a, cpBody *b, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, max, Max) - -/// @} diff --git a/ios/include/chipmunk/constraints/cpSimpleMotor.h b/ios/include/chipmunk/constraints/cpSimpleMotor.h deleted file mode 100644 index 37d28c5d..00000000 --- a/ios/include/chipmunk/constraints/cpSimpleMotor.h +++ /dev/null @@ -1,46 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSimpleMotor cpSimpleMotor -/// @{ - -const cpConstraintClass *cpSimpleMotorGetClass(void); - -/// @private -typedef struct cpSimpleMotor { - cpConstraint constraint; - cpFloat rate; - - cpFloat iSum; - - cpFloat jAcc; -} cpSimpleMotor; - -/// Allocate a simple motor. -cpSimpleMotor* cpSimpleMotorAlloc(void); -/// initialize a simple motor. -cpSimpleMotor* cpSimpleMotorInit(cpSimpleMotor *joint, cpBody *a, cpBody *b, cpFloat rate); -/// Allocate and initialize a simple motor. -cpConstraint* cpSimpleMotorNew(cpBody *a, cpBody *b, cpFloat rate); - -CP_DefineConstraintProperty(cpSimpleMotor, cpFloat, rate, Rate) - -/// @} diff --git a/ios/include/chipmunk/constraints/cpSlideJoint.h b/ios/include/chipmunk/constraints/cpSlideJoint.h deleted file mode 100644 index 40db8bba..00000000 --- a/ios/include/chipmunk/constraints/cpSlideJoint.h +++ /dev/null @@ -1,53 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSlideJoint cpSlideJoint -/// @{ - -const cpConstraintClass *cpSlideJointGetClass(void); - -/// @private -typedef struct cpSlideJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat min, max; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpSlideJoint; - -/// Allocate a slide joint. -cpSlideJoint* cpSlideJointAlloc(void); -/// Initialize a slide joint. -cpSlideJoint* cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); -/// Allocate and initialize a slide joint. -cpConstraint* cpSlideJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, max, Max) - -/// @} diff --git a/ios/include/chipmunk/constraints/util.h b/ios/include/chipmunk/constraints/util.h deleted file mode 100644 index 0a620475..00000000 --- a/ios/include/chipmunk/constraints/util.h +++ /dev/null @@ -1,126 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -// These are utility routines to use when creating custom constraints. -// I'm not sure if this should be part of the private API or not. -// I should probably clean up the naming conventions if it is... - -#define CP_DefineClassGetter(t) const cpConstraintClass * t##GetClass(void){return (cpConstraintClass *)&klass;} - -void cpConstraintInit(cpConstraint *constraint, const cpConstraintClass *klass, cpBody *a, cpBody *b); - -static inline cpVect -relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){ - cpVect v1_sum = cpvadd(a->v, cpvmult(cpvperp(r1), a->w)); - cpVect v2_sum = cpvadd(b->v, cpvmult(cpvperp(r2), b->w)); - - return cpvsub(v2_sum, v1_sum); -} - -static inline cpFloat -normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){ - return cpvdot(relative_velocity(a, b, r1, r2), n); -} - -static inline void -apply_impulse(cpBody *body, cpVect j, cpVect r){ - body->v = cpvadd(body->v, cpvmult(j, body->m_inv)); - body->w += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_impulse(a, cpvneg(j), r1); - apply_impulse(b, j, r2); -} - -static inline void -apply_bias_impulse(cpBody *body, cpVect j, cpVect r) -{ - body->CP_PRIVATE(v_bias) = cpvadd(body->CP_PRIVATE(v_bias), cpvmult(j, body->m_inv)); - body->CP_PRIVATE(w_bias) += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_bias_impulse(a, cpvneg(j), r1); - apply_bias_impulse(b, j, r2); -} - -static inline cpFloat -k_scalar_body(cpBody *body, cpVect r, cpVect n) -{ - cpFloat rcn = cpvcross(r, n); - return body->m_inv + body->i_inv*rcn*rcn; -} - -static inline cpFloat -k_scalar(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n) -{ - cpFloat value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n); - cpAssertSoft(value != 0.0, "Unsolvable collision or constraint."); - - return value; -} - -static inline cpMat2x2 -k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2) -{ - cpFloat m_sum = a->m_inv + b->m_inv; - - // start with Identity*m_sum - cpFloat k11 = m_sum, k12 = 0.0f; - cpFloat k21 = 0.0f, k22 = m_sum; - - // add the influence from r1 - cpFloat a_i_inv = a->i_inv; - cpFloat r1xsq = r1.x * r1.x * a_i_inv; - cpFloat r1ysq = r1.y * r1.y * a_i_inv; - cpFloat r1nxy = -r1.x * r1.y * a_i_inv; - k11 += r1ysq; k12 += r1nxy; - k21 += r1nxy; k22 += r1xsq; - - // add the influnce from r2 - cpFloat b_i_inv = b->i_inv; - cpFloat r2xsq = r2.x * r2.x * b_i_inv; - cpFloat r2ysq = r2.y * r2.y * b_i_inv; - cpFloat r2nxy = -r2.x * r2.y * b_i_inv; - k11 += r2ysq; k12 += r2nxy; - k21 += r2nxy; k22 += r2xsq; - - // invert - cpFloat det = k11*k22 - k12*k21; - cpAssertSoft(det != 0.0, "Unsolvable constraint."); - - cpFloat det_inv = 1.0f/det; - return cpMat2x2New( - k22*det_inv, -k12*det_inv, - -k21*det_inv, k11*det_inv - ); -} - -static inline cpFloat -bias_coef(cpFloat errorBias, cpFloat dt) -{ - return 1.0f - cpfpow(errorBias, dt); -} diff --git a/ios/include/chipmunk/cpArbiter.h b/ios/include/chipmunk/cpArbiter.h index 1ccb693d..1dc130af 100644 --- a/ios/include/chipmunk/cpArbiter.h +++ b/ios/include/chipmunk/cpArbiter.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -20,188 +20,126 @@ */ /// @defgroup cpArbiter cpArbiter -/// The cpArbiter struct controls pairs of colliding shapes. +/// The cpArbiter struct tracks pairs of colliding shapes. /// They are also used in conjuction with collision handler callbacks -/// allowing you to retrieve information on the collision and control it. +/// allowing you to retrieve information on the collision or change it. +/// A unique arbiter value is used for each pair of colliding objects. It persists until the shapes separate. /// @{ -/// Collision begin event function callback type. -/// Returning false from a begin callback causes the collision to be ignored until -/// the the separate callback is called when the objects stop colliding. -typedef cpBool (*cpCollisionBeginFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision pre-solve event function callback type. -/// Returning false from a pre-step callback causes the collision to be ignored until the next step. -typedef cpBool (*cpCollisionPreSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision post-solve event function callback type. -typedef void (*cpCollisionPostSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision separate event function callback type. -typedef void (*cpCollisionSeparateFunc)(cpArbiter *arb, cpSpace *space, void *data); - -/// @private -struct cpCollisionHandler { - cpCollisionType a; - cpCollisionType b; - cpCollisionBeginFunc begin; - cpCollisionPreSolveFunc preSolve; - cpCollisionPostSolveFunc postSolve; - cpCollisionSeparateFunc separate; - void *data; -}; - -typedef struct cpContact cpContact; - #define CP_MAX_CONTACTS_PER_ARBITER 2 -/// @private -typedef enum cpArbiterState { - // Arbiter is active and its the first collision. - cpArbiterStateFirstColl, - // Arbiter is active and its not the first collision. - cpArbiterStateNormal, - // Collision has been explicitly ignored. - // Either by returning false from a begin collision handler or calling cpArbiterIgnore(). - cpArbiterStateIgnore, - // Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps. - cpArbiterStateCached, -} cpArbiterState; - -/// @private -struct cpArbiterThread { - // Links to next and previous arbiters in the contact graph. - struct cpArbiter *next, *prev; -}; - -/// A colliding pair of shapes. -struct cpArbiter { - /// Calculated value to use for the elasticity coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat e; - /// Calculated value to use for the friction coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat u; - /// Calculated value to use for applying surface velocities. - /// Override in a pre-solve collision handler for custom behavior. - cpVect surface_vr; - - /// User definable data pointer. - /// The value will persist for the pair of shapes until the separate() callback is called. - /// NOTE: If you need to clean up this pointer, you should implement the separate() callback to do it. - cpDataPointer data; - - CP_PRIVATE(cpShape *a); - CP_PRIVATE(cpShape *b); - CP_PRIVATE(cpBody *body_a); - CP_PRIVATE(cpBody *body_b); - - CP_PRIVATE(struct cpArbiterThread thread_a); - CP_PRIVATE(struct cpArbiterThread thread_b); - - CP_PRIVATE(int numContacts); - CP_PRIVATE(cpContact *contacts); - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpCollisionHandler *handler); - CP_PRIVATE(cpBool swappedColl); - CP_PRIVATE(cpArbiterState state); -}; - -#define CP_DefineArbiterStructGetter(type, member, name) \ -static inline type cpArbiterGet##name(const cpArbiter *arb){return arb->member;} - -#define CP_DefineArbiterStructSetter(type, member, name) \ -static inline void cpArbiterSet##name(cpArbiter *arb, type value){arb->member = value;} - -#define CP_DefineArbiterStructProperty(type, member, name) \ -CP_DefineArbiterStructGetter(type, member, name) \ -CP_DefineArbiterStructSetter(type, member, name) - -CP_DefineArbiterStructProperty(cpFloat, e, Elasticity) -CP_DefineArbiterStructProperty(cpFloat, u, Friction) +/// Get the restitution (elasticity) that will be applied to the pair of colliding objects. +CP_EXPORT cpFloat cpArbiterGetRestitution(const cpArbiter *arb); +/// Override the restitution (elasticity) that will be applied to the pair of colliding objects. +CP_EXPORT void cpArbiterSetRestitution(cpArbiter *arb, cpFloat restitution); +/// Get the friction coefficient that will be applied to the pair of colliding objects. +CP_EXPORT cpFloat cpArbiterGetFriction(const cpArbiter *arb); +/// Override the friction coefficient that will be applied to the pair of colliding objects. +CP_EXPORT void cpArbiterSetFriction(cpArbiter *arb, cpFloat friction); // Get the relative surface velocity of the two shapes in contact. -cpVect cpArbiterGetSurfaceVelocity(cpArbiter *arb); +CP_EXPORT cpVect cpArbiterGetSurfaceVelocity(cpArbiter *arb); // Override the relative surface velocity of the two shapes in contact. -// By default this is calculated to be the difference of the two -// surface velocities clamped to the tangent plane. -void cpArbiterSetSurfaceVelocity(cpArbiter *arb, cpVect vr); +// By default this is calculated to be the difference of the two surface velocities clamped to the tangent plane. +CP_EXPORT void cpArbiterSetSurfaceVelocity(cpArbiter *arb, cpVect vr); -CP_DefineArbiterStructProperty(cpDataPointer, data, UserData) +/// Get the user data pointer associated with this pair of colliding objects. +CP_EXPORT cpDataPointer cpArbiterGetUserData(const cpArbiter *arb); +/// Set a user data point associated with this pair of colliding objects. +/// If you need to perform any cleanup for this pointer, you must do it yourself, in the separate callback for instance. +CP_EXPORT void cpArbiterSetUserData(cpArbiter *arb, cpDataPointer userData); -/// Calculate the total impulse that was applied by this arbiter. -/// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulse(const cpArbiter *arb); /// Calculate the total impulse including the friction that was applied by this arbiter. /// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulseWithFriction(const cpArbiter *arb); +CP_EXPORT cpVect cpArbiterTotalImpulse(const cpArbiter *arb); /// Calculate the amount of energy lost in a collision including static, but not dynamic friction. /// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpFloat cpArbiterTotalKE(const cpArbiter *arb); +CP_EXPORT cpFloat cpArbiterTotalKE(const cpArbiter *arb); - -/// Causes a collision pair to be ignored as if you returned false from a begin callback. -/// If called from a pre-step callback, you will still need to return false -/// if you want it to be ignored in the current step. -void cpArbiterIgnore(cpArbiter *arb); +/// Mark a collision pair to be ignored until the two objects separate. +/// Pre-solve and post-solve callbacks will not be called, but the separate callback will be called. +CP_EXPORT cpBool cpArbiterIgnore(cpArbiter *arb); /// Return the colliding shapes involved for this arbiter. /// The order of their cpSpace.collision_type values will match /// the order set when the collision handler was registered. -static inline void cpArbiterGetShapes(const cpArbiter *arb, cpShape **a, cpShape **b) -{ - if(arb->CP_PRIVATE(swappedColl)){ - (*a) = arb->CP_PRIVATE(b), (*b) = arb->CP_PRIVATE(a); - } else { - (*a) = arb->CP_PRIVATE(a), (*b) = arb->CP_PRIVATE(b); - } -} +CP_EXPORT void cpArbiterGetShapes(const cpArbiter *arb, cpShape **a, cpShape **b); + /// A macro shortcut for defining and retrieving the shapes from an arbiter. #define CP_ARBITER_GET_SHAPES(__arb__, __a__, __b__) cpShape *__a__, *__b__; cpArbiterGetShapes(__arb__, &__a__, &__b__); /// Return the colliding bodies involved for this arbiter. /// The order of the cpSpace.collision_type the bodies are associated with values will match /// the order set when the collision handler was registered. -static inline void cpArbiterGetBodies(const cpArbiter *arb, cpBody **a, cpBody **b) -{ - CP_ARBITER_GET_SHAPES(arb, shape_a, shape_b); - (*a) = shape_a->body; - (*b) = shape_b->body; -} +CP_EXPORT void cpArbiterGetBodies(const cpArbiter *arb, cpBody **a, cpBody **b); + /// A macro shortcut for defining and retrieving the bodies from an arbiter. #define CP_ARBITER_GET_BODIES(__arb__, __a__, __b__) cpBody *__a__, *__b__; cpArbiterGetBodies(__arb__, &__a__, &__b__); /// A struct that wraps up the important collision data for an arbiter. -typedef struct cpContactPointSet { +struct cpContactPointSet { /// The number of contact points in the set. int count; + /// The normal of the collision. + cpVect normal; + /// The array of contact points. struct { - /// The position of the contact point. - cpVect point; - /// The normal of the contact point. - cpVect normal; - /// The depth of the contact point. - cpFloat dist; + /// The position of the contact on the surface of each shape. + cpVect pointA, pointB; + /// Penetration distance of the two shapes. Overlapping means it will be negative. + /// This value is calculated as cpvdot(cpvsub(point2, point1), normal) and is ignored by cpArbiterSetContactPointSet(). + cpFloat distance; } points[CP_MAX_CONTACTS_PER_ARBITER]; -} cpContactPointSet; +}; /// Return a contact set from an arbiter. -cpContactPointSet cpArbiterGetContactPointSet(const cpArbiter *arb); +CP_EXPORT cpContactPointSet cpArbiterGetContactPointSet(const cpArbiter *arb); /// Replace the contact point set for an arbiter. /// This can be a very powerful feature, but use it with caution! -void cpArbiterSetContactPointSet(cpArbiter *arb, cpContactPointSet *set); +CP_EXPORT void cpArbiterSetContactPointSet(cpArbiter *arb, cpContactPointSet *set); /// Returns true if this is the first step a pair of objects started colliding. -cpBool cpArbiterIsFirstContact(const cpArbiter *arb); +CP_EXPORT cpBool cpArbiterIsFirstContact(const cpArbiter *arb); +/// Returns true if the separate callback is due to a shape being removed from the space. +CP_EXPORT cpBool cpArbiterIsRemoval(const cpArbiter *arb); + /// Get the number of contact points for this arbiter. -int cpArbiterGetCount(const cpArbiter *arb); -/// Get the normal of the @c ith contact point. -cpVect cpArbiterGetNormal(const cpArbiter *arb, int i); -/// Get the position of the @c ith contact point. -cpVect cpArbiterGetPoint(const cpArbiter *arb, int i); +CP_EXPORT int cpArbiterGetCount(const cpArbiter *arb); +/// Get the normal of the collision. +CP_EXPORT cpVect cpArbiterGetNormal(const cpArbiter *arb); +/// Get the position of the @c ith contact point on the surface of the first shape. +CP_EXPORT cpVect cpArbiterGetPointA(const cpArbiter *arb, int i); +/// Get the position of the @c ith contact point on the surface of the second shape. +CP_EXPORT cpVect cpArbiterGetPointB(const cpArbiter *arb, int i); /// Get the depth of the @c ith contact point. -cpFloat cpArbiterGetDepth(const cpArbiter *arb, int i); +CP_EXPORT cpFloat cpArbiterGetDepth(const cpArbiter *arb, int i); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardBeginA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardBeginB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardPreSolveA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardPreSolveB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardPostSolveA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardPostSolveB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardSeparateA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardSeparateB(cpArbiter *arb, cpSpace *space); /// @} diff --git a/ios/include/chipmunk/cpBB.h b/ios/include/chipmunk/cpBB.h index 4e59c2d4..40200600 100644 --- a/ios/include/chipmunk/cpBB.h +++ b/ios/include/chipmunk/cpBB.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,6 +19,12 @@ * SOFTWARE. */ +#ifndef CHIPMUNK_BB_H +#define CHIPMUNK_BB_H + +#include "chipmunk_types.h" +#include "cpVect.h" + /// @defgroup cpBBB cpBB /// Chipmunk's axis-aligned 2D bounding box type along with a few handy routines. /// @{ @@ -35,10 +41,17 @@ static inline cpBB cpBBNew(const cpFloat l, const cpFloat b, const cpFloat r, co return bb; } +/// Constructs a cpBB centered on a point with the given extents (half sizes). +static inline cpBB +cpBBNewForExtents(const cpVect c, const cpFloat hw, const cpFloat hh) +{ + return cpBBNew(c.x - hw, c.y - hh, c.x + hw, c.y + hh); +} + /// Constructs a cpBB for a circle with the given position and radius. static inline cpBB cpBBNewForCircle(const cpVect p, const cpFloat r) { - return cpBBNew(p.x - r, p.y - r, p.x + r, p.y + r); + return cpBBNewForExtents(p, r, r); } /// Returns true if @c a and @c b intersect. @@ -102,6 +115,9 @@ static inline cpFloat cpBBMergedArea(cpBB a, cpBB b) static inline cpFloat cpBBSegmentQuery(cpBB bb, cpVect a, cpVect b) { cpFloat idx = 1.0f/(b.x - a.x); +#ifdef _MSC_VER +#pragma warning(disable: 4056) +#endif cpFloat tx1 = (bb.l == a.x ? -INFINITY : (bb.l - a.x)*idx); cpFloat tx2 = (bb.r == a.x ? INFINITY : (bb.r - a.x)*idx); cpFloat txmin = cpfmin(tx1, tx2); @@ -110,6 +126,9 @@ static inline cpFloat cpBBSegmentQuery(cpBB bb, cpVect a, cpVect b) cpFloat idy = 1.0f/(b.y - a.y); cpFloat ty1 = (bb.b == a.y ? -INFINITY : (bb.b - a.y)*idy); cpFloat ty2 = (bb.t == a.y ? INFINITY : (bb.t - a.y)*idy); +#ifdef _MSC_VER +#pragma warning(default: 4056) +#endif cpFloat tymin = cpfmin(ty1, ty2); cpFloat tymax = cpfmax(ty1, ty2); @@ -136,8 +155,33 @@ cpBBClampVect(const cpBB bb, const cpVect v) return cpv(cpfclamp(v.x, bb.l, bb.r), cpfclamp(v.y, bb.b, bb.t)); } -// TODO edge case issue /// Wrap a vector to a bounding box. -cpVect cpBBWrapVect(const cpBB bb, const cpVect v); // wrap a vector to a bbox +static inline cpVect +cpBBWrapVect(const cpBB bb, const cpVect v) +{ + cpFloat dx = cpfabs(bb.r - bb.l); + cpFloat modx = cpfmod(v.x - bb.l, dx); + cpFloat x = (modx > 0.0f) ? modx : modx + dx; + + cpFloat dy = cpfabs(bb.t - bb.b); + cpFloat mody = cpfmod(v.y - bb.b, dy); + cpFloat y = (mody > 0.0f) ? mody : mody + dy; + + return cpv(x + bb.l, y + bb.b); +} + +/// Returns a bounding box offseted by @c v. +static inline cpBB +cpBBOffset(const cpBB bb, const cpVect v) +{ + return cpBBNew( + bb.l + v.x, + bb.b + v.y, + bb.r + v.x, + bb.t + v.y + ); +} ///@} + +#endif diff --git a/ios/include/chipmunk/cpBody.h b/ios/include/chipmunk/cpBody.h index 6168b0fe..7e6943d1 100644 --- a/ios/include/chipmunk/cpBody.h +++ b/ios/include/chipmunk/cpBody.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -25,227 +25,165 @@ /// They are given a shape by creating collision shapes (cpShape) that point to the body. /// @{ +typedef enum cpBodyType { + /// A dynamic body is one that is affected by gravity, forces, and collisions. + /// This is the default body type. + CP_BODY_TYPE_DYNAMIC, + /// A kinematic body is an infinite mass, user controlled body that is not affected by gravity, forces or collisions. + /// Instead the body only moves based on it's velocity. + /// Dynamic bodies collide normally with kinematic bodies, though the kinematic body will be unaffected. + /// Collisions between two kinematic bodies, or a kinematic body and a static body produce collision callbacks, but no collision response. + CP_BODY_TYPE_KINEMATIC, + /// A static body is a body that never (or rarely) moves. If you move a static body, you must call one of the cpSpaceReindex*() functions. + /// Chipmunk uses this information to optimize the collision detection. + /// Static bodies do not produce collision callbacks when colliding with other static bodies. + CP_BODY_TYPE_STATIC, +} cpBodyType; + /// Rigid body velocity update function type. typedef void (*cpBodyVelocityFunc)(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); /// Rigid body position update function type. typedef void (*cpBodyPositionFunc)(cpBody *body, cpFloat dt); -/// Used internally to track information on the collision graph. -/// @private -typedef struct cpComponentNode { - cpBody *root; - cpBody *next; - cpFloat idleTime; -} cpComponentNode; - -/// Chipmunk's rigid body struct. -struct cpBody { - /// Function that is called to integrate the body's velocity. (Defaults to cpBodyUpdateVelocity) - cpBodyVelocityFunc velocity_func; - - /// Function that is called to integrate the body's position. (Defaults to cpBodyUpdatePosition) - cpBodyPositionFunc position_func; - - /// Mass of the body. - /// Must agree with cpBody.m_inv! Use cpBodySetMass() when changing the mass for this reason. - cpFloat m; - /// Mass inverse. - cpFloat m_inv; - - /// Moment of inertia of the body. - /// Must agree with cpBody.i_inv! Use cpBodySetMoment() when changing the moment for this reason. - cpFloat i; - /// Moment of inertia inverse. - cpFloat i_inv; - - /// Position of the rigid body's center of gravity. - cpVect p; - /// Velocity of the rigid body's center of gravity. - cpVect v; - /// Force acting on the rigid body's center of gravity. - cpVect f; - - /// Rotation of the body around it's center of gravity in radians. - /// Must agree with cpBody.rot! Use cpBodySetAngle() when changing the angle for this reason. - cpFloat a; - /// Angular velocity of the body around it's center of gravity in radians/second. - cpFloat w; - /// Torque applied to the body around it's center of gravity. - cpFloat t; - - /// Cached unit length vector representing the angle of the body. - /// Used for fast rotations using cpvrotate(). - cpVect rot; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpBody reference in a callback. - cpDataPointer data; - - /// Maximum velocity allowed when updating the velocity. - cpFloat v_limit; - /// Maximum rotational rate (in radians/second) allowed when updating the angular velocity. - cpFloat w_limit; - - CP_PRIVATE(cpVect v_bias); - CP_PRIVATE(cpFloat w_bias); - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *shapeList); - CP_PRIVATE(cpArbiter *arbiterList); - CP_PRIVATE(cpConstraint *constraintList); - - CP_PRIVATE(cpComponentNode node); -}; - /// Allocate a cpBody. -cpBody* cpBodyAlloc(void); +CP_EXPORT cpBody* cpBodyAlloc(void); /// Initialize a cpBody. -cpBody* cpBodyInit(cpBody *body, cpFloat m, cpFloat i); +CP_EXPORT cpBody* cpBodyInit(cpBody *body, cpFloat mass, cpFloat moment); /// Allocate and initialize a cpBody. -cpBody* cpBodyNew(cpFloat m, cpFloat i); +CP_EXPORT cpBody* cpBodyNew(cpFloat mass, cpFloat moment); -/// Initialize a static cpBody. -cpBody* cpBodyInitStatic(cpBody *body); -/// Allocate and initialize a static cpBody. -cpBody* cpBodyNewStatic(void); +/// Allocate and initialize a cpBody, and set it as a kinematic body. +CP_EXPORT cpBody* cpBodyNewKinematic(void); +/// Allocate and initialize a cpBody, and set it as a static body. +CP_EXPORT cpBody* cpBodyNewStatic(void); /// Destroy a cpBody. -void cpBodyDestroy(cpBody *body); +CP_EXPORT void cpBodyDestroy(cpBody *body); /// Destroy and free a cpBody. -void cpBodyFree(cpBody *body); - -/// Check that the properties of a body is sane. (Only in debug mode) -#ifdef NDEBUG - #define cpBodyAssertSane(body) -#else - void cpBodySanityCheck(cpBody *body); - #define cpBodyAssertSane(body) cpBodySanityCheck(body) -#endif +CP_EXPORT void cpBodyFree(cpBody *body); // Defined in cpSpace.c /// Wake up a sleeping or idle body. -void cpBodyActivate(cpBody *body); +CP_EXPORT void cpBodyActivate(cpBody *body); /// Wake up any sleeping or idle bodies touching a static body. -void cpBodyActivateStatic(cpBody *body, cpShape *filter); +CP_EXPORT void cpBodyActivateStatic(cpBody *body, cpShape *filter); /// Force a body to fall asleep immediately. -void cpBodySleep(cpBody *body); +CP_EXPORT void cpBodySleep(cpBody *body); /// Force a body to fall asleep immediately along with other bodies in a group. -void cpBodySleepWithGroup(cpBody *body, cpBody *group); +CP_EXPORT void cpBodySleepWithGroup(cpBody *body, cpBody *group); /// Returns true if the body is sleeping. -static inline cpBool cpBodyIsSleeping(const cpBody *body) -{ - return (CP_PRIVATE(body->node).root != ((cpBody*)0)); -} +CP_EXPORT cpBool cpBodyIsSleeping(const cpBody *body); -/// Returns true if the body is static. -static inline cpBool cpBodyIsStatic(const cpBody *body) -{ - return CP_PRIVATE(body->node).idleTime == INFINITY; -} +/// Get the type of the body. +CP_EXPORT cpBodyType cpBodyGetType(cpBody *body); +/// Set the type of the body. +CP_EXPORT void cpBodySetType(cpBody *body, cpBodyType type); -/// Returns true if the body has not been added to a space. -/// Note: Static bodies are a subtype of rogue bodies. -static inline cpBool cpBodyIsRogue(const cpBody *body) -{ - return (body->CP_PRIVATE(space) == ((cpSpace*)0)); -} +/// Get the space this body is added to. +CP_EXPORT cpSpace* cpBodyGetSpace(const cpBody *body); +/// Get the mass of the body. +CP_EXPORT cpFloat cpBodyGetMass(const cpBody *body); +/// Set the mass of the body. +CP_EXPORT void cpBodySetMass(cpBody *body, cpFloat m); -#define CP_DefineBodyStructGetter(type, member, name) \ -static inline type cpBodyGet##name(const cpBody *body){return body->member;} +/// Get the moment of inertia of the body. +CP_EXPORT cpFloat cpBodyGetMoment(const cpBody *body); +/// Set the moment of inertia of the body. +CP_EXPORT void cpBodySetMoment(cpBody *body, cpFloat i); -#define CP_DefineBodyStructSetter(type, member, name) \ -static inline void cpBodySet##name(cpBody *body, const type value){ \ - cpBodyActivate(body); \ - body->member = value; \ - cpBodyAssertSane(body); \ -} - -#define CP_DefineBodyStructProperty(type, member, name) \ -CP_DefineBodyStructGetter(type, member, name) \ -CP_DefineBodyStructSetter(type, member, name) - -// TODO add to docs -CP_DefineBodyStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineBodyStructGetter(cpFloat, m, Mass) -/// Set the mass of a body. -void cpBodySetMass(cpBody *body, cpFloat m); - -CP_DefineBodyStructGetter(cpFloat, i, Moment) -/// Set the moment of a body. -void cpBodySetMoment(cpBody *body, cpFloat i); - -CP_DefineBodyStructGetter(cpVect, p, Pos) /// Set the position of a body. -void cpBodySetPos(cpBody *body, cpVect pos); -CP_DefineBodyStructProperty(cpVect, v, Vel) -CP_DefineBodyStructProperty(cpVect, f, Force) -CP_DefineBodyStructGetter(cpFloat, a, Angle) -/// Set the angle of a body. -void cpBodySetAngle(cpBody *body, cpFloat a); -CP_DefineBodyStructProperty(cpFloat, w, AngVel) -CP_DefineBodyStructProperty(cpFloat, t, Torque) -CP_DefineBodyStructGetter(cpVect, rot, Rot) -CP_DefineBodyStructProperty(cpFloat, v_limit, VelLimit) -CP_DefineBodyStructProperty(cpFloat, w_limit, AngVelLimit) -CP_DefineBodyStructProperty(cpDataPointer, data, UserData) +CP_EXPORT cpVect cpBodyGetPosition(const cpBody *body); +/// Set the position of the body. +CP_EXPORT void cpBodySetPosition(cpBody *body, cpVect pos); -/// Default Integration functions. -void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); -void cpBodyUpdatePosition(cpBody *body, cpFloat dt); +/// Get the offset of the center of gravity in body local coordinates. +CP_EXPORT cpVect cpBodyGetCenterOfGravity(const cpBody *body); +/// Set the offset of the center of gravity in body local coordinates. +CP_EXPORT void cpBodySetCenterOfGravity(cpBody *body, cpVect cog); + +/// Get the velocity of the body. +CP_EXPORT cpVect cpBodyGetVelocity(const cpBody *body); +/// Set the velocity of the body. +CP_EXPORT void cpBodySetVelocity(cpBody *body, cpVect velocity); + +/// Get the force applied to the body for the next time step. +CP_EXPORT cpVect cpBodyGetForce(const cpBody *body); +/// Set the force applied to the body for the next time step. +CP_EXPORT void cpBodySetForce(cpBody *body, cpVect force); + +/// Get the angle of the body. +CP_EXPORT cpFloat cpBodyGetAngle(const cpBody *body); +/// Set the angle of a body. +CP_EXPORT void cpBodySetAngle(cpBody *body, cpFloat a); + +/// Get the angular velocity of the body. +CP_EXPORT cpFloat cpBodyGetAngularVelocity(const cpBody *body); +/// Set the angular velocity of the body. +CP_EXPORT void cpBodySetAngularVelocity(cpBody *body, cpFloat angularVelocity); + +/// Get the torque applied to the body for the next time step. +CP_EXPORT cpFloat cpBodyGetTorque(const cpBody *body); +/// Set the torque applied to the body for the next time step. +CP_EXPORT void cpBodySetTorque(cpBody *body, cpFloat torque); + +/// Get the rotation vector of the body. (The x basis vector of it's transform.) +CP_EXPORT cpVect cpBodyGetRotation(const cpBody *body); + +/// Get the user data pointer assigned to the body. +CP_EXPORT cpDataPointer cpBodyGetUserData(const cpBody *body); +/// Set the user data pointer assigned to the body. +CP_EXPORT void cpBodySetUserData(cpBody *body, cpDataPointer userData); + +/// Set the callback used to update a body's velocity. +CP_EXPORT void cpBodySetVelocityUpdateFunc(cpBody *body, cpBodyVelocityFunc velocityFunc); +/// Set the callback used to update a body's position. +/// NOTE: It's not generally recommended to override this unless you call the default position update function. +CP_EXPORT void cpBodySetPositionUpdateFunc(cpBody *body, cpBodyPositionFunc positionFunc); + +/// Default velocity integration function.. +CP_EXPORT void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); +/// Default position integration function. +CP_EXPORT void cpBodyUpdatePosition(cpBody *body, cpFloat dt); /// Convert body relative/local coordinates to absolute/world coordinates. -static inline cpVect cpBodyLocal2World(const cpBody *body, const cpVect v) -{ - return cpvadd(body->p, cpvrotate(v, body->rot)); -} - +CP_EXPORT cpVect cpBodyLocalToWorld(const cpBody *body, const cpVect point); /// Convert body absolute/world coordinates to relative/local coordinates. -static inline cpVect cpBodyWorld2Local(const cpBody *body, const cpVect v) -{ - return cpvunrotate(cpvsub(v, body->p), body->rot); -} +CP_EXPORT cpVect cpBodyWorldToLocal(const cpBody *body, const cpVect point); -/// Set the forces and torque or a body to zero. -void cpBodyResetForces(cpBody *body); -/// Apply an force (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyForce(cpBody *body, const cpVect f, const cpVect r); -/// Apply an impulse (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyImpulse(cpBody *body, const cpVect j, const cpVect r); +/// Apply a force to a body. Both the force and point are expressed in world coordinates. +CP_EXPORT void cpBodyApplyForceAtWorldPoint(cpBody *body, cpVect force, cpVect point); +/// Apply a force to a body. Both the force and point are expressed in body local coordinates. +CP_EXPORT void cpBodyApplyForceAtLocalPoint(cpBody *body, cpVect force, cpVect point); + +/// Apply an impulse to a body. Both the impulse and point are expressed in world coordinates. +CP_EXPORT void cpBodyApplyImpulseAtWorldPoint(cpBody *body, cpVect impulse, cpVect point); +/// Apply an impulse to a body. Both the impulse and point are expressed in body local coordinates. +CP_EXPORT void cpBodyApplyImpulseAtLocalPoint(cpBody *body, cpVect impulse, cpVect point); /// Get the velocity on a body (in world units) at a point on the body in world coordinates. -cpVect cpBodyGetVelAtWorldPoint(cpBody *body, cpVect point); +CP_EXPORT cpVect cpBodyGetVelocityAtWorldPoint(const cpBody *body, cpVect point); /// Get the velocity on a body (in world units) at a point on the body in local coordinates. -cpVect cpBodyGetVelAtLocalPoint(cpBody *body, cpVect point); +CP_EXPORT cpVect cpBodyGetVelocityAtLocalPoint(const cpBody *body, cpVect point); - -/// Get the kinetic energy of a body. -static inline cpFloat cpBodyKineticEnergy(const cpBody *body) -{ - // Need to do some fudging to avoid NaNs - cpFloat vsq = cpvdot(body->v, body->v); - cpFloat wsq = body->w*body->w; - return (vsq ? vsq*body->m : 0.0f) + (wsq ? wsq*body->i : 0.0f); -} +/// Get the amount of kinetic energy contained by the body. +CP_EXPORT cpFloat cpBodyKineticEnergy(const cpBody *body); /// Body/shape iterator callback function type. typedef void (*cpBodyShapeIteratorFunc)(cpBody *body, cpShape *shape, void *data); /// Call @c func once for each shape attached to @c body and added to the space. -void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data); /// Body/constraint iterator callback function type. typedef void (*cpBodyConstraintIteratorFunc)(cpBody *body, cpConstraint *constraint, void *data); /// Call @c func once for each constraint attached to @c body and added to the space. -void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data); /// Body/arbiter iterator callback function type. typedef void (*cpBodyArbiterIteratorFunc)(cpBody *body, cpArbiter *arbiter, void *data); /// Call @c func once for each arbiter that is currently active on the body. -void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data); ///@} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpConstraint.h b/ios/include/chipmunk/cpConstraint.h similarity index 100% rename from android/armeabi-v7a/include/chipmunk/chipmunk/cpConstraint.h rename to ios/include/chipmunk/cpConstraint.h diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpDampedRotarySpring.h b/ios/include/chipmunk/cpDampedRotarySpring.h similarity index 100% rename from android/armeabi-v7a/include/chipmunk/chipmunk/cpDampedRotarySpring.h rename to ios/include/chipmunk/cpDampedRotarySpring.h diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpDampedSpring.h b/ios/include/chipmunk/cpDampedSpring.h similarity index 100% rename from android/armeabi-v7a/include/chipmunk/chipmunk/cpDampedSpring.h rename to ios/include/chipmunk/cpDampedSpring.h diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpGearJoint.h b/ios/include/chipmunk/cpGearJoint.h similarity index 100% rename from android/armeabi-v7a/include/chipmunk/chipmunk/cpGearJoint.h rename to ios/include/chipmunk/cpGearJoint.h diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpGrooveJoint.h b/ios/include/chipmunk/cpGrooveJoint.h similarity index 100% rename from android/armeabi-v7a/include/chipmunk/chipmunk/cpGrooveJoint.h rename to ios/include/chipmunk/cpGrooveJoint.h diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpHastySpace.h b/ios/include/chipmunk/cpHastySpace.h similarity index 100% rename from android/armeabi-v7a/include/chipmunk/chipmunk/cpHastySpace.h rename to ios/include/chipmunk/cpHastySpace.h diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpMarch.h b/ios/include/chipmunk/cpMarch.h similarity index 100% rename from android/armeabi-v7a/include/chipmunk/chipmunk/cpMarch.h rename to ios/include/chipmunk/cpMarch.h diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpPinJoint.h b/ios/include/chipmunk/cpPinJoint.h similarity index 100% rename from android/armeabi-v7a/include/chipmunk/chipmunk/cpPinJoint.h rename to ios/include/chipmunk/cpPinJoint.h diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpPivotJoint.h b/ios/include/chipmunk/cpPivotJoint.h similarity index 100% rename from android/armeabi-v7a/include/chipmunk/chipmunk/cpPivotJoint.h rename to ios/include/chipmunk/cpPivotJoint.h diff --git a/ios/include/chipmunk/cpPolyShape.h b/ios/include/chipmunk/cpPolyShape.h index a5587ba2..25f688b8 100644 --- a/ios/include/chipmunk/cpPolyShape.h +++ b/ios/include/chipmunk/cpPolyShape.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -22,60 +22,35 @@ /// @defgroup cpPolyShape cpPolyShape /// @{ -/// @private -typedef struct cpSplittingPlane { - cpVect n; - cpFloat d; -} cpSplittingPlane; - -/// @private -typedef struct cpPolyShape { - cpShape shape; - - int numVerts; - cpVect *verts, *tVerts; - cpSplittingPlane *planes, *tPlanes; - - cpFloat r; -} cpPolyShape; - /// Allocate a polygon shape. -cpPolyShape* cpPolyShapeAlloc(void); -/// Initialize a polygon shape. +CP_EXPORT cpPolyShape* cpPolyShapeAlloc(void); +/// Initialize a polygon shape with rounded corners. /// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Initialize a polygon shape. +CP_EXPORT cpPolyShape* cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int count, const cpVect *verts, cpTransform transform, cpFloat radius); +/// Initialize a polygon shape with rounded corners. +/// The vertexes must be convex with a counter-clockwise winding. +CP_EXPORT cpPolyShape* cpPolyShapeInitRaw(cpPolyShape *poly, cpBody *body, int count, const cpVect *verts, cpFloat radius); +/// Allocate and initialize a polygon shape with rounded corners. /// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit2(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew(cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew2(cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); +CP_EXPORT cpShape* cpPolyShapeNew(cpBody *body, int count, const cpVect *verts, cpTransform transform, cpFloat radius); +/// Allocate and initialize a polygon shape with rounded corners. +/// The vertexes must be convex with a counter-clockwise winding. +CP_EXPORT cpShape* cpPolyShapeNewRaw(cpBody *body, int count, const cpVect *verts, cpFloat radius); -/// Initialize a box shaped polygon shape. -cpPolyShape* cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit2(cpPolyShape *poly, cpBody *body, cpBB box); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit3(cpPolyShape *poly, cpBody *body, cpBB box, cpFloat radius); +/// Initialize a box shaped polygon shape with rounded corners. +CP_EXPORT cpPolyShape* cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height, cpFloat radius); +/// Initialize an offset box shaped polygon shape with rounded corners. +CP_EXPORT cpPolyShape* cpBoxShapeInit2(cpPolyShape *poly, cpBody *body, cpBB box, cpFloat radius); /// Allocate and initialize a box shaped polygon shape. -cpShape* cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height); +CP_EXPORT cpShape* cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height, cpFloat radius); /// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew2(cpBody *body, cpBB box); -/// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew3(cpBody *body, cpBB box, cpFloat radius); - -/// Check that a set of vertexes is convex and has a clockwise winding. -/// NOTE: Due to floating point precision issues, hulls created with cpQuickHull() are not guaranteed to validate! -cpBool cpPolyValidate(const cpVect *verts, const int numVerts); +CP_EXPORT cpShape* cpBoxShapeNew2(cpBody *body, cpBB box, cpFloat radius); /// Get the number of verts in a polygon shape. -int cpPolyShapeGetNumVerts(const cpShape *shape); +CP_EXPORT int cpPolyShapeGetCount(const cpShape *shape); /// Get the @c ith vertex of a polygon shape. -cpVect cpPolyShapeGetVert(const cpShape *shape, int idx); +CP_EXPORT cpVect cpPolyShapeGetVert(const cpShape *shape, int index); /// Get the radius of a polygon shape. -cpFloat cpPolyShapeGetRadius(const cpShape *shape); +CP_EXPORT cpFloat cpPolyShapeGetRadius(const cpShape *shape); /// @} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpPolyline.h b/ios/include/chipmunk/cpPolyline.h similarity index 100% rename from android/armeabi-v7a/include/chipmunk/chipmunk/cpPolyline.h rename to ios/include/chipmunk/cpPolyline.h diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpRatchetJoint.h b/ios/include/chipmunk/cpRatchetJoint.h similarity index 100% rename from android/armeabi-v7a/include/chipmunk/chipmunk/cpRatchetJoint.h rename to ios/include/chipmunk/cpRatchetJoint.h diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpRobust.h b/ios/include/chipmunk/cpRobust.h similarity index 100% rename from android/armeabi-v7a/include/chipmunk/chipmunk/cpRobust.h rename to ios/include/chipmunk/cpRobust.h diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpRotaryLimitJoint.h b/ios/include/chipmunk/cpRotaryLimitJoint.h similarity index 100% rename from android/armeabi-v7a/include/chipmunk/chipmunk/cpRotaryLimitJoint.h rename to ios/include/chipmunk/cpRotaryLimitJoint.h diff --git a/ios/include/chipmunk/cpShape.h b/ios/include/chipmunk/cpShape.h index 62920c37..cc20f809 100644 --- a/ios/include/chipmunk/cpShape.h +++ b/ios/include/chipmunk/cpShape.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -18,215 +18,182 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. */ - + /// @defgroup cpShape cpShape /// The cpShape struct defines the shape of a rigid body. /// @{ -typedef struct cpShapeClass cpShapeClass; - -/// Nearest point query info struct. -typedef struct cpNearestPointQueryInfo { +/// Point query info struct. +typedef struct cpPointQueryInfo { /// The nearest shape, NULL if no shape was within range. - cpShape *shape; + const cpShape *shape; /// The closest point on the shape's surface. (in world space coordinates) - cpVect p; + cpVect point; /// The distance to the point. The distance is negative if the point is inside the shape. - cpFloat d; + cpFloat distance; /// The gradient of the signed distance function. - /// The same as info.p/info.d, but accurate even for very small values of info.d. - cpVect g; -} cpNearestPointQueryInfo; + /// The value should be similar to info.p/info.d, but accurate even for very small values of info.d. + cpVect gradient; +} cpPointQueryInfo; /// Segment query info struct. typedef struct cpSegmentQueryInfo { - /// The shape that was hit, NULL if no collision occured. - cpShape *shape; - /// The normalized distance along the query segment in the range [0, 1]. - cpFloat t; + /// The shape that was hit, or NULL if no collision occured. + const cpShape *shape; + /// The point of impact. + cpVect point; /// The normal of the surface hit. - cpVect n; + cpVect normal; + /// The normalized distance along the query segment in the range [0, 1]. + cpFloat alpha; } cpSegmentQueryInfo; -/// @private -typedef enum cpShapeType{ - CP_CIRCLE_SHAPE, - CP_SEGMENT_SHAPE, - CP_POLY_SHAPE, - CP_NUM_SHAPES -} cpShapeType; - -typedef cpBB (*cpShapeCacheDataImpl)(cpShape *shape, cpVect p, cpVect rot); -typedef void (*cpShapeDestroyImpl)(cpShape *shape); -typedef void (*cpShapeNearestPointQueryImpl)(cpShape *shape, cpVect p, cpNearestPointQueryInfo *info); -typedef void (*cpShapeSegmentQueryImpl)(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); - -/// @private -struct cpShapeClass { - cpShapeType type; - - cpShapeCacheDataImpl cacheData; - cpShapeDestroyImpl destroy; - cpShapeNearestPointQueryImpl nearestPointQuery; - cpShapeSegmentQueryImpl segmentQuery; -}; - -/// Opaque collision shape struct. -struct cpShape { - CP_PRIVATE(const cpShapeClass *klass); - - /// The rigid body this collision shape is attached to. - cpBody *body; - - /// The current bounding box of the shape. - cpBB bb; - - /// Sensor flag. - /// Sensor shapes call collision callbacks but don't produce collisions. - cpBool sensor; - - /// Coefficient of restitution. (elasticity) - cpFloat e; - /// Coefficient of friction. - cpFloat u; - /// Surface velocity used when solving for friction. - cpVect surface_v; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpShape reference in a callback. - cpDataPointer data; - - /// Collision type of this shape used when picking collision handlers. - cpCollisionType collision_type; - /// Group of this shape. Shapes in the same group don't collide. +/// Fast collision filtering type that is used to determine if two objects collide before calling collision or query callbacks. +typedef struct cpShapeFilter { + /// Two objects with the same non-zero group value do not collide. + /// This is generally used to group objects in a composite object together to disable self collisions. cpGroup group; - // Layer bitmask for this shape. Shapes only collide if the bitwise and of their layers is non-zero. - cpLayers layers; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *next); - CP_PRIVATE(cpShape *prev); - - CP_PRIVATE(cpHashValue hashid); -}; + /// A bitmask of user definable categories that this object belongs to. + /// The category/mask combinations of both objects in a collision must agree for a collision to occur. + cpBitmask categories; + /// A bitmask of user definable category types that this object object collides with. + /// The category/mask combinations of both objects in a collision must agree for a collision to occur. + cpBitmask mask; +} cpShapeFilter; + +/// Collision filter value for a shape that will collide with anything except CP_SHAPE_FILTER_NONE. +static const cpShapeFilter CP_SHAPE_FILTER_ALL = {CP_NO_GROUP, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES}; +/// Collision filter value for a shape that does not collide with anything. +static const cpShapeFilter CP_SHAPE_FILTER_NONE = {CP_NO_GROUP, ~CP_ALL_CATEGORIES, ~CP_ALL_CATEGORIES}; + +/// Create a new collision filter. +static inline cpShapeFilter +cpShapeFilterNew(cpGroup group, cpBitmask categories, cpBitmask mask) +{ + cpShapeFilter filter = {group, categories, mask}; + return filter; +} /// Destroy a shape. -void cpShapeDestroy(cpShape *shape); +CP_EXPORT void cpShapeDestroy(cpShape *shape); /// Destroy and Free a shape. -void cpShapeFree(cpShape *shape); +CP_EXPORT void cpShapeFree(cpShape *shape); /// Update, cache and return the bounding box of a shape based on the body it's attached to. -cpBB cpShapeCacheBB(cpShape *shape); +CP_EXPORT cpBB cpShapeCacheBB(cpShape *shape); /// Update, cache and return the bounding box of a shape with an explicit transformation. -cpBB cpShapeUpdate(cpShape *shape, cpVect pos, cpVect rot); - -/// Test if a point lies within a shape. -cpBool cpShapePointQuery(cpShape *shape, cpVect p); +CP_EXPORT cpBB cpShapeUpdate(cpShape *shape, cpTransform transform); /// Perform a nearest point query. It finds the closest point on the surface of shape to a specific point. /// The value returned is the distance between the points. A negative distance means the point is inside the shape. -cpFloat cpShapeNearestPointQuery(cpShape *shape, cpVect p, cpNearestPointQueryInfo *out); +CP_EXPORT cpFloat cpShapePointQuery(const cpShape *shape, cpVect p, cpPointQueryInfo *out); /// Perform a segment query against a shape. @c info must be a pointer to a valid cpSegmentQueryInfo structure. -cpBool cpShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); +CP_EXPORT cpBool cpShapeSegmentQuery(const cpShape *shape, cpVect a, cpVect b, cpFloat radius, cpSegmentQueryInfo *info); -/// Get the hit point for a segment query. -static inline cpVect cpSegmentQueryHitPoint(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvlerp(start, end, info.t); -} +/// Return contact information about two shapes. +CP_EXPORT cpContactPointSet cpShapesCollide(const cpShape *a, const cpShape *b); -/// Get the hit distance for a segment query. -static inline cpFloat cpSegmentQueryHitDist(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvdist(start, end)*info.t; -} +/// The cpSpace this body is added to. +CP_EXPORT cpSpace* cpShapeGetSpace(const cpShape *shape); -#define CP_DefineShapeStructGetter(type, member, name) \ -static inline type cpShapeGet##name(const cpShape *shape){return shape->member;} +/// The cpBody this shape is connected to. +CP_EXPORT cpBody* cpShapeGetBody(const cpShape *shape); +/// Set the cpBody this shape is connected to. +/// Can only be used if the shape is not currently added to a space. +CP_EXPORT void cpShapeSetBody(cpShape *shape, cpBody *body); -#define CP_DefineShapeStructSetter(type, member, name, activates) \ -static inline void cpShapeSet##name(cpShape *shape, type value){ \ - if(activates && shape->body) cpBodyActivate(shape->body); \ - shape->member = value; \ -} +/// Get the mass of the shape if you are having Chipmunk calculate mass properties for you. +cpFloat cpShapeGetMass(cpShape *shape); +/// Set the mass of this shape to have Chipmunk calculate mass properties for you. +CP_EXPORT void cpShapeSetMass(cpShape *shape, cpFloat mass); -#define CP_DefineShapeStructProperty(type, member, name, activates) \ -CP_DefineShapeStructGetter(type, member, name) \ -CP_DefineShapeStructSetter(type, member, name, activates) +/// Get the density of the shape if you are having Chipmunk calculate mass properties for you. +CP_EXPORT cpFloat cpShapeGetDensity(cpShape *shape); +/// Set the density of this shape to have Chipmunk calculate mass properties for you. +CP_EXPORT void cpShapeSetDensity(cpShape *shape, cpFloat density); -CP_DefineShapeStructGetter(cpSpace*, CP_PRIVATE(space), Space) +/// Get the calculated moment of inertia for this shape. +CP_EXPORT cpFloat cpShapeGetMoment(cpShape *shape); +/// Get the calculated area of this shape. +CP_EXPORT cpFloat cpShapeGetArea(cpShape *shape); +/// Get the centroid of this shape. +CP_EXPORT cpVect cpShapeGetCenterOfGravity(cpShape *shape); -CP_DefineShapeStructGetter(cpBody*, body, Body) -void cpShapeSetBody(cpShape *shape, cpBody *body); +/// Get the bounding box that contains the shape given it's current position and angle. +CP_EXPORT cpBB cpShapeGetBB(const cpShape *shape); -CP_DefineShapeStructGetter(cpBB, bb, BB) -CP_DefineShapeStructProperty(cpBool, sensor, Sensor, cpTrue) -CP_DefineShapeStructProperty(cpFloat, e, Elasticity, cpFalse) -CP_DefineShapeStructProperty(cpFloat, u, Friction, cpTrue) -CP_DefineShapeStructProperty(cpVect, surface_v, SurfaceVelocity, cpTrue) -CP_DefineShapeStructProperty(cpDataPointer, data, UserData, cpFalse) -CP_DefineShapeStructProperty(cpCollisionType, collision_type, CollisionType, cpTrue) -CP_DefineShapeStructProperty(cpGroup, group, Group, cpTrue) -CP_DefineShapeStructProperty(cpLayers, layers, Layers, cpTrue) +/// Get if the shape is set to be a sensor or not. +CP_EXPORT cpBool cpShapeGetSensor(const cpShape *shape); +/// Set if the shape is a sensor or not. +CP_EXPORT void cpShapeSetSensor(cpShape *shape, cpBool sensor); -/// When initializing a shape, it's hash value comes from a counter. -/// Because the hash value may affect iteration order, you can reset the shape ID counter -/// when recreating a space. This will make the simulation be deterministic. -void cpResetShapeIdCounter(void); +/// Get the elasticity of this shape. +CP_EXPORT cpFloat cpShapeGetElasticity(const cpShape *shape); +/// Set the elasticity of this shape. +CP_EXPORT void cpShapeSetElasticity(cpShape *shape, cpFloat elasticity); + +/// Get the friction of this shape. +CP_EXPORT cpFloat cpShapeGetFriction(const cpShape *shape); +/// Set the friction of this shape. +CP_EXPORT void cpShapeSetFriction(cpShape *shape, cpFloat friction); + +/// Get the surface velocity of this shape. +CP_EXPORT cpVect cpShapeGetSurfaceVelocity(const cpShape *shape); +/// Set the surface velocity of this shape. +CP_EXPORT void cpShapeSetSurfaceVelocity(cpShape *shape, cpVect surfaceVelocity); + +/// Get the user definable data pointer of this shape. +CP_EXPORT cpDataPointer cpShapeGetUserData(const cpShape *shape); +/// Set the user definable data pointer of this shape. +CP_EXPORT void cpShapeSetUserData(cpShape *shape, cpDataPointer userData); + +/// Set the collision type of this shape. +CP_EXPORT cpCollisionType cpShapeGetCollisionType(const cpShape *shape); +/// Get the collision type of this shape. +CP_EXPORT void cpShapeSetCollisionType(cpShape *shape, cpCollisionType collisionType); + +/// Get the collision filtering parameters of this shape. +CP_EXPORT cpShapeFilter cpShapeGetFilter(const cpShape *shape); +/// Set the collision filtering parameters of this shape. +CP_EXPORT void cpShapeSetFilter(cpShape *shape, cpShapeFilter filter); -#define CP_DeclareShapeGetter(struct, type, name) type struct##Get##name(const cpShape *shape) /// @} /// @defgroup cpCircleShape cpCircleShape -/// @private -typedef struct cpCircleShape { - cpShape shape; - - cpVect c, tc; - cpFloat r; -} cpCircleShape; - /// Allocate a circle shape. -cpCircleShape* cpCircleShapeAlloc(void); +CP_EXPORT cpCircleShape* cpCircleShapeAlloc(void); /// Initialize a circle shape. -cpCircleShape* cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset); +CP_EXPORT cpCircleShape* cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset); /// Allocate and initialize a circle shape. -cpShape* cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset); +CP_EXPORT cpShape* cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset); -CP_DeclareShapeGetter(cpCircleShape, cpVect, Offset); -CP_DeclareShapeGetter(cpCircleShape, cpFloat, Radius); +/// Get the offset of a circle shape. +CP_EXPORT cpVect cpCircleShapeGetOffset(const cpShape *shape); +/// Get the radius of a circle shape. +CP_EXPORT cpFloat cpCircleShapeGetRadius(const cpShape *shape); /// @} /// @defgroup cpSegmentShape cpSegmentShape -/// @private -typedef struct cpSegmentShape { - cpShape shape; - - cpVect a, b, n; - cpVect ta, tb, tn; - cpFloat r; - - cpVect a_tangent, b_tangent; -} cpSegmentShape; - /// Allocate a segment shape. -cpSegmentShape* cpSegmentShapeAlloc(void); +CP_EXPORT cpSegmentShape* cpSegmentShapeAlloc(void); /// Initialize a segment shape. -cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius); +CP_EXPORT cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius); /// Allocate and initialize a segment shape. -cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius); +CP_EXPORT cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius); /// Let Chipmunk know about the geometry of adjacent segments to avoid colliding with endcaps. -void cpSegmentShapeSetNeighbors(cpShape *shape, cpVect prev, cpVect next); +CP_EXPORT void cpSegmentShapeSetNeighbors(cpShape *shape, cpVect prev, cpVect next); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, A); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, B); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, Normal); -CP_DeclareShapeGetter(cpSegmentShape, cpFloat, Radius); +/// Get the first endpoint of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetA(const cpShape *shape); +/// Get the second endpoint of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetB(const cpShape *shape); +/// Get the normal of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetNormal(const cpShape *shape); +/// Get the first endpoint of a segment shape. +CP_EXPORT cpFloat cpSegmentShapeGetRadius(const cpShape *shape); /// @} diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpSimpleMotor.h b/ios/include/chipmunk/cpSimpleMotor.h similarity index 100% rename from android/armeabi-v7a/include/chipmunk/chipmunk/cpSimpleMotor.h rename to ios/include/chipmunk/cpSimpleMotor.h diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpSlideJoint.h b/ios/include/chipmunk/cpSlideJoint.h similarity index 100% rename from android/armeabi-v7a/include/chipmunk/chipmunk/cpSlideJoint.h rename to ios/include/chipmunk/cpSlideJoint.h diff --git a/ios/include/chipmunk/cpSpace.h b/ios/include/chipmunk/cpSpace.h index 26439f76..7bbabb85 100644 --- a/ios/include/chipmunk/cpSpace.h +++ b/ios/include/chipmunk/cpSpace.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -22,191 +22,161 @@ /// @defgroup cpSpace cpSpace /// @{ -typedef struct cpContactBufferHeader cpContactBufferHeader; -typedef void (*cpSpaceArbiterApplyImpulseFunc)(cpArbiter *arb); +//MARK: Definitions -/// Basic Unit of Simulation in Chipmunk -struct cpSpace { - /// Number of iterations to use in the impulse solver to solve contacts. - int iterations; - - /// Gravity to pass to rigid bodies when integrating velocity. - cpVect gravity; - - /// Damping rate expressed as the fraction of velocity bodies retain each second. - /// A value of 0.9 would mean that each body's velocity will drop 10% per second. - /// The default value is 1.0, meaning no damping is applied. - /// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring. - cpFloat damping; - - /// Speed threshold for a body to be considered idle. - /// The default value of 0 means to let the space guess a good threshold based on gravity. - cpFloat idleSpeedThreshold; - - /// Time a group of bodies must remain idle in order to fall asleep. - /// Enabling sleeping also implicitly enables the the contact graph. - /// The default value of INFINITY disables the sleeping algorithm. - cpFloat sleepTimeThreshold; - - /// Amount of encouraged penetration between colliding shapes. - /// Used to reduce oscillating contacts and keep the collision cache warm. - /// Defaults to 0.1. If you have poor simulation quality, - /// increase this number as much as possible without allowing visible amounts of overlap. - cpFloat collisionSlop; - - /// Determines how fast overlapping shapes are pushed apart. - /// Expressed as a fraction of the error remaining after each second. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz. - cpFloat collisionBias; - - /// Number of frames that contact information should persist. - /// Defaults to 3. There is probably never a reason to change this value. - cpTimestamp collisionPersistence; - - /// Rebuild the contact graph during each step. Must be enabled to use the cpBodyEachArbiter() function. - /// Disabled by default for a small performance boost. Enabled implicitly when the sleeping feature is enabled. - cpBool enableContactGraph; - - /// User definable data pointer. - /// Generally this points to your game's controller or game state - /// class so you can access it when given a cpSpace reference in a callback. - cpDataPointer data; - - /// The designated static body for this space. - /// You can modify this body, or replace it with your own static body. - /// By default it points to a statically allocated cpBody in the cpSpace struct. - cpBody *staticBody; - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpFloat curr_dt); +/// Collision begin event function callback type. +/// Returning false from a begin callback causes the collision to be ignored until +/// the the separate callback is called when the objects stop colliding. +typedef cpBool (*cpCollisionBeginFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision pre-solve event function callback type. +/// Returning false from a pre-step callback causes the collision to be ignored until the next step. +typedef cpBool (*cpCollisionPreSolveFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision post-solve event function callback type. +typedef void (*cpCollisionPostSolveFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision separate event function callback type. +typedef void (*cpCollisionSeparateFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); - CP_PRIVATE(cpArray *bodies); - CP_PRIVATE(cpArray *rousedBodies); - CP_PRIVATE(cpArray *sleepingComponents); - - CP_PRIVATE(cpSpatialIndex *staticShapes); - CP_PRIVATE(cpSpatialIndex *activeShapes); - - CP_PRIVATE(cpArray *arbiters); - CP_PRIVATE(cpContactBufferHeader *contactBuffersHead); - CP_PRIVATE(cpHashSet *cachedArbiters); - CP_PRIVATE(cpArray *pooledArbiters); - CP_PRIVATE(cpArray *constraints); - - CP_PRIVATE(cpArray *allocatedBuffers); - CP_PRIVATE(int locked); - - CP_PRIVATE(cpHashSet *collisionHandlers); - CP_PRIVATE(cpCollisionHandler defaultHandler); - - CP_PRIVATE(cpBool skipPostStep); - CP_PRIVATE(cpArray *postStepCallbacks); - - CP_PRIVATE(cpBody _staticBody); +/// Struct that holds function callback pointers to configure custom collision handling. +/// Collision handlers have a pair of types; when a collision occurs between two shapes that have these types, the collision handler functions are triggered. +struct cpCollisionHandler { + /// Collision type identifier of the first shape that this handler recognizes. + /// In the collision handler callback, the shape with this type will be the first argument. Read only. + const cpCollisionType typeA; + /// Collision type identifier of the second shape that this handler recognizes. + /// In the collision handler callback, the shape with this type will be the second argument. Read only. + const cpCollisionType typeB; + /// This function is called when two shapes with types that match this collision handler begin colliding. + cpCollisionBeginFunc beginFunc; + /// This function is called each step when two shapes with types that match this collision handler are colliding. + /// It's called before the collision solver runs so that you can affect a collision's outcome. + cpCollisionPreSolveFunc preSolveFunc; + /// This function is called each step when two shapes with types that match this collision handler are colliding. + /// It's called after the collision solver runs so that you can read back information about the collision to trigger events in your game. + cpCollisionPostSolveFunc postSolveFunc; + /// This function is called when two shapes with types that match this collision handler stop colliding. + cpCollisionSeparateFunc separateFunc; + /// This is a user definable context pointer that is passed to all of the collision handler functions. + cpDataPointer userData; }; +// TODO: Make timestep a parameter? + + +//MARK: Memory and Initialization + /// Allocate a cpSpace. -cpSpace* cpSpaceAlloc(void); +CP_EXPORT cpSpace* cpSpaceAlloc(void); /// Initialize a cpSpace. -cpSpace* cpSpaceInit(cpSpace *space); +CP_EXPORT cpSpace* cpSpaceInit(cpSpace *space); /// Allocate and initialize a cpSpace. -cpSpace* cpSpaceNew(void); +CP_EXPORT cpSpace* cpSpaceNew(void); /// Destroy a cpSpace. -void cpSpaceDestroy(cpSpace *space); +CP_EXPORT void cpSpaceDestroy(cpSpace *space); /// Destroy and free a cpSpace. -void cpSpaceFree(cpSpace *space); +CP_EXPORT void cpSpaceFree(cpSpace *space); -#define CP_DefineSpaceStructGetter(type, member, name) \ -static inline type cpSpaceGet##name(const cpSpace *space){return space->member;} -#define CP_DefineSpaceStructSetter(type, member, name) \ -static inline void cpSpaceSet##name(cpSpace *space, type value){space->member = value;} +//MARK: Properties -#define CP_DefineSpaceStructProperty(type, member, name) \ -CP_DefineSpaceStructGetter(type, member, name) \ -CP_DefineSpaceStructSetter(type, member, name) +/// Number of iterations to use in the impulse solver to solve contacts and other constraints. +CP_EXPORT int cpSpaceGetIterations(const cpSpace *space); +CP_EXPORT void cpSpaceSetIterations(cpSpace *space, int iterations); -CP_DefineSpaceStructProperty(int, iterations, Iterations) -CP_DefineSpaceStructProperty(cpVect, gravity, Gravity) -CP_DefineSpaceStructProperty(cpFloat, damping, Damping) -CP_DefineSpaceStructProperty(cpFloat, idleSpeedThreshold, IdleSpeedThreshold) -CP_DefineSpaceStructProperty(cpFloat, sleepTimeThreshold, SleepTimeThreshold) -CP_DefineSpaceStructProperty(cpFloat, collisionSlop, CollisionSlop) -CP_DefineSpaceStructProperty(cpFloat, collisionBias, CollisionBias) -CP_DefineSpaceStructProperty(cpTimestamp, collisionPersistence, CollisionPersistence) -CP_DefineSpaceStructProperty(cpBool, enableContactGraph, EnableContactGraph) -CP_DefineSpaceStructProperty(cpDataPointer, data, UserData) -CP_DefineSpaceStructGetter(cpBody*, staticBody, StaticBody) -CP_DefineSpaceStructGetter(cpFloat, CP_PRIVATE(curr_dt), CurrentTimeStep) +/// Gravity to pass to rigid bodies when integrating velocity. +CP_EXPORT cpVect cpSpaceGetGravity(const cpSpace *space); +CP_EXPORT void cpSpaceSetGravity(cpSpace *space, cpVect gravity); -/// returns true from inside a callback and objects cannot be added/removed. -static inline cpBool -cpSpaceIsLocked(cpSpace *space) -{ - return space->CP_PRIVATE(locked); -} +/// Damping rate expressed as the fraction of velocity bodies retain each second. +/// A value of 0.9 would mean that each body's velocity will drop 10% per second. +/// The default value is 1.0, meaning no damping is applied. +/// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring. +CP_EXPORT cpFloat cpSpaceGetDamping(const cpSpace *space); +CP_EXPORT void cpSpaceSetDamping(cpSpace *space, cpFloat damping); -/// Set a default collision handler for this space. -/// The default collision handler is invoked for each colliding pair of shapes -/// that isn't explicitly handled by a specific collision handler. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceSetDefaultCollisionHandler( - cpSpace *space, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); +/// Speed threshold for a body to be considered idle. +/// The default value of 0 means to let the space guess a good threshold based on gravity. +CP_EXPORT cpFloat cpSpaceGetIdleSpeedThreshold(const cpSpace *space); +CP_EXPORT void cpSpaceSetIdleSpeedThreshold(cpSpace *space, cpFloat idleSpeedThreshold); -/// Set a collision handler to be used whenever the two shapes with the given collision types collide. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceAddCollisionHandler( - cpSpace *space, - cpCollisionType a, cpCollisionType b, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); +/// Time a group of bodies must remain idle in order to fall asleep. +/// Enabling sleeping also implicitly enables the the contact graph. +/// The default value of INFINITY disables the sleeping algorithm. +CP_EXPORT cpFloat cpSpaceGetSleepTimeThreshold(const cpSpace *space); +CP_EXPORT void cpSpaceSetSleepTimeThreshold(cpSpace *space, cpFloat sleepTimeThreshold); -/// Unset a collision handler. -void cpSpaceRemoveCollisionHandler(cpSpace *space, cpCollisionType a, cpCollisionType b); +/// Amount of encouraged penetration between colliding shapes. +/// Used to reduce oscillating contacts and keep the collision cache warm. +/// Defaults to 0.1. If you have poor simulation quality, +/// increase this number as much as possible without allowing visible amounts of overlap. +CP_EXPORT cpFloat cpSpaceGetCollisionSlop(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionSlop(cpSpace *space, cpFloat collisionSlop); + +/// Determines how fast overlapping shapes are pushed apart. +/// Expressed as a fraction of the error remaining after each second. +/// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz. +CP_EXPORT cpFloat cpSpaceGetCollisionBias(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionBias(cpSpace *space, cpFloat collisionBias); + +/// Number of frames that contact information should persist. +/// Defaults to 3. There is probably never a reason to change this value. +CP_EXPORT cpTimestamp cpSpaceGetCollisionPersistence(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionPersistence(cpSpace *space, cpTimestamp collisionPersistence); + +/// User definable data pointer. +/// Generally this points to your game's controller or game state +/// class so you can access it when given a cpSpace reference in a callback. +CP_EXPORT cpDataPointer cpSpaceGetUserData(const cpSpace *space); +CP_EXPORT void cpSpaceSetUserData(cpSpace *space, cpDataPointer userData); + +/// The Space provided static body for a given cpSpace. +/// This is merely provided for convenience and you are not required to use it. +CP_EXPORT cpBody* cpSpaceGetStaticBody(const cpSpace *space); + +/// Returns the current (or most recent) time step used with the given space. +/// Useful from callbacks if your time step is not a compile-time global. +CP_EXPORT cpFloat cpSpaceGetCurrentTimeStep(const cpSpace *space); + +/// returns true from inside a callback when objects cannot be added/removed. +CP_EXPORT cpBool cpSpaceIsLocked(cpSpace *space); + + +//MARK: Collision Handlers + +/// Create or return the existing collision handler that is called for all collisions that are not handled by a more specific collision handler. +CP_EXPORT cpCollisionHandler *cpSpaceAddDefaultCollisionHandler(cpSpace *space); +/// Create or return the existing collision handler for the specified pair of collision types. +/// If wildcard handlers are used with either of the collision types, it's the responibility of the custom handler to invoke the wildcard handlers. +CP_EXPORT cpCollisionHandler *cpSpaceAddCollisionHandler(cpSpace *space, cpCollisionType a, cpCollisionType b); +/// Create or return the existing wildcard collision handler for the specified type. +CP_EXPORT cpCollisionHandler *cpSpaceAddWildcardHandler(cpSpace *space, cpCollisionType type); + + +//MARK: Add/Remove objects /// Add a collision shape to the simulation. /// If the shape is attached to a static body, it will be added as a static shape. -cpShape* cpSpaceAddShape(cpSpace *space, cpShape *shape); -/// Explicity add a shape as a static shape to the simulation. -cpShape* cpSpaceAddStaticShape(cpSpace *space, cpShape *shape); +CP_EXPORT cpShape* cpSpaceAddShape(cpSpace *space, cpShape *shape); /// Add a rigid body to the simulation. -cpBody* cpSpaceAddBody(cpSpace *space, cpBody *body); +CP_EXPORT cpBody* cpSpaceAddBody(cpSpace *space, cpBody *body); /// Add a constraint to the simulation. -cpConstraint* cpSpaceAddConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT cpConstraint* cpSpaceAddConstraint(cpSpace *space, cpConstraint *constraint); /// Remove a collision shape from the simulation. -void cpSpaceRemoveShape(cpSpace *space, cpShape *shape); -/// Remove a collision shape added using cpSpaceAddStaticShape() from the simulation. -void cpSpaceRemoveStaticShape(cpSpace *space, cpShape *shape); +CP_EXPORT void cpSpaceRemoveShape(cpSpace *space, cpShape *shape); /// Remove a rigid body from the simulation. -void cpSpaceRemoveBody(cpSpace *space, cpBody *body); +CP_EXPORT void cpSpaceRemoveBody(cpSpace *space, cpBody *body); /// Remove a constraint from the simulation. -void cpSpaceRemoveConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT void cpSpaceRemoveConstraint(cpSpace *space, cpConstraint *constraint); /// Test if a collision shape has been added to the space. -cpBool cpSpaceContainsShape(cpSpace *space, cpShape *shape); +CP_EXPORT cpBool cpSpaceContainsShape(cpSpace *space, cpShape *shape); /// Test if a rigid body has been added to the space. -cpBool cpSpaceContainsBody(cpSpace *space, cpBody *body); +CP_EXPORT cpBool cpSpaceContainsBody(cpSpace *space, cpBody *body); /// Test if a constraint has been added to the space. -cpBool cpSpaceContainsConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT cpBool cpSpaceContainsConstraint(cpSpace *space, cpConstraint *constraint); -/// Convert a dynamic rogue body to a static one. -/// If the body is active, you must remove it from the space first. -void cpSpaceConvertBodyToStatic(cpSpace *space, cpBody *body); -/// Convert a body to a dynamic rogue body. -/// If you want the body to be active after the transition, you must add it to the space also. -void cpSpaceConvertBodyToDynamic(cpSpace *space, cpBody *body, cpFloat mass, cpFloat moment); +//MARK: Post-Step Callbacks /// Post Step callback function type. typedef void (*cpPostStepFunc)(cpSpace *space, void *key, void *data); @@ -214,70 +184,136 @@ typedef void (*cpPostStepFunc)(cpSpace *space, void *key, void *data); /// You can only register one callback per unique value for @c key. /// Returns true only if @c key has never been scheduled before. /// It's possible to pass @c NULL for @c func if you only want to mark @c key as being used. -cpBool cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *key, void *data); +CP_EXPORT cpBool cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *key, void *data); -/// Point query callback function type. -typedef void (*cpSpacePointQueryFunc)(cpShape *shape, void *data); -/// Query the space at a point and call @c func for each shape found. -void cpSpacePointQuery(cpSpace *space, cpVect point, cpLayers layers, cpGroup group, cpSpacePointQueryFunc func, void *data); -/// Query the space at a point and return the first shape found. Returns NULL if no shapes were found. -cpShape *cpSpacePointQueryFirst(cpSpace *space, cpVect point, cpLayers layers, cpGroup group); + +//MARK: Queries + +// TODO: Queries and iterators should take a cpSpace parametery. +// TODO: They should also be abortable. /// Nearest point query callback function type. -typedef void (*cpSpaceNearestPointQueryFunc)(cpShape *shape, cpFloat distance, cpVect point, void *data); +typedef void (*cpSpacePointQueryFunc)(cpShape *shape, cpVect point, cpFloat distance, cpVect gradient, void *data); /// Query the space at a point and call @c func for each shape found. -void cpSpaceNearestPointQuery(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryFunc func, void *data); +CP_EXPORT void cpSpacePointQuery(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpSpacePointQueryFunc func, void *data); /// Query the space at a point and return the nearest shape found. Returns NULL if no shapes were found. -cpShape *cpSpaceNearestPointQueryNearest(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpNearestPointQueryInfo *out); +CP_EXPORT cpShape *cpSpacePointQueryNearest(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpPointQueryInfo *out); /// Segment query callback function type. -typedef void (*cpSpaceSegmentQueryFunc)(cpShape *shape, cpFloat t, cpVect n, void *data); +typedef void (*cpSpaceSegmentQueryFunc)(cpShape *shape, cpVect point, cpVect normal, cpFloat alpha, void *data); /// Perform a directed line segment query (like a raycast) against the space calling @c func for each shape intersected. -void cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryFunc func, void *data); +CP_EXPORT void cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSpaceSegmentQueryFunc func, void *data); /// Perform a directed line segment query (like a raycast) against the space and return the first shape hit. Returns NULL if no shapes were hit. -cpShape *cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSegmentQueryInfo *out); +CP_EXPORT cpShape *cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSegmentQueryInfo *out); /// Rectangle Query callback function type. typedef void (*cpSpaceBBQueryFunc)(cpShape *shape, void *data); /// Perform a fast rectangle query on the space calling @c func for each shape found. /// Only the shape's bounding boxes are checked for overlap, not their full shape. -void cpSpaceBBQuery(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryFunc func, void *data); +CP_EXPORT void cpSpaceBBQuery(cpSpace *space, cpBB bb, cpShapeFilter filter, cpSpaceBBQueryFunc func, void *data); /// Shape query callback function type. typedef void (*cpSpaceShapeQueryFunc)(cpShape *shape, cpContactPointSet *points, void *data); /// Query a space for any shapes overlapping the given shape and call @c func for each shape found. -cpBool cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data); +CP_EXPORT cpBool cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data); -/// Call cpBodyActivate() for any shape that is overlaps the given shape. -void cpSpaceActivateShapesTouchingShape(cpSpace *space, cpShape *shape); +//MARK: Iteration /// Space/body iterator callback function type. typedef void (*cpSpaceBodyIteratorFunc)(cpBody *body, void *data); /// Call @c func for each body in the space. -void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIteratorFunc func, void *data); /// Space/body iterator callback function type. typedef void (*cpSpaceShapeIteratorFunc)(cpShape *shape, void *data); /// Call @c func for each shape in the space. -void cpSpaceEachShape(cpSpace *space, cpSpaceShapeIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachShape(cpSpace *space, cpSpaceShapeIteratorFunc func, void *data); /// Space/constraint iterator callback function type. typedef void (*cpSpaceConstraintIteratorFunc)(cpConstraint *constraint, void *data); /// Call @c func for each shape in the space. -void cpSpaceEachConstraint(cpSpace *space, cpSpaceConstraintIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachConstraint(cpSpace *space, cpSpaceConstraintIteratorFunc func, void *data); + + +//MARK: Indexing /// Update the collision detection info for the static shapes in the space. -void cpSpaceReindexStatic(cpSpace *space); +CP_EXPORT void cpSpaceReindexStatic(cpSpace *space); /// Update the collision detection data for a specific shape in the space. -void cpSpaceReindexShape(cpSpace *space, cpShape *shape); +CP_EXPORT void cpSpaceReindexShape(cpSpace *space, cpShape *shape); /// Update the collision detection data for all shapes attached to a body. -void cpSpaceReindexShapesForBody(cpSpace *space, cpBody *body); +CP_EXPORT void cpSpaceReindexShapesForBody(cpSpace *space, cpBody *body); /// Switch the space to use a spatial has as it's spatial index. -void cpSpaceUseSpatialHash(cpSpace *space, cpFloat dim, int count); +CP_EXPORT void cpSpaceUseSpatialHash(cpSpace *space, cpFloat dim, int count); + + +//MARK: Time Stepping /// Step the space forward in time by @c dt. -void cpSpaceStep(cpSpace *space, cpFloat dt); +CP_EXPORT void cpSpaceStep(cpSpace *space, cpFloat dt); + + +//MARK: Debug API + +#ifndef CP_SPACE_DISABLE_DEBUG_API + +/// Color type to use with the space debug drawing API. +typedef struct cpSpaceDebugColor { + float r, g, b, a; +} cpSpaceDebugColor; + +/// Callback type for a function that draws a filled, stroked circle. +typedef void (*cpSpaceDebugDrawCircleImpl)(cpVect pos, cpFloat angle, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a line segment. +typedef void (*cpSpaceDebugDrawSegmentImpl)(cpVect a, cpVect b, cpSpaceDebugColor color, cpDataPointer data); +/// Callback type for a function that draws a thick line segment. +typedef void (*cpSpaceDebugDrawFatSegmentImpl)(cpVect a, cpVect b, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a convex polygon. +typedef void (*cpSpaceDebugDrawPolygonImpl)(int count, const cpVect *verts, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a dot. +typedef void (*cpSpaceDebugDrawDotImpl)(cpFloat size, cpVect pos, cpSpaceDebugColor color, cpDataPointer data); +/// Callback type for a function that returns a color for a given shape. This gives you an opportunity to color shapes based on how they are used in your engine. +typedef cpSpaceDebugColor (*cpSpaceDebugDrawColorForShapeImpl)(cpShape *shape, cpDataPointer data); + +typedef enum cpSpaceDebugDrawFlags { + CP_SPACE_DEBUG_DRAW_SHAPES = 1<<0, + CP_SPACE_DEBUG_DRAW_CONSTRAINTS = 1<<1, + CP_SPACE_DEBUG_DRAW_COLLISION_POINTS = 1<<2, +} cpSpaceDebugDrawFlags; + +/// Struct used with cpSpaceDebugDraw() containing drawing callbacks and other drawing settings. +typedef struct cpSpaceDebugDrawOptions { + /// Function that will be invoked to draw circles. + cpSpaceDebugDrawCircleImpl drawCircle; + /// Function that will be invoked to draw line segments. + cpSpaceDebugDrawSegmentImpl drawSegment; + /// Function that will be invoked to draw thick line segments. + cpSpaceDebugDrawFatSegmentImpl drawFatSegment; + /// Function that will be invoked to draw convex polygons. + cpSpaceDebugDrawPolygonImpl drawPolygon; + /// Function that will be invoked to draw dots. + cpSpaceDebugDrawDotImpl drawDot; + + /// Flags that request which things to draw (collision shapes, constraints, contact points). + cpSpaceDebugDrawFlags flags; + /// Outline color passed to the drawing function. + cpSpaceDebugColor shapeOutlineColor; + /// Function that decides what fill color to draw shapes using. + cpSpaceDebugDrawColorForShapeImpl colorForShape; + /// Color passed to drawing functions for constraints. + cpSpaceDebugColor constraintColor; + /// Color passed to drawing functions for collision points. + cpSpaceDebugColor collisionPointColor; + + /// User defined context pointer passed to all of the callback functions as the 'data' argument. + cpDataPointer data; +} cpSpaceDebugDrawOptions; + +/// Debug draw the current state of the space using the supplied drawing options. +CP_EXPORT void cpSpaceDebugDraw(cpSpace *space, cpSpaceDebugDrawOptions *options); + +#endif /// @} diff --git a/ios/include/chipmunk/cpSpatialIndex.h b/ios/include/chipmunk/cpSpatialIndex.h index c279cad0..a386ba9a 100644 --- a/ios/include/chipmunk/cpSpatialIndex.h +++ b/ios/include/chipmunk/cpSpatialIndex.