Compare commits
No commits in common. "master" and "NewGame" have entirely different histories.
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# Clang-format version v9.0.0
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||||||
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---
|
||||||
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Language: Cpp
|
||||||
|
BasedOnStyle: Google
|
||||||
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|
||||||
|
ColumnLimit: 120
|
||||||
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|
||||||
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##
|
||||||
|
## Indent Style
|
||||||
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##
|
||||||
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|
||||||
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IndentWidth: 4
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||||||
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AccessModifierOffset: -4
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||||||
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ConstructorInitializerIndentWidth: 4
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||||||
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ContinuationIndentWidth: 4
|
||||||
|
TabWidth: 4
|
||||||
|
UseTab: Never
|
||||||
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IndentCaseLabels: false
|
||||||
|
NamespaceIndentation: None
|
||||||
|
|
||||||
|
##
|
||||||
|
## Align Style
|
||||||
|
##
|
||||||
|
|
||||||
|
AlignAfterOpenBracket: Align
|
||||||
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AlignConsecutiveAssignments: true
|
||||||
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AlignConsecutiveDeclarations: true
|
||||||
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AlignEscapedNewlinesLeft: true
|
||||||
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AlignOperands: true
|
||||||
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AlignTrailingComments: true
|
||||||
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PointerAlignment: Left
|
||||||
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|
||||||
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##
|
||||||
|
## SingleLine Style
|
||||||
|
##
|
||||||
|
|
||||||
|
AllowAllParametersOfDeclarationOnNextLine: true
|
||||||
|
AllowShortBlocksOnASingleLine: false
|
||||||
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AllowShortCaseLabelsOnASingleLine: false
|
||||||
|
AllowShortFunctionsOnASingleLine: Empty
|
||||||
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AllowShortIfStatementsOnASingleLine: false
|
||||||
|
AllowShortLoopsOnASingleLine: false
|
||||||
|
AlwaysBreakAfterDefinitionReturnType: None
|
||||||
|
AlwaysBreakAfterReturnType: None
|
||||||
|
AlwaysBreakBeforeMultilineStrings: false
|
||||||
|
AlwaysBreakTemplateDeclarations: true
|
||||||
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BinPackArguments: true
|
||||||
|
BinPackParameters: true
|
||||||
|
BreakBeforeBraces: Allman
|
||||||
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BraceWrapping:
|
||||||
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AfterClass: true
|
||||||
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AfterControlStatement: true
|
||||||
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AfterEnum: true
|
||||||
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AfterFunction: true
|
||||||
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AfterNamespace: true
|
||||||
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AfterObjCDeclaration: true
|
||||||
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AfterStruct: true
|
||||||
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AfterUnion: true
|
||||||
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BeforeCatch: true
|
||||||
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BeforeElse: true
|
||||||
|
IndentBraces: true
|
||||||
|
BreakBeforeBinaryOperators: NonAssignment
|
||||||
|
BreakBeforeTernaryOperators: true
|
||||||
|
CommentPragmas: "^ IWYU pragma:"
|
||||||
|
ConstructorInitializerAllOnOneLineOrOnePerLine: false
|
||||||
|
|
||||||
|
##
|
||||||
|
## Others
|
||||||
|
##
|
||||||
|
|
||||||
|
BreakConstructorInitializers: BeforeComma
|
||||||
|
BreakInheritanceList: BeforeComma
|
||||||
|
ReflowComments: true
|
||||||
|
SortIncludes: false
|
||||||
|
Cpp11BracedListStyle: false
|
||||||
|
DerivePointerAlignment: false
|
||||||
|
DisableFormat: false
|
||||||
|
ExperimentalAutoDetectBinPacking: false
|
||||||
|
ForEachMacros: [foreach, Q_FOREACH, BOOST_FOREACH]
|
||||||
|
IncludeCategories:
|
||||||
|
- Regex: '^"(llvm|llvm-c|clang|clang-c)/'
|
||||||
|
Priority: 2
|
||||||
|
- Regex: '^(<|"(gtest|isl|json)/)'
|
||||||
|
Priority: 3
|
||||||
|
- Regex: ".*"
|
||||||
|
Priority: 1
|
||||||
|
IndentWrappedFunctionNames: false
|
||||||
|
KeepEmptyLinesAtTheStartOfBlocks: true
|
||||||
|
MacroBlockBegin: ""
|
||||||
|
MacroBlockEnd: ""
|
||||||
|
MaxEmptyLinesToKeep: 1
|
||||||
|
PenaltyBreakBeforeFirstCallParameter: 19
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PenaltyBreakComment: 300
|
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|
PenaltyBreakFirstLessLess: 120
|
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|
PenaltyBreakString: 1000
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PenaltyExcessCharacter: 1000000
|
||||||
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PenaltyReturnTypeOnItsOwnLine: 60
|
||||||
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SpaceAfterCStyleCast: false
|
||||||
|
SpaceBeforeAssignmentOperators: true
|
||||||
|
SpaceBeforeParens: ControlStatements
|
||||||
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SpaceInEmptyParentheses: false
|
||||||
|
SpacesBeforeTrailingComments: 2
|
||||||
|
SpacesInAngles: false
|
||||||
|
SpacesInContainerLiterals: true
|
||||||
|
SpacesInCStyleCastParentheses: false
|
||||||
|
SpacesInParentheses: false
|
||||||
|
SpacesInSquareBrackets: false
|
||||||
|
Standard: Cpp11
|
||||||
|
|
@ -0,0 +1,23 @@
|
||||||
|
# EditorConfig is awesome: https://EditorConfig.org
|
||||||
|
|
||||||
|
# top-most EditorConfig file
|
||||||
|
root = true
|
||||||
|
|
||||||
|
# Unix-style newlines with a newline ending every file
|
||||||
|
[*]
|
||||||
|
end_of_line = crlf
|
||||||
|
insert_final_newline = true
|
||||||
|
|
||||||
|
# Matches multiple files with brace expansion notation
|
||||||
|
# Set default charset
|
||||||
|
[*.{h,hpp,cpp}]
|
||||||
|
charset = gb2312
|
||||||
|
|
||||||
|
# 4 space indentation
|
||||||
|
indent_style = space
|
||||||
|
indent_size = 4
|
||||||
|
|
||||||
|
# Matches the exact files
|
||||||
|
[*.{json,xml}]
|
||||||
|
indent_style = space
|
||||||
|
indent_size = 2
|
||||||
|
|
@ -0,0 +1,26 @@
|
||||||
|
---
|
||||||
|
name: Bug report
|
||||||
|
about: 创建一个 Bug 报告，请选择这个模版
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
### 编译环境
|
||||||
|
|
||||||
|
- Kiwano 版本号：
|
||||||
|
- 操作系统：
|
||||||
|
- 编译器：
|
||||||
|
|
||||||
|
### 复现步骤
|
||||||
|
|
||||||
|
（告诉我们如何才能复现这个 BUG）
|
||||||
|
|
||||||
|
1. 步骤一
|
||||||
|
2. 步骤二
|
||||||
|
|
||||||
|
### 预期现象
|
||||||
|
|
||||||
|
描述一下你认为正常情况下应该发生什么现象
|
||||||
|
|
||||||
|
### 实际现象
|
||||||
|
|
||||||
|
描述一下你运行代码时实际发生的现象
|
||||||
|
|
@ -0,0 +1,13 @@
|
||||||
|
---
|
||||||
|
name: Confused
|
||||||
|
about: 使用 Kiwano 时有任何疑问，请选择这个模版
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
### 简述
|
||||||
|
|
||||||
|
用一两句话描述你的疑惑
|
||||||
|
|
||||||
|
### 环境
|
||||||
|
|
||||||
|
留下你使用的 Kiwano 版本号，以及系统、编译器等信息
|
||||||
|
|
@ -0,0 +1,9 @@
|
||||||
|
---
|
||||||
|
name: Feature request
|
||||||
|
about: 想要提出一个优化建议，请选择这个模版
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
### 需求描述
|
||||||
|
|
||||||
|
描述你认为需要进行优化的地方
|
||||||
|
|
@ -0,0 +1,28 @@
|
||||||
|
name: deploy to aliyun oss
|
||||||
|
|
||||||
|
on:
|
||||||
|
push:
|
||||||
|
branches: [ main, master ]
|
||||||
|
|
||||||
|
jobs:
|
||||||
|
build:
|
||||||
|
runs-on: ubuntu-latest
|
||||||
|
steps:
|
||||||
|
- uses: actions/checkout@v1
|
||||||
|
- name: setup node
|
||||||
|
uses: actions/setup-node@v1
|
||||||
|
with:
|
||||||
|
node-version: 16
|
||||||
|
|
||||||
|
- name: build
|
||||||
|
uses: mattnotmitt/doxygen-action@v1.9.4
|
||||||
|
|
||||||
|
- name: setup aliyun oss
|
||||||
|
uses: manyuanrong/setup-ossutil@master
|
||||||
|
with:
|
||||||
|
endpoint: oss-cn-chengdu.aliyuncs.com
|
||||||
|
access-key-id: ${{ secrets.OSS_KEY_ID }}
|
||||||
|
access-key-secret: ${{ secrets.OSS_KEY_SECRET }}
|
||||||
|
|
||||||
|
- name: upload files
|
||||||
|
run: ossutil cp -rf ./docs/html oss://kiwano-docs-website/
|
||||||
|
|
@ -1,12 +1,41 @@
|
||||||
.vs/
|
# Build folders
|
||||||
|
build/
|
||||||
|
output/
|
||||||
|
|
||||||
x64/
|
x64/
|
||||||
*.recipe
|
Debug/
|
||||||
*.tlog
|
Release/
|
||||||
*.vcxproj
|
|
||||||
*.sln
|
# CMake folders
|
||||||
*.log
|
/cmake-build-release/
|
||||||
*.filters
|
/cmake-build-debug/
|
||||||
|
|
||||||
|
# Application folders
|
||||||
|
.vs
|
||||||
|
.idea
|
||||||
|
._Kiwano.sln
|
||||||
|
.vscode
|
||||||
|
|
||||||
|
# vs2010
|
||||||
|
ipch/
|
||||||
|
*.opensdf
|
||||||
|
*.sdf
|
||||||
|
*.suo
|
||||||
|
|
||||||
*.user
|
*.user
|
||||||
*.config
|
*.lnk
|
||||||
m_packages/
|
|
||||||
|
# NuGet packages
|
||||||
packages/
|
packages/
|
||||||
|
|
||||||
|
!*.dll
|
||||||
|
!*.lib
|
||||||
|
|
||||||
|
# Resources bin
|
||||||
|
*.aps
|
||||||
|
|
||||||
|
# Mac cache files
|
||||||
|
.DS_Store
|
||||||
|
|
||||||
|
# Documents
|
||||||
|
docs/
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,26 @@
|
||||||
|
cmake_minimum_required(VERSION 3.16)
|
||||||
|
project(Kiwano C CXX)
|
||||||
|
|
||||||
|
set(CMAKE_CXX_STANDARD 17)
|
||||||
|
|
||||||
|
if (WIN32)
|
||||||
|
message(STATUS "Building on Windows platform.")
|
||||||
|
elseif (APPLE)
|
||||||
|
message(STATUS "Building on MacOS platform.")
|
||||||
|
add_compile_definitions(TARGET_OS_MAC)
|
||||||
|
elseif (UNIX)
|
||||||
|
message(STATUS "Building on UNIX-like OS platform.")
|
||||||
|
endif ()
|
||||||
|
|
||||||
|
include_directories(src/3rd-party)
|
||||||
|
include_directories(src)
|
||||||
|
|
||||||
|
add_subdirectory(src/kiwano)
|
||||||
|
add_subdirectory(src/kiwano-audio)
|
||||||
|
add_subdirectory(src/kiwano-imgui)
|
||||||
|
add_subdirectory(src/kiwano-network)
|
||||||
|
add_subdirectory(src/kiwano-physics)
|
||||||
|
add_subdirectory(src/3rd-party/Box2D)
|
||||||
|
add_subdirectory(src/3rd-party/curl)
|
||||||
|
add_subdirectory(src/3rd-party/nlohmann)
|
||||||
|
add_subdirectory(src/3rd-party/pugixml)
|
||||||
|
|
@ -0,0 +1,94 @@
|
||||||
|
# Doxyfile 1.8.16
|
||||||
|
|
||||||
|
#---------------------------------------------------------------------------
|
||||||
|
# Project related configuration options
|
||||||
|
#---------------------------------------------------------------------------
|
||||||
|
|
||||||
|
PROJECT_NAME = "Kiwano Engine"
|
||||||
|
PROJECT_NUMBER = v1.2.x
|
||||||
|
PROJECT_BRIEF =
|
||||||
|
PROJECT_LOGO = logo/logo_tiny.png
|
||||||
|
|
||||||
|
DOXYFILE_ENCODING = UTF-8
|
||||||
|
CREATE_SUBDIRS = YES
|
||||||
|
|
||||||
|
OUTPUT_LANGUAGE = Chinese
|
||||||
|
OUTPUT_DIRECTORY = docs/
|
||||||
|
|
||||||
|
EXTRACT_PRIVATE = NO
|
||||||
|
EXTRACT_STATIC = YES
|
||||||
|
EXTRACT_LOCAL_CLASSES = NO
|
||||||
|
|
||||||
|
HIDE_UNDOC_MEMBERS = NO
|
||||||
|
HIDE_UNDOC_CLASSES = NO
|
||||||
|
|
||||||
|
SHOW_INCLUDE_FILES = YES
|
||||||
|
SHOW_USED_FILES = NO
|
||||||
|
SHOW_FILES = NO
|
||||||
|
SHOW_NAMESPACES = YES
|
||||||
|
|
||||||
|
#---------------------------------------------------------------------------
|
||||||
|
# Configuration options related to the input files
|
||||||
|
#---------------------------------------------------------------------------
|
||||||
|
|
||||||
|
INPUT = src/
|
||||||
|
INPUT_ENCODING = GBK
|
||||||
|
FILE_PATTERNS = *.c \
|
||||||
|
*.cc \
|
||||||
|
*.cxx \
|
||||||
|
*.cpp \
|
||||||
|
*.c++ \
|
||||||
|
*.h \
|
||||||
|
*.hh \
|
||||||
|
*.hxx \
|
||||||
|
*.hpp \
|
||||||
|
*.h++
|
||||||
|
|
||||||
|
RECURSIVE = YES
|
||||||
|
EXCLUDE = src/3rd-party \
|
||||||
|
src/kiwano/platform/win32 \
|
||||||
|
src/kiwano/renderer/win32
|
||||||
|
|
||||||
|
#---------------------------------------------------------------------------
|
||||||
|
# Configuration options related to the preprocessor
|
||||||
|
#---------------------------------------------------------------------------
|
||||||
|
|
||||||
|
ENABLE_PREPROCESSING = YES
|
||||||
|
MACRO_EXPANSION = YES
|
||||||
|
PREDEFINED = KGE_API= \
|
||||||
|
KGE_DOXYGEN_DO_NOT_INCLUDE= \
|
||||||
|
_Out_= \
|
||||||
|
_In_= \
|
||||||
|
_In_opt_=
|
||||||
|
|
||||||
|
# The INCLUDE_PATH tag can be used to specify one or more directories that
|
||||||
|
# contain include files that are not input files but should be processed by the
|
||||||
|
# preprocessor.
|
||||||
|
# This tag requires that the tag SEARCH_INCLUDES is set to YES.
|
||||||
|
|
||||||
|
SEARCH_INCLUDES = YES
|
||||||
|
INCLUDE_PATH =
|
||||||
|
INCLUDE_FILE_PATTERNS =
|
||||||
|
|
||||||
|
#---------------------------------------------------------------------------
|
||||||
|
# Configuration options related to the HTML output
|
||||||
|
#---------------------------------------------------------------------------
|
||||||
|
|
||||||
|
GENERATE_HTML = YES
|
||||||
|
HTML_OUTPUT = html
|
||||||
|
|
||||||
|
HTML_HEADER =
|
||||||
|
HTML_FOOTER =
|
||||||
|
HTML_STYLESHEET =
|
||||||
|
HTML_EXTRA_STYLESHEET =
|
||||||
|
HTML_EXTRA_FILES = logo/favicon.ico
|
||||||
|
|
||||||
|
GENERATE_TREEVIEW = YES
|
||||||
|
ENUM_VALUES_PER_LINE = 4
|
||||||
|
TREEVIEW_WIDTH = 250
|
||||||
|
|
||||||
|
#---------------------------------------------------------------------------
|
||||||
|
# Configuration options related to the LATEX output
|
||||||
|
#---------------------------------------------------------------------------
|
||||||
|
|
||||||
|
GENERATE_LATEX = NO
|
||||||
|
|
@ -0,0 +1,21 @@
|
||||||
|
MIT License
|
||||||
|
|
||||||
|
Copyright (c) 2018 Haibo
|
||||||
|
|
||||||
|
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.
|
||||||
|
|
@ -0,0 +1,66 @@
|
||||||
|
|
||||||
|
|
||||||
|
# Kiwano 游戏引擎
|
||||||
|
|
||||||
|
[](https://ci.appveyor.com/project/Nomango/kiwano/branch/master)
|
||||||
|
[](https://github.com/Nomango/Kiwano/releases/latest)
|
||||||
|
[](https://github.com/Nomango/Kiwano/blob/master/LICENSE)
|
||||||
|
|
||||||
|
[English](./README.md) | 简体中文
|
||||||
|
|
||||||
|
## 介绍
|
||||||
|
|
||||||
|
Kiwano 是一个使用 C++ 开发的 2D 游戏引擎，目前仅支持 Windows 平台。
|
||||||
|
|
||||||
|
Kiwano-Core 是一个提供了一系列实用工具的游戏无关库，它的目的是简化 C++ 开发过程。
|
||||||
|
|
||||||
|
这个仓库仍处于开发过程中，我创建这个仓库用来学习游戏引擎知识和开发自己的小游戏。
|
||||||
|
|
||||||
|
你可以到 [Kiwano Demos](https://github.com/kiwanogame/KiwanoDemos) 仓库查看和学习如何使用 Kiwano 引擎实现小游戏。
|
||||||
|
|
||||||
|
欢迎您任何形式的贡献。
|
||||||
|
|
||||||
|
## 功能
|
||||||
|
|
||||||
|
* 舞台和角色管理
|
||||||
|
* 舞台过渡动画
|
||||||
|
* 动作行为
|
||||||
|
* 按钮等简易UI元素
|
||||||
|
* 音频支持
|
||||||
|
* 网络通信支持
|
||||||
|
* 数据持久化
|
||||||
|
* 物理引擎 (基于 Box2D)
|
||||||
|
* GUI 引擎 (基于 ImGui)
|
||||||
|
|
||||||
|
## 安装
|
||||||
|
|
||||||
|
### 开发环境
|
||||||
|
|
||||||
|
- Win8 或更高 (推荐 Win10)
|
||||||
|
- Visual Studio 2015 或更高
|
||||||
|
|
||||||
|
### 通过 NuGet 安装
|
||||||
|
|
||||||
|
1. 打开你的 Visual Studio 解决方案
|
||||||
|
2. 在解决方案资源管理器, 右击 `引用` 并选择 `管理 NuGet 程序包`
|
||||||
|
3. 选择 `浏览` 选项卡, 搜索 `kiwano`, 选中列表中的包然后点击 `安装`
|
||||||
|
4. 开始使用 Kiwano 进行开发吧!
|
||||||
|
|
||||||
|
### 通过源代码安装
|
||||||
|
|
||||||
|
1. 从 Github 仓库克隆或下载源代码
|
||||||
|
2. 打开你的 Visual Studio 解决方案, 在解决方案资源管理器中右键你的解决方案, 选择 `添加` => `现有项`
|
||||||
|
3. 选中源代码目录下 /projects 文件夹中所有的 `.vcxproj` 文件，并确认添加
|
||||||
|
4. 右键你的项目，打开 `属性`, 选中 C\C++ => 常规, 并将源代码文件夹下的 src 目录添加到 `附加包含目录` 中
|
||||||
|
5. 右键你的项目 `引用` 并选择 `添加引用`, 选中 `kiwano` 项目和其他你需要的项目
|
||||||
|
6. 开始使用 Kiwano 进行开发吧!
|
||||||
|
|
||||||
|
## 开发计划
|
||||||
|
|
||||||
|
* 跨平台支持
|
||||||
|
* 粒子系统
|
||||||
|
|
||||||
|
## 社交媒体
|
||||||
|
|
||||||
|
* 网站: [kiwanoengine.com](https://kiwanoengine.com)
|
||||||
|
* QQ群: 608406540
|
||||||
|
|
@ -0,0 +1,62 @@
|
||||||
|
|
||||||
|
|
||||||
|
# Kiwano Game Engine
|
||||||
|
|
||||||
|
[](https://ci.appveyor.com/project/Nomango/kiwano/branch/master)
|
||||||
|
[](https://github.com/Nomango/Kiwano/releases/latest)
|
||||||
|
[](https://github.com/Nomango/Kiwano/blob/master/LICENSE)
|
||||||
|
|
||||||
|
English | [简体中文](./README-zh.md)
|
||||||
|
|
||||||
|
## Introduction
|
||||||
|
Kiwano is a open-source 2D C++ game engine, only support win32 platform.
|
||||||
|
|
||||||
|
Kiwano-Core is a game irrelevant lib that provide a lot useful tools can be used in other projects. I made a lot wheels to make cpp simpler to use.
|
||||||
|
|
||||||
|
It's still under heavy developing. I write it and use it to developy my own tiny games.
|
||||||
|
|
||||||
|
You can move to [Kiwano Demos](https://github.com/kiwanogame/KiwanoDemos) repository to see how to use Kiwano to implement simple games.
|
||||||
|
|
||||||
|
More docs and examples will be added later.
|
||||||
|
|
||||||
|
## Features
|
||||||
|
* Scene management
|
||||||
|
* Transitions between scenes
|
||||||
|
* Action behaviours
|
||||||
|
* Buttons and menus
|
||||||
|
* Texture atlas support
|
||||||
|
* Audio support
|
||||||
|
* Custom data storage
|
||||||
|
* Physical engine (based on Box2D)
|
||||||
|
* GUI system (based on ImGui)
|
||||||
|
|
||||||
|
## Install
|
||||||
|
|
||||||
|
### Dev Environment
|
||||||
|
|
||||||
|
- Win8 or Greater (Win10 recommended)
|
||||||
|
- Visual Studio 2015 or Greater
|
||||||
|
|
||||||
|
### Install with NuGet
|
||||||
|
|
||||||
|
1. Open your Visual Studio solution
|
||||||
|
2. In Solution Explorer, right-click `References` and choose `Manage NuGet Packages`
|
||||||
|
3. Select the `Browse` tab, search for `kiwano`, select that package in the list, and select Install
|
||||||
|
4. Have a good trip with Kiwano !
|
||||||
|
|
||||||
|
### Install with source code
|
||||||
|
|
||||||
|
1. Clone or download source code from Github repository
|
||||||
|
2. Open your Visual Studio solution, right-click your solution in Solution Explorer, select `Add` and then `Existing item`
|
||||||
|
3. Select `.vcxproj` files in /projects folder which you downloaded in 1st step
|
||||||
|
4. Right-click your project and choose `Properties`, select C\C++ => General, add the root directory of kiwano project to the `Additional include directory` field
|
||||||
|
5. Right-click `References` and choose `Add Reference`, select `kiwano` project
|
||||||
|
6. Now you can build your own applications based on Kiwano source code !
|
||||||
|
|
||||||
|
## Next plan
|
||||||
|
* Cross-platform
|
||||||
|
* Particle system
|
||||||
|
|
||||||
|
## Contact
|
||||||
|
* Website: [kiwanoengine.com](https://kiwanoengine.com)
|
||||||
|
* QQ Group: 608406540
|
||||||
|
|
@ -0,0 +1,135 @@
|
||||||
|
version: 1.2.{build}
|
||||||
|
|
||||||
|
skip_tags: true
|
||||||
|
|
||||||
|
# fetch repository as zip archive
|
||||||
|
shallow_clone: true
|
||||||
|
|
||||||
|
pull_requests:
|
||||||
|
do_not_increment_build_number: true
|
||||||
|
|
||||||
|
# Do not build feature branch with open Pull Requests
|
||||||
|
# skip_branch_with_pr: true
|
||||||
|
|
||||||
|
# image:
|
||||||
|
# - Visual Studio 2019
|
||||||
|
# - Visual Studio 2017
|
||||||
|
# - Visual Studio 2015
|
||||||
|
|
||||||
|
environment:
|
||||||
|
global:
|
||||||
|
time_out_mins: 5
|
||||||
|
flag_to_deploy: false
|
||||||
|
appveyor_api_token:
|
||||||
|
secure: UJFCbRNHMOqQg3e3Kv/ZnaIqqwXAt+5HDldetaZsZ5E=
|
||||||
|
|
||||||
|
matrix:
|
||||||
|
fast_finish: true # set this flag to immediately finish build once one of the jobs fails
|
||||||
|
# allow_failures:
|
||||||
|
# - platform: x86
|
||||||
|
# configuration: Debug
|
||||||
|
|
||||||
|
skip_commits:
|
||||||
|
message: /\[chore\]/
|
||||||
|
|
||||||
|
only_commits:
|
||||||
|
files:
|
||||||
|
- projects/
|
||||||
|
- src/
|
||||||
|
- scripts/**/*.ps1
|
||||||
|
- appveyor.yml
|
||||||
|
|
||||||
|
for:
|
||||||
|
-
|
||||||
|
branches:
|
||||||
|
only:
|
||||||
|
- master
|
||||||
|
environment:
|
||||||
|
matrix:
|
||||||
|
- APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2022
|
||||||
|
- APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2019
|
||||||
|
- APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2017
|
||||||
|
- APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2015
|
||||||
|
global:
|
||||||
|
job_to_deploy: 16 # 4(images) * 1(platform) * 4(configuration)
|
||||||
|
-
|
||||||
|
branches:
|
||||||
|
except:
|
||||||
|
- master
|
||||||
|
# only_commits:
|
||||||
|
# message: /\[build\]/
|
||||||
|
environment:
|
||||||
|
matrix:
|
||||||
|
# - APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2015
|
||||||
|
# - APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2017
|
||||||
|
# - APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2019
|
||||||
|
- APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2022
|
||||||
|
global:
|
||||||
|
job_to_deploy: 4 # 1(images) * 1(platform) * 4(configuration)
|
||||||
|
|
||||||
|
configuration:
|
||||||
|
- Debug
|
||||||
|
- Release
|
||||||
|
|
||||||
|
platform:
|
||||||
|
- Win32
|
||||||
|
- x64
|
||||||
|
|
||||||
|
# cache: packages/
|
||||||
|
|
||||||
|
install:
|
||||||
|
- ps: .\scripts\appveyor\install_coapp.ps1
|
||||||
|
|
||||||
|
before_build:
|
||||||
|
- ps: .\scripts\appveyor\clear_project_configuration.ps1
|
||||||
|
# - ps: nuget restore projects/Kiwano.sln
|
||||||
|
|
||||||
|
build:
|
||||||
|
parallel: true
|
||||||
|
project: projects/Kiwano.sln
|
||||||
|
verbosity: minimal
|
||||||
|
|
||||||
|
after_build:
|
||||||
|
- ps: .\scripts\appveyor\wait_for_other_jobs.ps1
|
||||||
|
|
||||||
|
artifacts:
|
||||||
|
- path: projects/output/**/*.lib
|
||||||
|
name: PublishedLibraries
|
||||||
|
- path: projects/output/**/*.pdb
|
||||||
|
name: PublishedSymbols
|
||||||
|
|
||||||
|
before_deploy:
|
||||||
|
- ps: .\scripts\appveyor\coapp_make.ps1
|
||||||
|
|
||||||
|
deploy:
|
||||||
|
- provider: GitHub
|
||||||
|
repository: KiwanoEngine/Kiwano
|
||||||
|
tag: v$(APPVEYOR_BUILD_VERSION)
|
||||||
|
release: v$(APPVEYOR_BUILD_VERSION)
|
||||||
|
description: Kiwano-v$(APPVEYOR_BUILD_VERSION) releases.
|
||||||
|
auth_token:
|
||||||
|
secure: psAvqoc1T3UXtZpgmtYjof7kEKlLBdnWyM3BmAIj7bC9LJYtk89XqX+fPIOZpRZX
|
||||||
|
artifact: /.*\.nupkg/
|
||||||
|
draft: true
|
||||||
|
on:
|
||||||
|
branch: master
|
||||||
|
# APPVEYOR_REPO_TAG: true
|
||||||
|
flag_to_deploy: true
|
||||||
|
|
||||||
|
- provider: NuGet
|
||||||
|
api_key:
|
||||||
|
secure: OG7anY4ofTg8aLWU+4a3GoyOzZ0K/iNtMzCd7XU4MKGJg/Q534gVXkT9PXoBdYVU
|
||||||
|
# skip_symbols: true
|
||||||
|
artifact: /.*\.nupkg/
|
||||||
|
on:
|
||||||
|
branch: master
|
||||||
|
# APPVEYOR_REPO_TAG: true
|
||||||
|
flag_to_deploy: true
|
||||||
|
|
||||||
|
notifications:
|
||||||
|
- provider: Email
|
||||||
|
to:
|
||||||
|
- 569629550@qq.com
|
||||||
|
on_build_success: true
|
||||||
|
on_build_failure: true
|
||||||
|
on_build_status_changed: false
|
||||||
|
|
@ -1,116 +0,0 @@
|
||||||
#pragma once
|
|
||||||
#include <mutex>
|
|
||||||
#include <kiwano/core/Common.h>
|
|
||||||
#include <kiwano/base/Module.h>
|
|
||||||
#include "SquirrelClassEx.h"
|
|
||||||
#include "KiwanoEx/SpriteEx.hpp"
|
|
||||||
extern HSQUIRRELVM v;
|
|
||||||
extern std::mutex VmMtx;
|
|
||||||
extern WThreadPool threadPool;
|
|
||||||
|
|
||||||
namespace kiwano
|
|
||||||
{
|
|
||||||
namespace cursor
|
|
||||||
{
|
|
||||||
class KGE_API CursorModule
|
|
||||||
: public Singleton<CursorModule>
|
|
||||||
, public Module
|
|
||||||
{
|
|
||||||
friend Singleton<CursorModule>;
|
|
||||||
|
|
||||||
|
|
||||||
public:
|
|
||||||
|
|
||||||
~CursorModule() {};
|
|
||||||
void OnUpdate(UpdateModuleContext& ctx) override;
|
|
||||||
void OnRender(RenderModuleContext& ctx) override;
|
|
||||||
|
|
||||||
private:
|
|
||||||
CursorModule();
|
|
||||||
|
|
||||||
private:
|
|
||||||
SpriteEx* cursor_actor_;
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void InitGameRecFunc() {
|
|
||||||
PVF_M::getInstance().Init();
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
namespace kiwano
|
|
||||||
{
|
|
||||||
namespace cursor {
|
|
||||||
|
|
||||||
CursorModule::CursorModule() {
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
bool IsMouseInWindow(HWND hWnd)
|
|
||||||
{
|
|
||||||
POINT mousePos;
|
|
||||||
GetCursorPos(&mousePos);
|
|
||||||
ScreenToClient(hWnd, &mousePos);
|
|
||||||
|
|
||||||
RECT windowRect;
|
|
||||||
GetClientRect(hWnd, &windowRect);
|
|
||||||
|
|
||||||
return PtInRect(&windowRect, mousePos);
|
|
||||||
}
|
|
||||||
|
|
||||||
void CursorModule::OnUpdate(UpdateModuleContext& ctx) {
|
|
||||||
//确保虚拟机已经初始化了 从虚拟机回调中加载鼠标
|
|
||||||
if (v && !cursor_actor_) {
|
|
||||||
if (VmMtx.try_lock()) {
|
|
||||||
SQUserPointer Cursor;
|
|
||||||
SQInteger top = sq_gettop(v); //saves the stack size before the call
|
|
||||||
sq_pushroottable(v); //pushes the global table
|
|
||||||
sq_pushstring(v, _SC("InitCursor"), -1);
|
|
||||||
if (SQ_SUCCEEDED(sq_get(v, -2))) { //gets the field 'foo' from the global table
|
|
||||||
sq_pushroottable(v); //push the 'this' (in this case is the global table)
|
|
||||||
sq_call(v, 1, SQTrue, SQTrue); //calls the function
|
|
||||||
sq_getuserpointer(v, -1, &Cursor);
|
|
||||||
cursor_actor_ = (SpriteEx*)Cursor;
|
|
||||||
}
|
|
||||||
sq_settop(v, top); //restores the original stack size
|
|
||||||
VmMtx.unlock();
|
|
||||||
|
|
||||||
//分配线程去初始化数据
|
|
||||||
threadPool.concurrentRun(InitGameRecFunc);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else {
|
|
||||||
|
|
||||||
|
|
||||||
if (VmMtx.try_lock()) {
|
|
||||||
SQInteger top = sq_gettop(v); //saves the stack size before the call
|
|
||||||
sq_pushroottable(v); //pushes the global table
|
|
||||||
sq_pushstring(v, _SC("UpdateCursor"), -1);
|
|
||||||
if (SQ_SUCCEEDED(sq_get(v, -2))) { //gets the field 'foo' from the global table
|
|
||||||
sq_pushroottable(v); //push the 'this' (in this case is the global table)
|
|
||||||
sq_pushinteger(v, ctx.dt.GetMilliseconds());
|
|
||||||
sq_call(v, 2, SQFalse, SQTrue); //calls the function
|
|
||||||
}
|
|
||||||
sq_settop(v, top); //restores the original stack size
|
|
||||||
VmMtx.unlock();
|
|
||||||
}
|
|
||||||
////获取输入
|
|
||||||
Input& input = Input::GetInstance();
|
|
||||||
|
|
||||||
cursor_actor_->SetPosition(input.GetMousePos());
|
|
||||||
|
|
||||||
if (IsMouseInWindow(GetForegroundWindow()))
|
|
||||||
ShowCursor(FALSE);
|
|
||||||
else
|
|
||||||
ShowCursor(TRUE);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void CursorModule::OnRender(RenderModuleContext& ctx) {
|
|
||||||
if (cursor_actor_)cursor_actor_->Render(ctx.render_ctx);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
@ -1,12 +0,0 @@
|
||||||
#pragma once
|
|
||||||
#include "SquirrelClassEx.h"
|
|
||||||
#include <map>
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
class GameState
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
void Run();
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
@ -1,60 +0,0 @@
|
||||||
#pragma once
|
|
||||||
|
|
||||||
#include <kiwano/kiwano.h>
|
|
||||||
using namespace kiwano;
|
|
||||||
|
|
||||||
|
|
||||||
namespace kiwano
|
|
||||||
{
|
|
||||||
|
|
||||||
KGE_DECLARE_SMART_PTR(SpriteEx);
|
|
||||||
class SpriteEx :public Sprite
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
void OnUpdate(Duration dt) override;
|
|
||||||
void OnRender(RenderContext& ctx) override;
|
|
||||||
void Update(Duration dt)override;
|
|
||||||
void Render(RenderContext& ctx)override;
|
|
||||||
void RenderBorder(RenderContext& ctx)override;
|
|
||||||
private:
|
|
||||||
int MyModel = -1;
|
|
||||||
public:
|
|
||||||
void SetMode(const int Type);
|
|
||||||
};
|
|
||||||
|
|
||||||
inline void SpriteEx::SetMode(const int Type) {
|
|
||||||
MyModel = Type;
|
|
||||||
}
|
|
||||||
|
|
||||||
inline void SpriteEx::OnUpdate(Duration dt) {
|
|
||||||
Sprite::OnUpdate(dt);
|
|
||||||
}
|
|
||||||
|
|
||||||
inline void SpriteEx::OnRender(RenderContext& ctx) {
|
|
||||||
switch (MyModel)
|
|
||||||
{
|
|
||||||
case -1: //-1Ôʼģʽ
|
|
||||||
ctx.SetBlendMode(BlendMode::SourceOver);
|
|
||||||
break;
|
|
||||||
case 0: //0ÏßÐÔ¼õµ
|
|
||||||
ctx.SetBlendMode(BlendMode::Add);
|
|
||||||
break;
|
|
||||||
default:
|
|
||||||
ctx.SetBlendMode(BlendMode::SourceOver);
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
Sprite::OnRender(ctx);
|
|
||||||
}
|
|
||||||
|
|
||||||
inline void SpriteEx::Update(Duration dt) {
|
|
||||||
Sprite::Update(dt);
|
|
||||||
}
|
|
||||||
|
|
||||||
inline void SpriteEx::Render(RenderContext& ctx) {
|
|
||||||
Sprite::Render(ctx);
|
|
||||||
}
|
|
||||||
|
|
||||||
inline void SpriteEx::RenderBorder(RenderContext& ctx) {
|
|
||||||
Sprite::RenderBorder(ctx);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
@ -1,53 +0,0 @@
|
||||||
#pragma once
|
|
||||||
#include <mutex>
|
|
||||||
#include <kiwano/kiwano.h>
|
|
||||||
using namespace kiwano;
|
|
||||||
|
|
||||||
extern HSQUIRRELVM v;
|
|
||||||
extern std::mutex VmMtx;
|
|
||||||
|
|
||||||
KGE_DECLARE_SMART_PTR(StageEx);
|
|
||||||
class StageEx :public Stage
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
void OnUpdate(Duration dt) override;
|
|
||||||
void SetSqrobj(HSQOBJECT obj);
|
|
||||||
void OnExit()override;
|
|
||||||
private:
|
|
||||||
HSQOBJECT obj;
|
|
||||||
bool CallBackFlag = false;
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
void StageEx::OnUpdate(Duration dt) {
|
|
||||||
if (CallBackFlag) {
|
|
||||||
if (VmMtx.try_lock()) {
|
|
||||||
SQInteger top = sq_gettop(v); //saves the stack size before the call
|
|
||||||
sq_pushobject(v, obj);
|
|
||||||
sq_pushstring(v, _SC("OnUpdate"), -1);
|
|
||||||
if (SQ_SUCCEEDED(sq_get(v, -2))) {
|
|
||||||
//sq_pushroottable(v);
|
|
||||||
sq_pushobject(v, obj);
|
|
||||||
sq_pushinteger(v, dt.GetMilliseconds());
|
|
||||||
sq_call(v, 2, SQFalse, SQTrue);
|
|
||||||
}
|
|
||||||
sq_settop(v, top); //restores the original stack size
|
|
||||||
VmMtx.unlock();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void StageEx::OnExit() {
|
|
||||||
if (this->CallBackFlag) {
|
|
||||||
if (VmMtx.try_lock()) {
|
|
||||||
sq_release(v, &this->obj);
|
|
||||||
VmMtx.unlock();
|
|
||||||
}
|
|
||||||
this->CallBackFlag = false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void StageEx::SetSqrobj(HSQOBJECT obj) {
|
|
||||||
this->obj = obj;
|
|
||||||
this->CallBackFlag = true;
|
|
||||||
}
|
|
||||||
|
|
@ -1,65 +0,0 @@
|
||||||
#pragma once
|
|
||||||
#include <map>
|
|
||||||
#include <string>
|
|
||||||
#include <windows.h>
|
|
||||||
#include <iostream>
|
|
||||||
#include <zlib.h>
|
|
||||||
|
|
||||||
#define NPK_R_FLAG(b){if(!b)continue;}
|
|
||||||
|
|
||||||
//PNG结构体
|
|
||||||
struct ImgInfo
|
|
||||||
{
|
|
||||||
//图片格式
|
|
||||||
int Type;
|
|
||||||
//压缩类型
|
|
||||||
int CmpType;
|
|
||||||
//宽度
|
|
||||||
int Width;
|
|
||||||
//高度
|
|
||||||
int Height;
|
|
||||||
//大小
|
|
||||||
int Size;
|
|
||||||
//Xpos
|
|
||||||
int Xpos;
|
|
||||||
//Ypos
|
|
||||||
int Ypos;
|
|
||||||
//帧域X
|
|
||||||
int FrameXpos;
|
|
||||||
//帧域Y
|
|
||||||
int FrameYpos;
|
|
||||||
//偏移
|
|
||||||
int Offset;
|
|
||||||
//Png位图数据
|
|
||||||
BYTE* PNGdata;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct NpkInfo
|
|
||||||
{
|
|
||||||
int Offset;
|
|
||||||
int Length;
|
|
||||||
std::string Path;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct IMG //npk的img的结构体
|
|
||||||
{
|
|
||||||
std::string lpImgName; //img文件的路径
|
|
||||||
int img_index; //img文件在npk文件里的序号
|
|
||||||
unsigned imgOffset;
|
|
||||||
unsigned imgSize;
|
|
||||||
std::string lpBelongsFile; //这个img属于哪个npk文件
|
|
||||||
int png_sum; //这个img文件有多少个 图片
|
|
||||||
ImgInfo* lp_lplist; //图片的数组..
|
|
||||||
};
|
|
||||||
|
|
||||||
class NPK_M {
|
|
||||||
private:
|
|
||||||
std::map <std::string, IMG> map_npk;
|
|
||||||
public:
|
|
||||||
NPK_M();
|
|
||||||
void init();
|
|
||||||
LPDWORD LoadImgToMem(IMG* p);
|
|
||||||
IMG* ReadNpkTable(const std::string imgname);
|
|
||||||
void ReleaseNpkTable(IMG* p);
|
|
||||||
~NPK_M();
|
|
||||||
};
|
|
||||||
|
|
@ -1,30 +0,0 @@
|
||||||
#pragma once
|
|
||||||
#include <map>
|
|
||||||
|
|
||||||
class PVF_M {
|
|
||||||
public:
|
|
||||||
static PVF_M& getInstance() {
|
|
||||||
static PVF_M instance;
|
|
||||||
return instance;
|
|
||||||
}
|
|
||||||
|
|
||||||
// 禁止拷贝构造函数和赋值运算符重载
|
|
||||||
PVF_M(const PVF_M&) = delete;
|
|
||||||
PVF_M& operator=(const PVF_M&) = delete;
|
|
||||||
|
|
||||||
private:
|
|
||||||
PVF_M() {} // 私有构造函数，防止外部创建实例
|
|
||||||
|
|
||||||
struct PvfData
|
|
||||||
{
|
|
||||||
char* Data;
|
|
||||||
int Size;
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
public:
|
|
||||||
void Init();
|
|
||||||
int charPtrToInt(const char* ptr);
|
|
||||||
void intToCharPtr(int value, char* ptr);
|
|
||||||
void CrcDecode(PvfData &Data, const int crc32);
|
|
||||||
};
|
|
||||||
|
|
@ -1,754 +0,0 @@
|
||||||
#pragma once
|
|
||||||
#include "SquirrelClassEx.h"
|
|
||||||
#include "Tool.hpp"
|
|
||||||
#include <iostream>
|
|
||||||
|
|
||||||
|
|
||||||
#define SAFE_READN(ptr,len) { \
|
|
||||||
if(self->Read(ptr,len) != len) return sq_throwerror(v,_SC("io error")); \
|
|
||||||
}
|
|
||||||
static SQInteger _stream_myreadstring(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQStream* self = NULL;
|
|
||||||
if (SQ_FAILED(sq_getinstanceup(v, 1, (SQUserPointer*)&self, (SQUserPointer)((SQUnsignedInteger)SQSTD_STREAM_TYPE_TAG), SQFalse))) \
|
|
||||||
return sq_throwerror(v, _SC("invalid type tag")); \
|
|
||||||
if (!self || !self->IsValid()) \
|
|
||||||
return sq_throwerror(v, _SC("the stream is invalid"));
|
|
||||||
|
|
||||||
SQInteger Count;
|
|
||||||
sq_getinteger(v, 2, &Count);
|
|
||||||
char* Str = new char[Count+1];
|
|
||||||
self->Read(Str, Count);
|
|
||||||
std::string Sstr(Str, Count);
|
|
||||||
delete[]Str;
|
|
||||||
sq_pushstring(v, TOOL::charTowchar_t(Sstr).c_str(), -1);
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static SQInteger _file_releasehook(SQUserPointer p, SQInteger SQ_UNUSED_ARG(size))
|
|
||||||
{
|
|
||||||
Actor* Abli = (Actor*)p;
|
|
||||||
std::cout << "C++对象: " << (Abli->GetName().empty() ? "无名字" : Abli->GetName()) << "当前引用计数: " << Abli->GetRefCount() << "已释放一次引用计数" << std::endl;
|
|
||||||
Abli->Release();
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
//注册析构函数
|
|
||||||
static SQInteger Register_Destruction(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
//析构函数测试
|
|
||||||
SQUserPointer P;
|
|
||||||
sq_getuserpointer(v, 2, &P);
|
|
||||||
|
|
||||||
|
|
||||||
sq_setinstanceup(v, 3, P);
|
|
||||||
sq_setreleasehook(v, 3, _file_releasehook);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
//内存泄露追踪
|
|
||||||
static SQInteger BaseObject_DumpTracing(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
ObjectBase::DumpTracingObjects();
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
//角色类通用添加子对象
|
|
||||||
static SQInteger BaseObject_Addchild(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
|
|
||||||
SQUserPointer B_obj;
|
|
||||||
sq_getuserpointer(v, 3, &B_obj);
|
|
||||||
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Actor* Bobj = (Actor*)B_obj;
|
|
||||||
Aobj->AddChild(Bobj);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
//角色类通用移除子对象
|
|
||||||
static SQInteger BaseObject_Removechild(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
|
|
||||||
SQUserPointer B_obj;
|
|
||||||
sq_getuserpointer(v, 3, &B_obj);
|
|
||||||
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Actor* Bobj = (Actor*)B_obj;
|
|
||||||
Aobj->RemoveChild(Bobj);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
//角色类通用设置名字
|
|
||||||
static SQInteger BaseObject_SetName(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
|
|
||||||
const SQChar* Name;
|
|
||||||
sq_getstring(v, 3, &Name);
|
|
||||||
|
|
||||||
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Aobj->SetName(TOOL::SquirrelU2W(Name));
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
//角色类通用获取名字
|
|
||||||
static SQInteger BaseObject_GetName(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
std::string Name = Aobj->GetName();
|
|
||||||
|
|
||||||
sq_pushstring(v, TOOL::charTowchar_t(Name).c_str(), -1);
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
//角色类通用获取ObjectId
|
|
||||||
static SQInteger BaseObject_GetId(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
sq_pushinteger(v, Aobj->GetObjectID());
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
//角色类通用 获取显示状态
|
|
||||||
static SQInteger BaseObject_IsVisible(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
sq_pushbool(v, Aobj->IsVisible());
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
//角色类通用 是否启用级联透明度
|
|
||||||
static SQInteger BaseObject_IsCascadeOpacityEnabled(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
sq_pushbool(v, Aobj->IsCascadeOpacityEnabled());
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
//角色类通用 是否启用事件分发
|
|
||||||
static SQInteger BaseObject_IsEventDispatchEnabled(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
sq_pushbool(v, Aobj->IsEventDispatchEnabled());
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
//角色类通用 获取名称的 Hash 值
|
|
||||||
static SQInteger BaseObject_GetHashName(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
sq_pushinteger(v, Aobj->GetHashName());
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
//角色类通用 获取 Z 轴顺序
|
|
||||||
static SQInteger BaseObject_GetZOrder(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
sq_pushinteger(v, Aobj->GetZOrder());
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
//角色类通用 获取坐标
|
|
||||||
static SQInteger BaseObject_GetPosition(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Point Pos = Aobj->GetPosition();
|
|
||||||
|
|
||||||
sq_newtable(v);
|
|
||||||
sq_pushstring(v, _SC("x"), -1);
|
|
||||||
sq_pushfloat(v,Pos.x);
|
|
||||||
sq_newslot(v, 3, SQFalse);
|
|
||||||
sq_pushstring(v, _SC("y"), -1);
|
|
||||||
sq_pushfloat(v, Pos.y);
|
|
||||||
sq_newslot(v, 3, SQFalse);
|
|
||||||
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
//角色类通用 获取大小
|
|
||||||
static SQInteger BaseObject_GetSize(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Size Pos = Aobj->GetSize();
|
|
||||||
|
|
||||||
sq_newtable(v);
|
|
||||||
sq_pushstring(v, _SC("w"), -1);
|
|
||||||
sq_pushfloat(v, Pos.x);
|
|
||||||
sq_newslot(v, 3, SQFalse);
|
|
||||||
sq_pushstring(v, _SC("h"), -1);
|
|
||||||
sq_pushfloat(v, Pos.y);
|
|
||||||
sq_newslot(v, 3, SQFalse);
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
//角色类通用 获取缩放后的大小
|
|
||||||
static SQInteger BaseObject_GetScaledSize(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Size Pos = Aobj->GetScaledSize();
|
|
||||||
|
|
||||||
sq_newtable(v);
|
|
||||||
sq_pushstring(v, _SC("w"), -1);
|
|
||||||
sq_pushfloat(v, Pos.x);
|
|
||||||
sq_newslot(v, 3, SQFalse);
|
|
||||||
sq_pushstring(v, _SC("h"), -1);
|
|
||||||
sq_pushfloat(v, Pos.y);
|
|
||||||
sq_newslot(v, 3, SQFalse);
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
//角色类通用 获取锚点
|
|
||||||
static SQInteger BaseObject_GetAnchor(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Point Pos = Aobj->GetAnchor();
|
|
||||||
|
|
||||||
sq_newtable(v);
|
|
||||||
sq_pushstring(v, _SC("x"), -1);
|
|
||||||
sq_pushfloat(v, Pos.x);
|
|
||||||
sq_newslot(v, 3, SQFalse);
|
|
||||||
sq_pushstring(v, _SC("y"), -1);
|
|
||||||
sq_pushfloat(v, Pos.y);
|
|
||||||
sq_newslot(v, 3, SQFalse);
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
//角色类通用 获取透明度
|
|
||||||
static SQInteger BaseObject_GetOpacity(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
|
|
||||||
sq_pushfloat(v, Aobj->GetOpacity());
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
//角色类通用 获取显示透明度
|
|
||||||
static SQInteger BaseObject_GetDisplayedOpacity(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
|
|
||||||
sq_pushfloat(v, Aobj->GetDisplayedOpacity());
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
//角色类通用 获取旋转角度
|
|
||||||
static SQInteger BaseObject_GetRotation(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
|
|
||||||
sq_pushfloat(v, Aobj->GetRotation());
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
//角色类通用 获取缩放比例
|
|
||||||
static SQInteger BaseObject_GetScale(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Point Pos = Aobj->GetScale();
|
|
||||||
|
|
||||||
sq_newtable(v);
|
|
||||||
sq_pushstring(v, _SC("x"), -1);
|
|
||||||
sq_pushfloat(v, Pos.x);
|
|
||||||
sq_newslot(v, 3, SQFalse);
|
|
||||||
sq_pushstring(v, _SC("y"), -1);
|
|
||||||
sq_pushfloat(v, Pos.y);
|
|
||||||
sq_newslot(v, 3, SQFalse);
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
//角色类通用 获取错切角度
|
|
||||||
static SQInteger BaseObject_GetSkew(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Point Pos = Aobj->GetSkew();
|
|
||||||
|
|
||||||
sq_newtable(v);
|
|
||||||
sq_pushstring(v, _SC("x"), -1);
|
|
||||||
sq_pushfloat(v, Pos.x);
|
|
||||||
sq_newslot(v, 3, SQFalse);
|
|
||||||
sq_pushstring(v, _SC("y"), -1);
|
|
||||||
sq_pushfloat(v, Pos.y);
|
|
||||||
sq_newslot(v, 3, SQFalse);
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
//角色类通用 获取变换
|
|
||||||
static SQInteger BaseObject_GetTransform(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Transform Tf = Aobj->GetTransform();
|
|
||||||
|
|
||||||
sq_newtable(v);
|
|
||||||
|
|
||||||
sq_pushstring(v, _SC("pos"), -1);
|
|
||||||
sq_newtable(v);
|
|
||||||
sq_pushstring(v, _SC("x"), -1);
|
|
||||||
sq_pushfloat(v, Tf.position.x);
|
|
||||||
sq_newslot(v, 5, SQFalse);
|
|
||||||
sq_pushstring(v, _SC("y"), -1);
|
|
||||||
sq_pushfloat(v, Tf.position.y);
|
|
||||||
sq_newslot(v, 5, SQFalse);
|
|
||||||
sq_newslot(v, 3, SQFalse);
|
|
||||||
|
|
||||||
sq_pushstring(v, _SC("scale"), -1);
|
|
||||||
sq_newtable(v);
|
|
||||||
sq_pushstring(v, _SC("x"), -1);
|
|
||||||
sq_pushfloat(v, Tf.scale.x);
|
|
||||||
sq_newslot(v, 5, SQFalse);
|
|
||||||
sq_pushstring(v, _SC("y"), -1);
|
|
||||||
sq_pushfloat(v, Tf.scale.y);
|
|
||||||
sq_newslot(v, 5, SQFalse);
|
|
||||||
sq_newslot(v, 3, SQFalse);
|
|
||||||
|
|
||||||
sq_pushstring(v, _SC("skew"), -1);
|
|
||||||
sq_newtable(v);
|
|
||||||
sq_pushstring(v, _SC("x"), -1);
|
|
||||||
sq_pushfloat(v, Tf.skew.x);
|
|
||||||
sq_newslot(v, 5, SQFalse);
|
|
||||||
sq_pushstring(v, _SC("y"), -1);
|
|
||||||
sq_pushfloat(v, Tf.skew.y);
|
|
||||||
sq_newslot(v, 5, SQFalse);
|
|
||||||
sq_newslot(v, 3, SQFalse);
|
|
||||||
|
|
||||||
sq_pushstring(v, _SC("rotation"), -1);
|
|
||||||
sq_pushfloat(v, Tf.rotation);
|
|
||||||
sq_newslot(v, 3, SQFalse);
|
|
||||||