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2010 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -69,48 +69,48 @@ struct cpSpatialIndex { typedef struct cpSpaceHash cpSpaceHash; /// Allocate a spatial hash. -cpSpaceHash* cpSpaceHashAlloc(void); +CP_EXPORT cpSpaceHash* cpSpaceHashAlloc(void); /// Initialize a spatial hash. -cpSpatialIndex* cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a spatial hash. -cpSpatialIndex* cpSpaceHashNew(cpFloat celldim, int cells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSpaceHashNew(cpFloat celldim, int cells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Change the cell dimensions and table size of the spatial hash to tune it. /// The cell dimensions should roughly match the average size of your objects /// and the table size should be ~10 larger than the number of objects inserted. /// Some trial and error is required to find the optimum numbers for efficiency. -void cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells); +CP_EXPORT void cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells); //MARK: AABB Tree typedef struct cpBBTree cpBBTree; /// Allocate a bounding box tree. -cpBBTree* cpBBTreeAlloc(void); +CP_EXPORT cpBBTree* cpBBTreeAlloc(void); /// Initialize a bounding box tree. -cpSpatialIndex* cpBBTreeInit(cpBBTree *tree, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpBBTreeInit(cpBBTree *tree, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a bounding box tree. -cpSpatialIndex* cpBBTreeNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpBBTreeNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Perform a static top down optimization of the tree. -void cpBBTreeOptimize(cpSpatialIndex *index); +CP_EXPORT void cpBBTreeOptimize(cpSpatialIndex *index); /// Bounding box tree velocity callback function. /// This function should return an estimate for the object's velocity. typedef cpVect (*cpBBTreeVelocityFunc)(void *obj); /// Set the velocity function for the bounding box tree to enable temporal coherence. -void cpBBTreeSetVelocityFunc(cpSpatialIndex *index, cpBBTreeVelocityFunc func); +CP_EXPORT void cpBBTreeSetVelocityFunc(cpSpatialIndex *index, cpBBTreeVelocityFunc func); //MARK: Single Axis Sweep typedef struct cpSweep1D cpSweep1D; /// Allocate a 1D sort and sweep broadphase. -cpSweep1D* cpSweep1DAlloc(void); +CP_EXPORT cpSweep1D* cpSweep1DAlloc(void); /// Initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DInit(cpSweep1D *sweep, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSweep1DInit(cpSweep1D *sweep, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSweep1DNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); //MARK: Spatial Index Implementation diff --git a/android/armeabi-v7a/include/chipmunk/chipmunk/cpTransform.h b/ios/include/chipmunk/cpTransform.h similarity index 100% rename from android/armeabi-v7a/include/chipmunk/chipmunk/cpTransform.h rename to ios/include/chipmunk/cpTransform.h diff --git a/ios/include/chipmunk/cpVect.h b/ios/include/chipmunk/cpVect.h index 90855e56..8ec02bdc 100644 --- a/ios/include/chipmunk/cpVect.h +++ b/ios/include/chipmunk/cpVect.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,6 +19,11 @@ * SOFTWARE. */ +#ifndef CHIPMUNK_VECT_H +#define CHIPMUNK_VECT_H + +#include "chipmunk_types.h" + /// @defgroup cpVect cpVect /// Chipmunk's 2D vector type along with a handy 2D vector math lib. /// @{ @@ -33,17 +38,6 @@ static inline cpVect cpv(const cpFloat x, const cpFloat y) return v; } -/// Spherical linearly interpolate between v1 and v2. -cpVect cpvslerp(const cpVect v1, const cpVect v2, const cpFloat t); - -/// Spherical linearly interpolate between v1 towards v2 by no more than angle a radians -cpVect cpvslerpconst(const cpVect v1, const cpVect v2, const cpFloat a); - -/// Returns a string representation of v. Intended mostly for debugging purposes and not production use. -/// @attention The string points to a static local and is reset every time the function is called. -/// If you want to print more than one vector you will have to split up your printing onto separate lines. -char* cpvstr(const cpVect v); - /// Check if two vectors are equal. (Be careful when comparing floating point numbers!) static inline cpBool cpveql(const cpVect v1, const cpVect v2) { @@ -155,10 +149,30 @@ static inline cpVect cpvnormalize(const cpVect v) return cpvmult(v, 1.0f/(cpvlength(v) + CPFLOAT_MIN)); } -/// @deprecated Just an alias for cpvnormalize() now. -static inline cpVect cpvnormalize_safe(const cpVect v) +/// Spherical linearly interpolate between v1 and v2. +static inline cpVect +cpvslerp(const cpVect v1, const cpVect v2, const cpFloat t) { - return cpvnormalize(v); + cpFloat dot = cpvdot(cpvnormalize(v1), cpvnormalize(v2)); + cpFloat omega = cpfacos(cpfclamp(dot, -1.0f, 1.0f)); + + if(omega < 1e-3){ + // If the angle between two vectors is very small, lerp instead to avoid precision issues. + return cpvlerp(v1, v2, t); + } else { + cpFloat denom = 1.0f/cpfsin(omega); + return cpvadd(cpvmult(v1, cpfsin((1.0f - t)*omega)*denom), cpvmult(v2, cpfsin(t*omega)*denom)); + } +} + +/// Spherical linearly interpolate between v1 towards v2 by no more than angle a radians +static inline cpVect +cpvslerpconst(const cpVect v1, const cpVect v2, const cpFloat a) +{ + cpFloat dot = cpvdot(cpvnormalize(v1), cpvnormalize(v2)); + cpFloat omega = cpfacos(cpfclamp(dot, -1.0f, 1.0f)); + + return cpvslerp(v1, v2, cpfmin(a, omega)/omega); } /// Clamp v to length len. @@ -197,6 +211,7 @@ static inline cpBool cpvnear(const cpVect v1, const cpVect v2, const cpFloat dis /// 2x2 matrix type used for tensors and such. /// @{ +// NUKE static inline cpMat2x2 cpMat2x2New(cpFloat a, cpFloat b, cpFloat c, cpFloat d) { @@ -211,3 +226,5 @@ cpMat2x2Transform(cpMat2x2 m, cpVect v) } ///@} + +#endif diff --git a/ios/libs/libchipmunk.a b/ios/libs/libchipmunk.a index d413263c6c837d4ea215e5888912be3f9645f989..d51015d8082b92c2a20ec0eec9e5070dc95efc1b 100644 GIT binary patch literal 839264 zcmcHi4SZC^)d!Bx-Q9#`^TP5XjRABMkcL2T6VW0fZZ?}s2m~Tft5PMKWW(K%O=1$P zSZ$Yp7J+DZ(JE>URw*KAQ0jvyCMdNC;*(gOmIB(fFBZveZbB`r*1Es%xp(gF&6~FW 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Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,20 +19,26 @@ * SOFTWARE. */ -#ifndef CHIPMUNK_HEADER -#define CHIPMUNK_HEADER - -#ifdef _MSC_VER - #define _USE_MATH_DEFINES -#endif +#ifndef CHIPMUNK_H +#define CHIPMUNK_H #include #include +#ifdef WIN32 + // For alloca(). + #include + #define CP_EXPORT __declspec(dllexport) +#else + #include + #define CP_EXPORT +#endif + #ifdef __cplusplus extern "C" { #endif +// NUKE #ifndef CP_ALLOW_PRIVATE_ACCESS #define CP_ALLOW_PRIVATE_ACCESS 0 #endif @@ -43,22 +49,17 @@ extern "C" { #define CP_PRIVATE(__symbol__) __symbol__##_private #endif -void cpMessage(const char *condition, const char *file, int line, int isError, int isHardError, const char *message, ...); +CP_EXPORT void cpMessage(const char *condition, const char *file, int line, int isError, int isHardError, const char *message, ...); #ifdef NDEBUG #define cpAssertWarn(__condition__, ...) + #define cpAssertSoft(__condition__, ...) #else + #define cpAssertSoft(__condition__, ...) if(!(__condition__)){cpMessage(#__condition__, __FILE__, __LINE__, 1, 0, __VA_ARGS__); abort();} #define cpAssertWarn(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 0, 0, __VA_ARGS__) #endif -#ifdef NDEBUG - #define cpAssertSoft(__condition__, ...) -#else - #define cpAssertSoft(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 0, __VA_ARGS__) -#endif - -// Hard assertions are important and cheap to execute. They are not disabled by compiling as debug. -#define cpAssertHard(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 1, __VA_ARGS__) - +// Hard assertions are used in situations where the program definitely will crash anyway, and the reason is inexpensive to detect. +#define cpAssertHard(__condition__, ...) if(!(__condition__)){cpMessage(#__condition__, __FILE__, __LINE__, 1, 1, __VA_ARGS__); abort();} #include "chipmunk_types.h" @@ -89,81 +90,90 @@ typedef struct cpArray cpArray; typedef struct cpHashSet cpHashSet; typedef struct cpBody cpBody; + typedef struct cpShape cpShape; +typedef struct cpCircleShape cpCircleShape; +typedef struct cpSegmentShape cpSegmentShape; +typedef struct cpPolyShape cpPolyShape; + typedef struct cpConstraint cpConstraint; +typedef struct cpPinJoint cpPinJoint; +typedef struct cpSlideJoint cpSlideJoint; +typedef struct cpPivotJoint cpPivotJoint; +typedef struct cpGrooveJoint cpGrooveJoint; +typedef struct cpDampedSpring cpDampedSpring; +typedef struct cpDampedRotarySpring cpDampedRotarySpring; +typedef struct cpRotaryLimitJoint cpRotaryLimitJoint; +typedef struct cpRatchetJoint cpRatchetJoint; +typedef struct cpGearJoint cpGearJoint; +typedef struct cpSimpleMotorJoint cpSimpleMotorJoint; typedef struct cpCollisionHandler cpCollisionHandler; +typedef struct cpContactPointSet cpContactPointSet; typedef struct cpArbiter cpArbiter; typedef struct cpSpace cpSpace; #include "cpVect.h" #include "cpBB.h" +#include "cpTransform.h" #include "cpSpatialIndex.h" +#include "cpArbiter.h" + #include "cpBody.h" #include "cpShape.h" #include "cpPolyShape.h" -#include "cpArbiter.h" -#include "constraints/cpConstraint.h" +#include "cpConstraint.h" #include "cpSpace.h" +#include "cpHastySpace.h" -// Chipmunk 6.2.1 -#define CP_VERSION_MAJOR 6 -#define CP_VERSION_MINOR 2 +// Chipmunk 7.0.1 +#define CP_VERSION_MAJOR 7 +#define CP_VERSION_MINOR 0 #define CP_VERSION_RELEASE 1 /// Version string. -extern const char *cpVersionString; - -/// @deprecated -void cpInitChipmunk(void); - -/// Enables segment to segment shape collisions. -void cpEnableSegmentToSegmentCollisions(void); - +CP_EXPORT extern const char *cpVersionString; /// Calculate the moment of inertia for a circle. /// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset); +CP_EXPORT cpFloat cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset); /// Calculate area of a hollow circle. /// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpAreaForCircle(cpFloat r1, cpFloat r2); +CP_EXPORT cpFloat cpAreaForCircle(cpFloat r1, cpFloat r2); /// Calculate the moment of inertia for a line segment. /// Beveling radius is not supported. -cpFloat cpMomentForSegment(cpFloat m, cpVect a, cpVect b); +CP_EXPORT cpFloat cpMomentForSegment(cpFloat m, cpVect a, cpVect b, cpFloat radius); /// Calculate the area of a fattened (capsule shaped) line segment. -cpFloat cpAreaForSegment(cpVect a, cpVect b, cpFloat r); +CP_EXPORT cpFloat cpAreaForSegment(cpVect a, cpVect b, cpFloat radius); /// Calculate the moment of inertia for a solid polygon shape assuming it's center of gravity is at it's centroid. The offset is added to each vertex. -cpFloat cpMomentForPoly(cpFloat m, int numVerts, const cpVect *verts, cpVect offset); +CP_EXPORT cpFloat cpMomentForPoly(cpFloat m, int count, const cpVect *verts, cpVect offset, cpFloat radius); /// Calculate the signed area of a polygon. A Clockwise winding gives positive area. /// This is probably backwards from what you expect, but matches Chipmunk's the winding for poly shapes. -cpFloat cpAreaForPoly(const int numVerts, const cpVect *verts); +CP_EXPORT cpFloat cpAreaForPoly(const int count, const cpVect *verts, cpFloat radius); /// Calculate the natural centroid of a polygon. -cpVect cpCentroidForPoly(const int numVerts, const cpVect *verts); - -/// Center the polygon on the origin. (Subtracts the centroid of the polygon from each vertex) -void cpRecenterPoly(const int numVerts, cpVect *verts); +CP_EXPORT cpVect cpCentroidForPoly(const int count, const cpVect *verts); /// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox(cpFloat m, cpFloat width, cpFloat height); +CP_EXPORT cpFloat cpMomentForBox(cpFloat m, cpFloat width, cpFloat height); /// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox2(cpFloat m, cpBB box); +CP_EXPORT cpFloat cpMomentForBox2(cpFloat m, cpBB box); /// Calculate the convex hull of a given set of points. Returns the count of points in the hull. -/// @c result must be a pointer to a @c cpVect array with at least @c count elements. If @c result is @c NULL, then @c verts will be reduced instead. +/// @c result must be a pointer to a @c cpVect array with at least @c count elements. If @c verts == @c result, then @c verts will be reduced inplace. /// @c first is an optional pointer to an integer to store where the first vertex in the hull came from (i.e. verts[first] == result[0]) /// @c tol is the allowed amount to shrink the hull when simplifying it. A tolerance of 0.0 creates an exact hull. -int cpConvexHull(int count, cpVect *verts, cpVect *result, int *first, cpFloat tol); +CP_EXPORT int cpConvexHull(int count, const cpVect *verts, cpVect *result, int *first, cpFloat tol); #ifdef _MSC_VER #include "malloc.h" @@ -177,6 +187,15 @@ int cpConvexHull(int count, cpVect *verts, cpVect *result, int *first, cpFloat t cpVect *__verts_var__ = (cpVect *)alloca(__count__*sizeof(cpVect)); \ int __count_var__ = cpConvexHull(__count__, __verts__, __verts_var__, NULL, 0.0); \ +/// Returns the closest point on the line segment ab, to the point p. +static inline cpVect +cpClosetPointOnSegment(const cpVect p, const cpVect a, const cpVect b) +{ + cpVect delta = cpvsub(a, b); + cpFloat t = cpfclamp01(cpvdot(delta, cpvsub(p, b))/cpvlengthsq(delta)); + return cpvadd(b, cpvmult(delta, t)); +} + #if defined(__has_extension) #if __has_extension(blocks) // Define alternate block based alternatives for a few of the callback heavy functions. @@ -191,14 +210,14 @@ void cpBodyEachShape_b(cpBody *body, void (^block)(cpShape *shape)); void cpBodyEachConstraint_b(cpBody *body, void (^block)(cpConstraint *constraint)); void cpBodyEachArbiter_b(cpBody *body, void (^block)(cpArbiter *arbiter)); -typedef void (^cpSpaceNearestPointQueryBlock)(cpShape *shape, cpFloat distance, cpVect point); -void cpSpaceNearestPointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryBlock block); +typedef void (^cpSpacePointQueryBlock)(cpShape *shape, cpVect point, cpFloat distance, cpVect gradient); +void cpSpacePointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpSpacePointQueryBlock block); -typedef void (^cpSpaceSegmentQueryBlock)(cpShape *shape, cpFloat t, cpVect n); -void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryBlock block); +typedef void (^cpSpaceSegmentQueryBlock)(cpShape *shape, cpVect point, cpVect normal, cpFloat alpha); +void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSpaceSegmentQueryBlock block); typedef void (^cpSpaceBBQueryBlock)(cpShape *shape); -void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryBlock block); +void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpShapeFilter filter, cpSpaceBBQueryBlock block); typedef void (^cpSpaceShapeQueryBlock)(cpShape *shape, cpContactPointSet *points); cpBool cpSpaceShapeQuery_b(cpSpace *space, cpShape *shape, cpSpaceShapeQueryBlock block); diff --git a/mac/include/chipmunk/chipmunk_ffi.h b/mac/include/chipmunk/chipmunk_ffi.h index 53ac6937..c0248410 100644 --- a/mac/include/chipmunk/chipmunk_ffi.h +++ b/mac/include/chipmunk/chipmunk_ffi.h @@ -1,11 +1,35 @@ +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + #ifdef CHIPMUNK_FFI // Create non static inlined copies of Chipmunk functions, useful for working with dynamic FFIs // This file should only be included in chipmunk.c +// TODO: get rid of the reliance on static inlines. +// They make a mess for FFIs. + #ifdef _MSC_VER #if _MSC_VER >= 1600 - #define MAKE_REF(name) decltype(name) *_##name = name + #define MAKE_REF(name) CP_EXPORT decltype(name) *_##name = name #else #define MAKE_REF(name) #endif @@ -13,8 +37,9 @@ #define MAKE_REF(name) __typeof__(name) *_##name = name #endif -#define MAKE_PROPERTIES_REF(struct, property) \ - MAKE_REF(struct##Get##property); MAKE_REF(struct##Set##property) +#ifdef __cplusplus +extern "C" { +#endif MAKE_REF(cpv); // makes a variable named _cpv that contains the function pointer for cpv() MAKE_REF(cpveql); @@ -35,7 +60,6 @@ MAKE_REF(cpvlengthsq); MAKE_REF(cpvlength); MAKE_REF(cpvlerp); MAKE_REF(cpvnormalize); -MAKE_REF(cpvnormalize_safe); MAKE_REF(cpvclamp); MAKE_REF(cpvlerpconst); MAKE_REF(cpvdist); @@ -50,104 +74,20 @@ MAKE_REF(cpflerp); MAKE_REF(cpflerpconst); MAKE_REF(cpBBNew); +MAKE_REF(cpBBNewForExtents); MAKE_REF(cpBBNewForCircle); MAKE_REF(cpBBIntersects); MAKE_REF(cpBBContainsBB); MAKE_REF(cpBBContainsVect); MAKE_REF(cpBBMerge); MAKE_REF(cpBBExpand); +MAKE_REF(cpBBCenter); MAKE_REF(cpBBArea); MAKE_REF(cpBBMergedArea); MAKE_REF(cpBBSegmentQuery); MAKE_REF(cpBBIntersectsSegment); MAKE_REF(cpBBClampVect); -MAKE_REF(cpBodyGetMass); -MAKE_REF(cpBodyGetMoment); -MAKE_REF(cpBodyGetPos); -MAKE_REF(cpBodyGetAngle); -MAKE_REF(cpBodyGetRot); -MAKE_PROPERTIES_REF(cpBody, Vel); -MAKE_PROPERTIES_REF(cpBody, Force); -MAKE_PROPERTIES_REF(cpBody, AngVel); -MAKE_PROPERTIES_REF(cpBody, Torque); -MAKE_PROPERTIES_REF(cpBody, VelLimit); -MAKE_PROPERTIES_REF(cpBody, AngVelLimit); -MAKE_PROPERTIES_REF(cpBody, UserData); -MAKE_REF(cpBodyIsSleeping); -MAKE_REF(cpBodyIsStatic); -MAKE_REF(cpBodyIsRogue); -MAKE_REF(cpBodyLocal2World); -MAKE_REF(cpBodyWorld2Local); -MAKE_REF(cpBodyKineticEnergy); - -MAKE_REF(cpShapeGetBB); -MAKE_PROPERTIES_REF(cpShape, Body); -MAKE_PROPERTIES_REF(cpShape, Sensor); -MAKE_PROPERTIES_REF(cpShape, Elasticity); -MAKE_PROPERTIES_REF(cpShape, Friction); -MAKE_PROPERTIES_REF(cpShape, SurfaceVelocity); -MAKE_PROPERTIES_REF(cpShape, UserData); -MAKE_PROPERTIES_REF(cpShape, CollisionType); -MAKE_PROPERTIES_REF(cpShape, Group); -MAKE_PROPERTIES_REF(cpShape, Layers); - -MAKE_REF(cpArbiterGetShapes); -MAKE_REF(cpArbiterGetBodies); -MAKE_REF(cpArbiterIsFirstContact); -MAKE_REF(cpArbiterGetCount); - -MAKE_REF(cpConstraintGetA); -MAKE_REF(cpConstraintGetB); -MAKE_PROPERTIES_REF(cpConstraint, MaxForce); -MAKE_PROPERTIES_REF(cpConstraint, ErrorBias); -MAKE_PROPERTIES_REF(cpConstraint, MaxBias); -MAKE_PROPERTIES_REF(cpConstraint, UserData); -MAKE_REF(cpConstraintGetImpulse); - -MAKE_PROPERTIES_REF(cpDampedRotarySpring, RestAngle); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedRotarySpring, SpringTorqueFunc); - -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr1); -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr2); -MAKE_PROPERTIES_REF(cpDampedSpring, RestLength); -MAKE_PROPERTIES_REF(cpDampedSpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedSpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedSpring, SpringForceFunc); - -MAKE_PROPERTIES_REF(cpGearJoint, Phase); -MAKE_REF(cpGearJointGetRatio); - -MAKE_PROPERTIES_REF(cpGrooveJoint, Anchr2); -MAKE_REF(cpGrooveJointGetGrooveA); -MAKE_REF(cpGrooveJointGetGrooveB); - -MAKE_PROPERTIES_REF(cpPinJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPinJoint, Anchr2); -MAKE_PROPERTIES_REF(cpPinJoint, Dist); - -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr2); - -MAKE_PROPERTIES_REF(cpRatchetJoint, Angle); -MAKE_PROPERTIES_REF(cpRatchetJoint, Phase); -MAKE_PROPERTIES_REF(cpRatchetJoint, Ratchet); - -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Min); -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Max); - -MAKE_PROPERTIES_REF(cpSimpleMotor, Rate); - -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr1); -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr2); -MAKE_PROPERTIES_REF(cpSlideJoint, Min); -MAKE_PROPERTIES_REF(cpSlideJoint, Max); - -MAKE_REF(cpSegmentQueryHitPoint); -MAKE_REF(cpSegmentQueryHitDist); - MAKE_REF(cpSpatialIndexDestroy); MAKE_REF(cpSpatialIndexCount); MAKE_REF(cpSpatialIndexEach); @@ -160,18 +100,8 @@ MAKE_REF(cpSpatialIndexSegmentQuery); MAKE_REF(cpSpatialIndexQuery); MAKE_REF(cpSpatialIndexReindexQuery); -MAKE_PROPERTIES_REF(cpSpace, Iterations); -MAKE_PROPERTIES_REF(cpSpace, Gravity); -MAKE_PROPERTIES_REF(cpSpace, Damping); -MAKE_PROPERTIES_REF(cpSpace, IdleSpeedThreshold); -MAKE_PROPERTIES_REF(cpSpace, SleepTimeThreshold); -MAKE_PROPERTIES_REF(cpSpace, CollisionSlop); -MAKE_PROPERTIES_REF(cpSpace, CollisionBias); -MAKE_PROPERTIES_REF(cpSpace, CollisionPersistence); -MAKE_PROPERTIES_REF(cpSpace, EnableContactGraph); -MAKE_PROPERTIES_REF(cpSpace, UserData); -MAKE_REF(cpSpaceGetStaticBody); -MAKE_REF(cpSpaceGetCurrentTimeStep); -MAKE_REF(cpSpaceIsLocked); +#ifdef __cplusplus +} +#endif #endif diff --git a/mac/include/chipmunk/chipmunk_private.h b/mac/include/chipmunk/chipmunk_private.h index f676345b..abe56395 100644 --- a/mac/include/chipmunk/chipmunk_private.h +++ b/mac/include/chipmunk/chipmunk_private.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -18,9 +18,14 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. */ +#ifndef CHIPMUNK_PRIVATE_H +#define CHIPMUNK_PRIVATE_H +#ifdef CHIPMUNK_H +#error Cannot include chipmunk_private.h after chipmunk.h. +#endif #define CP_ALLOW_PRIVATE_ACCESS 1 -#include "chipmunk.h" +#include "chipmunk/chipmunk.h" #define CP_HASH_COEF (3344921057ul) #define CP_HASH_PAIR(A, B) ((cpHashValue)(A)*CP_HASH_COEF ^ (cpHashValue)(B)*CP_HASH_COEF) @@ -28,6 +33,7 @@ // TODO: Eww. Magic numbers. #define MAGIC_EPSILON 1e-5 + //MARK: cpArray struct cpArray { @@ -47,6 +53,690 @@ cpBool cpArrayContains(cpArray *arr, void *ptr); void cpArrayFreeEach(cpArray *arr, void (freeFunc)(void*)); +//MARK: cpHashSet + +typedef cpBool (*cpHashSetEqlFunc)(void *ptr, void *elt); +typedef void *(*cpHashSetTransFunc)(void *ptr, void *data); + +cpHashSet *cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc); +void cpHashSetSetDefaultValue(cpHashSet *set, void *default_value); + +void cpHashSetFree(cpHashSet *set); + +int cpHashSetCount(cpHashSet *set); +void *cpHashSetInsert(cpHashSet *set, cpHashValue hash, void *ptr, cpHashSetTransFunc trans, void *data); +void *cpHashSetRemove(cpHashSet *set, cpHashValue hash, void *ptr); +void *cpHashSetFind(cpHashSet *set, cpHashValue hash, void *ptr); + +typedef void (*cpHashSetIteratorFunc)(void *elt, void *data); +void cpHashSetEach(cpHashSet *set, cpHashSetIteratorFunc func, void *data); + +typedef cpBool (*cpHashSetFilterFunc)(void *elt, void *data); +void cpHashSetFilter(cpHashSet *set, cpHashSetFilterFunc func, void *data); + + +//MARK: Bodies + +struct cpBody { + // Integration functions + cpBodyVelocityFunc velocity_func; + cpBodyPositionFunc position_func; + + // mass and it's inverse + cpFloat m; + cpFloat m_inv; + + // moment of inertia and it's inverse + cpFloat i; + cpFloat i_inv; + + // center of gravity + cpVect cog; + + // position, velocity, force + cpVect p; + cpVect v; + cpVect f; + + // Angle, angular velocity, torque (radians) + cpFloat a; + cpFloat w; + cpFloat t; + + cpTransform transform; + + cpDataPointer userData; + + // "pseudo-velocities" used for eliminating overlap. + // Erin Catto has some papers that talk about what these are. + cpVect v_bias; + cpFloat w_bias; + + cpSpace *space; + + cpShape *shapeList; + cpArbiter *arbiterList; + cpConstraint *constraintList; + + struct { + cpBody *root; + cpBody *next; + cpFloat idleTime; + } sleeping; +}; + +void cpBodyAddShape(cpBody *body, cpShape *shape); +void cpBodyRemoveShape(cpBody *body, cpShape *shape); + +//void cpBodyAccumulateMassForShape(cpBody *body, cpShape *shape); +void cpBodyAccumulateMassFromShapes(cpBody *body); + +void cpBodyRemoveConstraint(cpBody *body, cpConstraint *constraint); + + +//MARK: Spatial Index Functions + +cpSpatialIndex *cpSpatialIndexInit(cpSpatialIndex *index, cpSpatialIndexClass *klass, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); + + +//MARK: Arbiters + +enum cpArbiterState { + // Arbiter is active and its the first collision. + CP_ARBITER_STATE_FIRST_COLLISION, + // Arbiter is active and its not the first collision. + CP_ARBITER_STATE_NORMAL, + // Collision has been explicitly ignored. + // Either by returning false from a begin collision handler or calling cpArbiterIgnore(). + CP_ARBITER_STATE_IGNORE, + // Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps. + CP_ARBITER_STATE_CACHED, + // Collison arbiter is invalid because one of the shapes was removed. + CP_ARBITER_STATE_INVALIDATED, +}; + +struct cpArbiterThread { + struct cpArbiter *next, *prev; +}; + +struct cpContact { + cpVect r1, r2; + + cpFloat nMass, tMass; + cpFloat bounce; // TODO: look for an alternate bounce solution. + + cpFloat jnAcc, jtAcc, jBias; + cpFloat bias; + + cpHashValue hash; +}; + +struct cpCollisionInfo { + const cpShape *a, *b; + cpCollisionID id; + + cpVect n; + + int count; + // TODO Should this be a unique struct type? + struct cpContact *arr; +}; + +struct cpArbiter { + cpFloat e; + cpFloat u; + cpVect surface_vr; + + cpDataPointer data; + + const cpShape *a, *b; + cpBody *body_a, *body_b; + struct cpArbiterThread thread_a, thread_b; + + int count; + struct cpContact *contacts; + cpVect n; + + // Regular, wildcard A and wildcard B collision handlers. + cpCollisionHandler *handler, *handlerA, *handlerB; + cpBool swapped; + + cpTimestamp stamp; + enum cpArbiterState state; +}; + +cpArbiter* cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b); + +static inline struct cpArbiterThread * +cpArbiterThreadForBody(cpArbiter *arb, cpBody *body) +{ + return (arb->body_a == body ? &arb->thread_a : &arb->thread_b); +} + +void cpArbiterUnthread(cpArbiter *arb); + +void cpArbiterUpdate(cpArbiter *arb, struct cpCollisionInfo *info, cpSpace *space); +void cpArbiterPreStep(cpArbiter *arb, cpFloat dt, cpFloat bias, cpFloat slop); +void cpArbiterApplyCachedImpulse(cpArbiter *arb, cpFloat dt_coef); +void cpArbiterApplyImpulse(cpArbiter *arb); + + +//MARK: Shapes/Collisions + +struct cpShapeMassInfo { + cpFloat m; + cpFloat i; + cpVect cog; + cpFloat area; +}; + +typedef enum cpShapeType{ + CP_CIRCLE_SHAPE, + CP_SEGMENT_SHAPE, + CP_POLY_SHAPE, + CP_NUM_SHAPES +} cpShapeType; + +typedef cpBB (*cpShapeCacheDataImpl)(cpShape *shape, cpTransform transform); +typedef void (*cpShapeDestroyImpl)(cpShape *shape); +typedef void (*cpShapePointQueryImpl)(const cpShape *shape, cpVect p, cpPointQueryInfo *info); +typedef void (*cpShapeSegmentQueryImpl)(const cpShape *shape, cpVect a, cpVect b, cpFloat radius, cpSegmentQueryInfo *info); + +typedef struct cpShapeClass cpShapeClass; + +struct cpShapeClass { + cpShapeType type; + + cpShapeCacheDataImpl cacheData; + cpShapeDestroyImpl destroy; + cpShapePointQueryImpl pointQuery; + cpShapeSegmentQueryImpl segmentQuery; +}; + +struct cpShape { + const cpShapeClass *klass; + + cpSpace *space; + cpBody *body; + struct cpShapeMassInfo massInfo; + cpBB bb; + + cpBool sensor; + + cpFloat e; + cpFloat u; + cpVect surfaceV; + + cpDataPointer userData; + + cpCollisionType type; + cpShapeFilter filter; + + cpShape *next; + cpShape *prev; + + cpHashValue hashid; +}; + +struct cpCircleShape { + cpShape shape; + + cpVect c, tc; + cpFloat r; +}; + +struct cpSegmentShape { + cpShape shape; + + cpVect a, b, n; + cpVect ta, tb, tn; + cpFloat r; + + cpVect a_tangent, b_tangent; +}; + +struct cpSplittingPlane { + cpVect v0, n; +}; + +#define CP_POLY_SHAPE_INLINE_ALLOC 6 + +struct cpPolyShape { + cpShape shape; + + cpFloat r; + + int count; + // The untransformed planes are appended at the end of the transformed planes. + struct cpSplittingPlane *planes; + + // Allocate a small number of splitting planes internally for simple poly. + struct cpSplittingPlane _planes[2*CP_POLY_SHAPE_INLINE_ALLOC]; +}; + +cpShape *cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body, struct cpShapeMassInfo massInfo); + +static inline cpBool +cpShapeActive(cpShape *shape) +{ + // checks if the shape is added to a shape list. + // TODO could this just check the space now? + return (shape->prev || (shape->body && shape->body->shapeList == shape)); +} + +// Note: This function returns contact points with r1/r2 in absolute coordinates, not body relative. +struct cpCollisionInfo cpCollide(const cpShape *a, const cpShape *b, cpCollisionID id, struct cpContact *contacts); + +static inline void +CircleSegmentQuery(cpShape *shape, cpVect center, cpFloat r1, cpVect a, cpVect b, cpFloat r2, cpSegmentQueryInfo *info) +{ + cpVect da = cpvsub(a, center); + cpVect db = cpvsub(b, center); + cpFloat rsum = r1 + r2; + + cpFloat qa = cpvdot(da, da) - 2.0f*cpvdot(da, db) + cpvdot(db, db); + cpFloat qb = cpvdot(da, db) - cpvdot(da, da); + cpFloat det = qb*qb - qa*(cpvdot(da, da) - rsum*rsum); + + if(det >= 0.0f){ + cpFloat t = (-qb - cpfsqrt(det))/(qa); + if(0.0f<= t && t <= 1.0f){ + cpVect n = cpvnormalize(cpvlerp(da, db, t)); + + info->shape = shape; + info->point = cpvsub(cpvlerp(a, b, t), cpvmult(n, r2)); + info->normal = n; + info->alpha = t; + } + } +} + +static inline cpBool +cpShapeFilterReject(cpShapeFilter a, cpShapeFilter b) +{ + // Reject the collision if: + return ( + // They are in the same non-zero group. + (a.group != 0 && a.group == b.group) || + // One of the category/mask combinations fails. + (a.categories & b.mask) == 0 || + (b.categories & a.mask) == 0 + ); +} + +void cpLoopIndexes(const cpVect *verts, int count, int *start, int *end); + + +//MARK: Constraints +// TODO naming conventions here + +typedef void (*cpConstraintPreStepImpl)(cpConstraint *constraint, cpFloat dt); +typedef void (*cpConstraintApplyCachedImpulseImpl)(cpConstraint *constraint, cpFloat dt_coef); +typedef void (*cpConstraintApplyImpulseImpl)(cpConstraint *constraint, cpFloat dt); +typedef cpFloat (*cpConstraintGetImpulseImpl)(cpConstraint *constraint); + +typedef struct cpConstraintClass { + cpConstraintPreStepImpl preStep; + cpConstraintApplyCachedImpulseImpl applyCachedImpulse; + cpConstraintApplyImpulseImpl applyImpulse; + cpConstraintGetImpulseImpl getImpulse; +} cpConstraintClass; + +struct cpConstraint { + const cpConstraintClass *klass; + + cpSpace *space; + + cpBody *a, *b; + cpConstraint *next_a, *next_b; + + cpFloat maxForce; + cpFloat errorBias; + cpFloat maxBias; + + cpBool collideBodies; + + cpConstraintPreSolveFunc preSolve; + cpConstraintPostSolveFunc postSolve; + + cpDataPointer userData; +}; + +struct cpPinJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat dist; + + cpVect r1, r2; + cpVect n; + cpFloat nMass; + + cpFloat jnAcc; + cpFloat bias; +}; + +struct cpSlideJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat min, max; + + cpVect r1, r2; + cpVect n; + cpFloat nMass; + + cpFloat jnAcc; + cpFloat bias; +}; + +struct cpPivotJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + + cpVect r1, r2; + cpMat2x2 k; + + cpVect jAcc; + cpVect bias; +}; + +struct cpGrooveJoint { + cpConstraint constraint; + cpVect grv_n, grv_a, grv_b; + cpVect anchorB; + + cpVect grv_tn; + cpFloat clamp; + cpVect r1, r2; + cpMat2x2 k; + + cpVect jAcc; + cpVect bias; +}; + +struct cpDampedSpring { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat restLength; + cpFloat stiffness; + cpFloat damping; + cpDampedSpringForceFunc springForceFunc; + + cpFloat target_vrn; + cpFloat v_coef; + + cpVect r1, r2; + cpFloat nMass; + cpVect n; + + cpFloat jAcc; +}; + +struct cpDampedRotarySpring { + cpConstraint constraint; + cpFloat restAngle; + cpFloat stiffness; + cpFloat damping; + cpDampedRotarySpringTorqueFunc springTorqueFunc; + + cpFloat target_wrn; + cpFloat w_coef; + + cpFloat iSum; + cpFloat jAcc; +}; + +struct cpRotaryLimitJoint { + cpConstraint constraint; + cpFloat min, max; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpRatchetJoint { + cpConstraint constraint; + cpFloat angle, phase, ratchet; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpGearJoint { + cpConstraint constraint; + cpFloat phase, ratio; + cpFloat ratio_inv; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpSimpleMotor { + cpConstraint constraint; + cpFloat rate; + + cpFloat iSum; + + cpFloat jAcc; +}; + +void cpConstraintInit(cpConstraint *constraint, const struct cpConstraintClass *klass, cpBody *a, cpBody *b); + +static inline void +cpConstraintActivateBodies(cpConstraint *constraint) +{ + cpBody *a = constraint->a; cpBodyActivate(a); + cpBody *b = constraint->b; cpBodyActivate(b); +} + +static inline cpVect +relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){ + cpVect v1_sum = cpvadd(a->CP_PRIVATE(v), cpvmult(cpvperp(r1), a->CP_PRIVATE(w))); + cpVect v2_sum = cpvadd(b->CP_PRIVATE(v), cpvmult(cpvperp(r2), b->CP_PRIVATE(w))); + + return cpvsub(v2_sum, v1_sum); +} + +static inline cpFloat +normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){ + return cpvdot(relative_velocity(a, b, r1, r2), n); +} + +static inline void +apply_impulse(cpBody *body, cpVect j, cpVect r){ + body->CP_PRIVATE(v) = cpvadd(body->CP_PRIVATE(v), cpvmult(j, body->CP_PRIVATE(m_inv))); + body->CP_PRIVATE(w) += body->CP_PRIVATE(i_inv)*cpvcross(r, j); +} + +static inline void +apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) +{ + apply_impulse(a, cpvneg(j), r1); + apply_impulse(b, j, r2); +} + +static inline void +apply_bias_impulse(cpBody *body, cpVect j, cpVect r) +{ + body->CP_PRIVATE(v_bias) = cpvadd(body->CP_PRIVATE(v_bias), cpvmult(j, body->CP_PRIVATE(m_inv))); + body->CP_PRIVATE(w_bias) += body->CP_PRIVATE(i_inv)*cpvcross(r, j); +} + +static inline void +apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) +{ + apply_bias_impulse(a, cpvneg(j), r1); + apply_bias_impulse(b, j, r2); +} + +static inline cpFloat +k_scalar_body(cpBody *body, cpVect r, cpVect n) +{ + cpFloat rcn = cpvcross(r, n); + return body->CP_PRIVATE(m_inv) + body->CP_PRIVATE(i_inv)*rcn*rcn; +} + +static inline cpFloat +k_scalar(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n) +{ + cpFloat value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n); + cpAssertSoft(value != 0.0, "Unsolvable collision or constraint."); + + return value; +} + +static inline cpMat2x2 +k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2) +{ + cpFloat m_sum = a->CP_PRIVATE(m_inv) + b->CP_PRIVATE(m_inv); + + // start with Identity*m_sum + cpFloat k11 = m_sum, k12 = 0.0f; + cpFloat k21 = 0.0f, k22 = m_sum; + + // add the influence from r1 + cpFloat a_i_inv = a->CP_PRIVATE(i_inv); + cpFloat r1xsq = r1.x * r1.x * a_i_inv; + cpFloat r1ysq = r1.y * r1.y * a_i_inv; + cpFloat r1nxy = -r1.x * r1.y * a_i_inv; + k11 += r1ysq; k12 += r1nxy; + k21 += r1nxy; k22 += r1xsq; + + // add the influnce from r2 + cpFloat b_i_inv = b->CP_PRIVATE(i_inv); + cpFloat r2xsq = r2.x * r2.x * b_i_inv; + cpFloat r2ysq = r2.y * r2.y * b_i_inv; + cpFloat r2nxy = -r2.x * r2.y * b_i_inv; + k11 += r2ysq; k12 += r2nxy; + k21 += r2nxy; k22 += r2xsq; + + // invert + cpFloat det = k11*k22 - k12*k21; + cpAssertSoft(det != 0.0, "Unsolvable constraint."); + + cpFloat det_inv = 1.0f/det; + return cpMat2x2New( + k22*det_inv, -k12*det_inv, + -k21*det_inv, k11*det_inv + ); +} + +static inline cpFloat +bias_coef(cpFloat errorBias, cpFloat dt) +{ + return 1.0f - cpfpow(errorBias, dt); +} + + +//MARK: Spaces + +typedef struct cpContactBufferHeader cpContactBufferHeader; +typedef void (*cpSpaceArbiterApplyImpulseFunc)(cpArbiter *arb); + +struct cpSpace { + int iterations; + + cpVect gravity; + cpFloat damping; + + cpFloat idleSpeedThreshold; + cpFloat sleepTimeThreshold; + + cpFloat collisionSlop; + cpFloat collisionBias; + cpTimestamp collisionPersistence; + + cpDataPointer userData; + + cpTimestamp stamp; + cpFloat curr_dt; + + cpArray *dynamicBodies; + cpArray *staticBodies; + cpArray *rousedBodies; + cpArray *sleepingComponents; + + cpHashValue shapeIDCounter; + cpSpatialIndex *staticShapes; + cpSpatialIndex *dynamicShapes; + + cpArray *constraints; + + cpArray *arbiters; + cpContactBufferHeader *contactBuffersHead; + cpHashSet *cachedArbiters; + cpArray *pooledArbiters; + + cpArray *allocatedBuffers; + unsigned int locked; + + cpBool usesWildcards; + cpHashSet *collisionHandlers; + cpCollisionHandler defaultHandler; + + cpBool skipPostStep; + cpArray *postStepCallbacks; + + cpBody *staticBody; + cpBody _staticBody; +}; + +#define cpAssertSpaceUnlocked(space) \ + cpAssertHard(!space->locked, \ + "This operation cannot be done safely during a call to cpSpaceStep() or during a query. " \ + "Put these calls into a post-step callback." \ + ); + +void cpSpaceSetStaticBody(cpSpace *space, cpBody *body); + +extern cpCollisionHandler cpCollisionHandlerDoNothing; + +void cpSpaceProcessComponents(cpSpace *space, cpFloat dt); + +void cpSpacePushFreshContactBuffer(cpSpace *space); +struct cpContact *cpContactBufferGetArray(cpSpace *space); +void cpSpacePushContacts(cpSpace *space, int count); + +typedef struct cpPostStepCallback { + cpPostStepFunc func; + void *key; + void *data; +} cpPostStepCallback; + +cpPostStepCallback *cpSpaceGetPostStepCallback(cpSpace *space, void *key); + +cpBool cpSpaceArbiterSetFilter(cpArbiter *arb, cpSpace *space); +void cpSpaceFilterArbiters(cpSpace *space, cpBody *body, cpShape *filter); + +void cpSpaceActivateBody(cpSpace *space, cpBody *body); +void cpSpaceLock(cpSpace *space); +void cpSpaceUnlock(cpSpace *space, cpBool runPostStep); + +static inline void +cpSpaceUncacheArbiter(cpSpace *space, cpArbiter *arb) +{ + const cpShape *a = arb->a, *b = arb->b; + const cpShape *shape_pair[] = {a, b}; + cpHashValue arbHashID = CP_HASH_PAIR((cpHashValue)a, (cpHashValue)b); + cpHashSetRemove(space->cachedArbiters, arbHashID, shape_pair); + cpArrayDeleteObj(space->arbiters, arb); +} + +static inline cpArray * +cpSpaceArrayForBodyType(cpSpace *space, cpBodyType type) +{ + return (type == CP_BODY_TYPE_STATIC ? space->staticBodies : space->dynamicBodies); +} + +void cpShapeUpdateFunc(cpShape *shape, void *unused); +cpCollisionID cpSpaceCollideShapes(cpShape *a, cpShape *b, cpCollisionID id, cpSpace *space); + + //MARK: Foreach loops static inline cpConstraint * @@ -71,184 +761,6 @@ cpArbiterNext(cpArbiter *node, cpBody *body) for(cpShape *var = body->shapeList; var; var = var->next) #define CP_BODY_FOREACH_COMPONENT(root, var)\ - for(cpBody *var = root; var; var = var->node.next) + for(cpBody *var = root; var; var = var->sleeping.next) - -//MARK: cpHashSet - -typedef cpBool (*cpHashSetEqlFunc)(void *ptr, void *elt); -typedef void *(*cpHashSetTransFunc)(void *ptr, void *data); - -cpHashSet *cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc); -void cpHashSetSetDefaultValue(cpHashSet *set, void *default_value); - -void cpHashSetFree(cpHashSet *set); - -int cpHashSetCount(cpHashSet *set); -void *cpHashSetInsert(cpHashSet *set, cpHashValue hash, void *ptr, void *data, cpHashSetTransFunc trans); -void *cpHashSetRemove(cpHashSet *set, cpHashValue hash, void *ptr); -void *cpHashSetFind(cpHashSet *set, cpHashValue hash, void *ptr); - -typedef void (*cpHashSetIteratorFunc)(void *elt, void *data); -void cpHashSetEach(cpHashSet *set, cpHashSetIteratorFunc func, void *data); - -typedef cpBool (*cpHashSetFilterFunc)(void *elt, void *data); -void cpHashSetFilter(cpHashSet *set, cpHashSetFilterFunc func, void *data); - - -//MARK: Body Functions - -void cpBodyAddShape(cpBody *body, cpShape *shape); -void cpBodyRemoveShape(cpBody *body, cpShape *shape); -void cpBodyRemoveConstraint(cpBody *body, cpConstraint *constraint); - - -//MARK: Shape/Collision Functions - -// TODO should move this to the cpVect API. It's pretty useful. -static inline cpVect -cpClosetPointOnSegment(const cpVect p, const cpVect a, const cpVect b) -{ - cpVect delta = cpvsub(a, b); - cpFloat t = cpfclamp01(cpvdot(delta, cpvsub(p, b))/cpvlengthsq(delta)); - return cpvadd(b, cpvmult(delta, t)); -} - -cpShape* cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body); - -static inline cpBool -cpShapeActive(cpShape *shape) -{ - return shape->prev || (shape->body && shape->body->shapeList == shape); -} - -int cpCollideShapes(const cpShape *a, const cpShape *b, cpCollisionID *id, cpContact *arr); - -static inline void -CircleSegmentQuery(cpShape *shape, cpVect center, cpFloat r, cpVect a, cpVect b, cpSegmentQueryInfo *info) -{ - cpVect da = cpvsub(a, center); - cpVect db = cpvsub(b, center); - - cpFloat qa = cpvdot(da, da) - 2.0f*cpvdot(da, db) + cpvdot(db, db); - cpFloat qb = -2.0f*cpvdot(da, da) + 2.0f*cpvdot(da, db); - cpFloat qc = cpvdot(da, da) - r*r; - - cpFloat det = qb*qb - 4.0f*qa*qc; - - if(det >= 0.0f){ - cpFloat t = (-qb - cpfsqrt(det))/(2.0f*qa); - if(0.0f<= t && t <= 1.0f){ - info->shape = shape; - info->t = t; - info->n = cpvnormalize(cpvlerp(da, db, t)); - } - } -} - -// TODO doesn't really need to be inline, but need a better place to put this function -static inline cpSplittingPlane -cpSplittingPlaneNew(cpVect a, cpVect b) -{ - cpVect n = cpvnormalize(cpvperp(cpvsub(b, a))); - cpSplittingPlane plane = {n, cpvdot(n, a)}; - return plane; -} - -static inline cpFloat -cpSplittingPlaneCompare(cpSplittingPlane plane, cpVect v) -{ - return cpvdot(plane.n, v) - plane.d; -} - -void cpLoopIndexes(cpVect *verts, int count, int *start, int *end); - - -//MARK: Spatial Index Functions - -cpSpatialIndex *cpSpatialIndexInit(cpSpatialIndex *index, cpSpatialIndexClass *klass, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - - -//MARK: Space Functions - -extern cpCollisionHandler cpDefaultCollisionHandler; -void cpSpaceProcessComponents(cpSpace *space, cpFloat dt); - -void cpSpacePushFreshContactBuffer(cpSpace *space); -cpContact *cpContactBufferGetArray(cpSpace *space); -void cpSpacePushContacts(cpSpace *space, int count); - -typedef struct cpPostStepCallback { - cpPostStepFunc func; - void *key; - void *data; -} cpPostStepCallback; - -cpPostStepCallback *cpSpaceGetPostStepCallback(cpSpace *space, void *key); - -cpBool cpSpaceArbiterSetFilter(cpArbiter *arb, cpSpace *space); -void cpSpaceFilterArbiters(cpSpace *space, cpBody *body, cpShape *filter); - -void cpSpaceActivateBody(cpSpace *space, cpBody *body); -void cpSpaceLock(cpSpace *space); -void cpSpaceUnlock(cpSpace *space, cpBool runPostStep); - -static inline cpCollisionHandler * -cpSpaceLookupHandler(cpSpace *space, cpCollisionType a, cpCollisionType b) -{ - cpCollisionType types[] = {a, b}; - return (cpCollisionHandler *)cpHashSetFind(space->collisionHandlers, CP_HASH_PAIR(a, b), types); -} - -static inline void -cpSpaceUncacheArbiter(cpSpace *space, cpArbiter *arb) -{ - cpShape *a = arb->a, *b = arb->b; - cpShape *shape_pair[] = {a, b}; - cpHashValue arbHashID = CP_HASH_PAIR((cpHashValue)a, (cpHashValue)b); - cpHashSetRemove(space->cachedArbiters, arbHashID, shape_pair); - cpArrayDeleteObj(space->arbiters, arb); -} - -void cpShapeUpdateFunc(cpShape *shape, void *unused); -cpCollisionID cpSpaceCollideShapes(cpShape *a, cpShape *b, cpCollisionID id, cpSpace *space); - - -//MARK: Arbiters - -struct cpContact { - cpVect p, n; - cpFloat dist; - - cpVect r1, r2; - cpFloat nMass, tMass, bounce; - - cpFloat jnAcc, jtAcc, jBias; - cpFloat bias; - - cpHashValue hash; -}; - -cpContact* cpContactInit(cpContact *con, cpVect p, cpVect n, cpFloat dist, cpHashValue hash); -cpArbiter* cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b); - -static inline void -cpArbiterCallSeparate(cpArbiter *arb, cpSpace *space) -{ - // The handler needs to be looked up again as the handler cached on the arbiter may have been deleted since the last step. - cpCollisionHandler *handler = cpSpaceLookupHandler(space, arb->a->collision_type, arb->b->collision_type); - handler->separate(arb, space, handler->data); -} - -static inline struct cpArbiterThread * -cpArbiterThreadForBody(cpArbiter *arb, cpBody *body) -{ - return (arb->body_a == body ? &arb->thread_a : &arb->thread_b); -} - -void cpArbiterUnthread(cpArbiter *arb); - -void cpArbiterUpdate(cpArbiter *arb, cpContact *contacts, int numContacts, struct cpCollisionHandler *handler, cpShape *a, cpShape *b); -void cpArbiterPreStep(cpArbiter *arb, cpFloat dt, cpFloat bias, cpFloat slop); -void cpArbiterApplyCachedImpulse(cpArbiter *arb, cpFloat dt_coef); -void cpArbiterApplyImpulse(cpArbiter *arb); +#endif diff --git a/mac/include/chipmunk/chipmunk_types.h b/mac/include/chipmunk/chipmunk_types.h index 9ed23391..7aee0c79 100644 --- a/mac/include/chipmunk/chipmunk_types.h +++ b/mac/include/chipmunk/chipmunk_types.h @@ -1,31 +1,34 @@ +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +#ifndef CHIPMUNK_TYPES_H +#define CHIPMUNK_TYPES_H + #include #include - -#ifdef __APPLE__ - #include "TargetConditionals.h" -#endif - -#if ((TARGET_OS_IPHONE == 1) || (TARGET_OS_MAC == 1)) && (!defined CP_USE_CGPOINTS) - #define CP_USE_CGPOINTS 1 -#endif - -#if CP_USE_CGPOINTS == 1 - #if TARGET_OS_IPHONE - #import - #elif TARGET_OS_MAC - #include - #endif - - #if defined(__LP64__) && __LP64__ - #define CP_USE_DOUBLES 1 - #else - #define CP_USE_DOUBLES 0 - #endif -#endif +#include #ifndef CP_USE_DOUBLES - // use doubles by default for higher precision - #define CP_USE_DOUBLES 1 + // Use doubles by default for higher precision. + #define CP_USE_DOUBLES 0 #endif /// @defgroup basicTypes Basic Types @@ -82,13 +85,8 @@ #endif #endif -#ifndef M_PI - #define M_PI 3.14159265358979323846264338327950288 -#endif -#ifndef M_E - #define M_E 2.71828182845904523536028747135266250 -#endif +#define CP_PI ((cpFloat)3.14159265358979323846264338327950288) /// Return the max of two cpFloats. @@ -136,7 +134,11 @@ static inline cpFloat cpflerpconst(cpFloat f1, cpFloat f2, cpFloat d) } /// Hash value type. -typedef uintptr_t cpHashValue; +#ifdef CP_HASH_VALUE_TYPE + typedef CP_HASH_VALUE_TYPE cpHashValue; +#else + typedef uintptr_t cpHashValue; +#endif /// Type used internally to cache colliding object info for cpCollideShapes(). /// Should be at least 32 bits. @@ -147,7 +149,7 @@ typedef uint32_t cpCollisionID; #ifdef CP_BOOL_TYPE typedef CP_BOOL_TYPE cpBool; #else - typedef int cpBool; + typedef unsigned char cpBool; #endif #ifndef cpTrue @@ -181,11 +183,11 @@ typedef uint32_t cpCollisionID; typedef uintptr_t cpGroup; #endif -#ifdef CP_LAYERS_TYPE - typedef CP_LAYERS_TYPE cpLayers; +#ifdef CP_BITMASK_TYPE + typedef CP_BITMASK_TYPE cpBitmask; #else -/// Type used for cpShape.layers. - typedef unsigned int cpLayers; +/// Type used for cpShapeFilter category and mask. + typedef unsigned int cpBitmask; #endif #ifdef CP_TIMESTAMP_TYPE @@ -200,15 +202,21 @@ typedef uint32_t cpCollisionID; #define CP_NO_GROUP ((cpGroup)0) #endif -#ifndef CP_ALL_LAYERS +#ifndef CP_ALL_CATEGORIES /// Value for cpShape.layers signifying that a shape is in every layer. - #define CP_ALL_LAYERS (~(cpLayers)0) + #define CP_ALL_CATEGORIES (~(cpBitmask)0) #endif + +#ifndef CP_WILDCARD_COLLISION_TYPE +/// cpCollisionType value internally reserved for hashing wildcard handlers. + #define CP_WILDCARD_COLLISION_TYPE (~(cpCollisionType)0) +#endif + /// @} // CGPoints are structurally the same, and allow // easy interoperability with other Cocoa libraries -#if CP_USE_CGPOINTS +#if CP_USE_CGTYPES typedef CGPoint cpVect; #else /// Chipmunk's 2D vector type. @@ -216,7 +224,19 @@ typedef uint32_t cpCollisionID; typedef struct cpVect{cpFloat x,y;} cpVect; #endif +#if CP_USE_CGTYPES + typedef CGAffineTransform cpTransform; +#else + /// Column major affine transform. + typedef struct cpTransform { + cpFloat a, b, c, d, tx, ty; + } cpTransform; +#endif + +// NUKE typedef struct cpMat2x2 { // Row major [[a, b][c d]] cpFloat a, b, c, d; } cpMat2x2; + +#endif diff --git a/mac/include/chipmunk/chipmunk_unsafe.h b/mac/include/chipmunk/chipmunk_unsafe.h index 4428814c..990bd012 100644 --- a/mac/include/chipmunk/chipmunk_unsafe.h +++ b/mac/include/chipmunk/chipmunk_unsafe.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -36,27 +36,28 @@ /// so the results will be unrealistic. You must explicity include the chipmunk_unsafe.h header to use them. /// @{ -#ifndef CHIPMUNK_UNSAFE_HEADER -#define CHIPMUNK_UNSAFE_HEADER +#ifndef CHIPMUNK_UNSAFE_H +#define CHIPMUNK_UNSAFE_H #ifdef __cplusplus extern "C" { #endif /// Set the radius of a circle shape. -void cpCircleShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpCircleShapeSetRadius(cpShape *shape, cpFloat radius); /// Set the offset of a circle shape. -void cpCircleShapeSetOffset(cpShape *shape, cpVect offset); +CP_EXPORT void cpCircleShapeSetOffset(cpShape *shape, cpVect offset); /// Set the endpoints of a segment shape. -void cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b); +CP_EXPORT void cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b); /// Set the radius of a segment shape. -void cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius); /// Set the vertexes of a poly shape. -void cpPolyShapeSetVerts(cpShape *shape, int numVerts, cpVect *verts, cpVect offset); +CP_EXPORT void cpPolyShapeSetVerts(cpShape *shape, int count, cpVect *verts, cpTransform transform); +CP_EXPORT void cpPolyShapeSetVertsRaw(cpShape *shape, int count, cpVect *verts); /// Set the radius of a poly shape. -void cpPolyShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpPolyShapeSetRadius(cpShape *shape, cpFloat radius); #ifdef __cplusplus } diff --git a/mac/include/chipmunk/constraints/cpConstraint.h b/mac/include/chipmunk/constraints/cpConstraint.h deleted file mode 100644 index d1059fff..00000000 --- a/mac/include/chipmunk/constraints/cpConstraint.h +++ /dev/null @@ -1,161 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpConstraint cpConstraint -/// @{ - -typedef struct cpConstraintClass cpConstraintClass; - -typedef void (*cpConstraintPreStepImpl)(cpConstraint *constraint, cpFloat dt); -typedef void (*cpConstraintApplyCachedImpulseImpl)(cpConstraint *constraint, cpFloat dt_coef); -typedef void (*cpConstraintApplyImpulseImpl)(cpConstraint *constraint, cpFloat dt); -typedef cpFloat (*cpConstraintGetImpulseImpl)(cpConstraint *constraint); - -/// @private -struct cpConstraintClass { - cpConstraintPreStepImpl preStep; - cpConstraintApplyCachedImpulseImpl applyCachedImpulse; - cpConstraintApplyImpulseImpl applyImpulse; - cpConstraintGetImpulseImpl getImpulse; -}; - -/// Callback function type that gets called before solving a joint. -typedef void (*cpConstraintPreSolveFunc)(cpConstraint *constraint, cpSpace *space); -/// Callback function type that gets called after solving a joint. -typedef void (*cpConstraintPostSolveFunc)(cpConstraint *constraint, cpSpace *space); - - -/// Opaque cpConstraint struct. -struct cpConstraint { - CP_PRIVATE(const cpConstraintClass *klass); - - /// The first body connected to this constraint. - cpBody *a; - /// The second body connected to this constraint. - cpBody *b; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpConstraint *next_a); - CP_PRIVATE(cpConstraint *next_b); - - /// The maximum force that this constraint is allowed to use. - /// Defaults to infinity. - cpFloat maxForce; - /// The rate at which joint error is corrected. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that it will - /// correct 10% of the error every 1/60th of a second. - cpFloat errorBias; - /// The maximum rate at which joint error is corrected. - /// Defaults to infinity. - cpFloat maxBias; - - /// Function called before the solver runs. - /// Animate your joint anchors, update your motor torque, etc. - cpConstraintPreSolveFunc preSolve; - - /// Function called after the solver runs. - /// Use the applied impulse to perform effects like breakable joints. - cpConstraintPostSolveFunc postSolve; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpConstraint reference in a callback. - cpDataPointer data; -}; - -/// Destroy a constraint. -void cpConstraintDestroy(cpConstraint *constraint); -/// Destroy and free a constraint. -void cpConstraintFree(cpConstraint *constraint); - -/// @private -static inline void cpConstraintActivateBodies(cpConstraint *constraint) -{ - cpBody *a = constraint->a; if(a) cpBodyActivate(a); - cpBody *b = constraint->b; if(b) cpBodyActivate(b); -} - -/// @private -#define CP_DefineConstraintStructGetter(type, member, name) \ -static inline type cpConstraint##Get##name(const cpConstraint *constraint){return constraint->member;} - -/// @private -#define CP_DefineConstraintStructSetter(type, member, name) \ -static inline void cpConstraint##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintActivateBodies(constraint); \ - constraint->member = value; \ -} - -/// @private -#define CP_DefineConstraintStructProperty(type, member, name) \ -CP_DefineConstraintStructGetter(type, member, name) \ -CP_DefineConstraintStructSetter(type, member, name) - -CP_DefineConstraintStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineConstraintStructGetter(cpBody*, a, A) -CP_DefineConstraintStructGetter(cpBody*, b, B) -CP_DefineConstraintStructProperty(cpFloat, maxForce, MaxForce) -CP_DefineConstraintStructProperty(cpFloat, errorBias, ErrorBias) -CP_DefineConstraintStructProperty(cpFloat, maxBias, MaxBias) -CP_DefineConstraintStructProperty(cpConstraintPreSolveFunc, preSolve, PreSolveFunc) -CP_DefineConstraintStructProperty(cpConstraintPostSolveFunc, postSolve, PostSolveFunc) -CP_DefineConstraintStructProperty(cpDataPointer, data, UserData) - -// Get the last impulse applied by this constraint. -static inline cpFloat cpConstraintGetImpulse(cpConstraint *constraint) -{ - return constraint->CP_PRIVATE(klass)->getImpulse(constraint); -} - -/// @} - -#define cpConstraintCheckCast(constraint, struct) \ - cpAssertHard(constraint->CP_PRIVATE(klass) == struct##GetClass(), "Constraint is not a "#struct) - -#define CP_DefineConstraintGetter(struct, type, member, name) \ -static inline type struct##Get##name(const cpConstraint *constraint){ \ - cpConstraintCheckCast(constraint, struct); \ - return ((struct *)constraint)->member; \ -} - -#define CP_DefineConstraintSetter(struct, type, member, name) \ -static inline void struct##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintCheckCast(constraint, struct); \ - cpConstraintActivateBodies(constraint); \ - ((struct *)constraint)->member = value; \ -} - -#define CP_DefineConstraintProperty(struct, type, member, name) \ -CP_DefineConstraintGetter(struct, type, member, name) \ -CP_DefineConstraintSetter(struct, type, member, name) - -#include "cpPinJoint.h" -#include "cpSlideJoint.h" -#include "cpPivotJoint.h" -#include "cpGrooveJoint.h" -#include "cpDampedSpring.h" -#include "cpDampedRotarySpring.h" -#include "cpRotaryLimitJoint.h" -#include "cpRatchetJoint.h" -#include "cpGearJoint.h" -#include "cpSimpleMotor.h" diff --git a/mac/include/chipmunk/constraints/cpDampedRotarySpring.h b/mac/include/chipmunk/constraints/cpDampedRotarySpring.h deleted file mode 100644 index 86cf915b..00000000 --- a/mac/include/chipmunk/constraints/cpDampedRotarySpring.h +++ /dev/null @@ -1,56 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedRotarySpring cpDampedRotarySpring -/// @{ - -typedef cpFloat (*cpDampedRotarySpringTorqueFunc)(struct cpConstraint *spring, cpFloat relativeAngle); - -const cpConstraintClass *cpDampedRotarySpringGetClass(void); - -/// @private -typedef struct cpDampedRotarySpring { - cpConstraint constraint; - cpFloat restAngle; - cpFloat stiffness; - cpFloat damping; - cpDampedRotarySpringTorqueFunc springTorqueFunc; - - cpFloat target_wrn; - cpFloat w_coef; - - cpFloat iSum; - cpFloat jAcc; -} cpDampedRotarySpring; - -/// Allocate a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringAlloc(void); -/// Initialize a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringInit(cpDampedRotarySpring *joint, cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped rotary spring. -cpConstraint* cpDampedRotarySpringNew(cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, restAngle, RestAngle) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpDampedRotarySpringTorqueFunc, springTorqueFunc, SpringTorqueFunc) - -/// @} diff --git a/mac/include/chipmunk/constraints/cpDampedSpring.h b/mac/include/chipmunk/constraints/cpDampedSpring.h deleted file mode 100644 index f5120647..00000000 --- a/mac/include/chipmunk/constraints/cpDampedSpring.h +++ /dev/null @@ -1,64 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedSpring cpDampedSpring -/// @{ - -typedef struct cpDampedSpring cpDampedSpring; - -typedef cpFloat (*cpDampedSpringForceFunc)(cpConstraint *spring, cpFloat dist); - -const cpConstraintClass *cpDampedSpringGetClass(void); - -/// @private -struct cpDampedSpring { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat restLength; - cpFloat stiffness; - cpFloat damping; - cpDampedSpringForceFunc springForceFunc; - - cpFloat target_vrn; - cpFloat v_coef; - - cpVect r1, r2; - cpFloat nMass; - cpVect n; - - cpFloat jAcc; -}; - -/// Allocate a damped spring. -cpDampedSpring* cpDampedSpringAlloc(void); -/// Initialize a damped spring. -cpDampedSpring* cpDampedSpringInit(cpDampedSpring *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped spring. -cpConstraint* cpDampedSpringNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, restLength, RestLength) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedSpring, cpDampedSpringForceFunc, springForceFunc, SpringForceFunc) - -/// @} diff --git a/mac/include/chipmunk/constraints/cpGearJoint.h b/mac/include/chipmunk/constraints/cpGearJoint.h deleted file mode 100644 index c9ebf942..00000000 --- a/mac/include/chipmunk/constraints/cpGearJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGearJoint cpGearJoint -/// @{ - -const cpConstraintClass *cpGearJointGetClass(void); - -/// @private -typedef struct cpGearJoint { - cpConstraint constraint; - cpFloat phase, ratio; - cpFloat ratio_inv; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpGearJoint; - -/// Allocate a gear joint. -cpGearJoint* cpGearJointAlloc(void); -/// Initialize a gear joint. -cpGearJoint* cpGearJointInit(cpGearJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); -/// Allocate and initialize a gear joint. -cpConstraint* cpGearJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); - -CP_DefineConstraintProperty(cpGearJoint, cpFloat, phase, Phase) -CP_DefineConstraintGetter(cpGearJoint, cpFloat, ratio, Ratio) -/// Set the ratio of a gear joint. -void cpGearJointSetRatio(cpConstraint *constraint, cpFloat value); - -/// @} diff --git a/mac/include/chipmunk/constraints/cpGrooveJoint.h b/mac/include/chipmunk/constraints/cpGrooveJoint.h deleted file mode 100644 index b260218f..00000000 --- a/mac/include/chipmunk/constraints/cpGrooveJoint.h +++ /dev/null @@ -1,57 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGrooveJoint cpGrooveJoint -/// @{ - -const cpConstraintClass *cpGrooveJointGetClass(void); - -/// @private -typedef struct cpGrooveJoint { - cpConstraint constraint; - cpVect grv_n, grv_a, grv_b; - cpVect anchr2; - - cpVect grv_tn; - cpFloat clamp; - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpGrooveJoint; - -/// Allocate a groove joint. -cpGrooveJoint* cpGrooveJointAlloc(void); -/// Initialize a groove joint. -cpGrooveJoint* cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); -/// Allocate and initialize a groove joint. -cpConstraint* cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); - -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_a, GrooveA) -/// Set endpoint a of a groove joint's groove -void cpGrooveJointSetGrooveA(cpConstraint *constraint, cpVect value); -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_b, GrooveB) -/// Set endpoint b of a groove joint's groove -void cpGrooveJointSetGrooveB(cpConstraint *constraint, cpVect value); -CP_DefineConstraintProperty(cpGrooveJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/mac/include/chipmunk/constraints/cpPinJoint.h b/mac/include/chipmunk/constraints/cpPinJoint.h deleted file mode 100644 index 2413e84a..00000000 --- a/mac/include/chipmunk/constraints/cpPinJoint.h +++ /dev/null @@ -1,52 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPinJoint cpPinJoint -/// @{ - -const cpConstraintClass *cpPinJointGetClass(void); - -/// @private -typedef struct cpPinJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat dist; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpPinJoint; - -/// Allocate a pin joint. -cpPinJoint* cpPinJointAlloc(void); -/// Initialize a pin joint. -cpPinJoint* cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pin joint. -cpConstraint* cpPinJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpPinJoint, cpFloat, dist, Dist) - -///@} diff --git a/mac/include/chipmunk/constraints/cpPivotJoint.h b/mac/include/chipmunk/constraints/cpPivotJoint.h deleted file mode 100644 index a5d33174..00000000 --- a/mac/include/chipmunk/constraints/cpPivotJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPivotJoint cpPivotJoint -/// @{ - -const cpConstraintClass *cpPivotJointGetClass(void); - -/// @private -typedef struct cpPivotJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpPivotJoint; - -/// Allocate a pivot joint -cpPivotJoint* cpPivotJointAlloc(void); -/// Initialize a pivot joint. -cpPivotJoint* cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pivot joint. -cpConstraint* cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot); -/// Allocate and initialize a pivot joint with specific anchors. -cpConstraint* cpPivotJointNew2(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/mac/include/chipmunk/constraints/cpRatchetJoint.h b/mac/include/chipmunk/constraints/cpRatchetJoint.h deleted file mode 100644 index e371b108..00000000 --- a/mac/include/chipmunk/constraints/cpRatchetJoint.h +++ /dev/null @@ -1,49 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRatchetJoint cpRatchetJoint -/// @{ - -const cpConstraintClass *cpRatchetJointGetClass(void); - -/// @private -typedef struct cpRatchetJoint { - cpConstraint constraint; - cpFloat angle, phase, ratchet; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRatchetJoint; - -/// Allocate a ratchet joint. -cpRatchetJoint* cpRatchetJointAlloc(void); -/// Initialize a ratched joint. -cpRatchetJoint* cpRatchetJointInit(cpRatchetJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); -/// Allocate and initialize a ratchet joint. -cpConstraint* cpRatchetJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); - -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, angle, Angle) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, phase, Phase) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, ratchet, Ratchet) - -/// @} diff --git a/mac/include/chipmunk/constraints/cpRotaryLimitJoint.h b/mac/include/chipmunk/constraints/cpRotaryLimitJoint.h deleted file mode 100644 index 2277e40f..00000000 --- a/mac/include/chipmunk/constraints/cpRotaryLimitJoint.h +++ /dev/null @@ -1,48 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRotaryLimitJoint cpRotaryLimitJoint -/// @{ - -const cpConstraintClass *cpRotaryLimitJointGetClass(void); - -/// @private -typedef struct cpRotaryLimitJoint { - cpConstraint constraint; - cpFloat min, max; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRotaryLimitJoint; - -/// Allocate a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointAlloc(void); -/// Initialize a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointInit(cpRotaryLimitJoint *joint, cpBody *a, cpBody *b, cpFloat min, cpFloat max); -/// Allocate and initialize a damped rotary limit joint. -cpConstraint* cpRotaryLimitJointNew(cpBody *a, cpBody *b, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, max, Max) - -/// @} diff --git a/mac/include/chipmunk/constraints/cpSimpleMotor.h b/mac/include/chipmunk/constraints/cpSimpleMotor.h deleted file mode 100644 index 37d28c5d..00000000 --- a/mac/include/chipmunk/constraints/cpSimpleMotor.h +++ /dev/null @@ -1,46 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSimpleMotor cpSimpleMotor -/// @{ - -const cpConstraintClass *cpSimpleMotorGetClass(void); - -/// @private -typedef struct cpSimpleMotor { - cpConstraint constraint; - cpFloat rate; - - cpFloat iSum; - - cpFloat jAcc; -} cpSimpleMotor; - -/// Allocate a simple motor. -cpSimpleMotor* cpSimpleMotorAlloc(void); -/// initialize a simple motor. -cpSimpleMotor* cpSimpleMotorInit(cpSimpleMotor *joint, cpBody *a, cpBody *b, cpFloat rate); -/// Allocate and initialize a simple motor. -cpConstraint* cpSimpleMotorNew(cpBody *a, cpBody *b, cpFloat rate); - -CP_DefineConstraintProperty(cpSimpleMotor, cpFloat, rate, Rate) - -/// @} diff --git a/mac/include/chipmunk/constraints/cpSlideJoint.h b/mac/include/chipmunk/constraints/cpSlideJoint.h deleted file mode 100644 index 40db8bba..00000000 --- a/mac/include/chipmunk/constraints/cpSlideJoint.h +++ /dev/null @@ -1,53 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSlideJoint cpSlideJoint -/// @{ - -const cpConstraintClass *cpSlideJointGetClass(void); - -/// @private -typedef struct cpSlideJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat min, max; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpSlideJoint; - -/// Allocate a slide joint. -cpSlideJoint* cpSlideJointAlloc(void); -/// Initialize a slide joint. -cpSlideJoint* cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); -/// Allocate and initialize a slide joint. -cpConstraint* cpSlideJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, max, Max) - -/// @} diff --git a/mac/include/chipmunk/constraints/util.h b/mac/include/chipmunk/constraints/util.h deleted file mode 100644 index 0a620475..00000000 --- a/mac/include/chipmunk/constraints/util.h +++ /dev/null @@ -1,126 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -// These are utility routines to use when creating custom constraints. -// I'm not sure if this should be part of the private API or not. -// I should probably clean up the naming conventions if it is... - -#define CP_DefineClassGetter(t) const cpConstraintClass * t##GetClass(void){return (cpConstraintClass *)&klass;} - -void cpConstraintInit(cpConstraint *constraint, const cpConstraintClass *klass, cpBody *a, cpBody *b); - -static inline cpVect -relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){ - cpVect v1_sum = cpvadd(a->v, cpvmult(cpvperp(r1), a->w)); - cpVect v2_sum = cpvadd(b->v, cpvmult(cpvperp(r2), b->w)); - - return cpvsub(v2_sum, v1_sum); -} - -static inline cpFloat -normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){ - return cpvdot(relative_velocity(a, b, r1, r2), n); -} - -static inline void -apply_impulse(cpBody *body, cpVect j, cpVect r){ - body->v = cpvadd(body->v, cpvmult(j, body->m_inv)); - body->w += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_impulse(a, cpvneg(j), r1); - apply_impulse(b, j, r2); -} - -static inline void -apply_bias_impulse(cpBody *body, cpVect j, cpVect r) -{ - body->CP_PRIVATE(v_bias) = cpvadd(body->CP_PRIVATE(v_bias), cpvmult(j, body->m_inv)); - body->CP_PRIVATE(w_bias) += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_bias_impulse(a, cpvneg(j), r1); - apply_bias_impulse(b, j, r2); -} - -static inline cpFloat -k_scalar_body(cpBody *body, cpVect r, cpVect n) -{ - cpFloat rcn = cpvcross(r, n); - return body->m_inv + body->i_inv*rcn*rcn; -} - -static inline cpFloat -k_scalar(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n) -{ - cpFloat value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n); - cpAssertSoft(value != 0.0, "Unsolvable collision or constraint."); - - return value; -} - -static inline cpMat2x2 -k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2) -{ - cpFloat m_sum = a->m_inv + b->m_inv; - - // start with Identity*m_sum - cpFloat k11 = m_sum, k12 = 0.0f; - cpFloat k21 = 0.0f, k22 = m_sum; - - // add the influence from r1 - cpFloat a_i_inv = a->i_inv; - cpFloat r1xsq = r1.x * r1.x * a_i_inv; - cpFloat r1ysq = r1.y * r1.y * a_i_inv; - cpFloat r1nxy = -r1.x * r1.y * a_i_inv; - k11 += r1ysq; k12 += r1nxy; - k21 += r1nxy; k22 += r1xsq; - - // add the influnce from r2 - cpFloat b_i_inv = b->i_inv; - cpFloat r2xsq = r2.x * r2.x * b_i_inv; - cpFloat r2ysq = r2.y * r2.y * b_i_inv; - cpFloat r2nxy = -r2.x * r2.y * b_i_inv; - k11 += r2ysq; k12 += r2nxy; - k21 += r2nxy; k22 += r2xsq; - - // invert - cpFloat det = k11*k22 - k12*k21; - cpAssertSoft(det != 0.0, "Unsolvable constraint."); - - cpFloat det_inv = 1.0f/det; - return cpMat2x2New( - k22*det_inv, -k12*det_inv, - -k21*det_inv, k11*det_inv - ); -} - -static inline cpFloat -bias_coef(cpFloat errorBias, cpFloat dt) -{ - return 1.0f - cpfpow(errorBias, dt); -} diff --git a/mac/include/chipmunk/cpArbiter.h b/mac/include/chipmunk/cpArbiter.h index 1ccb693d..1dc130af 100644 --- a/mac/include/chipmunk/cpArbiter.h +++ b/mac/include/chipmunk/cpArbiter.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -20,188 +20,126 @@ */ /// @defgroup cpArbiter cpArbiter -/// The cpArbiter struct controls pairs of colliding shapes. +/// The cpArbiter struct tracks pairs of colliding shapes. /// They are also used in conjuction with collision handler callbacks -/// allowing you to retrieve information on the collision and control it. +/// allowing you to retrieve information on the collision or change it. +/// A unique arbiter value is used for each pair of colliding objects. It persists until the shapes separate. /// @{ -/// Collision begin event function callback type. -/// Returning false from a begin callback causes the collision to be ignored until -/// the the separate callback is called when the objects stop colliding. -typedef cpBool (*cpCollisionBeginFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision pre-solve event function callback type. -/// Returning false from a pre-step callback causes the collision to be ignored until the next step. -typedef cpBool (*cpCollisionPreSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision post-solve event function callback type. -typedef void (*cpCollisionPostSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision separate event function callback type. -typedef void (*cpCollisionSeparateFunc)(cpArbiter *arb, cpSpace *space, void *data); - -/// @private -struct cpCollisionHandler { - cpCollisionType a; - cpCollisionType b; - cpCollisionBeginFunc begin; - cpCollisionPreSolveFunc preSolve; - cpCollisionPostSolveFunc postSolve; - cpCollisionSeparateFunc separate; - void *data; -}; - -typedef struct cpContact cpContact; - #define CP_MAX_CONTACTS_PER_ARBITER 2 -/// @private -typedef enum cpArbiterState { - // Arbiter is active and its the first collision. - cpArbiterStateFirstColl, - // Arbiter is active and its not the first collision. - cpArbiterStateNormal, - // Collision has been explicitly ignored. - // Either by returning false from a begin collision handler or calling cpArbiterIgnore(). - cpArbiterStateIgnore, - // Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps. - cpArbiterStateCached, -} cpArbiterState; - -/// @private -struct cpArbiterThread { - // Links to next and previous arbiters in the contact graph. - struct cpArbiter *next, *prev; -}; - -/// A colliding pair of shapes. -struct cpArbiter { - /// Calculated value to use for the elasticity coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat e; - /// Calculated value to use for the friction coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat u; - /// Calculated value to use for applying surface velocities. - /// Override in a pre-solve collision handler for custom behavior. - cpVect surface_vr; - - /// User definable data pointer. - /// The value will persist for the pair of shapes until the separate() callback is called. - /// NOTE: If you need to clean up this pointer, you should implement the separate() callback to do it. - cpDataPointer data; - - CP_PRIVATE(cpShape *a); - CP_PRIVATE(cpShape *b); - CP_PRIVATE(cpBody *body_a); - CP_PRIVATE(cpBody *body_b); - - CP_PRIVATE(struct cpArbiterThread thread_a); - CP_PRIVATE(struct cpArbiterThread thread_b); - - CP_PRIVATE(int numContacts); - CP_PRIVATE(cpContact *contacts); - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpCollisionHandler *handler); - CP_PRIVATE(cpBool swappedColl); - CP_PRIVATE(cpArbiterState state); -}; - -#define CP_DefineArbiterStructGetter(type, member, name) \ -static inline type cpArbiterGet##name(const cpArbiter *arb){return arb->member;} - -#define CP_DefineArbiterStructSetter(type, member, name) \ -static inline void cpArbiterSet##name(cpArbiter *arb, type value){arb->member = value;} - -#define CP_DefineArbiterStructProperty(type, member, name) \ -CP_DefineArbiterStructGetter(type, member, name) \ -CP_DefineArbiterStructSetter(type, member, name) - -CP_DefineArbiterStructProperty(cpFloat, e, Elasticity) -CP_DefineArbiterStructProperty(cpFloat, u, Friction) +/// Get the restitution (elasticity) that will be applied to the pair of colliding objects. +CP_EXPORT cpFloat cpArbiterGetRestitution(const cpArbiter *arb); +/// Override the restitution (elasticity) that will be applied to the pair of colliding objects. +CP_EXPORT void cpArbiterSetRestitution(cpArbiter *arb, cpFloat restitution); +/// Get the friction coefficient that will be applied to the pair of colliding objects. +CP_EXPORT cpFloat cpArbiterGetFriction(const cpArbiter *arb); +/// Override the friction coefficient that will be applied to the pair of colliding objects. +CP_EXPORT void cpArbiterSetFriction(cpArbiter *arb, cpFloat friction); // Get the relative surface velocity of the two shapes in contact. -cpVect cpArbiterGetSurfaceVelocity(cpArbiter *arb); +CP_EXPORT cpVect cpArbiterGetSurfaceVelocity(cpArbiter *arb); // Override the relative surface velocity of the two shapes in contact. -// By default this is calculated to be the difference of the two -// surface velocities clamped to the tangent plane. -void cpArbiterSetSurfaceVelocity(cpArbiter *arb, cpVect vr); +// By default this is calculated to be the difference of the two surface velocities clamped to the tangent plane. +CP_EXPORT void cpArbiterSetSurfaceVelocity(cpArbiter *arb, cpVect vr); -CP_DefineArbiterStructProperty(cpDataPointer, data, UserData) +/// Get the user data pointer associated with this pair of colliding objects. +CP_EXPORT cpDataPointer cpArbiterGetUserData(const cpArbiter *arb); +/// Set a user data point associated with this pair of colliding objects. +/// If you need to perform any cleanup for this pointer, you must do it yourself, in the separate callback for instance. +CP_EXPORT void cpArbiterSetUserData(cpArbiter *arb, cpDataPointer userData); -/// Calculate the total impulse that was applied by this arbiter. -/// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulse(const cpArbiter *arb); /// Calculate the total impulse including the friction that was applied by this arbiter. /// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulseWithFriction(const cpArbiter *arb); +CP_EXPORT cpVect cpArbiterTotalImpulse(const cpArbiter *arb); /// Calculate the amount of energy lost in a collision including static, but not dynamic friction. /// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpFloat cpArbiterTotalKE(const cpArbiter *arb); +CP_EXPORT cpFloat cpArbiterTotalKE(const cpArbiter *arb); - -/// Causes a collision pair to be ignored as if you returned false from a begin callback. -/// If called from a pre-step callback, you will still need to return false -/// if you want it to be ignored in the current step. -void cpArbiterIgnore(cpArbiter *arb); +/// Mark a collision pair to be ignored until the two objects separate. +/// Pre-solve and post-solve callbacks will not be called, but the separate callback will be called. +CP_EXPORT cpBool cpArbiterIgnore(cpArbiter *arb); /// Return the colliding shapes involved for this arbiter. /// The order of their cpSpace.collision_type values will match /// the order set when the collision handler was registered. -static inline void cpArbiterGetShapes(const cpArbiter *arb, cpShape **a, cpShape **b) -{ - if(arb->CP_PRIVATE(swappedColl)){ - (*a) = arb->CP_PRIVATE(b), (*b) = arb->CP_PRIVATE(a); - } else { - (*a) = arb->CP_PRIVATE(a), (*b) = arb->CP_PRIVATE(b); - } -} +CP_EXPORT void cpArbiterGetShapes(const cpArbiter *arb, cpShape **a, cpShape **b); + /// A macro shortcut for defining and retrieving the shapes from an arbiter. #define CP_ARBITER_GET_SHAPES(__arb__, __a__, __b__) cpShape *__a__, *__b__; cpArbiterGetShapes(__arb__, &__a__, &__b__); /// Return the colliding bodies involved for this arbiter. /// The order of the cpSpace.collision_type the bodies are associated with values will match /// the order set when the collision handler was registered. -static inline void cpArbiterGetBodies(const cpArbiter *arb, cpBody **a, cpBody **b) -{ - CP_ARBITER_GET_SHAPES(arb, shape_a, shape_b); - (*a) = shape_a->body; - (*b) = shape_b->body; -} +CP_EXPORT void cpArbiterGetBodies(const cpArbiter *arb, cpBody **a, cpBody **b); + /// A macro shortcut for defining and retrieving the bodies from an arbiter. #define CP_ARBITER_GET_BODIES(__arb__, __a__, __b__) cpBody *__a__, *__b__; cpArbiterGetBodies(__arb__, &__a__, &__b__); /// A struct that wraps up the important collision data for an arbiter. -typedef struct cpContactPointSet { +struct cpContactPointSet { /// The number of contact points in the set. int count; + /// The normal of the collision. + cpVect normal; + /// The array of contact points. struct { - /// The position of the contact point. - cpVect point; - /// The normal of the contact point. - cpVect normal; - /// The depth of the contact point. - cpFloat dist; + /// The position of the contact on the surface of each shape. + cpVect pointA, pointB; + /// Penetration distance of the two shapes. Overlapping means it will be negative. + /// This value is calculated as cpvdot(cpvsub(point2, point1), normal) and is ignored by cpArbiterSetContactPointSet(). + cpFloat distance; } points[CP_MAX_CONTACTS_PER_ARBITER]; -} cpContactPointSet; +}; /// Return a contact set from an arbiter. -cpContactPointSet cpArbiterGetContactPointSet(const cpArbiter *arb); +CP_EXPORT cpContactPointSet cpArbiterGetContactPointSet(const cpArbiter *arb); /// Replace the contact point set for an arbiter. /// This can be a very powerful feature, but use it with caution! -void cpArbiterSetContactPointSet(cpArbiter *arb, cpContactPointSet *set); +CP_EXPORT void cpArbiterSetContactPointSet(cpArbiter *arb, cpContactPointSet *set); /// Returns true if this is the first step a pair of objects started colliding. -cpBool cpArbiterIsFirstContact(const cpArbiter *arb); +CP_EXPORT cpBool cpArbiterIsFirstContact(const cpArbiter *arb); +/// Returns true if the separate callback is due to a shape being removed from the space. +CP_EXPORT cpBool cpArbiterIsRemoval(const cpArbiter *arb); + /// Get the number of contact points for this arbiter. -int cpArbiterGetCount(const cpArbiter *arb); -/// Get the normal of the @c ith contact point. -cpVect cpArbiterGetNormal(const cpArbiter *arb, int i); -/// Get the position of the @c ith contact point. -cpVect cpArbiterGetPoint(const cpArbiter *arb, int i); +CP_EXPORT int cpArbiterGetCount(const cpArbiter *arb); +/// Get the normal of the collision. +CP_EXPORT cpVect cpArbiterGetNormal(const cpArbiter *arb); +/// Get the position of the @c ith contact point on the surface of the first shape. +CP_EXPORT cpVect cpArbiterGetPointA(const cpArbiter *arb, int i); +/// Get the position of the @c ith contact point on the surface of the second shape. +CP_EXPORT cpVect cpArbiterGetPointB(const cpArbiter *arb, int i); /// Get the depth of the @c ith contact point. -cpFloat cpArbiterGetDepth(const cpArbiter *arb, int i); +CP_EXPORT cpFloat cpArbiterGetDepth(const cpArbiter *arb, int i); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardBeginA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardBeginB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardPreSolveA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardPreSolveB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardPostSolveA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardPostSolveB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardSeparateA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardSeparateB(cpArbiter *arb, cpSpace *space); /// @} diff --git a/mac/include/chipmunk/cpBB.h b/mac/include/chipmunk/cpBB.h index 4e59c2d4..40200600 100644 --- a/mac/include/chipmunk/cpBB.h +++ b/mac/include/chipmunk/cpBB.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,6 +19,12 @@ * SOFTWARE. */ +#ifndef CHIPMUNK_BB_H +#define CHIPMUNK_BB_H + +#include "chipmunk_types.h" +#include "cpVect.h" + /// @defgroup cpBBB cpBB /// Chipmunk's axis-aligned 2D bounding box type along with a few handy routines. /// @{ @@ -35,10 +41,17 @@ static inline cpBB cpBBNew(const cpFloat l, const cpFloat b, const cpFloat r, co return bb; } +/// Constructs a cpBB centered on a point with the given extents (half sizes). +static inline cpBB +cpBBNewForExtents(const cpVect c, const cpFloat hw, const cpFloat hh) +{ + return cpBBNew(c.x - hw, c.y - hh, c.x + hw, c.y + hh); +} + /// Constructs a cpBB for a circle with the given position and radius. static inline cpBB cpBBNewForCircle(const cpVect p, const cpFloat r) { - return cpBBNew(p.x - r, p.y - r, p.x + r, p.y + r); + return cpBBNewForExtents(p, r, r); } /// Returns true if @c a and @c b intersect. @@ -102,6 +115,9 @@ static inline cpFloat cpBBMergedArea(cpBB a, cpBB b) static inline cpFloat cpBBSegmentQuery(cpBB bb, cpVect a, cpVect b) { cpFloat idx = 1.0f/(b.x - a.x); +#ifdef _MSC_VER +#pragma warning(disable: 4056) +#endif cpFloat tx1 = (bb.l == a.x ? -INFINITY : (bb.l - a.x)*idx); cpFloat tx2 = (bb.r == a.x ? INFINITY : (bb.r - a.x)*idx); cpFloat txmin = cpfmin(tx1, tx2); @@ -110,6 +126,9 @@ static inline cpFloat cpBBSegmentQuery(cpBB bb, cpVect a, cpVect b) cpFloat idy = 1.0f/(b.y - a.y); cpFloat ty1 = (bb.b == a.y ? -INFINITY : (bb.b - a.y)*idy); cpFloat ty2 = (bb.t == a.y ? INFINITY : (bb.t - a.y)*idy); +#ifdef _MSC_VER +#pragma warning(default: 4056) +#endif cpFloat tymin = cpfmin(ty1, ty2); cpFloat tymax = cpfmax(ty1, ty2); @@ -136,8 +155,33 @@ cpBBClampVect(const cpBB bb, const cpVect v) return cpv(cpfclamp(v.x, bb.l, bb.r), cpfclamp(v.y, bb.b, bb.t)); } -// TODO edge case issue /// Wrap a vector to a bounding box. -cpVect cpBBWrapVect(const cpBB bb, const cpVect v); // wrap a vector to a bbox +static inline cpVect +cpBBWrapVect(const cpBB bb, const cpVect v) +{ + cpFloat dx = cpfabs(bb.r - bb.l); + cpFloat modx = cpfmod(v.x - bb.l, dx); + cpFloat x = (modx > 0.0f) ? modx : modx + dx; + + cpFloat dy = cpfabs(bb.t - bb.b); + cpFloat mody = cpfmod(v.y - bb.b, dy); + cpFloat y = (mody > 0.0f) ? mody : mody + dy; + + return cpv(x + bb.l, y + bb.b); +} + +/// Returns a bounding box offseted by @c v. +static inline cpBB +cpBBOffset(const cpBB bb, const cpVect v) +{ + return cpBBNew( + bb.l + v.x, + bb.b + v.y, + bb.r + v.x, + bb.t + v.y + ); +} ///@} + +#endif diff --git a/mac/include/chipmunk/cpBody.h b/mac/include/chipmunk/cpBody.h index 6168b0fe..7e6943d1 100644 --- a/mac/include/chipmunk/cpBody.h +++ b/mac/include/chipmunk/cpBody.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -25,227 +25,165 @@ /// They are given a shape by creating collision shapes (cpShape) that point to the body. /// @{ +typedef enum cpBodyType { + /// A dynamic body is one that is affected by gravity, forces, and collisions. + /// This is the default body type. + CP_BODY_TYPE_DYNAMIC, + /// A kinematic body is an infinite mass, user controlled body that is not affected by gravity, forces or collisions. + /// Instead the body only moves based on it's velocity. + /// Dynamic bodies collide normally with kinematic bodies, though the kinematic body will be unaffected. + /// Collisions between two kinematic bodies, or a kinematic body and a static body produce collision callbacks, but no collision response. + CP_BODY_TYPE_KINEMATIC, + /// A static body is a body that never (or rarely) moves. If you move a static body, you must call one of the cpSpaceReindex*() functions. + /// Chipmunk uses this information to optimize the collision detection. + /// Static bodies do not produce collision callbacks when colliding with other static bodies. + CP_BODY_TYPE_STATIC, +} cpBodyType; + /// Rigid body velocity update function type. typedef void (*cpBodyVelocityFunc)(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); /// Rigid body position update function type. typedef void (*cpBodyPositionFunc)(cpBody *body, cpFloat dt); -/// Used internally to track information on the collision graph. -/// @private -typedef struct cpComponentNode { - cpBody *root; - cpBody *next; - cpFloat idleTime; -} cpComponentNode; - -/// Chipmunk's rigid body struct. -struct cpBody { - /// Function that is called to integrate the body's velocity. (Defaults to cpBodyUpdateVelocity) - cpBodyVelocityFunc velocity_func; - - /// Function that is called to integrate the body's position. (Defaults to cpBodyUpdatePosition) - cpBodyPositionFunc position_func; - - /// Mass of the body. - /// Must agree with cpBody.m_inv! Use cpBodySetMass() when changing the mass for this reason. - cpFloat m; - /// Mass inverse. - cpFloat m_inv; - - /// Moment of inertia of the body. - /// Must agree with cpBody.i_inv! Use cpBodySetMoment() when changing the moment for this reason. - cpFloat i; - /// Moment of inertia inverse. - cpFloat i_inv; - - /// Position of the rigid body's center of gravity. - cpVect p; - /// Velocity of the rigid body's center of gravity. - cpVect v; - /// Force acting on the rigid body's center of gravity. - cpVect f; - - /// Rotation of the body around it's center of gravity in radians. - /// Must agree with cpBody.rot! Use cpBodySetAngle() when changing the angle for this reason. - cpFloat a; - /// Angular velocity of the body around it's center of gravity in radians/second. - cpFloat w; - /// Torque applied to the body around it's center of gravity. - cpFloat t; - - /// Cached unit length vector representing the angle of the body. - /// Used for fast rotations using cpvrotate(). - cpVect rot; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpBody reference in a callback. - cpDataPointer data; - - /// Maximum velocity allowed when updating the velocity. - cpFloat v_limit; - /// Maximum rotational rate (in radians/second) allowed when updating the angular velocity. - cpFloat w_limit; - - CP_PRIVATE(cpVect v_bias); - CP_PRIVATE(cpFloat w_bias); - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *shapeList); - CP_PRIVATE(cpArbiter *arbiterList); - CP_PRIVATE(cpConstraint *constraintList); - - CP_PRIVATE(cpComponentNode node); -}; - /// Allocate a cpBody. -cpBody* cpBodyAlloc(void); +CP_EXPORT cpBody* cpBodyAlloc(void); /// Initialize a cpBody. -cpBody* cpBodyInit(cpBody *body, cpFloat m, cpFloat i); +CP_EXPORT cpBody* cpBodyInit(cpBody *body, cpFloat mass, cpFloat moment); /// Allocate and initialize a cpBody. -cpBody* cpBodyNew(cpFloat m, cpFloat i); +CP_EXPORT cpBody* cpBodyNew(cpFloat mass, cpFloat moment); -/// Initialize a static cpBody. -cpBody* cpBodyInitStatic(cpBody *body); -/// Allocate and initialize a static cpBody. -cpBody* cpBodyNewStatic(void); +/// Allocate and initialize a cpBody, and set it as a kinematic body. +CP_EXPORT cpBody* cpBodyNewKinematic(void); +/// Allocate and initialize a cpBody, and set it as a static body. +CP_EXPORT cpBody* cpBodyNewStatic(void); /// Destroy a cpBody. -void cpBodyDestroy(cpBody *body); +CP_EXPORT void cpBodyDestroy(cpBody *body); /// Destroy and free a cpBody. -void cpBodyFree(cpBody *body); - -/// Check that the properties of a body is sane. (Only in debug mode) -#ifdef NDEBUG - #define cpBodyAssertSane(body) -#else - void cpBodySanityCheck(cpBody *body); - #define cpBodyAssertSane(body) cpBodySanityCheck(body) -#endif +CP_EXPORT void cpBodyFree(cpBody *body); // Defined in cpSpace.c /// Wake up a sleeping or idle body. -void cpBodyActivate(cpBody *body); +CP_EXPORT void cpBodyActivate(cpBody *body); /// Wake up any sleeping or idle bodies touching a static body. -void cpBodyActivateStatic(cpBody *body, cpShape *filter); +CP_EXPORT void cpBodyActivateStatic(cpBody *body, cpShape *filter); /// Force a body to fall asleep immediately. -void cpBodySleep(cpBody *body); +CP_EXPORT void cpBodySleep(cpBody *body); /// Force a body to fall asleep immediately along with other bodies in a group. -void cpBodySleepWithGroup(cpBody *body, cpBody *group); +CP_EXPORT void cpBodySleepWithGroup(cpBody *body, cpBody *group); /// Returns true if the body is sleeping. -static inline cpBool cpBodyIsSleeping(const cpBody *body) -{ - return (CP_PRIVATE(body->node).root != ((cpBody*)0)); -} +CP_EXPORT cpBool cpBodyIsSleeping(const cpBody *body); -/// Returns true if the body is static. -static inline cpBool cpBodyIsStatic(const cpBody *body) -{ - return CP_PRIVATE(body->node).idleTime == INFINITY; -} +/// Get the type of the body. +CP_EXPORT cpBodyType cpBodyGetType(cpBody *body); +/// Set the type of the body. +CP_EXPORT void cpBodySetType(cpBody *body, cpBodyType type); -/// Returns true if the body has not been added to a space. -/// Note: Static bodies are a subtype of rogue bodies. -static inline cpBool cpBodyIsRogue(const cpBody *body) -{ - return (body->CP_PRIVATE(space) == ((cpSpace*)0)); -} +/// Get the space this body is added to. +CP_EXPORT cpSpace* cpBodyGetSpace(const cpBody *body); +/// Get the mass of the body. +CP_EXPORT cpFloat cpBodyGetMass(const cpBody *body); +/// Set the mass of the body. +CP_EXPORT void cpBodySetMass(cpBody *body, cpFloat m); -#define CP_DefineBodyStructGetter(type, member, name) \ -static inline type cpBodyGet##name(const cpBody *body){return body->member;} +/// Get the moment of inertia of the body. +CP_EXPORT cpFloat cpBodyGetMoment(const cpBody *body); +/// Set the moment of inertia of the body. +CP_EXPORT void cpBodySetMoment(cpBody *body, cpFloat i); -#define CP_DefineBodyStructSetter(type, member, name) \ -static inline void cpBodySet##name(cpBody *body, const type value){ \ - cpBodyActivate(body); \ - body->member = value; \ - cpBodyAssertSane(body); \ -} - -#define CP_DefineBodyStructProperty(type, member, name) \ -CP_DefineBodyStructGetter(type, member, name) \ -CP_DefineBodyStructSetter(type, member, name) - -// TODO add to docs -CP_DefineBodyStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineBodyStructGetter(cpFloat, m, Mass) -/// Set the mass of a body. -void cpBodySetMass(cpBody *body, cpFloat m); - -CP_DefineBodyStructGetter(cpFloat, i, Moment) -/// Set the moment of a body. -void cpBodySetMoment(cpBody *body, cpFloat i); - -CP_DefineBodyStructGetter(cpVect, p, Pos) /// Set the position of a body. -void cpBodySetPos(cpBody *body, cpVect pos); -CP_DefineBodyStructProperty(cpVect, v, Vel) -CP_DefineBodyStructProperty(cpVect, f, Force) -CP_DefineBodyStructGetter(cpFloat, a, Angle) -/// Set the angle of a body. -void cpBodySetAngle(cpBody *body, cpFloat a); -CP_DefineBodyStructProperty(cpFloat, w, AngVel) -CP_DefineBodyStructProperty(cpFloat, t, Torque) -CP_DefineBodyStructGetter(cpVect, rot, Rot) -CP_DefineBodyStructProperty(cpFloat, v_limit, VelLimit) -CP_DefineBodyStructProperty(cpFloat, w_limit, AngVelLimit) -CP_DefineBodyStructProperty(cpDataPointer, data, UserData) +CP_EXPORT cpVect cpBodyGetPosition(const cpBody *body); +/// Set the position of the body. +CP_EXPORT void cpBodySetPosition(cpBody *body, cpVect pos); -/// Default Integration functions. -void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); -void cpBodyUpdatePosition(cpBody *body, cpFloat dt); +/// Get the offset of the center of gravity in body local coordinates. +CP_EXPORT cpVect cpBodyGetCenterOfGravity(const cpBody *body); +/// Set the offset of the center of gravity in body local coordinates. +CP_EXPORT void cpBodySetCenterOfGravity(cpBody *body, cpVect cog); + +/// Get the velocity of the body. +CP_EXPORT cpVect cpBodyGetVelocity(const cpBody *body); +/// Set the velocity of the body. +CP_EXPORT void cpBodySetVelocity(cpBody *body, cpVect velocity); + +/// Get the force applied to the body for the next time step. +CP_EXPORT cpVect cpBodyGetForce(const cpBody *body); +/// Set the force applied to the body for the next time step. +CP_EXPORT void cpBodySetForce(cpBody *body, cpVect force); + +/// Get the angle of the body. +CP_EXPORT cpFloat cpBodyGetAngle(const cpBody *body); +/// Set the angle of a body. +CP_EXPORT void cpBodySetAngle(cpBody *body, cpFloat a); + +/// Get the angular velocity of the body. +CP_EXPORT cpFloat cpBodyGetAngularVelocity(const cpBody *body); +/// Set the angular velocity of the body. +CP_EXPORT void cpBodySetAngularVelocity(cpBody *body, cpFloat angularVelocity); + +/// Get the torque applied to the body for the next time step. +CP_EXPORT cpFloat cpBodyGetTorque(const cpBody *body); +/// Set the torque applied to the body for the next time step. +CP_EXPORT void cpBodySetTorque(cpBody *body, cpFloat torque); + +/// Get the rotation vector of the body. (The x basis vector of it's transform.) +CP_EXPORT cpVect cpBodyGetRotation(const cpBody *body); + +/// Get the user data pointer assigned to the body. +CP_EXPORT cpDataPointer cpBodyGetUserData(const cpBody *body); +/// Set the user data pointer assigned to the body. +CP_EXPORT void cpBodySetUserData(cpBody *body, cpDataPointer userData); + +/// Set the callback used to update a body's velocity. +CP_EXPORT void cpBodySetVelocityUpdateFunc(cpBody *body, cpBodyVelocityFunc velocityFunc); +/// Set the callback used to update a body's position. +/// NOTE: It's not generally recommended to override this unless you call the default position update function. +CP_EXPORT void cpBodySetPositionUpdateFunc(cpBody *body, cpBodyPositionFunc positionFunc); + +/// Default velocity integration function.. +CP_EXPORT void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); +/// Default position integration function. +CP_EXPORT void cpBodyUpdatePosition(cpBody *body, cpFloat dt); /// Convert body relative/local coordinates to absolute/world coordinates. -static inline cpVect cpBodyLocal2World(const cpBody *body, const cpVect v) -{ - return cpvadd(body->p, cpvrotate(v, body->rot)); -} - +CP_EXPORT cpVect cpBodyLocalToWorld(const cpBody *body, const cpVect point); /// Convert body absolute/world coordinates to relative/local coordinates. -static inline cpVect cpBodyWorld2Local(const cpBody *body, const cpVect v) -{ - return cpvunrotate(cpvsub(v, body->p), body->rot); -} +CP_EXPORT cpVect cpBodyWorldToLocal(const cpBody *body, const cpVect point); -/// Set the forces and torque or a body to zero. -void cpBodyResetForces(cpBody *body); -/// Apply an force (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyForce(cpBody *body, const cpVect f, const cpVect r); -/// Apply an impulse (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyImpulse(cpBody *body, const cpVect j, const cpVect r); +/// Apply a force to a body. Both the force and point are expressed in world coordinates. +CP_EXPORT void cpBodyApplyForceAtWorldPoint(cpBody *body, cpVect force, cpVect point); +/// Apply a force to a body. Both the force and point are expressed in body local coordinates. +CP_EXPORT void cpBodyApplyForceAtLocalPoint(cpBody *body, cpVect force, cpVect point); + +/// Apply an impulse to a body. Both the impulse and point are expressed in world coordinates. +CP_EXPORT void cpBodyApplyImpulseAtWorldPoint(cpBody *body, cpVect impulse, cpVect point); +/// Apply an impulse to a body. Both the impulse and point are expressed in body local coordinates. +CP_EXPORT void cpBodyApplyImpulseAtLocalPoint(cpBody *body, cpVect impulse, cpVect point); /// Get the velocity on a body (in world units) at a point on the body in world coordinates. -cpVect cpBodyGetVelAtWorldPoint(cpBody *body, cpVect point); +CP_EXPORT cpVect cpBodyGetVelocityAtWorldPoint(const cpBody *body, cpVect point); /// Get the velocity on a body (in world units) at a point on the body in local coordinates. -cpVect cpBodyGetVelAtLocalPoint(cpBody *body, cpVect point); +CP_EXPORT cpVect cpBodyGetVelocityAtLocalPoint(const cpBody *body, cpVect point); - -/// Get the kinetic energy of a body. -static inline cpFloat cpBodyKineticEnergy(const cpBody *body) -{ - // Need to do some fudging to avoid NaNs - cpFloat vsq = cpvdot(body->v, body->v); - cpFloat wsq = body->w*body->w; - return (vsq ? vsq*body->m : 0.0f) + (wsq ? wsq*body->i : 0.0f); -} +/// Get the amount of kinetic energy contained by the body. +CP_EXPORT cpFloat cpBodyKineticEnergy(const cpBody *body); /// Body/shape iterator callback function type. typedef void (*cpBodyShapeIteratorFunc)(cpBody *body, cpShape *shape, void *data); /// Call @c func once for each shape attached to @c body and added to the space. -void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data); /// Body/constraint iterator callback function type. typedef void (*cpBodyConstraintIteratorFunc)(cpBody *body, cpConstraint *constraint, void *data); /// Call @c func once for each constraint attached to @c body and added to the space. -void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data); /// Body/arbiter iterator callback function type. typedef void (*cpBodyArbiterIteratorFunc)(cpBody *body, cpArbiter *arbiter, void *data); /// Call @c func once for each arbiter that is currently active on the body. -void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data); ///@} diff --git a/android/armeabi/include/chipmunk/chipmunk/cpConstraint.h b/mac/include/chipmunk/cpConstraint.h similarity index 100% rename from android/armeabi/include/chipmunk/chipmunk/cpConstraint.h rename to mac/include/chipmunk/cpConstraint.h diff --git a/android/armeabi/include/chipmunk/chipmunk/cpDampedRotarySpring.h b/mac/include/chipmunk/cpDampedRotarySpring.h similarity index 100% rename from android/armeabi/include/chipmunk/chipmunk/cpDampedRotarySpring.h rename to mac/include/chipmunk/cpDampedRotarySpring.h diff --git a/android/armeabi/include/chipmunk/chipmunk/cpDampedSpring.h b/mac/include/chipmunk/cpDampedSpring.h similarity index 100% rename from android/armeabi/include/chipmunk/chipmunk/cpDampedSpring.h rename to mac/include/chipmunk/cpDampedSpring.h diff --git a/android/armeabi/include/chipmunk/chipmunk/cpGearJoint.h b/mac/include/chipmunk/cpGearJoint.h similarity index 100% rename from android/armeabi/include/chipmunk/chipmunk/cpGearJoint.h rename to mac/include/chipmunk/cpGearJoint.h diff --git a/android/armeabi/include/chipmunk/chipmunk/cpGrooveJoint.h b/mac/include/chipmunk/cpGrooveJoint.h similarity index 100% rename from android/armeabi/include/chipmunk/chipmunk/cpGrooveJoint.h rename to mac/include/chipmunk/cpGrooveJoint.h diff --git a/android/armeabi/include/chipmunk/chipmunk/cpHastySpace.h b/mac/include/chipmunk/cpHastySpace.h similarity index 100% rename from android/armeabi/include/chipmunk/chipmunk/cpHastySpace.h rename to mac/include/chipmunk/cpHastySpace.h diff --git a/android/armeabi/include/chipmunk/chipmunk/cpMarch.h b/mac/include/chipmunk/cpMarch.h similarity index 100% rename from android/armeabi/include/chipmunk/chipmunk/cpMarch.h rename to mac/include/chipmunk/cpMarch.h diff --git a/android/armeabi/include/chipmunk/chipmunk/cpPinJoint.h b/mac/include/chipmunk/cpPinJoint.h similarity index 100% rename from android/armeabi/include/chipmunk/chipmunk/cpPinJoint.h rename to mac/include/chipmunk/cpPinJoint.h diff --git a/android/armeabi/include/chipmunk/chipmunk/cpPivotJoint.h b/mac/include/chipmunk/cpPivotJoint.h similarity index 100% rename from android/armeabi/include/chipmunk/chipmunk/cpPivotJoint.h rename to mac/include/chipmunk/cpPivotJoint.h diff --git a/mac/include/chipmunk/cpPolyShape.h b/mac/include/chipmunk/cpPolyShape.h index a5587ba2..25f688b8 100644 --- a/mac/include/chipmunk/cpPolyShape.h +++ b/mac/include/chipmunk/cpPolyShape.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -22,60 +22,35 @@ /// @defgroup cpPolyShape cpPolyShape /// @{ -/// @private -typedef struct cpSplittingPlane { - cpVect n; - cpFloat d; -} cpSplittingPlane; - -/// @private -typedef struct cpPolyShape { - cpShape shape; - - int numVerts; - cpVect *verts, *tVerts; - cpSplittingPlane *planes, *tPlanes; - - cpFloat r; -} cpPolyShape; - /// Allocate a polygon shape. -cpPolyShape* cpPolyShapeAlloc(void); -/// Initialize a polygon shape. +CP_EXPORT cpPolyShape* cpPolyShapeAlloc(void); +/// Initialize a polygon shape with rounded corners. /// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Initialize a polygon shape. +CP_EXPORT cpPolyShape* cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int count, const cpVect *verts, cpTransform transform, cpFloat radius); +/// Initialize a polygon shape with rounded corners. +/// The vertexes must be convex with a counter-clockwise winding. +CP_EXPORT cpPolyShape* cpPolyShapeInitRaw(cpPolyShape *poly, cpBody *body, int count, const cpVect *verts, cpFloat radius); +/// Allocate and initialize a polygon shape with rounded corners. /// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit2(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew(cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew2(cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); +CP_EXPORT cpShape* cpPolyShapeNew(cpBody *body, int count, const cpVect *verts, cpTransform transform, cpFloat radius); +/// Allocate and initialize a polygon shape with rounded corners. +/// The vertexes must be convex with a counter-clockwise winding. +CP_EXPORT cpShape* cpPolyShapeNewRaw(cpBody *body, int count, const cpVect *verts, cpFloat radius); -/// Initialize a box shaped polygon shape. -cpPolyShape* cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit2(cpPolyShape *poly, cpBody *body, cpBB box); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit3(cpPolyShape *poly, cpBody *body, cpBB box, cpFloat radius); +/// Initialize a box shaped polygon shape with rounded corners. +CP_EXPORT cpPolyShape* cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height, cpFloat radius); +/// Initialize an offset box shaped polygon shape with rounded corners. +CP_EXPORT cpPolyShape* cpBoxShapeInit2(cpPolyShape *poly, cpBody *body, cpBB box, cpFloat radius); /// Allocate and initialize a box shaped polygon shape. -cpShape* cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height); +CP_EXPORT cpShape* cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height, cpFloat radius); /// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew2(cpBody *body, cpBB box); -/// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew3(cpBody *body, cpBB box, cpFloat radius); - -/// Check that a set of vertexes is convex and has a clockwise winding. -/// NOTE: Due to floating point precision issues, hulls created with cpQuickHull() are not guaranteed to validate! -cpBool cpPolyValidate(const cpVect *verts, const int numVerts); +CP_EXPORT cpShape* cpBoxShapeNew2(cpBody *body, cpBB box, cpFloat radius); /// Get the number of verts in a polygon shape. -int cpPolyShapeGetNumVerts(const cpShape *shape); +CP_EXPORT int cpPolyShapeGetCount(const cpShape *shape); /// Get the @c ith vertex of a polygon shape. -cpVect cpPolyShapeGetVert(const cpShape *shape, int idx); +CP_EXPORT cpVect cpPolyShapeGetVert(const cpShape *shape, int index); /// Get the radius of a polygon shape. -cpFloat cpPolyShapeGetRadius(const cpShape *shape); +CP_EXPORT cpFloat cpPolyShapeGetRadius(const cpShape *shape); /// @} diff --git a/android/armeabi/include/chipmunk/chipmunk/cpPolyline.h b/mac/include/chipmunk/cpPolyline.h similarity index 100% rename from android/armeabi/include/chipmunk/chipmunk/cpPolyline.h rename to mac/include/chipmunk/cpPolyline.h diff --git a/android/armeabi/include/chipmunk/chipmunk/cpRatchetJoint.h b/mac/include/chipmunk/cpRatchetJoint.h similarity index 100% rename from android/armeabi/include/chipmunk/chipmunk/cpRatchetJoint.h rename to mac/include/chipmunk/cpRatchetJoint.h diff --git a/android/armeabi/include/chipmunk/chipmunk/cpRobust.h b/mac/include/chipmunk/cpRobust.h similarity index 100% rename from android/armeabi/include/chipmunk/chipmunk/cpRobust.h rename to mac/include/chipmunk/cpRobust.h diff --git a/android/armeabi/include/chipmunk/chipmunk/cpRotaryLimitJoint.h b/mac/include/chipmunk/cpRotaryLimitJoint.h similarity index 100% rename from android/armeabi/include/chipmunk/chipmunk/cpRotaryLimitJoint.h rename to mac/include/chipmunk/cpRotaryLimitJoint.h diff --git a/mac/include/chipmunk/cpShape.h b/mac/include/chipmunk/cpShape.h index 62920c37..cc20f809 100644 --- a/mac/include/chipmunk/cpShape.h +++ b/mac/include/chipmunk/cpShape.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -18,215 +18,182 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. */ - + /// @defgroup cpShape cpShape /// The cpShape struct defines the shape of a rigid body. /// @{ -typedef struct cpShapeClass cpShapeClass; - -/// Nearest point query info struct. -typedef struct cpNearestPointQueryInfo { +/// Point query info struct. +typedef struct cpPointQueryInfo { /// The nearest shape, NULL if no shape was within range. - cpShape *shape; + const cpShape *shape; /// The closest point on the shape's surface. (in world space coordinates) - cpVect p; + cpVect point; /// The distance to the point. The distance is negative if the point is inside the shape. - cpFloat d; + cpFloat distance; /// The gradient of the signed distance function. - /// The same as info.p/info.d, but accurate even for very small values of info.d. - cpVect g; -} cpNearestPointQueryInfo; + /// The value should be similar to info.p/info.d, but accurate even for very small values of info.d. + cpVect gradient; +} cpPointQueryInfo; /// Segment query info struct. typedef struct cpSegmentQueryInfo { - /// The shape that was hit, NULL if no collision occured. - cpShape *shape; - /// The normalized distance along the query segment in the range [0, 1]. - cpFloat t; + /// The shape that was hit, or NULL if no collision occured. + const cpShape *shape; + /// The point of impact. + cpVect point; /// The normal of the surface hit. - cpVect n; + cpVect normal; + /// The normalized distance along the query segment in the range [0, 1]. + cpFloat alpha; } cpSegmentQueryInfo; -/// @private -typedef enum cpShapeType{ - CP_CIRCLE_SHAPE, - CP_SEGMENT_SHAPE, - CP_POLY_SHAPE, - CP_NUM_SHAPES -} cpShapeType; - -typedef cpBB (*cpShapeCacheDataImpl)(cpShape *shape, cpVect p, cpVect rot); -typedef void (*cpShapeDestroyImpl)(cpShape *shape); -typedef void (*cpShapeNearestPointQueryImpl)(cpShape *shape, cpVect p, cpNearestPointQueryInfo *info); -typedef void (*cpShapeSegmentQueryImpl)(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); - -/// @private -struct cpShapeClass { - cpShapeType type; - - cpShapeCacheDataImpl cacheData; - cpShapeDestroyImpl destroy; - cpShapeNearestPointQueryImpl nearestPointQuery; - cpShapeSegmentQueryImpl segmentQuery; -}; - -/// Opaque collision shape struct. -struct cpShape { - CP_PRIVATE(const cpShapeClass *klass); - - /// The rigid body this collision shape is attached to. - cpBody *body; - - /// The current bounding box of the shape. - cpBB bb; - - /// Sensor flag. - /// Sensor shapes call collision callbacks but don't produce collisions. - cpBool sensor; - - /// Coefficient of restitution. (elasticity) - cpFloat e; - /// Coefficient of friction. - cpFloat u; - /// Surface velocity used when solving for friction. - cpVect surface_v; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpShape reference in a callback. - cpDataPointer data; - - /// Collision type of this shape used when picking collision handlers. - cpCollisionType collision_type; - /// Group of this shape. Shapes in the same group don't collide. +/// Fast collision filtering type that is used to determine if two objects collide before calling collision or query callbacks. +typedef struct cpShapeFilter { + /// Two objects with the same non-zero group value do not collide. + /// This is generally used to group objects in a composite object together to disable self collisions. cpGroup group; - // Layer bitmask for this shape. Shapes only collide if the bitwise and of their layers is non-zero. - cpLayers layers; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *next); - CP_PRIVATE(cpShape *prev); - - CP_PRIVATE(cpHashValue hashid); -}; + /// A bitmask of user definable categories that this object belongs to. + /// The category/mask combinations of both objects in a collision must agree for a collision to occur. + cpBitmask categories; + /// A bitmask of user definable category types that this object object collides with. + /// The category/mask combinations of both objects in a collision must agree for a collision to occur. + cpBitmask mask; +} cpShapeFilter; + +/// Collision filter value for a shape that will collide with anything except CP_SHAPE_FILTER_NONE. +static const cpShapeFilter CP_SHAPE_FILTER_ALL = {CP_NO_GROUP, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES}; +/// Collision filter value for a shape that does not collide with anything. +static const cpShapeFilter CP_SHAPE_FILTER_NONE = {CP_NO_GROUP, ~CP_ALL_CATEGORIES, ~CP_ALL_CATEGORIES}; + +/// Create a new collision filter. +static inline cpShapeFilter +cpShapeFilterNew(cpGroup group, cpBitmask categories, cpBitmask mask) +{ + cpShapeFilter filter = {group, categories, mask}; + return filter; +} /// Destroy a shape. -void cpShapeDestroy(cpShape *shape); +CP_EXPORT void cpShapeDestroy(cpShape *shape); /// Destroy and Free a shape. -void cpShapeFree(cpShape *shape); +CP_EXPORT void cpShapeFree(cpShape *shape); /// Update, cache and return the bounding box of a shape based on the body it's attached to. -cpBB cpShapeCacheBB(cpShape *shape); +CP_EXPORT cpBB cpShapeCacheBB(cpShape *shape); /// Update, cache and return the bounding box of a shape with an explicit transformation. -cpBB cpShapeUpdate(cpShape *shape, cpVect pos, cpVect rot); - -/// Test if a point lies within a shape. -cpBool cpShapePointQuery(cpShape *shape, cpVect p); +CP_EXPORT cpBB cpShapeUpdate(cpShape *shape, cpTransform transform); /// Perform a nearest point query. It finds the closest point on the surface of shape to a specific point. /// The value returned is the distance between the points. A negative distance means the point is inside the shape. -cpFloat cpShapeNearestPointQuery(cpShape *shape, cpVect p, cpNearestPointQueryInfo *out); +CP_EXPORT cpFloat cpShapePointQuery(const cpShape *shape, cpVect p, cpPointQueryInfo *out); /// Perform a segment query against a shape. @c info must be a pointer to a valid cpSegmentQueryInfo structure. -cpBool cpShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); +CP_EXPORT cpBool cpShapeSegmentQuery(const cpShape *shape, cpVect a, cpVect b, cpFloat radius, cpSegmentQueryInfo *info); -/// Get the hit point for a segment query. -static inline cpVect cpSegmentQueryHitPoint(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvlerp(start, end, info.t); -} +/// Return contact information about two shapes. +CP_EXPORT cpContactPointSet cpShapesCollide(const cpShape *a, const cpShape *b); -/// Get the hit distance for a segment query. -static inline cpFloat cpSegmentQueryHitDist(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvdist(start, end)*info.t; -} +/// The cpSpace this body is added to. +CP_EXPORT cpSpace* cpShapeGetSpace(const cpShape *shape); -#define CP_DefineShapeStructGetter(type, member, name) \ -static inline type cpShapeGet##name(const cpShape *shape){return shape->member;} +/// The cpBody this shape is connected to. +CP_EXPORT cpBody* cpShapeGetBody(const cpShape *shape); +/// Set the cpBody this shape is connected to. +/// Can only be used if the shape is not currently added to a space. +CP_EXPORT void cpShapeSetBody(cpShape *shape, cpBody *body); -#define CP_DefineShapeStructSetter(type, member, name, activates) \ -static inline void cpShapeSet##name(cpShape *shape, type value){ \ - if(activates && shape->body) cpBodyActivate(shape->body); \ - shape->member = value; \ -} +/// Get the mass of the shape if you are having Chipmunk calculate mass properties for you. +cpFloat cpShapeGetMass(cpShape *shape); +/// Set the mass of this shape to have Chipmunk calculate mass properties for you. +CP_EXPORT void cpShapeSetMass(cpShape *shape, cpFloat mass); -#define CP_DefineShapeStructProperty(type, member, name, activates) \ -CP_DefineShapeStructGetter(type, member, name) \ -CP_DefineShapeStructSetter(type, member, name, activates) +/// Get the density of the shape if you are having Chipmunk calculate mass properties for you. +CP_EXPORT cpFloat cpShapeGetDensity(cpShape *shape); +/// Set the density of this shape to have Chipmunk calculate mass properties for you. +CP_EXPORT void cpShapeSetDensity(cpShape *shape, cpFloat density); -CP_DefineShapeStructGetter(cpSpace*, CP_PRIVATE(space), Space) +/// Get the calculated moment of inertia for this shape. +CP_EXPORT cpFloat cpShapeGetMoment(cpShape *shape); +/// Get the calculated area of this shape. +CP_EXPORT cpFloat cpShapeGetArea(cpShape *shape); +/// Get the centroid of this shape. +CP_EXPORT cpVect cpShapeGetCenterOfGravity(cpShape *shape); -CP_DefineShapeStructGetter(cpBody*, body, Body) -void cpShapeSetBody(cpShape *shape, cpBody *body); +/// Get the bounding box that contains the shape given it's current position and angle. +CP_EXPORT cpBB cpShapeGetBB(const cpShape *shape); -CP_DefineShapeStructGetter(cpBB, bb, BB) -CP_DefineShapeStructProperty(cpBool, sensor, Sensor, cpTrue) -CP_DefineShapeStructProperty(cpFloat, e, Elasticity, cpFalse) -CP_DefineShapeStructProperty(cpFloat, u, Friction, cpTrue) -CP_DefineShapeStructProperty(cpVect, surface_v, SurfaceVelocity, cpTrue) -CP_DefineShapeStructProperty(cpDataPointer, data, UserData, cpFalse) -CP_DefineShapeStructProperty(cpCollisionType, collision_type, CollisionType, cpTrue) -CP_DefineShapeStructProperty(cpGroup, group, Group, cpTrue) -CP_DefineShapeStructProperty(cpLayers, layers, Layers, cpTrue) +/// Get if the shape is set to be a sensor or not. +CP_EXPORT cpBool cpShapeGetSensor(const cpShape *shape); +/// Set if the shape is a sensor or not. +CP_EXPORT void cpShapeSetSensor(cpShape *shape, cpBool sensor); -/// When initializing a shape, it's hash value comes from a counter. -/// Because the hash value may affect iteration order, you can reset the shape ID counter -/// when recreating a space. This will make the simulation be deterministic. -void cpResetShapeIdCounter(void); +/// Get the elasticity of this shape. +CP_EXPORT cpFloat cpShapeGetElasticity(const cpShape *shape); +/// Set the elasticity of this shape. +CP_EXPORT void cpShapeSetElasticity(cpShape *shape, cpFloat elasticity); + +/// Get the friction of this shape. +CP_EXPORT cpFloat cpShapeGetFriction(const cpShape *shape); +/// Set the friction of this shape. +CP_EXPORT void cpShapeSetFriction(cpShape *shape, cpFloat friction); + +/// Get the surface velocity of this shape. +CP_EXPORT cpVect cpShapeGetSurfaceVelocity(const cpShape *shape); +/// Set the surface velocity of this shape. +CP_EXPORT void cpShapeSetSurfaceVelocity(cpShape *shape, cpVect surfaceVelocity); + +/// Get the user definable data pointer of this shape. +CP_EXPORT cpDataPointer cpShapeGetUserData(const cpShape *shape); +/// Set the user definable data pointer of this shape. +CP_EXPORT void cpShapeSetUserData(cpShape *shape, cpDataPointer userData); + +/// Set the collision type of this shape. +CP_EXPORT cpCollisionType cpShapeGetCollisionType(const cpShape *shape); +/// Get the collision type of this shape. +CP_EXPORT void cpShapeSetCollisionType(cpShape *shape, cpCollisionType collisionType); + +/// Get the collision filtering parameters of this shape. +CP_EXPORT cpShapeFilter cpShapeGetFilter(const cpShape *shape); +/// Set the collision filtering parameters of this shape. +CP_EXPORT void cpShapeSetFilter(cpShape *shape, cpShapeFilter filter); -#define CP_DeclareShapeGetter(struct, type, name) type struct##Get##name(const cpShape *shape) /// @} /// @defgroup cpCircleShape cpCircleShape -/// @private -typedef struct cpCircleShape { - cpShape shape; - - cpVect c, tc; - cpFloat r; -} cpCircleShape; - /// Allocate a circle shape. -cpCircleShape* cpCircleShapeAlloc(void); +CP_EXPORT cpCircleShape* cpCircleShapeAlloc(void); /// Initialize a circle shape. -cpCircleShape* cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset); +CP_EXPORT cpCircleShape* cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset); /// Allocate and initialize a circle shape. -cpShape* cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset); +CP_EXPORT cpShape* cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset); -CP_DeclareShapeGetter(cpCircleShape, cpVect, Offset); -CP_DeclareShapeGetter(cpCircleShape, cpFloat, Radius); +/// Get the offset of a circle shape. +CP_EXPORT cpVect cpCircleShapeGetOffset(const cpShape *shape); +/// Get the radius of a circle shape. +CP_EXPORT cpFloat cpCircleShapeGetRadius(const cpShape *shape); /// @} /// @defgroup cpSegmentShape cpSegmentShape -/// @private -typedef struct cpSegmentShape { - cpShape shape; - - cpVect a, b, n; - cpVect ta, tb, tn; - cpFloat r; - - cpVect a_tangent, b_tangent; -} cpSegmentShape; - /// Allocate a segment shape. -cpSegmentShape* cpSegmentShapeAlloc(void); +CP_EXPORT cpSegmentShape* cpSegmentShapeAlloc(void); /// Initialize a segment shape. -cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius); +CP_EXPORT cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius); /// Allocate and initialize a segment shape. -cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius); +CP_EXPORT cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius); /// Let Chipmunk know about the geometry of adjacent segments to avoid colliding with endcaps. -void cpSegmentShapeSetNeighbors(cpShape *shape, cpVect prev, cpVect next); +CP_EXPORT void cpSegmentShapeSetNeighbors(cpShape *shape, cpVect prev, cpVect next); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, A); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, B); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, Normal); -CP_DeclareShapeGetter(cpSegmentShape, cpFloat, Radius); +/// Get the first endpoint of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetA(const cpShape *shape); +/// Get the second endpoint of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetB(const cpShape *shape); +/// Get the normal of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetNormal(const cpShape *shape); +/// Get the first endpoint of a segment shape. +CP_EXPORT cpFloat cpSegmentShapeGetRadius(const cpShape *shape); /// @} diff --git a/android/armeabi/include/chipmunk/chipmunk/cpSimpleMotor.h b/mac/include/chipmunk/cpSimpleMotor.h similarity index 100% rename from android/armeabi/include/chipmunk/chipmunk/cpSimpleMotor.h rename to mac/include/chipmunk/cpSimpleMotor.h diff --git a/android/armeabi/include/chipmunk/chipmunk/cpSlideJoint.h b/mac/include/chipmunk/cpSlideJoint.h similarity index 100% rename from android/armeabi/include/chipmunk/chipmunk/cpSlideJoint.h rename to mac/include/chipmunk/cpSlideJoint.h diff --git a/mac/include/chipmunk/cpSpace.h b/mac/include/chipmunk/cpSpace.h index 26439f76..7bbabb85 100644 --- a/mac/include/chipmunk/cpSpace.h +++ b/mac/include/chipmunk/cpSpace.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -22,191 +22,161 @@ /// @defgroup cpSpace cpSpace /// @{ -typedef struct cpContactBufferHeader cpContactBufferHeader; -typedef void (*cpSpaceArbiterApplyImpulseFunc)(cpArbiter *arb); +//MARK: Definitions -/// Basic Unit of Simulation in Chipmunk -struct cpSpace { - /// Number of iterations to use in the impulse solver to solve contacts. - int iterations; - - /// Gravity to pass to rigid bodies when integrating velocity. - cpVect gravity; - - /// Damping rate expressed as the fraction of velocity bodies retain each second. - /// A value of 0.9 would mean that each body's velocity will drop 10% per second. - /// The default value is 1.0, meaning no damping is applied. - /// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring. - cpFloat damping; - - /// Speed threshold for a body to be considered idle. - /// The default value of 0 means to let the space guess a good threshold based on gravity. - cpFloat idleSpeedThreshold; - - /// Time a group of bodies must remain idle in order to fall asleep. - /// Enabling sleeping also implicitly enables the the contact graph. - /// The default value of INFINITY disables the sleeping algorithm. - cpFloat sleepTimeThreshold; - - /// Amount of encouraged penetration between colliding shapes. - /// Used to reduce oscillating contacts and keep the collision cache warm. - /// Defaults to 0.1. If you have poor simulation quality, - /// increase this number as much as possible without allowing visible amounts of overlap. - cpFloat collisionSlop; - - /// Determines how fast overlapping shapes are pushed apart. - /// Expressed as a fraction of the error remaining after each second. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz. - cpFloat collisionBias; - - /// Number of frames that contact information should persist. - /// Defaults to 3. There is probably never a reason to change this value. - cpTimestamp collisionPersistence; - - /// Rebuild the contact graph during each step. Must be enabled to use the cpBodyEachArbiter() function. - /// Disabled by default for a small performance boost. Enabled implicitly when the sleeping feature is enabled. - cpBool enableContactGraph; - - /// User definable data pointer. - /// Generally this points to your game's controller or game state - /// class so you can access it when given a cpSpace reference in a callback. - cpDataPointer data; - - /// The designated static body for this space. - /// You can modify this body, or replace it with your own static body. - /// By default it points to a statically allocated cpBody in the cpSpace struct. - cpBody *staticBody; - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpFloat curr_dt); +/// Collision begin event function callback type. +/// Returning false from a begin callback causes the collision to be ignored until +/// the the separate callback is called when the objects stop colliding. +typedef cpBool (*cpCollisionBeginFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision pre-solve event function callback type. +/// Returning false from a pre-step callback causes the collision to be ignored until the next step. +typedef cpBool (*cpCollisionPreSolveFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision post-solve event function callback type. +typedef void (*cpCollisionPostSolveFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision separate event function callback type. +typedef void (*cpCollisionSeparateFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); - CP_PRIVATE(cpArray *bodies); - CP_PRIVATE(cpArray *rousedBodies); - CP_PRIVATE(cpArray *sleepingComponents); - - CP_PRIVATE(cpSpatialIndex *staticShapes); - CP_PRIVATE(cpSpatialIndex *activeShapes); - - CP_PRIVATE(cpArray *arbiters); - CP_PRIVATE(cpContactBufferHeader *contactBuffersHead); - CP_PRIVATE(cpHashSet *cachedArbiters); - CP_PRIVATE(cpArray *pooledArbiters); - CP_PRIVATE(cpArray *constraints); - - CP_PRIVATE(cpArray *allocatedBuffers); - CP_PRIVATE(int locked); - - CP_PRIVATE(cpHashSet *collisionHandlers); - CP_PRIVATE(cpCollisionHandler defaultHandler); - - CP_PRIVATE(cpBool skipPostStep); - CP_PRIVATE(cpArray *postStepCallbacks); - - CP_PRIVATE(cpBody _staticBody); +/// Struct that holds function callback pointers to configure custom collision handling. +/// Collision handlers have a pair of types; when a collision occurs between two shapes that have these types, the collision handler functions are triggered. +struct cpCollisionHandler { + /// Collision type identifier of the first shape that this handler recognizes. + /// In the collision handler callback, the shape with this type will be the first argument. Read only. + const cpCollisionType typeA; + /// Collision type identifier of the second shape that this handler recognizes. + /// In the collision handler callback, the shape with this type will be the second argument. Read only. + const cpCollisionType typeB; + /// This function is called when two shapes with types that match this collision handler begin colliding. + cpCollisionBeginFunc beginFunc; + /// This function is called each step when two shapes with types that match this collision handler are colliding. + /// It's called before the collision solver runs so that you can affect a collision's outcome. + cpCollisionPreSolveFunc preSolveFunc; + /// This function is called each step when two shapes with types that match this collision handler are colliding. + /// It's called after the collision solver runs so that you can read back information about the collision to trigger events in your game. + cpCollisionPostSolveFunc postSolveFunc; + /// This function is called when two shapes with types that match this collision handler stop colliding. + cpCollisionSeparateFunc separateFunc; + /// This is a user definable context pointer that is passed to all of the collision handler functions. + cpDataPointer userData; }; +// TODO: Make timestep a parameter? + + +//MARK: Memory and Initialization + /// Allocate a cpSpace. -cpSpace* cpSpaceAlloc(void); +CP_EXPORT cpSpace* cpSpaceAlloc(void); /// Initialize a cpSpace. -cpSpace* cpSpaceInit(cpSpace *space); +CP_EXPORT cpSpace* cpSpaceInit(cpSpace *space); /// Allocate and initialize a cpSpace. -cpSpace* cpSpaceNew(void); +CP_EXPORT cpSpace* cpSpaceNew(void); /// Destroy a cpSpace. -void cpSpaceDestroy(cpSpace *space); +CP_EXPORT void cpSpaceDestroy(cpSpace *space); /// Destroy and free a cpSpace. -void cpSpaceFree(cpSpace *space); +CP_EXPORT void cpSpaceFree(cpSpace *space); -#define CP_DefineSpaceStructGetter(type, member, name) \ -static inline type cpSpaceGet##name(const cpSpace *space){return space->member;} -#define CP_DefineSpaceStructSetter(type, member, name) \ -static inline void cpSpaceSet##name(cpSpace *space, type value){space->member = value;} +//MARK: Properties -#define CP_DefineSpaceStructProperty(type, member, name) \ -CP_DefineSpaceStructGetter(type, member, name) \ -CP_DefineSpaceStructSetter(type, member, name) +/// Number of iterations to use in the impulse solver to solve contacts and other constraints. +CP_EXPORT int cpSpaceGetIterations(const cpSpace *space); +CP_EXPORT void cpSpaceSetIterations(cpSpace *space, int iterations); -CP_DefineSpaceStructProperty(int, iterations, Iterations) -CP_DefineSpaceStructProperty(cpVect, gravity, Gravity) -CP_DefineSpaceStructProperty(cpFloat, damping, Damping) -CP_DefineSpaceStructProperty(cpFloat, idleSpeedThreshold, IdleSpeedThreshold) -CP_DefineSpaceStructProperty(cpFloat, sleepTimeThreshold, SleepTimeThreshold) -CP_DefineSpaceStructProperty(cpFloat, collisionSlop, CollisionSlop) -CP_DefineSpaceStructProperty(cpFloat, collisionBias, CollisionBias) -CP_DefineSpaceStructProperty(cpTimestamp, collisionPersistence, CollisionPersistence) -CP_DefineSpaceStructProperty(cpBool, enableContactGraph, EnableContactGraph) -CP_DefineSpaceStructProperty(cpDataPointer, data, UserData) -CP_DefineSpaceStructGetter(cpBody*, staticBody, StaticBody) -CP_DefineSpaceStructGetter(cpFloat, CP_PRIVATE(curr_dt), CurrentTimeStep) +/// Gravity to pass to rigid bodies when integrating velocity. +CP_EXPORT cpVect cpSpaceGetGravity(const cpSpace *space); +CP_EXPORT void cpSpaceSetGravity(cpSpace *space, cpVect gravity); -/// returns true from inside a callback and objects cannot be added/removed. -static inline cpBool -cpSpaceIsLocked(cpSpace *space) -{ - return space->CP_PRIVATE(locked); -} +/// Damping rate expressed as the fraction of velocity bodies retain each second. +/// A value of 0.9 would mean that each body's velocity will drop 10% per second. +/// The default value is 1.0, meaning no damping is applied. +/// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring. +CP_EXPORT cpFloat cpSpaceGetDamping(const cpSpace *space); +CP_EXPORT void cpSpaceSetDamping(cpSpace *space, cpFloat damping); -/// Set a default collision handler for this space. -/// The default collision handler is invoked for each colliding pair of shapes -/// that isn't explicitly handled by a specific collision handler. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceSetDefaultCollisionHandler( - cpSpace *space, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); +/// Speed threshold for a body to be considered idle. +/// The default value of 0 means to let the space guess a good threshold based on gravity. +CP_EXPORT cpFloat cpSpaceGetIdleSpeedThreshold(const cpSpace *space); +CP_EXPORT void cpSpaceSetIdleSpeedThreshold(cpSpace *space, cpFloat idleSpeedThreshold); -/// Set a collision handler to be used whenever the two shapes with the given collision types collide. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceAddCollisionHandler( - cpSpace *space, - cpCollisionType a, cpCollisionType b, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); +/// Time a group of bodies must remain idle in order to fall asleep. +/// Enabling sleeping also implicitly enables the the contact graph. +/// The default value of INFINITY disables the sleeping algorithm. +CP_EXPORT cpFloat cpSpaceGetSleepTimeThreshold(const cpSpace *space); +CP_EXPORT void cpSpaceSetSleepTimeThreshold(cpSpace *space, cpFloat sleepTimeThreshold); -/// Unset a collision handler. -void cpSpaceRemoveCollisionHandler(cpSpace *space, cpCollisionType a, cpCollisionType b); +/// Amount of encouraged penetration between colliding shapes. +/// Used to reduce oscillating contacts and keep the collision cache warm. +/// Defaults to 0.1. If you have poor simulation quality, +/// increase this number as much as possible without allowing visible amounts of overlap. +CP_EXPORT cpFloat cpSpaceGetCollisionSlop(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionSlop(cpSpace *space, cpFloat collisionSlop); + +/// Determines how fast overlapping shapes are pushed apart. +/// Expressed as a fraction of the error remaining after each second. +/// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz. +CP_EXPORT cpFloat cpSpaceGetCollisionBias(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionBias(cpSpace *space, cpFloat collisionBias); + +/// Number of frames that contact information should persist. +/// Defaults to 3. There is probably never a reason to change this value. +CP_EXPORT cpTimestamp cpSpaceGetCollisionPersistence(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionPersistence(cpSpace *space, cpTimestamp collisionPersistence); + +/// User definable data pointer. +/// Generally this points to your game's controller or game state +/// class so you can access it when given a cpSpace reference in a callback. +CP_EXPORT cpDataPointer cpSpaceGetUserData(const cpSpace *space); +CP_EXPORT void cpSpaceSetUserData(cpSpace *space, cpDataPointer userData); + +/// The Space provided static body for a given cpSpace. +/// This is merely provided for convenience and you are not required to use it. +CP_EXPORT cpBody* cpSpaceGetStaticBody(const cpSpace *space); + +/// Returns the current (or most recent) time step used with the given space. +/// Useful from callbacks if your time step is not a compile-time global. +CP_EXPORT cpFloat cpSpaceGetCurrentTimeStep(const cpSpace *space); + +/// returns true from inside a callback when objects cannot be added/removed. +CP_EXPORT cpBool cpSpaceIsLocked(cpSpace *space); + + +//MARK: Collision Handlers + +/// Create or return the existing collision handler that is called for all collisions that are not handled by a more specific collision handler. +CP_EXPORT cpCollisionHandler *cpSpaceAddDefaultCollisionHandler(cpSpace *space); +/// Create or return the existing collision handler for the specified pair of collision types. +/// If wildcard handlers are used with either of the collision types, it's the responibility of the custom handler to invoke the wildcard handlers. +CP_EXPORT cpCollisionHandler *cpSpaceAddCollisionHandler(cpSpace *space, cpCollisionType a, cpCollisionType b); +/// Create or return the existing wildcard collision handler for the specified type. +CP_EXPORT cpCollisionHandler *cpSpaceAddWildcardHandler(cpSpace *space, cpCollisionType type); + + +//MARK: Add/Remove objects /// Add a collision shape to the simulation. /// If the shape is attached to a static body, it will be added as a static shape. -cpShape* cpSpaceAddShape(cpSpace *space, cpShape *shape); -/// Explicity add a shape as a static shape to the simulation. -cpShape* cpSpaceAddStaticShape(cpSpace *space, cpShape *shape); +CP_EXPORT cpShape* cpSpaceAddShape(cpSpace *space, cpShape *shape); /// Add a rigid body to the simulation. -cpBody* cpSpaceAddBody(cpSpace *space, cpBody *body); +CP_EXPORT cpBody* cpSpaceAddBody(cpSpace *space, cpBody *body); /// Add a constraint to the simulation. -cpConstraint* cpSpaceAddConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT cpConstraint* cpSpaceAddConstraint(cpSpace *space, cpConstraint *constraint); /// Remove a collision shape from the simulation. -void cpSpaceRemoveShape(cpSpace *space, cpShape *shape); -/// Remove a collision shape added using cpSpaceAddStaticShape() from the simulation. -void cpSpaceRemoveStaticShape(cpSpace *space, cpShape *shape); +CP_EXPORT void cpSpaceRemoveShape(cpSpace *space, cpShape *shape); /// Remove a rigid body from the simulation. -void cpSpaceRemoveBody(cpSpace *space, cpBody *body); +CP_EXPORT void cpSpaceRemoveBody(cpSpace *space, cpBody *body); /// Remove a constraint from the simulation. -void cpSpaceRemoveConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT void cpSpaceRemoveConstraint(cpSpace *space, cpConstraint *constraint); /// Test if a collision shape has been added to the space. -cpBool cpSpaceContainsShape(cpSpace *space, cpShape *shape); +CP_EXPORT cpBool cpSpaceContainsShape(cpSpace *space, cpShape *shape); /// Test if a rigid body has been added to the space. -cpBool cpSpaceContainsBody(cpSpace *space, cpBody *body); +CP_EXPORT cpBool cpSpaceContainsBody(cpSpace *space, cpBody *body); /// Test if a constraint has been added to the space. -cpBool cpSpaceContainsConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT cpBool cpSpaceContainsConstraint(cpSpace *space, cpConstraint *constraint); -/// Convert a dynamic rogue body to a static one. -/// If the body is active, you must remove it from the space first. -void cpSpaceConvertBodyToStatic(cpSpace *space, cpBody *body); -/// Convert a body to a dynamic rogue body. -/// If you want the body to be active after the transition, you must add it to the space also. -void cpSpaceConvertBodyToDynamic(cpSpace *space, cpBody *body, cpFloat mass, cpFloat moment); +//MARK: Post-Step Callbacks /// Post Step callback function type. typedef void (*cpPostStepFunc)(cpSpace *space, void *key, void *data); @@ -214,70 +184,136 @@ typedef void (*cpPostStepFunc)(cpSpace *space, void *key, void *data); /// You can only register one callback per unique value for @c key. /// Returns true only if @c key has never been scheduled before. /// It's possible to pass @c NULL for @c func if you only want to mark @c key as being used. -cpBool cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *key, void *data); +CP_EXPORT cpBool cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *key, void *data); -/// Point query callback function type. -typedef void (*cpSpacePointQueryFunc)(cpShape *shape, void *data); -/// Query the space at a point and call @c func for each shape found. -void cpSpacePointQuery(cpSpace *space, cpVect point, cpLayers layers, cpGroup group, cpSpacePointQueryFunc func, void *data); -/// Query the space at a point and return the first shape found. Returns NULL if no shapes were found. -cpShape *cpSpacePointQueryFirst(cpSpace *space, cpVect point, cpLayers layers, cpGroup group); + +//MARK: Queries + +// TODO: Queries and iterators should take a cpSpace parametery. +// TODO: They should also be abortable. /// Nearest point query callback function type. -typedef void (*cpSpaceNearestPointQueryFunc)(cpShape *shape, cpFloat distance, cpVect point, void *data); +typedef void (*cpSpacePointQueryFunc)(cpShape *shape, cpVect point, cpFloat distance, cpVect gradient, void *data); /// Query the space at a point and call @c func for each shape found. -void cpSpaceNearestPointQuery(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryFunc func, void *data); +CP_EXPORT void cpSpacePointQuery(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpSpacePointQueryFunc func, void *data); /// Query the space at a point and return the nearest shape found. Returns NULL if no shapes were found. -cpShape *cpSpaceNearestPointQueryNearest(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpNearestPointQueryInfo *out); +CP_EXPORT cpShape *cpSpacePointQueryNearest(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpPointQueryInfo *out); /// Segment query callback function type. -typedef void (*cpSpaceSegmentQueryFunc)(cpShape *shape, cpFloat t, cpVect n, void *data); +typedef void (*cpSpaceSegmentQueryFunc)(cpShape *shape, cpVect point, cpVect normal, cpFloat alpha, void *data); /// Perform a directed line segment query (like a raycast) against the space calling @c func for each shape intersected. -void cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryFunc func, void *data); +CP_EXPORT void cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSpaceSegmentQueryFunc func, void *data); /// Perform a directed line segment query (like a raycast) against the space and return the first shape hit. Returns NULL if no shapes were hit. -cpShape *cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSegmentQueryInfo *out); +CP_EXPORT cpShape *cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSegmentQueryInfo *out); /// Rectangle Query callback function type. typedef void (*cpSpaceBBQueryFunc)(cpShape *shape, void *data); /// Perform a fast rectangle query on the space calling @c func for each shape found. /// Only the shape's bounding boxes are checked for overlap, not their full shape. -void cpSpaceBBQuery(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryFunc func, void *data); +CP_EXPORT void cpSpaceBBQuery(cpSpace *space, cpBB bb, cpShapeFilter filter, cpSpaceBBQueryFunc func, void *data); /// Shape query callback function type. typedef void (*cpSpaceShapeQueryFunc)(cpShape *shape, cpContactPointSet *points, void *data); /// Query a space for any shapes overlapping the given shape and call @c func for each shape found. -cpBool cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data); +CP_EXPORT cpBool cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data); -/// Call cpBodyActivate() for any shape that is overlaps the given shape. -void cpSpaceActivateShapesTouchingShape(cpSpace *space, cpShape *shape); +//MARK: Iteration /// Space/body iterator callback function type. typedef void (*cpSpaceBodyIteratorFunc)(cpBody *body, void *data); /// Call @c func for each body in the space. -void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIteratorFunc func, void *data); /// Space/body iterator callback function type. typedef void (*cpSpaceShapeIteratorFunc)(cpShape *shape, void *data); /// Call @c func for each shape in the space. -void cpSpaceEachShape(cpSpace *space, cpSpaceShapeIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachShape(cpSpace *space, cpSpaceShapeIteratorFunc func, void *data); /// Space/constraint iterator callback function type. typedef void (*cpSpaceConstraintIteratorFunc)(cpConstraint *constraint, void *data); /// Call @c func for each shape in the space. -void cpSpaceEachConstraint(cpSpace *space, cpSpaceConstraintIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachConstraint(cpSpace *space, cpSpaceConstraintIteratorFunc func, void *data); + + +//MARK: Indexing /// Update the collision detection info for the static shapes in the space. -void cpSpaceReindexStatic(cpSpace *space); +CP_EXPORT void cpSpaceReindexStatic(cpSpace *space); /// Update the collision detection data for a specific shape in the space. -void cpSpaceReindexShape(cpSpace *space, cpShape *shape); +CP_EXPORT void cpSpaceReindexShape(cpSpace *space, cpShape *shape); /// Update the collision detection data for all shapes attached to a body. -void cpSpaceReindexShapesForBody(cpSpace *space, cpBody *body); +CP_EXPORT void cpSpaceReindexShapesForBody(cpSpace *space, cpBody *body); /// Switch the space to use a spatial has as it's spatial index. -void cpSpaceUseSpatialHash(cpSpace *space, cpFloat dim, int count); +CP_EXPORT void cpSpaceUseSpatialHash(cpSpace *space, cpFloat dim, int count); + + +//MARK: Time Stepping /// Step the space forward in time by @c dt. -void cpSpaceStep(cpSpace *space, cpFloat dt); +CP_EXPORT void cpSpaceStep(cpSpace *space, cpFloat dt); + + +//MARK: Debug API + +#ifndef CP_SPACE_DISABLE_DEBUG_API + +/// Color type to use with the space debug drawing API. +typedef struct cpSpaceDebugColor { + float r, g, b, a; +} cpSpaceDebugColor; + +/// Callback type for a function that draws a filled, stroked circle. +typedef void (*cpSpaceDebugDrawCircleImpl)(cpVect pos, cpFloat angle, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a line segment. +typedef void (*cpSpaceDebugDrawSegmentImpl)(cpVect a, cpVect b, cpSpaceDebugColor color, cpDataPointer data); +/// Callback type for a function that draws a thick line segment. +typedef void (*cpSpaceDebugDrawFatSegmentImpl)(cpVect a, cpVect b, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a convex polygon. +typedef void (*cpSpaceDebugDrawPolygonImpl)(int count, const cpVect *verts, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a dot. +typedef void (*cpSpaceDebugDrawDotImpl)(cpFloat size, cpVect pos, cpSpaceDebugColor color, cpDataPointer data); +/// Callback type for a function that returns a color for a given shape. This gives you an opportunity to color shapes based on how they are used in your engine. +typedef cpSpaceDebugColor (*cpSpaceDebugDrawColorForShapeImpl)(cpShape *shape, cpDataPointer data); + +typedef enum cpSpaceDebugDrawFlags { + CP_SPACE_DEBUG_DRAW_SHAPES = 1<<0, + CP_SPACE_DEBUG_DRAW_CONSTRAINTS = 1<<1, + CP_SPACE_DEBUG_DRAW_COLLISION_POINTS = 1<<2, +} cpSpaceDebugDrawFlags; + +/// Struct used with cpSpaceDebugDraw() containing drawing callbacks and other drawing settings. +typedef struct cpSpaceDebugDrawOptions { + /// Function that will be invoked to draw circles. + cpSpaceDebugDrawCircleImpl drawCircle; + /// Function that will be invoked to draw line segments. + cpSpaceDebugDrawSegmentImpl drawSegment; + /// Function that will be invoked to draw thick line segments. + cpSpaceDebugDrawFatSegmentImpl drawFatSegment; + /// Function that will be invoked to draw convex polygons. + cpSpaceDebugDrawPolygonImpl drawPolygon; + /// Function that will be invoked to draw dots. + cpSpaceDebugDrawDotImpl drawDot; + + /// Flags that request which things to draw (collision shapes, constraints, contact points). + cpSpaceDebugDrawFlags flags; + /// Outline color passed to the drawing function. + cpSpaceDebugColor shapeOutlineColor; + /// Function that decides what fill color to draw shapes using. + cpSpaceDebugDrawColorForShapeImpl colorForShape; + /// Color passed to drawing functions for constraints. + cpSpaceDebugColor constraintColor; + /// Color passed to drawing functions for collision points. + cpSpaceDebugColor collisionPointColor; + + /// User defined context pointer passed to all of the callback functions as the 'data' argument. + cpDataPointer data; +} cpSpaceDebugDrawOptions; + +/// Debug draw the current state of the space using the supplied drawing options. +CP_EXPORT void cpSpaceDebugDraw(cpSpace *space, cpSpaceDebugDrawOptions *options); + +#endif /// @} diff --git a/mac/include/chipmunk/cpSpatialIndex.h b/mac/include/chipmunk/cpSpatialIndex.h index c279cad0..a386ba9a 100644 --- a/mac/include/chipmunk/cpSpatialIndex.h +++ b/mac/include/chipmunk/cpSpatialIndex.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2010 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -69,48 +69,48 @@ struct cpSpatialIndex { typedef struct cpSpaceHash cpSpaceHash; /// Allocate a spatial hash. -cpSpaceHash* cpSpaceHashAlloc(void); +CP_EXPORT cpSpaceHash* cpSpaceHashAlloc(void); /// Initialize a spatial hash. -cpSpatialIndex* cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a spatial hash. -cpSpatialIndex* cpSpaceHashNew(cpFloat celldim, int cells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSpaceHashNew(cpFloat celldim, int cells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Change the cell dimensions and table size of the spatial hash to tune it. /// The cell dimensions should roughly match the average size of your objects /// and the table size should be ~10 larger than the number of objects inserted. /// Some trial and error is required to find the optimum numbers for efficiency. -void cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells); +CP_EXPORT void cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells); //MARK: AABB Tree typedef struct cpBBTree cpBBTree; /// Allocate a bounding box tree. -cpBBTree* cpBBTreeAlloc(void); +CP_EXPORT cpBBTree* cpBBTreeAlloc(void); /// Initialize a bounding box tree. -cpSpatialIndex* cpBBTreeInit(cpBBTree *tree, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpBBTreeInit(cpBBTree *tree, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a bounding box tree. -cpSpatialIndex* cpBBTreeNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpBBTreeNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Perform a static top down optimization of the tree. -void cpBBTreeOptimize(cpSpatialIndex *index); +CP_EXPORT void cpBBTreeOptimize(cpSpatialIndex *index); /// Bounding box tree velocity callback function. /// This function should return an estimate for the object's velocity. typedef cpVect (*cpBBTreeVelocityFunc)(void *obj); /// Set the velocity function for the bounding box tree to enable temporal coherence. -void cpBBTreeSetVelocityFunc(cpSpatialIndex *index, cpBBTreeVelocityFunc func); +CP_EXPORT void cpBBTreeSetVelocityFunc(cpSpatialIndex *index, cpBBTreeVelocityFunc func); //MARK: Single Axis Sweep typedef struct cpSweep1D cpSweep1D; /// Allocate a 1D sort and sweep broadphase. -cpSweep1D* cpSweep1DAlloc(void); +CP_EXPORT cpSweep1D* cpSweep1DAlloc(void); /// Initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DInit(cpSweep1D *sweep, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSweep1DInit(cpSweep1D *sweep, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSweep1DNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); //MARK: Spatial Index Implementation diff --git a/android/armeabi/include/chipmunk/chipmunk/cpTransform.h b/mac/include/chipmunk/cpTransform.h similarity index 100% rename from android/armeabi/include/chipmunk/chipmunk/cpTransform.h rename to mac/include/chipmunk/cpTransform.h diff --git a/mac/include/chipmunk/cpVect.h b/mac/include/chipmunk/cpVect.h index 90855e56..8ec02bdc 100644 --- a/mac/include/chipmunk/cpVect.h +++ b/mac/include/chipmunk/cpVect.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,6 +19,11 @@ * SOFTWARE. */ +#ifndef CHIPMUNK_VECT_H +#define CHIPMUNK_VECT_H + +#include "chipmunk_types.h" + /// @defgroup cpVect cpVect /// Chipmunk's 2D vector type along with a handy 2D vector math lib. /// @{ @@ -33,17 +38,6 @@ static inline cpVect cpv(const cpFloat x, const cpFloat y) return v; } -/// Spherical linearly interpolate between v1 and v2. -cpVect cpvslerp(const cpVect v1, const cpVect v2, const cpFloat t); - -/// Spherical linearly interpolate between v1 towards v2 by no more than angle a radians -cpVect cpvslerpconst(const cpVect v1, const cpVect v2, const cpFloat a); - -/// Returns a string representation of v. Intended mostly for debugging purposes and not production use. -/// @attention The string points to a static local and is reset every time the function is called. -/// If you want to print more than one vector you will have to split up your printing onto separate lines. -char* cpvstr(const cpVect v); - /// Check if two vectors are equal. (Be careful when comparing floating point numbers!) static inline cpBool cpveql(const cpVect v1, const cpVect v2) { @@ -155,10 +149,30 @@ static inline cpVect cpvnormalize(const cpVect v) return cpvmult(v, 1.0f/(cpvlength(v) + CPFLOAT_MIN)); } -/// @deprecated Just an alias for cpvnormalize() now. -static inline cpVect cpvnormalize_safe(const cpVect v) +/// Spherical linearly interpolate between v1 and v2. +static inline cpVect +cpvslerp(const cpVect v1, const cpVect v2, const cpFloat t) { - return cpvnormalize(v); + cpFloat dot = cpvdot(cpvnormalize(v1), cpvnormalize(v2)); + cpFloat omega = cpfacos(cpfclamp(dot, -1.0f, 1.0f)); + + if(omega < 1e-3){ + // If the angle between two vectors is very small, lerp instead to avoid precision issues. + return cpvlerp(v1, v2, t); + } else { + cpFloat denom = 1.0f/cpfsin(omega); + return cpvadd(cpvmult(v1, cpfsin((1.0f - t)*omega)*denom), cpvmult(v2, cpfsin(t*omega)*denom)); + } +} + +/// Spherical linearly interpolate between v1 towards v2 by no more than angle a radians +static inline cpVect +cpvslerpconst(const cpVect v1, const cpVect v2, const cpFloat a) +{ + cpFloat dot = cpvdot(cpvnormalize(v1), cpvnormalize(v2)); + cpFloat omega = cpfacos(cpfclamp(dot, -1.0f, 1.0f)); + + return cpvslerp(v1, v2, cpfmin(a, omega)/omega); } /// Clamp v to length len. @@ -197,6 +211,7 @@ static inline cpBool cpvnear(const cpVect v1, const cpVect v2, const cpFloat dis /// 2x2 matrix type used for tensors and such. /// @{ +// NUKE static inline cpMat2x2 cpMat2x2New(cpFloat a, cpFloat b, cpFloat c, cpFloat d) { @@ -211,3 +226,5 @@ cpMat2x2Transform(cpMat2x2 m, cpVect v) } ///@} + +#endif diff --git a/mac/libs/libchipmunk.a b/mac/libs/libchipmunk.a index 519d0f30fd6da0d2eb4ba90fd4abc2d8cc63cd9d..0e14f0f5c5d8f4e5116164916bab385e9ef7fac6 100644 GIT binary patch literal 246224 zcmc${3w)H-nLj>(fDwUr5J*v>jvCvcH8G)xiI~*InQ&RbHBdNIp@498af--etp6P1sBiBcg3E9xtA8qnLBUZC50~6CHVy) zSmc8I{CRWdx?BZwF1ci$Vy~Z2SC>~=Q(juOz*V_q+48bd2cG;%4#&?k9FFZv9gYFP 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b/versions.txt index 683a5597..566b0950 100644 --- a/versions.txt +++ b/versions.txt @@ -29,10 +29,10 @@ freetype2 android: 2.6.3 chipmunk - mac: 6.2.2 - win32: 6.2.1 - ios: 6.2.2 - android: 6.2.2 + mac: 7.0.1 + win32: 7.0.1 + ios: 7.0.1 + android: 7.0.1 libz mac: 1.2.8 diff --git a/win32/include/chipmunk/chipmunk.h b/win32/include/chipmunk/chipmunk.h index 6337fb1a..59197476 100644 --- a/win32/include/chipmunk/chipmunk.h +++ b/win32/include/chipmunk/chipmunk.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,20 +19,30 @@ * SOFTWARE. */ -#ifndef CHIPMUNK_HEADER -#define CHIPMUNK_HEADER - -#ifdef _MSC_VER - #define _USE_MATH_DEFINES -#endif +#ifndef CHIPMUNK_H +#define CHIPMUNK_H #include #include +#ifdef WIN32 + // For alloca(). + #include + #if !defined(WINAPI_FAMILY) || (WINAPI_FAMILY == WINAPI_FAMILY_DESKTOP_APP) + #define CP_EXPORT __declspec(dllexport) + #else + #define CP_EXPORT + #endif +#else + #include + #define CP_EXPORT +#endif + #ifdef __cplusplus extern "C" { #endif +// NUKE #ifndef CP_ALLOW_PRIVATE_ACCESS #define CP_ALLOW_PRIVATE_ACCESS 0 #endif @@ -43,22 +53,17 @@ extern "C" { #define CP_PRIVATE(__symbol__) __symbol__##_private #endif -void cpMessage(const char *condition, const char *file, int line, int isError, int isHardError, const char *message, ...); +CP_EXPORT void cpMessage(const char *condition, const char *file, int line, int isError, int isHardError, const char *message, ...); #ifdef NDEBUG #define cpAssertWarn(__condition__, ...) + #define cpAssertSoft(__condition__, ...) #else + #define cpAssertSoft(__condition__, ...) if(!(__condition__)){cpMessage(#__condition__, __FILE__, __LINE__, 1, 0, __VA_ARGS__); abort();} #define cpAssertWarn(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 0, 0, __VA_ARGS__) #endif -#ifdef NDEBUG - #define cpAssertSoft(__condition__, ...) -#else - #define cpAssertSoft(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 0, __VA_ARGS__) -#endif - -// Hard assertions are important and cheap to execute. They are not disabled by compiling as debug. -#define cpAssertHard(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 1, __VA_ARGS__) - +// Hard assertions are used in situations where the program definitely will crash anyway, and the reason is inexpensive to detect. +#define cpAssertHard(__condition__, ...) if(!