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
//角色类通用 获取父角色
|
|
||||||
static SQInteger BaseObject_GetParent(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Actor* P = Aobj->GetParent();
|
|
||||||
|
|
||||||
sq_pushuserpointer(v, P);
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
//角色类通用 获取所在舞台
|
|
||||||
static SQInteger BaseObject_GetStage(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
StageEx* P = (StageEx*)Aobj->GetStage();
|
|
||||||
|
|
||||||
sq_pushuserpointer(v, P);
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
//角色类通用 设置角色是否可见
|
|
||||||
static SQInteger BaseObject_SetVisible(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
SQBool Value;
|
|
||||||
sq_getbool(v, 3, &Value);
|
|
||||||
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Aobj->SetVisible(Value);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
//角色类通用 设置坐标
|
|
||||||
static SQInteger BaseObject_SetPosition(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
|
|
||||||
if (sq_gettop(v) == 3) {
|
|
||||||
Point Pos;
|
|
||||||
sq_pushnull(v); // null iterator
|
|
||||||
while (SQ_SUCCEEDED(sq_next(v, 3)))
|
|
||||||
{
|
|
||||||
SQFloat value;
|
|
||||||
sq_getfloat(v, -1, &value);
|
|
||||||
const SQChar* key;
|
|
||||||
sq_getstring(v, -2, &key);
|
|
||||||
|
|
||||||
if (wcscmp(key, _SC("x")) == 0) {
|
|
||||||
Pos.x = value;
|
|
||||||
}
|
|
||||||
else if (wcscmp(key, _SC("y")) == 0) {
|
|
||||||
Pos.y = value;
|
|
||||||
}
|
|
||||||
sq_pop(v, 2);
|
|
||||||
}
|
|
||||||
sq_pop(v, 1);
|
|
||||||
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Aobj->SetPosition(Pos);
|
|
||||||
}
|
|
||||||
else if (sq_gettop(v) == 4) {
|
|
||||||
SQFloat X, Y;
|
|
||||||
sq_getfloat(v, 3, &X);
|
|
||||||
sq_getfloat(v, 4, &Y);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Aobj->SetPosition(X,Y);
|
|
||||||
}
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
//角色类通用 设置缩放比例
|
|
||||||
static SQInteger BaseObject_SetScale(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
|
|
||||||
if (sq_gettop(v) == 3) {
|
|
||||||
Point Pos;
|
|
||||||
sq_pushnull(v); // null iterator
|
|
||||||
while (SQ_SUCCEEDED(sq_next(v, 3)))
|
|
||||||
{
|
|
||||||
SQFloat value;
|
|
||||||
sq_getfloat(v, -1, &value);
|
|
||||||
const SQChar* key;
|
|
||||||
sq_getstring(v, -2, &key);
|
|
||||||
|
|
||||||
if (wcscmp(key, _SC("x")) == 0) {
|
|
||||||
Pos.x = value;
|
|
||||||
}
|
|
||||||
else if (wcscmp(key, _SC("y")) == 0) {
|
|
||||||
Pos.y = value;
|
|
||||||
}
|
|
||||||
sq_pop(v, 2);
|
|
||||||
}
|
|
||||||
sq_pop(v, 1);
|
|
||||||
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Aobj->SetScale(Pos);
|
|
||||||
}
|
|
||||||
else if (sq_gettop(v) == 4) {
|
|
||||||
SQFloat X, Y;
|
|
||||||
sq_getfloat(v, 3, &X);
|
|
||||||
sq_getfloat(v, 4, &Y);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Aobj->SetScale(X, Y);
|
|
||||||
}
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
//角色类通用 设置错切角度
|
|
||||||
static SQInteger BaseObject_SetSkew(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
|
|
||||||
if (sq_gettop(v) == 3) {
|
|
||||||
Point Pos;
|
|
||||||
sq_pushnull(v); // null iterator
|
|
||||||
while (SQ_SUCCEEDED(sq_next(v, 3)))
|
|
||||||
{
|
|
||||||
SQFloat value;
|
|
||||||
sq_getfloat(v, -1, &value);
|
|
||||||
const SQChar* key;
|
|
||||||
sq_getstring(v, -2, &key);
|
|
||||||
|
|
||||||
if (wcscmp(key, _SC("x")) == 0) {
|
|
||||||
Pos.x = value;
|
|
||||||
}
|
|
||||||
else if (wcscmp(key, _SC("y")) == 0) {
|
|
||||||
Pos.y = value;
|
|
||||||
}
|
|
||||||
sq_pop(v, 2);
|
|
||||||
}
|
|
||||||
sq_pop(v, 1);
|
|
||||||
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Aobj->SetSkew(Pos);
|
|
||||||
}
|
|
||||||
else if (sq_gettop(v) == 4) {
|
|
||||||
SQFloat X, Y;
|
|
||||||
sq_getfloat(v, 3, &X);
|
|
||||||
sq_getfloat(v, 4, &Y);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Aobj->SetSkew(X, Y);
|
|
||||||
}
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
//角色类通用 设置锚点位置
|
|
||||||
static SQInteger BaseObject_SetAnchor(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
|
|
||||||
if (sq_gettop(v) == 3) {
|
|
||||||
Point Pos;
|
|
||||||
sq_pushnull(v); // null iterator
|
|
||||||
while (SQ_SUCCEEDED(sq_next(v, 3)))
|
|
||||||
{
|
|
||||||
SQFloat value;
|
|
||||||
sq_getfloat(v, -1, &value);
|
|
||||||
const SQChar* key;
|
|
||||||
sq_getstring(v, -2, &key);
|
|
||||||
|
|
||||||
if (wcscmp(key, _SC("x")) == 0) {
|
|
||||||
Pos.x = value;
|
|
||||||
}
|
|
||||||
else if (wcscmp(key, _SC("y")) == 0) {
|
|
||||||
Pos.y = value;
|
|
||||||
}
|
|
||||||
sq_pop(v, 2);
|
|
||||||
}
|
|
||||||
sq_pop(v, 1);
|
|
||||||
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Aobj->SetAnchor(Pos);
|
|
||||||
}
|
|
||||||
else if (sq_gettop(v) == 4) {
|
|
||||||
SQFloat X, Y;
|
|
||||||
sq_getfloat(v, 3, &X);
|
|
||||||
sq_getfloat(v, 4, &Y);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Aobj->SetAnchor(X, Y);
|
|
||||||
}
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
//角色类通用 修改大小
|
|
||||||
static SQInteger BaseObject_SetSize(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
|
|
||||||
if (sq_gettop(v) == 3) {
|
|
||||||
Size Pos;
|
|
||||||
sq_pushnull(v); // null iterator
|
|
||||||
while (SQ_SUCCEEDED(sq_next(v, 3)))
|
|
||||||
{
|
|
||||||
SQFloat value;
|
|
||||||
sq_getfloat(v, -1, &value);
|
|
||||||
const SQChar* key;
|
|
||||||
sq_getstring(v, -2, &key);
|
|
||||||
|
|
||||||
if (wcscmp(key, _SC("w")) == 0) {
|
|
||||||
Pos.x = value;
|
|
||||||
}
|
|
||||||
else if (wcscmp(key, _SC("h")) == 0) {
|
|
||||||
Pos.y = value;
|
|
||||||
}
|
|
||||||
sq_pop(v, 2);
|
|
||||||
}
|
|
||||||
sq_pop(v, 1);
|
|
||||||
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Aobj->SetSize(Pos);
|
|
||||||
}
|
|
||||||
else if (sq_gettop(v) == 4) {
|
|
||||||
SQFloat X, Y;
|
|
||||||
sq_getfloat(v, 3, &X);
|
|
||||||
sq_getfloat(v, 4, &Y);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Aobj->SetSize(X, Y);
|
|
||||||
}
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
//角色类通用 设置旋转角度
|
|
||||||
static SQInteger BaseObject_SetRotation(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
SQFloat Value;
|
|
||||||
sq_getfloat(v, 3, &Value);
|
|
||||||
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Aobj->SetRotation(Value);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
//角色类通用 设置透明度
|
|
||||||
static SQInteger BaseObject_SetOpacity(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
SQFloat Value;
|
|
||||||
sq_getfloat(v, 3, &Value);
|
|
||||||
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Aobj->SetOpacity(Value);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
//角色类通用 启用或禁用级联透明度
|
|
||||||
static SQInteger BaseObject_SetCascadeOpacityEnabled(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
SQBool Value;
|
|
||||||
sq_getbool(v, 3, &Value);
|
|
||||||
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Aobj->SetCascadeOpacityEnabled(Value);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
//角色类通用 设置 Z 轴顺序
|
|
||||||
static SQInteger BaseObject_SetZOrder(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
SQInteger Value;
|
|
||||||
sq_getinteger(v, 3, &Value);
|
|
||||||
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Aobj->SetZOrder(Value);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
//角色类通用 判断点是否在角色内
|
|
||||||
static SQInteger BaseObject_IsContainsPoint(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
|
|
||||||
if (sq_gettop(v) == 3) {
|
|
||||||
Point Pos;
|
|
||||||
sq_pushnull(v); // null iterator
|
|
||||||
while (SQ_SUCCEEDED(sq_next(v, 3)))
|
|
||||||
{
|
|
||||||
SQFloat value;
|
|
||||||
sq_getfloat(v, -1, &value);
|
|
||||||
const SQChar* key;
|
|
||||||
sq_getstring(v, -2, &key);
|
|
||||||
|
|
||||||
if (wcscmp(key, _SC("w")) == 0) {
|
|
||||||
Pos.x = value;
|
|
||||||
}
|
|
||||||
else if (wcscmp(key, _SC("h")) == 0) {
|
|
||||||
Pos.y = value;
|
|
||||||
}
|
|
||||||
sq_pop(v, 2);
|
|
||||||
}
|
|
||||||
sq_pop(v, 1);
|
|
||||||
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
sq_pushbool(v, Aobj->ContainsPoint(Pos));
|
|
||||||
}
|
|
||||||
else if (sq_gettop(v) == 4) {
|
|
||||||
SQFloat X, Y;
|
|
||||||
sq_getfloat(v, 3, &X);
|
|
||||||
sq_getfloat(v, 4, &Y);
|
|
||||||
Point Pos(X,Y);
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
sq_pushbool(v, Aobj->ContainsPoint(Pos));
|
|
||||||
}
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
//角色类通用 渲染角色边界
|
|
||||||
static SQInteger BaseObject_ShowBorder(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
SQBool Value;
|
|
||||||
sq_getbool(v, 3, &Value);
|
|
||||||
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Aobj->ShowBorder(Value);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
//角色类通用 旋轉
|
|
||||||
static SQInteger BaseObject_SetRotate(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer A_obj;
|
|
||||||
sq_getuserpointer(v, 2, &A_obj);
|
|
||||||
SQInteger Duration;
|
|
||||||
sq_getinteger(v, 3, &Duration);
|
|
||||||
SQFloat Rotation;
|
|
||||||
sq_getfloat(v, 4, &Rotation);
|
|
||||||
//通过时间和角度设置动画
|
|
||||||
auto rotate_by = animation::RotateBy(Duration, Rotation);
|
|
||||||
//设置无限循环
|
|
||||||
rotate_by.Loops(-1);
|
|
||||||
|
|
||||||
Actor* Aobj = (Actor*)A_obj;
|
|
||||||
Aobj->StartAnimation(rotate_by);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
void RegisterBaseNutApi(const SQChar* funcName, void* funcAddr, HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
sq_pushroottable(v);
|
|
||||||
sq_pushstring(v, funcName, -1);
|
|
||||||
sq_newclosure(v, (SQFUNCTION)funcAddr, 0);
|
|
||||||
sq_newslot(v, -3, false);
|
|
||||||
sq_poptop(v);
|
|
||||||
}
|
|
||||||
|
|
||||||
void RegisterBase(HSQUIRRELVM v) {
|
|
||||||
//打印全部kiwano对象个数
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_DumpTracing"), BaseObject_DumpTracing, v);
|
|
||||||
//读取流的字符串
|
|
||||||
RegisterBaseNutApi(_SC("stream_myreadstring"), _stream_myreadstring, v);
|
|
||||||
//析构函数
|
|
||||||
RegisterBaseNutApi(_SC("Register_Destruction"), Register_Destruction, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_Addchild"), BaseObject_Addchild, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_Removechild"), BaseObject_Removechild, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_SetName"), BaseObject_SetName, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_GetName"), BaseObject_GetName, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_GetId"), BaseObject_GetId, v);
|
|
||||||
|
|
||||||
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_IsVisible"), BaseObject_IsVisible, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_IsCascadeOpacityEnabled"), BaseObject_IsCascadeOpacityEnabled, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_IsEventDispatchEnabled"), BaseObject_IsEventDispatchEnabled, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_GetHashName"), BaseObject_GetHashName, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_GetZOrder"), BaseObject_GetZOrder, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_GetPosition"), BaseObject_GetPosition, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_GetSize"), BaseObject_GetSize, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_GetScaledSize"), BaseObject_GetScaledSize, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_GetAnchor"), BaseObject_GetAnchor, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_GetOpacity"), BaseObject_GetOpacity, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_GetDisplayedOpacity"), BaseObject_GetDisplayedOpacity, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_GetRotation"), BaseObject_GetRotation, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_GetScale"), BaseObject_GetScale, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_GetSkew"), BaseObject_GetSkew, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_GetTransform"), BaseObject_GetTransform, v);
|
|
||||||
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_GetParent"), BaseObject_GetParent, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_GetStage"), BaseObject_GetStage, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_SetVisible"), BaseObject_SetVisible, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_SetPosition"), BaseObject_SetPosition, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_SetScale"), BaseObject_SetScale, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_SetSkew"), BaseObject_SetSkew, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_SetAnchor"), BaseObject_SetAnchor, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_SetSize"), BaseObject_SetSize, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_SetRotation"), BaseObject_SetRotation, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_SetOpacity"), BaseObject_SetOpacity, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_SetCascadeOpacityEnabled"), BaseObject_SetCascadeOpacityEnabled, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_SetZOrder"), BaseObject_SetZOrder, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_IsContainsPoint"), BaseObject_IsContainsPoint, v);
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_ShowBorder"), BaseObject_ShowBorder, v);
|
|
||||||
|
|
||||||
RegisterBaseNutApi(_SC("BaseObject_SetRotate"), BaseObject_SetRotate, v);
|
|
||||||
}
|
|
||||||
|
|
@ -1,34 +0,0 @@
|
||||||
#pragma once
|
|
||||||
#include "SquirrelClassEx.h"
|
|
||||||
|
|
||||||
#include <kiwano/kiwano.h>
|
|
||||||
using namespace kiwano;
|
|
||||||
#include <kiwano-audio/kiwano-audio.h>
|
|
||||||
using namespace kiwano::audio;
|
|
||||||
|
|
||||||
|
|
||||||
static SQInteger Director_EnterStage(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
//»ñµÃÎę̀¶ÔÏó
|
|
||||||
SQUserPointer P;
|
|
||||||
sq_getuserpointer(v, 2, &P);
|
|
||||||
|
|
||||||
Director::GetInstance().EnterStage((StageEx*)P);
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
void RegisterDirectorNutApi(const SQChar* funcName, void* funcAddr, HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
sq_pushroottable(v);
|
|
||||||
sq_pushstring(v, funcName, -1);
|
|
||||||
sq_newclosure(v, (SQFUNCTION)funcAddr, 0);
|
|
||||||
sq_newslot(v, -3, false);
|
|
||||||
sq_poptop(v);
|
|
||||||
}
|
|
||||||
|
|
||||||
void RegisterDirector(HSQUIRRELVM v) {
|
|
||||||
//Îö¹¹º¯Êý
|
|
||||||
RegisterDirectorNutApi(_SC("Director_EnterStage"), Director_EnterStage, v);
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
@ -1,53 +0,0 @@
|
||||||
#pragma once
|
|
||||||
#include "squirrel.h"
|
|
||||||
#include "sqstdaux.h"
|
|
||||||
#include "sqstdblob.h"
|
|
||||||
#include "sqstdio.h"
|
|
||||||
#include "sqstdmath.h"
|
|
||||||
#include "sqstdstring.h"
|
|
||||||
#include "sqstdsystem.h"
|
|
||||||
|
|
||||||
|
|
||||||
#include <kiwano/kiwano.h>
|
|
||||||
using namespace kiwano;
|
|
||||||
|
|
||||||
static SQInteger Input_IsDown(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
//»ñµÃ¼ü
|
|
||||||
SQInteger Key, Model;
|
|
||||||
sq_getinteger(v, 2, &Key);
|
|
||||||
//»ñȡģʽ
|
|
||||||
sq_getinteger(v, 3, &Model);
|
|
||||||
|
|
||||||
//»ñÈ¡ÊäÈë
|
|
||||||
Input& input = Input::GetInstance();
|
|
||||||
bool Flag = false;
|
|
||||||
|
|
||||||
switch (Model)
|
|
||||||
{
|
|
||||||
case 0:
|
|
||||||
Flag = input.IsDown(static_cast<MouseButton>(Key));
|
|
||||||
break;
|
|
||||||
case 1:
|
|
||||||
Flag = input.IsDown(static_cast<KeyCode>(Key));
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
|
|
||||||
sq_pushbool(v, Flag);
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
static void RegisterInputNutApi(const SQChar* funcName, void* funcAddr, HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
sq_pushroottable(v);
|
|
||||||
sq_pushstring(v, funcName, -1);
|
|
||||||
sq_newclosure(v, (SQFUNCTION)funcAddr, 0);
|
|
||||||
sq_newslot(v, -3, false);
|
|
||||||
sq_poptop(v);
|
|
||||||
}
|
|
||||||
|
|
||||||
static void RegisterInput(HSQUIRRELVM v) {
|
|
||||||
|
|
||||||
RegisterInputNutApi(_SC("Input_IsDown"), Input_IsDown, v);
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
@ -1,105 +0,0 @@
|
||||||
#pragma once
|
|
||||||
#include "SquirrelClassEx.h"
|
|
||||||
#include "Npk.h"
|
|
||||||
#include "KiwanoEx/SpriteEx.hpp"
|
|
||||||
|
|
||||||
|
|
||||||
std::unordered_map<std::string, std::map<int, TexturePtr>>ImageRecObject;
|
|
||||||
extern NPK_M* npk;
|
|
||||||
|
|
||||||
static SQInteger Sprite_Create(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SpriteExPtr sprite = new SpriteEx;
|
|
||||||
//如果用这个方式new 增加一次引用计数
|
|
||||||
sprite->Retain();
|
|
||||||
|
|
||||||
sq_pushuserpointer(v, sprite.Get());
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
TexturePtr GetTexturePtrByImg(const std::string ImgPath, const int Frame) {
|
|
||||||
|
|
||||||
if (ImageRecObject.count(ImgPath) && ImageRecObject[ImgPath].count(Frame)) {
|
|
||||||
return ImageRecObject[ImgPath][Frame];
|
|
||||||
}
|
|
||||||
else {
|
|
||||||
IMG* img = npk->ReadNpkTable(ImgPath);
|
|
||||||
DWORD Height = img->lp_lplist[Frame].Height;
|
|
||||||
DWORD Width = img->lp_lplist[Frame].Width;
|
|
||||||
BYTE* Data = img->lp_lplist[Frame].PNGdata;
|
|
||||||
|
|
||||||
BinaryData data = { ((void*)Data) ,Height * Width * 4 };
|
|
||||||
TexturePtr t = new Texture;
|
|
||||||
//如果用这个方式new 增加一次引用计数
|
|
||||||
t->Retain();
|
|
||||||
t->Load(PixelSize(Width, Height), data, PixelFormat::Bpp32BGRA);
|
|
||||||
|
|
||||||
|
|
||||||
t->SetUserData(&img->lp_lplist[Frame]);
|
|
||||||
ImageRecObject[ImgPath][Frame] = t;
|
|
||||||
return t;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
static SQInteger SpriteFrame_Create(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
const SQChar* ImgPath;
|
|
||||||
sq_getstring(v, 2, &ImgPath);
|
|
||||||
SQInteger Idx;
|
|
||||||
sq_getinteger(v, 3, &Idx);
|
|
||||||
|
|
||||||
std::wstring wstr(ImgPath);
|
|
||||||
std::string str(wstr.begin(), wstr.end());
|
|
||||||
TexturePtr Sf = GetTexturePtrByImg(str, Idx);
|
|
||||||
|
|
||||||
sq_pushuserpointer(v, Sf.Get());
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
static SQInteger Sprite_SetFrame(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer SP;
|
|
||||||
sq_getuserpointer(v, 2, &SP);
|
|
||||||
SQUserPointer SF;
|
|
||||||
sq_getuserpointer(v, 3, &SF);
|
|
||||||
|
|
||||||
SpriteEx* X = (SpriteEx*)SP;
|
|
||||||
Texture* XSF = (Texture*)SF;
|
|
||||||
SpriteFrame A = SpriteFrame(XSF);
|
|
||||||
X->SetFrame(A);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
static SQInteger Sprite_SetMode(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer SP;
|
|
||||||
sq_getuserpointer(v, 2, &SP);
|
|
||||||
SQInteger Mode;
|
|
||||||
sq_getinteger(v, 3, &Mode);
|
|
||||||
|
|
||||||
SpriteEx* X = (SpriteEx*)SP;
|
|
||||||
X->SetMode(Mode);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
void RegisterSpriteNutApi(const SQChar* funcName, void* funcAddr, HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
sq_pushroottable(v);
|
|
||||||
sq_pushstring(v, funcName, -1);
|
|
||||||
sq_newclosure(v, (SQFUNCTION)funcAddr, 0);
|
|
||||||
sq_newslot(v, -3, false);
|
|
||||||
sq_poptop(v);
|
|
||||||
}
|
|
||||||
|
|
||||||
void RegisterSprite(HSQUIRRELVM v) {
|
|
||||||
//创建精灵
|
|
||||||
RegisterSpriteNutApi(_SC("Sprite_Create"), Sprite_Create, v);
|
|
||||||
//创建精灵帧
|
|
||||||
RegisterSpriteNutApi(_SC("SpriteFrame_Create"), SpriteFrame_Create, v);
|
|
||||||
//设置精灵帧
|
|
||||||
RegisterSpriteNutApi(_SC("Sprite_SetFrame"), Sprite_SetFrame, v);
|
|
||||||
//设置混合模式
|
|
||||||
RegisterSpriteNutApi(_SC("Sprite_SetMode"), Sprite_SetMode, v);
|
|
||||||
}
|
|
||||||
|
|
@ -1,50 +0,0 @@
|
||||||
#pragma once
|
|
||||||
#include "SquirrelClassEx.h"
|
|
||||||
#include "KiwanoEx/StageEx.hpp"
|
|
||||||
#include <kiwano/kiwano.h>
|
|
||||||
using namespace kiwano;
|
|
||||||
#include <kiwano-audio/kiwano-audio.h>
|
|
||||||
using namespace kiwano::audio;
|
|
||||||
|
|
||||||
SQInteger Stage_Create(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
StageExPtr stage = new StageEx;
|
|
||||||
//如果用这个方式new 增加一次引用计数
|
|
||||||
stage->Retain();
|
|
||||||
|
|
||||||
sq_pushuserpointer(v, stage.Get());
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
SQInteger Stage_BindenvUpdate(HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
SQUserPointer P;
|
|
||||||
sq_getuserpointer(v, 2, &P);
|
|
||||||
|
|
||||||
StageEx* X = (StageEx*)P;
|
|
||||||
|
|
||||||
HSQOBJECT obj;
|
|
||||||
sq_getstackobj(v, 3, &obj);
|
|
||||||
sq_addref(v, &obj);
|
|
||||||
X->SetSqrobj(obj);
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void RegisterStageNutApi(const SQChar* funcName, void* funcAddr, HSQUIRRELVM v)
|
|
||||||
{
|
|
||||||
sq_pushroottable(v);
|
|
||||||
sq_pushstring(v, funcName, -1);
|
|
||||||
sq_newclosure(v, (SQFUNCTION)funcAddr, 0);
|
|
||||||
sq_newslot(v, -3, false);
|
|
||||||
sq_poptop(v);
|
|
||||||
}
|
|
||||||
|
|
||||||
void RegisterStage(HSQUIRRELVM v) {
|
|
||||||
//创建场景
|
|
||||||
RegisterStageNutApi(_SC("Stage_Create"), Stage_Create, v);
|
|
||||||
//绑定update
|
|
||||||
RegisterStageNutApi(_SC("Stage_BindenvUpdate"), Stage_BindenvUpdate, v);
|
|
||||||
}
|
|
||||||
|
|
@ -1,45 +0,0 @@
|
||||||
#pragma once
|
|
||||||
|
|
||||||
|
|
||||||
#include "squirrel.h"
|
|
||||||
#include "sqstdaux.h"
|
|
||||||
#include "sqstdblob.h"
|
|
||||||
#include "sqstdio.h"
|
|
||||||
#include "sqstdmath.h"
|
|
||||||
#include "sqstdstring.h"
|
|
||||||
#include "sqstdsystem.h"
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
class SquirrelClassEx
|
|
||||||
{
|
|
||||||
|
|
||||||
public://输出拓展
|
|
||||||
|
|
||||||
|
|
||||||
public://API类
|
|
||||||
//重载Nut脚本
|
|
||||||
static SQInteger ReloadingScript();
|
|
||||||
//退出游戏
|
|
||||||
static SQInteger Exit(HSQUIRRELVM v);
|
|
||||||
|
|
||||||
public://注册闭包函数
|
|
||||||
//新增nut接口funcName绑定C语言函数funcAddr
|
|
||||||
static void RegisterNutApi(const SQChar* funcName, void* funcAddr, HSQUIRRELVM v);
|
|
||||||
//注册接口
|
|
||||||
void R_Register_Nut(HSQUIRRELVM v);
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
public:
|
|
||||||
SquirrelClassEx() {
|
|
||||||
|
|
||||||
}
|
|
||||||
//初始化
|
|
||||||
void Init();
|
|
||||||
//运行
|
|
||||||
void Run();
|
|
||||||
//关闭
|
|
||||||
void Close();
|
|
||||||
};
|
|
||||||
|
|
@ -1,95 +0,0 @@
|
||||||
#pragma once
|
|
||||||
#include <Windows.h>
|
|
||||||
#include <locale>
|
|
||||||
#include <codecvt>
|
|
||||||
|
|
||||||
#include "squirrel.h"
|
|
||||||
#include "sqstdaux.h"
|
|
||||||
#include "sqstdblob.h"
|
|
||||||
#include "sqstdio.h"
|
|
||||||
#include "sqstdmath.h"
|
|
||||||
#include "sqstdstring.h"
|
|
||||||
#include "sqstdsystem.h"
|
|
||||||
|
|
||||||
class TOOL
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
TOOL() {};
|
|
||||||
~TOOL() {};
|
|
||||||
|
|
||||||
private:
|
|
||||||
|
|
||||||
|
|
||||||
public:
|
|
||||||
|
|
||||||
static char* U8ToU16(const char* szU8)
|
|
||||||
{
|
|
||||||
//预转换，得到所需空间的大小
|
|
||||||
int wcsLen = ::MultiByteToWideChar(CP_UTF8, NULL, szU8, strlen(szU8), NULL, 0);
|
|
||||||
//分配空间要给'\0'留个空间，MultiByteToWideChar不会给'\0'空间
|
|
||||||
wchar_t* wszString = new wchar_t[wcsLen + 1];
|
|
||||||
//转换
|
|
||||||
::MultiByteToWideChar(CP_UTF8, NULL, szU8, strlen(szU8), wszString, wcsLen);
|
|
||||||
//最后加上'\0'
|
|
||||||
wszString[wcsLen] = '\0';
|
|
||||||
|
|
||||||
char* m_char;
|
|
||||||
int len = WideCharToMultiByte(CP_ACP, 0, wszString, wcslen(wszString), NULL, 0, NULL, NULL);
|
|
||||||
m_char = new char[len + 1];
|
|
||||||
WideCharToMultiByte(CP_ACP, 0, wszString, wcslen(wszString), m_char, len, NULL, NULL);
|
|
||||||
delete[]wszString;
|
|
||||||
m_char[len] = '\0';
|
|
||||||
return m_char;
|
|
||||||
}
|
|
||||||
|
|
||||||
static std::string SquirrelU2W(const SQChar* Str)
|
|
||||||
{
|
|
||||||
|
|
||||||
char* wbuffer = (char*)(Str);
|
|
||||||
size_t len = 0;
|
|
||||||
while (wbuffer[len] != 0 || wbuffer[len - 1] != 0)
|
|
||||||
{
|
|
||||||
++len;
|
|
||||||
}
|
|
||||||
char* cbuffer = new char[len / 2 + 1];
|
|
||||||
int k = 0;
|
|
||||||
for (size_t i = 0; i < len; i += 2)
|
|
||||||
{
|
|
||||||
cbuffer[k] = wbuffer[i];
|
|
||||||
++k;
|
|
||||||
}
|
|
||||||
cbuffer[k] = '\0';
|
|
||||||
char* Text = U8ToU16(cbuffer);
|
|
||||||
delete[]cbuffer;
|
|
||||||
std::string RetStr(Text);
|
|
||||||
delete[]Text;
|
|
||||||
return RetStr;
|
|
||||||
}
|
|
||||||
|
|
||||||
static char* ConvertAnsiToUtf8(const char* szAnsi) {
|
|
||||||
// 第一步：将ANSI字符串转换为宽字符字符串
|
|
||||||
int wcsLen = ::MultiByteToWideChar(CP_ACP, 0, szAnsi, -1, NULL, 0);
|
|
||||||
wchar_t* wszString = new wchar_t[wcsLen];
|
|
||||||
::MultiByteToWideChar(CP_ACP, 0, szAnsi, -1, wszString, wcsLen);
|
|
||||||
|
|
||||||
// 第二步：将宽字符字符串转换回UTF-8字符串
|
|
||||||
int utf8Len = ::WideCharToMultiByte(CP_UTF8, 0, wszString, wcsLen, NULL, 0, NULL, NULL);
|
|
||||||
char* szUtf8 = new char[utf8Len];
|
|
||||||
::WideCharToMultiByte(CP_UTF8, 0, wszString, wcsLen, szUtf8, utf8Len, NULL, NULL);
|
|
||||||
|
|
||||||
delete[] wszString; // 释放宽字符字符串的内存
|
|
||||||
|
|
||||||
szUtf8[utf8Len - 1] = '\0'; // 确保字符串以'\0'结尾
|
|
||||||
return szUtf8;
|
|
||||||
}
|
|
||||||
|
|
||||||
static std::wstring charTowchar_t(std::string Str)
|
|
||||||
{
|
|
||||||
char* Sn = ConvertAnsiToUtf8(Str.c_str());
|
|
||||||
std::string B(Sn);
|
|
||||||
std::wstring Ret(B.begin(), B.end());
|
|
||||||
delete[]Sn;
|
|
||||||
//std::wcout << Ret << std::endl;
|
|
||||||
return Ret;
|
|
||||||
}
|
|
||||||
};
|
|
||||||
|
|
@ -1,178 +0,0 @@
|
||||||
#pragma once
|
|
||||||
|
|
||||||
#include <functional>
|
|
||||||
#include <mutex>
|
|
||||||
#include <list>
|
|
||||||
#include <thread>
|
|
||||||
#include <memory>
|
|
||||||
#include <atomic>
|
|
||||||
#include <stdio.h>
|
|
||||||
#include <map>
|
|
||||||
#include <sstream>
|
|
||||||
#include <condition_variable>
|
|
||||||
#include <assert.h>
|
|
||||||
|
|
||||||
#define WThreadPool_log(fmt, ...) {printf(fmt, ##__VA_ARGS__);printf("\n");fflush(stdout);}
|
|
||||||
|
|
||||||
#define WPOOL_MIN_THREAD_NUM 4
|
|
||||||
#define WPOOL_MAX_THREAD_NUM 256
|
|
||||||
#define WPOOL_MANAGE_SECONDS 20
|
|
||||||
#define ADD_THREAD_BOUNDARY 1
|
|
||||||
|
|
||||||
using EventFun = std::function<void ()>;
|
|
||||||
using int64 = long long int;
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
template <typename T>
|
|
||||||
class LockQueue
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
LockQueue()
|
|
||||||
{
|
|
||||||
QueueNode* node = new QueueNode();
|
|
||||||
node->next = nullptr;
|
|
||||||
// head->next is the first node, _tail point to last node, not _tail->next
|
|
||||||
_head = node;
|
|
||||||
_tail = _head;
|
|
||||||
};
|
|
||||||
virtual ~LockQueue()
|
|
||||||
{
|
|
||||||
clear();
|
|
||||||
delete _head;
|
|
||||||
_head = nullptr;
|
|
||||||
_tail = nullptr;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct QueueNode
|
|
||||||
{
|
|
||||||
T value;
|
|
||||||
QueueNode* next;
|
|
||||||
};
|
|
||||||
|
|
||||||
bool enQueue(T data)
|
|
||||||
{
|
|
||||||
QueueNode* node = new (std::nothrow) QueueNode();
|
|
||||||
if (!node)
|
|
||||||
{
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
node->value = data;
|
|
||||||
node->next = nullptr;
|
|
||||||
|
|
||||||
std::unique_lock<std::mutex> locker(_mutex);
|
|
||||||
_tail->next = node;
|
|
||||||
_tail = node;
|
|
||||||
_queueSize++;
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
bool deQueue(T& data)
|
|
||||||
{
|
|
||||||
std::unique_lock<std::mutex> locker(_mutex);
|
|
||||||
QueueNode* currentFirstNode = _head->next;
|
|
||||||
if (!currentFirstNode)
|
|
||||||
{
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
_head->next = currentFirstNode->next;
|
|
||||||
data = currentFirstNode->value;
|
|
||||||
delete currentFirstNode;
|
|
||||||
_queueSize--;
|
|
||||||
if (_queueSize == 0)
|
|
||||||
{
|
|
||||||
_tail = _head;
|
|
||||||
}
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
int64_t size()
|
|
||||||
{
|
|
||||||
return _queueSize;
|
|
||||||
}
|
|
||||||
|
|
||||||
void clear()
|
|
||||||
{
|
|
||||||
T data;
|
|
||||||
while (deQueue(data));
|
|
||||||
}
|
|
||||||
|
|
||||||
bool empty()
|
|
||||||
{
|
|
||||||
return (_queueSize <= 0);
|
|
||||||
}
|
|
||||||
private:
|
|
||||||
QueueNode* _head;
|
|
||||||
QueueNode* _tail;
|
|
||||||
int64_t _queueSize = 0;
|
|
||||||
std::mutex _mutex;
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
class WThreadPool
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
WThreadPool();
|
|
||||||
virtual ~WThreadPool();
|
|
||||||
|
|
||||||
static WThreadPool * globalInstance();
|
|
||||||
|
|
||||||
void setMaxThreadNum(int maxNum);
|
|
||||||
bool waitForDone(int waitMs = -1);
|
|
||||||
|
|
||||||
template<typename Func, typename ...Arguments >
|
|
||||||
void concurrentRun(Func func, Arguments... args) {
|
|
||||||
EventFun queunFun = std::bind(func, args...);
|
|
||||||
enQueueEvent(queunFun);
|
|
||||||
if (((int)_workThreadList.size() < _maxThreadNum) &&
|
|
||||||
(_eventQueue.size() >= ((int)_workThreadList.size() - _busyThreadNum - ADD_THREAD_BOUNDARY)))
|
|
||||||
{
|
|
||||||
_mgrCondVar.notify_one();
|
|
||||||
}
|
|
||||||
_workCondVar.notify_one();
|
|
||||||
}
|
|
||||||
|
|
||||||
template<typename T> static int64_t threadIdToint64(T threadId)
|
|
||||||
{
|
|
||||||
std::string stid;
|
|
||||||
stid.resize(32);
|
|
||||||
snprintf((char *)stid.c_str(), 32, "%lld", threadId);
|
|
||||||
long long int tid = std::stoll(stid);
|
|
||||||
return tid;
|
|
||||||
}
|
|
||||||
|
|
||||||
private:
|
|
||||||
int _minThreadNum = WPOOL_MIN_THREAD_NUM;
|
|
||||||
int _maxThreadNum = 8;
|
|
||||||
std::atomic<int> _busyThreadNum = {0};
|
|
||||||
int _stepThreadNum = 4;
|
|
||||||
volatile bool _exitAllFlag = false;
|
|
||||||
std::atomic<int> _reduceThreadNum = {0};
|
|
||||||
|
|
||||||
std::shared_ptr<std::thread> _mgrThread;
|
|
||||||
LockQueue<EventFun> _eventQueue;
|
|
||||||
std::list<std::shared_ptr<std::thread>> _workThreadList;
|
|
||||||
|
|
||||||
std::mutex _threadIsRunMutex;
|
|
||||||
std::map<std::thread::id, bool> _threadIsRunMap;
|
|
||||||
|
|
||||||
std::condition_variable _workCondVar;
|
|
||||||
std::mutex _workMutex;
|
|
||||||
std::condition_variable _mgrCondVar;
|
|
||||||
std::mutex _mgrMutex;
|
|
||||||
|
|
||||||
static std::shared_ptr<WThreadPool> s_threadPool;
|
|
||||||
static std::mutex s_globleMutex;
|
|
||||||
|
|
||||||
void enQueueEvent(EventFun fun);
|
|
||||||
EventFun deQueueEvent();
|
|
||||||
void run();
|
|
||||||
void managerThread();
|
|
||||||
void stop();
|
|
||||||
void startWorkThread();
|
|
||||||
void stopWorkThread();
|
|
||||||
void adjustWorkThread();
|
|
||||||
};
|
|
||||||
|
|
||||||
Binary file not shown.
|
After Width: | Height: | Size: 2.3 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 21 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 42 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 42 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 46 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 2.1 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 18 KiB |
|
|
@ -0,0 +1,264 @@
|
||||||
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
|
<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||||
|
<ItemGroup>
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Box2D.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Collision\b2BroadPhase.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Collision\b2Collision.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Collision\b2Distance.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Collision\b2DynamicTree.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Collision\b2TimeOfImpact.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Collision\Shapes\b2ChainShape.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Collision\Shapes\b2CircleShape.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Collision\Shapes\b2EdgeShape.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Collision\Shapes\b2PolygonShape.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Collision\Shapes\b2Shape.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Common\b2BlockAllocator.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Common\b2Draw.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Common\b2GrowableStack.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Common\b2Math.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Common\b2Settings.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Common\b2StackAllocator.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Common\b2Timer.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Dynamics\b2Body.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Dynamics\b2ContactManager.h" />
|
||||||
|
<ClInclude Include="..\..\..\src\3rd-party\Box2D\Dynamics\b2Fixture.h" />
|
||||||
|
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
|
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||||||
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|
||||||
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|
||||||
|
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||||||
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||||||
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|
||||||
|
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||||||
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||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
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|
||||||
|
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|
||||||
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||||||
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|
||||||
|
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|
||||||
|
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|
||||||
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|
||||||
|
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|
||||||
|
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|
||||||
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|
||||||
|
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|
||||||
|
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|
||||||
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
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|
||||||
|
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|
||||||
|
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|
||||||
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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||||||
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|
||||||
|
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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||||||
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@ -0,0 +1,183 @@
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Global
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GlobalSection(SolutionConfigurationPlatforms) = preSolution
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Release|Win32 = Release|Win32
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|
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<Filter>event\listener</Filter>
|
||||||
|
</ClCompile>
|
||||||
|
<ClCompile Include="..\..\src\kiwano\render\DirectX\TextDrawingEffect.cpp">
|
||||||
|
<Filter>render\DirectX</Filter>
|
||||||
|
</ClCompile>
|
||||||
|
</ItemGroup>
|
||||||
|
<ItemGroup>
|
||||||
|
<None Include="suppress_warning.ruleset" />
|
||||||
|
</ItemGroup>
|
||||||
|
</Project>
|
||||||
|
|
@ -0,0 +1,7 @@
|
||||||
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
|
<RuleSet Name="suppress_warning" ToolsVersion="16.0">
|
||||||
|
<Include Path="nativerecommendedrules.ruleset" Action="Default" />
|
||||||
|
<Rules AnalyzerId="Microsoft.Analyzers.NativeCodeAnalysis" RuleNamespace="Microsoft.Rules.Native">
|
||||||
|
<Rule Id="C26812" Action="None" />
|
||||||
|
</Rules>
|
||||||
|
</RuleSet>
|
||||||
|
|
@ -0,0 +1,17 @@
|
||||||
|
function Get-AppVeyorArtifacts {
|
||||||
|
param(
|
||||||
|
[string]$Job
|
||||||
|
)
|
||||||
|
|
||||||
|
if (-not ($env:APPVEYOR_API_TOKEN)) {
|
||||||
|
throw "missing api token for AppVeyor."
|
||||||
|
}
|
||||||
|
if (-not ($env:APPVEYOR_ACCOUNT_NAME)) {
|
||||||
|
throw "not an appveyor build."
|
||||||
|
}
|
||||||
|
|
||||||
|
return Invoke-RestMethod -Method GET -Uri "https://ci.appveyor.com/api/buildjobs/$Job/artifacts" -Headers @{
|
||||||
|
"Authorization" = "Bearer $env:APPVEYOR_API_TOKEN"
|
||||||
|
"Content-type" = "application/json"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,15 @@
|
||||||
|
function Get-AppVeyorBuild {
|
||||||
|
param()
|
||||||
|
|
||||||
|
if (-not ($env:APPVEYOR_API_TOKEN)) {
|
||||||
|
throw "missing api token for AppVeyor."
|
||||||
|
}
|
||||||
|
if (-not ($env:APPVEYOR_ACCOUNT_NAME)) {
|
||||||
|
throw "not an appveyor build."
|
||||||
|
}
|
||||||
|
|
||||||
|
return Invoke-RestMethod -Method GET -Uri "https://ci.appveyor.com/api/projects/$env:APPVEYOR_ACCOUNT_NAME/$env:APPVEYOR_PROJECT_SLUG/build/$env:APPVEYOR_BUILD_VERSION" -Headers @{
|
||||||
|
"Authorization" = "Bearer $env:APPVEYOR_API_TOKEN"
|
||||||
|
"Content-type" = "application/json"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,40 @@
|
||||||
|
function Set-FileConfiguration {
|
||||||
|
param(
|
||||||
|
[string]$filePath
|
||||||
|
)
|
||||||
|
|
||||||
|
$debugInfoReplace = "<DebugInformationFormat>(EditAndContinue|ProgramDatabase)</DebugInformationFormat>"
|
||||||
|
$debugInfoReplaceTo = "<DebugInformationFormat>None</DebugInformationFormat>"
|
||||||
|
|
||||||
|
$optimizationReplace = "<WholeProgramOptimization>true</WholeProgramOptimization>"
|
||||||
|
$optimizationReplaceTo = "<WholeProgramOptimization>false</WholeProgramOptimization>"
|
||||||
|
|
||||||
|
# Create a copy of .vcxproj file
|
||||||
|
Copy-Item -Path $filePath -Destination ($filePath + '.template')
|
||||||
|
|
||||||
|
# Overlay some configurations
|
||||||
|
Get-Content ($filePath + '.template') -Encoding UTF8 | ForEach-Object {
|
||||||
|
( $_ -replace $debugInfoReplace, $debugInfoReplaceTo ) -replace $optimizationReplace, $optimizationReplaceTo
|
||||||
|
} | Out-File $filePath -Encoding UTF8
|
||||||
|
|
||||||
|
# Delete the copy file
|
||||||
|
Remove-Item -Path ($filePath + '.template')
|
||||||
|
}
|
||||||
|
|
||||||
|
Get-ChildItem -Path 'projects\' -Directory | ForEach-Object {
|
||||||
|
$dirPath = "projects\$($_)"
|
||||||
|
|
||||||
|
# Search all vcxproj files
|
||||||
|
Get-ChildItem -Path $dirPath *.vcxproj -File | ForEach-Object {
|
||||||
|
Set-FileConfiguration ($dirPath + '\' + $_)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
Get-ChildItem -Path 'projects\3rd-party' -Directory | ForEach-Object {
|
||||||
|
$dirPath = "projects\3rd-party\$($_)"
|
||||||
|
|
||||||
|
# Search all vcxproj files
|
||||||
|
Get-ChildItem -Path $dirPath *.vcxproj -File | ForEach-Object {
|
||||||
|
Set-FileConfiguration ($dirPath + '\' + $_)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,49 @@
|
||||||
|
. .\scripts\appveyor\appveyor_get_build.ps1
|
||||||
|
. .\scripts\appveyor\appveyor_get_artifacts.ps1
|
||||||
|
. .\scripts\appveyor\copy_recurse.ps1
|
||||||
|
|
||||||
|
# get job artifacts
|
||||||
|
Write-Host "Start to download artifacts from other jobs"
|
||||||
|
|
||||||
|
(Get-AppVeyorBuild).build.jobs | foreach-object {
|
||||||
|
$jobId = $_.jobId
|
||||||
|
if ($jobId -ne $env:APPVEYOR_JOB_ID) {
|
||||||
|
# Get job artifacts information
|
||||||
|
(Get-AppVeyorArtifacts -Job $jobId) | foreach-object {
|
||||||
|
# Create directory if not exists
|
||||||
|
$filePath = $_.fileName.Substring(0, $_.fileName.LastIndexOf('/'))
|
||||||
|
if (!(Test-Path -Path $filePath)) {
|
||||||
|
New-Item -ItemType "directory" -Path $filePath
|
||||||
|
}
|
||||||
|
# Download artifact from other job
|
||||||
|
Start-FileDownload "https://ci.appveyor.com/api/buildjobs/$jobId/artifacts/$($_.fileName)" -FileName $_.fileName
|
||||||
|
}
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
Write-Host "Start to build nupkg files"
|
||||||
|
|
||||||
|
# This is the CoApp .autopkg file to create.
|
||||||
|
$autopkgFile = "scripts\coapp\kiwano.autopkg"
|
||||||
|
|
||||||
|
# Copy include files
|
||||||
|
Copy-Recurse -Path "src\" -Destination "include\" -Filter "*.h"
|
||||||
|
Copy-Recurse -Path "src\" -Destination "include\" -Filter "*.hpp"
|
||||||
|
Remove-Item -Path "include\3rd-party" -Recurse
|
||||||
|
Copy-Recurse -Path "src\3rd-party\" -Destination "include\" -Filter "*.h"
|
||||||
|
Copy-Recurse -Path "src\3rd-party\" -Destination "include\" -Filter "*.hpp"
|
||||||
|
|
||||||
|
# Create a copy of ".autopkg" file
|
||||||
|
Copy-Item -Path $autopkgFile -Destination ($autopkgFile + '.template')
|
||||||
|
|
||||||
|
# Get the ".autopkg.template" file, replace "@appveyor_version" with the Appveyor version number, then save to the ".autopkg" file.