(__condition__)){cpMessage(#__condition__, __FILE__, __LINE__, 1, 1, __VA_ARGS__); abort();} #include "chipmunk_types.h" @@ -89,81 +94,90 @@ typedef struct cpArray cpArray; typedef struct cpHashSet cpHashSet; typedef struct cpBody cpBody; + typedef struct cpShape cpShape; +typedef struct cpCircleShape cpCircleShape; +typedef struct cpSegmentShape cpSegmentShape; +typedef struct cpPolyShape cpPolyShape; + typedef struct cpConstraint cpConstraint; +typedef struct cpPinJoint cpPinJoint; +typedef struct cpSlideJoint cpSlideJoint; +typedef struct cpPivotJoint cpPivotJoint; +typedef struct cpGrooveJoint cpGrooveJoint; +typedef struct cpDampedSpring cpDampedSpring; +typedef struct cpDampedRotarySpring cpDampedRotarySpring; +typedef struct cpRotaryLimitJoint cpRotaryLimitJoint; +typedef struct cpRatchetJoint cpRatchetJoint; +typedef struct cpGearJoint cpGearJoint; +typedef struct cpSimpleMotorJoint cpSimpleMotorJoint; typedef struct cpCollisionHandler cpCollisionHandler; +typedef struct cpContactPointSet cpContactPointSet; typedef struct cpArbiter cpArbiter; typedef struct cpSpace cpSpace; #include "cpVect.h" #include "cpBB.h" +#include "cpTransform.h" #include "cpSpatialIndex.h" +#include "cpArbiter.h" + #include "cpBody.h" #include "cpShape.h" #include "cpPolyShape.h" -#include "cpArbiter.h" -#include "constraints/cpConstraint.h" +#include "cpConstraint.h" #include "cpSpace.h" +#include "cpHastySpace.h" -// Chipmunk 6.2.1 -#define CP_VERSION_MAJOR 6 -#define CP_VERSION_MINOR 2 +// Chipmunk 7.0.1 +#define CP_VERSION_MAJOR 7 +#define CP_VERSION_MINOR 0 #define CP_VERSION_RELEASE 1 /// Version string. -extern const char *cpVersionString; - -/// @deprecated -void cpInitChipmunk(void); - -/// Enables segment to segment shape collisions. -void cpEnableSegmentToSegmentCollisions(void); - +CP_EXPORT extern const char *cpVersionString; /// Calculate the moment of inertia for a circle. /// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset); +CP_EXPORT cpFloat cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset); /// Calculate area of a hollow circle. /// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpAreaForCircle(cpFloat r1, cpFloat r2); +CP_EXPORT cpFloat cpAreaForCircle(cpFloat r1, cpFloat r2); /// Calculate the moment of inertia for a line segment. /// Beveling radius is not supported. -cpFloat cpMomentForSegment(cpFloat m, cpVect a, cpVect b); +CP_EXPORT cpFloat cpMomentForSegment(cpFloat m, cpVect a, cpVect b, cpFloat radius); /// Calculate the area of a fattened (capsule shaped) line segment. -cpFloat cpAreaForSegment(cpVect a, cpVect b, cpFloat r); +CP_EXPORT cpFloat cpAreaForSegment(cpVect a, cpVect b, cpFloat radius); /// Calculate the moment of inertia for a solid polygon shape assuming it's center of gravity is at it's centroid. The offset is added to each vertex. -cpFloat cpMomentForPoly(cpFloat m, int numVerts, const cpVect *verts, cpVect offset); +CP_EXPORT cpFloat cpMomentForPoly(cpFloat m, int count, const cpVect *verts, cpVect offset, cpFloat radius); /// Calculate the signed area of a polygon. A Clockwise winding gives positive area. /// This is probably backwards from what you expect, but matches Chipmunk's the winding for poly shapes. -cpFloat cpAreaForPoly(const int numVerts, const cpVect *verts); +CP_EXPORT cpFloat cpAreaForPoly(const int count, const cpVect *verts, cpFloat radius); /// Calculate the natural centroid of a polygon. -cpVect cpCentroidForPoly(const int numVerts, const cpVect *verts); - -/// Center the polygon on the origin. (Subtracts the centroid of the polygon from each vertex) -void cpRecenterPoly(const int numVerts, cpVect *verts); +CP_EXPORT cpVect cpCentroidForPoly(const int count, const cpVect *verts); /// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox(cpFloat m, cpFloat width, cpFloat height); +CP_EXPORT cpFloat cpMomentForBox(cpFloat m, cpFloat width, cpFloat height); /// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox2(cpFloat m, cpBB box); +CP_EXPORT cpFloat cpMomentForBox2(cpFloat m, cpBB box); /// Calculate the convex hull of a given set of points. Returns the count of points in the hull. -/// @c result must be a pointer to a @c cpVect array with at least @c count elements. If @c result is @c NULL, then @c verts will be reduced instead. +/// @c result must be a pointer to a @c cpVect array with at least @c count elements. If @c verts == @c result, then @c verts will be reduced inplace. /// @c first is an optional pointer to an integer to store where the first vertex in the hull came from (i.e. verts[first] == result[0]) /// @c tol is the allowed amount to shrink the hull when simplifying it. A tolerance of 0.0 creates an exact hull. -int cpConvexHull(int count, cpVect *verts, cpVect *result, int *first, cpFloat tol); +CP_EXPORT int cpConvexHull(int count, const cpVect *verts, cpVect *result, int *first, cpFloat tol); #ifdef _MSC_VER #include "malloc.h" @@ -177,6 +191,15 @@ int cpConvexHull(int count, cpVect *verts, cpVect *result, int *first, cpFloat t cpVect *__verts_var__ = (cpVect *)alloca(__count__*sizeof(cpVect)); \ int __count_var__ = cpConvexHull(__count__, __verts__, __verts_var__, NULL, 0.0); \ +/// Returns the closest point on the line segment ab, to the point p. +static inline cpVect +cpClosetPointOnSegment(const cpVect p, const cpVect a, const cpVect b) +{ + cpVect delta = cpvsub(a, b); + cpFloat t = cpfclamp01(cpvdot(delta, cpvsub(p, b))/cpvlengthsq(delta)); + return cpvadd(b, cpvmult(delta, t)); +} + #if defined(__has_extension) #if __has_extension(blocks) // Define alternate block based alternatives for a few of the callback heavy functions. @@ -191,14 +214,14 @@ void cpBodyEachShape_b(cpBody *body, void (^block)(cpShape *shape)); void cpBodyEachConstraint_b(cpBody *body, void (^block)(cpConstraint *constraint)); void cpBodyEachArbiter_b(cpBody *body, void (^block)(cpArbiter *arbiter)); -typedef void (^cpSpaceNearestPointQueryBlock)(cpShape *shape, cpFloat distance, cpVect point); -void cpSpaceNearestPointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryBlock block); +typedef void (^cpSpacePointQueryBlock)(cpShape *shape, cpVect point, cpFloat distance, cpVect gradient); +void cpSpacePointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpSpacePointQueryBlock block); -typedef void (^cpSpaceSegmentQueryBlock)(cpShape *shape, cpFloat t, cpVect n); -void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryBlock block); +typedef void (^cpSpaceSegmentQueryBlock)(cpShape *shape, cpVect point, cpVect normal, cpFloat alpha); +void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSpaceSegmentQueryBlock block); typedef void (^cpSpaceBBQueryBlock)(cpShape *shape); -void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryBlock block); +void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpShapeFilter filter, cpSpaceBBQueryBlock block); typedef void (^cpSpaceShapeQueryBlock)(cpShape *shape, cpContactPointSet *points); cpBool cpSpaceShapeQuery_b(cpSpace *space, cpShape *shape, cpSpaceShapeQueryBlock block); diff --git a/win32/include/chipmunk/chipmunk_ffi.h b/win32/include/chipmunk/chipmunk_ffi.h index 53ac6937..c0248410 100644 --- a/win32/include/chipmunk/chipmunk_ffi.h +++ b/win32/include/chipmunk/chipmunk_ffi.h @@ -1,11 +1,35 @@ +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + #ifdef CHIPMUNK_FFI // Create non static inlined copies of Chipmunk functions, useful for working with dynamic FFIs // This file should only be included in chipmunk.c +// TODO: get rid of the reliance on static inlines. +// They make a mess for FFIs. + #ifdef _MSC_VER #if _MSC_VER >= 1600 - #define MAKE_REF(name) decltype(name) *_##name = name + #define MAKE_REF(name) CP_EXPORT decltype(name) *_##name = name #else #define MAKE_REF(name) #endif @@ -13,8 +37,9 @@ #define MAKE_REF(name) __typeof__(name) *_##name = name #endif -#define MAKE_PROPERTIES_REF(struct, property) \ - MAKE_REF(struct##Get##property); MAKE_REF(struct##Set##property) +#ifdef __cplusplus +extern "C" { +#endif MAKE_REF(cpv); // makes a variable named _cpv that contains the function pointer for cpv() MAKE_REF(cpveql); @@ -35,7 +60,6 @@ MAKE_REF(cpvlengthsq); MAKE_REF(cpvlength); MAKE_REF(cpvlerp); MAKE_REF(cpvnormalize); -MAKE_REF(cpvnormalize_safe); MAKE_REF(cpvclamp); MAKE_REF(cpvlerpconst); MAKE_REF(cpvdist); @@ -50,104 +74,20 @@ MAKE_REF(cpflerp); MAKE_REF(cpflerpconst); MAKE_REF(cpBBNew); +MAKE_REF(cpBBNewForExtents); MAKE_REF(cpBBNewForCircle); MAKE_REF(cpBBIntersects); MAKE_REF(cpBBContainsBB); MAKE_REF(cpBBContainsVect); MAKE_REF(cpBBMerge); MAKE_REF(cpBBExpand); +MAKE_REF(cpBBCenter); MAKE_REF(cpBBArea); MAKE_REF(cpBBMergedArea); MAKE_REF(cpBBSegmentQuery); MAKE_REF(cpBBIntersectsSegment); MAKE_REF(cpBBClampVect); -MAKE_REF(cpBodyGetMass); -MAKE_REF(cpBodyGetMoment); -MAKE_REF(cpBodyGetPos); -MAKE_REF(cpBodyGetAngle); -MAKE_REF(cpBodyGetRot); -MAKE_PROPERTIES_REF(cpBody, Vel); -MAKE_PROPERTIES_REF(cpBody, Force); -MAKE_PROPERTIES_REF(cpBody, AngVel); -MAKE_PROPERTIES_REF(cpBody, Torque); -MAKE_PROPERTIES_REF(cpBody, VelLimit); -MAKE_PROPERTIES_REF(cpBody, AngVelLimit); -MAKE_PROPERTIES_REF(cpBody, UserData); -MAKE_REF(cpBodyIsSleeping); -MAKE_REF(cpBodyIsStatic); -MAKE_REF(cpBodyIsRogue); -MAKE_REF(cpBodyLocal2World); -MAKE_REF(cpBodyWorld2Local); -MAKE_REF(cpBodyKineticEnergy); - -MAKE_REF(cpShapeGetBB); -MAKE_PROPERTIES_REF(cpShape, Body); -MAKE_PROPERTIES_REF(cpShape, Sensor); -MAKE_PROPERTIES_REF(cpShape, Elasticity); -MAKE_PROPERTIES_REF(cpShape, Friction); -MAKE_PROPERTIES_REF(cpShape, SurfaceVelocity); -MAKE_PROPERTIES_REF(cpShape, UserData); -MAKE_PROPERTIES_REF(cpShape, CollisionType); -MAKE_PROPERTIES_REF(cpShape, Group); -MAKE_PROPERTIES_REF(cpShape, Layers); - -MAKE_REF(cpArbiterGetShapes); -MAKE_REF(cpArbiterGetBodies); -MAKE_REF(cpArbiterIsFirstContact); -MAKE_REF(cpArbiterGetCount); - -MAKE_REF(cpConstraintGetA); -MAKE_REF(cpConstraintGetB); -MAKE_PROPERTIES_REF(cpConstraint, MaxForce); -MAKE_PROPERTIES_REF(cpConstraint, ErrorBias); -MAKE_PROPERTIES_REF(cpConstraint, MaxBias); -MAKE_PROPERTIES_REF(cpConstraint, UserData); -MAKE_REF(cpConstraintGetImpulse); - -MAKE_PROPERTIES_REF(cpDampedRotarySpring, RestAngle); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedRotarySpring, SpringTorqueFunc); - -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr1); -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr2); -MAKE_PROPERTIES_REF(cpDampedSpring, RestLength); -MAKE_PROPERTIES_REF(cpDampedSpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedSpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedSpring, SpringForceFunc); - -MAKE_PROPERTIES_REF(cpGearJoint, Phase); -MAKE_REF(cpGearJointGetRatio); - -MAKE_PROPERTIES_REF(cpGrooveJoint, Anchr2); -MAKE_REF(cpGrooveJointGetGrooveA); -MAKE_REF(cpGrooveJointGetGrooveB); - -MAKE_PROPERTIES_REF(cpPinJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPinJoint, Anchr2); -MAKE_PROPERTIES_REF(cpPinJoint, Dist); - -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr2); - -MAKE_PROPERTIES_REF(cpRatchetJoint, Angle); -MAKE_PROPERTIES_REF(cpRatchetJoint, Phase); -MAKE_PROPERTIES_REF(cpRatchetJoint, Ratchet); - -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Min); -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Max); - -MAKE_PROPERTIES_REF(cpSimpleMotor, Rate); - -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr1); -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr2); -MAKE_PROPERTIES_REF(cpSlideJoint, Min); -MAKE_PROPERTIES_REF(cpSlideJoint, Max); - -MAKE_REF(cpSegmentQueryHitPoint); -MAKE_REF(cpSegmentQueryHitDist); - MAKE_REF(cpSpatialIndexDestroy); MAKE_REF(cpSpatialIndexCount); MAKE_REF(cpSpatialIndexEach); @@ -160,18 +100,8 @@ MAKE_REF(cpSpatialIndexSegmentQuery); MAKE_REF(cpSpatialIndexQuery); MAKE_REF(cpSpatialIndexReindexQuery); -MAKE_PROPERTIES_REF(cpSpace, Iterations); -MAKE_PROPERTIES_REF(cpSpace, Gravity); -MAKE_PROPERTIES_REF(cpSpace, Damping); -MAKE_PROPERTIES_REF(cpSpace, IdleSpeedThreshold); -MAKE_PROPERTIES_REF(cpSpace, SleepTimeThreshold); -MAKE_PROPERTIES_REF(cpSpace, CollisionSlop); -MAKE_PROPERTIES_REF(cpSpace, CollisionBias); -MAKE_PROPERTIES_REF(cpSpace, CollisionPersistence); -MAKE_PROPERTIES_REF(cpSpace, EnableContactGraph); -MAKE_PROPERTIES_REF(cpSpace, UserData); -MAKE_REF(cpSpaceGetStaticBody); -MAKE_REF(cpSpaceGetCurrentTimeStep); -MAKE_REF(cpSpaceIsLocked); +#ifdef __cplusplus +} +#endif #endif diff --git a/win32/include/chipmunk/chipmunk_private.h b/win32/include/chipmunk/chipmunk_private.h index f676345b..abe56395 100644 --- a/win32/include/chipmunk/chipmunk_private.h +++ b/win32/include/chipmunk/chipmunk_private.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -18,9 +18,14 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. */ +#ifndef CHIPMUNK_PRIVATE_H +#define CHIPMUNK_PRIVATE_H +#ifdef CHIPMUNK_H +#error Cannot include chipmunk_private.h after chipmunk.h. +#endif #define CP_ALLOW_PRIVATE_ACCESS 1 -#include "chipmunk.h" +#include "chipmunk/chipmunk.h" #define CP_HASH_COEF (3344921057ul) #define CP_HASH_PAIR(A, B) ((cpHashValue)(A)*CP_HASH_COEF ^ (cpHashValue)(B)*CP_HASH_COEF) @@ -28,6 +33,7 @@ // TODO: Eww. Magic numbers. #define MAGIC_EPSILON 1e-5 + //MARK: cpArray struct cpArray { @@ -47,6 +53,690 @@ cpBool cpArrayContains(cpArray *arr, void *ptr); void cpArrayFreeEach(cpArray *arr, void (freeFunc)(void*)); +//MARK: cpHashSet + +typedef cpBool (*cpHashSetEqlFunc)(void *ptr, void *elt); +typedef void *(*cpHashSetTransFunc)(void *ptr, void *data); + +cpHashSet *cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc); +void cpHashSetSetDefaultValue(cpHashSet *set, void *default_value); + +void cpHashSetFree(cpHashSet *set); + +int cpHashSetCount(cpHashSet *set); +void *cpHashSetInsert(cpHashSet *set, cpHashValue hash, void *ptr, cpHashSetTransFunc trans, void *data); +void *cpHashSetRemove(cpHashSet *set, cpHashValue hash, void *ptr); +void *cpHashSetFind(cpHashSet *set, cpHashValue hash, void *ptr); + +typedef void (*cpHashSetIteratorFunc)(void *elt, void *data); +void cpHashSetEach(cpHashSet *set, cpHashSetIteratorFunc func, void *data); + +typedef cpBool (*cpHashSetFilterFunc)(void *elt, void *data); +void cpHashSetFilter(cpHashSet *set, cpHashSetFilterFunc func, void *data); + + +//MARK: Bodies + +struct cpBody { + // Integration functions + cpBodyVelocityFunc velocity_func; + cpBodyPositionFunc position_func; + + // mass and it's inverse + cpFloat m; + cpFloat m_inv; + + // moment of inertia and it's inverse + cpFloat i; + cpFloat i_inv; + + // center of gravity + cpVect cog; + + // position, velocity, force + cpVect p; + cpVect v; + cpVect f; + + // Angle, angular velocity, torque (radians) + cpFloat a; + cpFloat w; + cpFloat t; + + cpTransform transform; + + cpDataPointer userData; + + // "pseudo-velocities" used for eliminating overlap. + // Erin Catto has some papers that talk about what these are. + cpVect v_bias; + cpFloat w_bias; + + cpSpace *space; + + cpShape *shapeList; + cpArbiter *arbiterList; + cpConstraint *constraintList; + + struct { + cpBody *root; + cpBody *next; + cpFloat idleTime; + } sleeping; +}; + +void cpBodyAddShape(cpBody *body, cpShape *shape); +void cpBodyRemoveShape(cpBody *body, cpShape *shape); + +//void cpBodyAccumulateMassForShape(cpBody *body, cpShape *shape); +void cpBodyAccumulateMassFromShapes(cpBody *body); + +void cpBodyRemoveConstraint(cpBody *body, cpConstraint *constraint); + + +//MARK: Spatial Index Functions + +cpSpatialIndex *cpSpatialIndexInit(cpSpatialIndex *index, cpSpatialIndexClass *klass, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); + + +//MARK: Arbiters + +enum cpArbiterState { + // Arbiter is active and its the first collision. + CP_ARBITER_STATE_FIRST_COLLISION, + // Arbiter is active and its not the first collision. + CP_ARBITER_STATE_NORMAL, + // Collision has been explicitly ignored. + // Either by returning false from a begin collision handler or calling cpArbiterIgnore(). + CP_ARBITER_STATE_IGNORE, + // Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps. + CP_ARBITER_STATE_CACHED, + // Collison arbiter is invalid because one of the shapes was removed. + CP_ARBITER_STATE_INVALIDATED, +}; + +struct cpArbiterThread { + struct cpArbiter *next, *prev; +}; + +struct cpContact { + cpVect r1, r2; + + cpFloat nMass, tMass; + cpFloat bounce; // TODO: look for an alternate bounce solution. + + cpFloat jnAcc, jtAcc, jBias; + cpFloat bias; + + cpHashValue hash; +}; + +struct cpCollisionInfo { + const cpShape *a, *b; + cpCollisionID id; + + cpVect n; + + int count; + // TODO Should this be a unique struct type? + struct cpContact *arr; +}; + +struct cpArbiter { + cpFloat e; + cpFloat u; + cpVect surface_vr; + + cpDataPointer data; + + const cpShape *a, *b; + cpBody *body_a, *body_b; + struct cpArbiterThread thread_a, thread_b; + + int count; + struct cpContact *contacts; + cpVect n; + + // Regular, wildcard A and wildcard B collision handlers. + cpCollisionHandler *handler, *handlerA, *handlerB; + cpBool swapped; + + cpTimestamp stamp; + enum cpArbiterState state; +}; + +cpArbiter* cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b); + +static inline struct cpArbiterThread * +cpArbiterThreadForBody(cpArbiter *arb, cpBody *body) +{ + return (arb->body_a == body ? &arb->thread_a : &arb->thread_b); +} + +void cpArbiterUnthread(cpArbiter *arb); + +void cpArbiterUpdate(cpArbiter *arb, struct cpCollisionInfo *info, cpSpace *space); +void cpArbiterPreStep(cpArbiter *arb, cpFloat dt, cpFloat bias, cpFloat slop); +void cpArbiterApplyCachedImpulse(cpArbiter *arb, cpFloat dt_coef); +void cpArbiterApplyImpulse(cpArbiter *arb); + + +//MARK: Shapes/Collisions + +struct cpShapeMassInfo { + cpFloat m; + cpFloat i; + cpVect cog; + cpFloat area; +}; + +typedef enum cpShapeType{ + CP_CIRCLE_SHAPE, + CP_SEGMENT_SHAPE, + CP_POLY_SHAPE, + CP_NUM_SHAPES +} cpShapeType; + +typedef cpBB (*cpShapeCacheDataImpl)(cpShape *shape, cpTransform transform); +typedef void (*cpShapeDestroyImpl)(cpShape *shape); +typedef void (*cpShapePointQueryImpl)(const cpShape *shape, cpVect p, cpPointQueryInfo *info); +typedef void (*cpShapeSegmentQueryImpl)(const cpShape *shape, cpVect a, cpVect b, cpFloat radius, cpSegmentQueryInfo *info); + +typedef struct cpShapeClass cpShapeClass; + +struct cpShapeClass { + cpShapeType type; + + cpShapeCacheDataImpl cacheData; + cpShapeDestroyImpl destroy; + cpShapePointQueryImpl pointQuery; + cpShapeSegmentQueryImpl segmentQuery; +}; + +struct cpShape { + const cpShapeClass *klass; + + cpSpace *space; + cpBody *body; + struct cpShapeMassInfo massInfo; + cpBB bb; + + cpBool sensor; + + cpFloat e; + cpFloat u; + cpVect surfaceV; + + cpDataPointer userData; + + cpCollisionType type; + cpShapeFilter filter; + + cpShape *next; + cpShape *prev; + + cpHashValue hashid; +}; + +struct cpCircleShape { + cpShape shape; + + cpVect c, tc; + cpFloat r; +}; + +struct cpSegmentShape { + cpShape shape; + + cpVect a, b, n; + cpVect ta, tb, tn; + cpFloat r; + + cpVect a_tangent, b_tangent; +}; + +struct cpSplittingPlane { + cpVect v0, n; +}; + +#define CP_POLY_SHAPE_INLINE_ALLOC 6 + +struct cpPolyShape { + cpShape shape; + + cpFloat r; + + int count; + // The untransformed planes are appended at the end of the transformed planes. + struct cpSplittingPlane *planes; + + // Allocate a small number of splitting planes internally for simple poly. + struct cpSplittingPlane _planes[2*CP_POLY_SHAPE_INLINE_ALLOC]; +}; + +cpShape *cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body, struct cpShapeMassInfo massInfo); + +static inline cpBool +cpShapeActive(cpShape *shape) +{ + // checks if the shape is added to a shape list. + // TODO could this just check the space now? + return (shape->prev || (shape->body && shape->body->shapeList == shape)); +} + +// Note: This function returns contact points with r1/r2 in absolute coordinates, not body relative. +struct cpCollisionInfo cpCollide(const cpShape *a, const cpShape *b, cpCollisionID id, struct cpContact *contacts); + +static inline void +CircleSegmentQuery(cpShape *shape, cpVect center, cpFloat r1, cpVect a, cpVect b, cpFloat r2, cpSegmentQueryInfo *info) +{ + cpVect da = cpvsub(a, center); + cpVect db = cpvsub(b, center); + cpFloat rsum = r1 + r2; + + cpFloat qa = cpvdot(da, da) - 2.0f*cpvdot(da, db) + cpvdot(db, db); + cpFloat qb = cpvdot(da, db) - cpvdot(da, da); + cpFloat det = qb*qb - qa*(cpvdot(da, da) - rsum*rsum); + + if(det >= 0.0f){ + cpFloat t = (-qb - cpfsqrt(det))/(qa); + if(0.0f<= t && t <= 1.0f){ + cpVect n = cpvnormalize(cpvlerp(da, db, t)); + + info->shape = shape; + info->point = cpvsub(cpvlerp(a, b, t), cpvmult(n, r2)); + info->normal = n; + info->alpha = t; + } + } +} + +static inline cpBool +cpShapeFilterReject(cpShapeFilter a, cpShapeFilter b) +{ + // Reject the collision if: + return ( + // They are in the same non-zero group. + (a.group != 0 && a.group == b.group) || + // One of the category/mask combinations fails. + (a.categories & b.mask) == 0 || + (b.categories & a.mask) == 0 + ); +} + +void cpLoopIndexes(const cpVect *verts, int count, int *start, int *end); + + +//MARK: Constraints +// TODO naming conventions here + +typedef void (*cpConstraintPreStepImpl)(cpConstraint *constraint, cpFloat dt); +typedef void (*cpConstraintApplyCachedImpulseImpl)(cpConstraint *constraint, cpFloat dt_coef); +typedef void (*cpConstraintApplyImpulseImpl)(cpConstraint *constraint, cpFloat dt); +typedef cpFloat (*cpConstraintGetImpulseImpl)(cpConstraint *constraint); + +typedef struct cpConstraintClass { + cpConstraintPreStepImpl preStep; + cpConstraintApplyCachedImpulseImpl applyCachedImpulse; + cpConstraintApplyImpulseImpl applyImpulse; + cpConstraintGetImpulseImpl getImpulse; +} cpConstraintClass; + +struct cpConstraint { + const cpConstraintClass *klass; + + cpSpace *space; + + cpBody *a, *b; + cpConstraint *next_a, *next_b; + + cpFloat maxForce; + cpFloat errorBias; + cpFloat maxBias; + + cpBool collideBodies; + + cpConstraintPreSolveFunc preSolve; + cpConstraintPostSolveFunc postSolve; + + cpDataPointer userData; +}; + +struct cpPinJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat dist; + + cpVect r1, r2; + cpVect n; + cpFloat nMass; + + cpFloat jnAcc; + cpFloat bias; +}; + +struct cpSlideJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat min, max; + + cpVect r1, r2; + cpVect n; + cpFloat nMass; + + cpFloat jnAcc; + cpFloat bias; +}; + +struct cpPivotJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + + cpVect r1, r2; + cpMat2x2 k; + + cpVect jAcc; + cpVect bias; +}; + +struct cpGrooveJoint { + cpConstraint constraint; + cpVect grv_n, grv_a, grv_b; + cpVect anchorB; + + cpVect grv_tn; + cpFloat clamp; + cpVect r1, r2; + cpMat2x2 k; + + cpVect jAcc; + cpVect bias; +}; + +struct cpDampedSpring { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat restLength; + cpFloat stiffness; + cpFloat damping; + cpDampedSpringForceFunc springForceFunc; + + cpFloat target_vrn; + cpFloat v_coef; + + cpVect r1, r2; + cpFloat nMass; + cpVect n; + + cpFloat jAcc; +}; + +struct cpDampedRotarySpring { + cpConstraint constraint; + cpFloat restAngle; + cpFloat stiffness; + cpFloat damping; + cpDampedRotarySpringTorqueFunc springTorqueFunc; + + cpFloat target_wrn; + cpFloat w_coef; + + cpFloat iSum; + cpFloat jAcc; +}; + +struct cpRotaryLimitJoint { + cpConstraint constraint; + cpFloat min, max; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpRatchetJoint { + cpConstraint constraint; + cpFloat angle, phase, ratchet; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpGearJoint { + cpConstraint constraint; + cpFloat phase, ratio; + cpFloat ratio_inv; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpSimpleMotor { + cpConstraint constraint; + cpFloat rate; + + cpFloat iSum; + + cpFloat jAcc; +}; + +void cpConstraintInit(cpConstraint *constraint, const struct cpConstraintClass *klass, cpBody *a, cpBody *b); + +static inline void +cpConstraintActivateBodies(cpConstraint *constraint) +{ + cpBody *a = constraint->a; cpBodyActivate(a); + cpBody *b = constraint->b; cpBodyActivate(b); +} + +static inline cpVect +relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){ + cpVect v1_sum = cpvadd(a->CP_PRIVATE(v), cpvmult(cpvperp(r1), a->CP_PRIVATE(w))); + cpVect v2_sum = cpvadd(b->CP_PRIVATE(v), cpvmult(cpvperp(r2), b->CP_PRIVATE(w))); + + return cpvsub(v2_sum, v1_sum); +} + +static inline cpFloat +normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){ + return cpvdot(relative_velocity(a, b, r1, r2), n); +} + +static inline void +apply_impulse(cpBody *body, cpVect j, cpVect r){ + body->CP_PRIVATE(v) = cpvadd(body->CP_PRIVATE(v), cpvmult(j, body->CP_PRIVATE(m_inv))); + body->CP_PRIVATE(w) += body->CP_PRIVATE(i_inv)*cpvcross(r, j); +} + +static inline void +apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) +{ + apply_impulse(a, cpvneg(j), r1); + apply_impulse(b, j, r2); +} + +static inline void +apply_bias_impulse(cpBody *body, cpVect j, cpVect r) +{ + body->CP_PRIVATE(v_bias) = cpvadd(body->CP_PRIVATE(v_bias), cpvmult(j, body->CP_PRIVATE(m_inv))); + body->CP_PRIVATE(w_bias) += body->CP_PRIVATE(i_inv)*cpvcross(r, j); +} + +static inline void +apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) +{ + apply_bias_impulse(a, cpvneg(j), r1); + apply_bias_impulse(b, j, r2); +} + +static inline cpFloat +k_scalar_body(cpBody *body, cpVect r, cpVect n) +{ + cpFloat rcn = cpvcross(r, n); + return body->CP_PRIVATE(m_inv) + body->CP_PRIVATE(i_inv)*rcn*rcn; +} + +static inline cpFloat +k_scalar(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n) +{ + cpFloat value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n); + cpAssertSoft(value != 0.0, "Unsolvable collision or constraint."); + + return value; +} + +static inline cpMat2x2 +k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2) +{ + cpFloat m_sum = a->CP_PRIVATE(m_inv) + b->CP_PRIVATE(m_inv); + + // start with Identity*m_sum + cpFloat k11 = m_sum, k12 = 0.0f; + cpFloat k21 = 0.0f, k22 = m_sum; + + // add the influence from r1 + cpFloat a_i_inv = a->CP_PRIVATE(i_inv); + cpFloat r1xsq = r1.x * r1.x * a_i_inv; + cpFloat r1ysq = r1.y * r1.y * a_i_inv; + cpFloat r1nxy = -r1.x * r1.y * a_i_inv; + k11 += r1ysq; k12 += r1nxy; + k21 += r1nxy; k22 += r1xsq; + + // add the influnce from r2 + cpFloat b_i_inv = b->CP_PRIVATE(i_inv); + cpFloat r2xsq = r2.x * r2.x * b_i_inv; + cpFloat r2ysq = r2.y * r2.y * b_i_inv; + cpFloat r2nxy = -r2.x * r2.y * b_i_inv; + k11 += r2ysq; k12 += r2nxy; + k21 += r2nxy; k22 += r2xsq; + + // invert + cpFloat det = k11*k22 - k12*k21; + cpAssertSoft(det != 0.0, "Unsolvable constraint."); + + cpFloat det_inv = 1.0f/det; + return cpMat2x2New( + k22*det_inv, -k12*det_inv, + -k21*det_inv, k11*det_inv + ); +} + +static inline cpFloat +bias_coef(cpFloat errorBias, cpFloat dt) +{ + return 1.0f - cpfpow(errorBias, dt); +} + + +//MARK: Spaces + +typedef struct cpContactBufferHeader cpContactBufferHeader; +typedef void (*cpSpaceArbiterApplyImpulseFunc)(cpArbiter *arb); + +struct cpSpace { + int iterations; + + cpVect gravity; + cpFloat damping; + + cpFloat idleSpeedThreshold; + cpFloat sleepTimeThreshold; + + cpFloat collisionSlop; + cpFloat collisionBias; + cpTimestamp collisionPersistence; + + cpDataPointer userData; + + cpTimestamp stamp; + cpFloat curr_dt; + + cpArray *dynamicBodies; + cpArray *staticBodies; + cpArray *rousedBodies; + cpArray *sleepingComponents; + + cpHashValue shapeIDCounter; + cpSpatialIndex *staticShapes; + cpSpatialIndex *dynamicShapes; + + cpArray *constraints; + + cpArray *arbiters; + cpContactBufferHeader *contactBuffersHead; + cpHashSet *cachedArbiters; + cpArray *pooledArbiters; + + cpArray *allocatedBuffers; + unsigned int locked; + + cpBool usesWildcards; + cpHashSet *collisionHandlers; + cpCollisionHandler defaultHandler; + + cpBool skipPostStep; + cpArray *postStepCallbacks; + + cpBody *staticBody; + cpBody _staticBody; +}; + +#define cpAssertSpaceUnlocked(space) \ + cpAssertHard(!space->locked, \ + "This operation cannot be done safely during a call to cpSpaceStep() or during a query. " \ + "Put these calls into a post-step callback." \ + ); + +void cpSpaceSetStaticBody(cpSpace *space, cpBody *body); + +extern cpCollisionHandler cpCollisionHandlerDoNothing; + +void cpSpaceProcessComponents(cpSpace *space, cpFloat dt); + +void cpSpacePushFreshContactBuffer(cpSpace *space); +struct cpContact *cpContactBufferGetArray(cpSpace *space); +void cpSpacePushContacts(cpSpace *space, int count); + +typedef struct cpPostStepCallback { + cpPostStepFunc func; + void *key; + void *data; +} cpPostStepCallback; + +cpPostStepCallback *cpSpaceGetPostStepCallback(cpSpace *space, void *key); + +cpBool cpSpaceArbiterSetFilter(cpArbiter *arb, cpSpace *space); +void cpSpaceFilterArbiters(cpSpace *space, cpBody *body, cpShape *filter); + +void cpSpaceActivateBody(cpSpace *space, cpBody *body); +void cpSpaceLock(cpSpace *space); +void cpSpaceUnlock(cpSpace *space, cpBool runPostStep); + +static inline void +cpSpaceUncacheArbiter(cpSpace *space, cpArbiter *arb) +{ + const cpShape *a = arb->a, *b = arb->b; + const cpShape *shape_pair[] = {a, b}; + cpHashValue arbHashID = CP_HASH_PAIR((cpHashValue)a, (cpHashValue)b); + cpHashSetRemove(space->cachedArbiters, arbHashID, shape_pair); + cpArrayDeleteObj(space->arbiters, arb); +} + +static inline cpArray * +cpSpaceArrayForBodyType(cpSpace *space, cpBodyType type) +{ + return (type == CP_BODY_TYPE_STATIC ? space->staticBodies : space->dynamicBodies); +} + +void cpShapeUpdateFunc(cpShape *shape, void *unused); +cpCollisionID cpSpaceCollideShapes(cpShape *a, cpShape *b, cpCollisionID id, cpSpace *space); + + //MARK: Foreach loops static inline cpConstraint * @@ -71,184 +761,6 @@ cpArbiterNext(cpArbiter *node, cpBody *body) for(cpShape *var = body->shapeList; var; var = var->next) #define CP_BODY_FOREACH_COMPONENT(root, var)\ - for(cpBody *var = root; var; var = var->node.next) + for(cpBody *var = root; var; var = var->sleeping.next) - -//MARK: cpHashSet - -typedef cpBool (*cpHashSetEqlFunc)(void *ptr, void *elt); -typedef void *(*cpHashSetTransFunc)(void *ptr, void *data); - -cpHashSet *cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc); -void cpHashSetSetDefaultValue(cpHashSet *set, void *default_value); - -void cpHashSetFree(cpHashSet *set); - -int cpHashSetCount(cpHashSet *set); -void *cpHashSetInsert(cpHashSet *set, cpHashValue hash, void *ptr, void *data, cpHashSetTransFunc trans); -void *cpHashSetRemove(cpHashSet *set, cpHashValue hash, void *ptr); -void *cpHashSetFind(cpHashSet *set, cpHashValue hash, void *ptr); - -typedef void (*cpHashSetIteratorFunc)(void *elt, void *data); -void cpHashSetEach(cpHashSet *set, cpHashSetIteratorFunc func, void *data); - -typedef cpBool (*cpHashSetFilterFunc)(void *elt, void *data); -void cpHashSetFilter(cpHashSet *set, cpHashSetFilterFunc func, void *data); - - -//MARK: Body Functions - -void cpBodyAddShape(cpBody *body, cpShape *shape); -void cpBodyRemoveShape(cpBody *body, cpShape *shape); -void cpBodyRemoveConstraint(cpBody *body, cpConstraint *constraint); - - -//MARK: Shape/Collision Functions - -// TODO should move this to the cpVect API. It's pretty useful. -static inline cpVect -cpClosetPointOnSegment(const cpVect p, const cpVect a, const cpVect b) -{ - cpVect delta = cpvsub(a, b); - cpFloat t = cpfclamp01(cpvdot(delta, cpvsub(p, b))/cpvlengthsq(delta)); - return cpvadd(b, cpvmult(delta, t)); -} - -cpShape* cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body); - -static inline cpBool -cpShapeActive(cpShape *shape) -{ - return shape->prev || (shape->body && shape->body->shapeList == shape); -} - -int cpCollideShapes(const cpShape *a, const cpShape *b, cpCollisionID *id, cpContact *arr); - -static inline void -CircleSegmentQuery(cpShape *shape, cpVect center, cpFloat r, cpVect a, cpVect b, cpSegmentQueryInfo *info) -{ - cpVect da = cpvsub(a, center); - cpVect db = cpvsub(b, center); - - cpFloat qa = cpvdot(da, da) - 2.0f*cpvdot(da, db) + cpvdot(db, db); - cpFloat qb = -2.0f*cpvdot(da, da) + 2.0f*cpvdot(da, db); - cpFloat qc = cpvdot(da, da) - r*r; - - cpFloat det = qb*qb - 4.0f*qa*qc; - - if(det >= 0.0f){ - cpFloat t = (-qb - cpfsqrt(det))/(2.0f*qa); - if(0.0f<= t && t <= 1.0f){ - info->shape = shape; - info->t = t; - info->n = cpvnormalize(cpvlerp(da, db, t)); - } - } -} - -// TODO doesn't really need to be inline, but need a better place to put this function -static inline cpSplittingPlane -cpSplittingPlaneNew(cpVect a, cpVect b) -{ - cpVect n = cpvnormalize(cpvperp(cpvsub(b, a))); - cpSplittingPlane plane = {n, cpvdot(n, a)}; - return plane; -} - -static inline cpFloat -cpSplittingPlaneCompare(cpSplittingPlane plane, cpVect v) -{ - return cpvdot(plane.n, v) - plane.d; -} - -void cpLoopIndexes(cpVect *verts, int count, int *start, int *end); - - -//MARK: Spatial Index Functions - -cpSpatialIndex *cpSpatialIndexInit(cpSpatialIndex *index, cpSpatialIndexClass *klass, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - - -//MARK: Space Functions - -extern cpCollisionHandler cpDefaultCollisionHandler; -void cpSpaceProcessComponents(cpSpace *space, cpFloat dt); - -void cpSpacePushFreshContactBuffer(cpSpace *space); -cpContact *cpContactBufferGetArray(cpSpace *space); -void cpSpacePushContacts(cpSpace *space, int count); - -typedef struct cpPostStepCallback { - cpPostStepFunc func; - void *key; - void *data; -} cpPostStepCallback; - -cpPostStepCallback *cpSpaceGetPostStepCallback(cpSpace *space, void *key); - -cpBool cpSpaceArbiterSetFilter(cpArbiter *arb, cpSpace *space); -void cpSpaceFilterArbiters(cpSpace *space, cpBody *body, cpShape *filter); - -void cpSpaceActivateBody(cpSpace *space, cpBody *body); -void cpSpaceLock(cpSpace *space); -void cpSpaceUnlock(cpSpace *space, cpBool runPostStep); - -static inline cpCollisionHandler * -cpSpaceLookupHandler(cpSpace *space, cpCollisionType a, cpCollisionType b) -{ - cpCollisionType types[] = {a, b}; - return (cpCollisionHandler *)cpHashSetFind(space->collisionHandlers, CP_HASH_PAIR(a, b), types); -} - -static inline void -cpSpaceUncacheArbiter(cpSpace *space, cpArbiter *arb) -{ - cpShape *a = arb->a, *b = arb->b; - cpShape *shape_pair[] = {a, b}; - cpHashValue arbHashID = CP_HASH_PAIR((cpHashValue)a, (cpHashValue)b); - cpHashSetRemove(space->cachedArbiters, arbHashID, shape_pair); - cpArrayDeleteObj(space->arbiters, arb); -} - -void cpShapeUpdateFunc(cpShape *shape, void *unused); -cpCollisionID cpSpaceCollideShapes(cpShape *a, cpShape *b, cpCollisionID id, cpSpace *space); - - -//MARK: Arbiters - -struct cpContact { - cpVect p, n; - cpFloat dist; - - cpVect r1, r2; - cpFloat nMass, tMass, bounce; - - cpFloat jnAcc, jtAcc, jBias; - cpFloat bias; - - cpHashValue hash; -}; - -cpContact* cpContactInit(cpContact *con, cpVect p, cpVect n, cpFloat dist, cpHashValue hash); -cpArbiter* cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b); - -static inline void -cpArbiterCallSeparate(cpArbiter *arb, cpSpace *space) -{ - // The handler needs to be looked up again as the handler cached on the arbiter may have been deleted since the last step. - cpCollisionHandler *handler = cpSpaceLookupHandler(space, arb->a->collision_type, arb->b->collision_type); - handler->separate(arb, space, handler->data); -} - -static inline struct cpArbiterThread * -cpArbiterThreadForBody(cpArbiter *arb, cpBody *body) -{ - return (arb->body_a == body ? &arb->thread_a : &arb->thread_b); -} - -void cpArbiterUnthread(cpArbiter *arb); - -void cpArbiterUpdate(cpArbiter *arb, cpContact *contacts, int numContacts, struct cpCollisionHandler *handler, cpShape *a, cpShape *b); -void cpArbiterPreStep(cpArbiter *arb, cpFloat dt, cpFloat bias, cpFloat slop); -void cpArbiterApplyCachedImpulse(cpArbiter *arb, cpFloat dt_coef); -void cpArbiterApplyImpulse(cpArbiter *arb); +#endif diff --git a/win32/include/chipmunk/chipmunk_types.h b/win32/include/chipmunk/chipmunk_types.h index 9ed23391..7aee0c79 100644 --- a/win32/include/chipmunk/chipmunk_types.h +++ b/win32/include/chipmunk/chipmunk_types.h @@ -1,31 +1,34 @@ +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +#ifndef CHIPMUNK_TYPES_H +#define CHIPMUNK_TYPES_H + #include #include - -#ifdef __APPLE__ - #include "TargetConditionals.h" -#endif - -#if ((TARGET_OS_IPHONE == 1) || (TARGET_OS_MAC == 1)) && (!defined CP_USE_CGPOINTS) - #define CP_USE_CGPOINTS 1 -#endif - -#if CP_USE_CGPOINTS == 1 - #if TARGET_OS_IPHONE - #import - #elif TARGET_OS_MAC - #include - #endif - - #if defined(__LP64__) && __LP64__ - #define CP_USE_DOUBLES 1 - #else - #define CP_USE_DOUBLES 0 - #endif -#endif +#include #ifndef CP_USE_DOUBLES - // use doubles by default for higher precision - #define CP_USE_DOUBLES 1 + // Use doubles by default for higher precision. + #define CP_USE_DOUBLES 0 #endif /// @defgroup basicTypes Basic Types @@ -82,13 +85,8 @@ #endif #endif -#ifndef M_PI - #define M_PI 3.14159265358979323846264338327950288 -#endif -#ifndef M_E - #define M_E 2.71828182845904523536028747135266250 -#endif +#define CP_PI ((cpFloat)3.14159265358979323846264338327950288) /// Return the max of two cpFloats. @@ -136,7 +134,11 @@ static inline cpFloat cpflerpconst(cpFloat f1, cpFloat f2, cpFloat d) } /// Hash value type. -typedef uintptr_t cpHashValue; +#ifdef CP_HASH_VALUE_TYPE + typedef CP_HASH_VALUE_TYPE cpHashValue; +#else + typedef uintptr_t cpHashValue; +#endif /// Type used internally to cache colliding object info for cpCollideShapes(). /// Should be at least 32 bits. @@ -147,7 +149,7 @@ typedef uint32_t cpCollisionID; #ifdef CP_BOOL_TYPE typedef CP_BOOL_TYPE cpBool; #else - typedef int cpBool; + typedef unsigned char cpBool; #endif #ifndef cpTrue @@ -181,11 +183,11 @@ typedef uint32_t cpCollisionID; typedef uintptr_t cpGroup; #endif -#ifdef CP_LAYERS_TYPE - typedef CP_LAYERS_TYPE cpLayers; +#ifdef CP_BITMASK_TYPE + typedef CP_BITMASK_TYPE cpBitmask; #else -/// Type used for cpShape.layers. - typedef unsigned int cpLayers; +/// Type used for cpShapeFilter category and mask. + typedef unsigned int cpBitmask; #endif #ifdef CP_TIMESTAMP_TYPE @@ -200,15 +202,21 @@ typedef uint32_t cpCollisionID; #define CP_NO_GROUP ((cpGroup)0) #endif -#ifndef CP_ALL_LAYERS +#ifndef CP_ALL_CATEGORIES /// Value for cpShape.layers signifying that a shape is in every layer. - #define CP_ALL_LAYERS (~(cpLayers)0) + #define CP_ALL_CATEGORIES (~(cpBitmask)0) #endif + +#ifndef CP_WILDCARD_COLLISION_TYPE +/// cpCollisionType value internally reserved for hashing wildcard handlers. + #define CP_WILDCARD_COLLISION_TYPE (~(cpCollisionType)0) +#endif + /// @} // CGPoints are structurally the same, and allow // easy interoperability with other Cocoa libraries -#if CP_USE_CGPOINTS +#if CP_USE_CGTYPES typedef CGPoint cpVect; #else /// Chipmunk's 2D vector type. @@ -216,7 +224,19 @@ typedef uint32_t cpCollisionID; typedef struct cpVect{cpFloat x,y;} cpVect; #endif +#if CP_USE_CGTYPES + typedef CGAffineTransform cpTransform; +#else + /// Column major affine transform. + typedef struct cpTransform { + cpFloat a, b, c, d, tx, ty; + } cpTransform; +#endif + +// NUKE typedef struct cpMat2x2 { // Row major [[a, b][c d]] cpFloat a, b, c, d; } cpMat2x2; + +#endif diff --git a/win32/include/chipmunk/chipmunk_unsafe.h b/win32/include/chipmunk/chipmunk_unsafe.h index 4428814c..990bd012 100644 --- a/win32/include/chipmunk/chipmunk_unsafe.h +++ b/win32/include/chipmunk/chipmunk_unsafe.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -36,27 +36,28 @@ /// so the results will be unrealistic. You must explicity include the chipmunk_unsafe.h header to use them. /// @{ -#ifndef CHIPMUNK_UNSAFE_HEADER -#define CHIPMUNK_UNSAFE_HEADER +#ifndef CHIPMUNK_UNSAFE_H +#define CHIPMUNK_UNSAFE_H #ifdef __cplusplus extern "C" { #endif /// Set the radius of a circle shape. -void cpCircleShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpCircleShapeSetRadius(cpShape *shape, cpFloat radius); /// Set the offset of a circle shape. -void cpCircleShapeSetOffset(cpShape *shape, cpVect offset); +CP_EXPORT void cpCircleShapeSetOffset(cpShape *shape, cpVect offset); /// Set the endpoints of a segment shape. -void cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b); +CP_EXPORT void cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b); /// Set the radius of a segment shape. -void cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius); /// Set the vertexes of a poly shape. -void cpPolyShapeSetVerts(cpShape *shape, int numVerts, cpVect *verts, cpVect offset); +CP_EXPORT void cpPolyShapeSetVerts(cpShape *shape, int count, cpVect *verts, cpTransform transform); +CP_EXPORT void cpPolyShapeSetVertsRaw(cpShape *shape, int count, cpVect *verts); /// Set the radius of a poly shape. -void cpPolyShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpPolyShapeSetRadius(cpShape *shape, cpFloat radius); #ifdef __cplusplus } diff --git a/win32/include/chipmunk/constraints/cpConstraint.h b/win32/include/chipmunk/constraints/cpConstraint.h deleted file mode 100644 index d1059fff..00000000 --- a/win32/include/chipmunk/constraints/cpConstraint.h +++ /dev/null @@ -1,161 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpConstraint cpConstraint -/// @{ - -typedef struct cpConstraintClass cpConstraintClass; - -typedef void (*cpConstraintPreStepImpl)(cpConstraint *constraint, cpFloat dt); -typedef void (*cpConstraintApplyCachedImpulseImpl)(cpConstraint *constraint, cpFloat dt_coef); -typedef void (*cpConstraintApplyImpulseImpl)(cpConstraint *constraint, cpFloat dt); -typedef cpFloat (*cpConstraintGetImpulseImpl)(cpConstraint *constraint); - -/// @private -struct cpConstraintClass { - cpConstraintPreStepImpl preStep; - cpConstraintApplyCachedImpulseImpl applyCachedImpulse; - cpConstraintApplyImpulseImpl applyImpulse; - cpConstraintGetImpulseImpl getImpulse; -}; - -/// Callback function type that gets called before solving a joint. -typedef void (*cpConstraintPreSolveFunc)(cpConstraint *constraint, cpSpace *space); -/// Callback function type that gets called after solving a joint. -typedef void (*cpConstraintPostSolveFunc)(cpConstraint *constraint, cpSpace *space); - - -/// Opaque cpConstraint struct. -struct cpConstraint { - CP_PRIVATE(const cpConstraintClass *klass); - - /// The first body connected to this constraint. - cpBody *a; - /// The second body connected to this constraint. - cpBody *b; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpConstraint *next_a); - CP_PRIVATE(cpConstraint *next_b); - - /// The maximum force that this constraint is allowed to use. - /// Defaults to infinity. - cpFloat maxForce; - /// The rate at which joint error is corrected. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that it will - /// correct 10% of the error every 1/60th of a second. - cpFloat errorBias; - /// The maximum rate at which joint error is corrected. - /// Defaults to infinity. - cpFloat maxBias; - - /// Function called before the solver runs. - /// Animate your joint anchors, update your motor torque, etc. - cpConstraintPreSolveFunc preSolve; - - /// Function called after the solver runs. - /// Use the applied impulse to perform effects like breakable joints. - cpConstraintPostSolveFunc postSolve; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpConstraint reference in a callback. - cpDataPointer data; -}; - -/// Destroy a constraint. -void cpConstraintDestroy(cpConstraint *constraint); -/// Destroy and free a constraint. -void cpConstraintFree(cpConstraint *constraint); - -/// @private -static inline void cpConstraintActivateBodies(cpConstraint *constraint) -{ - cpBody *a = constraint->a; if(a) cpBodyActivate(a); - cpBody *b = constraint->b; if(b) cpBodyActivate(b); -} - -/// @private -#define CP_DefineConstraintStructGetter(type, member, name) \ -static inline type cpConstraint##Get##name(const cpConstraint *constraint){return constraint->member;} - -/// @private -#define CP_DefineConstraintStructSetter(type, member, name) \ -static inline void cpConstraint##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintActivateBodies(constraint); \ - constraint->member = value; \ -} - -/// @private -#define CP_DefineConstraintStructProperty(type, member, name) \ -CP_DefineConstraintStructGetter(type, member, name) \ -CP_DefineConstraintStructSetter(type, member, name) - -CP_DefineConstraintStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineConstraintStructGetter(cpBody*, a, A) -CP_DefineConstraintStructGetter(cpBody*, b, B) -CP_DefineConstraintStructProperty(cpFloat, maxForce, MaxForce) -CP_DefineConstraintStructProperty(cpFloat, errorBias, ErrorBias) -CP_DefineConstraintStructProperty(cpFloat, maxBias, MaxBias) -CP_DefineConstraintStructProperty(cpConstraintPreSolveFunc, preSolve, PreSolveFunc) -CP_DefineConstraintStructProperty(cpConstraintPostSolveFunc, postSolve, PostSolveFunc) -CP_DefineConstraintStructProperty(cpDataPointer, data, UserData) - -// Get the last impulse applied by this constraint. -static inline cpFloat cpConstraintGetImpulse(cpConstraint *constraint) -{ - return constraint->CP_PRIVATE(klass)->getImpulse(constraint); -} - -/// @} - -#define cpConstraintCheckCast(constraint, struct) \ - cpAssertHard(constraint->CP_PRIVATE(klass) == struct##GetClass(), "Constraint is not a "#struct) - -#define CP_DefineConstraintGetter(struct, type, member, name) \ -static inline type struct##Get##name(const cpConstraint *constraint){ \ - cpConstraintCheckCast(constraint, struct); \ - return ((struct *)constraint)->member; \ -} - -#define CP_DefineConstraintSetter(struct, type, member, name) \ -static inline void struct##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintCheckCast(constraint, struct); \ - cpConstraintActivateBodies(constraint); \ - ((struct *)constraint)->member = value; \ -} - -#define CP_DefineConstraintProperty(struct, type, member, name) \ -CP_DefineConstraintGetter(struct, type, member, name) \ -CP_DefineConstraintSetter(struct, type, member, name) - -#include "cpPinJoint.h" -#include "cpSlideJoint.h" -#include "cpPivotJoint.h" -#include "cpGrooveJoint.h" -#include "cpDampedSpring.h" -#include "cpDampedRotarySpring.h" -#include "cpRotaryLimitJoint.h" -#include "cpRatchetJoint.h" -#include "cpGearJoint.h" -#include "cpSimpleMotor.h" diff --git a/win32/include/chipmunk/constraints/cpDampedRotarySpring.h b/win32/include/chipmunk/constraints/cpDampedRotarySpring.h deleted file mode 100644 index 86cf915b..00000000 --- a/win32/include/chipmunk/constraints/cpDampedRotarySpring.h +++ /dev/null @@ -1,56 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedRotarySpring cpDampedRotarySpring -/// @{ - -typedef cpFloat (*cpDampedRotarySpringTorqueFunc)(struct cpConstraint *spring, cpFloat relativeAngle); - -const cpConstraintClass *cpDampedRotarySpringGetClass(void); - -/// @private -typedef struct cpDampedRotarySpring { - cpConstraint constraint; - cpFloat restAngle; - cpFloat stiffness; - cpFloat damping; - cpDampedRotarySpringTorqueFunc springTorqueFunc; - - cpFloat target_wrn; - cpFloat w_coef; - - cpFloat iSum; - cpFloat jAcc; -} cpDampedRotarySpring; - -/// Allocate a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringAlloc(void); -/// Initialize a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringInit(cpDampedRotarySpring *joint, cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped rotary spring. -cpConstraint* cpDampedRotarySpringNew(cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, restAngle, RestAngle) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpDampedRotarySpringTorqueFunc, springTorqueFunc, SpringTorqueFunc) - -/// @} diff --git a/win32/include/chipmunk/constraints/cpDampedSpring.h b/win32/include/chipmunk/constraints/cpDampedSpring.h deleted file mode 100644 index f5120647..00000000 --- a/win32/include/chipmunk/constraints/cpDampedSpring.h +++ /dev/null @@ -1,64 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedSpring cpDampedSpring -/// @{ - -typedef struct cpDampedSpring cpDampedSpring; - -typedef cpFloat (*cpDampedSpringForceFunc)(cpConstraint *spring, cpFloat dist); - -const cpConstraintClass *cpDampedSpringGetClass(void); - -/// @private -struct cpDampedSpring { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat restLength; - cpFloat stiffness; - cpFloat damping; - cpDampedSpringForceFunc springForceFunc; - - cpFloat target_vrn; - cpFloat v_coef; - - cpVect r1, r2; - cpFloat nMass; - cpVect n; - - cpFloat jAcc; -}; - -/// Allocate a damped spring. -cpDampedSpring* cpDampedSpringAlloc(void); -/// Initialize a damped spring. -cpDampedSpring* cpDampedSpringInit(cpDampedSpring *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped spring. -cpConstraint* cpDampedSpringNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, restLength, RestLength) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedSpring, cpDampedSpringForceFunc, springForceFunc, SpringForceFunc) - -/// @} diff --git a/win32/include/chipmunk/constraints/cpGearJoint.h b/win32/include/chipmunk/constraints/cpGearJoint.h deleted file mode 100644 index c9ebf942..00000000 --- a/win32/include/chipmunk/constraints/cpGearJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGearJoint cpGearJoint -/// @{ - -const cpConstraintClass *cpGearJointGetClass(void); - -/// @private -typedef struct cpGearJoint { - cpConstraint constraint; - cpFloat phase, ratio; - cpFloat ratio_inv; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpGearJoint; - -/// Allocate a gear joint. -cpGearJoint* cpGearJointAlloc(void); -/// Initialize a gear joint. -cpGearJoint* cpGearJointInit(cpGearJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); -/// Allocate and initialize a gear joint. -cpConstraint* cpGearJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); - -CP_DefineConstraintProperty(cpGearJoint, cpFloat, phase, Phase) -CP_DefineConstraintGetter(cpGearJoint, cpFloat, ratio, Ratio) -/// Set the ratio of a gear joint. -void cpGearJointSetRatio(cpConstraint *constraint, cpFloat value); - -/// @} diff --git a/win32/include/chipmunk/constraints/cpGrooveJoint.h b/win32/include/chipmunk/constraints/cpGrooveJoint.h deleted file mode 100644 index b260218f..00000000 --- a/win32/include/chipmunk/constraints/cpGrooveJoint.h +++ /dev/null @@ -1,57 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGrooveJoint cpGrooveJoint -/// @{ - -const cpConstraintClass *cpGrooveJointGetClass(void); - -/// @private -typedef struct cpGrooveJoint { - cpConstraint constraint; - cpVect grv_n, grv_a, grv_b; - cpVect anchr2; - - cpVect grv_tn; - cpFloat clamp; - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpGrooveJoint; - -/// Allocate a groove joint. -cpGrooveJoint* cpGrooveJointAlloc(void); -/// Initialize a groove joint. -cpGrooveJoint* cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); -/// Allocate and initialize a groove joint. -cpConstraint* cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); - -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_a, GrooveA) -/// Set endpoint a of a groove joint's groove -void cpGrooveJointSetGrooveA(cpConstraint *constraint, cpVect value); -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_b, GrooveB) -/// Set endpoint b of a groove joint's groove -void cpGrooveJointSetGrooveB(cpConstraint *constraint, cpVect value); -CP_DefineConstraintProperty(cpGrooveJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/win32/include/chipmunk/constraints/cpPinJoint.h b/win32/include/chipmunk/constraints/cpPinJoint.h deleted file mode 100644 index 2413e84a..00000000 --- a/win32/include/chipmunk/constraints/cpPinJoint.h +++ /dev/null @@ -1,52 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPinJoint cpPinJoint -/// @{ - -const cpConstraintClass *cpPinJointGetClass(void); - -/// @private -typedef struct cpPinJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat dist; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpPinJoint; - -/// Allocate a pin joint. -cpPinJoint* cpPinJointAlloc(void); -/// Initialize a pin joint. -cpPinJoint* cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pin joint. -cpConstraint* cpPinJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpPinJoint, cpFloat, dist, Dist) - -///@} diff --git a/win32/include/chipmunk/constraints/cpPivotJoint.h b/win32/include/chipmunk/constraints/cpPivotJoint.h deleted file mode 100644 index a5d33174..00000000 --- a/win32/include/chipmunk/constraints/cpPivotJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPivotJoint cpPivotJoint -/// @{ - -const cpConstraintClass *cpPivotJointGetClass(void); - -/// @private -typedef struct cpPivotJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpPivotJoint; - -/// Allocate a pivot joint -cpPivotJoint* cpPivotJointAlloc(void); -/// Initialize a pivot joint. -cpPivotJoint* cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pivot joint. -cpConstraint* cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot); -/// Allocate and initialize a pivot joint with specific anchors. -cpConstraint* cpPivotJointNew2(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/win32/include/chipmunk/constraints/cpRatchetJoint.h b/win32/include/chipmunk/constraints/cpRatchetJoint.h deleted file mode 100644 index e371b108..00000000 --- a/win32/include/chipmunk/constraints/cpRatchetJoint.h +++ /dev/null @@ -1,49 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRatchetJoint cpRatchetJoint -/// @{ - -const cpConstraintClass *cpRatchetJointGetClass(void); - -/// @private -typedef struct cpRatchetJoint { - cpConstraint constraint; - cpFloat angle, phase, ratchet; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRatchetJoint; - -/// Allocate a ratchet joint. -cpRatchetJoint* cpRatchetJointAlloc(void); -/// Initialize a ratched joint. -cpRatchetJoint* cpRatchetJointInit(cpRatchetJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); -/// Allocate and initialize a ratchet joint. -cpConstraint* cpRatchetJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); - -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, angle, Angle) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, phase, Phase) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, ratchet, Ratchet) - -/// @} diff --git a/win32/include/chipmunk/constraints/cpRotaryLimitJoint.h b/win32/include/chipmunk/constraints/cpRotaryLimitJoint.h deleted file mode 100644 index 2277e40f..00000000 --- a/win32/include/chipmunk/constraints/cpRotaryLimitJoint.h +++ /dev/null @@ -1,48 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRotaryLimitJoint cpRotaryLimitJoint -/// @{ - -const cpConstraintClass *cpRotaryLimitJointGetClass(void); - -/// @private -typedef struct cpRotaryLimitJoint { - cpConstraint constraint; - cpFloat min, max; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRotaryLimitJoint; - -/// Allocate a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointAlloc(void); -/// Initialize a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointInit(cpRotaryLimitJoint *joint, cpBody *a, cpBody *b, cpFloat min, cpFloat max); -/// Allocate and initialize a damped rotary limit joint. -cpConstraint* cpRotaryLimitJointNew(cpBody *a, cpBody *b, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, max, Max) - -/// @} diff --git a/win32/include/chipmunk/constraints/cpSimpleMotor.h b/win32/include/chipmunk/constraints/cpSimpleMotor.h deleted file mode 100644 index 37d28c5d..00000000 --- a/win32/include/chipmunk/constraints/cpSimpleMotor.h +++ /dev/null @@ -1,46 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSimpleMotor cpSimpleMotor -/// @{ - -const cpConstraintClass *cpSimpleMotorGetClass(void); - -/// @private -typedef struct cpSimpleMotor { - cpConstraint constraint; - cpFloat rate; - - cpFloat iSum; - - cpFloat jAcc; -} cpSimpleMotor; - -/// Allocate a simple motor. -cpSimpleMotor* cpSimpleMotorAlloc(void); -/// initialize a simple motor. -cpSimpleMotor* cpSimpleMotorInit(cpSimpleMotor *joint, cpBody *a, cpBody *b, cpFloat rate); -/// Allocate and initialize a simple motor. -cpConstraint* cpSimpleMotorNew(cpBody *a, cpBody *b, cpFloat rate); - -CP_DefineConstraintProperty(cpSimpleMotor, cpFloat, rate, Rate) - -/// @} diff --git a/win32/include/chipmunk/constraints/cpSlideJoint.h b/win32/include/chipmunk/constraints/cpSlideJoint.h deleted file mode 100644 index 40db8bba..00000000 --- a/win32/include/chipmunk/constraints/cpSlideJoint.h +++ /dev/null @@ -1,53 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSlideJoint cpSlideJoint -/// @{ - -const cpConstraintClass *cpSlideJointGetClass(void); - -/// @private -typedef struct cpSlideJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat min, max; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpSlideJoint; - -/// Allocate a slide joint. -cpSlideJoint* cpSlideJointAlloc(void); -/// Initialize a slide joint. -cpSlideJoint* cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); -/// Allocate and initialize a slide joint. -cpConstraint* cpSlideJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, max, Max) - -/// @} diff --git a/win32/include/chipmunk/constraints/util.h b/win32/include/chipmunk/constraints/util.h deleted file mode 100644 index 0a620475..00000000 --- a/win32/include/chipmunk/constraints/util.h +++ /dev/null @@ -1,126 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -// These are utility routines to use when creating custom constraints. -// I'm not sure if this should be part of the private API or not. -// I should probably clean up the naming conventions if it is... - -#define CP_DefineClassGetter(t) const cpConstraintClass * t##GetClass(void){return (cpConstraintClass *)&klass;} - -void cpConstraintInit(cpConstraint *constraint, const cpConstraintClass *klass, cpBody *a, cpBody *b); - -static inline cpVect -relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){ - cpVect v1_sum = cpvadd(a->v, cpvmult(cpvperp(r1), a->w)); - cpVect v2_sum = cpvadd(b->v, cpvmult(cpvperp(r2), b->w)); - - return cpvsub(v2_sum, v1_sum); -} - -static inline cpFloat -normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){ - return cpvdot(relative_velocity(a, b, r1, r2), n); -} - -static inline void -apply_impulse(cpBody *body, cpVect j, cpVect r){ - body->v = cpvadd(body->v, cpvmult(j, body->m_inv)); - body->w += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_impulse(a, cpvneg(j), r1); - apply_impulse(b, j, r2); -} - -static inline void -apply_bias_impulse(cpBody *body, cpVect j, cpVect r) -{ - body->CP_PRIVATE(v_bias) = cpvadd(body->CP_PRIVATE(v_bias), cpvmult(j, body->m_inv)); - body->CP_PRIVATE(w_bias) += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_bias_impulse(a, cpvneg(j), r1); - apply_bias_impulse(b, j, r2); -} - -static inline cpFloat -k_scalar_body(cpBody *body, cpVect r, cpVect n) -{ - cpFloat rcn = cpvcross(r, n); - return body->m_inv + body->i_inv*rcn*rcn; -} - -static inline cpFloat -k_scalar(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n) -{ - cpFloat value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n); - cpAssertSoft(value != 0.0, "Unsolvable collision or constraint."); - - return value; -} - -static inline cpMat2x2 -k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2) -{ - cpFloat m_sum = a->m_inv + b->m_inv; - - // start with Identity*m_sum - cpFloat k11 = m_sum, k12 = 0.0f; - cpFloat k21 = 0.0f, k22 = m_sum; - - // add the influence from r1 - cpFloat a_i_inv = a->i_inv; - cpFloat r1xsq = r1.x * r1.x * a_i_inv; - cpFloat r1ysq = r1.y * r1.y * a_i_inv; - cpFloat r1nxy = -r1.x * r1.y * a_i_inv; - k11 += r1ysq; k12 += r1nxy; - k21 += r1nxy; k22 += r1xsq; - - // add the influnce from r2 - cpFloat b_i_inv = b->i_inv; - cpFloat r2xsq = r2.x * r2.x * b_i_inv; - cpFloat r2ysq = r2.y * r2.y * b_i_inv; - cpFloat r2nxy = -r2.x * r2.y * b_i_inv; - k11 += r2ysq; k12 += r2nxy; - k21 += r2nxy; k22 += r2xsq; - - // invert - cpFloat det = k11*k22 - k12*k21; - cpAssertSoft(det != 0.0, "Unsolvable constraint."); - - cpFloat det_inv = 1.0f/det; - return cpMat2x2New( - k22*det_inv, -k12*det_inv, - -k21*det_inv, k11*det_inv - ); -} - -static inline cpFloat -bias_coef(cpFloat errorBias, cpFloat dt) -{ - return 1.0f - cpfpow(errorBias, dt); -} diff --git a/win32/include/chipmunk/cpArbiter.h b/win32/include/chipmunk/cpArbiter.h index 1ccb693d..1dc130af 100644 --- a/win32/include/chipmunk/cpArbiter.h +++ b/win32/include/chipmunk/cpArbiter.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -20,188 +20,126 @@ */ /// @defgroup cpArbiter cpArbiter -/// The cpArbiter struct controls pairs of colliding shapes. +/// The cpArbiter struct tracks pairs of colliding shapes. /// They are also used in conjuction with collision handler callbacks -/// allowing you to retrieve information on the collision and control it. +/// allowing you to retrieve information on the collision or change it. +/// A unique arbiter value is used for each pair of colliding objects. It persists until the shapes separate. /// @{ -/// Collision begin event function callback type. -/// Returning false from a begin callback causes the collision to be ignored until -/// the the separate callback is called when the objects stop colliding. -typedef cpBool (*cpCollisionBeginFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision pre-solve event function callback type. -/// Returning false from a pre-step callback causes the collision to be ignored until the next step. -typedef cpBool (*cpCollisionPreSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision post-solve event function callback type. -typedef void (*cpCollisionPostSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision separate event function callback type. -typedef void (*cpCollisionSeparateFunc)(cpArbiter *arb, cpSpace *space, void *data); - -/// @private -struct cpCollisionHandler { - cpCollisionType a; - cpCollisionType b; - cpCollisionBeginFunc begin; - cpCollisionPreSolveFunc preSolve; - cpCollisionPostSolveFunc postSolve; - cpCollisionSeparateFunc separate; - void *data; -}; - -typedef struct cpContact cpContact; - #define CP_MAX_CONTACTS_PER_ARBITER 2 -/// @private -typedef enum cpArbiterState { - // Arbiter is active and its the first collision. - cpArbiterStateFirstColl, - // Arbiter is active and its not the first collision. - cpArbiterStateNormal, - // Collision has been explicitly ignored. - // Either by returning false from a begin collision handler or calling cpArbiterIgnore(). - cpArbiterStateIgnore, - // Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps. - cpArbiterStateCached, -} cpArbiterState; - -/// @private -struct cpArbiterThread { - // Links to next and previous arbiters in the contact graph. - struct cpArbiter *next, *prev; -}; - -/// A colliding pair of shapes. -struct cpArbiter { - /// Calculated value to use for the elasticity coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat e; - /// Calculated value to use for the friction coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat u; - /// Calculated value to use for applying surface velocities. - /// Override in a pre-solve collision handler for custom behavior. - cpVect surface_vr; - - /// User definable data pointer. - /// The value will persist for the pair of shapes until the separate() callback is called. - /// NOTE: If you need to clean up this pointer, you should implement the separate() callback to do it. - cpDataPointer data; - - CP_PRIVATE(cpShape *a); - CP_PRIVATE(cpShape *b); - CP_PRIVATE(cpBody *body_a); - CP_PRIVATE(cpBody *body_b); - - CP_PRIVATE(struct cpArbiterThread thread_a); - CP_PRIVATE(struct cpArbiterThread thread_b); - - CP_PRIVATE(int numContacts); - CP_PRIVATE(cpContact *contacts); - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpCollisionHandler *handler); - CP_PRIVATE(cpBool swappedColl); - CP_PRIVATE(cpArbiterState state); -}; - -#define CP_DefineArbiterStructGetter(type, member, name) \ -static inline type cpArbiterGet##name(const cpArbiter *arb){return arb->member;} - -#define CP_DefineArbiterStructSetter(type, member, name) \ -static inline void cpArbiterSet##name(cpArbiter *arb, type value){arb->member = value;} - -#define CP_DefineArbiterStructProperty(type, member, name) \ -CP_DefineArbiterStructGetter(type, member, name) \ -CP_DefineArbiterStructSetter(type, member, name) - -CP_DefineArbiterStructProperty(cpFloat, e, Elasticity) -CP_DefineArbiterStructProperty(cpFloat, u, Friction) +/// Get the restitution (elasticity) that will be applied to the pair of colliding objects. +CP_EXPORT cpFloat cpArbiterGetRestitution(const cpArbiter *arb); +/// Override the restitution (elasticity) that will be applied to the pair of colliding objects. +CP_EXPORT void cpArbiterSetRestitution(cpArbiter *arb, cpFloat restitution); +/// Get the friction coefficient that will be applied to the pair of colliding objects. +CP_EXPORT cpFloat cpArbiterGetFriction(const cpArbiter *arb); +/// Override the friction coefficient that will be applied to the pair of colliding objects. +CP_EXPORT void cpArbiterSetFriction(cpArbiter *arb, cpFloat friction); // Get the relative surface velocity of the two shapes in contact. -cpVect cpArbiterGetSurfaceVelocity(cpArbiter *arb); +CP_EXPORT cpVect cpArbiterGetSurfaceVelocity(cpArbiter *arb); // Override the relative surface velocity of the two shapes in contact. -// By default this is calculated to be the difference of the two -// surface velocities clamped to the tangent plane. -void cpArbiterSetSurfaceVelocity(cpArbiter *arb, cpVect vr); +// By default this is calculated to be the difference of the two surface velocities clamped to the tangent plane. +CP_EXPORT void cpArbiterSetSurfaceVelocity(cpArbiter *arb, cpVect vr); -CP_DefineArbiterStructProperty(cpDataPointer, data, UserData) +/// Get the user data pointer associated with this pair of colliding objects. +CP_EXPORT cpDataPointer cpArbiterGetUserData(const cpArbiter *arb); +/// Set a user data point associated with this pair of colliding objects. +/// If you need to perform any cleanup for this pointer, you must do it yourself, in the separate callback for instance. +CP_EXPORT void cpArbiterSetUserData(cpArbiter *arb, cpDataPointer userData); -/// Calculate the total impulse that was applied by this arbiter. -/// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulse(const cpArbiter *arb); /// Calculate the total impulse including the friction that was applied by this arbiter. /// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulseWithFriction(const cpArbiter *arb); +CP_EXPORT cpVect cpArbiterTotalImpulse(const cpArbiter *arb); /// Calculate the amount of energy lost in a collision including static, but not dynamic friction. /// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpFloat cpArbiterTotalKE(const cpArbiter *arb); +CP_EXPORT cpFloat cpArbiterTotalKE(const cpArbiter *arb); - -/// Causes a collision pair to be ignored as if you returned false from a begin callback. -/// If called from a pre-step callback, you will still need to return false -/// if you want it to be ignored in the current step. -void cpArbiterIgnore(cpArbiter *arb); +/// Mark a collision pair to be ignored until the two objects separate. +/// Pre-solve and post-solve callbacks will not be called, but the separate callback will be called. +CP_EXPORT cpBool cpArbiterIgnore(cpArbiter *arb); /// Return the colliding shapes involved for this arbiter. /// The order of their cpSpace.collision_type values will match /// the order set when the collision handler was registered. -static inline void cpArbiterGetShapes(const cpArbiter *arb, cpShape **a, cpShape **b) -{ - if(arb->CP_PRIVATE(swappedColl)){ - (*a) = arb->CP_PRIVATE(b), (*b) = arb->CP_PRIVATE(a); - } else { - (*a) = arb->CP_PRIVATE(a), (*b) = arb->CP_PRIVATE(b); - } -} +CP_EXPORT void cpArbiterGetShapes(const cpArbiter *arb, cpShape **a, cpShape **b); + /// A macro shortcut for defining and retrieving the shapes from an arbiter. #define CP_ARBITER_GET_SHAPES(__arb__, __a__, __b__) cpShape *__a__, *__b__; cpArbiterGetShapes(__arb__, &__a__, &__b__); /// Return the colliding bodies involved for this arbiter. /// The order of the cpSpace.collision_type the bodies are associated with values will match /// the order set when the collision handler was registered. -static inline void cpArbiterGetBodies(const cpArbiter *arb, cpBody **a, cpBody **b) -{ - CP_ARBITER_GET_SHAPES(arb, shape_a, shape_b); - (*a) = shape_a->body; - (*b) = shape_b->body; -} +CP_EXPORT void cpArbiterGetBodies(const cpArbiter *arb, cpBody **a, cpBody **b); + /// A macro shortcut for defining and retrieving the bodies from an arbiter. #define CP_ARBITER_GET_BODIES(__arb__, __a__, __b__) cpBody *__a__, *__b__; cpArbiterGetBodies(__arb__, &__a__, &__b__); /// A struct that wraps up the important collision data for an arbiter. -typedef struct cpContactPointSet { +struct cpContactPointSet { /// The number of contact points in the set. int count; + /// The normal of the collision. + cpVect normal; + /// The array of contact points. struct { - /// The position of the contact point. - cpVect point; - /// The normal of the contact point. - cpVect normal; - /// The depth of the contact point. - cpFloat dist; + /// The position of the contact on the surface of each shape. + cpVect pointA, pointB; + /// Penetration distance of the two shapes. Overlapping means it will be negative. + /// This value is calculated as cpvdot(cpvsub(point2, point1), normal) and is ignored by cpArbiterSetContactPointSet(). + cpFloat distance; } points[CP_MAX_CONTACTS_PER_ARBITER]; -} cpContactPointSet; +}; /// Return a contact set from an arbiter. -cpContactPointSet cpArbiterGetContactPointSet(const cpArbiter *arb); +CP_EXPORT cpContactPointSet cpArbiterGetContactPointSet(const cpArbiter *arb); /// Replace the contact point set for an arbiter. /// This can be a very powerful feature, but use it with caution! -void cpArbiterSetContactPointSet(cpArbiter *arb, cpContactPointSet *set); +CP_EXPORT void cpArbiterSetContactPointSet(cpArbiter *arb, cpContactPointSet *set); /// Returns true if this is the first step a pair of objects started colliding. -cpBool cpArbiterIsFirstContact(const cpArbiter *arb); +CP_EXPORT cpBool cpArbiterIsFirstContact(const cpArbiter *arb); +/// Returns true if the separate callback is due to a shape being removed from the space. +CP_EXPORT cpBool cpArbiterIsRemoval(const cpArbiter *arb); + /// Get the number of contact points for this arbiter. -int cpArbiterGetCount(const cpArbiter *arb); -/// Get the normal of the @c ith contact point. -cpVect cpArbiterGetNormal(const cpArbiter *arb, int i); -/// Get the position of the @c ith contact point. -cpVect cpArbiterGetPoint(const cpArbiter *arb, int i); +CP_EXPORT int cpArbiterGetCount(const cpArbiter *arb); +/// Get the normal of the collision. +CP_EXPORT cpVect cpArbiterGetNormal(const cpArbiter *arb); +/// Get the position of the @c ith contact point on the surface of the first shape. +CP_EXPORT cpVect cpArbiterGetPointA(const cpArbiter *arb, int i); +/// Get the position of the @c ith contact point on the surface of the second shape. +CP_EXPORT cpVect cpArbiterGetPointB(const cpArbiter *arb, int i); /// Get the depth of the @c ith contact point. -cpFloat cpArbiterGetDepth(const cpArbiter *arb, int i); +CP_EXPORT cpFloat cpArbiterGetDepth(const cpArbiter *arb, int i); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardBeginA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardBeginB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardPreSolveA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardPreSolveB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardPostSolveA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardPostSolveB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardSeparateA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardSeparateB(cpArbiter *arb, cpSpace *space); /// @} diff --git a/win32/include/chipmunk/cpBB.h b/win32/include/chipmunk/cpBB.h index 4e59c2d4..40200600 100644 --- a/win32/include/chipmunk/cpBB.h +++ b/win32/include/chipmunk/cpBB.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,6 +19,12 @@ * SOFTWARE. */ +#ifndef CHIPMUNK_BB_H +#define CHIPMUNK_BB_H + +#include "chipmunk_types.h" +#include "cpVect.h" + /// @defgroup cpBBB cpBB /// Chipmunk's axis-aligned 2D bounding box type along with a few handy routines. /// @{ @@ -35,10 +41,17 @@ static inline cpBB cpBBNew(const cpFloat l, const cpFloat b, const cpFloat r, co return bb; } +/// Constructs a cpBB centered on a point with the given extents (half sizes). +static inline cpBB +cpBBNewForExtents(const cpVect c, const cpFloat hw, const cpFloat hh) +{ + return cpBBNew(c.x - hw, c.y - hh, c.x + hw, c.y + hh); +} + /// Constructs a cpBB for a circle with the given position and radius. static inline cpBB cpBBNewForCircle(const cpVect p, const cpFloat r) { - return cpBBNew(p.x - r, p.y - r, p.x + r, p.y + r); + return cpBBNewForExtents(p, r, r); } /// Returns true if @c a and @c b intersect. @@ -102,6 +115,9 @@ static inline cpFloat cpBBMergedArea(cpBB a, cpBB b) static inline cpFloat cpBBSegmentQuery(cpBB bb, cpVect a, cpVect b) { cpFloat idx = 1.0f/(b.x - a.x); +#ifdef _MSC_VER +#pragma warning(disable: 4056) +#endif cpFloat tx1 = (bb.l == a.x ? -INFINITY : (bb.l - a.x)*idx); cpFloat tx2 = (bb.r == a.x ? INFINITY : (bb.r - a.x)*idx); cpFloat txmin = cpfmin(tx1, tx2); @@ -110,6 +126,9 @@ static inline cpFloat cpBBSegmentQuery(cpBB bb, cpVect a, cpVect b) cpFloat idy = 1.0f/(b.y - a.y); cpFloat ty1 = (bb.b == a.y ? -INFINITY : (bb.b - a.y)*idy); cpFloat ty2 = (bb.t == a.y ? INFINITY : (bb.t - a.y)*idy); +#ifdef _MSC_VER +#pragma warning(default: 4056) +#endif cpFloat tymin = cpfmin(ty1, ty2); cpFloat tymax = cpfmax(ty1, ty2); @@ -136,8 +155,33 @@ cpBBClampVect(const cpBB bb, const cpVect v) return cpv(cpfclamp(v.x, bb.l, bb.r), cpfclamp(v.y, bb.b, bb.t)); } -// TODO edge case issue /// Wrap a vector to a bounding box. -cpVect cpBBWrapVect(const cpBB bb, const cpVect v); // wrap a vector to a bbox +static inline cpVect +cpBBWrapVect(const cpBB bb, const cpVect v) +{ + cpFloat dx = cpfabs(bb.r - bb.l); + cpFloat modx = cpfmod(v.x - bb.l, dx); + cpFloat x = (modx > 0.0f) ? modx : modx + dx; + + cpFloat dy = cpfabs(bb.t - bb.b); + cpFloat mody = cpfmod(v.y - bb.b, dy); + cpFloat y = (mody > 0.0f) ? mody : mody + dy; + + return cpv(x + bb.l, y + bb.b); +} + +/// Returns a bounding box offseted by @c v. +static inline cpBB +cpBBOffset(const cpBB bb, const cpVect v) +{ + return cpBBNew( + bb.l + v.x, + bb.b + v.y, + bb.r + v.x, + bb.t + v.y + ); +} ///@} + +#endif diff --git a/win32/include/chipmunk/cpBody.h b/win32/include/chipmunk/cpBody.h index 6168b0fe..7e6943d1 100644 --- a/win32/include/chipmunk/cpBody.h +++ b/win32/include/chipmunk/cpBody.