|
||||||
|
Get-Content ($autopkgFile + ".template") -Encoding UTF8 | ForEach-Object { $_ -replace "@appveyor_version", $env:appveyor_build_version } | Out-File $autopkgFile -Encoding UTF8
|
||||||
|
|
||||||
|
# Delete the copy file
|
||||||
|
Remove-Item -Path ($autopkgFile + '.template')
|
||||||
|
|
||||||
|
# Use the CoApp tools to create NuGet native packages from the .autopkg.
|
||||||
|
Write-NuGetPackage $autopkgFile
|
||||||
|
|
||||||
|
# Push all newly created .nupkg files as Appveyor artifacts for later deployment.
|
||||||
|
Get-ChildItem .\*.nupkg | ForEach-Object { Push-AppveyorArtifact $_.FullName -FileName $_.Name }
|
||||||
|
|
@ -0,0 +1,23 @@
|
||||||
|
function Copy-Recurse {
|
||||||
|
param(
|
||||||
|
[string]$Path,
|
||||||
|
[string]$Destination,
|
||||||
|
[string]$Filter
|
||||||
|
)
|
||||||
|
|
||||||
|
New-Item -ItemType Directory -Force -Path $Destination | Out-Null
|
||||||
|
|
||||||
|
Get-ChildItem -Recurse -Path $Path -Filter $Filter | ForEach-Object {
|
||||||
|
$relativePath = $_.FullName.Replace((Resolve-Path $Path).Path, "")
|
||||||
|
$targetFile = Join-Path -Path $Destination -ChildPath $relativePath
|
||||||
|
|
||||||
|
$targetFileDirectory = Split-Path -Path $targetFile -Parent
|
||||||
|
|
||||||
|
if (!(Test-Path $targetFileDirectory))
|
||||||
|
{
|
||||||
|
New-Item -ItemType Directory -Force -Path $targetFileDirectory | Out-Null
|
||||||
|
}
|
||||||
|
|
||||||
|
Copy-Item -Path $_.FullName -Destination $targetFile -Force
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,11 @@
|
||||||
|
# Download the CoApp tools.
|
||||||
|
# $msiPath = "$($env:USERPROFILE)\CoApp.Tools.Powershell.msi"
|
||||||
|
# (New-Object Net.WebClient).DownloadFile('https://coapp.github.io//files/CoApp.Tools.Powershell.msi', $msiPath)
|
||||||
|
$msiPath = "scripts\coapp\CoApp.Tools.Powershell.msi"
|
||||||
|
|
||||||
|
# Install the CoApp tools from the downloaded .msi.
|
||||||
|
Start-Process -FilePath msiexec -ArgumentList /i, $msiPath, /quiet -Wait
|
||||||
|
|
||||||
|
# Make the tools available for later PS scripts to use.
|
||||||
|
$env:PSModulePath = $env:PSModulePath + ';C:\Program Files (x86)\Outercurve Foundation\Modules'
|
||||||
|
Import-Module CoApp
|
||||||
|
|
@ -0,0 +1,34 @@
|
||||||
|
. .\scripts\appveyor\appveyor_get_build.ps1
|
||||||
|
|
||||||
|
# Ignore commits without APPVEYOR_API_TOKEN envrionment variable
|
||||||
|
if (-not ($env:APPVEYOR_API_TOKEN)) { return }
|
||||||
|
|
||||||
|
# Only deploy when commit message contains "[deploy]"
|
||||||
|
if (!(Get-AppVeyorBuild).build.message.Contains('[deploy]')) { return }
|
||||||
|
|
||||||
|
# Deploy once on last job
|
||||||
|
if ($env:APPVEYOR_JOB_NUMBER -ne $env:job_to_deploy) { return }
|
||||||
|
|
||||||
|
# Wait for other jobs complete
|
||||||
|
Write-Host "Waiting for other jobs to complete"
|
||||||
|
|
||||||
|
[datetime]$stop = ([datetime]::Now).AddMinutes($env:time_out_mins)
|
||||||
|
[bool]$success = $false
|
||||||
|
|
||||||
|
while(!$success -and ([datetime]::Now) -lt $stop) {
|
||||||
|
$success = $true
|
||||||
|
(Get-AppVeyorBuild).build.jobs | foreach-object {
|
||||||
|
if (($_.jobId -ne $env:APPVEYOR_JOB_ID) -and ($_.status -ne "success")) {
|
||||||
|
$success = $false
|
||||||
|
}
|
||||||
|
Write-Host "Job `"$($_.jobId)`" $($_.status)";
|
||||||
|
}
|
||||||
|
if (!$success) { Start-sleep 5 }
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!$success) {
|
||||||
|
throw "Test jobs were not finished in $env:time_out_mins minutes"
|
||||||
|
}
|
||||||
|
|
||||||
|
# Set flag to deploy
|
||||||
|
$env:flag_to_deploy = $success
|
||||||
|
|
@ -0,0 +1,84 @@
|
||||||
|
#!/bin/bash
|
||||||
|
#
|
||||||
|
# clang-format-all: a tool to run clang-format on an entire project
|
||||||
|
# Copyright (C) 2016 Evan Klitzke <evan@eklitzke.org>
|
||||||
|
#
|
||||||
|
# This program is free software: you can redistribute it and/or modify
|
||||||
|
# it under the terms of the GNU General Public License as published by
|
||||||
|
# the Free Software Foundation, either version 3 of the License, or
|
||||||
|
# (at your option) any later version.
|
||||||
|
#
|
||||||
|
# This program is distributed in the hope that it will be useful,
|
||||||
|
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
# GNU General Public License for more details.
|
||||||
|
#
|
||||||
|
# You should have received a copy of the GNU General Public License
|
||||||
|
# along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
|
||||||
|
function usage {
|
||||||
|
echo "Usage: $0 DIR..."
|
||||||
|
exit 1
|
||||||
|
}
|
||||||
|
|
||||||
|
if [ $# -eq 0 ]; then
|
||||||
|
usage
|
||||||
|
fi
|
||||||
|
|
||||||
|
# Variable that will hold the name of the clang-format command
|
||||||
|
FMT=""
|
||||||
|
|
||||||
|
# Some distros just call it clang-format. Others (e.g. Ubuntu) are insistent
|
||||||
|
# that the version number be part of the command. We prefer clang-format if
|
||||||
|
# that's present, otherwise we work backwards from highest version to lowest
|
||||||
|
# version.
|
||||||
|
for clangfmt in clang-format{,-{4,3}.{9,8,7,6,5,4,3,2,1,0}}; do
|
||||||
|
if which "$clangfmt" &>/dev/null; then
|
||||||
|
FMT="$clangfmt"
|
||||||
|
break
|
||||||
|
fi
|
||||||
|
done
|
||||||
|
|
||||||
|
# Check if we found a working clang-format
|
||||||
|
if [ -z "$FMT" ]; then
|
||||||
|
echo "failed to find clang-format"
|
||||||
|
exit 1
|
||||||
|
fi
|
||||||
|
|
||||||
|
# Check all of the arguments first to make sure they're all directories
|
||||||
|
for dir in "$@"; do
|
||||||
|
if [ ! -d "${dir}" ]; then
|
||||||
|
echo "${dir} is not a directory"
|
||||||
|
usage
|
||||||
|
fi
|
||||||
|
done
|
||||||
|
|
||||||
|
# Find a dominating file, starting from a given directory and going up.
|
||||||
|
find-dominating-file() {
|
||||||
|
if [ -r "$1"/"$2" ]; then
|
||||||
|
return 0
|
||||||
|
fi
|
||||||
|
if [ "$1" = "/" ]; then
|
||||||
|
return 1
|
||||||
|
fi
|
||||||
|
find-dominating-file "$(realpath "$1"/..)" "$2"
|
||||||
|
return $?
|
||||||
|
}
|
||||||
|
|
||||||
|
# Run clang-format -i on all of the things
|
||||||
|
for dir in "$@"; do
|
||||||
|
pushd "${dir}" &>/dev/null
|
||||||
|
if ! find-dominating-file . .clang-format; then
|
||||||
|
echo "Failed to find dominating .clang-format starting at $PWD"
|
||||||
|
continue
|
||||||
|
fi
|
||||||
|
find . \
|
||||||
|
\( -name '*.c' \
|
||||||
|
-o -name '*.cc' \
|
||||||
|
-o -name '*.cpp' \
|
||||||
|
-o -name '*.h' \
|
||||||
|
-o -name '*.hh' \
|
||||||
|
-o -name '*.hpp' \) \
|
||||||
|
-exec "${FMT}" -i '{}' \;
|
||||||
|
popd &>/dev/null
|
||||||
|
done
|
||||||
Binary file not shown.
|
|
@ -0,0 +1,141 @@
|
||||||
|
#defines {
|
||||||
|
// Global variables may be added here.
|
||||||
|
// Variables on the "value" side of each definition will be processed at access time.
|
||||||
|
// GlobalVar1 = "";
|
||||||
|
}
|
||||||
|
|
||||||
|
configurations {
|
||||||
|
// This node contains pivot information.
|
||||||
|
// These are discussed in detail in the Pivots section.
|
||||||
|
Toolset {
|
||||||
|
key : "PlatformToolset";
|
||||||
|
choices: { v143, v142, v141, v140 };
|
||||||
|
};
|
||||||
|
|
||||||
|
Platform {
|
||||||
|
key : "Platform";
|
||||||
|
choices: { Win32, x64 };
|
||||||
|
Win32.aliases : { x86, win32, 386 };
|
||||||
|
};
|
||||||
|
|
||||||
|
Configuration {
|
||||||
|
key : "Configuration";
|
||||||
|
choices: { Release, Debug };
|
||||||
|
};
|
||||||
|
|
||||||
|
Linkage {
|
||||||
|
choices : { dynamic, static };
|
||||||
|
description = "Which version of the .lib file to link to this library";
|
||||||
|
|
||||||
|
dynamic.description = "Dynamic Library (DLL)";
|
||||||
|
static.description = "Static";
|
||||||
|
};
|
||||||
|
|
||||||
|
// Only really applicable to x86
|
||||||
|
CallingConvention {
|
||||||
|
choices : { cdecl };
|
||||||
|
description = "Calling convention model to use (for x86 only)";
|
||||||
|
cdecl.description = "cdecl";
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
nuget {
|
||||||
|
|
||||||
|
#defines {
|
||||||
|
// Variable definitions specific to this node (ie. "nuget").
|
||||||
|
// Only available while inside this scope.
|
||||||
|
// This metadata is not needed for most packages and is typically omitted.
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
// The nuspec file metadata.
|
||||||
|
nuspec {
|
||||||
|
id = Kiwano;
|
||||||
|
// "appveyor_version" is replaced by the current Appveyor build number in the
|
||||||
|
// pre-deployment script.
|
||||||
|
version: @appveyor_version;
|
||||||
|
title: Kiwano Game Framework;
|
||||||
|
authors: Nomango;
|
||||||
|
owners: Nomango;
|
||||||
|
licenseUrl: "https://github.com/KiwanoEngine/Kiwano/blob/master/LICENSE";
|
||||||
|
projectUrl: "https://github.com/KiwanoEngine/Kiwano";
|
||||||
|
iconUrl: "https://github.com/KiwanoEngine/Kiwano/raw/master/logo/logo.png";
|
||||||
|
description: A simple game framework for C++;
|
||||||
|
releaseNotes: "Initial release of a Nuget package for Kiwano Game Engine";
|
||||||
|
copyright: Copyright 2019;
|
||||||
|
tags: { C++, GameFramework, Kiwano };
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
#output-packages {
|
||||||
|
// Output file definitions. These are covered in detail in Output Files.
|
||||||
|
// This metadata is not needed for most packages and is typically omitted.
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
dependencies {
|
||||||
|
// This node defines any outside items which may be needed to consume this package.
|
||||||
|
packages : {
|
||||||
|
// This is a list of other NuGet packages required to use this package.
|
||||||
|
// Each item follows the format "<pkg_name>/<version>"
|
||||||
|
// my_pkg/1.0.0,
|
||||||
|
// my_other_pkg/2.1.5.33
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
files {
|
||||||
|
#defines {
|
||||||
|
INCLUDE_ROOT = ..\..\include;
|
||||||
|
SRC_ROOT = ..\..\src;
|
||||||
|
OUTPUT_DIR = ..\..\projects\output;
|
||||||
|
}
|
||||||
|
|
||||||
|
include: {
|
||||||
|
${INCLUDE_ROOT}\**\*.h,
|
||||||
|
${INCLUDE_ROOT}\**\*.hpp,
|
||||||
|
};
|
||||||
|
|
||||||
|
// third patry
|
||||||
|
bin: {
|
||||||
|
${SRC_ROOT}\3rd-party\**\*.dll
|
||||||
|
};
|
||||||
|
|
||||||
|
("v140,v141,v142,v143", "Win32,x64", "Debug") => {
|
||||||
|
[${0},${1},${2}] {
|
||||||
|
lib: { ${OUTPUT_DIR}\${0}\${1}\${2}\*.lib };
|
||||||
|
symbols: { ${OUTPUT_DIR}\${0}\${1}\${2}\*.pdb };
|
||||||
|
};
|
||||||
|
};
|
||||||
|
|
||||||
|
("v140,v141,v142,v143", "Win32,x64", "Release") => {
|
||||||
|
[${0},${1},${2}] {
|
||||||
|
lib: { ${OUTPUT_DIR}\${0}\${1}\${2}\*.lib };
|
||||||
|
};
|
||||||
|
};
|
||||||
|
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
props {
|
||||||
|
// Additional declarations to insert into consuming projects before most of the
|
||||||
|
// project settings. (These may be modified in visual studio by a developer
|
||||||
|
// consuming this package.)
|
||||||
|
// This node is typically not needed for most packages and may be omitted.
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
targets {
|
||||||
|
// Additional declarations to insert into consuming projects after most of the
|
||||||
|
// project settings. (These may NOT be modified in visual studio by a developer
|
||||||
|
// consuming this package.)
|
||||||
|
// This node is often used to set defines that are required that must be set by
|
||||||
|
// the consuming project in order to correctly link to the libraries in this
|
||||||
|
// package. Such defines may be set either globally or only set under specific
|
||||||
|
// conditions.
|
||||||
|
//Defines += HAS_MyLib;
|
||||||
|
//[dynamic]
|
||||||
|
// Defines += HAS_MyLib;
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,68 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BOX2D_H
|
||||||
|
#define BOX2D_H
|
||||||
|
|
||||||
|
/**
|
||||||
|
\mainpage Box2D API Documentation
|
||||||
|
|
||||||
|
\section intro_sec Getting Started
|
||||||
|
|
||||||
|
For documentation please see http://box2d.org/documentation.html
|
||||||
|
|
||||||
|
For discussion please visit http://box2d.org/forum
|
||||||
|
*/
|
||||||
|
|
||||||
|
// These include files constitute the main Box2D API
|
||||||
|
|
||||||
|
#include "Common/b2Settings.h"
|
||||||
|
#include "Common/b2Draw.h"
|
||||||
|
#include "Common/b2Timer.h"
|
||||||
|
|
||||||
|
#include "Collision/Shapes/b2CircleShape.h"
|
||||||
|
#include "Collision/Shapes/b2EdgeShape.h"
|
||||||
|
#include "Collision/Shapes/b2ChainShape.h"
|
||||||
|
#include "Collision/Shapes/b2PolygonShape.h"
|
||||||
|
|
||||||
|
#include "Collision/b2BroadPhase.h"
|
||||||
|
#include "Collision/b2Distance.h"
|
||||||
|
#include "Collision/b2DynamicTree.h"
|
||||||
|
#include "Collision/b2TimeOfImpact.h"
|
||||||
|
|
||||||
|
#include "Dynamics/b2Body.h"
|
||||||
|
#include "Dynamics/b2Fixture.h"
|
||||||
|
#include "Dynamics/b2WorldCallbacks.h"
|
||||||
|
#include "Dynamics/b2TimeStep.h"
|
||||||
|
#include "Dynamics/b2World.h"
|
||||||
|
|
||||||
|
#include "Dynamics/Contacts/b2Contact.h"
|
||||||
|
|
||||||
|
#include "Dynamics/Joints/b2DistanceJoint.h"
|
||||||
|
#include "Dynamics/Joints/b2FrictionJoint.h"
|
||||||
|
#include "Dynamics/Joints/b2GearJoint.h"
|
||||||
|
#include "Dynamics/Joints/b2MotorJoint.h"
|
||||||
|
#include "Dynamics/Joints/b2MouseJoint.h"
|
||||||
|
#include "Dynamics/Joints/b2PrismaticJoint.h"
|
||||||
|
#include "Dynamics/Joints/b2PulleyJoint.h"
|
||||||
|
#include "Dynamics/Joints/b2RevoluteJoint.h"
|
||||||
|
#include "Dynamics/Joints/b2RopeJoint.h"
|
||||||
|
#include "Dynamics/Joints/b2WeldJoint.h"
|
||||||
|
#include "Dynamics/Joints/b2WheelJoint.h"
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,98 @@
|
||||||
|
include_directories(..)
|
||||||
|
|
||||||
|
set(SOURCE_FILES
|
||||||
|
Collision/Shapes/b2ChainShape.cpp
|
||||||
|
Collision/Shapes/b2ChainShape.h
|
||||||
|
Collision/Shapes/b2CircleShape.cpp
|
||||||
|
Collision/Shapes/b2CircleShape.h
|
||||||
|
Collision/Shapes/b2EdgeShape.cpp
|
||||||
|
Collision/Shapes/b2EdgeShape.h
|
||||||
|
Collision/Shapes/b2PolygonShape.cpp
|
||||||
|
Collision/Shapes/b2PolygonShape.h
|
||||||
|
Collision/Shapes/b2Shape.h
|
||||||
|
Collision/b2BroadPhase.cpp
|
||||||
|
Collision/b2BroadPhase.h
|
||||||
|
Collision/b2CollideCircle.cpp
|
||||||
|
Collision/b2CollideEdge.cpp
|
||||||
|
Collision/b2CollidePolygon.cpp
|
||||||
|
Collision/b2Collision.cpp
|
||||||
|
Collision/b2Collision.h
|
||||||
|
Collision/b2Distance.cpp
|
||||||
|
Collision/b2Distance.h
|
||||||
|
Collision/b2DynamicTree.cpp
|
||||||
|
Collision/b2DynamicTree.h
|
||||||
|
Collision/b2TimeOfImpact.cpp
|
||||||
|
Collision/b2TimeOfImpact.h
|
||||||
|
Common/b2BlockAllocator.cpp
|
||||||
|
Common/b2BlockAllocator.h
|
||||||
|
Common/b2Draw.cpp
|
||||||
|
Common/b2Draw.h
|
||||||
|
Common/b2GrowableStack.h
|
||||||
|
Common/b2Math.cpp
|
||||||
|
Common/b2Math.h
|
||||||
|
Common/b2Settings.cpp
|
||||||
|
Common/b2Settings.h
|
||||||
|
Common/b2StackAllocator.cpp
|
||||||
|
Common/b2StackAllocator.h
|
||||||
|
Common/b2Timer.cpp
|
||||||
|
Common/b2Timer.h
|
||||||
|
Dynamics/Contacts/b2ChainAndCircleContact.cpp
|
||||||
|
Dynamics/Contacts/b2ChainAndCircleContact.h
|
||||||
|
Dynamics/Contacts/b2ChainAndPolygonContact.cpp
|
||||||
|
Dynamics/Contacts/b2ChainAndPolygonContact.h
|
||||||
|
Dynamics/Contacts/b2CircleContact.cpp
|
||||||
|
Dynamics/Contacts/b2CircleContact.h
|
||||||
|
Dynamics/Contacts/b2Contact.cpp
|
||||||
|
Dynamics/Contacts/b2Contact.h
|
||||||
|
Dynamics/Contacts/b2ContactSolver.cpp
|
||||||
|
Dynamics/Contacts/b2ContactSolver.h
|
||||||
|
Dynamics/Contacts/b2EdgeAndCircleContact.cpp
|
||||||
|
Dynamics/Contacts/b2EdgeAndCircleContact.h
|
||||||
|
Dynamics/Contacts/b2EdgeAndPolygonContact.cpp
|
||||||
|
Dynamics/Contacts/b2EdgeAndPolygonContact.h
|
||||||
|
Dynamics/Contacts/b2PolygonAndCircleContact.cpp
|
||||||
|
Dynamics/Contacts/b2PolygonAndCircleContact.h
|
||||||
|
Dynamics/Contacts/b2PolygonContact.cpp
|
||||||
|
Dynamics/Contacts/b2PolygonContact.h
|
||||||
|
Dynamics/Joints/b2DistanceJoint.cpp
|
||||||
|
Dynamics/Joints/b2DistanceJoint.h
|
||||||
|
Dynamics/Joints/b2FrictionJoint.cpp
|
||||||
|
Dynamics/Joints/b2FrictionJoint.h
|
||||||
|
Dynamics/Joints/b2GearJoint.cpp
|
||||||
|
Dynamics/Joints/b2GearJoint.h
|
||||||
|
Dynamics/Joints/b2Joint.cpp
|
||||||
|
Dynamics/Joints/b2Joint.h
|
||||||
|
Dynamics/Joints/b2MotorJoint.cpp
|
||||||
|
Dynamics/Joints/b2MotorJoint.h
|
||||||
|
Dynamics/Joints/b2MouseJoint.cpp
|
||||||
|
Dynamics/Joints/b2MouseJoint.h
|
||||||
|
Dynamics/Joints/b2PrismaticJoint.cpp
|
||||||
|
Dynamics/Joints/b2PrismaticJoint.h
|
||||||
|
Dynamics/Joints/b2PulleyJoint.cpp
|
||||||
|
Dynamics/Joints/b2PulleyJoint.h
|
||||||
|
Dynamics/Joints/b2RevoluteJoint.cpp
|
||||||
|
Dynamics/Joints/b2RevoluteJoint.h
|
||||||
|
Dynamics/Joints/b2RopeJoint.cpp
|
||||||
|
Dynamics/Joints/b2RopeJoint.h
|
||||||
|
Dynamics/Joints/b2WeldJoint.cpp
|
||||||
|
Dynamics/Joints/b2WeldJoint.h
|
||||||
|
Dynamics/Joints/b2WheelJoint.cpp
|
||||||
|
Dynamics/Joints/b2WheelJoint.h
|
||||||
|
Dynamics/b2Body.cpp
|
||||||
|
Dynamics/b2Body.h
|
||||||
|
Dynamics/b2ContactManager.cpp
|
||||||
|
Dynamics/b2ContactManager.h
|
||||||
|
Dynamics/b2Fixture.cpp
|
||||||
|
Dynamics/b2Fixture.h
|
||||||
|
Dynamics/b2Island.cpp
|
||||||
|
Dynamics/b2Island.h
|
||||||
|
Dynamics/b2TimeStep.h
|
||||||
|
Dynamics/b2World.cpp
|
||||||
|
Dynamics/b2World.h
|
||||||
|
Dynamics/b2WorldCallbacks.cpp
|
||||||
|
Dynamics/b2WorldCallbacks.h
|
||||||
|
Rope/b2Rope.cpp
|
||||||
|
Rope/b2Rope.h
|
||||||
|
Box2D.h)
|
||||||
|
|
||||||
|
add_library(libbox2d ${SOURCE_FILES})
|
||||||
|
|
@ -0,0 +1,198 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2010 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Collision/Shapes/b2ChainShape.h"
|
||||||
|
#include "Box2D/Collision/Shapes/b2EdgeShape.h"
|
||||||
|
#include <new>
|
||||||
|
#include <string.h>
|
||||||
|
|
||||||
|
b2ChainShape::~b2ChainShape()
|
||||||
|
{
|
||||||
|
Clear();
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2ChainShape::Clear()
|
||||||
|
{
|
||||||
|
b2Free(m_vertices);
|
||||||
|
m_vertices = nullptr;
|
||||||
|
m_count = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2ChainShape::CreateLoop(const b2Vec2* vertices, int32 count)
|
||||||
|
{
|
||||||
|
b2Assert(m_vertices == nullptr && m_count == 0);
|
||||||
|
b2Assert(count >= 3);
|
||||||
|
if (count < 3)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
for (int32 i = 1; i < count; ++i)
|
||||||
|
{
|
||||||
|
b2Vec2 v1 = vertices[i-1];
|
||||||
|
b2Vec2 v2 = vertices[i];
|
||||||
|
// If the code crashes here, it means your vertices are too close together.
|
||||||
|
b2Assert(b2DistanceSquared(v1, v2) > b2_linearSlop * b2_linearSlop);
|
||||||
|
}
|
||||||
|
|
||||||
|
m_count = count + 1;
|
||||||
|
m_vertices = (b2Vec2*)b2Alloc(m_count * sizeof(b2Vec2));
|
||||||
|
memcpy(m_vertices, vertices, count * sizeof(b2Vec2));
|
||||||
|
m_vertices[count] = m_vertices[0];
|
||||||
|
m_prevVertex = m_vertices[m_count - 2];
|
||||||
|
m_nextVertex = m_vertices[1];
|
||||||
|
m_hasPrevVertex = true;
|
||||||
|
m_hasNextVertex = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2ChainShape::CreateChain(const b2Vec2* vertices, int32 count)
|
||||||
|
{
|
||||||
|
b2Assert(m_vertices == nullptr && m_count == 0);
|
||||||
|
b2Assert(count >= 2);
|
||||||
|
for (int32 i = 1; i < count; ++i)
|
||||||
|
{
|
||||||
|
// If the code crashes here, it means your vertices are too close together.
|
||||||
|
b2Assert(b2DistanceSquared(vertices[i-1], vertices[i]) > b2_linearSlop * b2_linearSlop);
|
||||||
|
}
|
||||||
|
|
||||||
|
m_count = count;
|
||||||
|
m_vertices = (b2Vec2*)b2Alloc(count * sizeof(b2Vec2));
|
||||||
|
memcpy(m_vertices, vertices, m_count * sizeof(b2Vec2));
|
||||||
|
|
||||||
|
m_hasPrevVertex = false;
|
||||||
|
m_hasNextVertex = false;
|
||||||
|
|
||||||
|
m_prevVertex.SetZero();
|
||||||
|
m_nextVertex.SetZero();
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2ChainShape::SetPrevVertex(const b2Vec2& prevVertex)
|
||||||
|
{
|
||||||
|
m_prevVertex = prevVertex;
|
||||||
|
m_hasPrevVertex = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2ChainShape::SetNextVertex(const b2Vec2& nextVertex)
|
||||||
|
{
|
||||||
|
m_nextVertex = nextVertex;
|
||||||
|
m_hasNextVertex = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Shape* b2ChainShape::Clone(b2BlockAllocator* allocator) const
|
||||||
|
{
|
||||||
|
void* mem = allocator->Allocate(sizeof(b2ChainShape));
|
||||||
|
b2ChainShape* clone = new (mem) b2ChainShape;
|
||||||
|
clone->CreateChain(m_vertices, m_count);
|
||||||
|
clone->m_prevVertex = m_prevVertex;
|
||||||
|
clone->m_nextVertex = m_nextVertex;
|
||||||
|
clone->m_hasPrevVertex = m_hasPrevVertex;
|
||||||
|
clone->m_hasNextVertex = m_hasNextVertex;
|
||||||
|
return clone;
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 b2ChainShape::GetChildCount() const
|
||||||
|
{
|
||||||
|
// edge count = vertex count - 1
|
||||||
|
return m_count - 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2ChainShape::GetChildEdge(b2EdgeShape* edge, int32 index) const
|
||||||
|
{
|
||||||
|
b2Assert(0 <= index && index < m_count - 1);
|
||||||
|
edge->m_type = b2Shape::e_edge;
|
||||||
|
edge->m_radius = m_radius;
|
||||||
|
|
||||||
|
edge->m_vertex1 = m_vertices[index + 0];
|
||||||
|
edge->m_vertex2 = m_vertices[index + 1];
|
||||||
|
|
||||||
|
if (index > 0)
|
||||||
|
{
|
||||||
|
edge->m_vertex0 = m_vertices[index - 1];
|
||||||
|
edge->m_hasVertex0 = true;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
edge->m_vertex0 = m_prevVertex;
|
||||||
|
edge->m_hasVertex0 = m_hasPrevVertex;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (index < m_count - 2)
|
||||||
|
{
|
||||||
|
edge->m_vertex3 = m_vertices[index + 2];
|
||||||
|
edge->m_hasVertex3 = true;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
edge->m_vertex3 = m_nextVertex;
|
||||||
|
edge->m_hasVertex3 = m_hasNextVertex;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
bool b2ChainShape::TestPoint(const b2Transform& xf, const b2Vec2& p) const
|
||||||
|
{
|
||||||
|
B2_NOT_USED(xf);
|
||||||
|
B2_NOT_USED(p);
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool b2ChainShape::RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
|
||||||
|
const b2Transform& xf, int32 childIndex) const
|
||||||
|
{
|
||||||
|
b2Assert(childIndex < m_count);
|
||||||
|
|
||||||
|
b2EdgeShape edgeShape;
|
||||||
|
|
||||||
|
int32 i1 = childIndex;
|
||||||
|
int32 i2 = childIndex + 1;
|
||||||
|
if (i2 == m_count)
|
||||||
|
{
|
||||||
|
i2 = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
edgeShape.m_vertex1 = m_vertices[i1];
|
||||||
|
edgeShape.m_vertex2 = m_vertices[i2];
|
||||||
|
|
||||||
|
return edgeShape.RayCast(output, input, xf, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2ChainShape::ComputeAABB(b2AABB* aabb, const b2Transform& xf, int32 childIndex) const
|
||||||
|
{
|
||||||
|
b2Assert(childIndex < m_count);
|
||||||
|
|
||||||
|
int32 i1 = childIndex;
|
||||||
|
int32 i2 = childIndex + 1;
|
||||||
|
if (i2 == m_count)
|
||||||
|
{
|
||||||
|
i2 = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Vec2 v1 = b2Mul(xf, m_vertices[i1]);
|
||||||
|
b2Vec2 v2 = b2Mul(xf, m_vertices[i2]);
|
||||||
|
|
||||||
|
aabb->lowerBound = b2Min(v1, v2);
|
||||||
|
aabb->upperBound = b2Max(v1, v2);
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2ChainShape::ComputeMass(b2MassData* massData, float32 density) const
|
||||||
|
{
|
||||||
|
B2_NOT_USED(density);
|
||||||
|
|
||||||
|
massData->mass = 0.0f;
|
||||||
|
massData->center.SetZero();
|
||||||
|
massData->I = 0.0f;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,105 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2010 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef B2_CHAIN_SHAPE_H
|
||||||
|
#define B2_CHAIN_SHAPE_H
|
||||||
|
|
||||||
|
#include "b2Shape.h"
|
||||||
|
|
||||||
|
class b2EdgeShape;
|
||||||
|
|
||||||
|
/// A chain shape is a free form sequence of line segments.
|
||||||
|
/// The chain has two-sided collision, so you can use inside and outside collision.
|
||||||
|
/// Therefore, you may use any winding order.
|
||||||
|
/// Since there may be many vertices, they are allocated using b2Alloc.
|
||||||
|
/// Connectivity information is used to create smooth collisions.
|
||||||
|
/// WARNING: The chain will not collide properly if there are self-intersections.
|
||||||
|
class b2ChainShape : public b2Shape
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
b2ChainShape();
|
||||||
|
|
||||||
|
/// The destructor frees the vertices using b2Free.
|
||||||
|
~b2ChainShape();
|
||||||
|
|
||||||
|
/// Clear all data.
|
||||||
|
void Clear();
|
||||||
|
|
||||||
|
/// Create a loop. This automatically adjusts connectivity.
|
||||||
|
/// @param vertices an array of vertices, these are copied
|
||||||
|
/// @param count the vertex count
|
||||||
|
void CreateLoop(const b2Vec2* vertices, int32 count);
|
||||||
|
|
||||||
|
/// Create a chain with isolated end vertices.
|
||||||
|
/// @param vertices an array of vertices, these are copied
|
||||||
|
/// @param count the vertex count
|
||||||
|
void CreateChain(const b2Vec2* vertices, int32 count);
|
||||||
|
|
||||||
|
/// Establish connectivity to a vertex that precedes the first vertex.
|
||||||
|
/// Don't call this for loops.
|
||||||
|
void SetPrevVertex(const b2Vec2& prevVertex);
|
||||||
|
|
||||||
|
/// Establish connectivity to a vertex that follows the last vertex.
|
||||||
|
/// Don't call this for loops.
|
||||||
|
void SetNextVertex(const b2Vec2& nextVertex);
|
||||||
|
|
||||||
|
/// Implement b2Shape. Vertices are cloned using b2Alloc.
|
||||||
|
b2Shape* Clone(b2BlockAllocator* allocator) const override;
|
||||||
|
|
||||||
|
/// @see b2Shape::GetChildCount
|
||||||
|
int32 GetChildCount() const override;
|
||||||
|
|
||||||
|
/// Get a child edge.
|
||||||
|
void GetChildEdge(b2EdgeShape* edge, int32 index) const;
|
||||||
|
|
||||||
|
/// This always return false.
|
||||||
|
/// @see b2Shape::TestPoint
|
||||||
|
bool TestPoint(const b2Transform& transform, const b2Vec2& p) const override;
|
||||||
|
|
||||||
|
/// Implement b2Shape.
|
||||||
|
bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
|
||||||
|
const b2Transform& transform, int32 childIndex) const override;
|
||||||
|
|
||||||
|
/// @see b2Shape::ComputeAABB
|
||||||
|
void ComputeAABB(b2AABB* aabb, const b2Transform& transform, int32 childIndex) const override;
|
||||||
|
|
||||||
|
/// Chains have zero mass.
|
||||||
|
/// @see b2Shape::ComputeMass
|
||||||
|
void ComputeMass(b2MassData* massData, float32 density) const override;
|
||||||
|
|
||||||
|
/// The vertices. Owned by this class.
|
||||||
|
b2Vec2* m_vertices;
|
||||||
|
|
||||||
|
/// The vertex count.
|
||||||
|
int32 m_count;
|
||||||
|
|
||||||
|
b2Vec2 m_prevVertex, m_nextVertex;
|
||||||
|
bool m_hasPrevVertex, m_hasNextVertex;
|
||||||
|
};
|
||||||
|
|
||||||
|
inline b2ChainShape::b2ChainShape()
|
||||||
|
{
|
||||||
|
m_type = e_chain;
|
||||||
|
m_radius = b2_polygonRadius;
|
||||||
|
m_vertices = nullptr;
|
||||||
|
m_count = 0;
|
||||||
|
m_hasPrevVertex = false;
|
||||||
|
m_hasNextVertex = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,99 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Collision/Shapes/b2CircleShape.h"
|
||||||
|
#include <new>
|
||||||
|
|
||||||
|
b2Shape* b2CircleShape::Clone(b2BlockAllocator* allocator) const
|
||||||
|
{
|
||||||
|
void* mem = allocator->Allocate(sizeof(b2CircleShape));
|
||||||
|
b2CircleShape* clone = new (mem) b2CircleShape;
|
||||||
|
*clone = *this;
|
||||||
|
return clone;
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 b2CircleShape::GetChildCount() const
|
||||||
|
{
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool b2CircleShape::TestPoint(const b2Transform& transform, const b2Vec2& p) const
|
||||||
|
{
|
||||||
|
b2Vec2 center = transform.p + b2Mul(transform.q, m_p);
|
||||||
|
b2Vec2 d = p - center;
|
||||||
|
return b2Dot(d, d) <= m_radius * m_radius;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Collision Detection in Interactive 3D Environments by Gino van den Bergen
|
||||||
|
// From Section 3.1.2
|
||||||
|
// x = s + a * r
|
||||||
|
// norm(x) = radius
|
||||||
|
bool b2CircleShape::RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
|
||||||
|
const b2Transform& transform, int32 childIndex) const
|
||||||
|
{
|
||||||
|
B2_NOT_USED(childIndex);
|
||||||
|
|
||||||
|
b2Vec2 position = transform.p + b2Mul(transform.q, m_p);
|
||||||
|
b2Vec2 s = input.p1 - position;
|
||||||
|
float32 b = b2Dot(s, s) - m_radius * m_radius;
|
||||||
|
|
||||||
|
// Solve quadratic equation.
|
||||||
|
b2Vec2 r = input.p2 - input.p1;
|
||||||
|
float32 c = b2Dot(s, r);
|
||||||
|
float32 rr = b2Dot(r, r);
|
||||||
|
float32 sigma = c * c - rr * b;
|
||||||
|
|
||||||
|
// Check for negative discriminant and short segment.
|
||||||
|
if (sigma < 0.0f || rr < b2_epsilon)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Find the point of intersection of the line with the circle.
|
||||||
|
float32 a = -(c + b2Sqrt(sigma));
|
||||||
|
|
||||||
|
// Is the intersection point on the segment?
|
||||||
|
if (0.0f <= a && a <= input.maxFraction * rr)
|
||||||
|
{
|
||||||
|
a /= rr;
|
||||||
|
output->fraction = a;
|
||||||
|
output->normal = s + a * r;
|
||||||
|
output->normal.Normalize();
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2CircleShape::ComputeAABB(b2AABB* aabb, const b2Transform& transform, int32 childIndex) const
|
||||||
|
{
|
||||||
|
B2_NOT_USED(childIndex);
|
||||||
|
|
||||||
|
b2Vec2 p = transform.p + b2Mul(transform.q, m_p);
|
||||||
|
aabb->lowerBound.Set(p.x - m_radius, p.y - m_radius);
|
||||||
|
aabb->upperBound.Set(p.x + m_radius, p.y + m_radius);
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2CircleShape::ComputeMass(b2MassData* massData, float32 density) const
|
||||||
|
{
|
||||||
|
massData->mass = density * b2_pi * m_radius * m_radius;
|
||||||
|
massData->center = m_p;
|
||||||
|
|
||||||
|
// inertia about the local origin
|
||||||
|
massData->I = massData->mass * (0.5f * m_radius * m_radius + b2Dot(m_p, m_p));
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,60 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef B2_CIRCLE_SHAPE_H
|
||||||
|
#define B2_CIRCLE_SHAPE_H
|
||||||
|
|
||||||
|
#include "b2Shape.h"
|
||||||
|
|
||||||
|
/// A circle shape.
|
||||||
|
class b2CircleShape : public b2Shape
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
b2CircleShape();
|
||||||
|
|
||||||
|
/// Implement b2Shape.
|
||||||
|
b2Shape* Clone(b2BlockAllocator* allocator) const override;
|
||||||
|
|
||||||
|
/// @see b2Shape::GetChildCount
|
||||||
|
int32 GetChildCount() const override;
|
||||||
|
|
||||||
|
/// Implement b2Shape.
|
||||||
|
bool TestPoint(const b2Transform& transform, const b2Vec2& p) const override;
|
||||||
|
|
||||||
|
/// Implement b2Shape.
|
||||||
|
bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
|
||||||
|
const b2Transform& transform, int32 childIndex) const override;
|
||||||
|
|
||||||
|
/// @see b2Shape::ComputeAABB
|
||||||
|
void ComputeAABB(b2AABB* aabb, const b2Transform& transform, int32 childIndex) const override;
|
||||||
|
|
||||||
|
/// @see b2Shape::ComputeMass
|
||||||
|
void ComputeMass(b2MassData* massData, float32 density) const override;
|
||||||
|
|
||||||
|
/// Position
|
||||||
|
b2Vec2 m_p;
|
||||||
|
};
|
||||||
|
|
||||||
|
inline b2CircleShape::b2CircleShape()
|
||||||
|
{
|
||||||
|
m_type = e_circle;
|
||||||
|
m_radius = 0.0f;
|
||||||
|
m_p.SetZero();
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,138 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2010 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Collision/Shapes/b2EdgeShape.h"
|
||||||
|
#include <new>
|
||||||
|
|
||||||
|
void b2EdgeShape::Set(const b2Vec2& v1, const b2Vec2& v2)
|
||||||
|
{
|
||||||
|
m_vertex1 = v1;
|
||||||
|
m_vertex2 = v2;
|
||||||
|
m_hasVertex0 = false;
|
||||||
|
m_hasVertex3 = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Shape* b2EdgeShape::Clone(b2BlockAllocator* allocator) const
|
||||||
|
{
|
||||||
|
void* mem = allocator->Allocate(sizeof(b2EdgeShape));
|
||||||
|
b2EdgeShape* clone = new (mem) b2EdgeShape;
|
||||||
|
*clone = *this;
|
||||||
|
return clone;
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 b2EdgeShape::GetChildCount() const
|
||||||
|
{
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool b2EdgeShape::TestPoint(const b2Transform& xf, const b2Vec2& p) const
|
||||||
|
{
|
||||||
|
B2_NOT_USED(xf);
|
||||||
|
B2_NOT_USED(p);
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
// p = p1 + t * d
|
||||||
|
// v = v1 + s * e
|
||||||
|
// p1 + t * d = v1 + s * e
|
||||||
|
// s * e - t * d = p1 - v1
|
||||||
|
bool b2EdgeShape::RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
|
||||||
|
const b2Transform& xf, int32 childIndex) const
|
||||||
|
{
|
||||||
|
B2_NOT_USED(childIndex);
|
||||||
|
|
||||||
|
// Put the ray into the edge's frame of reference.
|
||||||
|
b2Vec2 p1 = b2MulT(xf.q, input.p1 - xf.p);
|
||||||
|
b2Vec2 p2 = b2MulT(xf.q, input.p2 - xf.p);
|
||||||
|
b2Vec2 d = p2 - p1;
|
||||||
|
|
||||||
|
b2Vec2 v1 = m_vertex1;
|
||||||
|
b2Vec2 v2 = m_vertex2;
|
||||||
|
b2Vec2 e = v2 - v1;
|
||||||
|
b2Vec2 normal(e.y, -e.x);
|
||||||
|
normal.Normalize();
|
||||||
|
|
||||||
|
// q = p1 + t * d
|
||||||
|
// dot(normal, q - v1) = 0
|
||||||
|
// dot(normal, p1 - v1) + t * dot(normal, d) = 0
|
||||||
|
float32 numerator = b2Dot(normal, v1 - p1);
|
||||||
|
float32 denominator = b2Dot(normal, d);
|
||||||
|
|
||||||
|
if (denominator == 0.0f)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
float32 t = numerator / denominator;
|
||||||
|
if (t < 0.0f || input.maxFraction < t)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Vec2 q = p1 + t * d;
|
||||||
|
|
||||||
|
// q = v1 + s * r
|
||||||
|
// s = dot(q - v1, r) / dot(r, r)
|
||||||
|
b2Vec2 r = v2 - v1;
|
||||||
|
float32 rr = b2Dot(r, r);
|
||||||
|
if (rr == 0.0f)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
float32 s = b2Dot(q - v1, r) / rr;
|
||||||
|
if (s < 0.0f || 1.0f < s)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
output->fraction = t;
|
||||||
|
if (numerator > 0.0f)
|
||||||
|
{
|
||||||
|
output->normal = -b2Mul(xf.q, normal);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
output->normal = b2Mul(xf.q, normal);
|
||||||
|
}
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2EdgeShape::ComputeAABB(b2AABB* aabb, const b2Transform& xf, int32 childIndex) const
|
||||||
|
{
|
||||||
|
B2_NOT_USED(childIndex);
|
||||||
|
|
||||||
|
b2Vec2 v1 = b2Mul(xf, m_vertex1);
|
||||||
|
b2Vec2 v2 = b2Mul(xf, m_vertex2);
|
||||||
|
|
||||||
|
b2Vec2 lower = b2Min(v1, v2);
|
||||||
|
b2Vec2 upper = b2Max(v1, v2);
|
||||||
|
|
||||||
|
b2Vec2 r(m_radius, m_radius);
|
||||||
|
aabb->lowerBound = lower - r;
|
||||||
|
aabb->upperBound = upper + r;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2EdgeShape::ComputeMass(b2MassData* massData, float32 density) const
|
||||||
|
{
|
||||||
|
B2_NOT_USED(density);
|
||||||
|
|
||||||
|
massData->mass = 0.0f;
|
||||||
|
massData->center = 0.5f * (m_vertex1 + m_vertex2);
|
||||||
|
massData->I = 0.0f;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,74 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2010 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef B2_EDGE_SHAPE_H
|
||||||
|
#define B2_EDGE_SHAPE_H
|
||||||
|
|
||||||
|
#include "b2Shape.h"
|
||||||
|
|
||||||
|
/// A line segment (edge) shape. These can be connected in chains or loops
|
||||||
|
/// to other edge shapes. The connectivity information is used to ensure
|
||||||
|
/// correct contact normals.
|
||||||
|
class b2EdgeShape : public b2Shape
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
b2EdgeShape();
|
||||||
|
|
||||||
|
/// Set this as an isolated edge.
|
||||||
|
void Set(const b2Vec2& v1, const b2Vec2& v2);
|
||||||
|
|
||||||
|
/// Implement b2Shape.
|
||||||
|
b2Shape* Clone(b2BlockAllocator* allocator) const override;
|
||||||
|
|
||||||
|
/// @see b2Shape::GetChildCount
|
||||||
|
int32 GetChildCount() const override;
|
||||||
|
|
||||||
|
/// @see b2Shape::TestPoint
|
||||||
|
bool TestPoint(const b2Transform& transform, const b2Vec2& p) const override;
|
||||||
|
|
||||||
|
/// Implement b2Shape.
|
||||||
|
bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
|
||||||
|
const b2Transform& transform, int32 childIndex) const override;
|
||||||
|
|
||||||
|
/// @see b2Shape::ComputeAABB
|
||||||
|
void ComputeAABB(b2AABB* aabb, const b2Transform& transform, int32 childIndex) const override;
|
||||||
|
|
||||||
|
/// @see b2Shape::ComputeMass
|
||||||
|
void ComputeMass(b2MassData* massData, float32 density) const override;
|
||||||
|
|
||||||
|
/// These are the edge vertices
|
||||||
|
b2Vec2 m_vertex1, m_vertex2;
|
||||||
|
|
||||||
|
/// Optional adjacent vertices. These are used for smooth collision.
|
||||||
|
b2Vec2 m_vertex0, m_vertex3;
|
||||||
|
bool m_hasVertex0, m_hasVertex3;
|
||||||
|
};
|
||||||
|
|
||||||
|
inline b2EdgeShape::b2EdgeShape()
|
||||||
|
{
|
||||||
|
m_type = e_edge;
|
||||||
|
m_radius = b2_polygonRadius;
|
||||||
|
m_vertex0.x = 0.0f;
|
||||||
|
m_vertex0.y = 0.0f;
|
||||||
|
m_vertex3.x = 0.0f;
|
||||||
|
m_vertex3.y = 0.0f;
|
||||||
|
m_hasVertex0 = false;
|
||||||
|
m_hasVertex3 = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,468 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Collision/Shapes/b2PolygonShape.h"
|
||||||
|
#include <new>
|
||||||
|
|
||||||
|
b2Shape* b2PolygonShape::Clone(b2BlockAllocator* allocator) const
|
||||||
|
{
|
||||||
|
void* mem = allocator->Allocate(sizeof(b2PolygonShape));
|
||||||
|
b2PolygonShape* clone = new (mem) b2PolygonShape;
|
||||||
|
*clone = *this;
|
||||||
|
return clone;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2PolygonShape::SetAsBox(float32 hx, float32 hy)
|
||||||
|
{
|
||||||
|
m_count = 4;
|
||||||
|
m_vertices[0].Set(-hx, -hy);
|
||||||
|
m_vertices[1].Set( hx, -hy);
|
||||||
|
m_vertices[2].Set( hx, hy);
|
||||||
|
m_vertices[3].Set(-hx, hy);
|
||||||
|
m_normals[0].Set(0.0f, -1.0f);
|
||||||
|
m_normals[1].Set(1.0f, 0.0f);
|
||||||
|
m_normals[2].Set(0.0f, 1.0f);
|
||||||
|
m_normals[3].Set(-1.0f, 0.0f);
|
||||||
|
m_centroid.SetZero();
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2PolygonShape::SetAsBox(float32 hx, float32 hy, const b2Vec2& center, float32 angle)
|
||||||
|
{
|
||||||
|
m_count = 4;
|
||||||
|
m_vertices[0].Set(-hx, -hy);
|
||||||
|
m_vertices[1].Set( hx, -hy);
|
||||||
|
m_vertices[2].Set( hx, hy);
|
||||||
|
m_vertices[3].Set(-hx, hy);
|
||||||
|
m_normals[0].Set(0.0f, -1.0f);
|
||||||
|
m_normals[1].Set(1.0f, 0.0f);
|
||||||
|
m_normals[2].Set(0.0f, 1.0f);
|
||||||
|
m_normals[3].Set(-1.0f, 0.0f);
|
||||||
|
m_centroid = center;
|
||||||
|
|
||||||
|
b2Transform xf;
|
||||||
|
xf.p = center;
|
||||||
|
xf.q.Set(angle);
|
||||||
|
|
||||||
|
// Transform vertices and normals.
|
||||||
|
for (int32 i = 0; i < m_count; ++i)
|
||||||
|
{
|
||||||
|
m_vertices[i] = b2Mul(xf, m_vertices[i]);
|
||||||
|
m_normals[i] = b2Mul(xf.q, m_normals[i]);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 b2PolygonShape::GetChildCount() const
|
||||||
|
{
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
static b2Vec2 ComputeCentroid(const b2Vec2* vs, int32 count)
|
||||||
|
{
|
||||||
|
b2Assert(count >= 3);
|
||||||
|
|
||||||
|
b2Vec2 c; c.Set(0.0f, 0.0f);
|
||||||
|
float32 area = 0.0f;
|
||||||
|
|
||||||
|
// pRef is the reference point for forming triangles.
|
||||||
|
// It's location doesn't change the result (except for rounding error).
|
||||||
|
b2Vec2 pRef(0.0f, 0.0f);
|
||||||
|
#if 0
|
||||||
|
// This code would put the reference point inside the polygon.
|
||||||
|
for (int32 i = 0; i < count; ++i)
|
||||||
|
{
|
||||||
|
pRef += vs[i];
|
||||||
|
}
|
||||||
|
pRef *= 1.0f / count;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
const float32 inv3 = 1.0f / 3.0f;
|
||||||
|
|
||||||
|
for (int32 i = 0; i < count; ++i)
|
||||||
|
{
|
||||||
|
// Triangle vertices.
|
||||||
|
b2Vec2 p1 = pRef;
|
||||||
|
b2Vec2 p2 = vs[i];
|
||||||
|
b2Vec2 p3 = i + 1 < count ? vs[i+1] : vs[0];
|
||||||
|
|
||||||
|
b2Vec2 e1 = p2 - p1;
|
||||||
|
b2Vec2 e2 = p3 - p1;
|
||||||
|
|
||||||
|
float32 D = b2Cross(e1, e2);
|
||||||
|
|
||||||
|
float32 triangleArea = 0.5f * D;
|
||||||
|
area += triangleArea;
|
||||||
|
|
||||||
|
// Area weighted centroid
|
||||||
|
c += triangleArea * inv3 * (p1 + p2 + p3);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Centroid
|
||||||
|
b2Assert(area > b2_epsilon);
|
||||||
|
c *= 1.0f / area;
|
||||||
|
return c;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2PolygonShape::Set(const b2Vec2* vertices, int32 count)
|
||||||
|
{
|
||||||
|
b2Assert(3 <= count && count <= b2_maxPolygonVertices);
|
||||||
|
if (count < 3)
|
||||||
|
{
|
||||||
|
SetAsBox(1.0f, 1.0f);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 n = b2Min(count, b2_maxPolygonVertices);
|
||||||
|
|
||||||
|
// Perform welding and copy vertices into local buffer.
|
||||||
|
b2Vec2 ps[b2_maxPolygonVertices];
|
||||||
|
int32 tempCount = 0;
|
||||||
|
for (int32 i = 0; i < n; ++i)
|
||||||
|
{
|
||||||
|
b2Vec2 v = vertices[i];
|
||||||
|
|
||||||
|
bool unique = true;
|
||||||
|
for (int32 j = 0; j < tempCount; ++j)
|
||||||
|
{
|
||||||
|
if (b2DistanceSquared(v, ps[j]) < ((0.5f * b2_linearSlop) * (0.5f * b2_linearSlop)))
|
||||||
|
{
|
||||||
|
unique = false;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (unique)
|
||||||
|
{
|
||||||
|
ps[tempCount++] = v;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
n = tempCount;
|
||||||
|
if (n < 3)
|
||||||
|
{
|
||||||
|
// Polygon is degenerate.
|
||||||
|
b2Assert(false);
|
||||||
|
SetAsBox(1.0f, 1.0f);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Create the convex hull using the Gift wrapping algorithm
|
||||||
|
// http://en.wikipedia.org/wiki/Gift_wrapping_algorithm
|
||||||
|
|
||||||
|
// Find the right most point on the hull
|
||||||
|
int32 i0 = 0;
|
||||||
|
float32 x0 = ps[0].x;
|
||||||
|
for (int32 i = 1; i < n; ++i)
|
||||||
|
{
|
||||||
|
float32 x = ps[i].x;
|
||||||
|
if (x > x0 || (x == x0 && ps[i].y < ps[i0].y))
|
||||||
|
{
|
||||||
|
i0 = i;
|
||||||
|
x0 = x;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 hull[b2_maxPolygonVertices];
|
||||||
|
int32 m = 0;
|
||||||
|
int32 ih = i0;
|
||||||
|
|
||||||
|
for (;;)
|
||||||
|
{
|
||||||
|
b2Assert(m < b2_maxPolygonVertices);
|
||||||
|
hull[m] = ih;
|
||||||
|
|
||||||
|
int32 ie = 0;
|
||||||
|
for (int32 j = 1; j < n; ++j)
|
||||||
|
{
|
||||||
|
if (ie == ih)
|
||||||
|
{
|
||||||
|
ie = j;
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Vec2 r = ps[ie] - ps[hull[m]];
|
||||||
|
b2Vec2 v = ps[j] - ps[hull[m]];
|
||||||
|
float32 c = b2Cross(r, v);
|
||||||
|
if (c < 0.0f)
|
||||||
|
{
|
||||||
|
ie = j;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Collinearity check
|
||||||
|
if (c == 0.0f && v.LengthSquared() > r.LengthSquared())
|
||||||
|
{
|
||||||
|
ie = j;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
++m;
|
||||||
|
ih = ie;
|
||||||
|
|
||||||
|
if (ie == i0)
|
||||||
|
{
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (m < 3)
|
||||||
|
{
|
||||||
|
// Polygon is degenerate.