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -25,227 +25,165 @@ /// They are given a shape by creating collision shapes (cpShape) that point to the body. /// @{ +typedef enum cpBodyType { + /// A dynamic body is one that is affected by gravity, forces, and collisions. + /// This is the default body type. + CP_BODY_TYPE_DYNAMIC, + /// A kinematic body is an infinite mass, user controlled body that is not affected by gravity, forces or collisions. + /// Instead the body only moves based on it's velocity. + /// Dynamic bodies collide normally with kinematic bodies, though the kinematic body will be unaffected. + /// Collisions between two kinematic bodies, or a kinematic body and a static body produce collision callbacks, but no collision response. + CP_BODY_TYPE_KINEMATIC, + /// A static body is a body that never (or rarely) moves. If you move a static body, you must call one of the cpSpaceReindex*() functions. + /// Chipmunk uses this information to optimize the collision detection. + /// Static bodies do not produce collision callbacks when colliding with other static bodies. + CP_BODY_TYPE_STATIC, +} cpBodyType; + /// Rigid body velocity update function type. typedef void (*cpBodyVelocityFunc)(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); /// Rigid body position update function type. typedef void (*cpBodyPositionFunc)(cpBody *body, cpFloat dt); -/// Used internally to track information on the collision graph. -/// @private -typedef struct cpComponentNode { - cpBody *root; - cpBody *next; - cpFloat idleTime; -} cpComponentNode; - -/// Chipmunk's rigid body struct. -struct cpBody { - /// Function that is called to integrate the body's velocity. (Defaults to cpBodyUpdateVelocity) - cpBodyVelocityFunc velocity_func; - - /// Function that is called to integrate the body's position. (Defaults to cpBodyUpdatePosition) - cpBodyPositionFunc position_func; - - /// Mass of the body. - /// Must agree with cpBody.m_inv! Use cpBodySetMass() when changing the mass for this reason. - cpFloat m; - /// Mass inverse. - cpFloat m_inv; - - /// Moment of inertia of the body. - /// Must agree with cpBody.i_inv! Use cpBodySetMoment() when changing the moment for this reason. - cpFloat i; - /// Moment of inertia inverse. - cpFloat i_inv; - - /// Position of the rigid body's center of gravity. - cpVect p; - /// Velocity of the rigid body's center of gravity. - cpVect v; - /// Force acting on the rigid body's center of gravity. - cpVect f; - - /// Rotation of the body around it's center of gravity in radians. - /// Must agree with cpBody.rot! Use cpBodySetAngle() when changing the angle for this reason. - cpFloat a; - /// Angular velocity of the body around it's center of gravity in radians/second. - cpFloat w; - /// Torque applied to the body around it's center of gravity. - cpFloat t; - - /// Cached unit length vector representing the angle of the body. - /// Used for fast rotations using cpvrotate(). - cpVect rot; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpBody reference in a callback. - cpDataPointer data; - - /// Maximum velocity allowed when updating the velocity. - cpFloat v_limit; - /// Maximum rotational rate (in radians/second) allowed when updating the angular velocity. - cpFloat w_limit; - - CP_PRIVATE(cpVect v_bias); - CP_PRIVATE(cpFloat w_bias); - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *shapeList); - CP_PRIVATE(cpArbiter *arbiterList); - CP_PRIVATE(cpConstraint *constraintList); - - CP_PRIVATE(cpComponentNode node); -}; - /// Allocate a cpBody. -cpBody* cpBodyAlloc(void); +CP_EXPORT cpBody* cpBodyAlloc(void); /// Initialize a cpBody. -cpBody* cpBodyInit(cpBody *body, cpFloat m, cpFloat i); +CP_EXPORT cpBody* cpBodyInit(cpBody *body, cpFloat mass, cpFloat moment); /// Allocate and initialize a cpBody. -cpBody* cpBodyNew(cpFloat m, cpFloat i); +CP_EXPORT cpBody* cpBodyNew(cpFloat mass, cpFloat moment); -/// Initialize a static cpBody. -cpBody* cpBodyInitStatic(cpBody *body); -/// Allocate and initialize a static cpBody. -cpBody* cpBodyNewStatic(void); +/// Allocate and initialize a cpBody, and set it as a kinematic body. +CP_EXPORT cpBody* cpBodyNewKinematic(void); +/// Allocate and initialize a cpBody, and set it as a static body. +CP_EXPORT cpBody* cpBodyNewStatic(void); /// Destroy a cpBody. -void cpBodyDestroy(cpBody *body); +CP_EXPORT void cpBodyDestroy(cpBody *body); /// Destroy and free a cpBody. -void cpBodyFree(cpBody *body); - -/// Check that the properties of a body is sane. (Only in debug mode) -#ifdef NDEBUG - #define cpBodyAssertSane(body) -#else - void cpBodySanityCheck(cpBody *body); - #define cpBodyAssertSane(body) cpBodySanityCheck(body) -#endif +CP_EXPORT void cpBodyFree(cpBody *body); // Defined in cpSpace.c /// Wake up a sleeping or idle body. -void cpBodyActivate(cpBody *body); +CP_EXPORT void cpBodyActivate(cpBody *body); /// Wake up any sleeping or idle bodies touching a static body. -void cpBodyActivateStatic(cpBody *body, cpShape *filter); +CP_EXPORT void cpBodyActivateStatic(cpBody *body, cpShape *filter); /// Force a body to fall asleep immediately. -void cpBodySleep(cpBody *body); +CP_EXPORT void cpBodySleep(cpBody *body); /// Force a body to fall asleep immediately along with other bodies in a group. -void cpBodySleepWithGroup(cpBody *body, cpBody *group); +CP_EXPORT void cpBodySleepWithGroup(cpBody *body, cpBody *group); /// Returns true if the body is sleeping. -static inline cpBool cpBodyIsSleeping(const cpBody *body) -{ - return (CP_PRIVATE(body->node).root != ((cpBody*)0)); -} +CP_EXPORT cpBool cpBodyIsSleeping(const cpBody *body); -/// Returns true if the body is static. -static inline cpBool cpBodyIsStatic(const cpBody *body) -{ - return CP_PRIVATE(body->node).idleTime == INFINITY; -} +/// Get the type of the body. +CP_EXPORT cpBodyType cpBodyGetType(cpBody *body); +/// Set the type of the body. +CP_EXPORT void cpBodySetType(cpBody *body, cpBodyType type); -/// Returns true if the body has not been added to a space. -/// Note: Static bodies are a subtype of rogue bodies. -static inline cpBool cpBodyIsRogue(const cpBody *body) -{ - return (body->CP_PRIVATE(space) == ((cpSpace*)0)); -} +/// Get the space this body is added to. +CP_EXPORT cpSpace* cpBodyGetSpace(const cpBody *body); +/// Get the mass of the body. +CP_EXPORT cpFloat cpBodyGetMass(const cpBody *body); +/// Set the mass of the body. +CP_EXPORT void cpBodySetMass(cpBody *body, cpFloat m); -#define CP_DefineBodyStructGetter(type, member, name) \ -static inline type cpBodyGet##name(const cpBody *body){return body->member;} +/// Get the moment of inertia of the body. +CP_EXPORT cpFloat cpBodyGetMoment(const cpBody *body); +/// Set the moment of inertia of the body. +CP_EXPORT void cpBodySetMoment(cpBody *body, cpFloat i); -#define CP_DefineBodyStructSetter(type, member, name) \ -static inline void cpBodySet##name(cpBody *body, const type value){ \ - cpBodyActivate(body); \ - body->member = value; \ - cpBodyAssertSane(body); \ -} - -#define CP_DefineBodyStructProperty(type, member, name) \ -CP_DefineBodyStructGetter(type, member, name) \ -CP_DefineBodyStructSetter(type, member, name) - -// TODO add to docs -CP_DefineBodyStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineBodyStructGetter(cpFloat, m, Mass) -/// Set the mass of a body. -void cpBodySetMass(cpBody *body, cpFloat m); - -CP_DefineBodyStructGetter(cpFloat, i, Moment) -/// Set the moment of a body. -void cpBodySetMoment(cpBody *body, cpFloat i); - -CP_DefineBodyStructGetter(cpVect, p, Pos) /// Set the position of a body. -void cpBodySetPos(cpBody *body, cpVect pos); -CP_DefineBodyStructProperty(cpVect, v, Vel) -CP_DefineBodyStructProperty(cpVect, f, Force) -CP_DefineBodyStructGetter(cpFloat, a, Angle) -/// Set the angle of a body. -void cpBodySetAngle(cpBody *body, cpFloat a); -CP_DefineBodyStructProperty(cpFloat, w, AngVel) -CP_DefineBodyStructProperty(cpFloat, t, Torque) -CP_DefineBodyStructGetter(cpVect, rot, Rot) -CP_DefineBodyStructProperty(cpFloat, v_limit, VelLimit) -CP_DefineBodyStructProperty(cpFloat, w_limit, AngVelLimit) -CP_DefineBodyStructProperty(cpDataPointer, data, UserData) +CP_EXPORT cpVect cpBodyGetPosition(const cpBody *body); +/// Set the position of the body. +CP_EXPORT void cpBodySetPosition(cpBody *body, cpVect pos); -/// Default Integration functions. -void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); -void cpBodyUpdatePosition(cpBody *body, cpFloat dt); +/// Get the offset of the center of gravity in body local coordinates. +CP_EXPORT cpVect cpBodyGetCenterOfGravity(const cpBody *body); +/// Set the offset of the center of gravity in body local coordinates. +CP_EXPORT void cpBodySetCenterOfGravity(cpBody *body, cpVect cog); + +/// Get the velocity of the body. +CP_EXPORT cpVect cpBodyGetVelocity(const cpBody *body); +/// Set the velocity of the body. +CP_EXPORT void cpBodySetVelocity(cpBody *body, cpVect velocity); + +/// Get the force applied to the body for the next time step. +CP_EXPORT cpVect cpBodyGetForce(const cpBody *body); +/// Set the force applied to the body for the next time step. +CP_EXPORT void cpBodySetForce(cpBody *body, cpVect force); + +/// Get the angle of the body. +CP_EXPORT cpFloat cpBodyGetAngle(const cpBody *body); +/// Set the angle of a body. +CP_EXPORT void cpBodySetAngle(cpBody *body, cpFloat a); + +/// Get the angular velocity of the body. +CP_EXPORT cpFloat cpBodyGetAngularVelocity(const cpBody *body); +/// Set the angular velocity of the body. +CP_EXPORT void cpBodySetAngularVelocity(cpBody *body, cpFloat angularVelocity); + +/// Get the torque applied to the body for the next time step. +CP_EXPORT cpFloat cpBodyGetTorque(const cpBody *body); +/// Set the torque applied to the body for the next time step. +CP_EXPORT void cpBodySetTorque(cpBody *body, cpFloat torque); + +/// Get the rotation vector of the body. (The x basis vector of it's transform.) +CP_EXPORT cpVect cpBodyGetRotation(const cpBody *body); + +/// Get the user data pointer assigned to the body. +CP_EXPORT cpDataPointer cpBodyGetUserData(const cpBody *body); +/// Set the user data pointer assigned to the body. +CP_EXPORT void cpBodySetUserData(cpBody *body, cpDataPointer userData); + +/// Set the callback used to update a body's velocity. +CP_EXPORT void cpBodySetVelocityUpdateFunc(cpBody *body, cpBodyVelocityFunc velocityFunc); +/// Set the callback used to update a body's position. +/// NOTE: It's not generally recommended to override this unless you call the default position update function. +CP_EXPORT void cpBodySetPositionUpdateFunc(cpBody *body, cpBodyPositionFunc positionFunc); + +/// Default velocity integration function.. +CP_EXPORT void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); +/// Default position integration function. +CP_EXPORT void cpBodyUpdatePosition(cpBody *body, cpFloat dt); /// Convert body relative/local coordinates to absolute/world coordinates. -static inline cpVect cpBodyLocal2World(const cpBody *body, const cpVect v) -{ - return cpvadd(body->p, cpvrotate(v, body->rot)); -} - +CP_EXPORT cpVect cpBodyLocalToWorld(const cpBody *body, const cpVect point); /// Convert body absolute/world coordinates to relative/local coordinates. -static inline cpVect cpBodyWorld2Local(const cpBody *body, const cpVect v) -{ - return cpvunrotate(cpvsub(v, body->p), body->rot); -} +CP_EXPORT cpVect cpBodyWorldToLocal(const cpBody *body, const cpVect point); -/// Set the forces and torque or a body to zero. -void cpBodyResetForces(cpBody *body); -/// Apply an force (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyForce(cpBody *body, const cpVect f, const cpVect r); -/// Apply an impulse (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyImpulse(cpBody *body, const cpVect j, const cpVect r); +/// Apply a force to a body. Both the force and point are expressed in world coordinates. +CP_EXPORT void cpBodyApplyForceAtWorldPoint(cpBody *body, cpVect force, cpVect point); +/// Apply a force to a body. Both the force and point are expressed in body local coordinates. +CP_EXPORT void cpBodyApplyForceAtLocalPoint(cpBody *body, cpVect force, cpVect point); + +/// Apply an impulse to a body. Both the impulse and point are expressed in world coordinates. +CP_EXPORT void cpBodyApplyImpulseAtWorldPoint(cpBody *body, cpVect impulse, cpVect point); +/// Apply an impulse to a body. Both the impulse and point are expressed in body local coordinates. +CP_EXPORT void cpBodyApplyImpulseAtLocalPoint(cpBody *body, cpVect impulse, cpVect point); /// Get the velocity on a body (in world units) at a point on the body in world coordinates. -cpVect cpBodyGetVelAtWorldPoint(cpBody *body, cpVect point); +CP_EXPORT cpVect cpBodyGetVelocityAtWorldPoint(const cpBody *body, cpVect point); /// Get the velocity on a body (in world units) at a point on the body in local coordinates. -cpVect cpBodyGetVelAtLocalPoint(cpBody *body, cpVect point); +CP_EXPORT cpVect cpBodyGetVelocityAtLocalPoint(const cpBody *body, cpVect point); - -/// Get the kinetic energy of a body. -static inline cpFloat cpBodyKineticEnergy(const cpBody *body) -{ - // Need to do some fudging to avoid NaNs - cpFloat vsq = cpvdot(body->v, body->v); - cpFloat wsq = body->w*body->w; - return (vsq ? vsq*body->m : 0.0f) + (wsq ? wsq*body->i : 0.0f); -} +/// Get the amount of kinetic energy contained by the body. +CP_EXPORT cpFloat cpBodyKineticEnergy(const cpBody *body); /// Body/shape iterator callback function type. typedef void (*cpBodyShapeIteratorFunc)(cpBody *body, cpShape *shape, void *data); /// Call @c func once for each shape attached to @c body and added to the space. -void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data); /// Body/constraint iterator callback function type. typedef void (*cpBodyConstraintIteratorFunc)(cpBody *body, cpConstraint *constraint, void *data); /// Call @c func once for each constraint attached to @c body and added to the space. -void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data); /// Body/arbiter iterator callback function type. typedef void (*cpBodyArbiterIteratorFunc)(cpBody *body, cpArbiter *arbiter, void *data); /// Call @c func once for each arbiter that is currently active on the body. -void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data); ///@} diff --git a/android/x86/include/chipmunk/chipmunk/cpConstraint.h b/win32/include/chipmunk/cpConstraint.h similarity index 100% rename from android/x86/include/chipmunk/chipmunk/cpConstraint.h rename to win32/include/chipmunk/cpConstraint.h diff --git a/android/x86/include/chipmunk/chipmunk/cpDampedRotarySpring.h b/win32/include/chipmunk/cpDampedRotarySpring.h similarity index 100% rename from android/x86/include/chipmunk/chipmunk/cpDampedRotarySpring.h rename to win32/include/chipmunk/cpDampedRotarySpring.h diff --git a/android/x86/include/chipmunk/chipmunk/cpDampedSpring.h b/win32/include/chipmunk/cpDampedSpring.h similarity index 100% rename from android/x86/include/chipmunk/chipmunk/cpDampedSpring.h rename to win32/include/chipmunk/cpDampedSpring.h diff --git a/android/x86/include/chipmunk/chipmunk/cpGearJoint.h b/win32/include/chipmunk/cpGearJoint.h similarity index 100% rename from android/x86/include/chipmunk/chipmunk/cpGearJoint.h rename to win32/include/chipmunk/cpGearJoint.h diff --git a/android/x86/include/chipmunk/chipmunk/cpGrooveJoint.h b/win32/include/chipmunk/cpGrooveJoint.h similarity index 100% rename from android/x86/include/chipmunk/chipmunk/cpGrooveJoint.h rename to win32/include/chipmunk/cpGrooveJoint.h diff --git a/android/x86/include/chipmunk/chipmunk/cpHastySpace.h b/win32/include/chipmunk/cpHastySpace.h similarity index 100% rename from android/x86/include/chipmunk/chipmunk/cpHastySpace.h rename to win32/include/chipmunk/cpHastySpace.h diff --git a/android/x86/include/chipmunk/chipmunk/cpMarch.h b/win32/include/chipmunk/cpMarch.h similarity index 100% rename from android/x86/include/chipmunk/chipmunk/cpMarch.h rename to win32/include/chipmunk/cpMarch.h diff --git a/android/x86/include/chipmunk/chipmunk/cpPinJoint.h b/win32/include/chipmunk/cpPinJoint.h similarity index 100% rename from android/x86/include/chipmunk/chipmunk/cpPinJoint.h rename to win32/include/chipmunk/cpPinJoint.h diff --git a/android/x86/include/chipmunk/chipmunk/cpPivotJoint.h b/win32/include/chipmunk/cpPivotJoint.h similarity index 100% rename from android/x86/include/chipmunk/chipmunk/cpPivotJoint.h rename to win32/include/chipmunk/cpPivotJoint.h diff --git a/win32/include/chipmunk/cpPolyShape.h b/win32/include/chipmunk/cpPolyShape.h index a5587ba2..25f688b8 100644 --- a/win32/include/chipmunk/cpPolyShape.h +++ b/win32/include/chipmunk/cpPolyShape.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -22,60 +22,35 @@ /// @defgroup cpPolyShape cpPolyShape /// @{ -/// @private -typedef struct cpSplittingPlane { - cpVect n; - cpFloat d; -} cpSplittingPlane; - -/// @private -typedef struct cpPolyShape { - cpShape shape; - - int numVerts; - cpVect *verts, *tVerts; - cpSplittingPlane *planes, *tPlanes; - - cpFloat r; -} cpPolyShape; - /// Allocate a polygon shape. -cpPolyShape* cpPolyShapeAlloc(void); -/// Initialize a polygon shape. +CP_EXPORT cpPolyShape* cpPolyShapeAlloc(void); +/// Initialize a polygon shape with rounded corners. /// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Initialize a polygon shape. +CP_EXPORT cpPolyShape* cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int count, const cpVect *verts, cpTransform transform, cpFloat radius); +/// Initialize a polygon shape with rounded corners. +/// The vertexes must be convex with a counter-clockwise winding. +CP_EXPORT cpPolyShape* cpPolyShapeInitRaw(cpPolyShape *poly, cpBody *body, int count, const cpVect *verts, cpFloat radius); +/// Allocate and initialize a polygon shape with rounded corners. /// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit2(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew(cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew2(cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); +CP_EXPORT cpShape* cpPolyShapeNew(cpBody *body, int count, const cpVect *verts, cpTransform transform, cpFloat radius); +/// Allocate and initialize a polygon shape with rounded corners. +/// The vertexes must be convex with a counter-clockwise winding. +CP_EXPORT cpShape* cpPolyShapeNewRaw(cpBody *body, int count, const cpVect *verts, cpFloat radius); -/// Initialize a box shaped polygon shape. -cpPolyShape* cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit2(cpPolyShape *poly, cpBody *body, cpBB box); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit3(cpPolyShape *poly, cpBody *body, cpBB box, cpFloat radius); +/// Initialize a box shaped polygon shape with rounded corners. +CP_EXPORT cpPolyShape* cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height, cpFloat radius); +/// Initialize an offset box shaped polygon shape with rounded corners. +CP_EXPORT cpPolyShape* cpBoxShapeInit2(cpPolyShape *poly, cpBody *body, cpBB box, cpFloat radius); /// Allocate and initialize a box shaped polygon shape. -cpShape* cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height); +CP_EXPORT cpShape* cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height, cpFloat radius); /// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew2(cpBody *body, cpBB box); -/// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew3(cpBody *body, cpBB box, cpFloat radius); - -/// Check that a set of vertexes is convex and has a clockwise winding. -/// NOTE: Due to floating point precision issues, hulls created with cpQuickHull() are not guaranteed to validate! -cpBool cpPolyValidate(const cpVect *verts, const int numVerts); +CP_EXPORT cpShape* cpBoxShapeNew2(cpBody *body, cpBB box, cpFloat radius); /// Get the number of verts in a polygon shape. -int cpPolyShapeGetNumVerts(const cpShape *shape); +CP_EXPORT int cpPolyShapeGetCount(const cpShape *shape); /// Get the @c ith vertex of a polygon shape. -cpVect cpPolyShapeGetVert(const cpShape *shape, int idx); +CP_EXPORT cpVect cpPolyShapeGetVert(const cpShape *shape, int index); /// Get the radius of a polygon shape. -cpFloat cpPolyShapeGetRadius(const cpShape *shape); +CP_EXPORT cpFloat cpPolyShapeGetRadius(const cpShape *shape); /// @} diff --git a/android/x86/include/chipmunk/chipmunk/cpPolyline.h b/win32/include/chipmunk/cpPolyline.h similarity index 100% rename from android/x86/include/chipmunk/chipmunk/cpPolyline.h rename to win32/include/chipmunk/cpPolyline.h diff --git a/android/x86/include/chipmunk/chipmunk/cpRatchetJoint.h b/win32/include/chipmunk/cpRatchetJoint.h similarity index 100% rename from android/x86/include/chipmunk/chipmunk/cpRatchetJoint.h rename to win32/include/chipmunk/cpRatchetJoint.h diff --git a/android/x86/include/chipmunk/chipmunk/cpRobust.h b/win32/include/chipmunk/cpRobust.h similarity index 100% rename from android/x86/include/chipmunk/chipmunk/cpRobust.h rename to win32/include/chipmunk/cpRobust.h diff --git a/android/x86/include/chipmunk/chipmunk/cpRotaryLimitJoint.h b/win32/include/chipmunk/cpRotaryLimitJoint.h similarity index 100% rename from android/x86/include/chipmunk/chipmunk/cpRotaryLimitJoint.h rename to win32/include/chipmunk/cpRotaryLimitJoint.h diff --git a/win32/include/chipmunk/cpShape.h b/win32/include/chipmunk/cpShape.h index 62920c37..cc20f809 100644 --- a/win32/include/chipmunk/cpShape.h +++ b/win32/include/chipmunk/cpShape.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -18,215 +18,182 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. */ - + /// @defgroup cpShape cpShape /// The cpShape struct defines the shape of a rigid body. /// @{ -typedef struct cpShapeClass cpShapeClass; - -/// Nearest point query info struct. -typedef struct cpNearestPointQueryInfo { +/// Point query info struct. +typedef struct cpPointQueryInfo { /// The nearest shape, NULL if no shape was within range. - cpShape *shape; + const cpShape *shape; /// The closest point on the shape's surface. (in world space coordinates) - cpVect p; + cpVect point; /// The distance to the point. The distance is negative if the point is inside the shape. - cpFloat d; + cpFloat distance; /// The gradient of the signed distance function. - /// The same as info.p/info.d, but accurate even for very small values of info.d. - cpVect g; -} cpNearestPointQueryInfo; + /// The value should be similar to info.p/info.d, but accurate even for very small values of info.d. + cpVect gradient; +} cpPointQueryInfo; /// Segment query info struct. typedef struct cpSegmentQueryInfo { - /// The shape that was hit, NULL if no collision occured. - cpShape *shape; - /// The normalized distance along the query segment in the range [0, 1]. - cpFloat t; + /// The shape that was hit, or NULL if no collision occured. + const cpShape *shape; + /// The point of impact. + cpVect point; /// The normal of the surface hit. - cpVect n; + cpVect normal; + /// The normalized distance along the query segment in the range [0, 1]. + cpFloat alpha; } cpSegmentQueryInfo; -/// @private -typedef enum cpShapeType{ - CP_CIRCLE_SHAPE, - CP_SEGMENT_SHAPE, - CP_POLY_SHAPE, - CP_NUM_SHAPES -} cpShapeType; - -typedef cpBB (*cpShapeCacheDataImpl)(cpShape *shape, cpVect p, cpVect rot); -typedef void (*cpShapeDestroyImpl)(cpShape *shape); -typedef void (*cpShapeNearestPointQueryImpl)(cpShape *shape, cpVect p, cpNearestPointQueryInfo *info); -typedef void (*cpShapeSegmentQueryImpl)(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); - -/// @private -struct cpShapeClass { - cpShapeType type; - - cpShapeCacheDataImpl cacheData; - cpShapeDestroyImpl destroy; - cpShapeNearestPointQueryImpl nearestPointQuery; - cpShapeSegmentQueryImpl segmentQuery; -}; - -/// Opaque collision shape struct. -struct cpShape { - CP_PRIVATE(const cpShapeClass *klass); - - /// The rigid body this collision shape is attached to. - cpBody *body; - - /// The current bounding box of the shape. - cpBB bb; - - /// Sensor flag. - /// Sensor shapes call collision callbacks but don't produce collisions. - cpBool sensor; - - /// Coefficient of restitution. (elasticity) - cpFloat e; - /// Coefficient of friction. - cpFloat u; - /// Surface velocity used when solving for friction. - cpVect surface_v; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpShape reference in a callback. - cpDataPointer data; - - /// Collision type of this shape used when picking collision handlers. - cpCollisionType collision_type; - /// Group of this shape. Shapes in the same group don't collide. +/// Fast collision filtering type that is used to determine if two objects collide before calling collision or query callbacks. +typedef struct cpShapeFilter { + /// Two objects with the same non-zero group value do not collide. + /// This is generally used to group objects in a composite object together to disable self collisions. cpGroup group; - // Layer bitmask for this shape. Shapes only collide if the bitwise and of their layers is non-zero. - cpLayers layers; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *next); - CP_PRIVATE(cpShape *prev); - - CP_PRIVATE(cpHashValue hashid); -}; + /// A bitmask of user definable categories that this object belongs to. + /// The category/mask combinations of both objects in a collision must agree for a collision to occur. + cpBitmask categories; + /// A bitmask of user definable category types that this object object collides with. + /// The category/mask combinations of both objects in a collision must agree for a collision to occur. + cpBitmask mask; +} cpShapeFilter; + +/// Collision filter value for a shape that will collide with anything except CP_SHAPE_FILTER_NONE. +static const cpShapeFilter CP_SHAPE_FILTER_ALL = {CP_NO_GROUP, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES}; +/// Collision filter value for a shape that does not collide with anything. +static const cpShapeFilter CP_SHAPE_FILTER_NONE = {CP_NO_GROUP, ~CP_ALL_CATEGORIES, ~CP_ALL_CATEGORIES}; + +/// Create a new collision filter. +static inline cpShapeFilter +cpShapeFilterNew(cpGroup group, cpBitmask categories, cpBitmask mask) +{ + cpShapeFilter filter = {group, categories, mask}; + return filter; +} /// Destroy a shape. -void cpShapeDestroy(cpShape *shape); +CP_EXPORT void cpShapeDestroy(cpShape *shape); /// Destroy and Free a shape. -void cpShapeFree(cpShape *shape); +CP_EXPORT void cpShapeFree(cpShape *shape); /// Update, cache and return the bounding box of a shape based on the body it's attached to. -cpBB cpShapeCacheBB(cpShape *shape); +CP_EXPORT cpBB cpShapeCacheBB(cpShape *shape); /// Update, cache and return the bounding box of a shape with an explicit transformation. -cpBB cpShapeUpdate(cpShape *shape, cpVect pos, cpVect rot); - -/// Test if a point lies within a shape. -cpBool cpShapePointQuery(cpShape *shape, cpVect p); +CP_EXPORT cpBB cpShapeUpdate(cpShape *shape, cpTransform transform); /// Perform a nearest point query. It finds the closest point on the surface of shape to a specific point. /// The value returned is the distance between the points. A negative distance means the point is inside the shape. -cpFloat cpShapeNearestPointQuery(cpShape *shape, cpVect p, cpNearestPointQueryInfo *out); +CP_EXPORT cpFloat cpShapePointQuery(const cpShape *shape, cpVect p, cpPointQueryInfo *out); /// Perform a segment query against a shape. @c info must be a pointer to a valid cpSegmentQueryInfo structure. -cpBool cpShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); +CP_EXPORT cpBool cpShapeSegmentQuery(const cpShape *shape, cpVect a, cpVect b, cpFloat radius, cpSegmentQueryInfo *info); -/// Get the hit point for a segment query. -static inline cpVect cpSegmentQueryHitPoint(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvlerp(start, end, info.t); -} +/// Return contact information about two shapes. +CP_EXPORT cpContactPointSet cpShapesCollide(const cpShape *a, const cpShape *b); -/// Get the hit distance for a segment query. -static inline cpFloat cpSegmentQueryHitDist(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvdist(start, end)*info.t; -} +/// The cpSpace this body is added to. +CP_EXPORT cpSpace* cpShapeGetSpace(const cpShape *shape); -#define CP_DefineShapeStructGetter(type, member, name) \ -static inline type cpShapeGet##name(const cpShape *shape){return shape->member;} +/// The cpBody this shape is connected to. +CP_EXPORT cpBody* cpShapeGetBody(const cpShape *shape); +/// Set the cpBody this shape is connected to. +/// Can only be used if the shape is not currently added to a space. +CP_EXPORT void cpShapeSetBody(cpShape *shape, cpBody *body); -#define CP_DefineShapeStructSetter(type, member, name, activates) \ -static inline void cpShapeSet##name(cpShape *shape, type value){ \ - if(activates && shape->body) cpBodyActivate(shape->body); \ - shape->member = value; \ -} +/// Get the mass of the shape if you are having Chipmunk calculate mass properties for you. +cpFloat cpShapeGetMass(cpShape *shape); +/// Set the mass of this shape to have Chipmunk calculate mass properties for you. +CP_EXPORT void cpShapeSetMass(cpShape *shape, cpFloat mass); -#define CP_DefineShapeStructProperty(type, member, name, activates) \ -CP_DefineShapeStructGetter(type, member, name) \ -CP_DefineShapeStructSetter(type, member, name, activates) +/// Get the density of the shape if you are having Chipmunk calculate mass properties for you. +CP_EXPORT cpFloat cpShapeGetDensity(cpShape *shape); +/// Set the density of this shape to have Chipmunk calculate mass properties for you. +CP_EXPORT void cpShapeSetDensity(cpShape *shape, cpFloat density); -CP_DefineShapeStructGetter(cpSpace*, CP_PRIVATE(space), Space) +/// Get the calculated moment of inertia for this shape. +CP_EXPORT cpFloat cpShapeGetMoment(cpShape *shape); +/// Get the calculated area of this shape. +CP_EXPORT cpFloat cpShapeGetArea(cpShape *shape); +/// Get the centroid of this shape. +CP_EXPORT cpVect cpShapeGetCenterOfGravity(cpShape *shape); -CP_DefineShapeStructGetter(cpBody*, body, Body) -void cpShapeSetBody(cpShape *shape, cpBody *body); +/// Get the bounding box that contains the shape given it's current position and angle. +CP_EXPORT cpBB cpShapeGetBB(const cpShape *shape); -CP_DefineShapeStructGetter(cpBB, bb, BB) -CP_DefineShapeStructProperty(cpBool, sensor, Sensor, cpTrue) -CP_DefineShapeStructProperty(cpFloat, e, Elasticity, cpFalse) -CP_DefineShapeStructProperty(cpFloat, u, Friction, cpTrue) -CP_DefineShapeStructProperty(cpVect, surface_v, SurfaceVelocity, cpTrue) -CP_DefineShapeStructProperty(cpDataPointer, data, UserData, cpFalse) -CP_DefineShapeStructProperty(cpCollisionType, collision_type, CollisionType, cpTrue) -CP_DefineShapeStructProperty(cpGroup, group, Group, cpTrue) -CP_DefineShapeStructProperty(cpLayers, layers, Layers, cpTrue) +/// Get if the shape is set to be a sensor or not. +CP_EXPORT cpBool cpShapeGetSensor(const cpShape *shape); +/// Set if the shape is a sensor or not. +CP_EXPORT void cpShapeSetSensor(cpShape *shape, cpBool sensor); -/// When initializing a shape, it's hash value comes from a counter. -/// Because the hash value may affect iteration order, you can reset the shape ID counter -/// when recreating a space. This will make the simulation be deterministic. -void cpResetShapeIdCounter(void); +/// Get the elasticity of this shape. +CP_EXPORT cpFloat cpShapeGetElasticity(const cpShape *shape); +/// Set the elasticity of this shape. +CP_EXPORT void cpShapeSetElasticity(cpShape *shape, cpFloat elasticity); + +/// Get the friction of this shape. +CP_EXPORT cpFloat cpShapeGetFriction(const cpShape *shape); +/// Set the friction of this shape. +CP_EXPORT void cpShapeSetFriction(cpShape *shape, cpFloat friction); + +/// Get the surface velocity of this shape. +CP_EXPORT cpVect cpShapeGetSurfaceVelocity(const cpShape *shape); +/// Set the surface velocity of this shape. +CP_EXPORT void cpShapeSetSurfaceVelocity(cpShape *shape, cpVect surfaceVelocity); + +/// Get the user definable data pointer of this shape. +CP_EXPORT cpDataPointer cpShapeGetUserData(const cpShape *shape); +/// Set the user definable data pointer of this shape. +CP_EXPORT void cpShapeSetUserData(cpShape *shape, cpDataPointer userData); + +/// Set the collision type of this shape. +CP_EXPORT cpCollisionType cpShapeGetCollisionType(const cpShape *shape); +/// Get the collision type of this shape. +CP_EXPORT void cpShapeSetCollisionType(cpShape *shape, cpCollisionType collisionType); + +/// Get the collision filtering parameters of this shape. +CP_EXPORT cpShapeFilter cpShapeGetFilter(const cpShape *shape); +/// Set the collision filtering parameters of this shape. +CP_EXPORT void cpShapeSetFilter(cpShape *shape, cpShapeFilter filter); -#define CP_DeclareShapeGetter(struct, type, name) type struct##Get##name(const cpShape *shape) /// @} /// @defgroup cpCircleShape cpCircleShape -/// @private -typedef struct cpCircleShape { - cpShape shape; - - cpVect c, tc; - cpFloat r; -} cpCircleShape; - /// Allocate a circle shape. -cpCircleShape* cpCircleShapeAlloc(void); +CP_EXPORT cpCircleShape* cpCircleShapeAlloc(void); /// Initialize a circle shape. -cpCircleShape* cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset); +CP_EXPORT cpCircleShape* cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset); /// Allocate and initialize a circle shape. -cpShape* cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset); +CP_EXPORT cpShape* cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset); -CP_DeclareShapeGetter(cpCircleShape, cpVect, Offset); -CP_DeclareShapeGetter(cpCircleShape, cpFloat, Radius); +/// Get the offset of a circle shape. +CP_EXPORT cpVect cpCircleShapeGetOffset(const cpShape *shape); +/// Get the radius of a circle shape. +CP_EXPORT cpFloat cpCircleShapeGetRadius(const cpShape *shape); /// @} /// @defgroup cpSegmentShape cpSegmentShape -/// @private -typedef struct cpSegmentShape { - cpShape shape; - - cpVect a, b, n; - cpVect ta, tb, tn; - cpFloat r; - - cpVect a_tangent, b_tangent; -} cpSegmentShape; - /// Allocate a segment shape. -cpSegmentShape* cpSegmentShapeAlloc(void); +CP_EXPORT cpSegmentShape* cpSegmentShapeAlloc(void); /// Initialize a segment shape. -cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius); +CP_EXPORT cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius); /// Allocate and initialize a segment shape. -cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius); +CP_EXPORT cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius); /// Let Chipmunk know about the geometry of adjacent segments to avoid colliding with endcaps. -void cpSegmentShapeSetNeighbors(cpShape *shape, cpVect prev, cpVect next); +CP_EXPORT void cpSegmentShapeSetNeighbors(cpShape *shape, cpVect prev, cpVect next); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, A); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, B); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, Normal); -CP_DeclareShapeGetter(cpSegmentShape, cpFloat, Radius); +/// Get the first endpoint of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetA(const cpShape *shape); +/// Get the second endpoint of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetB(const cpShape *shape); +/// Get the normal of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetNormal(const cpShape *shape); +/// Get the first endpoint of a segment shape. +CP_EXPORT cpFloat cpSegmentShapeGetRadius(const cpShape *shape); /// @} diff --git a/android/x86/include/chipmunk/chipmunk/cpSimpleMotor.h b/win32/include/chipmunk/cpSimpleMotor.h similarity index 100% rename from android/x86/include/chipmunk/chipmunk/cpSimpleMotor.h rename to win32/include/chipmunk/cpSimpleMotor.h diff --git a/android/x86/include/chipmunk/chipmunk/cpSlideJoint.h b/win32/include/chipmunk/cpSlideJoint.h similarity index 100% rename from android/x86/include/chipmunk/chipmunk/cpSlideJoint.h rename to win32/include/chipmunk/cpSlideJoint.h diff --git a/win32/include/chipmunk/cpSpace.h b/win32/include/chipmunk/cpSpace.h index 26439f76..7bbabb85 100644 --- a/win32/include/chipmunk/cpSpace.h +++ b/win32/include/chipmunk/cpSpace.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -22,191 +22,161 @@ /// @defgroup cpSpace cpSpace /// @{ -typedef struct cpContactBufferHeader cpContactBufferHeader; -typedef void (*cpSpaceArbiterApplyImpulseFunc)(cpArbiter *arb); +//MARK: Definitions -/// Basic Unit of Simulation in Chipmunk -struct cpSpace { - /// Number of iterations to use in the impulse solver to solve contacts. - int iterations; - - /// Gravity to pass to rigid bodies when integrating velocity. - cpVect gravity; - - /// Damping rate expressed as the fraction of velocity bodies retain each second. - /// A value of 0.9 would mean that each body's velocity will drop 10% per second. - /// The default value is 1.0, meaning no damping is applied. - /// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring. - cpFloat damping; - - /// Speed threshold for a body to be considered idle. - /// The default value of 0 means to let the space guess a good threshold based on gravity. - cpFloat idleSpeedThreshold; - - /// Time a group of bodies must remain idle in order to fall asleep. - /// Enabling sleeping also implicitly enables the the contact graph. - /// The default value of INFINITY disables the sleeping algorithm. - cpFloat sleepTimeThreshold; - - /// Amount of encouraged penetration between colliding shapes. - /// Used to reduce oscillating contacts and keep the collision cache warm. - /// Defaults to 0.1. If you have poor simulation quality, - /// increase this number as much as possible without allowing visible amounts of overlap. - cpFloat collisionSlop; - - /// Determines how fast overlapping shapes are pushed apart. - /// Expressed as a fraction of the error remaining after each second. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz. - cpFloat collisionBias; - - /// Number of frames that contact information should persist. - /// Defaults to 3. There is probably never a reason to change this value. - cpTimestamp collisionPersistence; - - /// Rebuild the contact graph during each step. Must be enabled to use the cpBodyEachArbiter() function. - /// Disabled by default for a small performance boost. Enabled implicitly when the sleeping feature is enabled. - cpBool enableContactGraph; - - /// User definable data pointer. - /// Generally this points to your game's controller or game state - /// class so you can access it when given a cpSpace reference in a callback. - cpDataPointer data; - - /// The designated static body for this space. - /// You can modify this body, or replace it with your own static body. - /// By default it points to a statically allocated cpBody in the cpSpace struct. - cpBody *staticBody; - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpFloat curr_dt); +/// Collision begin event function callback type. +/// Returning false from a begin callback causes the collision to be ignored until +/// the the separate callback is called when the objects stop colliding. +typedef cpBool (*cpCollisionBeginFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision pre-solve event function callback type. +/// Returning false from a pre-step callback causes the collision to be ignored until the next step. +typedef cpBool (*cpCollisionPreSolveFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision post-solve event function callback type. +typedef void (*cpCollisionPostSolveFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision separate event function callback type. +typedef void (*cpCollisionSeparateFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); - CP_PRIVATE(cpArray *bodies); - CP_PRIVATE(cpArray *rousedBodies); - CP_PRIVATE(cpArray *sleepingComponents); - - CP_PRIVATE(cpSpatialIndex *staticShapes); - CP_PRIVATE(cpSpatialIndex *activeShapes); - - CP_PRIVATE(cpArray *arbiters); - CP_PRIVATE(cpContactBufferHeader *contactBuffersHead); - CP_PRIVATE(cpHashSet *cachedArbiters); - CP_PRIVATE(cpArray *pooledArbiters); - CP_PRIVATE(cpArray *constraints); - - CP_PRIVATE(cpArray *allocatedBuffers); - CP_PRIVATE(int locked); - - CP_PRIVATE(cpHashSet *collisionHandlers); - CP_PRIVATE(cpCollisionHandler defaultHandler); - - CP_PRIVATE(cpBool skipPostStep); - CP_PRIVATE(cpArray *postStepCallbacks); - - CP_PRIVATE(cpBody _staticBody); +/// Struct that holds function callback pointers to configure custom collision handling. +/// Collision handlers have a pair of types; when a collision occurs between two shapes that have these types, the collision handler functions are triggered. +struct cpCollisionHandler { + /// Collision type identifier of the first shape that this handler recognizes. + /// In the collision handler callback, the shape with this type will be the first argument. Read only. + const cpCollisionType typeA; + /// Collision type identifier of the second shape that this handler recognizes. + /// In the collision handler callback, the shape with this type will be the second argument. Read only. + const cpCollisionType typeB; + /// This function is called when two shapes with types that match this collision handler begin colliding. + cpCollisionBeginFunc beginFunc; + /// This function is called each step when two shapes with types that match this collision handler are colliding. + /// It's called before the collision solver runs so that you can affect a collision's outcome. + cpCollisionPreSolveFunc preSolveFunc; + /// This function is called each step when two shapes with types that match this collision handler are colliding. + /// It's called after the collision solver runs so that you can read back information about the collision to trigger events in your game. + cpCollisionPostSolveFunc postSolveFunc; + /// This function is called when two shapes with types that match this collision handler stop colliding. + cpCollisionSeparateFunc separateFunc; + /// This is a user definable context pointer that is passed to all of the collision handler functions. + cpDataPointer userData; }; +// TODO: Make timestep a parameter? + + +//MARK: Memory and Initialization + /// Allocate a cpSpace. -cpSpace* cpSpaceAlloc(void); +CP_EXPORT cpSpace* cpSpaceAlloc(void); /// Initialize a cpSpace. -cpSpace* cpSpaceInit(cpSpace *space); +CP_EXPORT cpSpace* cpSpaceInit(cpSpace *space); /// Allocate and initialize a cpSpace. -cpSpace* cpSpaceNew(void); +CP_EXPORT cpSpace* cpSpaceNew(void); /// Destroy a cpSpace. -void cpSpaceDestroy(cpSpace *space); +CP_EXPORT void cpSpaceDestroy(cpSpace *space); /// Destroy and free a cpSpace. -void cpSpaceFree(cpSpace *space); +CP_EXPORT void cpSpaceFree(cpSpace *space); -#define CP_DefineSpaceStructGetter(type, member, name) \ -static inline type cpSpaceGet##name(const cpSpace *space){return space->member;} -#define CP_DefineSpaceStructSetter(type, member, name) \ -static inline void cpSpaceSet##name(cpSpace *space, type value){space->member = value;} +//MARK: Properties -#define CP_DefineSpaceStructProperty(type, member, name) \ -CP_DefineSpaceStructGetter(type, member, name) \ -CP_DefineSpaceStructSetter(type, member, name) +/// Number of iterations to use in the impulse solver to solve contacts and other constraints. +CP_EXPORT int cpSpaceGetIterations(const cpSpace *space); +CP_EXPORT void cpSpaceSetIterations(cpSpace *space, int iterations); -CP_DefineSpaceStructProperty(int, iterations, Iterations) -CP_DefineSpaceStructProperty(cpVect, gravity, Gravity) -CP_DefineSpaceStructProperty(cpFloat, damping, Damping) -CP_DefineSpaceStructProperty(cpFloat, idleSpeedThreshold, IdleSpeedThreshold) -CP_DefineSpaceStructProperty(cpFloat, sleepTimeThreshold, SleepTimeThreshold) -CP_DefineSpaceStructProperty(cpFloat, collisionSlop, CollisionSlop) -CP_DefineSpaceStructProperty(cpFloat, collisionBias, CollisionBias) -CP_DefineSpaceStructProperty(cpTimestamp, collisionPersistence, CollisionPersistence) -CP_DefineSpaceStructProperty(cpBool, enableContactGraph, EnableContactGraph) -CP_DefineSpaceStructProperty(cpDataPointer, data, UserData) -CP_DefineSpaceStructGetter(cpBody*, staticBody, StaticBody) -CP_DefineSpaceStructGetter(cpFloat, CP_PRIVATE(curr_dt), CurrentTimeStep) +/// Gravity to pass to rigid bodies when integrating velocity. +CP_EXPORT cpVect cpSpaceGetGravity(const cpSpace *space); +CP_EXPORT void cpSpaceSetGravity(cpSpace *space, cpVect gravity); -/// returns true from inside a callback and objects cannot be added/removed. -static inline cpBool -cpSpaceIsLocked(cpSpace *space) -{ - return space->CP_PRIVATE(locked); -} +/// Damping rate expressed as the fraction of velocity bodies retain each second. +/// A value of 0.9 would mean that each body's velocity will drop 10% per second. +/// The default value is 1.0, meaning no damping is applied. +/// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring. +CP_EXPORT cpFloat cpSpaceGetDamping(const cpSpace *space); +CP_EXPORT void cpSpaceSetDamping(cpSpace *space, cpFloat damping); -/// Set a default collision handler for this space. -/// The default collision handler is invoked for each colliding pair of shapes -/// that isn't explicitly handled by a specific collision handler. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceSetDefaultCollisionHandler( - cpSpace *space, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); +/// Speed threshold for a body to be considered idle. +/// The default value of 0 means to let the space guess a good threshold based on gravity. +CP_EXPORT cpFloat cpSpaceGetIdleSpeedThreshold(const cpSpace *space); +CP_EXPORT void cpSpaceSetIdleSpeedThreshold(cpSpace *space, cpFloat idleSpeedThreshold); -/// Set a collision handler to be used whenever the two shapes with the given collision types collide. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceAddCollisionHandler( - cpSpace *space, - cpCollisionType a, cpCollisionType b, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); +/// Time a group of bodies must remain idle in order to fall asleep. +/// Enabling sleeping also implicitly enables the the contact graph. +/// The default value of INFINITY disables the sleeping algorithm. +CP_EXPORT cpFloat cpSpaceGetSleepTimeThreshold(const cpSpace *space); +CP_EXPORT void cpSpaceSetSleepTimeThreshold(cpSpace *space, cpFloat sleepTimeThreshold); -/// Unset a collision handler. -void cpSpaceRemoveCollisionHandler(cpSpace *space, cpCollisionType a, cpCollisionType b); +/// Amount of encouraged penetration between colliding shapes. +/// Used to reduce oscillating contacts and keep the collision cache warm. +/// Defaults to 0.1. If you have poor simulation quality, +/// increase this number as much as possible without allowing visible amounts of overlap. +CP_EXPORT cpFloat cpSpaceGetCollisionSlop(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionSlop(cpSpace *space, cpFloat collisionSlop); + +/// Determines how fast overlapping shapes are pushed apart. +/// Expressed as a fraction of the error remaining after each second. +/// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz. +CP_EXPORT cpFloat cpSpaceGetCollisionBias(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionBias(cpSpace *space, cpFloat collisionBias); + +/// Number of frames that contact information should persist. +/// Defaults to 3. There is probably never a reason to change this value. +CP_EXPORT cpTimestamp cpSpaceGetCollisionPersistence(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionPersistence(cpSpace *space, cpTimestamp collisionPersistence); + +/// User definable data pointer. +/// Generally this points to your game's controller or game state +/// class so you can access it when given a cpSpace reference in a callback. +CP_EXPORT cpDataPointer cpSpaceGetUserData(const cpSpace *space); +CP_EXPORT void cpSpaceSetUserData(cpSpace *space, cpDataPointer userData); + +/// The Space provided static body for a given cpSpace. +/// This is merely provided for convenience and you are not required to use it. +CP_EXPORT cpBody* cpSpaceGetStaticBody(const cpSpace *space); + +/// Returns the current (or most recent) time step used with the given space. +/// Useful from callbacks if your time step is not a compile-time global. +CP_EXPORT cpFloat cpSpaceGetCurrentTimeStep(const cpSpace *space); + +/// returns true from inside a callback when objects cannot be added/removed. +CP_EXPORT cpBool cpSpaceIsLocked(cpSpace *space); + + +//MARK: Collision Handlers + +/// Create or return the existing collision handler that is called for all collisions that are not handled by a more specific collision handler. +CP_EXPORT cpCollisionHandler *cpSpaceAddDefaultCollisionHandler(cpSpace *space); +/// Create or return the existing collision handler for the specified pair of collision types. +/// If wildcard handlers are used with either of the collision types, it's the responibility of the custom handler to invoke the wildcard handlers. +CP_EXPORT cpCollisionHandler *cpSpaceAddCollisionHandler(cpSpace *space, cpCollisionType a, cpCollisionType b); +/// Create or return the existing wildcard collision handler for the specified type. +CP_EXPORT cpCollisionHandler *cpSpaceAddWildcardHandler(cpSpace *space, cpCollisionType type); + + +//MARK: Add/Remove objects /// Add a collision shape to the simulation. /// If the shape is attached to a static body, it will be added as a static shape. -cpShape* cpSpaceAddShape(cpSpace *space, cpShape *shape); -/// Explicity add a shape as a static shape to the simulation. -cpShape* cpSpaceAddStaticShape(cpSpace *space, cpShape *shape); +CP_EXPORT cpShape* cpSpaceAddShape(cpSpace *space, cpShape *shape); /// Add a rigid body to the simulation. -cpBody* cpSpaceAddBody(cpSpace *space, cpBody *body); +CP_EXPORT cpBody* cpSpaceAddBody(cpSpace *space, cpBody *body); /// Add a constraint to the simulation. -cpConstraint* cpSpaceAddConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT cpConstraint* cpSpaceAddConstraint(cpSpace *space, cpConstraint *constraint); /// Remove a collision shape from the simulation. -void cpSpaceRemoveShape(cpSpace *space, cpShape *shape); -/// Remove a collision shape added using cpSpaceAddStaticShape() from the simulation. -void cpSpaceRemoveStaticShape(cpSpace *space, cpShape *shape); +CP_EXPORT void cpSpaceRemoveShape(cpSpace *space, cpShape *shape); /// Remove a rigid body from the simulation. -void cpSpaceRemoveBody(cpSpace *space, cpBody *body); +CP_EXPORT void cpSpaceRemoveBody(cpSpace *space, cpBody *body); /// Remove a constraint from the simulation. -void cpSpaceRemoveConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT void cpSpaceRemoveConstraint(cpSpace *space, cpConstraint *constraint); /// Test if a collision shape has been added to the space. -cpBool cpSpaceContainsShape(cpSpace *space, cpShape *shape); +CP_EXPORT cpBool cpSpaceContainsShape(cpSpace *space, cpShape *shape); /// Test if a rigid body has been added to the space. -cpBool cpSpaceContainsBody(cpSpace *space, cpBody *body); +CP_EXPORT cpBool cpSpaceContainsBody(cpSpace *space, cpBody *body); /// Test if a constraint has been added to the space. -cpBool cpSpaceContainsConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT cpBool cpSpaceContainsConstraint(cpSpace *space, cpConstraint *constraint); -/// Convert a dynamic rogue body to a static one. -/// If the body is active, you must remove it from the space first. -void cpSpaceConvertBodyToStatic(cpSpace *space, cpBody *body); -/// Convert a body to a dynamic rogue body. -/// If you want the body to be active after the transition, you must add it to the space also. -void cpSpaceConvertBodyToDynamic(cpSpace *space, cpBody *body, cpFloat mass, cpFloat moment); +//MARK: Post-Step Callbacks /// Post Step callback function type. typedef void (*cpPostStepFunc)(cpSpace *space, void *key, void *data); @@ -214,70 +184,136 @@ typedef void (*cpPostStepFunc)(cpSpace *space, void *key, void *data); /// You can only register one callback per unique value for @c key. /// Returns true only if @c key has never been scheduled before. /// It's possible to pass @c NULL for @c func if you only want to mark @c key as being used. -cpBool cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *key, void *data); +CP_EXPORT cpBool cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *key, void *data); -/// Point query callback function type. -typedef void (*cpSpacePointQueryFunc)(cpShape *shape, void *data); -/// Query the space at a point and call @c func for each shape found. -void cpSpacePointQuery(cpSpace *space, cpVect point, cpLayers layers, cpGroup group, cpSpacePointQueryFunc func, void *data); -/// Query the space at a point and return the first shape found. Returns NULL if no shapes were found. -cpShape *cpSpacePointQueryFirst(cpSpace *space, cpVect point, cpLayers layers, cpGroup group); + +//MARK: Queries + +// TODO: Queries and iterators should take a cpSpace parametery. +// TODO: They should also be abortable. /// Nearest point query callback function type. -typedef void (*cpSpaceNearestPointQueryFunc)(cpShape *shape, cpFloat distance, cpVect point, void *data); +typedef void (*cpSpacePointQueryFunc)(cpShape *shape, cpVect point, cpFloat distance, cpVect gradient, void *data); /// Query the space at a point and call @c func for each shape found. -void cpSpaceNearestPointQuery(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryFunc func, void *data); +CP_EXPORT void cpSpacePointQuery(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpSpacePointQueryFunc func, void *data); /// Query the space at a point and return the nearest shape found. Returns NULL if no shapes were found. -cpShape *cpSpaceNearestPointQueryNearest(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpNearestPointQueryInfo *out); +CP_EXPORT cpShape *cpSpacePointQueryNearest(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpPointQueryInfo *out); /// Segment query callback function type. -typedef void (*cpSpaceSegmentQueryFunc)(cpShape *shape, cpFloat t, cpVect n, void *data); +typedef void (*cpSpaceSegmentQueryFunc)(cpShape *shape, cpVect point, cpVect normal, cpFloat alpha, void *data); /// Perform a directed line segment query (like a raycast) against the space calling @c func for each shape intersected. -void cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryFunc func, void *data); +CP_EXPORT void cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSpaceSegmentQueryFunc func, void *data); /// Perform a directed line segment query (like a raycast) against the space and return the first shape hit. Returns NULL if no shapes were hit. -cpShape *cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSegmentQueryInfo *out); +CP_EXPORT cpShape *cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSegmentQueryInfo *out); /// Rectangle Query callback function type. typedef void (*cpSpaceBBQueryFunc)(cpShape *shape, void *data); /// Perform a fast rectangle query on the space calling @c func for each shape found. /// Only the shape's bounding boxes are checked for overlap, not their full shape. -void cpSpaceBBQuery(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryFunc func, void *data); +CP_EXPORT void cpSpaceBBQuery(cpSpace *space, cpBB bb, cpShapeFilter filter, cpSpaceBBQueryFunc func, void *data); /// Shape query callback function type. typedef void (*cpSpaceShapeQueryFunc)(cpShape *shape, cpContactPointSet *points, void *data); /// Query a space for any shapes overlapping the given shape and call @c func for each shape found. -cpBool cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data); +CP_EXPORT cpBool cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data); -/// Call cpBodyActivate() for any shape that is overlaps the given shape. -void cpSpaceActivateShapesTouchingShape(cpSpace *space, cpShape *shape); +//MARK: Iteration /// Space/body iterator callback function type. typedef void (*cpSpaceBodyIteratorFunc)(cpBody *body, void *data); /// Call @c func for each body in the space. -void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIteratorFunc func, void *data); /// Space/body iterator callback function type. typedef void (*cpSpaceShapeIteratorFunc)(cpShape *shape, void *data); /// Call @c func for each shape in the space. -void cpSpaceEachShape(cpSpace *space, cpSpaceShapeIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachShape(cpSpace *space, cpSpaceShapeIteratorFunc func, void *data); /// Space/constraint iterator callback function type. typedef void (*cpSpaceConstraintIteratorFunc)(cpConstraint *constraint, void *data); /// Call @c func for each shape in the space. -void cpSpaceEachConstraint(cpSpace *space, cpSpaceConstraintIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachConstraint(cpSpace *space, cpSpaceConstraintIteratorFunc func, void *data); + + +//MARK: Indexing /// Update the collision detection info for the static shapes in the space. -void cpSpaceReindexStatic(cpSpace *space); +CP_EXPORT void cpSpaceReindexStatic(cpSpace *space); /// Update the collision detection data for a specific shape in the space. -void cpSpaceReindexShape(cpSpace *space, cpShape *shape); +CP_EXPORT void cpSpaceReindexShape(cpSpace *space, cpShape *shape); /// Update the collision detection data for all shapes attached to a body. -void cpSpaceReindexShapesForBody(cpSpace *space, cpBody *body); +CP_EXPORT void cpSpaceReindexShapesForBody(cpSpace *space, cpBody *body); /// Switch the space to use a spatial has as it's spatial index. -void cpSpaceUseSpatialHash(cpSpace *space, cpFloat dim, int count); +CP_EXPORT void cpSpaceUseSpatialHash(cpSpace *space, cpFloat dim, int count); + + +//MARK: Time Stepping /// Step the space forward in time by @c dt. -void cpSpaceStep(cpSpace *space, cpFloat dt); +CP_EXPORT void cpSpaceStep(cpSpace *space, cpFloat dt); + + +//MARK: Debug API + +#ifndef CP_SPACE_DISABLE_DEBUG_API + +/// Color type to use with the space debug drawing API. +typedef struct cpSpaceDebugColor { + float r, g, b, a; +} cpSpaceDebugColor; + +/// Callback type for a function that draws a filled, stroked circle. +typedef void (*cpSpaceDebugDrawCircleImpl)(cpVect pos, cpFloat angle, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a line segment. +typedef void (*cpSpaceDebugDrawSegmentImpl)(cpVect a, cpVect b, cpSpaceDebugColor color, cpDataPointer data); +/// Callback type for a function that draws a thick line segment. +typedef void (*cpSpaceDebugDrawFatSegmentImpl)(cpVect a, cpVect b, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a convex polygon. +typedef void (*cpSpaceDebugDrawPolygonImpl)(int count, const cpVect *verts, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a dot. +typedef void (*cpSpaceDebugDrawDotImpl)(cpFloat size, cpVect pos, cpSpaceDebugColor color, cpDataPointer data); +/// Callback type for a function that returns a color for a given shape. This gives you an opportunity to color shapes based on how they are used in your engine. +typedef cpSpaceDebugColor (*cpSpaceDebugDrawColorForShapeImpl)(cpShape *shape, cpDataPointer data); + +typedef enum cpSpaceDebugDrawFlags { + CP_SPACE_DEBUG_DRAW_SHAPES = 1<<0, + CP_SPACE_DEBUG_DRAW_CONSTRAINTS = 1<<1, + CP_SPACE_DEBUG_DRAW_COLLISION_POINTS = 1<<2, +} cpSpaceDebugDrawFlags; + +/// Struct used with cpSpaceDebugDraw() containing drawing callbacks and other drawing settings. +typedef struct cpSpaceDebugDrawOptions { + /// Function that will be invoked to draw circles. + cpSpaceDebugDrawCircleImpl drawCircle; + /// Function that will be invoked to draw line segments. + cpSpaceDebugDrawSegmentImpl drawSegment; + /// Function that will be invoked to draw thick line segments. + cpSpaceDebugDrawFatSegmentImpl drawFatSegment; + /// Function that will be invoked to draw convex polygons. + cpSpaceDebugDrawPolygonImpl drawPolygon; + /// Function that will be invoked to draw dots. + cpSpaceDebugDrawDotImpl drawDot; + + /// Flags that request which things to draw (collision shapes, constraints, contact points). + cpSpaceDebugDrawFlags flags; + /// Outline color passed to the drawing function. + cpSpaceDebugColor shapeOutlineColor; + /// Function that decides what fill color to draw shapes using. + cpSpaceDebugDrawColorForShapeImpl colorForShape; + /// Color passed to drawing functions for constraints. + cpSpaceDebugColor constraintColor; + /// Color passed to drawing functions for collision points. + cpSpaceDebugColor collisionPointColor; + + /// User defined context pointer passed to all of the callback functions as the 'data' argument. + cpDataPointer data; +} cpSpaceDebugDrawOptions; + +/// Debug draw the current state of the space using the supplied drawing options. +CP_EXPORT void cpSpaceDebugDraw(cpSpace *space, cpSpaceDebugDrawOptions *options); + +#endif /// @} diff --git a/win32/include/chipmunk/cpSpatialIndex.h b/win32/include/chipmunk/cpSpatialIndex.h index c279cad0..a386ba9a 100644 --- a/win32/include/chipmunk/cpSpatialIndex.h +++ b/win32/include/chipmunk/cpSpatialIndex.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2010 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -69,48 +69,48 @@ struct cpSpatialIndex { typedef struct cpSpaceHash cpSpaceHash; /// Allocate a spatial hash. -cpSpaceHash* cpSpaceHashAlloc(void); +CP_EXPORT cpSpaceHash* cpSpaceHashAlloc(void); /// Initialize a spatial hash. -cpSpatialIndex* cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a spatial hash. -cpSpatialIndex* cpSpaceHashNew(cpFloat celldim, int cells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSpaceHashNew(cpFloat celldim, int cells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Change the cell dimensions and table size of the spatial hash to tune it. /// The cell dimensions should roughly match the average size of your objects /// and the table size should be ~10 larger than the number of objects inserted. /// Some trial and error is required to find the optimum numbers for efficiency. -void cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells); +CP_EXPORT void cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells); //MARK: AABB Tree typedef struct cpBBTree cpBBTree; /// Allocate a bounding box tree. -cpBBTree* cpBBTreeAlloc(void); +CP_EXPORT cpBBTree* cpBBTreeAlloc(void); /// Initialize a bounding box tree. -cpSpatialIndex* cpBBTreeInit(cpBBTree *tree, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpBBTreeInit(cpBBTree *tree, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a bounding box tree. -cpSpatialIndex* cpBBTreeNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpBBTreeNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Perform a static top down optimization of the tree. -void cpBBTreeOptimize(cpSpatialIndex *index); +CP_EXPORT void cpBBTreeOptimize(cpSpatialIndex *index); /// Bounding box tree velocity callback function. /// This function should return an estimate for the object's velocity. typedef cpVect (*cpBBTreeVelocityFunc)(void *obj); /// Set the velocity function for the bounding box tree to enable temporal coherence. -void cpBBTreeSetVelocityFunc(cpSpatialIndex *index, cpBBTreeVelocityFunc func); +CP_EXPORT void cpBBTreeSetVelocityFunc(cpSpatialIndex *index, cpBBTreeVelocityFunc func); //MARK: Single Axis Sweep typedef struct cpSweep1D cpSweep1D; /// Allocate a 1D sort and sweep broadphase. -cpSweep1D* cpSweep1DAlloc(void); +CP_EXPORT cpSweep1D* cpSweep1DAlloc(void); /// Initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DInit(cpSweep1D *sweep, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSweep1DInit(cpSweep1D *sweep, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSweep1DNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); //MARK: Spatial Index Implementation diff --git a/android/x86/include/chipmunk/chipmunk/cpTransform.h b/win32/include/chipmunk/cpTransform.h similarity index 100% rename from android/x86/include/chipmunk/chipmunk/cpTransform.h rename to win32/include/chipmunk/cpTransform.h diff --git a/win32/include/chipmunk/cpVect.h b/win32/include/chipmunk/cpVect.h index 90855e56..8ec02bdc 100644 --- a/win32/include/chipmunk/cpVect.h +++ b/win32/include/chipmunk/cpVect.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,6 +19,11 @@ * SOFTWARE. */ +#ifndef CHIPMUNK_VECT_H +#define CHIPMUNK_VECT_H + +#include "chipmunk_types.h" + /// @defgroup cpVect cpVect /// Chipmunk's 2D vector type along with a handy 2D vector math lib. /// @{ @@ -33,17 +38,6 @@ static inline cpVect cpv(const cpFloat x, const cpFloat y) return v; } -/// Spherical linearly interpolate between v1 and v2. -cpVect cpvslerp(const cpVect v1, const cpVect v2, const cpFloat t); - -/// Spherical linearly interpolate between v1 towards v2 by no more than angle a radians -cpVect cpvslerpconst(const cpVect v1, const cpVect v2, const cpFloat a); - -/// Returns a string representation of v. Intended mostly for debugging purposes and not production use. -/// @attention The string points to a static local and is reset every time the function is called. -/// If you want to print more than one vector you will have to split up your printing onto separate lines. -char* cpvstr(const cpVect v); - /// Check if two vectors are equal. (Be careful when comparing floating point numbers!) static inline cpBool cpveql(const cpVect v1, const cpVect v2) { @@ -155,10 +149,30 @@ static inline cpVect cpvnormalize(const cpVect v) return cpvmult(v, 1.0f/(cpvlength(v) + CPFLOAT_MIN)); } -/// @deprecated Just an alias for cpvnormalize() now. -static inline cpVect cpvnormalize_safe(const cpVect v) +/// Spherical linearly interpolate between v1 and v2. +static inline cpVect +cpvslerp(const cpVect v1, const cpVect v2, const cpFloat t) { - return cpvnormalize(v); + cpFloat dot = cpvdot(cpvnormalize(v1), cpvnormalize(v2)); + cpFloat omega = cpfacos(cpfclamp(dot, -1.0f, 1.0f)); + + if(omega < 1e-3){ + // If the angle between two vectors is very small, lerp instead to avoid precision issues. + return cpvlerp(v1, v2, t); + } else { + cpFloat denom = 1.0f/cpfsin(omega); + return cpvadd(cpvmult(v1, cpfsin((1.0f - t)*omega)*denom), cpvmult(v2, cpfsin(t*omega)*denom)); + } +} + +/// Spherical linearly interpolate between v1 towards v2 by no more than angle a radians +static inline cpVect +cpvslerpconst(const cpVect v1, const cpVect v2, const cpFloat a) +{ + cpFloat dot = cpvdot(cpvnormalize(v1), cpvnormalize(v2)); + cpFloat omega = cpfacos(cpfclamp(dot, -1.0f, 1.0f)); + + return cpvslerp(v1, v2, cpfmin(a, omega)/omega); } /// Clamp v to length len. @@ -197,6 +211,7 @@ static inline cpBool cpvnear(const cpVect v1, const cpVect v2, const cpFloat dis /// 2x2 matrix type used for tensors and such. /// @{ +// NUKE static inline cpMat2x2 cpMat2x2New(cpFloat a, cpFloat b, cpFloat c, cpFloat d) { @@ -211,3 +226,5 @@ cpMat2x2Transform(cpMat2x2 m, cpVect v) } ///@} + +#endif diff --git a/win32/libs/Debug/libchipmunk-2015.lib b/win32/libs/Debug/libchipmunk-2015.lib index 18ead6d906276cfa24fcccc00491b3d0a6a3f668..44a950de2e4bf2c6dcea20218203dfcbe15e431b 100644 GIT binary patch literal 2641300 zcmeEv31D1Rx&NJH+Qt^TBr~DVCS52O3cV#=(w4Af_H2_(=%l5kg*3|~9hzjqBx%cP 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a/android/armeabi/include/chipmunk/chipmunk.h b/android/armeabi/include/chipmunk/chipmunk.h index 6337fb1a..d7faf039 100644 --- a/android/armeabi/include/chipmunk/chipmunk.h +++ b/android/armeabi/include/chipmunk/chipmunk.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,20 +19,26 @@ * SOFTWARE. */ -#ifndef CHIPMUNK_HEADER -#define CHIPMUNK_HEADER - -#ifdef _MSC_VER - #define _USE_MATH_DEFINES -#endif +#ifndef CHIPMUNK_H +#define CHIPMUNK_H #include #include +#ifdef WIN32 + // For alloca(). + #include + #define CP_EXPORT __declspec(dllexport) +#else + #include + #define CP_EXPORT +#endif + #ifdef __cplusplus extern "C" { #endif +// NUKE #ifndef CP_ALLOW_PRIVATE_ACCESS #define CP_ALLOW_PRIVATE_ACCESS 0 #endif @@ -43,22 +49,17 @@ extern "C" { #define CP_PRIVATE(__symbol__) __symbol__##_private #endif -void cpMessage(const char *condition, const char *file, int line, int isError, int isHardError, const char *message, ...); +CP_EXPORT void cpMessage(const char *condition, const char *file, int line, int isError, int isHardError, const char *message, ...); #ifdef NDEBUG #define cpAssertWarn(__condition__, ...) + #define cpAssertSoft(__condition__, ...) #else + #define cpAssertSoft(__condition__, ...) if(!(__condition__)){cpMessage(#__condition__, __FILE__, __LINE__, 1, 0, __VA_ARGS__); abort();} #define cpAssertWarn(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 0, 0, __VA_ARGS__) #endif -#ifdef NDEBUG - #define cpAssertSoft(__condition__, ...) -#else - #define cpAssertSoft(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 0, __VA_ARGS__) -#endif - -// Hard assertions are important and cheap to execute. They are not disabled by compiling as debug. -#define cpAssertHard(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 1, __VA_ARGS__) - +// Hard assertions are used in situations where the program definitely will crash anyway, and the reason is inexpensive to detect. +#define cpAssertHard(__condition__, ...) if(!(__condition__)){cpMessage(#__condition__, __FILE__, __LINE__, 1, 1, __VA_ARGS__); abort();} #include "chipmunk_types.h" @@ -89,81 +90,90 @@ typedef struct cpArray cpArray; typedef struct cpHashSet cpHashSet; typedef struct cpBody cpBody; + typedef struct cpShape cpShape; +typedef struct cpCircleShape cpCircleShape; +typedef struct cpSegmentShape cpSegmentShape; +typedef struct cpPolyShape cpPolyShape; + typedef struct cpConstraint cpConstraint; +typedef struct cpPinJoint cpPinJoint; +typedef struct cpSlideJoint cpSlideJoint; +typedef struct cpPivotJoint cpPivotJoint; +typedef struct cpGrooveJoint cpGrooveJoint; +typedef struct cpDampedSpring cpDampedSpring; +typedef struct cpDampedRotarySpring cpDampedRotarySpring; +typedef struct cpRotaryLimitJoint cpRotaryLimitJoint; +typedef struct cpRatchetJoint cpRatchetJoint; +typedef struct cpGearJoint cpGearJoint; +typedef struct cpSimpleMotorJoint cpSimpleMotorJoint; typedef struct cpCollisionHandler cpCollisionHandler; +typedef struct cpContactPointSet cpContactPointSet; typedef struct cpArbiter cpArbiter; typedef struct cpSpace cpSpace; #include "cpVect.h" #include "cpBB.h" +#include "cpTransform.h" #include "cpSpatialIndex.h" +#include "cpArbiter.h" + #include "cpBody.h" #include "cpShape.h" #include "cpPolyShape.h" -#include "cpArbiter.h" -#include "constraints/cpConstraint.h" +#include "cpConstraint.h" #include "cpSpace.h" +#include "cpHastySpace.h" -// Chipmunk 6.2.1 -#define CP_VERSION_MAJOR 6 -#define CP_VERSION_MINOR 2 +// Chipmunk 7.0.1 +#define CP_VERSION_MAJOR 7 +#define CP_VERSION_MINOR 0 #define CP_VERSION_RELEASE 1 /// Version string. -extern const char *cpVersionString; - -/// @deprecated -void cpInitChipmunk(void); - -/// Enables segment to segment shape collisions. -void cpEnableSegmentToSegmentCollisions(void); - +CP_EXPORT extern const char *cpVersionString; /// Calculate the moment of inertia for a circle. /// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset); +CP_EXPORT cpFloat cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset); /// Calculate area of a hollow circle. /// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpAreaForCircle(cpFloat r1, cpFloat r2); +CP_EXPORT cpFloat cpAreaForCircle(cpFloat r1, cpFloat r2); /// Calculate the moment of inertia for a line segment. /// Beveling radius is not supported. -cpFloat cpMomentForSegment(cpFloat m, cpVect a, cpVect b); +CP_EXPORT cpFloat cpMomentForSegment(cpFloat m, cpVect a, cpVect b, cpFloat radius); /// Calculate the area of a fattened (capsule shaped) line segment. -cpFloat cpAreaForSegment(cpVect a, cpVect b, cpFloat r); +CP_EXPORT cpFloat cpAreaForSegment(cpVect a, cpVect b, cpFloat radius); /// Calculate the moment of inertia for a solid polygon shape assuming it's center of gravity is at it's centroid. The offset is added to each vertex. -cpFloat cpMomentForPoly(cpFloat m, int numVerts, const cpVect *verts, cpVect offset); +CP_EXPORT cpFloat cpMomentForPoly(cpFloat m, int count, const cpVect *verts, cpVect offset, cpFloat radius); /// Calculate the signed area of a polygon. A Clockwise winding gives positive area. /// This is probably backwards from what you expect, but matches Chipmunk's the winding for poly shapes. -cpFloat cpAreaForPoly(const int numVerts, const cpVect *verts); +CP_EXPORT cpFloat cpAreaForPoly(const int count, const cpVect *verts, cpFloat radius); /// Calculate the natural centroid of a polygon. -cpVect cpCentroidForPoly(const int numVerts, const cpVect *verts); - -/// Center the polygon on the origin. (Subtracts the centroid of the polygon from each vertex) -void cpRecenterPoly(const int numVerts, cpVect *verts); +CP_EXPORT cpVect cpCentroidForPoly(const int count, const cpVect *verts); /// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox(cpFloat m, cpFloat width, cpFloat height); +CP_EXPORT cpFloat cpMomentForBox(cpFloat m, cpFloat width, cpFloat height); /// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox2(cpFloat m, cpBB box); +CP_EXPORT cpFloat cpMomentForBox2(cpFloat m, cpBB box); /// Calculate the convex hull of a given set of points. Returns the count of points in the hull. -/// @c result must be a pointer to a @c cpVect array with at least @c count elements. If @c result is @c NULL, then @c verts will be reduced instead. +/// @c result must be a pointer to a @c cpVect array with at least @c count elements. If @c verts == @c result, then @c verts will be reduced inplace. /// @c first is an optional pointer to an integer to store where the first vertex in the hull came from (i.e. verts[first] == result[0]) /// @c tol is the allowed amount to shrink the hull when simplifying it. A tolerance of 0.0 creates an exact hull. -int cpConvexHull(int count, cpVect *verts, cpVect *result, int *first, cpFloat tol); +CP_EXPORT int cpConvexHull(int count, const cpVect *verts, cpVect *result, int *first, cpFloat tol); #ifdef _MSC_VER #include "malloc.h" @@ -177,6 +187,15 @@ int cpConvexHull(int count, cpVect *verts, cpVect *result, int *first, cpFloat t cpVect *__verts_var__ = (cpVect *)alloca(__count__*sizeof(cpVect)); \ int __count_var__ = cpConvexHull(__count__, __verts__, __verts_var__, NULL, 0.0); \ +/// Returns the closest point on the line segment ab, to the point p. +static inline cpVect +cpClosetPointOnSegment(const cpVect p, const cpVect a, const cpVect b) +{ + cpVect delta = cpvsub(a, b); + cpFloat t = cpfclamp01(cpvdot(delta, cpvsub(p, b))/cpvlengthsq(delta)); + return cpvadd(b, cpvmult(delta, t)); +} + #if defined(__has_extension) #if __has_extension(blocks) // Define alternate block based alternatives for a few of the callback heavy functions. @@ -191,14 +210,14 @@ void cpBodyEachShape_b(cpBody *body, void (^block)(cpShape *shape)); void cpBodyEachConstraint_b(cpBody *body, void (^block)(cpConstraint *constraint)); void cpBodyEachArbiter_b(cpBody *body, void (^block)(cpArbiter *arbiter)); -typedef void (^cpSpaceNearestPointQueryBlock)(cpShape *shape, cpFloat distance, cpVect point); -void cpSpaceNearestPointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryBlock block); +typedef void (^cpSpacePointQueryBlock)(cpShape *shape, cpVect point, cpFloat distance, cpVect gradient); +void cpSpacePointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpSpacePointQueryBlock block); -typedef void (^cpSpaceSegmentQueryBlock)(cpShape *shape, cpFloat t, cpVect n); -void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryBlock block); +typedef void (^cpSpaceSegmentQueryBlock)(cpShape *shape, cpVect point, cpVect normal, cpFloat alpha); +void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSpaceSegmentQueryBlock block); typedef void (^cpSpaceBBQueryBlock)(cpShape *shape); -void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryBlock block); +void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpShapeFilter filter, cpSpaceBBQueryBlock block); typedef void (^cpSpaceShapeQueryBlock)(cpShape *shape, cpContactPointSet *points); cpBool cpSpaceShapeQuery_b(cpSpace *space, cpShape *shape, cpSpaceShapeQueryBlock block); diff --git a/android/armeabi/include/chipmunk/chipmunk/chipmunk.h b/android/armeabi/include/chipmunk/chipmunk/chipmunk.h deleted file mode 100644 index 6337fb1a..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/chipmunk.h +++ /dev/null @@ -1,222 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -#ifndef CHIPMUNK_HEADER -#define CHIPMUNK_HEADER - -#ifdef _MSC_VER - #define _USE_MATH_DEFINES -#endif - -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -#ifndef CP_ALLOW_PRIVATE_ACCESS - #define CP_ALLOW_PRIVATE_ACCESS 0 -#endif - -#if CP_ALLOW_PRIVATE_ACCESS == 1 - #define CP_PRIVATE(__symbol__) __symbol__ -#else - #define CP_PRIVATE(__symbol__) __symbol__##_private -#endif - -void cpMessage(const char *condition, const char *file, int line, int isError, int isHardError, const char *message, ...); -#ifdef NDEBUG - #define cpAssertWarn(__condition__, ...) -#else - #define cpAssertWarn(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 0, 0, __VA_ARGS__) -#endif - -#ifdef NDEBUG - #define cpAssertSoft(__condition__, ...) -#else - #define cpAssertSoft(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 0, __VA_ARGS__) -#endif - -// Hard assertions are important and cheap to execute. They are not disabled by compiling as debug. -#define cpAssertHard(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 1, 1, __VA_ARGS__) - - -#include "chipmunk_types.h" - -/// @defgroup misc Misc -/// @{ - -/// Allocated size for various Chipmunk buffers -#ifndef CP_BUFFER_BYTES - #define CP_BUFFER_BYTES (32*1024) -#endif - -#ifndef cpcalloc - /// Chipmunk calloc() alias. - #define cpcalloc calloc -#endif - -#ifndef cprealloc - /// Chipmunk realloc() alias. - #define cprealloc realloc -#endif - -#ifndef cpfree - /// Chipmunk free() alias. - #define cpfree free -#endif - -typedef struct cpArray cpArray; -typedef struct cpHashSet cpHashSet; - -typedef struct cpBody cpBody; -typedef struct cpShape cpShape; -typedef struct cpConstraint cpConstraint; - -typedef struct cpCollisionHandler cpCollisionHandler; -typedef struct cpArbiter cpArbiter; - -typedef struct cpSpace cpSpace; - -#include "cpVect.h" -#include "cpBB.h" -#include "cpSpatialIndex.h" - -#include "cpBody.h" -#include "cpShape.h" -#include "cpPolyShape.h" - -#include "cpArbiter.h" -#include "constraints/cpConstraint.h" - -#include "cpSpace.h" - -// Chipmunk 6.2.1 -#define CP_VERSION_MAJOR 6 -#define CP_VERSION_MINOR 2 -#define CP_VERSION_RELEASE 1 - -/// Version string. -extern const char *cpVersionString; - -/// @deprecated -void cpInitChipmunk(void); - -/// Enables segment to segment shape collisions. -void cpEnableSegmentToSegmentCollisions(void); - - -/// Calculate the moment of inertia for a circle. -/// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset); - -/// Calculate area of a hollow circle. -/// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0. -cpFloat cpAreaForCircle(cpFloat r1, cpFloat r2); - -/// Calculate the moment of inertia for a line segment. -/// Beveling radius is not supported. -cpFloat cpMomentForSegment(cpFloat m, cpVect a, cpVect b); - -/// Calculate the area of a fattened (capsule shaped) line segment. -cpFloat cpAreaForSegment(cpVect a, cpVect b, cpFloat r); - -/// Calculate the moment of inertia for a solid polygon shape assuming it's center of gravity is at it's centroid. The offset is added to each vertex. -cpFloat cpMomentForPoly(cpFloat m, int numVerts, const cpVect *verts, cpVect offset); - -/// Calculate the signed area of a polygon. A Clockwise winding gives positive area. -/// This is probably backwards from what you expect, but matches Chipmunk's the winding for poly shapes. -cpFloat cpAreaForPoly(const int numVerts, const cpVect *verts); - -/// Calculate the natural centroid of a polygon. -cpVect cpCentroidForPoly(const int numVerts, const cpVect *verts); - -/// Center the polygon on the origin. (Subtracts the centroid of the polygon from each vertex) -void cpRecenterPoly(const int numVerts, cpVect *verts); - -/// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox(cpFloat m, cpFloat width, cpFloat height); - -/// Calculate the moment of inertia for a solid box. -cpFloat cpMomentForBox2(cpFloat m, cpBB box); - -/// Calculate the convex hull of a given set of points. Returns the count of points in the hull. -/// @c result must be a pointer to a @c cpVect array with at least @c count elements. If @c result is @c NULL, then @c verts will be reduced instead. -/// @c first is an optional pointer to an integer to store where the first vertex in the hull came from (i.e. verts[first] == result[0]) -/// @c tol is the allowed amount to shrink the hull when simplifying it. A tolerance of 0.0 creates an exact hull. -int cpConvexHull(int count, cpVect *verts, cpVect *result, int *first, cpFloat tol); - -#ifdef _MSC_VER -#include "malloc.h" -#endif - -/// Convenience macro to work with cpConvexHull. -/// @c count and @c verts is the input array passed to cpConvexHull(). -/// @c count_var and @c verts_var are the names of the variables the macro creates to store the result. -/// The output vertex array is allocated on the stack using alloca() so it will be freed automatically, but cannot be returned from the current scope. -#define CP_CONVEX_HULL(__count__, __verts__, __count_var__, __verts_var__) \ -cpVect *__verts_var__ = (cpVect *)alloca(__count__*sizeof(cpVect)); \ -int __count_var__ = cpConvexHull(__count__, __verts__, __verts_var__, NULL, 0.0); \ - -#if defined(__has_extension) -#if __has_extension(blocks) -// Define alternate block based alternatives for a few of the callback heavy functions. -// Collision handlers are post-step callbacks are not included to avoid memory management issues. -// If you want to use blocks for those and are aware of how to correctly manage the memory, the implementation is trivial. - -void cpSpaceEachBody_b(cpSpace *space, void (^block)(cpBody *body)); -void cpSpaceEachShape_b(cpSpace *space, void (^block)(cpShape *shape)); -void cpSpaceEachConstraint_b(cpSpace *space, void (^block)(cpConstraint *constraint)); - -void cpBodyEachShape_b(cpBody *body, void (^block)(cpShape *shape)); -void cpBodyEachConstraint_b(cpBody *body, void (^block)(cpConstraint *constraint)); -void cpBodyEachArbiter_b(cpBody *body, void (^block)(cpArbiter *arbiter)); - -typedef void (^cpSpaceNearestPointQueryBlock)(cpShape *shape, cpFloat distance, cpVect point); -void cpSpaceNearestPointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryBlock block); - -typedef void (^cpSpaceSegmentQueryBlock)(cpShape *shape, cpFloat t, cpVect n); -void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryBlock block); - -typedef void (^cpSpaceBBQueryBlock)(cpShape *shape); -void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryBlock block); - -typedef void (^cpSpaceShapeQueryBlock)(cpShape *shape, cpContactPointSet *points); -cpBool cpSpaceShapeQuery_b(cpSpace *space, cpShape *shape, cpSpaceShapeQueryBlock block); - -#endif -#endif - - -//@} - -#ifdef __cplusplus -} - -static inline cpVect operator *(const cpVect v, const cpFloat s){return cpvmult(v, s);} -static inline cpVect operator +(const cpVect v1, const cpVect v2){return cpvadd(v1, v2);} -static inline cpVect operator -(const cpVect v1, const cpVect v2){return cpvsub(v1, v2);} -static inline cpBool operator ==(const cpVect v1, const cpVect v2){return cpveql(v1, v2);} -static inline cpVect operator -(const cpVect v){return cpvneg(v);} - -#endif -#endif diff --git a/android/armeabi/include/chipmunk/chipmunk/chipmunk_ffi.h b/android/armeabi/include/chipmunk/chipmunk/chipmunk_ffi.h deleted file mode 100644 index 53ac6937..