|
||||||
|
b2Assert(false);
|
||||||
|
SetAsBox(1.0f, 1.0f);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
m_count = m;
|
||||||
|
|
||||||
|
// Copy vertices.
|
||||||
|
for (int32 i = 0; i < m; ++i)
|
||||||
|
{
|
||||||
|
m_vertices[i] = ps[hull[i]];
|
||||||
|
}
|
||||||
|
|
||||||
|
// Compute normals. Ensure the edges have non-zero length.
|
||||||
|
for (int32 i = 0; i < m; ++i)
|
||||||
|
{
|
||||||
|
int32 i1 = i;
|
||||||
|
int32 i2 = i + 1 < m ? i + 1 : 0;
|
||||||
|
b2Vec2 edge = m_vertices[i2] - m_vertices[i1];
|
||||||
|
b2Assert(edge.LengthSquared() > b2_epsilon * b2_epsilon);
|
||||||
|
m_normals[i] = b2Cross(edge, 1.0f);
|
||||||
|
m_normals[i].Normalize();
|
||||||
|
}
|
||||||
|
|
||||||
|
// Compute the polygon centroid.
|
||||||
|
m_centroid = ComputeCentroid(m_vertices, m);
|
||||||
|
}
|
||||||
|
|
||||||
|
bool b2PolygonShape::TestPoint(const b2Transform& xf, const b2Vec2& p) const
|
||||||
|
{
|
||||||
|
b2Vec2 pLocal = b2MulT(xf.q, p - xf.p);
|
||||||
|
|
||||||
|
for (int32 i = 0; i < m_count; ++i)
|
||||||
|
{
|
||||||
|
float32 dot = b2Dot(m_normals[i], pLocal - m_vertices[i]);
|
||||||
|
if (dot > 0.0f)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool b2PolygonShape::RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
|
||||||
|
const b2Transform& xf, int32 childIndex) const
|
||||||
|
{
|
||||||
|
B2_NOT_USED(childIndex);
|
||||||
|
|
||||||
|
// Put the ray into the polygon's frame of reference.
|
||||||
|
b2Vec2 p1 = b2MulT(xf.q, input.p1 - xf.p);
|
||||||
|
b2Vec2 p2 = b2MulT(xf.q, input.p2 - xf.p);
|
||||||
|
b2Vec2 d = p2 - p1;
|
||||||
|
|
||||||
|
float32 lower = 0.0f, upper = input.maxFraction;
|
||||||
|
|
||||||
|
int32 index = -1;
|
||||||
|
|
||||||
|
for (int32 i = 0; i < m_count; ++i)
|
||||||
|
{
|
||||||
|
// p = p1 + a * d
|
||||||
|
// dot(normal, p - v) = 0
|
||||||
|
// dot(normal, p1 - v) + a * dot(normal, d) = 0
|
||||||
|
float32 numerator = b2Dot(m_normals[i], m_vertices[i] - p1);
|
||||||
|
float32 denominator = b2Dot(m_normals[i], d);
|
||||||
|
|
||||||
|
if (denominator == 0.0f)
|
||||||
|
{
|
||||||
|
if (numerator < 0.0f)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
// Note: we want this predicate without division:
|
||||||
|
// lower < numerator / denominator, where denominator < 0
|
||||||
|
// Since denominator < 0, we have to flip the inequality:
|
||||||
|
// lower < numerator / denominator <==> denominator * lower > numerator.
|
||||||
|
if (denominator < 0.0f && numerator < lower * denominator)
|
||||||
|
{
|
||||||
|
// Increase lower.
|
||||||
|
// The segment enters this half-space.
|
||||||
|
lower = numerator / denominator;
|
||||||
|
index = i;
|
||||||
|
}
|
||||||
|
else if (denominator > 0.0f && numerator < upper * denominator)
|
||||||
|
{
|
||||||
|
// Decrease upper.
|
||||||
|
// The segment exits this half-space.
|
||||||
|
upper = numerator / denominator;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// The use of epsilon here causes the assert on lower to trip
|
||||||
|
// in some cases. Apparently the use of epsilon was to make edge
|
||||||
|
// shapes work, but now those are handled separately.
|
||||||
|
//if (upper < lower - b2_epsilon)
|
||||||
|
if (upper < lower)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Assert(0.0f <= lower && lower <= input.maxFraction);
|
||||||
|
|
||||||
|
if (index >= 0)
|
||||||
|
{
|
||||||
|
output->fraction = lower;
|
||||||
|
output->normal = b2Mul(xf.q, m_normals[index]);
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2PolygonShape::ComputeAABB(b2AABB* aabb, const b2Transform& xf, int32 childIndex) const
|
||||||
|
{
|
||||||
|
B2_NOT_USED(childIndex);
|
||||||
|
|
||||||
|
b2Vec2 lower = b2Mul(xf, m_vertices[0]);
|
||||||
|
b2Vec2 upper = lower;
|
||||||
|
|
||||||
|
for (int32 i = 1; i < m_count; ++i)
|
||||||
|
{
|
||||||
|
b2Vec2 v = b2Mul(xf, m_vertices[i]);
|
||||||
|
lower = b2Min(lower, v);
|
||||||
|
upper = b2Max(upper, v);
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Vec2 r(m_radius, m_radius);
|
||||||
|
aabb->lowerBound = lower - r;
|
||||||
|
aabb->upperBound = upper + r;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2PolygonShape::ComputeMass(b2MassData* massData, float32 density) const
|
||||||
|
{
|
||||||
|
// Polygon mass, centroid, and inertia.
|
||||||
|
// Let rho be the polygon density in mass per unit area.
|
||||||
|
// Then:
|
||||||
|
// mass = rho * int(dA)
|
||||||
|
// centroid.x = (1/mass) * rho * int(x * dA)
|
||||||
|
// centroid.y = (1/mass) * rho * int(y * dA)
|
||||||
|
// I = rho * int((x*x + y*y) * dA)
|
||||||
|
//
|
||||||
|
// We can compute these integrals by summing all the integrals
|
||||||
|
// for each triangle of the polygon. To evaluate the integral
|
||||||
|
// for a single triangle, we make a change of variables to
|
||||||
|
// the (u,v) coordinates of the triangle:
|
||||||
|
// x = x0 + e1x * u + e2x * v
|
||||||
|
// y = y0 + e1y * u + e2y * v
|
||||||
|
// where 0 <= u && 0 <= v && u + v <= 1.
|
||||||
|
//
|
||||||
|
// We integrate u from [0,1-v] and then v from [0,1].
|
||||||
|
// We also need to use the Jacobian of the transformation:
|
||||||
|
// D = cross(e1, e2)
|
||||||
|
//
|
||||||
|
// Simplification: triangle centroid = (1/3) * (p1 + p2 + p3)
|
||||||
|
//
|
||||||
|
// The rest of the derivation is handled by computer algebra.
|
||||||
|
|
||||||
|
b2Assert(m_count >= 3);
|
||||||
|
|
||||||
|
b2Vec2 center; center.Set(0.0f, 0.0f);
|
||||||
|
float32 area = 0.0f;
|
||||||
|
float32 I = 0.0f;
|
||||||
|
|
||||||
|
// s is the reference point for forming triangles.
|
||||||
|
// It's location doesn't change the result (except for rounding error).
|
||||||
|
b2Vec2 s(0.0f, 0.0f);
|
||||||
|
|
||||||
|
// This code would put the reference point inside the polygon.
|
||||||
|
for (int32 i = 0; i < m_count; ++i)
|
||||||
|
{
|
||||||
|
s += m_vertices[i];
|
||||||
|
}
|
||||||
|
s *= 1.0f / m_count;
|
||||||
|
|
||||||
|
const float32 k_inv3 = 1.0f / 3.0f;
|
||||||
|
|
||||||
|
for (int32 i = 0; i < m_count; ++i)
|
||||||
|
{
|
||||||
|
// Triangle vertices.
|
||||||
|
b2Vec2 e1 = m_vertices[i] - s;
|
||||||
|
b2Vec2 e2 = i + 1 < m_count ? m_vertices[i+1] - s : m_vertices[0] - s;
|
||||||
|
|
||||||
|
float32 D = b2Cross(e1, e2);
|
||||||
|
|
||||||
|
float32 triangleArea = 0.5f * D;
|
||||||
|
area += triangleArea;
|
||||||
|
|
||||||
|
// Area weighted centroid
|
||||||
|
center += triangleArea * k_inv3 * (e1 + e2);
|
||||||
|
|
||||||
|
float32 ex1 = e1.x, ey1 = e1.y;
|
||||||
|
float32 ex2 = e2.x, ey2 = e2.y;
|
||||||
|
|
||||||
|
float32 intx2 = ex1*ex1 + ex2*ex1 + ex2*ex2;
|
||||||
|
float32 inty2 = ey1*ey1 + ey2*ey1 + ey2*ey2;
|
||||||
|
|
||||||
|
I += (0.25f * k_inv3 * D) * (intx2 + inty2);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Total mass
|
||||||
|
massData->mass = density * area;
|
||||||
|
|
||||||
|
// Center of mass
|
||||||
|
b2Assert(area > b2_epsilon);
|
||||||
|
center *= 1.0f / area;
|
||||||
|
massData->center = center + s;
|
||||||
|
|
||||||
|
// Inertia tensor relative to the local origin (point s).
|
||||||
|
massData->I = density * I;
|
||||||
|
|
||||||
|
// Shift to center of mass then to original body origin.
|
||||||
|
massData->I += massData->mass * (b2Dot(massData->center, massData->center) - b2Dot(center, center));
|
||||||
|
}
|
||||||
|
|
||||||
|
bool b2PolygonShape::Validate() const
|
||||||
|
{
|
||||||
|
for (int32 i = 0; i < m_count; ++i)
|
||||||
|
{
|
||||||
|
int32 i1 = i;
|
||||||
|
int32 i2 = i < m_count - 1 ? i1 + 1 : 0;
|
||||||
|
b2Vec2 p = m_vertices[i1];
|
||||||
|
b2Vec2 e = m_vertices[i2] - p;
|
||||||
|
|
||||||
|
for (int32 j = 0; j < m_count; ++j)
|
||||||
|
{
|
||||||
|
if (j == i1 || j == i2)
|
||||||
|
{
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Vec2 v = m_vertices[j] - p;
|
||||||
|
float32 c = b2Cross(e, v);
|
||||||
|
if (c < 0.0f)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,89 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef B2_POLYGON_SHAPE_H
|
||||||
|
#define B2_POLYGON_SHAPE_H
|
||||||
|
|
||||||
|
#include "b2Shape.h"
|
||||||
|
|
||||||
|
/// A convex polygon. It is assumed that the interior of the polygon is to
|
||||||
|
/// the left of each edge.
|
||||||
|
/// Polygons have a maximum number of vertices equal to b2_maxPolygonVertices.
|
||||||
|
/// In most cases you should not need many vertices for a convex polygon.
|
||||||
|
class b2PolygonShape : public b2Shape
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
b2PolygonShape();
|
||||||
|
|
||||||
|
/// Implement b2Shape.
|
||||||
|
b2Shape* Clone(b2BlockAllocator* allocator) const override;
|
||||||
|
|
||||||
|
/// @see b2Shape::GetChildCount
|
||||||
|
int32 GetChildCount() const override;
|
||||||
|
|
||||||
|
/// Create a convex hull from the given array of local points.
|
||||||
|
/// The count must be in the range [3, b2_maxPolygonVertices].
|
||||||
|
/// @warning the points may be re-ordered, even if they form a convex polygon
|
||||||
|
/// @warning collinear points are handled but not removed. Collinear points
|
||||||
|
/// may lead to poor stacking behavior.
|
||||||
|
void Set(const b2Vec2* points, int32 count);
|
||||||
|
|
||||||
|
/// Build vertices to represent an axis-aligned box centered on the local origin.
|
||||||
|
/// @param hx the half-width.
|
||||||
|
/// @param hy the half-height.
|
||||||
|
void SetAsBox(float32 hx, float32 hy);
|
||||||
|
|
||||||
|
/// Build vertices to represent an oriented box.
|
||||||
|
/// @param hx the half-width.
|
||||||
|
/// @param hy the half-height.
|
||||||
|
/// @param center the center of the box in local coordinates.
|
||||||
|
/// @param angle the rotation of the box in local coordinates.
|
||||||
|
void SetAsBox(float32 hx, float32 hy, const b2Vec2& center, float32 angle);
|
||||||
|
|
||||||
|
/// @see b2Shape::TestPoint
|
||||||
|
bool TestPoint(const b2Transform& transform, const b2Vec2& p) const override;
|
||||||
|
|
||||||
|
/// Implement b2Shape.
|
||||||
|
bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
|
||||||
|
const b2Transform& transform, int32 childIndex) const override;
|
||||||
|
|
||||||
|
/// @see b2Shape::ComputeAABB
|
||||||
|
void ComputeAABB(b2AABB* aabb, const b2Transform& transform, int32 childIndex) const override;
|
||||||
|
|
||||||
|
/// @see b2Shape::ComputeMass
|
||||||
|
void ComputeMass(b2MassData* massData, float32 density) const override;
|
||||||
|
|
||||||
|
/// Validate convexity. This is a very time consuming operation.
|
||||||
|
/// @returns true if valid
|
||||||
|
bool Validate() const;
|
||||||
|
|
||||||
|
b2Vec2 m_centroid;
|
||||||
|
b2Vec2 m_vertices[b2_maxPolygonVertices];
|
||||||
|
b2Vec2 m_normals[b2_maxPolygonVertices];
|
||||||
|
int32 m_count;
|
||||||
|
};
|
||||||
|
|
||||||
|
inline b2PolygonShape::b2PolygonShape()
|
||||||
|
{
|
||||||
|
m_type = e_polygon;
|
||||||
|
m_radius = b2_polygonRadius;
|
||||||
|
m_count = 0;
|
||||||
|
m_centroid.SetZero();
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,104 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef B2_SHAPE_H
|
||||||
|
#define B2_SHAPE_H
|
||||||
|
|
||||||
|
#include "../../Common/b2BlockAllocator.h"
|
||||||
|
#include "../../Common/b2Math.h"
|
||||||
|
#include "../../Collision/b2Collision.h"
|
||||||
|
|
||||||
|
/// This holds the mass data computed for a shape.
|
||||||
|
struct b2MassData
|
||||||
|
{
|
||||||
|
/// The mass of the shape, usually in kilograms.
|
||||||
|
float32 mass;
|
||||||
|
|
||||||
|
/// The position of the shape's centroid relative to the shape's origin.
|
||||||
|
b2Vec2 center;
|
||||||
|
|
||||||
|
/// The rotational inertia of the shape about the local origin.
|
||||||
|
float32 I;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// A shape is used for collision detection. You can create a shape however you like.
|
||||||
|
/// Shapes used for simulation in b2World are created automatically when a b2Fixture
|
||||||
|
/// is created. Shapes may encapsulate a one or more child shapes.
|
||||||
|
class b2Shape
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
|
||||||
|
enum Type
|
||||||
|
{
|
||||||
|
e_circle = 0,
|
||||||
|
e_edge = 1,
|
||||||
|
e_polygon = 2,
|
||||||
|
e_chain = 3,
|
||||||
|
e_typeCount = 4
|
||||||
|
};
|
||||||
|
|
||||||
|
virtual ~b2Shape() {}
|
||||||
|
|
||||||
|
/// Clone the concrete shape using the provided allocator.
|
||||||
|
virtual b2Shape* Clone(b2BlockAllocator* allocator) const = 0;
|
||||||
|
|
||||||
|
/// Get the type of this shape. You can use this to down cast to the concrete shape.
|
||||||
|
/// @return the shape type.
|
||||||
|
Type GetType() const;
|
||||||
|
|
||||||
|
/// Get the number of child primitives.
|
||||||
|
virtual int32 GetChildCount() const = 0;
|
||||||
|
|
||||||
|
/// Test a point for containment in this shape. This only works for convex shapes.
|
||||||
|
/// @param xf the shape world transform.
|
||||||
|
/// @param p a point in world coordinates.
|
||||||
|
virtual bool TestPoint(const b2Transform& xf, const b2Vec2& p) const = 0;
|
||||||
|
|
||||||
|
/// Cast a ray against a child shape.
|
||||||
|
/// @param output the ray-cast results.
|
||||||
|
/// @param input the ray-cast input parameters.
|
||||||
|
/// @param transform the transform to be applied to the shape.
|
||||||
|
/// @param childIndex the child shape index
|
||||||
|
virtual bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
|
||||||
|
const b2Transform& transform, int32 childIndex) const = 0;
|
||||||
|
|
||||||
|
/// Given a transform, compute the associated axis aligned bounding box for a child shape.
|
||||||
|
/// @param aabb returns the axis aligned box.
|
||||||
|
/// @param xf the world transform of the shape.
|
||||||
|
/// @param childIndex the child shape
|
||||||
|
virtual void ComputeAABB(b2AABB* aabb, const b2Transform& xf, int32 childIndex) const = 0;
|
||||||
|
|
||||||
|
/// Compute the mass properties of this shape using its dimensions and density.
|
||||||
|
/// The inertia tensor is computed about the local origin.
|
||||||
|
/// @param massData returns the mass data for this shape.
|
||||||
|
/// @param density the density in kilograms per meter squared.
|
||||||
|
virtual void ComputeMass(b2MassData* massData, float32 density) const = 0;
|
||||||
|
|
||||||
|
Type m_type;
|
||||||
|
|
||||||
|
/// Radius of a shape. For polygonal shapes this must be b2_polygonRadius. There is no support for
|
||||||
|
/// making rounded polygons.
|
||||||
|
float32 m_radius;
|
||||||
|
};
|
||||||
|
|
||||||
|
inline b2Shape::Type b2Shape::GetType() const
|
||||||
|
{
|
||||||
|
return m_type;
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,119 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Collision/b2BroadPhase.h"
|
||||||
|
|
||||||
|
b2BroadPhase::b2BroadPhase()
|
||||||
|
{
|
||||||
|
m_proxyCount = 0;
|
||||||
|
|
||||||
|
m_pairCapacity = 16;
|
||||||
|
m_pairCount = 0;
|
||||||
|
m_pairBuffer = (b2Pair*)b2Alloc(m_pairCapacity * sizeof(b2Pair));
|
||||||
|
|
||||||
|
m_moveCapacity = 16;
|
||||||
|
m_moveCount = 0;
|
||||||
|
m_moveBuffer = (int32*)b2Alloc(m_moveCapacity * sizeof(int32));
|
||||||
|
}
|
||||||
|
|
||||||
|
b2BroadPhase::~b2BroadPhase()
|
||||||
|
{
|
||||||
|
b2Free(m_moveBuffer);
|
||||||
|
b2Free(m_pairBuffer);
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 b2BroadPhase::CreateProxy(const b2AABB& aabb, void* userData)
|
||||||
|
{
|
||||||
|
int32 proxyId = m_tree.CreateProxy(aabb, userData);
|
||||||
|
++m_proxyCount;
|
||||||
|
BufferMove(proxyId);
|
||||||
|
return proxyId;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2BroadPhase::DestroyProxy(int32 proxyId)
|
||||||
|
{
|
||||||
|
UnBufferMove(proxyId);
|
||||||
|
--m_proxyCount;
|
||||||
|
m_tree.DestroyProxy(proxyId);
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2BroadPhase::MoveProxy(int32 proxyId, const b2AABB& aabb, const b2Vec2& displacement)
|
||||||
|
{
|
||||||
|
bool buffer = m_tree.MoveProxy(proxyId, aabb, displacement);
|
||||||
|
if (buffer)
|
||||||
|
{
|
||||||
|
BufferMove(proxyId);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2BroadPhase::TouchProxy(int32 proxyId)
|
||||||
|
{
|
||||||
|
BufferMove(proxyId);
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2BroadPhase::BufferMove(int32 proxyId)
|
||||||
|
{
|
||||||
|
if (m_moveCount == m_moveCapacity)
|
||||||
|
{
|
||||||
|
int32* oldBuffer = m_moveBuffer;
|
||||||
|
m_moveCapacity *= 2;
|
||||||
|
m_moveBuffer = (int32*)b2Alloc(m_moveCapacity * sizeof(int32));
|
||||||
|
memcpy(m_moveBuffer, oldBuffer, m_moveCount * sizeof(int32));
|
||||||
|
b2Free(oldBuffer);
|
||||||
|
}
|
||||||
|
|
||||||
|
m_moveBuffer[m_moveCount] = proxyId;
|
||||||
|
++m_moveCount;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2BroadPhase::UnBufferMove(int32 proxyId)
|
||||||
|
{
|
||||||
|
for (int32 i = 0; i < m_moveCount; ++i)
|
||||||
|
{
|
||||||
|
if (m_moveBuffer[i] == proxyId)
|
||||||
|
{
|
||||||
|
m_moveBuffer[i] = e_nullProxy;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// This is called from b2DynamicTree::Query when we are gathering pairs.
|
||||||
|
bool b2BroadPhase::QueryCallback(int32 proxyId)
|
||||||
|
{
|
||||||
|
// A proxy cannot form a pair with itself.
|
||||||
|
if (proxyId == m_queryProxyId)
|
||||||
|
{
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Grow the pair buffer as needed.
|
||||||
|
if (m_pairCount == m_pairCapacity)
|
||||||
|
{
|
||||||
|
b2Pair* oldBuffer = m_pairBuffer;
|
||||||
|
m_pairCapacity *= 2;
|
||||||
|
m_pairBuffer = (b2Pair*)b2Alloc(m_pairCapacity * sizeof(b2Pair));
|
||||||
|
memcpy(m_pairBuffer, oldBuffer, m_pairCount * sizeof(b2Pair));
|
||||||
|
b2Free(oldBuffer);
|
||||||
|
}
|
||||||
|
|
||||||
|
m_pairBuffer[m_pairCount].proxyIdA = b2Min(proxyId, m_queryProxyId);
|
||||||
|
m_pairBuffer[m_pairCount].proxyIdB = b2Max(proxyId, m_queryProxyId);
|
||||||
|
++m_pairCount;
|
||||||
|
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,257 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef B2_BROAD_PHASE_H
|
||||||
|
#define B2_BROAD_PHASE_H
|
||||||
|
|
||||||
|
#include "../Common/b2Settings.h"
|
||||||
|
#include "b2Collision.h"
|
||||||
|
#include "b2DynamicTree.h"
|
||||||
|
#include <algorithm>
|
||||||
|
|
||||||
|
struct b2Pair
|
||||||
|
{
|
||||||
|
int32 proxyIdA;
|
||||||
|
int32 proxyIdB;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// The broad-phase is used for computing pairs and performing volume queries and ray casts.
|
||||||
|
/// This broad-phase does not persist pairs. Instead, this reports potentially new pairs.
|
||||||
|
/// It is up to the client to consume the new pairs and to track subsequent overlap.
|
||||||
|
class b2BroadPhase
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
|
||||||
|
enum
|
||||||
|
{
|
||||||
|
e_nullProxy = -1
|
||||||
|
};
|
||||||
|
|
||||||
|
b2BroadPhase();
|
||||||
|
~b2BroadPhase();
|
||||||
|
|
||||||
|
/// Create a proxy with an initial AABB. Pairs are not reported until
|
||||||
|
/// UpdatePairs is called.
|
||||||
|
int32 CreateProxy(const b2AABB& aabb, void* userData);
|
||||||
|
|
||||||
|
/// Destroy a proxy. It is up to the client to remove any pairs.
|
||||||
|
void DestroyProxy(int32 proxyId);
|
||||||
|
|
||||||
|
/// Call MoveProxy as many times as you like, then when you are done
|
||||||
|
/// call UpdatePairs to finalized the proxy pairs (for your time step).
|
||||||
|
void MoveProxy(int32 proxyId, const b2AABB& aabb, const b2Vec2& displacement);
|
||||||
|
|
||||||
|
/// Call to trigger a re-processing of it's pairs on the next call to UpdatePairs.
|
||||||
|
void TouchProxy(int32 proxyId);
|
||||||
|
|
||||||
|
/// Get the fat AABB for a proxy.
|
||||||
|
const b2AABB& GetFatAABB(int32 proxyId) const;
|
||||||
|
|
||||||
|
/// Get user data from a proxy. Returns nullptr if the id is invalid.
|
||||||
|
void* GetUserData(int32 proxyId) const;
|
||||||
|
|
||||||
|
/// Test overlap of fat AABBs.
|
||||||
|
bool TestOverlap(int32 proxyIdA, int32 proxyIdB) const;
|
||||||
|
|
||||||
|
/// Get the number of proxies.
|
||||||
|
int32 GetProxyCount() const;
|
||||||
|
|
||||||
|
/// Update the pairs. This results in pair callbacks. This can only add pairs.
|
||||||
|
template <typename T>
|
||||||
|
void UpdatePairs(T* callback);
|
||||||
|
|
||||||
|
/// Query an AABB for overlapping proxies. The callback class
|
||||||
|
/// is called for each proxy that overlaps the supplied AABB.
|
||||||
|
template <typename T>
|
||||||
|
void Query(T* callback, const b2AABB& aabb) const;
|
||||||
|
|
||||||
|
/// Ray-cast against the proxies in the tree. This relies on the callback
|
||||||
|
/// to perform a exact ray-cast in the case were the proxy contains a shape.