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/chipmunk_ffi.h +++ /dev/null @@ -1,177 +0,0 @@ -#ifdef CHIPMUNK_FFI - -// Create non static inlined copies of Chipmunk functions, useful for working with dynamic FFIs -// This file should only be included in chipmunk.c - -#ifdef _MSC_VER - #if _MSC_VER >= 1600 - #define MAKE_REF(name) decltype(name) *_##name = name - #else - #define MAKE_REF(name) - #endif -#else - #define MAKE_REF(name) __typeof__(name) *_##name = name -#endif - -#define MAKE_PROPERTIES_REF(struct, property) \ - MAKE_REF(struct##Get##property); MAKE_REF(struct##Set##property) - -MAKE_REF(cpv); // makes a variable named _cpv that contains the function pointer for cpv() -MAKE_REF(cpveql); -MAKE_REF(cpvadd); -MAKE_REF(cpvneg); -MAKE_REF(cpvsub); -MAKE_REF(cpvmult); -MAKE_REF(cpvdot); -MAKE_REF(cpvcross); -MAKE_REF(cpvperp); -MAKE_REF(cpvrperp); -MAKE_REF(cpvproject); -MAKE_REF(cpvforangle); -MAKE_REF(cpvtoangle); -MAKE_REF(cpvrotate); -MAKE_REF(cpvunrotate); -MAKE_REF(cpvlengthsq); -MAKE_REF(cpvlength); -MAKE_REF(cpvlerp); -MAKE_REF(cpvnormalize); -MAKE_REF(cpvnormalize_safe); -MAKE_REF(cpvclamp); -MAKE_REF(cpvlerpconst); -MAKE_REF(cpvdist); -MAKE_REF(cpvdistsq); -MAKE_REF(cpvnear); - -MAKE_REF(cpfmax); -MAKE_REF(cpfmin); -MAKE_REF(cpfabs); -MAKE_REF(cpfclamp); -MAKE_REF(cpflerp); -MAKE_REF(cpflerpconst); - -MAKE_REF(cpBBNew); -MAKE_REF(cpBBNewForCircle); -MAKE_REF(cpBBIntersects); -MAKE_REF(cpBBContainsBB); -MAKE_REF(cpBBContainsVect); -MAKE_REF(cpBBMerge); -MAKE_REF(cpBBExpand); -MAKE_REF(cpBBArea); -MAKE_REF(cpBBMergedArea); -MAKE_REF(cpBBSegmentQuery); -MAKE_REF(cpBBIntersectsSegment); -MAKE_REF(cpBBClampVect); - -MAKE_REF(cpBodyGetMass); -MAKE_REF(cpBodyGetMoment); -MAKE_REF(cpBodyGetPos); -MAKE_REF(cpBodyGetAngle); -MAKE_REF(cpBodyGetRot); -MAKE_PROPERTIES_REF(cpBody, Vel); -MAKE_PROPERTIES_REF(cpBody, Force); -MAKE_PROPERTIES_REF(cpBody, AngVel); -MAKE_PROPERTIES_REF(cpBody, Torque); -MAKE_PROPERTIES_REF(cpBody, VelLimit); -MAKE_PROPERTIES_REF(cpBody, AngVelLimit); -MAKE_PROPERTIES_REF(cpBody, UserData); -MAKE_REF(cpBodyIsSleeping); -MAKE_REF(cpBodyIsStatic); -MAKE_REF(cpBodyIsRogue); -MAKE_REF(cpBodyLocal2World); -MAKE_REF(cpBodyWorld2Local); -MAKE_REF(cpBodyKineticEnergy); - -MAKE_REF(cpShapeGetBB); -MAKE_PROPERTIES_REF(cpShape, Body); -MAKE_PROPERTIES_REF(cpShape, Sensor); -MAKE_PROPERTIES_REF(cpShape, Elasticity); -MAKE_PROPERTIES_REF(cpShape, Friction); -MAKE_PROPERTIES_REF(cpShape, SurfaceVelocity); -MAKE_PROPERTIES_REF(cpShape, UserData); -MAKE_PROPERTIES_REF(cpShape, CollisionType); -MAKE_PROPERTIES_REF(cpShape, Group); -MAKE_PROPERTIES_REF(cpShape, Layers); - -MAKE_REF(cpArbiterGetShapes); -MAKE_REF(cpArbiterGetBodies); -MAKE_REF(cpArbiterIsFirstContact); -MAKE_REF(cpArbiterGetCount); - -MAKE_REF(cpConstraintGetA); -MAKE_REF(cpConstraintGetB); -MAKE_PROPERTIES_REF(cpConstraint, MaxForce); -MAKE_PROPERTIES_REF(cpConstraint, ErrorBias); -MAKE_PROPERTIES_REF(cpConstraint, MaxBias); -MAKE_PROPERTIES_REF(cpConstraint, UserData); -MAKE_REF(cpConstraintGetImpulse); - -MAKE_PROPERTIES_REF(cpDampedRotarySpring, RestAngle); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedRotarySpring, SpringTorqueFunc); - -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr1); -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr2); -MAKE_PROPERTIES_REF(cpDampedSpring, RestLength); -MAKE_PROPERTIES_REF(cpDampedSpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedSpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedSpring, SpringForceFunc); - -MAKE_PROPERTIES_REF(cpGearJoint, Phase); -MAKE_REF(cpGearJointGetRatio); - -MAKE_PROPERTIES_REF(cpGrooveJoint, Anchr2); -MAKE_REF(cpGrooveJointGetGrooveA); -MAKE_REF(cpGrooveJointGetGrooveB); - -MAKE_PROPERTIES_REF(cpPinJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPinJoint, Anchr2); -MAKE_PROPERTIES_REF(cpPinJoint, Dist); - -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr2); - -MAKE_PROPERTIES_REF(cpRatchetJoint, Angle); -MAKE_PROPERTIES_REF(cpRatchetJoint, Phase); -MAKE_PROPERTIES_REF(cpRatchetJoint, Ratchet); - -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Min); -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Max); - -MAKE_PROPERTIES_REF(cpSimpleMotor, Rate); - -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr1); -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr2); -MAKE_PROPERTIES_REF(cpSlideJoint, Min); -MAKE_PROPERTIES_REF(cpSlideJoint, Max); - -MAKE_REF(cpSegmentQueryHitPoint); -MAKE_REF(cpSegmentQueryHitDist); - -MAKE_REF(cpSpatialIndexDestroy); -MAKE_REF(cpSpatialIndexCount); -MAKE_REF(cpSpatialIndexEach); -MAKE_REF(cpSpatialIndexContains); -MAKE_REF(cpSpatialIndexInsert); -MAKE_REF(cpSpatialIndexRemove); -MAKE_REF(cpSpatialIndexReindex); -MAKE_REF(cpSpatialIndexReindexObject); -MAKE_REF(cpSpatialIndexSegmentQuery); -MAKE_REF(cpSpatialIndexQuery); -MAKE_REF(cpSpatialIndexReindexQuery); - -MAKE_PROPERTIES_REF(cpSpace, Iterations); -MAKE_PROPERTIES_REF(cpSpace, Gravity); -MAKE_PROPERTIES_REF(cpSpace, Damping); -MAKE_PROPERTIES_REF(cpSpace, IdleSpeedThreshold); -MAKE_PROPERTIES_REF(cpSpace, SleepTimeThreshold); -MAKE_PROPERTIES_REF(cpSpace, CollisionSlop); -MAKE_PROPERTIES_REF(cpSpace, CollisionBias); -MAKE_PROPERTIES_REF(cpSpace, CollisionPersistence); -MAKE_PROPERTIES_REF(cpSpace, EnableContactGraph); -MAKE_PROPERTIES_REF(cpSpace, UserData); -MAKE_REF(cpSpaceGetStaticBody); -MAKE_REF(cpSpaceGetCurrentTimeStep); -MAKE_REF(cpSpaceIsLocked); - -#endif diff --git a/android/armeabi/include/chipmunk/chipmunk/chipmunk_private.h b/android/armeabi/include/chipmunk/chipmunk/chipmunk_private.h deleted file mode 100644 index f676345b..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/chipmunk_private.h +++ /dev/null @@ -1,254 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -#define CP_ALLOW_PRIVATE_ACCESS 1 -#include "chipmunk.h" - -#define CP_HASH_COEF (3344921057ul) -#define CP_HASH_PAIR(A, B) ((cpHashValue)(A)*CP_HASH_COEF ^ (cpHashValue)(B)*CP_HASH_COEF) - -// TODO: Eww. Magic numbers. -#define MAGIC_EPSILON 1e-5 - -//MARK: cpArray - -struct cpArray { - int num, max; - void **arr; -}; - -cpArray *cpArrayNew(int size); - -void cpArrayFree(cpArray *arr); - -void cpArrayPush(cpArray *arr, void *object); -void *cpArrayPop(cpArray *arr); -void cpArrayDeleteObj(cpArray *arr, void *obj); -cpBool cpArrayContains(cpArray *arr, void *ptr); - -void cpArrayFreeEach(cpArray *arr, void (freeFunc)(void*)); - - -//MARK: Foreach loops - -static inline cpConstraint * -cpConstraintNext(cpConstraint *node, cpBody *body) -{ - return (node->a == body ? node->next_a : node->next_b); -} - -#define CP_BODY_FOREACH_CONSTRAINT(bdy, var)\ - for(cpConstraint *var = bdy->constraintList; var; var = cpConstraintNext(var, bdy)) - -static inline cpArbiter * -cpArbiterNext(cpArbiter *node, cpBody *body) -{ - return (node->body_a == body ? node->thread_a.next : node->thread_b.next); -} - -#define CP_BODY_FOREACH_ARBITER(bdy, var)\ - for(cpArbiter *var = bdy->arbiterList; var; var = cpArbiterNext(var, bdy)) - -#define CP_BODY_FOREACH_SHAPE(body, var)\ - for(cpShape *var = body->shapeList; var; var = var->next) - -#define CP_BODY_FOREACH_COMPONENT(root, var)\ - for(cpBody *var = root; var; var = var->node.next) - - -//MARK: cpHashSet - -typedef cpBool (*cpHashSetEqlFunc)(void *ptr, void *elt); -typedef void *(*cpHashSetTransFunc)(void *ptr, void *data); - -cpHashSet *cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc); -void cpHashSetSetDefaultValue(cpHashSet *set, void *default_value); - -void cpHashSetFree(cpHashSet *set); - -int cpHashSetCount(cpHashSet *set); -void *cpHashSetInsert(cpHashSet *set, cpHashValue hash, void *ptr, void *data, cpHashSetTransFunc trans); -void *cpHashSetRemove(cpHashSet *set, cpHashValue hash, void *ptr); -void *cpHashSetFind(cpHashSet *set, cpHashValue hash, void *ptr); - -typedef void (*cpHashSetIteratorFunc)(void *elt, void *data); -void cpHashSetEach(cpHashSet *set, cpHashSetIteratorFunc func, void *data); - -typedef cpBool (*cpHashSetFilterFunc)(void *elt, void *data); -void cpHashSetFilter(cpHashSet *set, cpHashSetFilterFunc func, void *data); - - -//MARK: Body Functions - -void cpBodyAddShape(cpBody *body, cpShape *shape); -void cpBodyRemoveShape(cpBody *body, cpShape *shape); -void cpBodyRemoveConstraint(cpBody *body, cpConstraint *constraint); - - -//MARK: Shape/Collision Functions - -// TODO should move this to the cpVect API. It's pretty useful. -static inline cpVect -cpClosetPointOnSegment(const cpVect p, const cpVect a, const cpVect b) -{ - cpVect delta = cpvsub(a, b); - cpFloat t = cpfclamp01(cpvdot(delta, cpvsub(p, b))/cpvlengthsq(delta)); - return cpvadd(b, cpvmult(delta, t)); -} - -cpShape* cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body); - -static inline cpBool -cpShapeActive(cpShape *shape) -{ - return shape->prev || (shape->body && shape->body->shapeList == shape); -} - -int cpCollideShapes(const cpShape *a, const cpShape *b, cpCollisionID *id, cpContact *arr); - -static inline void -CircleSegmentQuery(cpShape *shape, cpVect center, cpFloat r, cpVect a, cpVect b, cpSegmentQueryInfo *info) -{ - cpVect da = cpvsub(a, center); - cpVect db = cpvsub(b, center); - - cpFloat qa = cpvdot(da, da) - 2.0f*cpvdot(da, db) + cpvdot(db, db); - cpFloat qb = -2.0f*cpvdot(da, da) + 2.0f*cpvdot(da, db); - cpFloat qc = cpvdot(da, da) - r*r; - - cpFloat det = qb*qb - 4.0f*qa*qc; - - if(det >= 0.0f){ - cpFloat t = (-qb - cpfsqrt(det))/(2.0f*qa); - if(0.0f<= t && t <= 1.0f){ - info->shape = shape; - info->t = t; - info->n = cpvnormalize(cpvlerp(da, db, t)); - } - } -} - -// TODO doesn't really need to be inline, but need a better place to put this function -static inline cpSplittingPlane -cpSplittingPlaneNew(cpVect a, cpVect b) -{ - cpVect n = cpvnormalize(cpvperp(cpvsub(b, a))); - cpSplittingPlane plane = {n, cpvdot(n, a)}; - return plane; -} - -static inline cpFloat -cpSplittingPlaneCompare(cpSplittingPlane plane, cpVect v) -{ - return cpvdot(plane.n, v) - plane.d; -} - -void cpLoopIndexes(cpVect *verts, int count, int *start, int *end); - - -//MARK: Spatial Index Functions - -cpSpatialIndex *cpSpatialIndexInit(cpSpatialIndex *index, cpSpatialIndexClass *klass, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - - -//MARK: Space Functions - -extern cpCollisionHandler cpDefaultCollisionHandler; -void cpSpaceProcessComponents(cpSpace *space, cpFloat dt); - -void cpSpacePushFreshContactBuffer(cpSpace *space); -cpContact *cpContactBufferGetArray(cpSpace *space); -void cpSpacePushContacts(cpSpace *space, int count); - -typedef struct cpPostStepCallback { - cpPostStepFunc func; - void *key; - void *data; -} cpPostStepCallback; - -cpPostStepCallback *cpSpaceGetPostStepCallback(cpSpace *space, void *key); - -cpBool cpSpaceArbiterSetFilter(cpArbiter *arb, cpSpace *space); -void cpSpaceFilterArbiters(cpSpace *space, cpBody *body, cpShape *filter); - -void cpSpaceActivateBody(cpSpace *space, cpBody *body); -void cpSpaceLock(cpSpace *space); -void cpSpaceUnlock(cpSpace *space, cpBool runPostStep); - -static inline cpCollisionHandler * -cpSpaceLookupHandler(cpSpace *space, cpCollisionType a, cpCollisionType b) -{ - cpCollisionType types[] = {a, b}; - return (cpCollisionHandler *)cpHashSetFind(space->collisionHandlers, CP_HASH_PAIR(a, b), types); -} - -static inline void -cpSpaceUncacheArbiter(cpSpace *space, cpArbiter *arb) -{ - cpShape *a = arb->a, *b = arb->b; - cpShape *shape_pair[] = {a, b}; - cpHashValue arbHashID = CP_HASH_PAIR((cpHashValue)a, (cpHashValue)b); - cpHashSetRemove(space->cachedArbiters, arbHashID, shape_pair); - cpArrayDeleteObj(space->arbiters, arb); -} - -void cpShapeUpdateFunc(cpShape *shape, void *unused); -cpCollisionID cpSpaceCollideShapes(cpShape *a, cpShape *b, cpCollisionID id, cpSpace *space); - - -//MARK: Arbiters - -struct cpContact { - cpVect p, n; - cpFloat dist; - - cpVect r1, r2; - cpFloat nMass, tMass, bounce; - - cpFloat jnAcc, jtAcc, jBias; - cpFloat bias; - - cpHashValue hash; -}; - -cpContact* cpContactInit(cpContact *con, cpVect p, cpVect n, cpFloat dist, cpHashValue hash); -cpArbiter* cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b); - -static inline void -cpArbiterCallSeparate(cpArbiter *arb, cpSpace *space) -{ - // The handler needs to be looked up again as the handler cached on the arbiter may have been deleted since the last step. - cpCollisionHandler *handler = cpSpaceLookupHandler(space, arb->a->collision_type, arb->b->collision_type); - handler->separate(arb, space, handler->data); -} - -static inline struct cpArbiterThread * -cpArbiterThreadForBody(cpArbiter *arb, cpBody *body) -{ - return (arb->body_a == body ? &arb->thread_a : &arb->thread_b); -} - -void cpArbiterUnthread(cpArbiter *arb); - -void cpArbiterUpdate(cpArbiter *arb, cpContact *contacts, int numContacts, struct cpCollisionHandler *handler, cpShape *a, cpShape *b); -void cpArbiterPreStep(cpArbiter *arb, cpFloat dt, cpFloat bias, cpFloat slop); -void cpArbiterApplyCachedImpulse(cpArbiter *arb, cpFloat dt_coef); -void cpArbiterApplyImpulse(cpArbiter *arb); diff --git a/android/armeabi/include/chipmunk/chipmunk/chipmunk_types.h b/android/armeabi/include/chipmunk/chipmunk/chipmunk_types.h deleted file mode 100644 index 9ed23391..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/chipmunk_types.h +++ /dev/null @@ -1,222 +0,0 @@ -#include -#include - -#ifdef __APPLE__ - #include "TargetConditionals.h" -#endif - -#if ((TARGET_OS_IPHONE == 1) || (TARGET_OS_MAC == 1)) && (!defined CP_USE_CGPOINTS) - #define CP_USE_CGPOINTS 1 -#endif - -#if CP_USE_CGPOINTS == 1 - #if TARGET_OS_IPHONE - #import - #elif TARGET_OS_MAC - #include - #endif - - #if defined(__LP64__) && __LP64__ - #define CP_USE_DOUBLES 1 - #else - #define CP_USE_DOUBLES 0 - #endif -#endif - -#ifndef CP_USE_DOUBLES - // use doubles by default for higher precision - #define CP_USE_DOUBLES 1 -#endif - -/// @defgroup basicTypes Basic Types -/// Most of these types can be configured at compile time. -/// @{ - -#if CP_USE_DOUBLES -/// Chipmunk's floating point type. -/// Can be reconfigured at compile time. - typedef double cpFloat; - #define cpfsqrt sqrt - #define cpfsin sin - #define cpfcos cos - #define cpfacos acos - #define cpfatan2 atan2 - #define cpfmod fmod - #define cpfexp exp - #define cpfpow pow - #define cpffloor floor - #define cpfceil ceil - #define CPFLOAT_MIN DBL_MIN -#else - typedef float cpFloat; - #define cpfsqrt sqrtf - #define cpfsin sinf - #define cpfcos cosf - #define cpfacos acosf - #define cpfatan2 atan2f - #define cpfmod fmodf - #define cpfexp expf - #define cpfpow powf - #define cpffloor floorf - #define cpfceil ceilf - #define CPFLOAT_MIN FLT_MIN -#endif - -#ifndef INFINITY - #ifdef _MSC_VER - union MSVC_EVIL_FLOAT_HACK - { - unsigned __int8 Bytes[4]; - float Value; - }; - static union MSVC_EVIL_FLOAT_HACK INFINITY_HACK = {{0x00, 0x00, 0x80, 0x7F}}; - #define INFINITY (INFINITY_HACK.Value) - #endif - - #ifdef __GNUC__ - #define INFINITY (__builtin_inf()) - #endif - - #ifndef INFINITY - #define INFINITY (1e1000) - #endif -#endif - -#ifndef M_PI - #define M_PI 3.14159265358979323846264338327950288 -#endif - -#ifndef M_E - #define M_E 2.71828182845904523536028747135266250 -#endif - - -/// Return the max of two cpFloats. -static inline cpFloat cpfmax(cpFloat a, cpFloat b) -{ - return (a > b) ? a : b; -} - -/// Return the min of two cpFloats. -static inline cpFloat cpfmin(cpFloat a, cpFloat b) -{ - return (a < b) ? a : b; -} - -/// Return the absolute value of a cpFloat. -static inline cpFloat cpfabs(cpFloat f) -{ - return (f < 0) ? -f : f; -} - -/// Clamp @c f to be between @c min and @c max. -static inline cpFloat cpfclamp(cpFloat f, cpFloat min, cpFloat max) -{ - return cpfmin(cpfmax(f, min), max); -} - -/// Clamp @c f to be between 0 and 1. -static inline cpFloat cpfclamp01(cpFloat f) -{ - return cpfmax(0.0f, cpfmin(f, 1.0f)); -} - - - -/// Linearly interpolate (or extrapolate) between @c f1 and @c f2 by @c t percent. -static inline cpFloat cpflerp(cpFloat f1, cpFloat f2, cpFloat t) -{ - return f1*(1.0f - t) + f2*t; -} - -/// Linearly interpolate from @c f1 to @c f2 by no more than @c d. -static inline cpFloat cpflerpconst(cpFloat f1, cpFloat f2, cpFloat d) -{ - return f1 + cpfclamp(f2 - f1, -d, d); -} - -/// Hash value type. -typedef uintptr_t cpHashValue; - -/// Type used internally to cache colliding object info for cpCollideShapes(). -/// Should be at least 32 bits. -typedef uint32_t cpCollisionID; - -// Oh C, how we love to define our own boolean types to get compiler compatibility -/// Chipmunk's boolean type. -#ifdef CP_BOOL_TYPE - typedef CP_BOOL_TYPE cpBool; -#else - typedef int cpBool; -#endif - -#ifndef cpTrue -/// true value. - #define cpTrue 1 -#endif - -#ifndef cpFalse -/// false value. - #define cpFalse 0 -#endif - -#ifdef CP_DATA_POINTER_TYPE - typedef CP_DATA_POINTER_TYPE cpDataPointer; -#else -/// Type used for user data pointers. - typedef void * cpDataPointer; -#endif - -#ifdef CP_COLLISION_TYPE_TYPE - typedef CP_COLLISION_TYPE_TYPE cpCollisionType; -#else -/// Type used for cpSpace.collision_type. - typedef uintptr_t cpCollisionType; -#endif - -#ifdef CP_GROUP_TYPE - typedef CP_GROUP_TYPE cpGroup; -#else -/// Type used for cpShape.group. - typedef uintptr_t cpGroup; -#endif - -#ifdef CP_LAYERS_TYPE - typedef CP_LAYERS_TYPE cpLayers; -#else -/// Type used for cpShape.layers. - typedef unsigned int cpLayers; -#endif - -#ifdef CP_TIMESTAMP_TYPE - typedef CP_TIMESTAMP_TYPE cpTimestamp; -#else -/// Type used for various timestamps in Chipmunk. - typedef unsigned int cpTimestamp; -#endif - -#ifndef CP_NO_GROUP -/// Value for cpShape.group signifying that a shape is in no group. - #define CP_NO_GROUP ((cpGroup)0) -#endif - -#ifndef CP_ALL_LAYERS -/// Value for cpShape.layers signifying that a shape is in every layer. - #define CP_ALL_LAYERS (~(cpLayers)0) -#endif -/// @} - -// CGPoints are structurally the same, and allow -// easy interoperability with other Cocoa libraries -#if CP_USE_CGPOINTS - typedef CGPoint cpVect; -#else -/// Chipmunk's 2D vector type. -/// @addtogroup cpVect - typedef struct cpVect{cpFloat x,y;} cpVect; -#endif - -typedef struct cpMat2x2 { - // Row major [[a, b][c d]] - cpFloat a, b, c, d; -} cpMat2x2; diff --git a/android/armeabi/include/chipmunk/chipmunk/chipmunk_unsafe.h b/android/armeabi/include/chipmunk/chipmunk/chipmunk_unsafe.h deleted file mode 100644 index 4428814c..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/chipmunk_unsafe.h +++ /dev/null @@ -1,65 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/* This header defines a number of "unsafe" operations on Chipmunk objects. - * In this case "unsafe" is referring to operations which may reduce the - * physical accuracy or numerical stability of the simulation, but will not - * cause crashes. - * - * The prime example is mutating collision shapes. Chipmunk does not support - * this directly. Mutating shapes using this API will caused objects in contact - * to be pushed apart using Chipmunk's overlap solver, but not using real - * persistent velocities. Probably not what you meant, but perhaps close enough. - */ - -/// @defgroup unsafe Chipmunk Unsafe Shape Operations -/// These functions are used for mutating collision shapes. -/// Chipmunk does not have any way to get velocity information on changing shapes, -/// so the results will be unrealistic. You must explicity include the chipmunk_unsafe.h header to use them. -/// @{ - -#ifndef CHIPMUNK_UNSAFE_HEADER -#define CHIPMUNK_UNSAFE_HEADER - -#ifdef __cplusplus -extern "C" { -#endif - -/// Set the radius of a circle shape. -void cpCircleShapeSetRadius(cpShape *shape, cpFloat radius); -/// Set the offset of a circle shape. -void cpCircleShapeSetOffset(cpShape *shape, cpVect offset); - -/// Set the endpoints of a segment shape. -void cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b); -/// Set the radius of a segment shape. -void cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius); - -/// Set the vertexes of a poly shape. -void cpPolyShapeSetVerts(cpShape *shape, int numVerts, cpVect *verts, cpVect offset); -/// Set the radius of a poly shape. -void cpPolyShapeSetRadius(cpShape *shape, cpFloat radius); - -#ifdef __cplusplus -} -#endif -#endif -/// @} diff --git a/android/armeabi/include/chipmunk/chipmunk/constraints/cpConstraint.h b/android/armeabi/include/chipmunk/chipmunk/constraints/cpConstraint.h deleted file mode 100644 index d1059fff..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/constraints/cpConstraint.h +++ /dev/null @@ -1,161 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpConstraint cpConstraint -/// @{ - -typedef struct cpConstraintClass cpConstraintClass; - -typedef void (*cpConstraintPreStepImpl)(cpConstraint *constraint, cpFloat dt); -typedef void (*cpConstraintApplyCachedImpulseImpl)(cpConstraint *constraint, cpFloat dt_coef); -typedef void (*cpConstraintApplyImpulseImpl)(cpConstraint *constraint, cpFloat dt); -typedef cpFloat (*cpConstraintGetImpulseImpl)(cpConstraint *constraint); - -/// @private -struct cpConstraintClass { - cpConstraintPreStepImpl preStep; - cpConstraintApplyCachedImpulseImpl applyCachedImpulse; - cpConstraintApplyImpulseImpl applyImpulse; - cpConstraintGetImpulseImpl getImpulse; -}; - -/// Callback function type that gets called before solving a joint. -typedef void (*cpConstraintPreSolveFunc)(cpConstraint *constraint, cpSpace *space); -/// Callback function type that gets called after solving a joint. -typedef void (*cpConstraintPostSolveFunc)(cpConstraint *constraint, cpSpace *space); - - -/// Opaque cpConstraint struct. -struct cpConstraint { - CP_PRIVATE(const cpConstraintClass *klass); - - /// The first body connected to this constraint. - cpBody *a; - /// The second body connected to this constraint. - cpBody *b; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpConstraint *next_a); - CP_PRIVATE(cpConstraint *next_b); - - /// The maximum force that this constraint is allowed to use. - /// Defaults to infinity. - cpFloat maxForce; - /// The rate at which joint error is corrected. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that it will - /// correct 10% of the error every 1/60th of a second. - cpFloat errorBias; - /// The maximum rate at which joint error is corrected. - /// Defaults to infinity. - cpFloat maxBias; - - /// Function called before the solver runs. - /// Animate your joint anchors, update your motor torque, etc. - cpConstraintPreSolveFunc preSolve; - - /// Function called after the solver runs. - /// Use the applied impulse to perform effects like breakable joints. - cpConstraintPostSolveFunc postSolve; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpConstraint reference in a callback. - cpDataPointer data; -}; - -/// Destroy a constraint. -void cpConstraintDestroy(cpConstraint *constraint); -/// Destroy and free a constraint. -void cpConstraintFree(cpConstraint *constraint); - -/// @private -static inline void cpConstraintActivateBodies(cpConstraint *constraint) -{ - cpBody *a = constraint->a; if(a) cpBodyActivate(a); - cpBody *b = constraint->b; if(b) cpBodyActivate(b); -} - -/// @private -#define CP_DefineConstraintStructGetter(type, member, name) \ -static inline type cpConstraint##Get##name(const cpConstraint *constraint){return constraint->member;} - -/// @private -#define CP_DefineConstraintStructSetter(type, member, name) \ -static inline void cpConstraint##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintActivateBodies(constraint); \ - constraint->member = value; \ -} - -/// @private -#define CP_DefineConstraintStructProperty(type, member, name) \ -CP_DefineConstraintStructGetter(type, member, name) \ -CP_DefineConstraintStructSetter(type, member, name) - -CP_DefineConstraintStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineConstraintStructGetter(cpBody*, a, A) -CP_DefineConstraintStructGetter(cpBody*, b, B) -CP_DefineConstraintStructProperty(cpFloat, maxForce, MaxForce) -CP_DefineConstraintStructProperty(cpFloat, errorBias, ErrorBias) -CP_DefineConstraintStructProperty(cpFloat, maxBias, MaxBias) -CP_DefineConstraintStructProperty(cpConstraintPreSolveFunc, preSolve, PreSolveFunc) -CP_DefineConstraintStructProperty(cpConstraintPostSolveFunc, postSolve, PostSolveFunc) -CP_DefineConstraintStructProperty(cpDataPointer, data, UserData) - -// Get the last impulse applied by this constraint. -static inline cpFloat cpConstraintGetImpulse(cpConstraint *constraint) -{ - return constraint->CP_PRIVATE(klass)->getImpulse(constraint); -} - -/// @} - -#define cpConstraintCheckCast(constraint, struct) \ - cpAssertHard(constraint->CP_PRIVATE(klass) == struct##GetClass(), "Constraint is not a "#struct) - -#define CP_DefineConstraintGetter(struct, type, member, name) \ -static inline type struct##Get##name(const cpConstraint *constraint){ \ - cpConstraintCheckCast(constraint, struct); \ - return ((struct *)constraint)->member; \ -} - -#define CP_DefineConstraintSetter(struct, type, member, name) \ -static inline void struct##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintCheckCast(constraint, struct); \ - cpConstraintActivateBodies(constraint); \ - ((struct *)constraint)->member = value; \ -} - -#define CP_DefineConstraintProperty(struct, type, member, name) \ -CP_DefineConstraintGetter(struct, type, member, name) \ -CP_DefineConstraintSetter(struct, type, member, name) - -#include "cpPinJoint.h" -#include "cpSlideJoint.h" -#include "cpPivotJoint.h" -#include "cpGrooveJoint.h" -#include "cpDampedSpring.h" -#include "cpDampedRotarySpring.h" -#include "cpRotaryLimitJoint.h" -#include "cpRatchetJoint.h" -#include "cpGearJoint.h" -#include "cpSimpleMotor.h" diff --git a/android/armeabi/include/chipmunk/chipmunk/constraints/cpDampedRotarySpring.h b/android/armeabi/include/chipmunk/chipmunk/constraints/cpDampedRotarySpring.h deleted file mode 100644 index 86cf915b..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/constraints/cpDampedRotarySpring.h +++ /dev/null @@ -1,56 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedRotarySpring cpDampedRotarySpring -/// @{ - -typedef cpFloat (*cpDampedRotarySpringTorqueFunc)(struct cpConstraint *spring, cpFloat relativeAngle); - -const cpConstraintClass *cpDampedRotarySpringGetClass(void); - -/// @private -typedef struct cpDampedRotarySpring { - cpConstraint constraint; - cpFloat restAngle; - cpFloat stiffness; - cpFloat damping; - cpDampedRotarySpringTorqueFunc springTorqueFunc; - - cpFloat target_wrn; - cpFloat w_coef; - - cpFloat iSum; - cpFloat jAcc; -} cpDampedRotarySpring; - -/// Allocate a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringAlloc(void); -/// Initialize a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringInit(cpDampedRotarySpring *joint, cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped rotary spring. -cpConstraint* cpDampedRotarySpringNew(cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, restAngle, RestAngle) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpDampedRotarySpringTorqueFunc, springTorqueFunc, SpringTorqueFunc) - -/// @} diff --git a/android/armeabi/include/chipmunk/chipmunk/constraints/cpDampedSpring.h b/android/armeabi/include/chipmunk/chipmunk/constraints/cpDampedSpring.h deleted file mode 100644 index f5120647..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/constraints/cpDampedSpring.h +++ /dev/null @@ -1,64 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedSpring cpDampedSpring -/// @{ - -typedef struct cpDampedSpring cpDampedSpring; - -typedef cpFloat (*cpDampedSpringForceFunc)(cpConstraint *spring, cpFloat dist); - -const cpConstraintClass *cpDampedSpringGetClass(void); - -/// @private -struct cpDampedSpring { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat restLength; - cpFloat stiffness; - cpFloat damping; - cpDampedSpringForceFunc springForceFunc; - - cpFloat target_vrn; - cpFloat v_coef; - - cpVect r1, r2; - cpFloat nMass; - cpVect n; - - cpFloat jAcc; -}; - -/// Allocate a damped spring. -cpDampedSpring* cpDampedSpringAlloc(void); -/// Initialize a damped spring. -cpDampedSpring* cpDampedSpringInit(cpDampedSpring *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped spring. -cpConstraint* cpDampedSpringNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, restLength, RestLength) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedSpring, cpDampedSpringForceFunc, springForceFunc, SpringForceFunc) - -/// @} diff --git a/android/armeabi/include/chipmunk/chipmunk/constraints/cpGearJoint.h b/android/armeabi/include/chipmunk/chipmunk/constraints/cpGearJoint.h deleted file mode 100644 index c9ebf942..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/constraints/cpGearJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGearJoint cpGearJoint -/// @{ - -const cpConstraintClass *cpGearJointGetClass(void); - -/// @private -typedef struct cpGearJoint { - cpConstraint constraint; - cpFloat phase, ratio; - cpFloat ratio_inv; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpGearJoint; - -/// Allocate a gear joint. -cpGearJoint* cpGearJointAlloc(void); -/// Initialize a gear joint. -cpGearJoint* cpGearJointInit(cpGearJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); -/// Allocate and initialize a gear joint. -cpConstraint* cpGearJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); - -CP_DefineConstraintProperty(cpGearJoint, cpFloat, phase, Phase) -CP_DefineConstraintGetter(cpGearJoint, cpFloat, ratio, Ratio) -/// Set the ratio of a gear joint. -void cpGearJointSetRatio(cpConstraint *constraint, cpFloat value); - -/// @} diff --git a/android/armeabi/include/chipmunk/chipmunk/constraints/cpGrooveJoint.h b/android/armeabi/include/chipmunk/chipmunk/constraints/cpGrooveJoint.h deleted file mode 100644 index b260218f..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/constraints/cpGrooveJoint.h +++ /dev/null @@ -1,57 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGrooveJoint cpGrooveJoint -/// @{ - -const cpConstraintClass *cpGrooveJointGetClass(void); - -/// @private -typedef struct cpGrooveJoint { - cpConstraint constraint; - cpVect grv_n, grv_a, grv_b; - cpVect anchr2; - - cpVect grv_tn; - cpFloat clamp; - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpGrooveJoint; - -/// Allocate a groove joint. -cpGrooveJoint* cpGrooveJointAlloc(void); -/// Initialize a groove joint. -cpGrooveJoint* cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); -/// Allocate and initialize a groove joint. -cpConstraint* cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); - -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_a, GrooveA) -/// Set endpoint a of a groove joint's groove -void cpGrooveJointSetGrooveA(cpConstraint *constraint, cpVect value); -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_b, GrooveB) -/// Set endpoint b of a groove joint's groove -void cpGrooveJointSetGrooveB(cpConstraint *constraint, cpVect value); -CP_DefineConstraintProperty(cpGrooveJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/android/armeabi/include/chipmunk/chipmunk/constraints/cpPinJoint.h b/android/armeabi/include/chipmunk/chipmunk/constraints/cpPinJoint.h deleted file mode 100644 index 2413e84a..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/constraints/cpPinJoint.h +++ /dev/null @@ -1,52 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPinJoint cpPinJoint -/// @{ - -const cpConstraintClass *cpPinJointGetClass(void); - -/// @private -typedef struct cpPinJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat dist; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpPinJoint; - -/// Allocate a pin joint. -cpPinJoint* cpPinJointAlloc(void); -/// Initialize a pin joint. -cpPinJoint* cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pin joint. -cpConstraint* cpPinJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpPinJoint, cpFloat, dist, Dist) - -///@} diff --git a/android/armeabi/include/chipmunk/chipmunk/constraints/cpPivotJoint.h b/android/armeabi/include/chipmunk/chipmunk/constraints/cpPivotJoint.h deleted file mode 100644 index a5d33174..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/constraints/cpPivotJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPivotJoint cpPivotJoint -/// @{ - -const cpConstraintClass *cpPivotJointGetClass(void); - -/// @private -typedef struct cpPivotJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpPivotJoint; - -/// Allocate a pivot joint -cpPivotJoint* cpPivotJointAlloc(void); -/// Initialize a pivot joint. -cpPivotJoint* cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pivot joint. -cpConstraint* cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot); -/// Allocate and initialize a pivot joint with specific anchors. -cpConstraint* cpPivotJointNew2(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/android/armeabi/include/chipmunk/chipmunk/constraints/cpRatchetJoint.h b/android/armeabi/include/chipmunk/chipmunk/constraints/cpRatchetJoint.h deleted file mode 100644 index e371b108..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/constraints/cpRatchetJoint.h +++ /dev/null @@ -1,49 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRatchetJoint cpRatchetJoint -/// @{ - -const cpConstraintClass *cpRatchetJointGetClass(void); - -/// @private -typedef struct cpRatchetJoint { - cpConstraint constraint; - cpFloat angle, phase, ratchet; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRatchetJoint; - -/// Allocate a ratchet joint. -cpRatchetJoint* cpRatchetJointAlloc(void); -/// Initialize a ratched joint. -cpRatchetJoint* cpRatchetJointInit(cpRatchetJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); -/// Allocate and initialize a ratchet joint. -cpConstraint* cpRatchetJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); - -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, angle, Angle) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, phase, Phase) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, ratchet, Ratchet) - -/// @} diff --git a/android/armeabi/include/chipmunk/chipmunk/constraints/cpRotaryLimitJoint.h b/android/armeabi/include/chipmunk/chipmunk/constraints/cpRotaryLimitJoint.h deleted file mode 100644 index 2277e40f..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/constraints/cpRotaryLimitJoint.h +++ /dev/null @@ -1,48 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRotaryLimitJoint cpRotaryLimitJoint -/// @{ - -const cpConstraintClass *cpRotaryLimitJointGetClass(void); - -/// @private -typedef struct cpRotaryLimitJoint { - cpConstraint constraint; - cpFloat min, max; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRotaryLimitJoint; - -/// Allocate a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointAlloc(void); -/// Initialize a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointInit(cpRotaryLimitJoint *joint, cpBody *a, cpBody *b, cpFloat min, cpFloat max); -/// Allocate and initialize a damped rotary limit joint. -cpConstraint* cpRotaryLimitJointNew(cpBody *a, cpBody *b, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, max, Max) - -/// @} diff --git a/android/armeabi/include/chipmunk/chipmunk/constraints/cpSimpleMotor.h b/android/armeabi/include/chipmunk/chipmunk/constraints/cpSimpleMotor.h deleted file mode 100644 index 37d28c5d..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/constraints/cpSimpleMotor.h +++ /dev/null @@ -1,46 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSimpleMotor cpSimpleMotor -/// @{ - -const cpConstraintClass *cpSimpleMotorGetClass(void); - -/// @private -typedef struct cpSimpleMotor { - cpConstraint constraint; - cpFloat rate; - - cpFloat iSum; - - cpFloat jAcc; -} cpSimpleMotor; - -/// Allocate a simple motor. -cpSimpleMotor* cpSimpleMotorAlloc(void); -/// initialize a simple motor. -cpSimpleMotor* cpSimpleMotorInit(cpSimpleMotor *joint, cpBody *a, cpBody *b, cpFloat rate); -/// Allocate and initialize a simple motor. -cpConstraint* cpSimpleMotorNew(cpBody *a, cpBody *b, cpFloat rate); - -CP_DefineConstraintProperty(cpSimpleMotor, cpFloat, rate, Rate) - -/// @} diff --git a/android/armeabi/include/chipmunk/chipmunk/constraints/cpSlideJoint.h b/android/armeabi/include/chipmunk/chipmunk/constraints/cpSlideJoint.h deleted file mode 100644 index 40db8bba..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/constraints/cpSlideJoint.h +++ /dev/null @@ -1,53 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSlideJoint cpSlideJoint -/// @{ - -const cpConstraintClass *cpSlideJointGetClass(void); - -/// @private -typedef struct cpSlideJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat min, max; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpSlideJoint; - -/// Allocate a slide joint. -cpSlideJoint* cpSlideJointAlloc(void); -/// Initialize a slide joint. -cpSlideJoint* cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); -/// Allocate and initialize a slide joint. -cpConstraint* cpSlideJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, max, Max) - -/// @} diff --git a/android/armeabi/include/chipmunk/chipmunk/constraints/util.h b/android/armeabi/include/chipmunk/chipmunk/constraints/util.h deleted file mode 100644 index 0a620475..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/constraints/util.h +++ /dev/null @@ -1,126 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -// These are utility routines to use when creating custom constraints. -// I'm not sure if this should be part of the private API or not. -// I should probably clean up the naming conventions if it is... - -#define CP_DefineClassGetter(t) const cpConstraintClass * t##GetClass(void){return (cpConstraintClass *)&klass;} - -void cpConstraintInit(cpConstraint *constraint, const cpConstraintClass *klass, cpBody *a, cpBody *b); - -static inline cpVect -relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){ - cpVect v1_sum = cpvadd(a->v, cpvmult(cpvperp(r1), a->w)); - cpVect v2_sum = cpvadd(b->v, cpvmult(cpvperp(r2), b->w)); - - return cpvsub(v2_sum, v1_sum); -} - -static inline cpFloat -normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){ - return cpvdot(relative_velocity(a, b, r1, r2), n); -} - -static inline void -apply_impulse(cpBody *body, cpVect j, cpVect r){ - body->v = cpvadd(body->v, cpvmult(j, body->m_inv)); - body->w += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_impulse(a, cpvneg(j), r1); - apply_impulse(b, j, r2); -} - -static inline void -apply_bias_impulse(cpBody *body, cpVect j, cpVect r) -{ - body->CP_PRIVATE(v_bias) = cpvadd(body->CP_PRIVATE(v_bias), cpvmult(j, body->m_inv)); - body->CP_PRIVATE(w_bias) += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_bias_impulse(a, cpvneg(j), r1); - apply_bias_impulse(b, j, r2); -} - -static inline cpFloat -k_scalar_body(cpBody *body, cpVect r, cpVect n) -{ - cpFloat rcn = cpvcross(r, n); - return body->m_inv + body->i_inv*rcn*rcn; -} - -static inline cpFloat -k_scalar(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n) -{ - cpFloat value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n); - cpAssertSoft(value != 0.0, "Unsolvable collision or constraint."); - - return value; -} - -static inline cpMat2x2 -k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2) -{ - cpFloat m_sum = a->m_inv + b->m_inv; - - // start with Identity*m_sum - cpFloat k11 = m_sum, k12 = 0.0f; - cpFloat k21 = 0.0f, k22 = m_sum; - - // add the influence from r1 - cpFloat a_i_inv = a->i_inv; - cpFloat r1xsq = r1.x * r1.x * a_i_inv; - cpFloat r1ysq = r1.y * r1.y * a_i_inv; - cpFloat r1nxy = -r1.x * r1.y * a_i_inv; - k11 += r1ysq; k12 += r1nxy; - k21 += r1nxy; k22 += r1xsq; - - // add the influnce from r2 - cpFloat b_i_inv = b->i_inv; - cpFloat r2xsq = r2.x * r2.x * b_i_inv; - cpFloat r2ysq = r2.y * r2.y * b_i_inv; - cpFloat r2nxy = -r2.x * r2.y * b_i_inv; - k11 += r2ysq; k12 += r2nxy; - k21 += r2nxy; k22 += r2xsq; - - // invert - cpFloat det = k11*k22 - k12*k21; - cpAssertSoft(det != 0.0, "Unsolvable constraint."); - - cpFloat det_inv = 1.0f/det; - return cpMat2x2New( - k22*det_inv, -k12*det_inv, - -k21*det_inv, k11*det_inv - ); -} - -static inline cpFloat -bias_coef(cpFloat errorBias, cpFloat dt) -{ - return 1.0f - cpfpow(errorBias, dt); -} diff --git a/android/armeabi/include/chipmunk/chipmunk/cpArbiter.h b/android/armeabi/include/chipmunk/chipmunk/cpArbiter.h deleted file mode 100644 index 1ccb693d..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/cpArbiter.h +++ /dev/null @@ -1,207 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpArbiter cpArbiter -/// The cpArbiter struct controls pairs of colliding shapes. -/// They are also used in conjuction with collision handler callbacks -/// allowing you to retrieve information on the collision and control it. -/// @{ - -/// Collision begin event function callback type. -/// Returning false from a begin callback causes the collision to be ignored until -/// the the separate callback is called when the objects stop colliding. -typedef cpBool (*cpCollisionBeginFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision pre-solve event function callback type. -/// Returning false from a pre-step callback causes the collision to be ignored until the next step. -typedef cpBool (*cpCollisionPreSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision post-solve event function callback type. -typedef void (*cpCollisionPostSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision separate event function callback type. -typedef void (*cpCollisionSeparateFunc)(cpArbiter *arb, cpSpace *space, void *data); - -/// @private -struct cpCollisionHandler { - cpCollisionType a; - cpCollisionType b; - cpCollisionBeginFunc begin; - cpCollisionPreSolveFunc preSolve; - cpCollisionPostSolveFunc postSolve; - cpCollisionSeparateFunc separate; - void *data; -}; - -typedef struct cpContact cpContact; - -#define CP_MAX_CONTACTS_PER_ARBITER 2 - -/// @private -typedef enum cpArbiterState { - // Arbiter is active and its the first collision. - cpArbiterStateFirstColl, - // Arbiter is active and its not the first collision. - cpArbiterStateNormal, - // Collision has been explicitly ignored. - // Either by returning false from a begin collision handler or calling cpArbiterIgnore(). - cpArbiterStateIgnore, - // Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps. - cpArbiterStateCached, -} cpArbiterState; - -/// @private -struct cpArbiterThread { - // Links to next and previous arbiters in the contact graph. - struct cpArbiter *next, *prev; -}; - -/// A colliding pair of shapes. -struct cpArbiter { - /// Calculated value to use for the elasticity coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat e; - /// Calculated value to use for the friction coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat u; - /// Calculated value to use for applying surface velocities. - /// Override in a pre-solve collision handler for custom behavior. - cpVect surface_vr; - - /// User definable data pointer. - /// The value will persist for the pair of shapes until the separate() callback is called. - /// NOTE: If you need to clean up this pointer, you should implement the separate() callback to do it. - cpDataPointer data; - - CP_PRIVATE(cpShape *a); - CP_PRIVATE(cpShape *b); - CP_PRIVATE(cpBody *body_a); - CP_PRIVATE(cpBody *body_b); - - CP_PRIVATE(struct cpArbiterThread thread_a); - CP_PRIVATE(struct cpArbiterThread thread_b); - - CP_PRIVATE(int numContacts); - CP_PRIVATE(cpContact *contacts); - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpCollisionHandler *handler); - CP_PRIVATE(cpBool swappedColl); - CP_PRIVATE(cpArbiterState state); -}; - -#define CP_DefineArbiterStructGetter(type, member, name) \ -static inline type cpArbiterGet##name(const cpArbiter *arb){return arb->member;} - -#define CP_DefineArbiterStructSetter(type, member, name) \ -static inline void cpArbiterSet##name(cpArbiter *arb, type value){arb->member = value;} - -#define CP_DefineArbiterStructProperty(type, member, name) \ -CP_DefineArbiterStructGetter(type, member, name) \ -CP_DefineArbiterStructSetter(type, member, name) - -CP_DefineArbiterStructProperty(cpFloat, e, Elasticity) -CP_DefineArbiterStructProperty(cpFloat, u, Friction) - -// Get the relative surface velocity of the two shapes in contact. -cpVect cpArbiterGetSurfaceVelocity(cpArbiter *arb); - -// Override the relative surface velocity of the two shapes in contact. -// By default this is calculated to be the difference of the two -// surface velocities clamped to the tangent plane. -void cpArbiterSetSurfaceVelocity(cpArbiter *arb, cpVect vr); - -CP_DefineArbiterStructProperty(cpDataPointer, data, UserData) - -/// Calculate the total impulse that was applied by this arbiter. -/// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulse(const cpArbiter *arb); -/// Calculate the total impulse including the friction that was applied by this arbiter. -/// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulseWithFriction(const cpArbiter *arb); -/// Calculate the amount of energy lost in a collision including static, but not dynamic friction. -/// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpFloat cpArbiterTotalKE(const cpArbiter *arb); - - -/// Causes a collision pair to be ignored as if you returned false from a begin callback. -/// If called from a pre-step callback, you will still need to return false -/// if you want it to be ignored in the current step. -void cpArbiterIgnore(cpArbiter *arb); - -/// Return the colliding shapes involved for this arbiter. -/// The order of their cpSpace.collision_type values will match -/// the order set when the collision handler was registered. -static inline void cpArbiterGetShapes(const cpArbiter *arb, cpShape **a, cpShape **b) -{ - if(arb->CP_PRIVATE(swappedColl)){ - (*a) = arb->CP_PRIVATE(b), (*b) = arb->CP_PRIVATE(a); - } else { - (*a) = arb->CP_PRIVATE(a), (*b) = arb->CP_PRIVATE(b); - } -} -/// A macro shortcut for defining and retrieving the shapes from an arbiter. -#define CP_ARBITER_GET_SHAPES(__arb__, __a__, __b__) cpShape *__a__, *__b__; cpArbiterGetShapes(__arb__, &__a__, &__b__); - -/// Return the colliding bodies involved for this arbiter. -/// The order of the cpSpace.collision_type the bodies are associated with values will match -/// the order set when the collision handler was registered. -static inline void cpArbiterGetBodies(const cpArbiter *arb, cpBody **a, cpBody **b) -{ - CP_ARBITER_GET_SHAPES(arb, shape_a, shape_b); - (*a) = shape_a->body; - (*b) = shape_b->body; -} -/// A macro shortcut for defining and retrieving the bodies from an arbiter. -#define CP_ARBITER_GET_BODIES(__arb__, __a__, __b__) cpBody *__a__, *__b__; cpArbiterGetBodies(__arb__, &__a__, &__b__); - -/// A struct that wraps up the important collision data for an arbiter. -typedef struct cpContactPointSet { - /// The number of contact points in the set. - int count; - - /// The array of contact points. - struct { - /// The position of the contact point. - cpVect point; - /// The normal of the contact point. - cpVect normal; - /// The depth of the contact point. - cpFloat dist; - } points[CP_MAX_CONTACTS_PER_ARBITER]; -} cpContactPointSet; - -/// Return a contact set from an arbiter. -cpContactPointSet cpArbiterGetContactPointSet(const cpArbiter *arb); - -/// Replace the contact point set for an arbiter. -/// This can be a very powerful feature, but use it with caution! -void cpArbiterSetContactPointSet(cpArbiter *arb, cpContactPointSet *set); - -/// Returns true if this is the first step a pair of objects started colliding. -cpBool cpArbiterIsFirstContact(const cpArbiter *arb); -/// Get the number of contact points for this arbiter. -int cpArbiterGetCount(const cpArbiter *arb); -/// Get the normal of the @c ith contact point. -cpVect cpArbiterGetNormal(const cpArbiter *arb, int i); -/// Get the position of the @c ith contact point. -cpVect cpArbiterGetPoint(const cpArbiter *arb, int i); -/// Get the depth of the @c ith contact point. -cpFloat cpArbiterGetDepth(const cpArbiter *arb, int i); - -/// @} diff --git a/android/armeabi/include/chipmunk/chipmunk/cpBB.h b/android/armeabi/include/chipmunk/chipmunk/cpBB.h deleted file mode 100644 index 4e59c2d4..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/cpBB.h +++ /dev/null @@ -1,143 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpBBB cpBB -/// Chipmunk's axis-aligned 2D bounding box type along with a few handy routines. -/// @{ - -/// Chipmunk's axis-aligned 2D bounding box type. (left, bottom, right, top) -typedef struct cpBB{ - cpFloat l, b, r ,t; -} cpBB; - -/// Convenience constructor for cpBB structs. -static inline cpBB cpBBNew(const cpFloat l, const cpFloat b, const cpFloat r, const cpFloat t) -{ - cpBB bb = {l, b, r, t}; - return bb; -} - -/// Constructs a cpBB for a circle with the given position and radius. -static inline cpBB cpBBNewForCircle(const cpVect p, const cpFloat r) -{ - return cpBBNew(p.x - r, p.y - r, p.x + r, p.y + r); -} - -/// Returns true if @c a and @c b intersect. -static inline cpBool cpBBIntersects(const cpBB a, const cpBB b) -{ - return (a.l <= b.r && b.l <= a.r && a.b <= b.t && b.b <= a.t); -} - -/// Returns true if @c other lies completely within @c bb. -static inline cpBool cpBBContainsBB(const cpBB bb, const cpBB other) -{ - return (bb.l <= other.l && bb.r >= other.r && bb.b <= other.b && bb.t >= other.t); -} - -/// Returns true if @c bb contains @c v. -static inline cpBool cpBBContainsVect(const cpBB bb, const cpVect v) -{ - return (bb.l <= v.x && bb.r >= v.x && bb.b <= v.y && bb.t >= v.y); -} - -/// Returns a bounding box that holds both bounding boxes. -static inline cpBB cpBBMerge(const cpBB a, const cpBB b){ - return cpBBNew( - cpfmin(a.l, b.l), - cpfmin(a.b, b.b), - cpfmax(a.r, b.r), - cpfmax(a.t, b.t) - ); -} - -/// Returns a bounding box that holds both @c bb and @c v. -static inline cpBB cpBBExpand(const cpBB bb, const cpVect v){ - return cpBBNew( - cpfmin(bb.l, v.x), - cpfmin(bb.b, v.y), - cpfmax(bb.r, v.x), - cpfmax(bb.t, v.y) - ); -} - -/// Returns the center of a bounding box. -static inline cpVect -cpBBCenter(cpBB bb) -{ - return cpvlerp(cpv(bb.l, bb.b), cpv(bb.r, bb.t), 0.5f); -} - -/// Returns the area of the bounding box. -static inline cpFloat cpBBArea(cpBB bb) -{ - return (bb.r - bb.l)*(bb.t - bb.b); -} - -/// Merges @c a and @c b and returns the area of the merged bounding box. -static inline cpFloat cpBBMergedArea(cpBB a, cpBB b) -{ - return (cpfmax(a.r, b.r) - cpfmin(a.l, b.l))*(cpfmax(a.t, b.t) - cpfmin(a.b, b.b)); -} - -/// Returns the fraction along the segment query the cpBB is hit. Returns INFINITY if it doesn't hit. -static inline cpFloat cpBBSegmentQuery(cpBB bb, cpVect a, cpVect b) -{ - cpFloat idx = 1.0f/(b.x - a.x); - cpFloat tx1 = (bb.l == a.x ? -INFINITY : (bb.l - a.x)*idx); - cpFloat tx2 = (bb.r == a.x ? INFINITY : (bb.r - a.x)*idx); - cpFloat txmin = cpfmin(tx1, tx2); - cpFloat txmax = cpfmax(tx1, tx2); - - cpFloat idy = 1.0f/(b.y - a.y); - cpFloat ty1 = (bb.b == a.y ? -INFINITY : (bb.b - a.y)*idy); - cpFloat ty2 = (bb.t == a.y ? INFINITY : (bb.t - a.y)*idy); - cpFloat tymin = cpfmin(ty1, ty2); - cpFloat tymax = cpfmax(ty1, ty2); - - if(tymin <= txmax && txmin <= tymax){ - cpFloat min = cpfmax(txmin, tymin); - cpFloat max = cpfmin(txmax, tymax); - - if(0.0 <= max && min <= 1.0) return cpfmax(min, 0.0); - } - - return INFINITY; -} - -/// Return true if the bounding box intersects the line segment with ends @c a and @c b. -static inline cpBool cpBBIntersectsSegment(cpBB bb, cpVect a, cpVect b) -{ - return (cpBBSegmentQuery(bb, a, b) != INFINITY); -} - -/// Clamp a vector to a bounding box. -static inline cpVect -cpBBClampVect(const cpBB bb, const cpVect v) -{ - return cpv(cpfclamp(v.x, bb.l, bb.r), cpfclamp(v.y, bb.b, bb.t)); -} - -// TODO edge case issue -/// Wrap a vector to a bounding box. -cpVect cpBBWrapVect(const cpBB bb, const cpVect v); // wrap a vector to a bbox - -///@} diff --git a/android/armeabi/include/chipmunk/chipmunk/cpBody.h b/android/armeabi/include/chipmunk/chipmunk/cpBody.h deleted file mode 100644 index 6168b0fe..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/cpBody.h +++ /dev/null @@ -1,251 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpBody cpBody -/// Chipmunk's rigid body type. Rigid bodies hold the physical properties of an object like -/// it's mass, and position and velocity of it's center of gravity. They don't have an shape on their own. -/// They are given a shape by creating collision shapes (cpShape) that point to the body. -/// @{ - -/// Rigid body velocity update function type. -typedef void (*cpBodyVelocityFunc)(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); -/// Rigid body position update function type. -typedef void (*cpBodyPositionFunc)(cpBody *body, cpFloat dt); - -/// Used internally to track information on the collision graph. -/// @private -typedef struct cpComponentNode { - cpBody *root; - cpBody *next; - cpFloat idleTime; -} cpComponentNode; - -/// Chipmunk's rigid body struct. -struct cpBody { - /// Function that is called to integrate the body's velocity. (Defaults to cpBodyUpdateVelocity) - cpBodyVelocityFunc velocity_func; - - /// Function that is called to integrate the body's position. (Defaults to cpBodyUpdatePosition) - cpBodyPositionFunc position_func; - - /// Mass of the body. - /// Must agree with cpBody.m_inv! Use cpBodySetMass() when changing the mass for this reason. - cpFloat m; - /// Mass inverse. - cpFloat m_inv; - - /// Moment of inertia of the body. - /// Must agree with cpBody.i_inv! Use cpBodySetMoment() when changing the moment for this reason. - cpFloat i; - /// Moment of inertia inverse. - cpFloat i_inv; - - /// Position of the rigid body's center of gravity. - cpVect p; - /// Velocity of the rigid body's center of gravity. - cpVect v; - /// Force acting on the rigid body's center of gravity. - cpVect f; - - /// Rotation of the body around it's center of gravity in radians. - /// Must agree with cpBody.rot! Use cpBodySetAngle() when changing the angle for this reason. - cpFloat a; - /// Angular velocity of the body around it's center of gravity in radians/second. - cpFloat w; - /// Torque applied to the body around it's center of gravity. - cpFloat t; - - /// Cached unit length vector representing the angle of the body. - /// Used for fast rotations using cpvrotate(). - cpVect rot; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpBody reference in a callback. - cpDataPointer data; - - /// Maximum velocity allowed when updating the velocity. - cpFloat v_limit; - /// Maximum rotational rate (in radians/second) allowed when updating the angular velocity. - cpFloat w_limit; - - CP_PRIVATE(cpVect v_bias); - CP_PRIVATE(cpFloat w_bias); - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *shapeList); - CP_PRIVATE(cpArbiter *arbiterList); - CP_PRIVATE(cpConstraint *constraintList); - - CP_PRIVATE(cpComponentNode node); -}; - -/// Allocate a cpBody. -cpBody* cpBodyAlloc(void); -/// Initialize a cpBody. -cpBody* cpBodyInit(cpBody *body, cpFloat m, cpFloat i); -/// Allocate and initialize a cpBody. -cpBody* cpBodyNew(cpFloat m, cpFloat i); - -/// Initialize a static cpBody. -cpBody* cpBodyInitStatic(cpBody *body); -/// Allocate and initialize a static cpBody. -cpBody* cpBodyNewStatic(void); - -/// Destroy a cpBody. -void cpBodyDestroy(cpBody *body); -/// Destroy and free a cpBody. -void cpBodyFree(cpBody *body); - -/// Check that the properties of a body is sane. (Only in debug mode) -#ifdef NDEBUG - #define cpBodyAssertSane(body) -#else - void cpBodySanityCheck(cpBody *body); - #define cpBodyAssertSane(body) cpBodySanityCheck(body) -#endif - -// Defined in cpSpace.c -/// Wake up a sleeping or idle body. -void cpBodyActivate(cpBody *body); -/// Wake up any sleeping or idle bodies touching a static body. -void cpBodyActivateStatic(cpBody *body, cpShape *filter); - -/// Force a body to fall asleep immediately. -void cpBodySleep(cpBody *body); -/// Force a body to fall asleep immediately along with other bodies in a group. -void cpBodySleepWithGroup(cpBody *body, cpBody *group); - -/// Returns true if the body is sleeping. -static inline cpBool cpBodyIsSleeping(const cpBody *body) -{ - return (CP_PRIVATE(body->node).root != ((cpBody*)0)); -} - -/// Returns true if the body is static. -static inline cpBool cpBodyIsStatic(const cpBody *body) -{ - return CP_PRIVATE(body->node).idleTime == INFINITY; -} - -/// Returns true if the body has not been added to a space. -/// Note: Static bodies are a subtype of rogue bodies. -static inline cpBool cpBodyIsRogue(const cpBody *body) -{ - return (body->CP_PRIVATE(space) == ((cpSpace*)0)); -} - - -#define CP_DefineBodyStructGetter(type, member, name) \ -static inline type cpBodyGet##name(const cpBody *body){return body->member;} - -#define CP_DefineBodyStructSetter(type, member, name) \ -static inline void cpBodySet##name(cpBody *body, const type value){ \ - cpBodyActivate(body); \ - body->member = value; \ - cpBodyAssertSane(body); \ -} - -#define CP_DefineBodyStructProperty(type, member, name) \ -CP_DefineBodyStructGetter(type, member, name) \ -CP_DefineBodyStructSetter(type, member, name) - -// TODO add to docs -CP_DefineBodyStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineBodyStructGetter(cpFloat, m, Mass) -/// Set the mass of a body. -void cpBodySetMass(cpBody *body, cpFloat m); - -CP_DefineBodyStructGetter(cpFloat, i, Moment) -/// Set the moment of a body. -void cpBodySetMoment(cpBody *body, cpFloat i); - -CP_DefineBodyStructGetter(cpVect, p, Pos) -/// Set the position of a body. -void cpBodySetPos(cpBody *body, cpVect pos); -CP_DefineBodyStructProperty(cpVect, v, Vel) -CP_DefineBodyStructProperty(cpVect, f, Force) -CP_DefineBodyStructGetter(cpFloat, a, Angle) -/// Set the angle of a body. -void cpBodySetAngle(cpBody *body, cpFloat a); -CP_DefineBodyStructProperty(cpFloat, w, AngVel) -CP_DefineBodyStructProperty(cpFloat, t, Torque) -CP_DefineBodyStructGetter(cpVect, rot, Rot) -CP_DefineBodyStructProperty(cpFloat, v_limit, VelLimit) -CP_DefineBodyStructProperty(cpFloat, w_limit, AngVelLimit) -CP_DefineBodyStructProperty(cpDataPointer, data, UserData) - -/// Default Integration functions. -void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); -void cpBodyUpdatePosition(cpBody *body, cpFloat dt); - -/// Convert body relative/local coordinates to absolute/world coordinates. -static inline cpVect cpBodyLocal2World(const cpBody *body, const cpVect v) -{ - return cpvadd(body->p, cpvrotate(v, body->rot)); -} - -/// Convert body absolute/world coordinates to relative/local coordinates. -static inline cpVect cpBodyWorld2Local(const cpBody *body, const cpVect v) -{ - return cpvunrotate(cpvsub(v, body->p), body->rot); -} - -/// Set the forces and torque or a body to zero. -void cpBodyResetForces(cpBody *body); -/// Apply an force (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyForce(cpBody *body, const cpVect f, const cpVect r); -/// Apply an impulse (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyImpulse(cpBody *body, const cpVect j, const cpVect r); - -/// Get the velocity on a body (in world units) at a point on the body in world coordinates. -cpVect cpBodyGetVelAtWorldPoint(cpBody *body, cpVect point); -/// Get the velocity on a body (in world units) at a point on the body in local coordinates. -cpVect cpBodyGetVelAtLocalPoint(cpBody *body, cpVect point); - - -/// Get the kinetic energy of a body. -static inline cpFloat cpBodyKineticEnergy(const cpBody *body) -{ - // Need to do some fudging to avoid NaNs - cpFloat vsq = cpvdot(body->v, body->v); - cpFloat wsq = body->w*body->w; - return (vsq ? vsq*body->m : 0.0f) + (wsq ? wsq*body->i : 0.0f); -} - -/// Body/shape iterator callback function type. -typedef void (*cpBodyShapeIteratorFunc)(cpBody *body, cpShape *shape, void *data); -/// Call @c func once for each shape attached to @c body and added to the space. -void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data); - -/// Body/constraint iterator callback function type. -typedef void (*cpBodyConstraintIteratorFunc)(cpBody *body, cpConstraint *constraint, void *data); -/// Call @c func once for each constraint attached to @c body and added to the space. -void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data); - -/// Body/arbiter iterator callback function type. -typedef void (*cpBodyArbiterIteratorFunc)(cpBody *body, cpArbiter *arbiter, void *data); -/// Call @c func once for each arbiter that is currently active on the body. -void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data); - -///@} diff --git a/android/armeabi/include/chipmunk/chipmunk/cpPolyShape.h b/android/armeabi/include/chipmunk/chipmunk/cpPolyShape.h deleted file mode 100644 index a5587ba2..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/cpPolyShape.h +++ /dev/null @@ -1,81 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPolyShape cpPolyShape -/// @{ - -/// @private -typedef struct cpSplittingPlane { - cpVect n; - cpFloat d; -} cpSplittingPlane; - -/// @private -typedef struct cpPolyShape { - cpShape shape; - - int numVerts; - cpVect *verts, *tVerts; - cpSplittingPlane *planes, *tPlanes; - - cpFloat r; -} cpPolyShape; - -/// Allocate a polygon shape. -cpPolyShape* cpPolyShapeAlloc(void); -/// Initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit2(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew(cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew2(cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); - -/// Initialize a box shaped polygon shape. -cpPolyShape* cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit2(cpPolyShape *poly, cpBody *body, cpBB box); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit3(cpPolyShape *poly, cpBody *body, cpBB box, cpFloat radius); -/// Allocate and initialize a box shaped polygon shape. -cpShape* cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height); -/// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew2(cpBody *body, cpBB box); -/// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew3(cpBody *body, cpBB box, cpFloat radius); - -/// Check that a set of vertexes is convex and has a clockwise winding. -/// NOTE: Due to floating point precision issues, hulls created with cpQuickHull() are not guaranteed to validate! -cpBool cpPolyValidate(const cpVect *verts, const int numVerts); - -/// Get the number of verts in a polygon shape. -int cpPolyShapeGetNumVerts(const cpShape *shape); -/// Get the @c ith vertex of a polygon shape. -cpVect cpPolyShapeGetVert(const cpShape *shape, int idx); -/// Get the radius of a polygon shape. -cpFloat cpPolyShapeGetRadius(const cpShape *shape); - -/// @} diff --git a/android/armeabi/include/chipmunk/chipmunk/cpShape.h b/android/armeabi/include/chipmunk/chipmunk/cpShape.h deleted file mode 100644 index 62920c37..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/cpShape.h +++ /dev/null @@ -1,232 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpShape cpShape -/// The cpShape struct defines the shape of a rigid body. -/// @{ - -typedef struct cpShapeClass cpShapeClass; - -/// Nearest point query info struct. -typedef struct cpNearestPointQueryInfo { - /// The nearest shape, NULL if no shape was within range. - cpShape *shape; - /// The closest point on the shape's surface. (in world space coordinates) - cpVect p; - /// The distance to the point. The distance is negative if the point is inside the shape. - cpFloat d; - /// The gradient of the signed distance function. - /// The same as info.p/info.d, but accurate even for very small values of info.d. - cpVect g; -} cpNearestPointQueryInfo; - -/// Segment query info struct. -typedef struct cpSegmentQueryInfo { - /// The shape that was hit, NULL if no collision occured. - cpShape *shape; - /// The normalized distance along the query segment in the range [0, 1]. - cpFloat t; - /// The normal of the surface hit. - cpVect n; -} cpSegmentQueryInfo; - -/// @private -typedef enum cpShapeType{ - CP_CIRCLE_SHAPE, - CP_SEGMENT_SHAPE, - CP_POLY_SHAPE, - CP_NUM_SHAPES -} cpShapeType; - -typedef cpBB (*cpShapeCacheDataImpl)(cpShape *shape, cpVect p, cpVect rot); -typedef void (*cpShapeDestroyImpl)(cpShape *shape); -typedef void (*cpShapeNearestPointQueryImpl)(cpShape *shape, cpVect p, cpNearestPointQueryInfo *info); -typedef void (*cpShapeSegmentQueryImpl)(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); - -/// @private -struct cpShapeClass { - cpShapeType type; - - cpShapeCacheDataImpl cacheData; - cpShapeDestroyImpl destroy; - cpShapeNearestPointQueryImpl nearestPointQuery; - cpShapeSegmentQueryImpl segmentQuery; -}; - -/// Opaque collision shape struct. -struct cpShape { - CP_PRIVATE(const cpShapeClass *klass); - - /// The rigid body this collision shape is attached to. - cpBody *body; - - /// The current bounding box of the shape. - cpBB bb; - - /// Sensor flag. - /// Sensor shapes call collision callbacks but don't produce collisions. - cpBool sensor; - - /// Coefficient of restitution. (elasticity) - cpFloat e; - /// Coefficient of friction. - cpFloat u; - /// Surface velocity used when solving for friction. - cpVect surface_v; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpShape reference in a callback. - cpDataPointer data; - - /// Collision type of this shape used when picking collision handlers. - cpCollisionType collision_type; - /// Group of this shape. Shapes in the same group don't collide. - cpGroup group; - // Layer bitmask for this shape. Shapes only collide if the bitwise and of their layers is non-zero. - cpLayers layers; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *next); - CP_PRIVATE(cpShape *prev); - - CP_PRIVATE(cpHashValue hashid); -}; - -/// Destroy a shape. -void cpShapeDestroy(cpShape *shape); -/// Destroy and Free a shape. -void cpShapeFree(cpShape *shape); - -/// Update, cache and return the bounding box of a shape based on the body it's attached to. -cpBB cpShapeCacheBB(cpShape *shape); -/// Update, cache and return the bounding box of a shape with an explicit transformation. -cpBB cpShapeUpdate(cpShape *shape, cpVect pos, cpVect rot); - -/// Test if a point lies within a shape. -cpBool cpShapePointQuery(cpShape *shape, cpVect p); - -/// Perform a nearest point query. It finds the closest point on the surface of shape to a specific point. -/// The value returned is the distance between the points. A negative distance means the point is inside the shape. -cpFloat cpShapeNearestPointQuery(cpShape *shape, cpVect p, cpNearestPointQueryInfo *out); - -/// Perform a segment query against a shape. @c info must be a pointer to a valid cpSegmentQueryInfo structure. -cpBool cpShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); - -/// Get the hit point for a segment query. -static inline cpVect cpSegmentQueryHitPoint(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvlerp(start, end, info.t); -} - -/// Get the hit distance for a segment query. -static inline cpFloat cpSegmentQueryHitDist(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvdist(start, end)*info.t; -} - -#define CP_DefineShapeStructGetter(type, member, name) \ -static inline type cpShapeGet##name(const cpShape *shape){return shape->member;} - -#define CP_DefineShapeStructSetter(type, member, name, activates) \ -static inline void cpShapeSet##name(cpShape *shape, type value){ \ - if(activates && shape->body) cpBodyActivate(shape->body); \ - shape->member = value; \ -} - -#define CP_DefineShapeStructProperty(type, member, name, activates) \ -CP_DefineShapeStructGetter(type, member, name) \ -CP_DefineShapeStructSetter(type, member, name, activates) - -CP_DefineShapeStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineShapeStructGetter(cpBody*, body, Body) -void cpShapeSetBody(cpShape *shape, cpBody *body); - -CP_DefineShapeStructGetter(cpBB, bb, BB) -CP_DefineShapeStructProperty(cpBool, sensor, Sensor, cpTrue) -CP_DefineShapeStructProperty(cpFloat, e, Elasticity, cpFalse) -CP_DefineShapeStructProperty(cpFloat, u, Friction, cpTrue) -CP_DefineShapeStructProperty(cpVect, surface_v, SurfaceVelocity, cpTrue) -CP_DefineShapeStructProperty(cpDataPointer, data, UserData, cpFalse) -CP_DefineShapeStructProperty(cpCollisionType, collision_type, CollisionType, cpTrue) -CP_DefineShapeStructProperty(cpGroup, group, Group, cpTrue) -CP_DefineShapeStructProperty(cpLayers, layers, Layers, cpTrue) - -/// When initializing a shape, it's hash value comes from a counter. -/// Because the hash value may affect iteration order, you can reset the shape ID counter -/// when recreating a space. This will make the simulation be deterministic. -void cpResetShapeIdCounter(void); - -#define CP_DeclareShapeGetter(struct, type, name) type struct##Get##name(const cpShape *shape) - -/// @} -/// @defgroup cpCircleShape cpCircleShape - -/// @private -typedef struct cpCircleShape { - cpShape shape; - - cpVect c, tc; - cpFloat r; -} cpCircleShape; - -/// Allocate a circle shape. -cpCircleShape* cpCircleShapeAlloc(void); -/// Initialize a circle shape. -cpCircleShape* cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset); -/// Allocate and initialize a circle shape. -cpShape* cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset); - -CP_DeclareShapeGetter(cpCircleShape, cpVect, Offset); -CP_DeclareShapeGetter(cpCircleShape, cpFloat, Radius); - -/// @} -/// @defgroup cpSegmentShape cpSegmentShape - -/// @private -typedef struct cpSegmentShape { - cpShape shape; - - cpVect a, b, n; - cpVect ta, tb, tn; - cpFloat r; - - cpVect a_tangent, b_tangent; -} cpSegmentShape; - -/// Allocate a segment shape. -cpSegmentShape* cpSegmentShapeAlloc(void); -/// Initialize a segment shape. -cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius); -/// Allocate and initialize a segment shape. -cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius); - -/// Let Chipmunk know about the geometry of adjacent segments to avoid colliding with endcaps. -void cpSegmentShapeSetNeighbors(cpShape *shape, cpVect prev, cpVect next); - -CP_DeclareShapeGetter(cpSegmentShape, cpVect, A); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, B); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, Normal); -CP_DeclareShapeGetter(cpSegmentShape, cpFloat, Radius); - -/// @} diff --git a/android/armeabi/include/chipmunk/chipmunk/cpSpace.h b/android/armeabi/include/chipmunk/chipmunk/cpSpace.h deleted file mode 100644 index 26439f76..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/cpSpace.h +++ /dev/null @@ -1,283 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSpace cpSpace -/// @{ - -typedef struct cpContactBufferHeader cpContactBufferHeader; -typedef void (*cpSpaceArbiterApplyImpulseFunc)(cpArbiter *arb); - -/// Basic Unit of Simulation in Chipmunk -struct cpSpace { - /// Number of iterations to use in the impulse solver to solve contacts. - int iterations; - - /// Gravity to pass to rigid bodies when integrating velocity. - cpVect gravity; - - /// Damping rate expressed as the fraction of velocity bodies retain each second. - /// A value of 0.9 would mean that each body's velocity will drop 10% per second. - /// The default value is 1.0, meaning no damping is applied. - /// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring. - cpFloat damping; - - /// Speed threshold for a body to be considered idle. - /// The default value of 0 means to let the space guess a good threshold based on gravity. - cpFloat idleSpeedThreshold; - - /// Time a group of bodies must remain idle in order to fall asleep. - /// Enabling sleeping also implicitly enables the the contact graph. - /// The default value of INFINITY disables the sleeping algorithm. - cpFloat sleepTimeThreshold; - - /// Amount of encouraged penetration between colliding shapes. - /// Used to reduce oscillating contacts and keep the collision cache warm. - /// Defaults to 0.1. If you have poor simulation quality, - /// increase this number as much as possible without allowing visible amounts of overlap. - cpFloat collisionSlop; - - /// Determines how fast overlapping shapes are pushed apart. - /// Expressed as a fraction of the error remaining after each second. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz. - cpFloat collisionBias; - - /// Number of frames that contact information should persist. - /// Defaults to 3. There is probably never a reason to change this value. - cpTimestamp collisionPersistence; - - /// Rebuild the contact graph during each step. Must be enabled to use the cpBodyEachArbiter() function. - /// Disabled by default for a small performance boost. Enabled implicitly when the sleeping feature is enabled. - cpBool enableContactGraph; - - /// User definable data pointer. - /// Generally this points to your game's controller or game state - /// class so you can access it when given a cpSpace reference in a callback. - cpDataPointer data; - - /// The designated static body for this space. - /// You can modify this body, or replace it with your own static body. - /// By default it points to a statically allocated cpBody in the cpSpace struct. - cpBody *staticBody; - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpFloat curr_dt); - - CP_PRIVATE(cpArray *bodies); - CP_PRIVATE(cpArray *rousedBodies); - CP_PRIVATE(cpArray *sleepingComponents); - - CP_PRIVATE(cpSpatialIndex *staticShapes); - CP_PRIVATE(cpSpatialIndex *activeShapes); - - CP_PRIVATE(cpArray *arbiters); - CP_PRIVATE(cpContactBufferHeader *contactBuffersHead); - CP_PRIVATE(cpHashSet *cachedArbiters); - CP_PRIVATE(cpArray *pooledArbiters); - CP_PRIVATE(cpArray *constraints); - - CP_PRIVATE(cpArray *allocatedBuffers); - CP_PRIVATE(int locked); - - CP_PRIVATE(cpHashSet *collisionHandlers); - CP_PRIVATE(cpCollisionHandler defaultHandler); - - CP_PRIVATE(cpBool skipPostStep); - CP_PRIVATE(cpArray *postStepCallbacks); - - CP_PRIVATE(cpBody _staticBody); -}; - -/// Allocate a cpSpace. -cpSpace* cpSpaceAlloc(void); -/// Initialize a cpSpace. -cpSpace* cpSpaceInit(cpSpace *space); -/// Allocate and initialize a cpSpace. -cpSpace* cpSpaceNew(void); - -/// Destroy a cpSpace. -void cpSpaceDestroy(cpSpace *space); -/// Destroy and free a cpSpace. -void cpSpaceFree(cpSpace *space); - -#define CP_DefineSpaceStructGetter(type, member, name) \ -static inline type cpSpaceGet##name(const cpSpace *space){return space->member;} - -#define CP_DefineSpaceStructSetter(type, member, name) \ -static inline void cpSpaceSet##name(cpSpace *space, type value){space->member = value;} - -#define CP_DefineSpaceStructProperty(type, member, name) \ -CP_DefineSpaceStructGetter(type, member, name) \ -CP_DefineSpaceStructSetter(type, member, name) - -CP_DefineSpaceStructProperty(int, iterations, Iterations) -CP_DefineSpaceStructProperty(cpVect, gravity, Gravity) -CP_DefineSpaceStructProperty(cpFloat, damping, Damping) -CP_DefineSpaceStructProperty(cpFloat, idleSpeedThreshold, IdleSpeedThreshold) -CP_DefineSpaceStructProperty(cpFloat, sleepTimeThreshold, SleepTimeThreshold) -CP_DefineSpaceStructProperty(cpFloat, collisionSlop, CollisionSlop) -CP_DefineSpaceStructProperty(cpFloat, collisionBias, CollisionBias) -CP_DefineSpaceStructProperty(cpTimestamp, collisionPersistence, CollisionPersistence) -CP_DefineSpaceStructProperty(cpBool, enableContactGraph, EnableContactGraph) -CP_DefineSpaceStructProperty(cpDataPointer, data, UserData) -CP_DefineSpaceStructGetter(cpBody*, staticBody, StaticBody) -CP_DefineSpaceStructGetter(cpFloat, CP_PRIVATE(curr_dt), CurrentTimeStep) - -/// returns true from inside a callback and objects cannot be added/removed. -static inline cpBool -cpSpaceIsLocked(cpSpace *space) -{ - return space->CP_PRIVATE(locked); -} - -/// Set a default collision handler for this space. -/// The default collision handler is invoked for each colliding pair of shapes -/// that isn't explicitly handled by a specific collision handler. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceSetDefaultCollisionHandler( - cpSpace *space, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); - -/// Set a collision handler to be used whenever the two shapes with the given collision types collide. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceAddCollisionHandler( - cpSpace *space, - cpCollisionType a, cpCollisionType b, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); - -/// Unset a collision handler. -void cpSpaceRemoveCollisionHandler(cpSpace *space, cpCollisionType a, cpCollisionType b); - -/// Add a collision shape to the simulation. -/// If the shape is attached to a static body, it will be added as a static shape. -cpShape* cpSpaceAddShape(cpSpace *space, cpShape *shape); -/// Explicity add a shape as a static shape to the simulation. -cpShape* cpSpaceAddStaticShape(cpSpace *space, cpShape *shape); -/// Add a rigid body to the simulation. -cpBody* cpSpaceAddBody(cpSpace *space, cpBody *body); -/// Add a constraint to the simulation. -cpConstraint* cpSpaceAddConstraint(cpSpace *space, cpConstraint *constraint); - -/// Remove a collision shape from the simulation. -void cpSpaceRemoveShape(cpSpace *space, cpShape *shape); -/// Remove a collision shape added using cpSpaceAddStaticShape() from the simulation. -void cpSpaceRemoveStaticShape(cpSpace *space, cpShape *shape); -/// Remove a rigid body from the simulation. -void cpSpaceRemoveBody(cpSpace *space, cpBody *body); -/// Remove a constraint from the simulation. -void cpSpaceRemoveConstraint(cpSpace *space, cpConstraint *constraint); - -/// Test if a collision shape has been added to the space. -cpBool cpSpaceContainsShape(cpSpace *space, cpShape *shape); -/// Test if a rigid body has been added to the space. -cpBool cpSpaceContainsBody(cpSpace *space, cpBody *body); -/// Test if a constraint has been added to the space. -cpBool cpSpaceContainsConstraint(cpSpace *space, cpConstraint *constraint); - -/// Convert a dynamic rogue body to a static one. -/// If the body is active, you must remove it from the space first. -void cpSpaceConvertBodyToStatic(cpSpace *space, cpBody *body); -/// Convert a body to a dynamic rogue body. -/// If you want the body to be active after the transition, you must add it to the space also. -void cpSpaceConvertBodyToDynamic(cpSpace *space, cpBody *body, cpFloat mass, cpFloat moment); - -/// Post Step callback function type. -typedef void (*cpPostStepFunc)(cpSpace *space, void *key, void *data); -/// Schedule a post-step callback to be called when cpSpaceStep() finishes. -/// You can only register one callback per unique value for @c key. -/// Returns true only if @c key has never been scheduled before. -/// It's possible to pass @c NULL for @c func if you only want to mark @c key as being used. -cpBool cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *key, void *data); - -/// Point query callback function type. -typedef void (*cpSpacePointQueryFunc)(cpShape *shape, void *data); -/// Query the space at a point and call @c func for each shape found. -void cpSpacePointQuery(cpSpace *space, cpVect point, cpLayers layers, cpGroup group, cpSpacePointQueryFunc func, void *data); -/// Query the space at a point and return the first shape found. Returns NULL if no shapes were found. -cpShape *cpSpacePointQueryFirst(cpSpace *space, cpVect point, cpLayers layers, cpGroup group); - -/// Nearest point query callback function type. -typedef void (*cpSpaceNearestPointQueryFunc)(cpShape *shape, cpFloat distance, cpVect point, void *data); -/// Query the space at a point and call @c func for each shape found. -void cpSpaceNearestPointQuery(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryFunc func, void *data); -/// Query the space at a point and return the nearest shape found. Returns NULL if no shapes were found. -cpShape *cpSpaceNearestPointQueryNearest(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpNearestPointQueryInfo *out); - -/// Segment query callback function type. -typedef void (*cpSpaceSegmentQueryFunc)(cpShape *shape, cpFloat t, cpVect n, void *data); -/// Perform a directed line segment query (like a raycast) against the space calling @c func for each shape intersected. -void cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryFunc func, void *data); -/// Perform a directed line segment query (like a raycast) against the space and return the first shape hit. Returns NULL if no shapes were hit. -cpShape *cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSegmentQueryInfo *out); - -/// Rectangle Query callback function type. -typedef void (*cpSpaceBBQueryFunc)(cpShape *shape, void *data); -/// Perform a fast rectangle query on the space calling @c func for each shape found. -/// Only the shape's bounding boxes are checked for overlap, not their full shape. -void cpSpaceBBQuery(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryFunc func, void *data); - -/// Shape query callback function type. -typedef void (*cpSpaceShapeQueryFunc)(cpShape *shape, cpContactPointSet *points, void *data); -/// Query a space for any shapes overlapping the given shape and call @c func for each shape found. -cpBool cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data); - -/// Call cpBodyActivate() for any shape that is overlaps the given shape. -void cpSpaceActivateShapesTouchingShape(cpSpace *space, cpShape *shape); - - -/// Space/body iterator callback function type. -typedef void (*cpSpaceBodyIteratorFunc)(cpBody *body, void *data); -/// Call @c func for each body in the space. -void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIteratorFunc func, void *data); - -/// Space/body iterator callback function type. -typedef void (*cpSpaceShapeIteratorFunc)(cpShape *shape, void *data); -/// Call @c func for each shape in the space. -void cpSpaceEachShape(cpSpace *space, cpSpaceShapeIteratorFunc func, void *data); - -/// Space/constraint iterator callback function type. -typedef void (*cpSpaceConstraintIteratorFunc)(cpConstraint *constraint, void *data); -/// Call @c func for each shape in the space. -void cpSpaceEachConstraint(cpSpace *space, cpSpaceConstraintIteratorFunc func, void *data); - -/// Update the collision detection info for the static shapes in the space. -void cpSpaceReindexStatic(cpSpace *space); -/// Update the collision detection data for a specific shape in the space. -void cpSpaceReindexShape(cpSpace *space, cpShape *shape); -/// Update the collision detection data for all shapes attached to a body. -void cpSpaceReindexShapesForBody(cpSpace *space, cpBody *body); - -/// Switch the space to use a spatial has as it's spatial index. -void cpSpaceUseSpatialHash(cpSpace *space, cpFloat dim, int count); - -/// Step the space forward in time by @c dt. -void cpSpaceStep(cpSpace *space, cpFloat dt); - -/// @} diff --git a/android/armeabi/include/chipmunk/chipmunk/cpSpatialIndex.h b/android/armeabi/include/chipmunk/chipmunk/cpSpatialIndex.h deleted file mode 100644 index c279cad0..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/cpSpatialIndex.h +++ /dev/null @@ -1,227 +0,0 @@ -/* Copyright (c) 2010 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/** - @defgroup cpSpatialIndex cpSpatialIndex - - Spatial indexes are data structures that are used to accelerate collision detection - and spatial queries. Chipmunk provides a number of spatial index algorithms to pick from - and they are programmed in a generic way so that you can use them for holding more than - just cpShape structs. - - It works by using @c void pointers to the objects you add and using a callback to ask your code - for bounding boxes when it needs them. Several types of queries can be performed an index as well - as reindexing and full collision information. All communication to the spatial indexes is performed - through callback functions. - - Spatial indexes should be treated as opaque structs. - This meanns you shouldn't be reading any of the struct fields. - @{ -*/ - -//MARK: Spatial Index - -/// Spatial index bounding box callback function type. -/// The spatial index calls this function and passes you a pointer to an object you added -/// when it needs to get the bounding box associated with that object. -typedef cpBB (*cpSpatialIndexBBFunc)(void *obj); -/// Spatial index/object iterator callback function type. -typedef void (*cpSpatialIndexIteratorFunc)(void *obj, void *data); -/// Spatial query callback function type. -typedef cpCollisionID (*cpSpatialIndexQueryFunc)(void *obj1, void *obj2, cpCollisionID id, void *data); -/// Spatial segment query callback function type. -typedef cpFloat (*cpSpatialIndexSegmentQueryFunc)(void *obj1, void *obj2, void *data); - - -typedef struct cpSpatialIndexClass cpSpatialIndexClass; -typedef struct cpSpatialIndex cpSpatialIndex; - -/// @private -struct cpSpatialIndex { - cpSpatialIndexClass *klass; - - cpSpatialIndexBBFunc bbfunc; - - cpSpatialIndex *staticIndex, *dynamicIndex; -}; - - -//MARK: Spatial Hash - -typedef struct cpSpaceHash cpSpaceHash; - -/// Allocate a spatial hash. -cpSpaceHash* cpSpaceHashAlloc(void); -/// Initialize a spatial hash. -cpSpatialIndex* cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); -/// Allocate and initialize a spatial hash. -cpSpatialIndex* cpSpaceHashNew(cpFloat celldim, int cells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - -/// Change the cell dimensions and table size of the spatial hash to tune it. -/// The cell dimensions should roughly match the average size of your objects -/// and the table size should be ~10 larger than the number of objects inserted. -/// Some trial and error is required to find the optimum numbers for efficiency. -void cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells); - -//MARK: AABB Tree - -typedef struct cpBBTree cpBBTree; - -/// Allocate a bounding box tree. -cpBBTree* cpBBTreeAlloc(void); -/// Initialize a bounding box tree. -cpSpatialIndex* cpBBTreeInit(cpBBTree *tree, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); -/// Allocate and initialize a bounding box tree. -cpSpatialIndex* cpBBTreeNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - -/// Perform a static top down optimization of the tree. -void cpBBTreeOptimize(cpSpatialIndex *index); - -/// Bounding box tree velocity callback function. -/// This function should return an estimate for the object's velocity. -typedef cpVect (*cpBBTreeVelocityFunc)(void *obj); -/// Set the velocity function for the bounding box tree to enable temporal coherence. -void cpBBTreeSetVelocityFunc(cpSpatialIndex *index, cpBBTreeVelocityFunc func); - -//MARK: Single Axis Sweep - -typedef struct cpSweep1D cpSweep1D; - -/// Allocate a 1D sort and sweep broadphase. -cpSweep1D* cpSweep1DAlloc(void); -/// Initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DInit(cpSweep1D *sweep, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); -/// Allocate and initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - -//MARK: Spatial Index Implementation - -typedef void (*cpSpatialIndexDestroyImpl)(cpSpatialIndex *index); - -typedef int (*cpSpatialIndexCountImpl)(cpSpatialIndex *index); -typedef void (*cpSpatialIndexEachImpl)(cpSpatialIndex *index, cpSpatialIndexIteratorFunc func, void *data); - -typedef cpBool (*cpSpatialIndexContainsImpl)(cpSpatialIndex *index, void *obj, cpHashValue hashid); -typedef void (*cpSpatialIndexInsertImpl)(cpSpatialIndex *index, void *obj, cpHashValue hashid); -typedef void (*cpSpatialIndexRemoveImpl)(cpSpatialIndex *index, void *obj, cpHashValue hashid); - -typedef void (*cpSpatialIndexReindexImpl)(cpSpatialIndex *index); -typedef void (*cpSpatialIndexReindexObjectImpl)(cpSpatialIndex *index, void *obj, cpHashValue hashid); -typedef void (*cpSpatialIndexReindexQueryImpl)(cpSpatialIndex *index, cpSpatialIndexQueryFunc func, void *data); - -typedef void (*cpSpatialIndexQueryImpl)(cpSpatialIndex *index, void *obj, cpBB bb, cpSpatialIndexQueryFunc func, void *data); -typedef void (*cpSpatialIndexSegmentQueryImpl)(cpSpatialIndex *index, void *obj, cpVect a, cpVect b, cpFloat t_exit, cpSpatialIndexSegmentQueryFunc func, void *data); - -struct cpSpatialIndexClass { - cpSpatialIndexDestroyImpl destroy; - - cpSpatialIndexCountImpl count; - cpSpatialIndexEachImpl each; - - cpSpatialIndexContainsImpl contains; - cpSpatialIndexInsertImpl insert; - cpSpatialIndexRemoveImpl remove; - - cpSpatialIndexReindexImpl reindex; - cpSpatialIndexReindexObjectImpl reindexObject; - cpSpatialIndexReindexQueryImpl reindexQuery; - - cpSpatialIndexQueryImpl query; - cpSpatialIndexSegmentQueryImpl segmentQuery; -}; - -/// Destroy and free a spatial index. -void cpSpatialIndexFree(cpSpatialIndex *index); -/// Collide the objects in @c dynamicIndex against the objects in @c staticIndex using the query callback function. -void cpSpatialIndexCollideStatic(cpSpatialIndex *dynamicIndex, cpSpatialIndex *staticIndex, cpSpatialIndexQueryFunc func, void *data); - -/// Destroy a spatial index. -static inline void cpSpatialIndexDestroy(cpSpatialIndex *index) -{ - if(index->klass) index->klass->destroy(index); -} - -/// Get the number of objects in the spatial index. -static inline int cpSpatialIndexCount(cpSpatialIndex *index) -{ - return index->klass->count(index); -} - -/// Iterate the objects in the spatial index. @c func will be called once for each object. -static inline void cpSpatialIndexEach(cpSpatialIndex *index, cpSpatialIndexIteratorFunc func, void *data) -{ - index->klass->each(index, func, data); -} - -/// Returns true if the spatial index contains the given object. -/// Most spatial indexes use hashed storage, so you must provide a hash value too. -static inline cpBool cpSpatialIndexContains(cpSpatialIndex *index, void *obj, cpHashValue hashid) -{ - return index->klass->contains(index, obj, hashid); -} - -/// Add an object to a spatial index. -/// Most spatial indexes use hashed storage, so you must provide a hash value too. -static inline void cpSpatialIndexInsert(cpSpatialIndex *index, void *obj, cpHashValue hashid) -{ - index->klass->insert(index, obj, hashid); -} - -/// Remove an object from a spatial index. -/// Most spatial indexes use hashed storage, so you must provide a hash value too. -static inline void cpSpatialIndexRemove(cpSpatialIndex *index, void *obj, cpHashValue hashid) -{ - index->klass->remove(index, obj, hashid); -} - -/// Perform a full reindex of a spatial index. -static inline void cpSpatialIndexReindex(cpSpatialIndex *index) -{ - index->klass->reindex(index); -} - -/// Reindex a single object in the spatial index. -static inline void cpSpatialIndexReindexObject(cpSpatialIndex *index, void *obj, cpHashValue hashid) -{ - index->klass->reindexObject(index, obj, hashid); -} - -/// Perform a rectangle query against the spatial index, calling @c func for each potential match. -static inline void cpSpatialIndexQuery(cpSpatialIndex *index, void *obj, cpBB bb, cpSpatialIndexQueryFunc func, void *data) -{ - index->klass->query(index, obj, bb, func, data); -} - -/// Perform a segment query against the spatial index, calling @c func for each potential match. -static inline void cpSpatialIndexSegmentQuery(cpSpatialIndex *index, void *obj, cpVect a, cpVect b, cpFloat t_exit, cpSpatialIndexSegmentQueryFunc func, void *data) -{ - index->klass->segmentQuery(index, obj, a, b, t_exit, func, data); -} - -/// Simultaneously reindex and find all colliding objects. -/// @c func will be called once for each potentially overlapping pair of objects found. -/// If the spatial index was initialized with a static index, it will collide it's objects against that as well. -static inline void cpSpatialIndexReindexQuery(cpSpatialIndex *index, cpSpatialIndexQueryFunc func, void *data) -{ - index->klass->reindexQuery(index, func, data); -} - -///@} diff --git a/android/armeabi/include/chipmunk/chipmunk/cpVect.h b/android/armeabi/include/chipmunk/chipmunk/cpVect.h deleted file mode 100644 index 90855e56..00000000 --- a/android/armeabi/include/chipmunk/chipmunk/cpVect.h +++ /dev/null @@ -1,213 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpVect cpVect -/// Chipmunk's 2D vector type along with a handy 2D vector math lib. -/// @{ - -/// Constant for the zero vector. -static const cpVect cpvzero = {0.0f,0.0f}; - -/// Convenience constructor for cpVect structs. -static inline cpVect cpv(const cpFloat x, const cpFloat y) -{ - cpVect v = {x, y}; - return v; -} - -/// Spherical linearly interpolate between v1 and v2. -cpVect cpvslerp(const cpVect v1, const cpVect v2, const cpFloat t); - -/// Spherical linearly interpolate between v1 towards v2 by no more than angle a radians -cpVect cpvslerpconst(const cpVect v1, const cpVect v2, const cpFloat a); - -/// Returns a string representation of v. Intended mostly for debugging purposes and not production use. -/// @attention The string points to a static local and is reset every time the function is called. -/// If you want to print more than one vector you will have to split up your printing onto separate lines. -char* cpvstr(const cpVect v); - -/// Check if two vectors are equal. (Be careful when comparing floating point numbers!) -static inline cpBool cpveql(const cpVect v1, const cpVect v2) -{ - return (v1.x == v2.x && v1.y == v2.y); -} - -/// Add two vectors -static inline cpVect cpvadd(const cpVect v1, const cpVect v2) -{ - return cpv(v1.x + v2.x, v1.y + v2.y); -} - -/// Subtract two vectors. -static inline cpVect cpvsub(const cpVect v1, const cpVect v2) -{ - return cpv(v1.x - v2.x, v1.y - v2.y); -} - -/// Negate a vector. -static inline cpVect cpvneg(const cpVect v) -{ - return cpv(-v.x, -v.y); -} - -/// Scalar multiplication. -static inline cpVect cpvmult(const cpVect v, const cpFloat s) -{ - return cpv(v.x*s, v.y*s); -} - -/// Vector dot product. -static inline cpFloat cpvdot(const cpVect v1, const cpVect v2) -{ - return v1.x*v2.x + v1.y*v2.y; -} - -/// 2D vector cross product analog. -/// The cross product of 2D vectors results in a 3D vector with only a z component. -/// This function returns the magnitude of the z value. -static inline cpFloat cpvcross(const cpVect v1, const cpVect v2) -{ - return v1.x*v2.y - v1.y*v2.x; -} - -/// Returns a perpendicular vector. (90 degree rotation) -static inline cpVect cpvperp(const cpVect v) -{ - return cpv(-v.y, v.x); -} - -/// Returns a perpendicular vector. (-90 degree rotation) -static inline cpVect cpvrperp(const cpVect v) -{ - return cpv(v.y, -v.x); -} - -/// Returns the vector projection of v1 onto v2. -static inline cpVect cpvproject(const cpVect v1, const cpVect v2) -{ - return cpvmult(v2, cpvdot(v1, v2)/cpvdot(v2, v2)); -} - -/// Returns the unit length vector for the given angle (in radians). -static inline cpVect cpvforangle(const cpFloat a) -{ - return cpv(cpfcos(a), cpfsin(a)); -} - -/// Returns the angular direction v is pointing in (in radians). -static inline cpFloat cpvtoangle(const cpVect v) -{ - return cpfatan2(v.y, v.x); -} - -/// Uses complex number multiplication to rotate v1 by v2. Scaling will occur if v1 is not a unit vector. -static inline cpVect cpvrotate(const cpVect v1, const cpVect v2) -{ - return cpv(v1.x*v2.x - v1.y*v2.y, v1.x*v2.y + v1.y*v2.x); -} - -/// Inverse of cpvrotate(). -static inline cpVect cpvunrotate(const cpVect v1, const cpVect v2) -{ - return cpv(v1.x*v2.x + v1.y*v2.y, v1.y*v2.x - v1.x*v2.y); -} - -/// Returns the squared length of v. Faster than cpvlength() when you only need to compare lengths. -static inline cpFloat cpvlengthsq(const cpVect v) -{ - return cpvdot(v, v); -} - -/// Returns the length of v. -static inline cpFloat cpvlength(const cpVect v) -{ - return cpfsqrt(cpvdot(v, v)); -} - -/// Linearly interpolate between v1 and v2. -static inline cpVect cpvlerp(const cpVect v1, const cpVect v2, const cpFloat t) -{ - return cpvadd(cpvmult(v1, 1.0f - t), cpvmult(v2, t)); -} - -/// Returns a normalized copy of v. -static inline cpVect cpvnormalize(const cpVect v) -{ - // Neat trick I saw somewhere to avoid div/0. - return cpvmult(v, 1.0f/(cpvlength(v) + CPFLOAT_MIN)); -} - -/// @deprecated Just an alias for cpvnormalize() now. -static inline cpVect cpvnormalize_safe(const cpVect v) -{ - return cpvnormalize(v); -} - -/// Clamp v to length len. -static inline cpVect cpvclamp(const cpVect v, const cpFloat len) -{ - return (cpvdot(v,v) > len*len) ? cpvmult(cpvnormalize(v), len) : v; -} - -/// Linearly interpolate between v1 towards v2 by distance d. -static inline cpVect cpvlerpconst(cpVect v1, cpVect v2, cpFloat d) -{ - return cpvadd(v1, cpvclamp(cpvsub(v2, v1), d)); -} - -/// Returns the distance between v1 and v2. -static inline cpFloat cpvdist(const cpVect v1, const cpVect v2) -{ - return cpvlength(cpvsub(v1, v2)); -} - -/// Returns the squared distance between v1 and v2. Faster than cpvdist() when you only need to compare distances. -static inline cpFloat cpvdistsq(const cpVect v1, const cpVect v2) -{ - return cpvlengthsq(cpvsub(v1, v2)); -} - -/// Returns true if the distance between v1 and v2 is less than dist. -static inline cpBool cpvnear(const cpVect v1, const cpVect v2, const cpFloat dist) -{ - return cpvdistsq(v1, v2) < dist*dist; -} - -/// @} - -/// @defgroup cpMat2x2 cpMat2x2 -/// 2x2 matrix type used for tensors and such. -/// @{ - -static inline cpMat2x2 -cpMat2x2New(cpFloat a, cpFloat b, cpFloat c, cpFloat d) -{ - cpMat2x2 m = {a, b, c, d}; - return m; -} - -static inline cpVect -cpMat2x2Transform(cpMat2x2 m, cpVect v) -{ - return cpv(v.x*m.a + v.y*m.b, v.x*m.c + v.y*m.d); -} - -///@} diff --git a/android/armeabi/include/chipmunk/chipmunk_ffi.h b/android/armeabi/include/chipmunk/chipmunk_ffi.h index 53ac6937..c0248410 100644 --- a/android/armeabi/include/chipmunk/chipmunk_ffi.h +++ b/android/armeabi/include/chipmunk/chipmunk_ffi.h @@ -1,11 +1,35 @@ +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + #ifdef CHIPMUNK_FFI // Create non static inlined copies of Chipmunk functions, useful for working with dynamic FFIs // This file should only be included in chipmunk.c +// TODO: get rid of the reliance on static inlines. +// They make a mess for FFIs. + #ifdef _MSC_VER #if _MSC_VER >= 1600 - #define MAKE_REF(name) decltype(name) *_##name = name + #define MAKE_REF(name) CP_EXPORT decltype(name) *_##name = name #else #define MAKE_REF(name) #endif @@ -13,8 +37,9 @@ #define MAKE_REF(name) __typeof__(name) *_##name = name #endif -#define MAKE_PROPERTIES_REF(struct, property) \ - MAKE_REF(struct##Get##property); MAKE_REF(struct##Set##property) +#ifdef __cplusplus +extern "C" { +#endif MAKE_REF(cpv); // makes a variable named _cpv that contains the function pointer for cpv() MAKE_REF(cpveql); @@ -35,7 +60,6 @@ MAKE_REF(cpvlengthsq); MAKE_REF(cpvlength); MAKE_REF(cpvlerp); MAKE_REF(cpvnormalize); -MAKE_REF(cpvnormalize_safe); MAKE_REF(cpvclamp); MAKE_REF(cpvlerpconst); MAKE_REF(cpvdist); @@ -50,104 +74,20 @@ MAKE_REF(cpflerp); MAKE_REF(cpflerpconst); MAKE_REF(cpBBNew); +MAKE_REF(cpBBNewForExtents); MAKE_REF(cpBBNewForCircle); MAKE_REF(cpBBIntersects); MAKE_REF(cpBBContainsBB); MAKE_REF(cpBBContainsVect); MAKE_REF(cpBBMerge); MAKE_REF(cpBBExpand); +MAKE_REF(cpBBCenter); MAKE_REF(cpBBArea); MAKE_REF(cpBBMergedArea); MAKE_REF(cpBBSegmentQuery); MAKE_REF(cpBBIntersectsSegment); MAKE_REF(cpBBClampVect); -MAKE_REF(cpBodyGetMass); -MAKE_REF(cpBodyGetMoment); -MAKE_REF(cpBodyGetPos); -MAKE_REF(cpBodyGetAngle); -MAKE_REF(cpBodyGetRot); -MAKE_PROPERTIES_REF(cpBody, Vel); -MAKE_PROPERTIES_REF(cpBody, Force); -MAKE_PROPERTIES_REF(cpBody, AngVel); -MAKE_PROPERTIES_REF(cpBody, Torque); -MAKE_PROPERTIES_REF(cpBody, VelLimit); -MAKE_PROPERTIES_REF(cpBody, AngVelLimit); -MAKE_PROPERTIES_REF(cpBody, UserData); -MAKE_REF(cpBodyIsSleeping); -MAKE_REF(cpBodyIsStatic); -MAKE_REF(cpBodyIsRogue); -MAKE_REF(cpBodyLocal2World); -MAKE_REF(cpBodyWorld2Local); -MAKE_REF(cpBodyKineticEnergy); - -MAKE_REF(cpShapeGetBB); -MAKE_PROPERTIES_REF(cpShape, Body); -MAKE_PROPERTIES_REF(cpShape, Sensor); -MAKE_PROPERTIES_REF(cpShape, Elasticity); -MAKE_PROPERTIES_REF(cpShape, Friction); -MAKE_PROPERTIES_REF(cpShape, SurfaceVelocity); -MAKE_PROPERTIES_REF(cpShape, UserData); -MAKE_PROPERTIES_REF(cpShape, CollisionType); -MAKE_PROPERTIES_REF(cpShape, Group); -MAKE_PROPERTIES_REF(cpShape, Layers); - -MAKE_REF(cpArbiterGetShapes); -MAKE_REF(cpArbiterGetBodies); -MAKE_REF(cpArbiterIsFirstContact); -MAKE_REF(cpArbiterGetCount); - -MAKE_REF(cpConstraintGetA); -MAKE_REF(cpConstraintGetB); -MAKE_PROPERTIES_REF(cpConstraint, MaxForce); -MAKE_PROPERTIES_REF(cpConstraint, ErrorBias); -MAKE_PROPERTIES_REF(cpConstraint, MaxBias); -MAKE_PROPERTIES_REF(cpConstraint, UserData); -MAKE_REF(cpConstraintGetImpulse); - -MAKE_PROPERTIES_REF(cpDampedRotarySpring, RestAngle); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedRotarySpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedRotarySpring, SpringTorqueFunc); - -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr1); -MAKE_PROPERTIES_REF(cpDampedSpring, Anchr2); -MAKE_PROPERTIES_REF(cpDampedSpring, RestLength); -MAKE_PROPERTIES_REF(cpDampedSpring, Stiffness); -MAKE_PROPERTIES_REF(cpDampedSpring, Damping); -//MAKE_PROPERTIES_REF(cpDampedSpring, SpringForceFunc); - -MAKE_PROPERTIES_REF(cpGearJoint, Phase); -MAKE_REF(cpGearJointGetRatio); - -MAKE_PROPERTIES_REF(cpGrooveJoint, Anchr2); -MAKE_REF(cpGrooveJointGetGrooveA); -MAKE_REF(cpGrooveJointGetGrooveB); - -MAKE_PROPERTIES_REF(cpPinJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPinJoint, Anchr2); -MAKE_PROPERTIES_REF(cpPinJoint, Dist); - -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr1); -MAKE_PROPERTIES_REF(cpPivotJoint, Anchr2); - -MAKE_PROPERTIES_REF(cpRatchetJoint, Angle); -MAKE_PROPERTIES_REF(cpRatchetJoint, Phase); -MAKE_PROPERTIES_REF(cpRatchetJoint, Ratchet); - -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Min); -MAKE_PROPERTIES_REF(cpRotaryLimitJoint, Max); - -MAKE_PROPERTIES_REF(cpSimpleMotor, Rate); - -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr1); -MAKE_PROPERTIES_REF(cpSlideJoint, Anchr2); -MAKE_PROPERTIES_REF(cpSlideJoint, Min); -MAKE_PROPERTIES_REF(cpSlideJoint, Max); - -MAKE_REF(cpSegmentQueryHitPoint); -MAKE_REF(cpSegmentQueryHitDist); - MAKE_REF(cpSpatialIndexDestroy); MAKE_REF(cpSpatialIndexCount); MAKE_REF(cpSpatialIndexEach); @@ -160,18 +100,8 @@ MAKE_REF(cpSpatialIndexSegmentQuery); MAKE_REF(cpSpatialIndexQuery); MAKE_REF(cpSpatialIndexReindexQuery); -MAKE_PROPERTIES_REF(cpSpace, Iterations); -MAKE_PROPERTIES_REF(cpSpace, Gravity); -MAKE_PROPERTIES_REF(cpSpace, Damping); -MAKE_PROPERTIES_REF(cpSpace, IdleSpeedThreshold); -MAKE_PROPERTIES_REF(cpSpace, SleepTimeThreshold); -MAKE_PROPERTIES_REF(cpSpace, CollisionSlop); -MAKE_PROPERTIES_REF(cpSpace, CollisionBias); -MAKE_PROPERTIES_REF(cpSpace, CollisionPersistence); -MAKE_PROPERTIES_REF(cpSpace, EnableContactGraph); -MAKE_PROPERTIES_REF(cpSpace, UserData); -MAKE_REF(cpSpaceGetStaticBody); -MAKE_REF(cpSpaceGetCurrentTimeStep); -MAKE_REF(cpSpaceIsLocked); +#ifdef __cplusplus +} +#endif #endif diff --git a/android/armeabi/include/chipmunk/chipmunk_private.h b/android/armeabi/include/chipmunk/chipmunk_private.h index f676345b..abe56395 100644 --- a/android/armeabi/include/chipmunk/chipmunk_private.h +++ b/android/armeabi/include/chipmunk/chipmunk_private.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -18,9 +18,14 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. */ +#ifndef CHIPMUNK_PRIVATE_H +#define CHIPMUNK_PRIVATE_H +#ifdef CHIPMUNK_H +#error Cannot include chipmunk_private.h after chipmunk.h. +#endif #define CP_ALLOW_PRIVATE_ACCESS 1 -#include "chipmunk.h" +#include "chipmunk/chipmunk.h" #define CP_HASH_COEF (3344921057ul) #define CP_HASH_PAIR(A, B) ((cpHashValue)(A)*CP_HASH_COEF ^ (cpHashValue)(B)*CP_HASH_COEF) @@ -28,6 +33,7 @@ // TODO: Eww. Magic numbers. #define MAGIC_EPSILON 1e-5 + //MARK: cpArray struct cpArray { @@ -47,6 +53,690 @@ cpBool cpArrayContains(cpArray *arr, void *ptr); void cpArrayFreeEach(cpArray *arr, void (freeFunc)(void*)); +//MARK: cpHashSet + +typedef cpBool (*cpHashSetEqlFunc)(void *ptr, void *elt); +typedef void *(*cpHashSetTransFunc)(void *ptr, void *data); + +cpHashSet *cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc); +void cpHashSetSetDefaultValue(cpHashSet *set, void *default_value); + +void cpHashSetFree(cpHashSet *set); + +int cpHashSetCount(cpHashSet *set); +void *cpHashSetInsert(cpHashSet *set, cpHashValue hash, void *ptr, cpHashSetTransFunc trans, void *data); +void *cpHashSetRemove(cpHashSet *set, cpHashValue hash, void *ptr); +void *cpHashSetFind(cpHashSet *set, cpHashValue hash, void *ptr); + +typedef void (*cpHashSetIteratorFunc)(void *elt, void *data); +void cpHashSetEach(cpHashSet *set, cpHashSetIteratorFunc func, void *data); + +typedef cpBool (*cpHashSetFilterFunc)(void *elt, void *data); +void cpHashSetFilter(cpHashSet *set, cpHashSetFilterFunc func, void *data); + + +//MARK: Bodies + +struct cpBody { + // Integration functions + cpBodyVelocityFunc velocity_func; + cpBodyPositionFunc position_func; + + // mass and it's inverse + cpFloat m; + cpFloat m_inv; + + // moment of inertia and it's inverse + cpFloat i; + cpFloat i_inv; + + // center of gravity + cpVect cog; + + // position, velocity, force + cpVect p; + cpVect v; + cpVect f; + + // Angle, angular velocity, torque (radians) + cpFloat a; + cpFloat w; + cpFloat t; + + cpTransform transform; + + cpDataPointer userData; + + // "pseudo-velocities" used for eliminating overlap. + // Erin Catto has some papers that talk about what these are. + cpVect v_bias; + cpFloat w_bias; + + cpSpace *space; + + cpShape *shapeList; + cpArbiter *arbiterList; + cpConstraint *constraintList; + + struct { + cpBody *root; + cpBody *next; + cpFloat idleTime; + } sleeping; +}; + +void cpBodyAddShape(cpBody *body, cpShape *shape); +void cpBodyRemoveShape(cpBody *body, cpShape *shape); + +//void cpBodyAccumulateMassForShape(cpBody *body, cpShape *shape); +void cpBodyAccumulateMassFromShapes(cpBody *body); + +void cpBodyRemoveConstraint(cpBody *body, cpConstraint *constraint); + + +//MARK: Spatial Index Functions + +cpSpatialIndex *cpSpatialIndexInit(cpSpatialIndex *index, cpSpatialIndexClass *klass, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); + + +//MARK: Arbiters + +enum cpArbiterState { + // Arbiter is active and its the first collision. + CP_ARBITER_STATE_FIRST_COLLISION, + // Arbiter is active and its not the first collision. + CP_ARBITER_STATE_NORMAL, + // Collision has been explicitly ignored. + // Either by returning false from a begin collision handler or calling cpArbiterIgnore(). + CP_ARBITER_STATE_IGNORE, + // Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps. + CP_ARBITER_STATE_CACHED, + // Collison arbiter is invalid because one of the shapes was removed. + CP_ARBITER_STATE_INVALIDATED, +}; + +struct cpArbiterThread { + struct cpArbiter *next, *prev; +}; + +struct cpContact { + cpVect r1, r2; + + cpFloat nMass, tMass; + cpFloat bounce; // TODO: look for an alternate bounce solution. + + cpFloat jnAcc, jtAcc, jBias; + cpFloat bias; + + cpHashValue hash; +}; + +struct cpCollisionInfo { + const cpShape *a, *b; + cpCollisionID id; + + cpVect n; + + int count; + // TODO Should this be a unique struct type? + struct cpContact *arr; +}; + +struct cpArbiter { + cpFloat e; + cpFloat u; + cpVect surface_vr; + + cpDataPointer data; + + const cpShape *a, *b; + cpBody *body_a, *body_b; + struct cpArbiterThread thread_a, thread_b; + + int count; + struct cpContact *contacts; + cpVect n; + + // Regular, wildcard A and wildcard B collision handlers. + cpCollisionHandler *handler, *handlerA, *handlerB; + cpBool swapped; + + cpTimestamp stamp; + enum cpArbiterState state; +}; + +cpArbiter* cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b); + +static inline struct cpArbiterThread * +cpArbiterThreadForBody(cpArbiter *arb, cpBody *body) +{ + return (arb->body_a == body ? &arb->thread_a : &arb->thread_b); +} + +void cpArbiterUnthread(cpArbiter *arb); + +void cpArbiterUpdate(cpArbiter *arb, struct cpCollisionInfo *info, cpSpace *space); +void cpArbiterPreStep(cpArbiter *arb, cpFloat dt, cpFloat bias, cpFloat slop); +void cpArbiterApplyCachedImpulse(cpArbiter *arb, cpFloat dt_coef); +void cpArbiterApplyImpulse(cpArbiter *arb); + + +//MARK: Shapes/Collisions + +struct cpShapeMassInfo { + cpFloat m; + cpFloat i; + cpVect cog; + cpFloat area; +}; + +typedef enum cpShapeType{ + CP_CIRCLE_SHAPE, + CP_SEGMENT_SHAPE, + CP_POLY_SHAPE, + CP_NUM_SHAPES +} cpShapeType; + +typedef cpBB (*cpShapeCacheDataImpl)(cpShape *shape, cpTransform transform); +typedef void (*cpShapeDestroyImpl)(cpShape *shape); +typedef void (*cpShapePointQueryImpl)(const cpShape *shape, cpVect p, cpPointQueryInfo *info); +typedef void (*cpShapeSegmentQueryImpl)(const cpShape *shape, cpVect a, cpVect b, cpFloat radius, cpSegmentQueryInfo *info); + +typedef struct cpShapeClass cpShapeClass; + +struct cpShapeClass { + cpShapeType type; + + cpShapeCacheDataImpl cacheData; + cpShapeDestroyImpl destroy; + cpShapePointQueryImpl pointQuery; + cpShapeSegmentQueryImpl segmentQuery; +}; + +struct cpShape { + const cpShapeClass *klass; + + cpSpace *space; + cpBody *body; + struct cpShapeMassInfo massInfo; + cpBB bb; + + cpBool sensor; + + cpFloat e; + cpFloat u; + cpVect surfaceV; + + cpDataPointer userData; + + cpCollisionType type; + cpShapeFilter filter; + + cpShape *next; + cpShape *prev; + + cpHashValue hashid; +}; + +struct cpCircleShape { + cpShape shape; + + cpVect c, tc; + cpFloat r; +}; + +struct cpSegmentShape { + cpShape shape; + + cpVect a, b, n; + cpVect ta, tb, tn; + cpFloat r; + + cpVect a_tangent, b_tangent; +}; + +struct cpSplittingPlane { + cpVect v0, n; +}; + +#define CP_POLY_SHAPE_INLINE_ALLOC 6 + +struct cpPolyShape { + cpShape shape; + + cpFloat r; + + int count; + // The untransformed planes are appended at the end of the transformed planes. + struct cpSplittingPlane *planes; + + // Allocate a small number of splitting planes internally for simple poly. + struct cpSplittingPlane _planes[2*CP_POLY_SHAPE_INLINE_ALLOC]; +}; + +cpShape *cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body, struct cpShapeMassInfo massInfo); + +static inline cpBool +cpShapeActive(cpShape *shape) +{ + // checks if the shape is added to a shape list. + // TODO could this just check the space now? + return (shape->prev || (shape->body && shape->body->shapeList == shape)); +} + +// Note: This function returns contact points with r1/r2 in absolute coordinates, not body relative. +struct cpCollisionInfo cpCollide(const cpShape *a, const cpShape *b, cpCollisionID id, struct cpContact *contacts); + +static inline void +CircleSegmentQuery(cpShape *shape, cpVect center, cpFloat r1, cpVect a, cpVect b, cpFloat r2, cpSegmentQueryInfo *info) +{ + cpVect da = cpvsub(a, center); + cpVect db = cpvsub(b, center); + cpFloat rsum = r1 + r2; + + cpFloat qa = cpvdot(da, da) - 2.0f*cpvdot(da, db) + cpvdot(db, db); + cpFloat qb = cpvdot(da, db) - cpvdot(da, da); + cpFloat det = qb*qb - qa*(cpvdot(da, da) - rsum*rsum); + + if(det >= 0.0f){ + cpFloat t = (-qb - cpfsqrt(det))/(qa); + if(0.0f<= t && t <= 1.0f){ + cpVect n = cpvnormalize(cpvlerp(da, db, t)); + + info->shape = shape; + info->point = cpvsub(cpvlerp(a, b, t), cpvmult(n, r2)); + info->normal = n; + info->alpha = t; + } + } +} + +static inline cpBool +cpShapeFilterReject(cpShapeFilter a, cpShapeFilter b) +{ + // Reject the collision if: + return ( + // They are in the same non-zero group. + (a.group != 0 && a.group == b.group) || + // One of the category/mask combinations fails. + (a.categories & b.mask) == 0 || + (b.categories & a.mask) == 0 + ); +} + +void cpLoopIndexes(const cpVect *verts, int count, int *start, int *end); + + +//MARK: Constraints +// TODO naming conventions here + +typedef void (*cpConstraintPreStepImpl)(cpConstraint *constraint, cpFloat dt); +typedef void (*cpConstraintApplyCachedImpulseImpl)(cpConstraint *constraint, cpFloat dt_coef); +typedef void (*cpConstraintApplyImpulseImpl)(cpConstraint *constraint, cpFloat dt); +typedef cpFloat (*cpConstraintGetImpulseImpl)(cpConstraint *constraint); + +typedef struct cpConstraintClass { + cpConstraintPreStepImpl preStep; + cpConstraintApplyCachedImpulseImpl applyCachedImpulse; + cpConstraintApplyImpulseImpl applyImpulse; + cpConstraintGetImpulseImpl getImpulse; +} cpConstraintClass; + +struct cpConstraint { + const cpConstraintClass *klass; + + cpSpace *space; + + cpBody *a, *b; + cpConstraint *next_a, *next_b; + + cpFloat maxForce; + cpFloat errorBias; + cpFloat maxBias; + + cpBool collideBodies; + + cpConstraintPreSolveFunc preSolve; + cpConstraintPostSolveFunc postSolve; + + cpDataPointer userData; +}; + +struct cpPinJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat dist; + + cpVect r1, r2; + cpVect n; + cpFloat nMass; + + cpFloat jnAcc; + cpFloat bias; +}; + +struct cpSlideJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat min, max; + + cpVect r1, r2; + cpVect n; + cpFloat nMass; + + cpFloat jnAcc; + cpFloat bias; +}; + +struct cpPivotJoint { + cpConstraint constraint; + cpVect anchorA, anchorB; + + cpVect r1, r2; + cpMat2x2 k; + + cpVect jAcc; + cpVect bias; +}; + +struct cpGrooveJoint { + cpConstraint constraint; + cpVect grv_n, grv_a, grv_b; + cpVect anchorB; + + cpVect grv_tn; + cpFloat clamp; + cpVect r1, r2; + cpMat2x2 k; + + cpVect jAcc; + cpVect bias; +}; + +struct cpDampedSpring { + cpConstraint constraint; + cpVect anchorA, anchorB; + cpFloat restLength; + cpFloat stiffness; + cpFloat damping; + cpDampedSpringForceFunc springForceFunc; + + cpFloat target_vrn; + cpFloat v_coef; + + cpVect r1, r2; + cpFloat nMass; + cpVect n; + + cpFloat jAcc; +}; + +struct cpDampedRotarySpring { + cpConstraint constraint; + cpFloat restAngle; + cpFloat stiffness; + cpFloat damping; + cpDampedRotarySpringTorqueFunc springTorqueFunc; + + cpFloat target_wrn; + cpFloat w_coef; + + cpFloat iSum; + cpFloat jAcc; +}; + +struct cpRotaryLimitJoint { + cpConstraint constraint; + cpFloat min, max; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpRatchetJoint { + cpConstraint constraint; + cpFloat angle, phase, ratchet; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpGearJoint { + cpConstraint constraint; + cpFloat phase, ratio; + cpFloat ratio_inv; + + cpFloat iSum; + + cpFloat bias; + cpFloat jAcc; +}; + +struct cpSimpleMotor { + cpConstraint constraint; + cpFloat rate; + + cpFloat iSum; + + cpFloat jAcc; +}; + +void cpConstraintInit(cpConstraint *constraint, const struct cpConstraintClass *klass, cpBody *a, cpBody *b); + +static inline void +cpConstraintActivateBodies(cpConstraint *constraint) +{ + cpBody *a = constraint->a; cpBodyActivate(a); + cpBody *b = constraint->b; cpBodyActivate(b); +} + +static inline cpVect +relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){ + cpVect v1_sum = cpvadd(a->CP_PRIVATE(v), cpvmult(cpvperp(r1), a->CP_PRIVATE(w))); + cpVect v2_sum = cpvadd(b->CP_PRIVATE(v), cpvmult(cpvperp(r2), b->CP_PRIVATE(w))); + + return cpvsub(v2_sum, v1_sum); +} + +static inline cpFloat +normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){ + return cpvdot(relative_velocity(a, b, r1, r2), n); +} + +static inline void +apply_impulse(cpBody *body, cpVect j, cpVect r){ + body->CP_PRIVATE(v) = cpvadd(body->CP_PRIVATE(v), cpvmult(j, body->CP_PRIVATE(m_inv))); + body->CP_PRIVATE(w) += body->CP_PRIVATE(i_inv)*cpvcross(r, j); +} + +static inline void +apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) +{ + apply_impulse(a, cpvneg(j), r1); + apply_impulse(b, j, r2); +} + +static inline void +apply_bias_impulse(cpBody *body, cpVect j, cpVect r) +{ + body->CP_PRIVATE(v_bias) = cpvadd(body->CP_PRIVATE(v_bias), cpvmult(j, body->CP_PRIVATE(m_inv))); + body->CP_PRIVATE(w_bias) += body->CP_PRIVATE(i_inv)*cpvcross(r, j); +} + +static inline void +apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) +{ + apply_bias_impulse(a, cpvneg(j), r1); + apply_bias_impulse(b, j, r2); +} + +static inline cpFloat +k_scalar_body(cpBody *body, cpVect r, cpVect n) +{ + cpFloat rcn = cpvcross(r, n); + return body->CP_PRIVATE(m_inv) + body->CP_PRIVATE(i_inv)*rcn*rcn; +} + +static inline cpFloat +k_scalar(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n) +{ + cpFloat value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n); + cpAssertSoft(value != 0.0, "Unsolvable collision or constraint."); + + return value; +} + +static inline cpMat2x2 +k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2) +{ + cpFloat m_sum = a->CP_PRIVATE(m_inv) + b->CP_PRIVATE(m_inv); + + // start with Identity*m_sum + cpFloat k11 = m_sum, k12 = 0.0f; + cpFloat k21 = 0.0f, k22 = m_sum; + + // add the influence from r1 + cpFloat a_i_inv = a->CP_PRIVATE(i_inv); + cpFloat r1xsq = r1.x * r1.x * a_i_inv; + cpFloat r1ysq = r1.y * r1.y * a_i_inv; + cpFloat r1nxy = -r1.x * r1.y * a_i_inv; + k11 += r1ysq; k12 += r1nxy; + k21 += r1nxy; k22 += r1xsq; + + // add the influnce from r2 + cpFloat b_i_inv = b->CP_PRIVATE(i_inv); + cpFloat r2xsq = r2.x * r2.x * b_i_inv; + cpFloat r2ysq = r2.y * r2.y * b_i_inv; + cpFloat r2nxy = -r2.x * r2.y * b_i_inv; + k11 += r2ysq; k12 += r2nxy; + k21 += r2nxy; k22 += r2xsq; + + // invert + cpFloat det = k11*k22 - k12*k21; + cpAssertSoft(det != 0.0, "Unsolvable constraint."); + + cpFloat det_inv = 1.0f/det; + return cpMat2x2New( + k22*det_inv, -k12*det_inv, + -k21*det_inv, k11*det_inv + ); +} + +static inline cpFloat +bias_coef(cpFloat errorBias, cpFloat dt) +{ + return 1.0f - cpfpow(errorBias, dt); +} + + +//MARK: Spaces + +typedef struct cpContactBufferHeader cpContactBufferHeader; +typedef void (*cpSpaceArbiterApplyImpulseFunc)(cpArbiter *arb); + +struct cpSpace { + int iterations; + + cpVect gravity; + cpFloat damping; + + cpFloat idleSpeedThreshold; + cpFloat sleepTimeThreshold; + + cpFloat collisionSlop; + cpFloat collisionBias; + cpTimestamp collisionPersistence; + + cpDataPointer userData; + + cpTimestamp stamp; + cpFloat curr_dt; + + cpArray *dynamicBodies; + cpArray *staticBodies; + cpArray *rousedBodies; + cpArray *sleepingComponents; + + cpHashValue shapeIDCounter; + cpSpatialIndex *staticShapes; + cpSpatialIndex *dynamicShapes; + + cpArray *constraints; + + cpArray *arbiters; + cpContactBufferHeader *contactBuffersHead; + cpHashSet *cachedArbiters; + cpArray *pooledArbiters; + + cpArray *allocatedBuffers; + unsigned int locked; + + cpBool usesWildcards; + cpHashSet *collisionHandlers; + cpCollisionHandler defaultHandler; + + cpBool skipPostStep; + cpArray *postStepCallbacks; + + cpBody *staticBody; + cpBody _staticBody; +}; + +#define cpAssertSpaceUnlocked(space) \ + cpAssertHard(!space->locked, \ + "This operation cannot be done safely during a call to cpSpaceStep() or during a query. " \ + "Put these calls into a post-step callback." \ + ); + +void cpSpaceSetStaticBody(cpSpace *space, cpBody *body); + +extern cpCollisionHandler cpCollisionHandlerDoNothing; + +void cpSpaceProcessComponents(cpSpace *space, cpFloat dt); + +void cpSpacePushFreshContactBuffer(cpSpace *space); +struct cpContact *cpContactBufferGetArray(cpSpace *space); +void cpSpacePushContacts(cpSpace *space, int count); + +typedef struct cpPostStepCallback { + cpPostStepFunc func; + void *key; + void *data; +} cpPostStepCallback; + +cpPostStepCallback *cpSpaceGetPostStepCallback(cpSpace *space, void *key); + +cpBool cpSpaceArbiterSetFilter(cpArbiter *arb, cpSpace *space); +void cpSpaceFilterArbiters(cpSpace *space, cpBody *body, cpShape *filter); + +void cpSpaceActivateBody(cpSpace *space, cpBody *body); +void cpSpaceLock(cpSpace *space); +void cpSpaceUnlock(cpSpace *space, cpBool runPostStep); + +static inline void +cpSpaceUncacheArbiter(cpSpace *space, cpArbiter *arb) +{ + const cpShape *a = arb->a, *b = arb->b; + const cpShape *shape_pair[] = {a, b}; + cpHashValue arbHashID = CP_HASH_PAIR((cpHashValue)a, (cpHashValue)b); + cpHashSetRemove(space->cachedArbiters, arbHashID, shape_pair); + cpArrayDeleteObj(space->arbiters, arb); +} + +static inline cpArray * +cpSpaceArrayForBodyType(cpSpace *space, cpBodyType type) +{ + return (type == CP_BODY_TYPE_STATIC ? space->staticBodies : space->dynamicBodies); +} + +void cpShapeUpdateFunc(cpShape *shape, void *unused); +cpCollisionID cpSpaceCollideShapes(cpShape *a, cpShape *b, cpCollisionID id, cpSpace *space); + + //MARK: Foreach loops static inline cpConstraint * @@ -71,184 +761,6 @@ cpArbiterNext(cpArbiter *node, cpBody *body) for(cpShape *var = body->shapeList; var; var = var->next) #define CP_BODY_FOREACH_COMPONENT(root, var)\ - for(cpBody *var = root; var; var = var->node.next) + for(cpBody *var = root; var; var = var->sleeping.next) - -//MARK: cpHashSet - -typedef cpBool (*cpHashSetEqlFunc)(void *ptr, void *elt); -typedef void *(*cpHashSetTransFunc)(void *ptr, void *data); - -cpHashSet *cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc); -void cpHashSetSetDefaultValue(cpHashSet *set, void *default_value); - -void cpHashSetFree(cpHashSet *set); - -int cpHashSetCount(cpHashSet *set); -void *cpHashSetInsert(cpHashSet *set, cpHashValue hash, void *ptr, void *data, cpHashSetTransFunc trans); -void *cpHashSetRemove(cpHashSet *set, cpHashValue hash, void *ptr); -void *cpHashSetFind(cpHashSet *set, cpHashValue hash, void *ptr); - -typedef void (*cpHashSetIteratorFunc)(void *elt, void *data); -void cpHashSetEach(cpHashSet *set, cpHashSetIteratorFunc func, void *data); - -typedef cpBool (*cpHashSetFilterFunc)(void *elt, void *data); -void cpHashSetFilter(cpHashSet *set, cpHashSetFilterFunc func, void *data); - - -//MARK: Body Functions - -void cpBodyAddShape(cpBody *body, cpShape *shape); -void cpBodyRemoveShape(cpBody *body, cpShape *shape); -void cpBodyRemoveConstraint(cpBody *body, cpConstraint *constraint); - - -//MARK: Shape/Collision Functions - -// TODO should move this to the cpVect API. It's pretty useful. -static inline cpVect -cpClosetPointOnSegment(const cpVect p, const cpVect a, const cpVect b) -{ - cpVect delta = cpvsub(a, b); - cpFloat t = cpfclamp01(cpvdot(delta, cpvsub(p, b))/cpvlengthsq(delta)); - return cpvadd(b, cpvmult(delta, t)); -} - -cpShape* cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body); - -static inline cpBool -cpShapeActive(cpShape *shape) -{ - return shape->prev || (shape->body && shape->body->shapeList == shape); -} - -int cpCollideShapes(const cpShape *a, const cpShape *b, cpCollisionID *id, cpContact *arr); - -static inline void -CircleSegmentQuery(cpShape *shape, cpVect center, cpFloat r, cpVect a, cpVect b, cpSegmentQueryInfo *info) -{ - cpVect da = cpvsub(a, center); - cpVect db = cpvsub(b, center); - - cpFloat qa = cpvdot(da, da) - 2.0f*cpvdot(da, db) + cpvdot(db, db); - cpFloat qb = -2.0f*cpvdot(da, da) + 2.0f*cpvdot(da, db); - cpFloat qc = cpvdot(da, da) - r*r; - - cpFloat det = qb*qb - 4.0f*qa*qc; - - if(det >= 0.0f){ - cpFloat t = (-qb - cpfsqrt(det))/(2.0f*qa); - if(0.0f<= t && t <= 1.0f){ - info->shape = shape; - info->t = t; - info->n = cpvnormalize(cpvlerp(da, db, t)); - } - } -} - -// TODO doesn't really need to be inline, but need a better place to put this function -static inline cpSplittingPlane -cpSplittingPlaneNew(cpVect a, cpVect b) -{ - cpVect n = cpvnormalize(cpvperp(cpvsub(b, a))); - cpSplittingPlane plane = {n, cpvdot(n, a)}; - return plane; -} - -static inline cpFloat -cpSplittingPlaneCompare(cpSplittingPlane plane, cpVect v) -{ - return cpvdot(plane.n, v) - plane.d; -} - -void cpLoopIndexes(cpVect *verts, int count, int *start, int *end); - - -//MARK: Spatial Index Functions - -cpSpatialIndex *cpSpatialIndexInit(cpSpatialIndex *index, cpSpatialIndexClass *klass, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); - - -//MARK: Space Functions - -extern cpCollisionHandler cpDefaultCollisionHandler; -void cpSpaceProcessComponents(cpSpace *space, cpFloat dt); - -void cpSpacePushFreshContactBuffer(cpSpace *space); -cpContact *cpContactBufferGetArray(cpSpace *space); -void cpSpacePushContacts(cpSpace *space, int count); - -typedef struct cpPostStepCallback { - cpPostStepFunc func; - void *key; - void *data; -} cpPostStepCallback; - -cpPostStepCallback *cpSpaceGetPostStepCallback(cpSpace *space, void *key); - -cpBool cpSpaceArbiterSetFilter(cpArbiter *arb, cpSpace *space); -void cpSpaceFilterArbiters(cpSpace *space, cpBody *body, cpShape *filter); - -void cpSpaceActivateBody(cpSpace *space, cpBody *body); -void cpSpaceLock(cpSpace *space); -void cpSpaceUnlock(cpSpace *space, cpBool runPostStep); - -static inline cpCollisionHandler * -cpSpaceLookupHandler(cpSpace *space, cpCollisionType a, cpCollisionType b) -{ - cpCollisionType types[] = {a, b}; - return (cpCollisionHandler *)cpHashSetFind(space->collisionHandlers, CP_HASH_PAIR(a, b), types); -} - -static inline void -cpSpaceUncacheArbiter(cpSpace *space, cpArbiter *arb) -{ - cpShape *a = arb->a, *b = arb->b; - cpShape *shape_pair[] = {a, b}; - cpHashValue arbHashID = CP_HASH_PAIR((cpHashValue)a, (cpHashValue)b); - cpHashSetRemove(space->cachedArbiters, arbHashID, shape_pair); - cpArrayDeleteObj(space->arbiters, arb); -} - -void cpShapeUpdateFunc(cpShape *shape, void *unused); -cpCollisionID cpSpaceCollideShapes(cpShape *a, cpShape *b, cpCollisionID id, cpSpace *space); - - -//MARK: Arbiters - -struct cpContact { - cpVect p, n; - cpFloat dist; - - cpVect r1, r2; - cpFloat nMass, tMass, bounce; - - cpFloat jnAcc, jtAcc, jBias; - cpFloat bias; - - cpHashValue hash; -}; - -cpContact* cpContactInit(cpContact *con, cpVect p, cpVect n, cpFloat dist, cpHashValue hash); -cpArbiter* cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b); - -static inline void -cpArbiterCallSeparate(cpArbiter *arb, cpSpace *space) -{ - // The handler needs to be looked up again as the handler cached on the arbiter may have been deleted since the last step. - cpCollisionHandler *handler = cpSpaceLookupHandler(space, arb->a->collision_type, arb->b->collision_type); - handler->separate(arb, space, handler->data); -} - -static inline struct cpArbiterThread * -cpArbiterThreadForBody(cpArbiter *arb, cpBody *body) -{ - return (arb->body_a == body ? &arb->thread_a : &arb->thread_b); -} - -void cpArbiterUnthread(cpArbiter *arb); - -void cpArbiterUpdate(cpArbiter *arb, cpContact *contacts, int numContacts, struct cpCollisionHandler *handler, cpShape *a, cpShape *b); -void cpArbiterPreStep(cpArbiter *arb, cpFloat dt, cpFloat bias, cpFloat slop); -void cpArbiterApplyCachedImpulse(cpArbiter *arb, cpFloat dt_coef); -void cpArbiterApplyImpulse(cpArbiter *arb); +#endif diff --git a/android/armeabi/include/chipmunk/chipmunk_types.h b/android/armeabi/include/chipmunk/chipmunk_types.h index 9ed23391..7aee0c79 100644 --- a/android/armeabi/include/chipmunk/chipmunk_types.h +++ b/android/armeabi/include/chipmunk/chipmunk_types.h @@ -1,31 +1,34 @@ +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +#ifndef CHIPMUNK_TYPES_H +#define CHIPMUNK_TYPES_H + #include #include - -#ifdef __APPLE__ - #include "TargetConditionals.h" -#endif - -#if ((TARGET_OS_IPHONE == 1) || (TARGET_OS_MAC == 1)) && (!defined CP_USE_CGPOINTS) - #define CP_USE_CGPOINTS 1 -#endif - -#if CP_USE_CGPOINTS == 1 - #if TARGET_OS_IPHONE - #import - #elif TARGET_OS_MAC - #include - #endif - - #if defined(__LP64__) && __LP64__ - #define CP_USE_DOUBLES 1 - #else - #define CP_USE_DOUBLES 0 - #endif -#endif +#include #ifndef CP_USE_DOUBLES - // use doubles by default for higher precision - #define CP_USE_DOUBLES 1 + // Use doubles by default for higher precision. + #define CP_USE_DOUBLES 0 #endif /// @defgroup basicTypes Basic Types @@ -82,13 +85,8 @@ #endif #endif -#ifndef M_PI - #define M_PI 3.14159265358979323846264338327950288 -#endif -#ifndef M_E - #define M_E 2.71828182845904523536028747135266250 -#endif +#define CP_PI ((cpFloat)3.14159265358979323846264338327950288) /// Return the max of two cpFloats. @@ -136,7 +134,11 @@ static inline cpFloat cpflerpconst(cpFloat f1, cpFloat f2, cpFloat d) } /// Hash value type. -typedef uintptr_t cpHashValue; +#ifdef CP_HASH_VALUE_TYPE + typedef CP_HASH_VALUE_TYPE cpHashValue; +#else + typedef uintptr_t cpHashValue; +#endif /// Type used internally to cache colliding object info for cpCollideShapes(). /// Should be at least 32 bits. @@ -147,7 +149,7 @@ typedef uint32_t cpCollisionID; #ifdef CP_BOOL_TYPE typedef CP_BOOL_TYPE cpBool; #else - typedef int cpBool; + typedef unsigned char cpBool; #endif #ifndef cpTrue @@ -181,11 +183,11 @@ typedef uint32_t cpCollisionID; typedef uintptr_t cpGroup; #endif -#ifdef CP_LAYERS_TYPE - typedef CP_LAYERS_TYPE cpLayers; +#ifdef CP_BITMASK_TYPE + typedef CP_BITMASK_TYPE cpBitmask; #else -/// Type used for cpShape.layers. - typedef unsigned int cpLayers; +/// Type used for cpShapeFilter category and mask. + typedef unsigned int cpBitmask; #endif #ifdef CP_TIMESTAMP_TYPE @@ -200,15 +202,21 @@ typedef uint32_t cpCollisionID; #define CP_NO_GROUP ((cpGroup)0) #endif -#ifndef CP_ALL_LAYERS +#ifndef CP_ALL_CATEGORIES /// Value for cpShape.layers signifying that a shape is in every layer. - #define CP_ALL_LAYERS (~(cpLayers)0) + #define CP_ALL_CATEGORIES (~(cpBitmask)0) #endif + +#ifndef CP_WILDCARD_COLLISION_TYPE +/// cpCollisionType value internally reserved for hashing wildcard handlers. + #define CP_WILDCARD_COLLISION_TYPE (~(cpCollisionType)0) +#endif + /// @} // CGPoints are structurally the same, and allow // easy interoperability with other Cocoa libraries -#if CP_USE_CGPOINTS +#if CP_USE_CGTYPES typedef CGPoint cpVect; #else /// Chipmunk's 2D vector type. @@ -216,7 +224,19 @@ typedef uint32_t cpCollisionID; typedef struct cpVect{cpFloat x,y;} cpVect; #endif +#if CP_USE_CGTYPES + typedef CGAffineTransform cpTransform; +#else + /// Column major affine transform. + typedef struct cpTransform { + cpFloat a, b, c, d, tx, ty; + } cpTransform; +#endif + +// NUKE typedef struct cpMat2x2 { // Row major [[a, b][c d]] cpFloat a, b, c, d; } cpMat2x2; + +#endif diff --git a/android/armeabi/include/chipmunk/chipmunk_unsafe.h b/android/armeabi/include/chipmunk/chipmunk_unsafe.h index 4428814c..990bd012 100644 --- a/android/armeabi/include/chipmunk/chipmunk_unsafe.h +++ b/android/armeabi/include/chipmunk/chipmunk_unsafe.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -36,27 +36,28 @@ /// so the results will be unrealistic. You must explicity include the chipmunk_unsafe.h header to use them. /// @{ -#ifndef CHIPMUNK_UNSAFE_HEADER -#define CHIPMUNK_UNSAFE_HEADER +#ifndef CHIPMUNK_UNSAFE_H +#define CHIPMUNK_UNSAFE_H #ifdef __cplusplus extern "C" { #endif /// Set the radius of a circle shape. -void cpCircleShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpCircleShapeSetRadius(cpShape *shape, cpFloat radius); /// Set the offset of a circle shape. -void cpCircleShapeSetOffset(cpShape *shape, cpVect offset); +CP_EXPORT void cpCircleShapeSetOffset(cpShape *shape, cpVect offset); /// Set the endpoints of a segment shape. -void cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b); +CP_EXPORT void cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b); /// Set the radius of a segment shape. -void cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius); /// Set the vertexes of a poly shape. -void cpPolyShapeSetVerts(cpShape *shape, int numVerts, cpVect *verts, cpVect offset); +CP_EXPORT void cpPolyShapeSetVerts(cpShape *shape, int count, cpVect *verts, cpTransform transform); +CP_EXPORT void cpPolyShapeSetVertsRaw(cpShape *shape, int count, cpVect *verts); /// Set the radius of a poly shape. -void cpPolyShapeSetRadius(cpShape *shape, cpFloat radius); +CP_EXPORT void cpPolyShapeSetRadius(cpShape *shape, cpFloat radius); #ifdef __cplusplus } diff --git a/android/armeabi/include/chipmunk/constraints/cpConstraint.h b/android/armeabi/include/chipmunk/constraints/cpConstraint.h deleted file mode 100644 index d1059fff..00000000 --- a/android/armeabi/include/chipmunk/constraints/cpConstraint.h +++ /dev/null @@ -1,161 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpConstraint cpConstraint -/// @{ - -typedef struct cpConstraintClass cpConstraintClass; - -typedef void (*cpConstraintPreStepImpl)(cpConstraint *constraint, cpFloat dt); -typedef void (*cpConstraintApplyCachedImpulseImpl)(cpConstraint *constraint, cpFloat dt_coef); -typedef void (*cpConstraintApplyImpulseImpl)(cpConstraint *constraint, cpFloat dt); -typedef cpFloat (*cpConstraintGetImpulseImpl)(cpConstraint *constraint); - -/// @private -struct cpConstraintClass { - cpConstraintPreStepImpl preStep; - cpConstraintApplyCachedImpulseImpl applyCachedImpulse; - cpConstraintApplyImpulseImpl applyImpulse; - cpConstraintGetImpulseImpl getImpulse; -}; - -/// Callback function type that gets called before solving a joint. -typedef void (*cpConstraintPreSolveFunc)(cpConstraint *constraint, cpSpace *space); -/// Callback function type that gets called after solving a joint. -typedef void (*cpConstraintPostSolveFunc)(cpConstraint *constraint, cpSpace *space); - - -/// Opaque cpConstraint struct. -struct cpConstraint { - CP_PRIVATE(const cpConstraintClass *klass); - - /// The first body connected to this constraint. - cpBody *a; - /// The second body connected to this constraint. - cpBody *b; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpConstraint *next_a); - CP_PRIVATE(cpConstraint *next_b); - - /// The maximum force that this constraint is allowed to use. - /// Defaults to infinity. - cpFloat maxForce; - /// The rate at which joint error is corrected. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that it will - /// correct 10% of the error every 1/60th of a second. - cpFloat errorBias; - /// The maximum rate at which joint error is corrected. - /// Defaults to infinity. - cpFloat maxBias; - - /// Function called before the solver runs. - /// Animate your joint anchors, update your motor torque, etc. - cpConstraintPreSolveFunc preSolve; - - /// Function called after the solver runs. - /// Use the applied impulse to perform effects like breakable joints. - cpConstraintPostSolveFunc postSolve; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpConstraint reference in a callback. - cpDataPointer data; -}; - -/// Destroy a constraint. -void cpConstraintDestroy(cpConstraint *constraint); -/// Destroy and free a constraint. -void cpConstraintFree(cpConstraint *constraint); - -/// @private -static inline void cpConstraintActivateBodies(cpConstraint *constraint) -{ - cpBody *a = constraint->a; if(a) cpBodyActivate(a); - cpBody *b = constraint->b; if(b) cpBodyActivate(b); -} - -/// @private -#define CP_DefineConstraintStructGetter(type, member, name) \ -static inline type cpConstraint##Get##name(const cpConstraint *constraint){return constraint->member;} - -/// @private -#define CP_DefineConstraintStructSetter(type, member, name) \ -static inline void cpConstraint##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintActivateBodies(constraint); \ - constraint->member = value; \ -} - -/// @private -#define CP_DefineConstraintStructProperty(type, member, name) \ -CP_DefineConstraintStructGetter(type, member, name) \ -CP_DefineConstraintStructSetter(type, member, name) - -CP_DefineConstraintStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineConstraintStructGetter(cpBody*, a, A) -CP_DefineConstraintStructGetter(cpBody*, b, B) -CP_DefineConstraintStructProperty(cpFloat, maxForce, MaxForce) -CP_DefineConstraintStructProperty(cpFloat, errorBias, ErrorBias) -CP_DefineConstraintStructProperty(cpFloat, maxBias, MaxBias) -CP_DefineConstraintStructProperty(cpConstraintPreSolveFunc, preSolve, PreSolveFunc) -CP_DefineConstraintStructProperty(cpConstraintPostSolveFunc, postSolve, PostSolveFunc) -CP_DefineConstraintStructProperty(cpDataPointer, data, UserData) - -// Get the last impulse applied by this constraint. -static inline cpFloat cpConstraintGetImpulse(cpConstraint *constraint) -{ - return constraint->CP_PRIVATE(klass)->getImpulse(constraint); -} - -/// @} - -#define cpConstraintCheckCast(constraint, struct) \ - cpAssertHard(constraint->CP_PRIVATE(klass) == struct##GetClass(), "Constraint is not a "#struct) - -#define CP_DefineConstraintGetter(struct, type, member, name) \ -static inline type struct##Get##name(const cpConstraint *constraint){ \ - cpConstraintCheckCast(constraint, struct); \ - return ((struct *)constraint)->member; \ -} - -#define CP_DefineConstraintSetter(struct, type, member, name) \ -static inline void struct##Set##name(cpConstraint *constraint, type value){ \ - cpConstraintCheckCast(constraint, struct); \ - cpConstraintActivateBodies(constraint); \ - ((struct *)constraint)->member = value; \ -} - -#define CP_DefineConstraintProperty(struct, type, member, name) \ -CP_DefineConstraintGetter(struct, type, member, name) \ -CP_DefineConstraintSetter(struct, type, member, name) - -#include "cpPinJoint.h" -#include "cpSlideJoint.h" -#include "cpPivotJoint.h" -#include "cpGrooveJoint.h" -#include "cpDampedSpring.h" -#include "cpDampedRotarySpring.h" -#include "cpRotaryLimitJoint.h" -#include "cpRatchetJoint.h" -#include "cpGearJoint.h" -#include "cpSimpleMotor.h" diff --git a/android/armeabi/include/chipmunk/constraints/cpDampedRotarySpring.h b/android/armeabi/include/chipmunk/constraints/cpDampedRotarySpring.h deleted file mode 100644 index 86cf915b..00000000 --- a/android/armeabi/include/chipmunk/constraints/cpDampedRotarySpring.h +++ /dev/null @@ -1,56 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedRotarySpring cpDampedRotarySpring -/// @{ - -typedef cpFloat (*cpDampedRotarySpringTorqueFunc)(struct cpConstraint *spring, cpFloat relativeAngle); - -const cpConstraintClass *cpDampedRotarySpringGetClass(void); - -/// @private -typedef struct cpDampedRotarySpring { - cpConstraint constraint; - cpFloat restAngle; - cpFloat stiffness; - cpFloat damping; - cpDampedRotarySpringTorqueFunc springTorqueFunc; - - cpFloat target_wrn; - cpFloat w_coef; - - cpFloat iSum; - cpFloat jAcc; -} cpDampedRotarySpring; - -/// Allocate a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringAlloc(void); -/// Initialize a damped rotary spring. -cpDampedRotarySpring* cpDampedRotarySpringInit(cpDampedRotarySpring *joint, cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped rotary spring. -cpConstraint* cpDampedRotarySpringNew(cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, restAngle, RestAngle) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedRotarySpring, cpDampedRotarySpringTorqueFunc, springTorqueFunc, SpringTorqueFunc) - -/// @} diff --git a/android/armeabi/include/chipmunk/constraints/cpDampedSpring.h b/android/armeabi/include/chipmunk/constraints/cpDampedSpring.h deleted file mode 100644 index f5120647..00000000 --- a/android/armeabi/include/chipmunk/constraints/cpDampedSpring.h +++ /dev/null @@ -1,64 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpDampedSpring cpDampedSpring -/// @{ - -typedef struct cpDampedSpring cpDampedSpring; - -typedef cpFloat (*cpDampedSpringForceFunc)(cpConstraint *spring, cpFloat dist); - -const cpConstraintClass *cpDampedSpringGetClass(void); - -/// @private -struct cpDampedSpring { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat restLength; - cpFloat stiffness; - cpFloat damping; - cpDampedSpringForceFunc springForceFunc; - - cpFloat target_vrn; - cpFloat v_coef; - - cpVect r1, r2; - cpFloat nMass; - cpVect n; - - cpFloat jAcc; -}; - -/// Allocate a damped spring. -cpDampedSpring* cpDampedSpringAlloc(void); -/// Initialize a damped spring. -cpDampedSpring* cpDampedSpringInit(cpDampedSpring *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); -/// Allocate and initialize a damped spring. -cpConstraint* cpDampedSpringNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping); - -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, restLength, RestLength) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, stiffness, Stiffness) -CP_DefineConstraintProperty(cpDampedSpring, cpFloat, damping, Damping) -CP_DefineConstraintProperty(cpDampedSpring, cpDampedSpringForceFunc, springForceFunc, SpringForceFunc) - -/// @} diff --git a/android/armeabi/include/chipmunk/constraints/cpGearJoint.h b/android/armeabi/include/chipmunk/constraints/cpGearJoint.h deleted file mode 100644 index c9ebf942..00000000 --- a/android/armeabi/include/chipmunk/constraints/cpGearJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGearJoint cpGearJoint -/// @{ - -const cpConstraintClass *cpGearJointGetClass(void); - -/// @private -typedef struct cpGearJoint { - cpConstraint constraint; - cpFloat phase, ratio; - cpFloat ratio_inv; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpGearJoint; - -/// Allocate a gear joint. -cpGearJoint* cpGearJointAlloc(void); -/// Initialize a gear joint. -cpGearJoint* cpGearJointInit(cpGearJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); -/// Allocate and initialize a gear joint. -cpConstraint* cpGearJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio); - -CP_DefineConstraintProperty(cpGearJoint, cpFloat, phase, Phase) -CP_DefineConstraintGetter(cpGearJoint, cpFloat, ratio, Ratio) -/// Set the ratio of a gear joint. -void cpGearJointSetRatio(cpConstraint *constraint, cpFloat value); - -/// @} diff --git a/android/armeabi/include/chipmunk/constraints/cpGrooveJoint.h b/android/armeabi/include/chipmunk/constraints/cpGrooveJoint.h deleted file mode 100644 index b260218f..00000000 --- a/android/armeabi/include/chipmunk/constraints/cpGrooveJoint.h +++ /dev/null @@ -1,57 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpGrooveJoint cpGrooveJoint -/// @{ - -const cpConstraintClass *cpGrooveJointGetClass(void); - -/// @private -typedef struct cpGrooveJoint { - cpConstraint constraint; - cpVect grv_n, grv_a, grv_b; - cpVect anchr2; - - cpVect grv_tn; - cpFloat clamp; - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpGrooveJoint; - -/// Allocate a groove joint. -cpGrooveJoint* cpGrooveJointAlloc(void); -/// Initialize a groove joint. -cpGrooveJoint* cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); -/// Allocate and initialize a groove joint. -cpConstraint* cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2); - -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_a, GrooveA) -/// Set endpoint a of a groove joint's groove -void cpGrooveJointSetGrooveA(cpConstraint *constraint, cpVect value); -CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_b, GrooveB) -/// Set endpoint b of a groove joint's groove -void cpGrooveJointSetGrooveB(cpConstraint *constraint, cpVect value); -CP_DefineConstraintProperty(cpGrooveJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/android/armeabi/include/chipmunk/constraints/cpPinJoint.h b/android/armeabi/include/chipmunk/constraints/cpPinJoint.h deleted file mode 100644 index 2413e84a..00000000 --- a/android/armeabi/include/chipmunk/constraints/cpPinJoint.h +++ /dev/null @@ -1,52 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPinJoint cpPinJoint -/// @{ - -const cpConstraintClass *cpPinJointGetClass(void); - -/// @private -typedef struct cpPinJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat dist; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpPinJoint; - -/// Allocate a pin joint. -cpPinJoint* cpPinJointAlloc(void); -/// Initialize a pin joint. -cpPinJoint* cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pin joint. -cpConstraint* cpPinJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpPinJoint, cpFloat, dist, Dist) - -///@} diff --git a/android/armeabi/include/chipmunk/constraints/cpPivotJoint.h b/android/armeabi/include/chipmunk/constraints/cpPivotJoint.h deleted file mode 100644 index a5d33174..00000000 --- a/android/armeabi/include/chipmunk/constraints/cpPivotJoint.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpPivotJoint cpPivotJoint -/// @{ - -const cpConstraintClass *cpPivotJointGetClass(void); - -/// @private -typedef struct cpPivotJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - - cpVect r1, r2; - cpMat2x2 k; - - cpVect jAcc; - cpVect bias; -} cpPivotJoint; - -/// Allocate a pivot joint -cpPivotJoint* cpPivotJointAlloc(void); -/// Initialize a pivot joint. -cpPivotJoint* cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); -/// Allocate and initialize a pivot joint. -cpConstraint* cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot); -/// Allocate and initialize a pivot joint with specific anchors. -cpConstraint* cpPivotJointNew2(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2); - -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr2, Anchr2) - -/// @} diff --git a/android/armeabi/include/chipmunk/constraints/cpRatchetJoint.h b/android/armeabi/include/chipmunk/constraints/cpRatchetJoint.h deleted file mode 100644 index e371b108..00000000 --- a/android/armeabi/include/chipmunk/constraints/cpRatchetJoint.h +++ /dev/null @@ -1,49 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRatchetJoint cpRatchetJoint -/// @{ - -const cpConstraintClass *cpRatchetJointGetClass(void); - -/// @private -typedef struct cpRatchetJoint { - cpConstraint constraint; - cpFloat angle, phase, ratchet; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRatchetJoint; - -/// Allocate a ratchet joint. -cpRatchetJoint* cpRatchetJointAlloc(void); -/// Initialize a ratched joint. -cpRatchetJoint* cpRatchetJointInit(cpRatchetJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); -/// Allocate and initialize a ratchet joint. -cpConstraint* cpRatchetJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet); - -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, angle, Angle) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, phase, Phase) -CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, ratchet, Ratchet) - -/// @} diff --git a/android/armeabi/include/chipmunk/constraints/cpRotaryLimitJoint.h b/android/armeabi/include/chipmunk/constraints/cpRotaryLimitJoint.h deleted file mode 100644 index 2277e40f..00000000 --- a/android/armeabi/include/chipmunk/constraints/cpRotaryLimitJoint.h +++ /dev/null @@ -1,48 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpRotaryLimitJoint cpRotaryLimitJoint -/// @{ - -const cpConstraintClass *cpRotaryLimitJointGetClass(void); - -/// @private -typedef struct cpRotaryLimitJoint { - cpConstraint constraint; - cpFloat min, max; - - cpFloat iSum; - - cpFloat bias; - cpFloat jAcc; -} cpRotaryLimitJoint; - -/// Allocate a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointAlloc(void); -/// Initialize a damped rotary limit joint. -cpRotaryLimitJoint* cpRotaryLimitJointInit(cpRotaryLimitJoint *joint, cpBody *a, cpBody *b, cpFloat min, cpFloat max); -/// Allocate and initialize a damped rotary limit joint. -cpConstraint* cpRotaryLimitJointNew(cpBody *a, cpBody *b, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, max, Max) - -/// @} diff --git a/android/armeabi/include/chipmunk/constraints/cpSimpleMotor.h b/android/armeabi/include/chipmunk/constraints/cpSimpleMotor.h deleted file mode 100644 index 37d28c5d..00000000 --- a/android/armeabi/include/chipmunk/constraints/cpSimpleMotor.h +++ /dev/null @@ -1,46 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSimpleMotor cpSimpleMotor -/// @{ - -const cpConstraintClass *cpSimpleMotorGetClass(void); - -/// @private -typedef struct cpSimpleMotor { - cpConstraint constraint; - cpFloat rate; - - cpFloat iSum; - - cpFloat jAcc; -} cpSimpleMotor; - -/// Allocate a simple motor. -cpSimpleMotor* cpSimpleMotorAlloc(void); -/// initialize a simple motor. -cpSimpleMotor* cpSimpleMotorInit(cpSimpleMotor *joint, cpBody *a, cpBody *b, cpFloat rate); -/// Allocate and initialize a simple motor. -cpConstraint* cpSimpleMotorNew(cpBody *a, cpBody *b, cpFloat rate); - -CP_DefineConstraintProperty(cpSimpleMotor, cpFloat, rate, Rate) - -/// @} diff --git a/android/armeabi/include/chipmunk/constraints/cpSlideJoint.h b/android/armeabi/include/chipmunk/constraints/cpSlideJoint.h deleted file mode 100644 index 40db8bba..00000000 --- a/android/armeabi/include/chipmunk/constraints/cpSlideJoint.h +++ /dev/null @@ -1,53 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -/// @defgroup cpSlideJoint cpSlideJoint -/// @{ - -const cpConstraintClass *cpSlideJointGetClass(void); - -/// @private -typedef struct cpSlideJoint { - cpConstraint constraint; - cpVect anchr1, anchr2; - cpFloat min, max; - - cpVect r1, r2; - cpVect n; - cpFloat nMass; - - cpFloat jnAcc; - cpFloat bias; -} cpSlideJoint; - -/// Allocate a slide joint. -cpSlideJoint* cpSlideJointAlloc(void); -/// Initialize a slide joint. -cpSlideJoint* cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); -/// Allocate and initialize a slide joint. -cpConstraint* cpSlideJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max); - -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr1, Anchr1) -CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr2, Anchr2) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, min, Min) -CP_DefineConstraintProperty(cpSlideJoint, cpFloat, max, Max) - -/// @} diff --git a/android/armeabi/include/chipmunk/constraints/util.h b/android/armeabi/include/chipmunk/constraints/util.h deleted file mode 100644 index 0a620475..00000000 --- a/android/armeabi/include/chipmunk/constraints/util.h +++ /dev/null @@ -1,126 +0,0 @@ -/* Copyright (c) 2007 Scott Lembcke - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -// These are utility routines to use when creating custom constraints. -// I'm not sure if this should be part of the private API or not. -// I should probably clean up the naming conventions if it is... - -#define CP_DefineClassGetter(t) const cpConstraintClass * t##GetClass(void){return (cpConstraintClass *)&klass;} - -void cpConstraintInit(cpConstraint *constraint, const cpConstraintClass *klass, cpBody *a, cpBody *b); - -static inline cpVect -relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){ - cpVect v1_sum = cpvadd(a->v, cpvmult(cpvperp(r1), a->w)); - cpVect v2_sum = cpvadd(b->v, cpvmult(cpvperp(r2), b->w)); - - return cpvsub(v2_sum, v1_sum); -} - -static inline cpFloat -normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){ - return cpvdot(relative_velocity(a, b, r1, r2), n); -} - -static inline void -apply_impulse(cpBody *body, cpVect j, cpVect r){ - body->v = cpvadd(body->v, cpvmult(j, body->m_inv)); - body->w += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_impulse(a, cpvneg(j), r1); - apply_impulse(b, j, r2); -} - -static inline void -apply_bias_impulse(cpBody *body, cpVect j, cpVect r) -{ - body->CP_PRIVATE(v_bias) = cpvadd(body->CP_PRIVATE(v_bias), cpvmult(j, body->m_inv)); - body->CP_PRIVATE(w_bias) += body->i_inv*cpvcross(r, j); -} - -static inline void -apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j) -{ - apply_bias_impulse(a, cpvneg(j), r1); - apply_bias_impulse(b, j, r2); -} - -static inline cpFloat -k_scalar_body(cpBody *body, cpVect r, cpVect n) -{ - cpFloat rcn = cpvcross(r, n); - return body->m_inv + body->i_inv*rcn*rcn; -} - -static inline cpFloat -k_scalar(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n) -{ - cpFloat value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n); - cpAssertSoft(value != 0.0, "Unsolvable collision or constraint."); - - return value; -} - -static inline cpMat2x2 -k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2) -{ - cpFloat m_sum = a->m_inv + b->m_inv; - - // start with Identity*m_sum - cpFloat k11 = m_sum, k12 = 0.0f; - cpFloat k21 = 0.0f, k22 = m_sum; - - // add the influence from r1 - cpFloat a_i_inv = a->i_inv; - cpFloat r1xsq = r1.x * r1.x * a_i_inv; - cpFloat r1ysq = r1.y * r1.y * a_i_inv; - cpFloat r1nxy = -r1.x * r1.y * a_i_inv; - k11 += r1ysq; k12 += r1nxy; - k21 += r1nxy; k22 += r1xsq; - - // add the influnce from r2 - cpFloat b_i_inv = b->i_inv; - cpFloat r2xsq = r2.x * r2.x * b_i_inv; - cpFloat r2ysq = r2.y * r2.y * b_i_inv; - cpFloat r2nxy = -r2.x * r2.y * b_i_inv; - k11 += r2ysq; k12 += r2nxy; - k21 += r2nxy; k22 += r2xsq; - - // invert - cpFloat det = k11*k22 - k12*k21; - cpAssertSoft(det != 0.0, "Unsolvable constraint."); - - cpFloat det_inv = 1.0f/det; - return cpMat2x2New( - k22*det_inv, -k12*det_inv, - -k21*det_inv, k11*det_inv - ); -} - -static inline cpFloat -bias_coef(cpFloat errorBias, cpFloat dt) -{ - return 1.0f - cpfpow(errorBias, dt); -} diff --git a/android/armeabi/include/chipmunk/cpArbiter.h b/android/armeabi/include/chipmunk/cpArbiter.h index 1ccb693d..1dc130af 100644 --- a/android/armeabi/include/chipmunk/cpArbiter.h +++ b/android/armeabi/include/chipmunk/cpArbiter.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -20,188 +20,126 @@ */ /// @defgroup cpArbiter cpArbiter -/// The cpArbiter struct controls pairs of colliding shapes. +/// The cpArbiter struct tracks pairs of colliding shapes. /// They are also used in conjuction with collision handler callbacks -/// allowing you to retrieve information on the collision and control it. +/// allowing you to retrieve information on the collision or change it. +/// A unique arbiter value is used for each pair of colliding objects. It persists until the shapes separate. /// @{ -/// Collision begin event function callback type. -/// Returning false from a begin callback causes the collision to be ignored until -/// the the separate callback is called when the objects stop colliding. -typedef cpBool (*cpCollisionBeginFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision pre-solve event function callback type. -/// Returning false from a pre-step callback causes the collision to be ignored until the next step. -typedef cpBool (*cpCollisionPreSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision post-solve event function callback type. -typedef void (*cpCollisionPostSolveFunc)(cpArbiter *arb, cpSpace *space, void *data); -/// Collision separate event function callback type. -typedef void (*cpCollisionSeparateFunc)(cpArbiter *arb, cpSpace *space, void *data); - -/// @private -struct cpCollisionHandler { - cpCollisionType a; - cpCollisionType b; - cpCollisionBeginFunc begin; - cpCollisionPreSolveFunc preSolve; - cpCollisionPostSolveFunc postSolve; - cpCollisionSeparateFunc separate; - void *data; -}; - -typedef struct cpContact cpContact; - #define CP_MAX_CONTACTS_PER_ARBITER 2 -/// @private -typedef enum cpArbiterState { - // Arbiter is active and its the first collision. - cpArbiterStateFirstColl, - // Arbiter is active and its not the first collision. - cpArbiterStateNormal, - // Collision has been explicitly ignored. - // Either by returning false from a begin collision handler or calling cpArbiterIgnore(). - cpArbiterStateIgnore, - // Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps. - cpArbiterStateCached, -} cpArbiterState; - -/// @private -struct cpArbiterThread { - // Links to next and previous arbiters in the contact graph. - struct cpArbiter *next, *prev; -}; - -/// A colliding pair of shapes. -struct cpArbiter { - /// Calculated value to use for the elasticity coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat e; - /// Calculated value to use for the friction coefficient. - /// Override in a pre-solve collision handler for custom behavior. - cpFloat u; - /// Calculated value to use for applying surface velocities. - /// Override in a pre-solve collision handler for custom behavior. - cpVect surface_vr; - - /// User definable data pointer. - /// The value will persist for the pair of shapes until the separate() callback is called. - /// NOTE: If you need to clean up this pointer, you should implement the separate() callback to do it. - cpDataPointer data; - - CP_PRIVATE(cpShape *a); - CP_PRIVATE(cpShape *b); - CP_PRIVATE(cpBody *body_a); - CP_PRIVATE(cpBody *body_b); - - CP_PRIVATE(struct cpArbiterThread thread_a); - CP_PRIVATE(struct cpArbiterThread thread_b); - - CP_PRIVATE(int numContacts); - CP_PRIVATE(cpContact *contacts); - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpCollisionHandler *handler); - CP_PRIVATE(cpBool swappedColl); - CP_PRIVATE(cpArbiterState state); -}; - -#define CP_DefineArbiterStructGetter(type, member, name) \ -static inline type cpArbiterGet##name(const cpArbiter *arb){return arb->member;} - -#define CP_DefineArbiterStructSetter(type, member, name) \ -static inline void cpArbiterSet##name(cpArbiter *arb, type value){arb->member = value;} - -#define CP_DefineArbiterStructProperty(type, member, name) \ -CP_DefineArbiterStructGetter(type, member, name) \ -CP_DefineArbiterStructSetter(type, member, name) - -CP_DefineArbiterStructProperty(cpFloat, e, Elasticity) -CP_DefineArbiterStructProperty(cpFloat, u, Friction) +/// Get the restitution (elasticity) that will be applied to the pair of colliding objects. +CP_EXPORT cpFloat cpArbiterGetRestitution(const cpArbiter *arb); +/// Override the restitution (elasticity) that will be applied to the pair of colliding objects. +CP_EXPORT void cpArbiterSetRestitution(cpArbiter *arb, cpFloat restitution); +/// Get the friction coefficient that will be applied to the pair of colliding objects. +CP_EXPORT cpFloat cpArbiterGetFriction(const cpArbiter *arb); +/// Override the friction coefficient that will be applied to the pair of colliding objects. +CP_EXPORT void cpArbiterSetFriction(cpArbiter *arb, cpFloat friction); // Get the relative surface velocity of the two shapes in contact. -cpVect cpArbiterGetSurfaceVelocity(cpArbiter *arb); +CP_EXPORT cpVect cpArbiterGetSurfaceVelocity(cpArbiter *arb); // Override the relative surface velocity of the two shapes in contact. -// By default this is calculated to be the difference of the two -// surface velocities clamped to the tangent plane. -void cpArbiterSetSurfaceVelocity(cpArbiter *arb, cpVect vr); +// By default this is calculated to be the difference of the two surface velocities clamped to the tangent plane. +CP_EXPORT void cpArbiterSetSurfaceVelocity(cpArbiter *arb, cpVect vr); -CP_DefineArbiterStructProperty(cpDataPointer, data, UserData) +/// Get the user data pointer associated with this pair of colliding objects. +CP_EXPORT cpDataPointer cpArbiterGetUserData(const cpArbiter *arb); +/// Set a user data point associated with this pair of colliding objects. +/// If you need to perform any cleanup for this pointer, you must do it yourself, in the separate callback for instance. +CP_EXPORT void cpArbiterSetUserData(cpArbiter *arb, cpDataPointer userData); -/// Calculate the total impulse that was applied by this arbiter. -/// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulse(const cpArbiter *arb); /// Calculate the total impulse including the friction that was applied by this arbiter. /// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpVect cpArbiterTotalImpulseWithFriction(const cpArbiter *arb); +CP_EXPORT cpVect cpArbiterTotalImpulse(const cpArbiter *arb); /// Calculate the amount of energy lost in a collision including static, but not dynamic friction. /// This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback. -cpFloat cpArbiterTotalKE(const cpArbiter *arb); +CP_EXPORT cpFloat cpArbiterTotalKE(const cpArbiter *arb); - -/// Causes a collision pair to be ignored as if you returned false from a begin callback. -/// If called from a pre-step callback, you will still need to return false -/// if you want it to be ignored in the current step. -void cpArbiterIgnore(cpArbiter *arb); +/// Mark a collision pair to be ignored until the two objects separate. +/// Pre-solve and post-solve callbacks will not be called, but the separate callback will be called. +CP_EXPORT cpBool cpArbiterIgnore(cpArbiter *arb); /// Return the colliding shapes involved for this arbiter. /// The order of their cpSpace.collision_type values will match /// the order set when the collision handler was registered. -static inline void cpArbiterGetShapes(const cpArbiter *arb, cpShape **a, cpShape **b) -{ - if(arb->CP_PRIVATE(swappedColl)){ - (*a) = arb->CP_PRIVATE(b), (*b) = arb->CP_PRIVATE(a); - } else { - (*a) = arb->CP_PRIVATE(a), (*b) = arb->CP_PRIVATE(b); - } -} +CP_EXPORT void cpArbiterGetShapes(const cpArbiter *arb, cpShape **a, cpShape **b); + /// A macro shortcut for defining and retrieving the shapes from an arbiter. #define CP_ARBITER_GET_SHAPES(__arb__, __a__, __b__) cpShape *__a__, *__b__; cpArbiterGetShapes(__arb__, &__a__, &__b__); /// Return the colliding bodies involved for this arbiter. /// The order of the cpSpace.collision_type the bodies are associated with values will match /// the order set when the collision handler was registered. -static inline void cpArbiterGetBodies(const cpArbiter *arb, cpBody **a, cpBody **b) -{ - CP_ARBITER_GET_SHAPES(arb, shape_a, shape_b); - (*a) = shape_a->body; - (*b) = shape_b->body; -} +CP_EXPORT void cpArbiterGetBodies(const cpArbiter *arb, cpBody **a, cpBody **b); + /// A macro shortcut for defining and retrieving the bodies from an arbiter. #define CP_ARBITER_GET_BODIES(__arb__, __a__, __b__) cpBody *__a__, *__b__; cpArbiterGetBodies(__arb__, &__a__, &__b__); /// A struct that wraps up the important collision data for an arbiter. -typedef struct cpContactPointSet { +struct cpContactPointSet { /// The number of contact points in the set. int count; + /// The normal of the collision. + cpVect normal; + /// The array of contact points. struct { - /// The position of the contact point. - cpVect point; - /// The normal of the contact point. - cpVect normal; - /// The depth of the contact point. - cpFloat dist; + /// The position of the contact on the surface of each shape. + cpVect pointA, pointB; + /// Penetration distance of the two shapes. Overlapping means it will be negative. + /// This value is calculated as cpvdot(cpvsub(point2, point1), normal) and is ignored by cpArbiterSetContactPointSet(). + cpFloat distance; } points[CP_MAX_CONTACTS_PER_ARBITER]; -} cpContactPointSet; +}; /// Return a contact set from an arbiter. -cpContactPointSet cpArbiterGetContactPointSet(const cpArbiter *arb); +CP_EXPORT cpContactPointSet cpArbiterGetContactPointSet(const cpArbiter *arb); /// Replace the contact point set for an arbiter. /// This can be a very powerful feature, but use it with caution! -void cpArbiterSetContactPointSet(cpArbiter *arb, cpContactPointSet *set); +CP_EXPORT void cpArbiterSetContactPointSet(cpArbiter *arb, cpContactPointSet *set); /// Returns true if this is the first step a pair of objects started colliding. -cpBool cpArbiterIsFirstContact(const cpArbiter *arb); +CP_EXPORT cpBool cpArbiterIsFirstContact(const cpArbiter *arb); +/// Returns true if the separate callback is due to a shape being removed from the space. +CP_EXPORT cpBool cpArbiterIsRemoval(const cpArbiter *arb); + /// Get the number of contact points for this arbiter. -int cpArbiterGetCount(const cpArbiter *arb); -/// Get the normal of the @c ith contact point. -cpVect cpArbiterGetNormal(const cpArbiter *arb, int i); -/// Get the position of the @c ith contact point. -cpVect cpArbiterGetPoint(const cpArbiter *arb, int i); +CP_EXPORT int cpArbiterGetCount(const cpArbiter *arb); +/// Get the normal of the collision. +CP_EXPORT cpVect cpArbiterGetNormal(const cpArbiter *arb); +/// Get the position of the @c ith contact point on the surface of the first shape. +CP_EXPORT cpVect cpArbiterGetPointA(const cpArbiter *arb, int i); +/// Get the position of the @c ith contact point on the surface of the second shape. +CP_EXPORT cpVect cpArbiterGetPointB(const cpArbiter *arb, int i); /// Get the depth of the @c ith contact point. -cpFloat cpArbiterGetDepth(const cpArbiter *arb, int i); +CP_EXPORT cpFloat cpArbiterGetDepth(const cpArbiter *arb, int i); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardBeginA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardBeginB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardPreSolveA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +/// You must decide how to handle the wildcard's return value since it may disagree with the other wildcard handler's return value or your own. +CP_EXPORT cpBool cpArbiterCallWildcardPreSolveB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardPostSolveA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardPostSolveB(cpArbiter *arb, cpSpace *space); + +/// If you want a custom callback to invoke the wildcard callback for the first collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardSeparateA(cpArbiter *arb, cpSpace *space); +/// If you want a custom callback to invoke the wildcard callback for the second collision type, you must call this function explicitly. +CP_EXPORT void cpArbiterCallWildcardSeparateB(cpArbiter *arb, cpSpace *space); /// @} diff --git a/android/armeabi/include/chipmunk/cpBB.h b/android/armeabi/include/chipmunk/cpBB.h index 4e59c2d4..40200600 100644 --- a/android/armeabi/include/chipmunk/cpBB.h +++ b/android/armeabi/include/chipmunk/cpBB.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,6 +19,12 @@ * SOFTWARE. */ +#ifndef CHIPMUNK_BB_H +#define CHIPMUNK_BB_H + +#include "chipmunk_types.h" +#include "cpVect.h" + /// @defgroup cpBBB cpBB /// Chipmunk's axis-aligned 2D bounding box type along with a few handy routines. /// @{ @@ -35,10 +41,17 @@ static inline cpBB cpBBNew(const cpFloat l, const cpFloat b, const cpFloat r, co return bb; } +/// Constructs a cpBB centered on a point with the given extents (half sizes). +static inline cpBB +cpBBNewForExtents(const cpVect c, const cpFloat hw, const cpFloat hh) +{ + return cpBBNew(c.x - hw, c.y - hh, c.x + hw, c.y + hh); +} + /// Constructs a cpBB for a circle with the given position and radius. static inline cpBB cpBBNewForCircle(const cpVect p, const cpFloat r) { - return cpBBNew(p.x - r, p.y - r, p.x + r, p.y + r); + return cpBBNewForExtents(p, r, r); } /// Returns true if @c a and @c b intersect. @@ -102,6 +115,9 @@ static inline cpFloat cpBBMergedArea(cpBB a, cpBB b) static inline cpFloat cpBBSegmentQuery(cpBB bb, cpVect a, cpVect b) { cpFloat idx = 1.0f/(b.x - a.x); +#ifdef _MSC_VER +#pragma warning(disable: 4056) +#endif cpFloat tx1 = (bb.l == a.x ? -INFINITY : (bb.l - a.x)*idx); cpFloat tx2 = (bb.r == a.x ? INFINITY : (bb.r - a.x)*idx); cpFloat txmin = cpfmin(tx1, tx2); @@ -110,6 +126,9 @@ static inline cpFloat cpBBSegmentQuery(cpBB bb, cpVect a, cpVect b) cpFloat idy = 1.0f/(b.y - a.y); cpFloat ty1 = (bb.b == a.y ? -INFINITY : (bb.b - a.y)*idy); cpFloat ty2 = (bb.t == a.y ? INFINITY : (bb.t - a.y)*idy); +#ifdef _MSC_VER +#pragma warning(default: 4056) +#endif cpFloat tymin = cpfmin(ty1, ty2); cpFloat tymax = cpfmax(ty1, ty2); @@ -136,8 +155,33 @@ cpBBClampVect(const cpBB bb, const cpVect v) return cpv(cpfclamp(v.x, bb.l, bb.r), cpfclamp(v.y, bb.b, bb.t)); } -// TODO edge case issue /// Wrap a vector to a bounding box. -cpVect cpBBWrapVect(const cpBB bb, const cpVect v); // wrap a vector to a bbox +static inline cpVect +cpBBWrapVect(const cpBB bb, const cpVect v) +{ + cpFloat dx = cpfabs(bb.r - bb.l); + cpFloat modx = cpfmod(v.x - bb.l, dx); + cpFloat x = (modx > 0.0f) ? modx : modx + dx; + + cpFloat dy = cpfabs(bb.t - bb.b); + cpFloat mody = cpfmod(v.y - bb.b, dy); + cpFloat y = (mody > 0.0f) ? mody : mody + dy; + + return cpv(x + bb.l, y + bb.b); +} + +/// Returns a bounding box offseted by @c v. +static inline cpBB +cpBBOffset(const cpBB bb, const cpVect v) +{ + return cpBBNew( + bb.l + v.x, + bb.b + v.y, + bb.r + v.x, + bb.t + v.y + ); +} ///@} + +#endif diff --git a/android/armeabi/include/chipmunk/cpBody.h b/android/armeabi/include/chipmunk/cpBody.h index 6168b0fe..7e6943d1 100644 --- a/android/armeabi/include/chipmunk/cpBody.h +++ b/android/armeabi/include/chipmunk/cpBody.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -25,227 +25,165 @@ /// They are given a shape by creating collision shapes (cpShape) that point to the body. /// @{ +typedef enum cpBodyType { + /// A dynamic body is one that is affected by gravity, forces, and collisions. + /// This is the default body type. + CP_BODY_TYPE_DYNAMIC, + /// A kinematic body is an infinite mass, user controlled body that is not affected by gravity, forces or collisions. + /// Instead the body only moves based on it's velocity. + /// Dynamic bodies collide normally with kinematic bodies, though the kinematic body will be unaffected. + /// Collisions between two kinematic bodies, or a kinematic body and a static body produce collision callbacks, but no collision response. + CP_BODY_TYPE_KINEMATIC, + /// A static body is a body that never (or rarely) moves. If you move a static body, you must call one of the cpSpaceReindex*() functions. + /// Chipmunk uses this information to optimize the collision detection. + /// Static bodies do not produce collision callbacks when colliding with other static bodies. + CP_BODY_TYPE_STATIC, +} cpBodyType; + /// Rigid body velocity update function type. typedef void (*cpBodyVelocityFunc)(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); /// Rigid body position update function type. typedef void (*cpBodyPositionFunc)(cpBody *body, cpFloat dt); -/// Used internally to track information on the collision graph. -/// @private -typedef struct cpComponentNode { - cpBody *root; - cpBody *next; - cpFloat idleTime; -} cpComponentNode; - -/// Chipmunk's rigid body struct. -struct cpBody { - /// Function that is called to integrate the body's velocity. (Defaults to cpBodyUpdateVelocity) - cpBodyVelocityFunc velocity_func; - - /// Function that is called to integrate the body's position. (Defaults to cpBodyUpdatePosition) - cpBodyPositionFunc position_func; - - /// Mass of the body. - /// Must agree with cpBody.m_inv! Use cpBodySetMass() when changing the mass for this reason. - cpFloat m; - /// Mass inverse. - cpFloat m_inv; - - /// Moment of inertia of the body. - /// Must agree with cpBody.i_inv! Use cpBodySetMoment() when changing the moment for this reason. - cpFloat i; - /// Moment of inertia inverse. - cpFloat i_inv; - - /// Position of the rigid body's center of gravity. - cpVect p; - /// Velocity of the rigid body's center of gravity. - cpVect v; - /// Force acting on the rigid body's center of gravity. - cpVect f; - - /// Rotation of the body around it's center of gravity in radians. - /// Must agree with cpBody.rot! Use cpBodySetAngle() when changing the angle for this reason. - cpFloat a; - /// Angular velocity of the body around it's center of gravity in radians/second. - cpFloat w; - /// Torque applied to the body around it's center of gravity. - cpFloat t; - - /// Cached unit length vector representing the angle of the body. - /// Used for fast rotations using cpvrotate(). - cpVect rot; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpBody reference in a callback. - cpDataPointer data; - - /// Maximum velocity allowed when updating the velocity. - cpFloat v_limit; - /// Maximum rotational rate (in radians/second) allowed when updating the angular velocity. - cpFloat w_limit; - - CP_PRIVATE(cpVect v_bias); - CP_PRIVATE(cpFloat w_bias); - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *shapeList); - CP_PRIVATE(cpArbiter *arbiterList); - CP_PRIVATE(cpConstraint *constraintList); - - CP_PRIVATE(cpComponentNode node); -}; - /// Allocate a cpBody. -cpBody* cpBodyAlloc(void); +CP_EXPORT cpBody* cpBodyAlloc(void); /// Initialize a cpBody. -cpBody* cpBodyInit(cpBody *body, cpFloat m, cpFloat i); +CP_EXPORT cpBody* cpBodyInit(cpBody *body, cpFloat mass, cpFloat moment); /// Allocate and initialize a cpBody. -cpBody* cpBodyNew(cpFloat m, cpFloat i); +CP_EXPORT cpBody* cpBodyNew(cpFloat mass, cpFloat moment); -/// Initialize a static cpBody. -cpBody* cpBodyInitStatic(cpBody *body); -/// Allocate and initialize a static cpBody. -cpBody* cpBodyNewStatic(void); +/// Allocate and initialize a cpBody, and set it as a kinematic body. +CP_EXPORT cpBody* cpBodyNewKinematic(void); +/// Allocate and initialize a cpBody, and set it as a static body. +CP_EXPORT cpBody* cpBodyNewStatic(void); /// Destroy a cpBody. -void cpBodyDestroy(cpBody *body); +CP_EXPORT void cpBodyDestroy(cpBody *body); /// Destroy and free a cpBody. -void cpBodyFree(cpBody *body); - -/// Check that the properties of a body is sane. (Only in debug mode) -#ifdef NDEBUG - #define cpBodyAssertSane(body) -#else - void cpBodySanityCheck(cpBody *body); - #define cpBodyAssertSane(body) cpBodySanityCheck(body) -#endif +CP_EXPORT void cpBodyFree(cpBody *body); // Defined in cpSpace.c /// Wake up a sleeping or idle body. -void cpBodyActivate(cpBody *body); +CP_EXPORT void cpBodyActivate(cpBody *body); /// Wake up any sleeping or idle bodies touching a static body. -void cpBodyActivateStatic(cpBody *body, cpShape *filter); +CP_EXPORT void cpBodyActivateStatic(cpBody *body, cpShape *filter); /// Force a body to fall asleep immediately. -void cpBodySleep(cpBody *body); +CP_EXPORT void cpBodySleep(cpBody *body); /// Force a body to fall asleep immediately along with other bodies in a group. -void cpBodySleepWithGroup(cpBody *body, cpBody *group); +CP_EXPORT void cpBodySleepWithGroup(cpBody *body, cpBody *group); /// Returns true if the body is sleeping. -static inline cpBool cpBodyIsSleeping(const cpBody *body) -{ - return (CP_PRIVATE(body->node).root != ((cpBody*)0)); -} +CP_EXPORT cpBool cpBodyIsSleeping(const cpBody *body); -/// Returns true if the body is static. -static inline cpBool cpBodyIsStatic(const cpBody *body) -{ - return CP_PRIVATE(body->node).idleTime == INFINITY; -} +/// Get the type of the body. +CP_EXPORT cpBodyType cpBodyGetType(cpBody *body); +/// Set the type of the body. +CP_EXPORT void cpBodySetType(cpBody *body, cpBodyType type); -/// Returns true if the body has not been added to a space. -/// Note: Static bodies are a subtype of rogue bodies. -static inline cpBool cpBodyIsRogue(const cpBody *body) -{ - return (body->CP_PRIVATE(space) == ((cpSpace*)0)); -} +/// Get the space this body is added to. +CP_EXPORT cpSpace* cpBodyGetSpace(const cpBody *body); +/// Get the mass of the body. +CP_EXPORT cpFloat cpBodyGetMass(const cpBody *body); +/// Set the mass of the body. +CP_EXPORT void cpBodySetMass(cpBody *body, cpFloat m); -#define CP_DefineBodyStructGetter(type, member, name) \ -static inline type cpBodyGet##name(const cpBody *body){return body->member;} +/// Get the moment of inertia of the body. +CP_EXPORT cpFloat cpBodyGetMoment(const cpBody *body); +/// Set the moment of inertia of the body. +CP_EXPORT void cpBodySetMoment(cpBody *body, cpFloat i); -#define CP_DefineBodyStructSetter(type, member, name) \ -static inline void cpBodySet##name(cpBody *body, const type value){ \ - cpBodyActivate(body); \ - body->member = value; \ - cpBodyAssertSane(body); \ -} - -#define CP_DefineBodyStructProperty(type, member, name) \ -CP_DefineBodyStructGetter(type, member, name) \ -CP_DefineBodyStructSetter(type, member, name) - -// TODO add to docs -CP_DefineBodyStructGetter(cpSpace*, CP_PRIVATE(space), Space) - -CP_DefineBodyStructGetter(cpFloat, m, Mass) -/// Set the mass of a body. -void cpBodySetMass(cpBody *body, cpFloat m); - -CP_DefineBodyStructGetter(cpFloat, i, Moment) -/// Set the moment of a body. -void cpBodySetMoment(cpBody *body, cpFloat i); - -CP_DefineBodyStructGetter(cpVect, p, Pos) /// Set the position of a body. -void cpBodySetPos(cpBody *body, cpVect pos); -CP_DefineBodyStructProperty(cpVect, v, Vel) -CP_DefineBodyStructProperty(cpVect, f, Force) -CP_DefineBodyStructGetter(cpFloat, a, Angle) -/// Set the angle of a body. -void cpBodySetAngle(cpBody *body, cpFloat a); -CP_DefineBodyStructProperty(cpFloat, w, AngVel) -CP_DefineBodyStructProperty(cpFloat, t, Torque) -CP_DefineBodyStructGetter(cpVect, rot, Rot) -CP_DefineBodyStructProperty(cpFloat, v_limit, VelLimit) -CP_DefineBodyStructProperty(cpFloat, w_limit, AngVelLimit) -CP_DefineBodyStructProperty(cpDataPointer, data, UserData) +CP_EXPORT cpVect cpBodyGetPosition(const cpBody *body); +/// Set the position of the body. +CP_EXPORT void cpBodySetPosition(cpBody *body, cpVect pos); -/// Default Integration functions. -void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); -void cpBodyUpdatePosition(cpBody *body, cpFloat dt); +/// Get the offset of the center of gravity in body local coordinates. +CP_EXPORT cpVect cpBodyGetCenterOfGravity(const cpBody *body); +/// Set the offset of the center of gravity in body local coordinates. +CP_EXPORT void cpBodySetCenterOfGravity(cpBody *body, cpVect cog); + +/// Get the velocity of the body. +CP_EXPORT cpVect cpBodyGetVelocity(const cpBody *body); +/// Set the velocity of the body. +CP_EXPORT void cpBodySetVelocity(cpBody *body, cpVect velocity); + +/// Get the force applied to the body for the next time step. +CP_EXPORT cpVect cpBodyGetForce(const cpBody *body); +/// Set the force applied to the body for the next time step. +CP_EXPORT void cpBodySetForce(cpBody *body, cpVect force); + +/// Get the angle of the body. +CP_EXPORT cpFloat cpBodyGetAngle(const cpBody *body); +/// Set the angle of a body. +CP_EXPORT void cpBodySetAngle(cpBody *body, cpFloat a); + +/// Get the angular velocity of the body. +CP_EXPORT cpFloat cpBodyGetAngularVelocity(const cpBody *body); +/// Set the angular velocity of the body. +CP_EXPORT void cpBodySetAngularVelocity(cpBody *body, cpFloat angularVelocity); + +/// Get the torque applied to the body for the next time step. +CP_EXPORT cpFloat cpBodyGetTorque(const cpBody *body); +/// Set the torque applied to the body for the next time step. +CP_EXPORT void cpBodySetTorque(cpBody *body, cpFloat torque); + +/// Get the rotation vector of the body. (The x basis vector of it's transform.) +CP_EXPORT cpVect cpBodyGetRotation(const cpBody *body); + +/// Get the user data pointer assigned to the body. +CP_EXPORT cpDataPointer cpBodyGetUserData(const cpBody *body); +/// Set the user data pointer assigned to the body. +CP_EXPORT void cpBodySetUserData(cpBody *body, cpDataPointer userData); + +/// Set the callback used to update a body's velocity. +CP_EXPORT void cpBodySetVelocityUpdateFunc(cpBody *body, cpBodyVelocityFunc velocityFunc); +/// Set the callback used to update a body's position. +/// NOTE: It's not generally recommended to override this unless you call the default position update function. +CP_EXPORT void cpBodySetPositionUpdateFunc(cpBody *body, cpBodyPositionFunc positionFunc); + +/// Default velocity integration function.. +CP_EXPORT void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); +/// Default position integration function. +CP_EXPORT void cpBodyUpdatePosition(cpBody *body, cpFloat dt); /// Convert body relative/local coordinates to absolute/world coordinates. -static inline cpVect cpBodyLocal2World(const cpBody *body, const cpVect v) -{ - return cpvadd(body->p, cpvrotate(v, body->rot)); -} - +CP_EXPORT cpVect cpBodyLocalToWorld(const cpBody *body, const cpVect point); /// Convert body absolute/world coordinates to relative/local coordinates. -static inline cpVect cpBodyWorld2Local(const cpBody *body, const cpVect v) -{ - return cpvunrotate(cpvsub(v, body->p), body->rot); -} +CP_EXPORT cpVect cpBodyWorldToLocal(const cpBody *body, const cpVect point); -/// Set the forces and torque or a body to zero. -void cpBodyResetForces(cpBody *body); -/// Apply an force (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyForce(cpBody *body, const cpVect f, const cpVect r); -/// Apply an impulse (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates). -void cpBodyApplyImpulse(cpBody *body, const cpVect j, const cpVect r); +/// Apply a force to a body. Both the force and point are expressed in world coordinates. +CP_EXPORT void cpBodyApplyForceAtWorldPoint(cpBody *body, cpVect force, cpVect point); +/// Apply a force to a body. Both the force and point are expressed in body local coordinates. +CP_EXPORT void cpBodyApplyForceAtLocalPoint(cpBody *body, cpVect force, cpVect point); + +/// Apply an impulse to a body. Both the impulse and point are expressed in world coordinates. +CP_EXPORT void cpBodyApplyImpulseAtWorldPoint(cpBody *body, cpVect impulse, cpVect point); +/// Apply an impulse to a body. Both the impulse and point are expressed in body local coordinates. +CP_EXPORT void cpBodyApplyImpulseAtLocalPoint(cpBody *body, cpVect impulse, cpVect point); /// Get the velocity on a body (in world units) at a point on the body in world coordinates. -cpVect cpBodyGetVelAtWorldPoint(cpBody *body, cpVect point); +CP_EXPORT cpVect cpBodyGetVelocityAtWorldPoint(const cpBody *body, cpVect point); /// Get the velocity on a body (in world units) at a point on the body in local coordinates. -cpVect cpBodyGetVelAtLocalPoint(cpBody *body, cpVect point); +CP_EXPORT cpVect cpBodyGetVelocityAtLocalPoint(const cpBody *body, cpVect point); - -/// Get the kinetic energy of a body. -static inline cpFloat cpBodyKineticEnergy(const cpBody *body) -{ - // Need to do some fudging to avoid NaNs - cpFloat vsq = cpvdot(body->v, body->v); - cpFloat wsq = body->w*body->w; - return (vsq ? vsq*body->m : 0.0f) + (wsq ? wsq*body->i : 0.0f); -} +/// Get the amount of kinetic energy contained by the body. +CP_EXPORT cpFloat cpBodyKineticEnergy(const cpBody *body); /// Body/shape iterator callback function type. typedef void (*cpBodyShapeIteratorFunc)(cpBody *body, cpShape *shape, void *data); /// Call @c func once for each shape attached to @c body and added to the space. -void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data); /// Body/constraint iterator callback function type. typedef void (*cpBodyConstraintIteratorFunc)(cpBody *body, cpConstraint *constraint, void *data); /// Call @c func once for each constraint attached to @c body and added to the space. -void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data); /// Body/arbiter iterator callback function type. typedef void (*cpBodyArbiterIteratorFunc)(cpBody *body, cpArbiter *arbiter, void *data); /// Call @c func once for each arbiter that is currently active on the body. -void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data); +CP_EXPORT void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data); ///@} diff --git a/android/armeabi/include/chipmunk/cpPolyShape.h b/android/armeabi/include/chipmunk/cpPolyShape.h index a5587ba2..25f688b8 100644 --- a/android/armeabi/include/chipmunk/cpPolyShape.h +++ b/android/armeabi/include/chipmunk/cpPolyShape.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -22,60 +22,35 @@ /// @defgroup cpPolyShape cpPolyShape /// @{ -/// @private -typedef struct cpSplittingPlane { - cpVect n; - cpFloat d; -} cpSplittingPlane; - -/// @private -typedef struct cpPolyShape { - cpShape shape; - - int numVerts; - cpVect *verts, *tVerts; - cpSplittingPlane *planes, *tPlanes; - - cpFloat r; -} cpPolyShape; - /// Allocate a polygon shape. -cpPolyShape* cpPolyShapeAlloc(void); -/// Initialize a polygon shape. +CP_EXPORT cpPolyShape* cpPolyShapeAlloc(void); +/// Initialize a polygon shape with rounded corners. /// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Initialize a polygon shape. +CP_EXPORT cpPolyShape* cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int count, const cpVect *verts, cpTransform transform, cpFloat radius); +/// Initialize a polygon shape with rounded corners. +/// The vertexes must be convex with a counter-clockwise winding. +CP_EXPORT cpPolyShape* cpPolyShapeInitRaw(cpPolyShape *poly, cpBody *body, int count, const cpVect *verts, cpFloat radius); +/// Allocate and initialize a polygon shape with rounded corners. /// A convex hull will be created from the vertexes. -cpPolyShape* cpPolyShapeInit2(cpPolyShape *poly, cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew(cpBody *body, int numVerts, const cpVect *verts, cpVect offset); -/// Allocate and initialize a polygon shape. -/// A convex hull will be created from the vertexes. -cpShape* cpPolyShapeNew2(cpBody *body, int numVerts, const cpVect *verts, cpVect offset, cpFloat radius); +CP_EXPORT cpShape* cpPolyShapeNew(cpBody *body, int count, const cpVect *verts, cpTransform transform, cpFloat radius); +/// Allocate and initialize a polygon shape with rounded corners. +/// The vertexes must be convex with a counter-clockwise winding. +CP_EXPORT cpShape* cpPolyShapeNewRaw(cpBody *body, int count, const cpVect *verts, cpFloat radius); -/// Initialize a box shaped polygon shape. -cpPolyShape* cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit2(cpPolyShape *poly, cpBody *body, cpBB box); -/// Initialize an offset box shaped polygon shape. -cpPolyShape* cpBoxShapeInit3(cpPolyShape *poly, cpBody *body, cpBB box, cpFloat radius); +/// Initialize a box shaped polygon shape with rounded corners. +CP_EXPORT cpPolyShape* cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height, cpFloat radius); +/// Initialize an offset box shaped polygon shape with rounded corners. +CP_EXPORT cpPolyShape* cpBoxShapeInit2(cpPolyShape *poly, cpBody *body, cpBB box, cpFloat radius); /// Allocate and initialize a box shaped polygon shape. -cpShape* cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height); +CP_EXPORT cpShape* cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height, cpFloat radius); /// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew2(cpBody *body, cpBB box); -/// Allocate and initialize an offset box shaped polygon shape. -cpShape* cpBoxShapeNew3(cpBody *body, cpBB box, cpFloat radius); - -/// Check that a set of vertexes is convex and has a clockwise winding. -/// NOTE: Due to floating point precision issues, hulls created with cpQuickHull() are not guaranteed to validate! -cpBool cpPolyValidate(const cpVect *verts, const int numVerts); +CP_EXPORT cpShape* cpBoxShapeNew2(cpBody *body, cpBB box, cpFloat radius); /// Get the number of verts in a polygon shape. -int cpPolyShapeGetNumVerts(const cpShape *shape); +CP_EXPORT int cpPolyShapeGetCount(const cpShape *shape); /// Get the @c ith vertex of a polygon shape. -cpVect cpPolyShapeGetVert(const cpShape *shape, int idx); +CP_EXPORT cpVect cpPolyShapeGetVert(const cpShape *shape, int index); /// Get the radius of a polygon shape. -cpFloat cpPolyShapeGetRadius(const cpShape *shape); +CP_EXPORT cpFloat cpPolyShapeGetRadius(const cpShape *shape); /// @} diff --git a/android/armeabi/include/chipmunk/cpShape.h b/android/armeabi/include/chipmunk/cpShape.h index 62920c37..cc20f809 100644 --- a/android/armeabi/include/chipmunk/cpShape.h +++ b/android/armeabi/include/chipmunk/cpShape.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -18,215 +18,182 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. */ - + /// @defgroup cpShape cpShape /// The cpShape struct defines the shape of a rigid body. /// @{ -typedef struct cpShapeClass cpShapeClass; - -/// Nearest point query info struct. -typedef struct cpNearestPointQueryInfo { +/// Point query info struct. +typedef struct cpPointQueryInfo { /// The nearest shape, NULL if no shape was within range. - cpShape *shape; + const cpShape *shape; /// The closest point on the shape's surface. (in world space coordinates) - cpVect p; + cpVect point; /// The distance to the point. The distance is negative if the point is inside the shape. - cpFloat d; + cpFloat distance; /// The gradient of the signed distance function. - /// The same as info.p/info.d, but accurate even for very small values of info.d. - cpVect g; -} cpNearestPointQueryInfo; + /// The value should be similar to info.p/info.d, but accurate even for very small values of info.d. + cpVect gradient; +} cpPointQueryInfo; /// Segment query info struct. typedef struct cpSegmentQueryInfo { - /// The shape that was hit, NULL if no collision occured. - cpShape *shape; - /// The normalized distance along the query segment in the range [0, 1]. - cpFloat t; + /// The shape that was hit, or NULL if no collision occured. + const cpShape *shape; + /// The point of impact. + cpVect point; /// The normal of the surface hit. - cpVect n; + cpVect normal; + /// The normalized distance along the query segment in the range [0, 1]. + cpFloat alpha; } cpSegmentQueryInfo; -/// @private -typedef enum cpShapeType{ - CP_CIRCLE_SHAPE, - CP_SEGMENT_SHAPE, - CP_POLY_SHAPE, - CP_NUM_SHAPES -} cpShapeType; - -typedef cpBB (*cpShapeCacheDataImpl)(cpShape *shape, cpVect p, cpVect rot); -typedef void (*cpShapeDestroyImpl)(cpShape *shape); -typedef void (*cpShapeNearestPointQueryImpl)(cpShape *shape, cpVect p, cpNearestPointQueryInfo *info); -typedef void (*cpShapeSegmentQueryImpl)(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); - -/// @private -struct cpShapeClass { - cpShapeType type; - - cpShapeCacheDataImpl cacheData; - cpShapeDestroyImpl destroy; - cpShapeNearestPointQueryImpl nearestPointQuery; - cpShapeSegmentQueryImpl segmentQuery; -}; - -/// Opaque collision shape struct. -struct cpShape { - CP_PRIVATE(const cpShapeClass *klass); - - /// The rigid body this collision shape is attached to. - cpBody *body; - - /// The current bounding box of the shape. - cpBB bb; - - /// Sensor flag. - /// Sensor shapes call collision callbacks but don't produce collisions. - cpBool sensor; - - /// Coefficient of restitution. (elasticity) - cpFloat e; - /// Coefficient of friction. - cpFloat u; - /// Surface velocity used when solving for friction. - cpVect surface_v; - - /// User definable data pointer. - /// Generally this points to your the game object class so you can access it - /// when given a cpShape reference in a callback. - cpDataPointer data; - - /// Collision type of this shape used when picking collision handlers. - cpCollisionType collision_type; - /// Group of this shape. Shapes in the same group don't collide. +/// Fast collision filtering type that is used to determine if two objects collide before calling collision or query callbacks. +typedef struct cpShapeFilter { + /// Two objects with the same non-zero group value do not collide. + /// This is generally used to group objects in a composite object together to disable self collisions. cpGroup group; - // Layer bitmask for this shape. Shapes only collide if the bitwise and of their layers is non-zero. - cpLayers layers; - - CP_PRIVATE(cpSpace *space); - - CP_PRIVATE(cpShape *next); - CP_PRIVATE(cpShape *prev); - - CP_PRIVATE(cpHashValue hashid); -}; + /// A bitmask of user definable categories that this object belongs to. + /// The category/mask combinations of both objects in a collision must agree for a collision to occur. + cpBitmask categories; + /// A bitmask of user definable category types that this object object collides with. + /// The category/mask combinations of both objects in a collision must agree for a collision to occur. + cpBitmask mask; +} cpShapeFilter; + +/// Collision filter value for a shape that will collide with anything except CP_SHAPE_FILTER_NONE. +static const cpShapeFilter CP_SHAPE_FILTER_ALL = {CP_NO_GROUP, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES}; +/// Collision filter value for a shape that does not collide with anything. +static const cpShapeFilter CP_SHAPE_FILTER_NONE = {CP_NO_GROUP, ~CP_ALL_CATEGORIES, ~CP_ALL_CATEGORIES}; + +/// Create a new collision filter. +static inline cpShapeFilter +cpShapeFilterNew(cpGroup group, cpBitmask categories, cpBitmask mask) +{ + cpShapeFilter filter = {group, categories, mask}; + return filter; +} /// Destroy a shape. -void cpShapeDestroy(cpShape *shape); +CP_EXPORT void cpShapeDestroy(cpShape *shape); /// Destroy and Free a shape. -void cpShapeFree(cpShape *shape); +CP_EXPORT void cpShapeFree(cpShape *shape); /// Update, cache and return the bounding box of a shape based on the body it's attached to. -cpBB cpShapeCacheBB(cpShape *shape); +CP_EXPORT cpBB cpShapeCacheBB(cpShape *shape); /// Update, cache and return the bounding box of a shape with an explicit transformation. -cpBB cpShapeUpdate(cpShape *shape, cpVect pos, cpVect rot); - -/// Test if a point lies within a shape. -cpBool cpShapePointQuery(cpShape *shape, cpVect p); +CP_EXPORT cpBB cpShapeUpdate(cpShape *shape, cpTransform transform); /// Perform a nearest point query. It finds the closest point on the surface of shape to a specific point. /// The value returned is the distance between the points. A negative distance means the point is inside the shape. -cpFloat cpShapeNearestPointQuery(cpShape *shape, cpVect p, cpNearestPointQueryInfo *out); +CP_EXPORT cpFloat cpShapePointQuery(const cpShape *shape, cpVect p, cpPointQueryInfo *out); /// Perform a segment query against a shape. @c info must be a pointer to a valid cpSegmentQueryInfo structure. -cpBool cpShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info); +CP_EXPORT cpBool cpShapeSegmentQuery(const cpShape *shape, cpVect a, cpVect b, cpFloat radius, cpSegmentQueryInfo *info); -/// Get the hit point for a segment query. -static inline cpVect cpSegmentQueryHitPoint(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvlerp(start, end, info.t); -} +/// Return contact information about two shapes. +CP_EXPORT cpContactPointSet cpShapesCollide(const cpShape *a, const cpShape *b); -/// Get the hit distance for a segment query. -static inline cpFloat cpSegmentQueryHitDist(const cpVect start, const cpVect end, const cpSegmentQueryInfo info) -{ - return cpvdist(start, end)*info.t; -} +/// The cpSpace this body is added to. +CP_EXPORT cpSpace* cpShapeGetSpace(const cpShape *shape); -#define CP_DefineShapeStructGetter(type, member, name) \ -static inline type cpShapeGet##name(const cpShape *shape){return shape->member;} +/// The cpBody this shape is connected to. +CP_EXPORT cpBody* cpShapeGetBody(const cpShape *shape); +/// Set the cpBody this shape is connected to. +/// Can only be used if the shape is not currently added to a space. +CP_EXPORT void cpShapeSetBody(cpShape *shape, cpBody *body); -#define CP_DefineShapeStructSetter(type, member, name, activates) \ -static inline void cpShapeSet##name(cpShape *shape, type value){ \ - if(activates && shape->body) cpBodyActivate(shape->body); \ - shape->member = value; \ -} +/// Get the mass of the shape if you are having Chipmunk calculate mass properties for you. +cpFloat cpShapeGetMass(cpShape *shape); +/// Set the mass of this shape to have Chipmunk calculate mass properties for you. +CP_EXPORT void cpShapeSetMass(cpShape *shape, cpFloat mass); -#define CP_DefineShapeStructProperty(type, member, name, activates) \ -CP_DefineShapeStructGetter(type, member, name) \ -CP_DefineShapeStructSetter(type, member, name, activates) +/// Get the density of the shape if you are having Chipmunk calculate mass properties for you. +CP_EXPORT cpFloat cpShapeGetDensity(cpShape *shape); +/// Set the density of this shape to have Chipmunk calculate mass properties for you. +CP_EXPORT void cpShapeSetDensity(cpShape *shape, cpFloat density); -CP_DefineShapeStructGetter(cpSpace*, CP_PRIVATE(space), Space) +/// Get the calculated moment of inertia for this shape. +CP_EXPORT cpFloat cpShapeGetMoment(cpShape *shape); +/// Get the calculated area of this shape. +CP_EXPORT cpFloat cpShapeGetArea(cpShape *shape); +/// Get the centroid of this shape. +CP_EXPORT cpVect cpShapeGetCenterOfGravity(cpShape *shape); -CP_DefineShapeStructGetter(cpBody*, body, Body) -void cpShapeSetBody(cpShape *shape, cpBody *body); +/// Get the bounding box that contains the shape given it's current position and angle. +CP_EXPORT cpBB cpShapeGetBB(const cpShape *shape); -CP_DefineShapeStructGetter(cpBB, bb, BB) -CP_DefineShapeStructProperty(cpBool, sensor, Sensor, cpTrue) -CP_DefineShapeStructProperty(cpFloat, e, Elasticity, cpFalse) -CP_DefineShapeStructProperty(cpFloat, u, Friction, cpTrue) -CP_DefineShapeStructProperty(cpVect, surface_v, SurfaceVelocity, cpTrue) -CP_DefineShapeStructProperty(cpDataPointer, data, UserData, cpFalse) -CP_DefineShapeStructProperty(cpCollisionType, collision_type, CollisionType, cpTrue) -CP_DefineShapeStructProperty(cpGroup, group, Group, cpTrue) -CP_DefineShapeStructProperty(cpLayers, layers, Layers, cpTrue) +/// Get if the shape is set to be a sensor or not. +CP_EXPORT cpBool cpShapeGetSensor(const cpShape *shape); +/// Set if the shape is a sensor or not. +CP_EXPORT void cpShapeSetSensor(cpShape *shape, cpBool sensor); -/// When initializing a shape, it's hash value comes from a counter. -/// Because the hash value may affect iteration order, you can reset the shape ID counter -/// when recreating a space. This will make the simulation be deterministic. -void cpResetShapeIdCounter(void); +/// Get the elasticity of this shape. +CP_EXPORT cpFloat cpShapeGetElasticity(const cpShape *shape); +/// Set the elasticity of this shape. +CP_EXPORT void cpShapeSetElasticity(cpShape *shape, cpFloat elasticity); + +/// Get the friction of this shape. +CP_EXPORT cpFloat cpShapeGetFriction(const cpShape *shape); +/// Set the friction of this shape. +CP_EXPORT void cpShapeSetFriction(cpShape *shape, cpFloat friction); + +/// Get the surface velocity of this shape. +CP_EXPORT cpVect cpShapeGetSurfaceVelocity(const cpShape *shape); +/// Set the surface velocity of this shape. +CP_EXPORT void cpShapeSetSurfaceVelocity(cpShape *shape, cpVect surfaceVelocity); + +/// Get the user definable data pointer of this shape. +CP_EXPORT cpDataPointer cpShapeGetUserData(const cpShape *shape); +/// Set the user definable data pointer of this shape. +CP_EXPORT void cpShapeSetUserData(cpShape *shape, cpDataPointer userData); + +/// Set the collision type of this shape. +CP_EXPORT cpCollisionType cpShapeGetCollisionType(const cpShape *shape); +/// Get the collision type of this shape. +CP_EXPORT void cpShapeSetCollisionType(cpShape *shape, cpCollisionType collisionType); + +/// Get the collision filtering parameters of this shape. +CP_EXPORT cpShapeFilter cpShapeGetFilter(const cpShape *shape); +/// Set the collision filtering parameters of this shape. +CP_EXPORT void cpShapeSetFilter(cpShape *shape, cpShapeFilter filter); -#define CP_DeclareShapeGetter(struct, type, name) type struct##Get##name(const cpShape *shape) /// @} /// @defgroup cpCircleShape cpCircleShape -/// @private -typedef struct cpCircleShape { - cpShape shape; - - cpVect c, tc; - cpFloat r; -} cpCircleShape; - /// Allocate a circle shape. -cpCircleShape* cpCircleShapeAlloc(void); +CP_EXPORT cpCircleShape* cpCircleShapeAlloc(void); /// Initialize a circle shape. -cpCircleShape* cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset); +CP_EXPORT cpCircleShape* cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect offset); /// Allocate and initialize a circle shape. -cpShape* cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset); +CP_EXPORT cpShape* cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset); -CP_DeclareShapeGetter(cpCircleShape, cpVect, Offset); -CP_DeclareShapeGetter(cpCircleShape, cpFloat, Radius); +/// Get the offset of a circle shape. +CP_EXPORT cpVect cpCircleShapeGetOffset(const cpShape *shape); +/// Get the radius of a circle shape. +CP_EXPORT cpFloat cpCircleShapeGetRadius(const cpShape *shape); /// @} /// @defgroup cpSegmentShape cpSegmentShape -/// @private -typedef struct cpSegmentShape { - cpShape shape; - - cpVect a, b, n; - cpVect ta, tb, tn; - cpFloat r; - - cpVect a_tangent, b_tangent; -} cpSegmentShape; - /// Allocate a segment shape. -cpSegmentShape* cpSegmentShapeAlloc(void); +CP_EXPORT cpSegmentShape* cpSegmentShapeAlloc(void); /// Initialize a segment shape. -cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius); +CP_EXPORT cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius); /// Allocate and initialize a segment shape. -cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius); +CP_EXPORT cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius); /// Let Chipmunk know about the geometry of adjacent segments to avoid colliding with endcaps. -void cpSegmentShapeSetNeighbors(cpShape *shape, cpVect prev, cpVect next); +CP_EXPORT void cpSegmentShapeSetNeighbors(cpShape *shape, cpVect prev, cpVect next); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, A); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, B); -CP_DeclareShapeGetter(cpSegmentShape, cpVect, Normal); -CP_DeclareShapeGetter(cpSegmentShape, cpFloat, Radius); +/// Get the first endpoint of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetA(const cpShape *shape); +/// Get the second endpoint of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetB(const cpShape *shape); +/// Get the normal of a segment shape. +CP_EXPORT cpVect cpSegmentShapeGetNormal(const cpShape *shape); +/// Get the first endpoint of a segment shape. +CP_EXPORT cpFloat cpSegmentShapeGetRadius(const cpShape *shape); /// @} diff --git a/android/armeabi/include/chipmunk/cpSpace.h b/android/armeabi/include/chipmunk/cpSpace.h index 26439f76..7bbabb85 100644 --- a/android/armeabi/include/chipmunk/cpSpace.h +++ b/android/armeabi/include/chipmunk/cpSpace.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -22,191 +22,161 @@ /// @defgroup cpSpace cpSpace /// @{ -typedef struct cpContactBufferHeader cpContactBufferHeader; -typedef void (*cpSpaceArbiterApplyImpulseFunc)(cpArbiter *arb); +//MARK: Definitions -/// Basic Unit of Simulation in Chipmunk -struct cpSpace { - /// Number of iterations to use in the impulse solver to solve contacts. - int iterations; - - /// Gravity to pass to rigid bodies when integrating velocity. - cpVect gravity; - - /// Damping rate expressed as the fraction of velocity bodies retain each second. - /// A value of 0.9 would mean that each body's velocity will drop 10% per second. - /// The default value is 1.0, meaning no damping is applied. - /// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring. - cpFloat damping; - - /// Speed threshold for a body to be considered idle. - /// The default value of 0 means to let the space guess a good threshold based on gravity. - cpFloat idleSpeedThreshold; - - /// Time a group of bodies must remain idle in order to fall asleep. - /// Enabling sleeping also implicitly enables the the contact graph. - /// The default value of INFINITY disables the sleeping algorithm. - cpFloat sleepTimeThreshold; - - /// Amount of encouraged penetration between colliding shapes. - /// Used to reduce oscillating contacts and keep the collision cache warm. - /// Defaults to 0.1. If you have poor simulation quality, - /// increase this number as much as possible without allowing visible amounts of overlap. - cpFloat collisionSlop; - - /// Determines how fast overlapping shapes are pushed apart. - /// Expressed as a fraction of the error remaining after each second. - /// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz. - cpFloat collisionBias; - - /// Number of frames that contact information should persist. - /// Defaults to 3. There is probably never a reason to change this value. - cpTimestamp collisionPersistence; - - /// Rebuild the contact graph during each step. Must be enabled to use the cpBodyEachArbiter() function. - /// Disabled by default for a small performance boost. Enabled implicitly when the sleeping feature is enabled. - cpBool enableContactGraph; - - /// User definable data pointer. - /// Generally this points to your game's controller or game state - /// class so you can access it when given a cpSpace reference in a callback. - cpDataPointer data; - - /// The designated static body for this space. - /// You can modify this body, or replace it with your own static body. - /// By default it points to a statically allocated cpBody in the cpSpace struct. - cpBody *staticBody; - - CP_PRIVATE(cpTimestamp stamp); - CP_PRIVATE(cpFloat curr_dt); +/// Collision begin event function callback type. +/// Returning false from a begin callback causes the collision to be ignored until +/// the the separate callback is called when the objects stop colliding. +typedef cpBool (*cpCollisionBeginFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision pre-solve event function callback type. +/// Returning false from a pre-step callback causes the collision to be ignored until the next step. +typedef cpBool (*cpCollisionPreSolveFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision post-solve event function callback type. +typedef void (*cpCollisionPostSolveFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); +/// Collision separate event function callback type. +typedef void (*cpCollisionSeparateFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData); - CP_PRIVATE(cpArray *bodies); - CP_PRIVATE(cpArray *rousedBodies); - CP_PRIVATE(cpArray *sleepingComponents); - - CP_PRIVATE(cpSpatialIndex *staticShapes); - CP_PRIVATE(cpSpatialIndex *activeShapes); - - CP_PRIVATE(cpArray *arbiters); - CP_PRIVATE(cpContactBufferHeader *contactBuffersHead); - CP_PRIVATE(cpHashSet *cachedArbiters); - CP_PRIVATE(cpArray *pooledArbiters); - CP_PRIVATE(cpArray *constraints); - - CP_PRIVATE(cpArray *allocatedBuffers); - CP_PRIVATE(int locked); - - CP_PRIVATE(cpHashSet *collisionHandlers); - CP_PRIVATE(cpCollisionHandler defaultHandler); - - CP_PRIVATE(cpBool skipPostStep); - CP_PRIVATE(cpArray *postStepCallbacks); - - CP_PRIVATE(cpBody _staticBody); +/// Struct that holds function callback pointers to configure custom collision handling. +/// Collision handlers have a pair of types; when a collision occurs between two shapes that have these types, the collision handler functions are triggered. +struct cpCollisionHandler { + /// Collision type identifier of the first shape that this handler recognizes. + /// In the collision handler callback, the shape with this type will be the first argument. Read only. + const cpCollisionType typeA; + /// Collision type identifier of the second shape that this handler recognizes. + /// In the collision handler callback, the shape with this type will be the second argument. Read only. + const cpCollisionType typeB; + /// This function is called when two shapes with types that match this collision handler begin colliding. + cpCollisionBeginFunc beginFunc; + /// This function is called each step when two shapes with types that match this collision handler are colliding. + /// It's called before the collision solver runs so that you can affect a collision's outcome. + cpCollisionPreSolveFunc preSolveFunc; + /// This function is called each step when two shapes with types that match this collision handler are colliding. + /// It's called after the collision solver runs so that you can read back information about the collision to trigger events in your game. + cpCollisionPostSolveFunc postSolveFunc; + /// This function is called when two shapes with types that match this collision handler stop colliding. + cpCollisionSeparateFunc separateFunc; + /// This is a user definable context pointer that is passed to all of the collision handler functions. + cpDataPointer userData; }; +// TODO: Make timestep a parameter? + + +//MARK: Memory and Initialization + /// Allocate a cpSpace. -cpSpace* cpSpaceAlloc(void); +CP_EXPORT cpSpace* cpSpaceAlloc(void); /// Initialize a cpSpace. -cpSpace* cpSpaceInit(cpSpace *space); +CP_EXPORT cpSpace* cpSpaceInit(cpSpace *space); /// Allocate and initialize a cpSpace. -cpSpace* cpSpaceNew(void); +CP_EXPORT cpSpace* cpSpaceNew(void); /// Destroy a cpSpace. -void cpSpaceDestroy(cpSpace *space); +CP_EXPORT void cpSpaceDestroy(cpSpace *space); /// Destroy and free a cpSpace. -void cpSpaceFree(cpSpace *space); +CP_EXPORT void cpSpaceFree(cpSpace *space); -#define CP_DefineSpaceStructGetter(type, member, name) \ -static inline type cpSpaceGet##name(const cpSpace *space){return space->member;} -#define CP_DefineSpaceStructSetter(type, member, name) \ -static inline void cpSpaceSet##name(cpSpace *space, type value){space->member = value;} +//MARK: Properties -#define CP_DefineSpaceStructProperty(type, member, name) \ -CP_DefineSpaceStructGetter(type, member, name) \ -CP_DefineSpaceStructSetter(type, member, name) +/// Number of iterations to use in the impulse solver to solve contacts and other constraints. +CP_EXPORT int cpSpaceGetIterations(const cpSpace *space); +CP_EXPORT void cpSpaceSetIterations(cpSpace *space, int iterations); -CP_DefineSpaceStructProperty(int, iterations, Iterations) -CP_DefineSpaceStructProperty(cpVect, gravity, Gravity) -CP_DefineSpaceStructProperty(cpFloat, damping, Damping) -CP_DefineSpaceStructProperty(cpFloat, idleSpeedThreshold, IdleSpeedThreshold) -CP_DefineSpaceStructProperty(cpFloat, sleepTimeThreshold, SleepTimeThreshold) -CP_DefineSpaceStructProperty(cpFloat, collisionSlop, CollisionSlop) -CP_DefineSpaceStructProperty(cpFloat, collisionBias, CollisionBias) -CP_DefineSpaceStructProperty(cpTimestamp, collisionPersistence, CollisionPersistence) -CP_DefineSpaceStructProperty(cpBool, enableContactGraph, EnableContactGraph) -CP_DefineSpaceStructProperty(cpDataPointer, data, UserData) -CP_DefineSpaceStructGetter(cpBody*, staticBody, StaticBody) -CP_DefineSpaceStructGetter(cpFloat, CP_PRIVATE(curr_dt), CurrentTimeStep) +/// Gravity to pass to rigid bodies when integrating velocity. +CP_EXPORT cpVect cpSpaceGetGravity(const cpSpace *space); +CP_EXPORT void cpSpaceSetGravity(cpSpace *space, cpVect gravity); -/// returns true from inside a callback and objects cannot be added/removed. -static inline cpBool -cpSpaceIsLocked(cpSpace *space) -{ - return space->CP_PRIVATE(locked); -} +/// Damping rate expressed as the fraction of velocity bodies retain each second. +/// A value of 0.9 would mean that each body's velocity will drop 10% per second. +/// The default value is 1.0, meaning no damping is applied. +/// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring. +CP_EXPORT cpFloat cpSpaceGetDamping(const cpSpace *space); +CP_EXPORT void cpSpaceSetDamping(cpSpace *space, cpFloat damping); -/// Set a default collision handler for this space. -/// The default collision handler is invoked for each colliding pair of shapes -/// that isn't explicitly handled by a specific collision handler. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceSetDefaultCollisionHandler( - cpSpace *space, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); +/// Speed threshold for a body to be considered idle. +/// The default value of 0 means to let the space guess a good threshold based on gravity. +CP_EXPORT cpFloat cpSpaceGetIdleSpeedThreshold(const cpSpace *space); +CP_EXPORT void cpSpaceSetIdleSpeedThreshold(cpSpace *space, cpFloat idleSpeedThreshold); -/// Set a collision handler to be used whenever the two shapes with the given collision types collide. -/// You can pass NULL for any function you don't want to implement. -void cpSpaceAddCollisionHandler( - cpSpace *space, - cpCollisionType a, cpCollisionType b, - cpCollisionBeginFunc begin, - cpCollisionPreSolveFunc preSolve, - cpCollisionPostSolveFunc postSolve, - cpCollisionSeparateFunc separate, - void *data -); +/// Time a group of bodies must remain idle in order to fall asleep. +/// Enabling sleeping also implicitly enables the the contact graph. +/// The default value of INFINITY disables the sleeping algorithm. +CP_EXPORT cpFloat cpSpaceGetSleepTimeThreshold(const cpSpace *space); +CP_EXPORT void cpSpaceSetSleepTimeThreshold(cpSpace *space, cpFloat sleepTimeThreshold); -/// Unset a collision handler. -void cpSpaceRemoveCollisionHandler(cpSpace *space, cpCollisionType a, cpCollisionType b); +/// Amount of encouraged penetration between colliding shapes. +/// Used to reduce oscillating contacts and keep the collision cache warm. +/// Defaults to 0.1. If you have poor simulation quality, +/// increase this number as much as possible without allowing visible amounts of overlap. +CP_EXPORT cpFloat cpSpaceGetCollisionSlop(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionSlop(cpSpace *space, cpFloat collisionSlop); + +/// Determines how fast overlapping shapes are pushed apart. +/// Expressed as a fraction of the error remaining after each second. +/// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz. +CP_EXPORT cpFloat cpSpaceGetCollisionBias(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionBias(cpSpace *space, cpFloat collisionBias); + +/// Number of frames that contact information should persist. +/// Defaults to 3. There is probably never a reason to change this value. +CP_EXPORT cpTimestamp cpSpaceGetCollisionPersistence(const cpSpace *space); +CP_EXPORT void cpSpaceSetCollisionPersistence(cpSpace *space, cpTimestamp collisionPersistence); + +/// User definable data pointer. +/// Generally this points to your game's controller or game state +/// class so you can access it when given a cpSpace reference in a callback. +CP_EXPORT cpDataPointer cpSpaceGetUserData(const cpSpace *space); +CP_EXPORT void cpSpaceSetUserData(cpSpace *space, cpDataPointer userData); + +/// The Space provided static body for a given cpSpace. +/// This is merely provided for convenience and you are not required to use it. +CP_EXPORT cpBody* cpSpaceGetStaticBody(const cpSpace *space); + +/// Returns the current (or most recent) time step used with the given space. +/// Useful from callbacks if your time step is not a compile-time global. +CP_EXPORT cpFloat cpSpaceGetCurrentTimeStep(const cpSpace *space); + +/// returns true from inside a callback when objects cannot be added/removed. +CP_EXPORT cpBool cpSpaceIsLocked(cpSpace *space); + + +//MARK: Collision Handlers + +/// Create or return the existing collision handler that is called for all collisions that are not handled by a more specific collision handler. +CP_EXPORT cpCollisionHandler *cpSpaceAddDefaultCollisionHandler(cpSpace *space); +/// Create or return the existing collision handler for the specified pair of collision types. +/// If wildcard handlers are used with either of the collision types, it's the responibility of the custom handler to invoke the wildcard handlers. +CP_EXPORT cpCollisionHandler *cpSpaceAddCollisionHandler(cpSpace *space, cpCollisionType a, cpCollisionType b); +/// Create or return the existing wildcard collision handler for the specified type. +CP_EXPORT cpCollisionHandler *cpSpaceAddWildcardHandler(cpSpace *space, cpCollisionType type); + + +//MARK: Add/Remove objects /// Add a collision shape to the simulation. /// If the shape is attached to a static body, it will be added as a static shape. -cpShape* cpSpaceAddShape(cpSpace *space, cpShape *shape); -/// Explicity add a shape as a static shape to the simulation. -cpShape* cpSpaceAddStaticShape(cpSpace *space, cpShape *shape); +CP_EXPORT cpShape* cpSpaceAddShape(cpSpace *space, cpShape *shape); /// Add a rigid body to the simulation. -cpBody* cpSpaceAddBody(cpSpace *space, cpBody *body); +CP_EXPORT cpBody* cpSpaceAddBody(cpSpace *space, cpBody *body); /// Add a constraint to the simulation. -cpConstraint* cpSpaceAddConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT cpConstraint* cpSpaceAddConstraint(cpSpace *space, cpConstraint *constraint); /// Remove a collision shape from the simulation. -void cpSpaceRemoveShape(cpSpace *space, cpShape *shape); -/// Remove a collision shape added using cpSpaceAddStaticShape() from the simulation. -void cpSpaceRemoveStaticShape(cpSpace *space, cpShape *shape); +CP_EXPORT void cpSpaceRemoveShape(cpSpace *space, cpShape *shape); /// Remove a rigid body from the simulation. -void cpSpaceRemoveBody(cpSpace *space, cpBody *body); +CP_EXPORT void cpSpaceRemoveBody(cpSpace *space, cpBody *body); /// Remove a constraint from the simulation. -void cpSpaceRemoveConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT void cpSpaceRemoveConstraint(cpSpace *space, cpConstraint *constraint); /// Test if a collision shape has been added to the space. -cpBool cpSpaceContainsShape(cpSpace *space, cpShape *shape); +CP_EXPORT cpBool cpSpaceContainsShape(cpSpace *space, cpShape *shape); /// Test if a rigid body has been added to the space. -cpBool cpSpaceContainsBody(cpSpace *space, cpBody *body); +CP_EXPORT cpBool cpSpaceContainsBody(cpSpace *space, cpBody *body); /// Test if a constraint has been added to the space. -cpBool cpSpaceContainsConstraint(cpSpace *space, cpConstraint *constraint); +CP_EXPORT cpBool cpSpaceContainsConstraint(cpSpace *space, cpConstraint *constraint); -/// Convert a dynamic rogue body to a static one. -/// If the body is active, you must remove it from the space first. -void cpSpaceConvertBodyToStatic(cpSpace *space, cpBody *body); -/// Convert a body to a dynamic rogue body. -/// If you want the body to be active after the transition, you must add it to the space also. -void cpSpaceConvertBodyToDynamic(cpSpace *space, cpBody *body, cpFloat mass, cpFloat moment); +//MARK: Post-Step Callbacks /// Post Step callback function type. typedef void (*cpPostStepFunc)(cpSpace *space, void *key, void *data); @@ -214,70 +184,136 @@ typedef void (*cpPostStepFunc)(cpSpace *space, void *key, void *data); /// You can only register one callback per unique value for @c key. /// Returns true only if @c key has never been scheduled before. /// It's possible to pass @c NULL for @c func if you only want to mark @c key as being used. -cpBool cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *key, void *data); +CP_EXPORT cpBool cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *key, void *data); -/// Point query callback function type. -typedef void (*cpSpacePointQueryFunc)(cpShape *shape, void *data); -/// Query the space at a point and call @c func for each shape found. -void cpSpacePointQuery(cpSpace *space, cpVect point, cpLayers layers, cpGroup group, cpSpacePointQueryFunc func, void *data); -/// Query the space at a point and return the first shape found. Returns NULL if no shapes were found. -cpShape *cpSpacePointQueryFirst(cpSpace *space, cpVect point, cpLayers layers, cpGroup group); + +//MARK: Queries + +// TODO: Queries and iterators should take a cpSpace parametery. +// TODO: They should also be abortable. /// Nearest point query callback function type. -typedef void (*cpSpaceNearestPointQueryFunc)(cpShape *shape, cpFloat distance, cpVect point, void *data); +typedef void (*cpSpacePointQueryFunc)(cpShape *shape, cpVect point, cpFloat distance, cpVect gradient, void *data); /// Query the space at a point and call @c func for each shape found. -void cpSpaceNearestPointQuery(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryFunc func, void *data); +CP_EXPORT void cpSpacePointQuery(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpSpacePointQueryFunc func, void *data); /// Query the space at a point and return the nearest shape found. Returns NULL if no shapes were found. -cpShape *cpSpaceNearestPointQueryNearest(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpNearestPointQueryInfo *out); +CP_EXPORT cpShape *cpSpacePointQueryNearest(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpPointQueryInfo *out); /// Segment query callback function type. -typedef void (*cpSpaceSegmentQueryFunc)(cpShape *shape, cpFloat t, cpVect n, void *data); +typedef void (*cpSpaceSegmentQueryFunc)(cpShape *shape, cpVect point, cpVect normal, cpFloat alpha, void *data); /// Perform a directed line segment query (like a raycast) against the space calling @c func for each shape intersected. -void cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryFunc func, void *data); +CP_EXPORT void cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSpaceSegmentQueryFunc func, void *data); /// Perform a directed line segment query (like a raycast) against the space and return the first shape hit. Returns NULL if no shapes were hit. -cpShape *cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSegmentQueryInfo *out); +CP_EXPORT cpShape *cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSegmentQueryInfo *out); /// Rectangle Query callback function type. typedef void (*cpSpaceBBQueryFunc)(cpShape *shape, void *data); /// Perform a fast rectangle query on the space calling @c func for each shape found. /// Only the shape's bounding boxes are checked for overlap, not their full shape. -void cpSpaceBBQuery(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryFunc func, void *data); +CP_EXPORT void cpSpaceBBQuery(cpSpace *space, cpBB bb, cpShapeFilter filter, cpSpaceBBQueryFunc func, void *data); /// Shape query callback function type. typedef void (*cpSpaceShapeQueryFunc)(cpShape *shape, cpContactPointSet *points, void *data); /// Query a space for any shapes overlapping the given shape and call @c func for each shape found. -cpBool cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data); +CP_EXPORT cpBool cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data); -/// Call cpBodyActivate() for any shape that is overlaps the given shape. -void cpSpaceActivateShapesTouchingShape(cpSpace *space, cpShape *shape); +//MARK: Iteration /// Space/body iterator callback function type. typedef void (*cpSpaceBodyIteratorFunc)(cpBody *body, void *data); /// Call @c func for each body in the space. -void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIteratorFunc func, void *data); /// Space/body iterator callback function type. typedef void (*cpSpaceShapeIteratorFunc)(cpShape *shape, void *data); /// Call @c func for each shape in the space. -void cpSpaceEachShape(cpSpace *space, cpSpaceShapeIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachShape(cpSpace *space, cpSpaceShapeIteratorFunc func, void *data); /// Space/constraint iterator callback function type. typedef void (*cpSpaceConstraintIteratorFunc)(cpConstraint *constraint, void *data); /// Call @c func for each shape in the space. -void cpSpaceEachConstraint(cpSpace *space, cpSpaceConstraintIteratorFunc func, void *data); +CP_EXPORT void cpSpaceEachConstraint(cpSpace *space, cpSpaceConstraintIteratorFunc func, void *data); + + +//MARK: Indexing /// Update the collision detection info for the static shapes in the space. -void cpSpaceReindexStatic(cpSpace *space); +CP_EXPORT void cpSpaceReindexStatic(cpSpace *space); /// Update the collision detection data for a specific shape in the space. -void cpSpaceReindexShape(cpSpace *space, cpShape *shape); +CP_EXPORT void cpSpaceReindexShape(cpSpace *space, cpShape *shape); /// Update the collision detection data for all shapes attached to a body. -void cpSpaceReindexShapesForBody(cpSpace *space, cpBody *body); +CP_EXPORT void cpSpaceReindexShapesForBody(cpSpace *space, cpBody *body); /// Switch the space to use a spatial has as it's spatial index. -void cpSpaceUseSpatialHash(cpSpace *space, cpFloat dim, int count); +CP_EXPORT void cpSpaceUseSpatialHash(cpSpace *space, cpFloat dim, int count); + + +//MARK: Time Stepping /// Step the space forward in time by @c dt. -void cpSpaceStep(cpSpace *space, cpFloat dt); +CP_EXPORT void cpSpaceStep(cpSpace *space, cpFloat dt); + + +//MARK: Debug API + +#ifndef CP_SPACE_DISABLE_DEBUG_API + +/// Color type to use with the space debug drawing API. +typedef struct cpSpaceDebugColor { + float r, g, b, a; +} cpSpaceDebugColor; + +/// Callback type for a function that draws a filled, stroked circle. +typedef void (*cpSpaceDebugDrawCircleImpl)(cpVect pos, cpFloat angle, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a line segment. +typedef void (*cpSpaceDebugDrawSegmentImpl)(cpVect a, cpVect b, cpSpaceDebugColor color, cpDataPointer data); +/// Callback type for a function that draws a thick line segment. +typedef void (*cpSpaceDebugDrawFatSegmentImpl)(cpVect a, cpVect b, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a convex polygon. +typedef void (*cpSpaceDebugDrawPolygonImpl)(int count, const cpVect *verts, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data); +/// Callback type for a function that draws a dot. +typedef void (*cpSpaceDebugDrawDotImpl)(cpFloat size, cpVect pos, cpSpaceDebugColor color, cpDataPointer data); +/// Callback type for a function that returns a color for a given shape. This gives you an opportunity to color shapes based on how they are used in your engine. +typedef cpSpaceDebugColor (*cpSpaceDebugDrawColorForShapeImpl)(cpShape *shape, cpDataPointer data); + +typedef enum cpSpaceDebugDrawFlags { + CP_SPACE_DEBUG_DRAW_SHAPES = 1<<0, + CP_SPACE_DEBUG_DRAW_CONSTRAINTS = 1<<1, + CP_SPACE_DEBUG_DRAW_COLLISION_POINTS = 1<<2, +} cpSpaceDebugDrawFlags; + +/// Struct used with cpSpaceDebugDraw() containing drawing callbacks and other drawing settings. +typedef struct cpSpaceDebugDrawOptions { + /// Function that will be invoked to draw circles. + cpSpaceDebugDrawCircleImpl drawCircle; + /// Function that will be invoked to draw line segments. + cpSpaceDebugDrawSegmentImpl drawSegment; + /// Function that will be invoked to draw thick line segments. + cpSpaceDebugDrawFatSegmentImpl drawFatSegment; + /// Function that will be invoked to draw convex polygons. + cpSpaceDebugDrawPolygonImpl drawPolygon; + /// Function that will be invoked to draw dots. + cpSpaceDebugDrawDotImpl drawDot; + + /// Flags that request which things to draw (collision shapes, constraints, contact points). + cpSpaceDebugDrawFlags flags; + /// Outline color passed to the drawing function. + cpSpaceDebugColor shapeOutlineColor; + /// Function that decides what fill color to draw shapes using. + cpSpaceDebugDrawColorForShapeImpl colorForShape; + /// Color passed to drawing functions for constraints. + cpSpaceDebugColor constraintColor; + /// Color passed to drawing functions for collision points. + cpSpaceDebugColor collisionPointColor; + + /// User defined context pointer passed to all of the callback functions as the 'data' argument. + cpDataPointer data; +} cpSpaceDebugDrawOptions; + +/// Debug draw the current state of the space using the supplied drawing options. +CP_EXPORT void cpSpaceDebugDraw(cpSpace *space, cpSpaceDebugDrawOptions *options); + +#endif /// @} diff --git a/android/armeabi/include/chipmunk/cpSpatialIndex.h b/android/armeabi/include/chipmunk/cpSpatialIndex.h index c279cad0..a386ba9a 100644 --- a/android/armeabi/include/chipmunk/cpSpatialIndex.h +++ b/android/armeabi/include/chipmunk/cpSpatialIndex.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2010 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -69,48 +69,48 @@ struct cpSpatialIndex { typedef struct cpSpaceHash cpSpaceHash; /// Allocate a spatial hash. -cpSpaceHash* cpSpaceHashAlloc(void); +CP_EXPORT cpSpaceHash* cpSpaceHashAlloc(void); /// Initialize a spatial hash. -cpSpatialIndex* cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a spatial hash. -cpSpatialIndex* cpSpaceHashNew(cpFloat celldim, int cells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSpaceHashNew(cpFloat celldim, int cells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Change the cell dimensions and table size of the spatial hash to tune it. /// The cell dimensions should roughly match the average size of your objects /// and the table size should be ~10 larger than the number of objects inserted. /// Some trial and error is required to find the optimum numbers for efficiency. -void cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells); +CP_EXPORT void cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells); //MARK: AABB Tree typedef struct cpBBTree cpBBTree; /// Allocate a bounding box tree. -cpBBTree* cpBBTreeAlloc(void); +CP_EXPORT cpBBTree* cpBBTreeAlloc(void); /// Initialize a bounding box tree. -cpSpatialIndex* cpBBTreeInit(cpBBTree *tree, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpBBTreeInit(cpBBTree *tree, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a bounding box tree. -cpSpatialIndex* cpBBTreeNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpBBTreeNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Perform a static top down optimization of the tree. -void cpBBTreeOptimize(cpSpatialIndex *index); +CP_EXPORT void cpBBTreeOptimize(cpSpatialIndex *index); /// Bounding box tree velocity callback function. /// This function should return an estimate for the object's velocity. typedef cpVect (*cpBBTreeVelocityFunc)(void *obj); /// Set the velocity function for the bounding box tree to enable temporal coherence. -void cpBBTreeSetVelocityFunc(cpSpatialIndex *index, cpBBTreeVelocityFunc func); +CP_EXPORT void cpBBTreeSetVelocityFunc(cpSpatialIndex *index, cpBBTreeVelocityFunc func); //MARK: Single Axis Sweep typedef struct cpSweep1D cpSweep1D; /// Allocate a 1D sort and sweep broadphase. -cpSweep1D* cpSweep1DAlloc(void); +CP_EXPORT cpSweep1D* cpSweep1DAlloc(void); /// Initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DInit(cpSweep1D *sweep, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSweep1DInit(cpSweep1D *sweep, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); /// Allocate and initialize a 1D sort and sweep broadphase. -cpSpatialIndex* cpSweep1DNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); +CP_EXPORT cpSpatialIndex* cpSweep1DNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex); //MARK: Spatial Index Implementation diff --git a/android/armeabi/include/chipmunk/cpVect.h b/android/armeabi/include/chipmunk/cpVect.h index 90855e56..8ec02bdc 100644 --- a/android/armeabi/include/chipmunk/cpVect.h +++ b/android/armeabi/include/chipmunk/cpVect.h @@ -1,4 +1,4 @@ -/* Copyright (c) 2007 Scott Lembcke +/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -19,6 +19,11 @@ * SOFTWARE. */ +#ifndef CHIPMUNK_VECT_H +#define CHIPMUNK_VECT_H + +#include "chipmunk_types.h" + /// @defgroup cpVect cpVect /// Chipmunk's 2D vector type along with a handy 2D vector math lib. /// @{ @@ -33,17 +38,6 @@ static inline cpVect cpv(const cpFloat x, const cpFloat y) return v; } -/// Spherical linearly interpolate between v1 and v2. -cpVect cpvslerp(const cpVect v1, const cpVect v2, const cpFloat t); - -/// Spherical linearly interpolate between v1 towards v2 by no more than angle a radians -cpVect cpvslerpconst(const cpVect v1, const cpVect v2, const cpFloat a); - -/// Returns a string representation of v. Intended mostly for debugging purposes and not production use. -/// @attention The string points to a static local and is reset every time the function is called. -/// If you want to print more than one vector you will have to split up your printing onto separate lines. -char* cpvstr(const cpVect v); - /// Check if two vectors are equal. (Be careful when comparing floating point numbers!) static inline cpBool cpveql(const cpVect v1, const cpVect v2) { @@ -155,10 +149,30 @@ static inline cpVect cpvnormalize(const cpVect v) return cpvmult(v, 1.0f/(cpvlength(v) + CPFLOAT_MIN)); } -/// @deprecated Just an alias for cpvnormalize() now. -static inline cpVect cpvnormalize_safe(const cpVect v) +/// Spherical linearly interpolate between v1 and v2. +static inline cpVect +cpvslerp(const cpVect v1, const cpVect v2, const cpFloat t) { - return cpvnormalize(v); + cpFloat dot = cpvdot(cpvnormalize(v1), cpvnormalize(v2)); + cpFloat omega = cpfacos(cpfclamp(dot, -1.0f, 1.0f)); + + if(omega < 1e-3){ + // If the angle between two vectors is very small, lerp instead to avoid precision issues. + return cpvlerp(v1, v2, t); + } else { + cpFloat denom = 1.0f/cpfsin(omega); + return cpvadd(cpvmult(v1, cpfsin((1.0f - t)*omega)*denom), cpvmult(v2, cpfsin(t*omega)*denom)); + } +} + +/// Spherical linearly interpolate between v1 towards v2 by no more than angle a radians +static inline cpVect +cpvslerpconst(const cpVect v1, const cpVect v2, const cpFloat a) +{ + cpFloat dot = cpvdot(cpvnormalize(v1), cpvnormalize(v2)); + cpFloat omega = cpfacos(cpfclamp(dot, -1.0f, 1.0f)); + + return cpvslerp(v1, v2, cpfmin(a, omega)/omega); } /// Clamp v to length len. @@ -197,6 +211,7 @@ static inline cpBool cpvnear(const cpVect v1, const cpVect v2, const cpFloat dis /// 2x2 matrix type used for tensors and such. /// @{ +// NUKE static inline cpMat2x2 cpMat2x2New(cpFloat a, cpFloat b, cpFloat c, cpFloat d) { @@ -211,3 +226,5 @@ cpMat2x2Transform(cpMat2x2 m, cpVect v) } ///@} + +#endif diff --git a/android/armeabi/libchipmunk.a b/android/armeabi/libchipmunk.a index fe0d068a1a4bf63854138442e55c9216246c749c..a4938283de1c1ab9ad06368df7b047f2d3a59991 100644 GIT binary patch literal 476362 zcmdqK34B%6y+69nl!-6})C4wok}!lYC4dTwHaR(L2$O-J0`nen)X`j?6p_^(r{ayab4DYe{v{YbXDnsMOR)?y4de8;UxQizrVDk 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