|
||||||
|
/// The callback also performs the any collision filtering. This has performance
|
||||||
|
/// roughly equal to k * log(n), where k is the number of collisions and n is the
|
||||||
|
/// number of proxies in the tree.
|
||||||
|
/// @param input the ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1).
|
||||||
|
/// @param callback a callback class that is called for each proxy that is hit by the ray.
|
||||||
|
template <typename T>
|
||||||
|
void RayCast(T* callback, const b2RayCastInput& input) const;
|
||||||
|
|
||||||
|
/// Get the height of the embedded tree.
|
||||||
|
int32 GetTreeHeight() const;
|
||||||
|
|
||||||
|
/// Get the balance of the embedded tree.
|
||||||
|
int32 GetTreeBalance() const;
|
||||||
|
|
||||||
|
/// Get the quality metric of the embedded tree.
|
||||||
|
float32 GetTreeQuality() const;
|
||||||
|
|
||||||
|
/// Shift the world origin. Useful for large worlds.
|
||||||
|
/// The shift formula is: position -= newOrigin
|
||||||
|
/// @param newOrigin the new origin with respect to the old origin
|
||||||
|
void ShiftOrigin(const b2Vec2& newOrigin);
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
friend class b2DynamicTree;
|
||||||
|
|
||||||
|
void BufferMove(int32 proxyId);
|
||||||
|
void UnBufferMove(int32 proxyId);
|
||||||
|
|
||||||
|
bool QueryCallback(int32 proxyId);
|
||||||
|
|
||||||
|
b2DynamicTree m_tree;
|
||||||
|
|
||||||
|
int32 m_proxyCount;
|
||||||
|
|
||||||
|
int32* m_moveBuffer;
|
||||||
|
int32 m_moveCapacity;
|
||||||
|
int32 m_moveCount;
|
||||||
|
|
||||||
|
b2Pair* m_pairBuffer;
|
||||||
|
int32 m_pairCapacity;
|
||||||
|
int32 m_pairCount;
|
||||||
|
|
||||||
|
int32 m_queryProxyId;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// This is used to sort pairs.
|
||||||
|
inline bool b2PairLessThan(const b2Pair& pair1, const b2Pair& pair2)
|
||||||
|
{
|
||||||
|
if (pair1.proxyIdA < pair2.proxyIdA)
|
||||||
|
{
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (pair1.proxyIdA == pair2.proxyIdA)
|
||||||
|
{
|
||||||
|
return pair1.proxyIdB < pair2.proxyIdB;
|
||||||
|
}
|
||||||
|
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline void* b2BroadPhase::GetUserData(int32 proxyId) const
|
||||||
|
{
|
||||||
|
return m_tree.GetUserData(proxyId);
|
||||||
|
}
|
||||||
|
|
||||||
|
inline bool b2BroadPhase::TestOverlap(int32 proxyIdA, int32 proxyIdB) const
|
||||||
|
{
|
||||||
|
const b2AABB& aabbA = m_tree.GetFatAABB(proxyIdA);
|
||||||
|
const b2AABB& aabbB = m_tree.GetFatAABB(proxyIdB);
|
||||||
|
return b2TestOverlap(aabbA, aabbB);
|
||||||
|
}
|
||||||
|
|
||||||
|
inline const b2AABB& b2BroadPhase::GetFatAABB(int32 proxyId) const
|
||||||
|
{
|
||||||
|
return m_tree.GetFatAABB(proxyId);
|
||||||
|
}
|
||||||
|
|
||||||
|
inline int32 b2BroadPhase::GetProxyCount() const
|
||||||
|
{
|
||||||
|
return m_proxyCount;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline int32 b2BroadPhase::GetTreeHeight() const
|
||||||
|
{
|
||||||
|
return m_tree.GetHeight();
|
||||||
|
}
|
||||||
|
|
||||||
|
inline int32 b2BroadPhase::GetTreeBalance() const
|
||||||
|
{
|
||||||
|
return m_tree.GetMaxBalance();
|
||||||
|
}
|
||||||
|
|
||||||
|
inline float32 b2BroadPhase::GetTreeQuality() const
|
||||||
|
{
|
||||||
|
return m_tree.GetAreaRatio();
|
||||||
|
}
|
||||||
|
|
||||||
|
template <typename T>
|
||||||
|
void b2BroadPhase::UpdatePairs(T* callback)
|
||||||
|
{
|
||||||
|
// Reset pair buffer
|
||||||
|
m_pairCount = 0;
|
||||||
|
|
||||||
|
// Perform tree queries for all moving proxies.
|
||||||
|
for (int32 i = 0; i < m_moveCount; ++i)
|
||||||
|
{
|
||||||
|
m_queryProxyId = m_moveBuffer[i];
|
||||||
|
if (m_queryProxyId == e_nullProxy)
|
||||||
|
{
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
// We have to query the tree with the fat AABB so that
|
||||||
|
// we don't fail to create a pair that may touch later.
|
||||||
|
const b2AABB& fatAABB = m_tree.GetFatAABB(m_queryProxyId);
|
||||||
|
|
||||||
|
// Query tree, create pairs and add them pair buffer.
|
||||||
|
m_tree.Query(this, fatAABB);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Reset move buffer
|
||||||
|
m_moveCount = 0;
|
||||||
|
|
||||||
|
// Sort the pair buffer to expose duplicates.
|
||||||
|
std::sort(m_pairBuffer, m_pairBuffer + m_pairCount, b2PairLessThan);
|
||||||
|
|
||||||
|
// Send the pairs back to the client.
|
||||||
|
int32 i = 0;
|
||||||
|
while (i < m_pairCount)
|
||||||
|
{
|
||||||
|
b2Pair* primaryPair = m_pairBuffer + i;
|
||||||
|
void* userDataA = m_tree.GetUserData(primaryPair->proxyIdA);
|
||||||
|
void* userDataB = m_tree.GetUserData(primaryPair->proxyIdB);
|
||||||
|
|
||||||
|
callback->AddPair(userDataA, userDataB);
|
||||||
|
++i;
|
||||||
|
|
||||||
|
// Skip any duplicate pairs.
|
||||||
|
while (i < m_pairCount)
|
||||||
|
{
|
||||||
|
b2Pair* pair = m_pairBuffer + i;
|
||||||
|
if (pair->proxyIdA != primaryPair->proxyIdA || pair->proxyIdB != primaryPair->proxyIdB)
|
||||||
|
{
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
++i;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Try to keep the tree balanced.
|
||||||
|
//m_tree.Rebalance(4);
|
||||||
|
}
|
||||||
|
|
||||||
|
template <typename T>
|
||||||
|
inline void b2BroadPhase::Query(T* callback, const b2AABB& aabb) const
|
||||||
|
{
|
||||||
|
m_tree.Query(callback, aabb);
|
||||||
|
}
|
||||||
|
|
||||||
|
template <typename T>
|
||||||
|
inline void b2BroadPhase::RayCast(T* callback, const b2RayCastInput& input) const
|
||||||
|
{
|
||||||
|
m_tree.RayCast(callback, input);
|
||||||
|
}
|
||||||
|
|
||||||
|
inline void b2BroadPhase::ShiftOrigin(const b2Vec2& newOrigin)
|
||||||
|
{
|
||||||
|
m_tree.ShiftOrigin(newOrigin);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,154 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2007-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Collision/b2Collision.h"
|
||||||
|
#include "Box2D/Collision/Shapes/b2CircleShape.h"
|
||||||
|
#include "Box2D/Collision/Shapes/b2PolygonShape.h"
|
||||||
|
|
||||||
|
void b2CollideCircles(
|
||||||
|
b2Manifold* manifold,
|
||||||
|
const b2CircleShape* circleA, const b2Transform& xfA,
|
||||||
|
const b2CircleShape* circleB, const b2Transform& xfB)
|
||||||
|
{
|
||||||
|
manifold->pointCount = 0;
|
||||||
|
|
||||||
|
b2Vec2 pA = b2Mul(xfA, circleA->m_p);
|
||||||
|
b2Vec2 pB = b2Mul(xfB, circleB->m_p);
|
||||||
|
|
||||||
|
b2Vec2 d = pB - pA;
|
||||||
|
float32 distSqr = b2Dot(d, d);
|
||||||
|
float32 rA = circleA->m_radius, rB = circleB->m_radius;
|
||||||
|
float32 radius = rA + rB;
|
||||||
|
if (distSqr > radius * radius)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
manifold->type = b2Manifold::e_circles;
|
||||||
|
manifold->localPoint = circleA->m_p;
|
||||||
|
manifold->localNormal.SetZero();
|
||||||
|
manifold->pointCount = 1;
|
||||||
|
|
||||||
|
manifold->points[0].localPoint = circleB->m_p;
|
||||||
|
manifold->points[0].id.key = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2CollidePolygonAndCircle(
|
||||||
|
b2Manifold* manifold,
|
||||||
|
const b2PolygonShape* polygonA, const b2Transform& xfA,
|
||||||
|
const b2CircleShape* circleB, const b2Transform& xfB)
|
||||||
|
{
|
||||||
|
manifold->pointCount = 0;
|
||||||
|
|
||||||
|
// Compute circle position in the frame of the polygon.
|
||||||
|
b2Vec2 c = b2Mul(xfB, circleB->m_p);
|
||||||
|
b2Vec2 cLocal = b2MulT(xfA, c);
|
||||||
|
|
||||||
|
// Find the min separating edge.
|
||||||
|
int32 normalIndex = 0;
|
||||||
|
float32 separation = -b2_maxFloat;
|
||||||
|
float32 radius = polygonA->m_radius + circleB->m_radius;
|
||||||
|
int32 vertexCount = polygonA->m_count;
|
||||||
|
const b2Vec2* vertices = polygonA->m_vertices;
|
||||||
|
const b2Vec2* normals = polygonA->m_normals;
|
||||||
|
|
||||||
|
for (int32 i = 0; i < vertexCount; ++i)
|
||||||
|
{
|
||||||
|
float32 s = b2Dot(normals[i], cLocal - vertices[i]);
|
||||||
|
|
||||||
|
if (s > radius)
|
||||||
|
{
|
||||||
|
// Early out.
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (s > separation)
|
||||||
|
{
|
||||||
|
separation = s;
|
||||||
|
normalIndex = i;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Vertices that subtend the incident face.
|
||||||
|
int32 vertIndex1 = normalIndex;
|
||||||
|
int32 vertIndex2 = vertIndex1 + 1 < vertexCount ? vertIndex1 + 1 : 0;
|
||||||
|
b2Vec2 v1 = vertices[vertIndex1];
|
||||||
|
b2Vec2 v2 = vertices[vertIndex2];
|
||||||
|
|
||||||
|
// If the center is inside the polygon ...
|
||||||
|
if (separation < b2_epsilon)
|
||||||
|
{
|
||||||
|
manifold->pointCount = 1;
|
||||||
|
manifold->type = b2Manifold::e_faceA;
|
||||||
|
manifold->localNormal = normals[normalIndex];
|
||||||
|
manifold->localPoint = 0.5f * (v1 + v2);
|
||||||
|
manifold->points[0].localPoint = circleB->m_p;
|
||||||
|
manifold->points[0].id.key = 0;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Compute barycentric coordinates
|
||||||
|
float32 u1 = b2Dot(cLocal - v1, v2 - v1);
|
||||||
|
float32 u2 = b2Dot(cLocal - v2, v1 - v2);
|
||||||
|
if (u1 <= 0.0f)
|
||||||
|
{
|
||||||
|
if (b2DistanceSquared(cLocal, v1) > radius * radius)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
manifold->pointCount = 1;
|
||||||
|
manifold->type = b2Manifold::e_faceA;
|
||||||
|
manifold->localNormal = cLocal - v1;
|
||||||
|
manifold->localNormal.Normalize();
|
||||||
|
manifold->localPoint = v1;
|
||||||
|
manifold->points[0].localPoint = circleB->m_p;
|
||||||
|
manifold->points[0].id.key = 0;
|
||||||
|
}
|
||||||
|
else if (u2 <= 0.0f)
|
||||||
|
{
|
||||||
|
if (b2DistanceSquared(cLocal, v2) > radius * radius)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
manifold->pointCount = 1;
|
||||||
|
manifold->type = b2Manifold::e_faceA;
|
||||||
|
manifold->localNormal = cLocal - v2;
|
||||||
|
manifold->localNormal.Normalize();
|
||||||
|
manifold->localPoint = v2;
|
||||||
|
manifold->points[0].localPoint = circleB->m_p;
|
||||||
|
manifold->points[0].id.key = 0;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
b2Vec2 faceCenter = 0.5f * (v1 + v2);
|
||||||
|
float32 s = b2Dot(cLocal - faceCenter, normals[vertIndex1]);
|
||||||
|
if (s > radius)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
manifold->pointCount = 1;
|
||||||
|
manifold->type = b2Manifold::e_faceA;
|
||||||
|
manifold->localNormal = normals[vertIndex1];
|
||||||
|
manifold->localPoint = faceCenter;
|
||||||
|
manifold->points[0].localPoint = circleB->m_p;
|
||||||
|
manifold->points[0].id.key = 0;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,698 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2007-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Collision/b2Collision.h"
|
||||||
|
#include "Box2D/Collision/Shapes/b2CircleShape.h"
|
||||||
|
#include "Box2D/Collision/Shapes/b2EdgeShape.h"
|
||||||
|
#include "Box2D/Collision/Shapes/b2PolygonShape.h"
|
||||||
|
|
||||||
|
|
||||||
|
// Compute contact points for edge versus circle.
|
||||||
|
// This accounts for edge connectivity.
|
||||||
|
void b2CollideEdgeAndCircle(b2Manifold* manifold,
|
||||||
|
const b2EdgeShape* edgeA, const b2Transform& xfA,
|
||||||
|
const b2CircleShape* circleB, const b2Transform& xfB)
|
||||||
|
{
|
||||||
|
manifold->pointCount = 0;
|
||||||
|
|
||||||
|
// Compute circle in frame of edge
|
||||||
|
b2Vec2 Q = b2MulT(xfA, b2Mul(xfB, circleB->m_p));
|
||||||
|
|
||||||
|
b2Vec2 A = edgeA->m_vertex1, B = edgeA->m_vertex2;
|
||||||
|
b2Vec2 e = B - A;
|
||||||
|
|
||||||
|
// Barycentric coordinates
|
||||||
|
float32 u = b2Dot(e, B - Q);
|
||||||
|
float32 v = b2Dot(e, Q - A);
|
||||||
|
|
||||||
|
float32 radius = edgeA->m_radius + circleB->m_radius;
|
||||||
|
|
||||||
|
b2ContactFeature cf;
|
||||||
|
cf.indexB = 0;
|
||||||
|
cf.typeB = b2ContactFeature::e_vertex;
|
||||||
|
|
||||||
|
// Region A
|
||||||
|
if (v <= 0.0f)
|
||||||
|
{
|
||||||
|
b2Vec2 P = A;
|
||||||
|
b2Vec2 d = Q - P;
|
||||||
|
float32 dd = b2Dot(d, d);
|
||||||
|
if (dd > radius * radius)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Is there an edge connected to A?
|
||||||
|
if (edgeA->m_hasVertex0)
|
||||||
|
{
|
||||||
|
b2Vec2 A1 = edgeA->m_vertex0;
|
||||||
|
b2Vec2 B1 = A;
|
||||||
|
b2Vec2 e1 = B1 - A1;
|
||||||
|
float32 u1 = b2Dot(e1, B1 - Q);
|
||||||
|
|
||||||
|
// Is the circle in Region AB of the previous edge?
|
||||||
|
if (u1 > 0.0f)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
cf.indexA = 0;
|
||||||
|
cf.typeA = b2ContactFeature::e_vertex;
|
||||||
|
manifold->pointCount = 1;
|
||||||
|
manifold->type = b2Manifold::e_circles;
|
||||||
|
manifold->localNormal.SetZero();
|
||||||
|
manifold->localPoint = P;
|
||||||
|
manifold->points[0].id.key = 0;
|
||||||
|
manifold->points[0].id.cf = cf;
|
||||||
|
manifold->points[0].localPoint = circleB->m_p;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Region B
|
||||||
|
if (u <= 0.0f)
|
||||||
|
{
|
||||||
|
b2Vec2 P = B;
|
||||||
|
b2Vec2 d = Q - P;
|
||||||
|
float32 dd = b2Dot(d, d);
|
||||||
|
if (dd > radius * radius)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Is there an edge connected to B?
|
||||||
|
if (edgeA->m_hasVertex3)
|
||||||
|
{
|
||||||
|
b2Vec2 B2 = edgeA->m_vertex3;
|
||||||
|
b2Vec2 A2 = B;
|
||||||
|
b2Vec2 e2 = B2 - A2;
|
||||||
|
float32 v2 = b2Dot(e2, Q - A2);
|
||||||
|
|
||||||
|
// Is the circle in Region AB of the next edge?
|
||||||
|
if (v2 > 0.0f)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
cf.indexA = 1;
|
||||||
|
cf.typeA = b2ContactFeature::e_vertex;
|
||||||
|
manifold->pointCount = 1;
|
||||||
|
manifold->type = b2Manifold::e_circles;
|
||||||
|
manifold->localNormal.SetZero();
|
||||||
|
manifold->localPoint = P;
|
||||||
|
manifold->points[0].id.key = 0;
|
||||||
|
manifold->points[0].id.cf = cf;
|
||||||
|
manifold->points[0].localPoint = circleB->m_p;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Region AB
|
||||||
|
float32 den = b2Dot(e, e);
|
||||||
|
b2Assert(den > 0.0f);
|
||||||
|
b2Vec2 P = (1.0f / den) * (u * A + v * B);
|
||||||
|
b2Vec2 d = Q - P;
|
||||||
|
float32 dd = b2Dot(d, d);
|
||||||
|
if (dd > radius * radius)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Vec2 n(-e.y, e.x);
|
||||||
|
if (b2Dot(n, Q - A) < 0.0f)
|
||||||
|
{
|
||||||
|
n.Set(-n.x, -n.y);
|
||||||
|
}
|
||||||
|
n.Normalize();
|
||||||
|
|
||||||
|
cf.indexA = 0;
|
||||||
|
cf.typeA = b2ContactFeature::e_face;
|
||||||
|
manifold->pointCount = 1;
|
||||||
|
manifold->type = b2Manifold::e_faceA;
|
||||||
|
manifold->localNormal = n;
|
||||||
|
manifold->localPoint = A;
|
||||||
|
manifold->points[0].id.key = 0;
|
||||||
|
manifold->points[0].id.cf = cf;
|
||||||
|
manifold->points[0].localPoint = circleB->m_p;
|
||||||
|
}
|
||||||
|
|
||||||
|
// This structure is used to keep track of the best separating axis.
|
||||||
|
struct b2EPAxis
|
||||||
|
{
|
||||||
|
enum Type
|
||||||
|
{
|
||||||
|
e_unknown,
|
||||||
|
e_edgeA,
|
||||||
|
e_edgeB
|
||||||
|
};
|
||||||
|
|
||||||
|
Type type;
|
||||||
|
int32 index;
|
||||||
|
float32 separation;
|
||||||
|
};
|
||||||
|
|
||||||
|
// This holds polygon B expressed in frame A.
|
||||||
|
struct b2TempPolygon
|
||||||
|
{
|
||||||
|
b2Vec2 vertices[b2_maxPolygonVertices];
|
||||||
|
b2Vec2 normals[b2_maxPolygonVertices];
|
||||||
|
int32 count;
|
||||||
|
};
|
||||||
|
|
||||||
|
// Reference face used for clipping
|
||||||
|
struct b2ReferenceFace
|
||||||
|
{
|
||||||
|
int32 i1, i2;
|
||||||
|
|
||||||
|
b2Vec2 v1, v2;
|
||||||
|
|
||||||
|
b2Vec2 normal;
|
||||||
|
|
||||||
|
b2Vec2 sideNormal1;
|
||||||
|
float32 sideOffset1;
|
||||||
|
|
||||||
|
b2Vec2 sideNormal2;
|
||||||
|
float32 sideOffset2;
|
||||||
|
};
|
||||||
|
|
||||||
|
// This class collides and edge and a polygon, taking into account edge adjacency.
|
||||||
|
struct b2EPCollider
|
||||||
|
{
|
||||||
|
void Collide(b2Manifold* manifold, const b2EdgeShape* edgeA, const b2Transform& xfA,
|
||||||
|
const b2PolygonShape* polygonB, const b2Transform& xfB);
|
||||||
|
b2EPAxis ComputeEdgeSeparation();
|
||||||
|
b2EPAxis ComputePolygonSeparation();
|
||||||
|
|
||||||
|
enum VertexType
|
||||||
|
{
|
||||||
|
e_isolated,
|
||||||
|
e_concave,
|
||||||
|
e_convex
|
||||||
|
};
|
||||||
|
|
||||||
|
b2TempPolygon m_polygonB;
|
||||||
|
|
||||||
|
b2Transform m_xf;
|
||||||
|
b2Vec2 m_centroidB;
|
||||||
|
b2Vec2 m_v0, m_v1, m_v2, m_v3;
|
||||||
|
b2Vec2 m_normal0, m_normal1, m_normal2;
|
||||||
|
b2Vec2 m_normal;
|
||||||
|
VertexType m_type1, m_type2;
|
||||||
|
b2Vec2 m_lowerLimit, m_upperLimit;
|
||||||
|
float32 m_radius;
|
||||||
|
bool m_front;
|
||||||
|
};
|
||||||
|
|
||||||
|
// Algorithm:
|
||||||
|
// 1. Classify v1 and v2
|
||||||
|
// 2. Classify polygon centroid as front or back
|
||||||
|
// 3. Flip normal if necessary
|
||||||
|
// 4. Initialize normal range to [-pi, pi] about face normal
|
||||||
|
// 5. Adjust normal range according to adjacent edges
|
||||||
|
// 6. Visit each separating axes, only accept axes within the range
|
||||||
|
// 7. Return if _any_ axis indicates separation
|
||||||
|
// 8. Clip
|
||||||
|
void b2EPCollider::Collide(b2Manifold* manifold, const b2EdgeShape* edgeA, const b2Transform& xfA,
|
||||||
|
const b2PolygonShape* polygonB, const b2Transform& xfB)
|
||||||
|
{
|
||||||
|
m_xf = b2MulT(xfA, xfB);
|
||||||
|
|
||||||
|
m_centroidB = b2Mul(m_xf, polygonB->m_centroid);
|
||||||
|
|
||||||
|
m_v0 = edgeA->m_vertex0;
|
||||||
|
m_v1 = edgeA->m_vertex1;
|
||||||
|
m_v2 = edgeA->m_vertex2;
|
||||||
|
m_v3 = edgeA->m_vertex3;
|
||||||
|
|
||||||
|
bool hasVertex0 = edgeA->m_hasVertex0;
|
||||||
|
bool hasVertex3 = edgeA->m_hasVertex3;
|
||||||
|
|
||||||
|
b2Vec2 edge1 = m_v2 - m_v1;
|
||||||
|
edge1.Normalize();
|
||||||
|
m_normal1.Set(edge1.y, -edge1.x);
|
||||||
|
float32 offset1 = b2Dot(m_normal1, m_centroidB - m_v1);
|
||||||
|
float32 offset0 = 0.0f, offset2 = 0.0f;
|
||||||
|
bool convex1 = false, convex2 = false;
|
||||||
|
|
||||||
|
// Is there a preceding edge?
|
||||||
|
if (hasVertex0)
|
||||||
|
{
|
||||||
|
b2Vec2 edge0 = m_v1 - m_v0;
|
||||||
|
edge0.Normalize();
|
||||||
|
m_normal0.Set(edge0.y, -edge0.x);
|
||||||
|
convex1 = b2Cross(edge0, edge1) >= 0.0f;
|
||||||
|
offset0 = b2Dot(m_normal0, m_centroidB - m_v0);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Is there a following edge?
|
||||||
|
if (hasVertex3)
|
||||||
|
{
|
||||||
|
b2Vec2 edge2 = m_v3 - m_v2;
|
||||||
|
edge2.Normalize();
|
||||||
|
m_normal2.Set(edge2.y, -edge2.x);
|
||||||
|
convex2 = b2Cross(edge1, edge2) > 0.0f;
|
||||||
|
offset2 = b2Dot(m_normal2, m_centroidB - m_v2);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Determine front or back collision. Determine collision normal limits.
|
||||||
|
if (hasVertex0 && hasVertex3)
|
||||||
|
{
|
||||||
|
if (convex1 && convex2)
|
||||||
|
{
|
||||||
|
m_front = offset0 >= 0.0f || offset1 >= 0.0f || offset2 >= 0.0f;
|
||||||
|
if (m_front)
|
||||||
|
{
|
||||||
|
m_normal = m_normal1;
|
||||||
|
m_lowerLimit = m_normal0;
|
||||||
|
m_upperLimit = m_normal2;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_normal = -m_normal1;
|
||||||
|
m_lowerLimit = -m_normal1;
|
||||||
|
m_upperLimit = -m_normal1;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if (convex1)
|
||||||
|
{
|
||||||
|
m_front = offset0 >= 0.0f || (offset1 >= 0.0f && offset2 >= 0.0f);
|
||||||
|
if (m_front)
|
||||||
|
{
|
||||||
|
m_normal = m_normal1;
|
||||||
|
m_lowerLimit = m_normal0;
|
||||||
|
m_upperLimit = m_normal1;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_normal = -m_normal1;
|
||||||
|
m_lowerLimit = -m_normal2;
|
||||||
|
m_upperLimit = -m_normal1;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if (convex2)
|
||||||
|
{
|
||||||
|
m_front = offset2 >= 0.0f || (offset0 >= 0.0f && offset1 >= 0.0f);
|
||||||
|
if (m_front)
|
||||||
|
{
|
||||||
|
m_normal = m_normal1;
|
||||||
|
m_lowerLimit = m_normal1;
|
||||||
|
m_upperLimit = m_normal2;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_normal = -m_normal1;
|
||||||
|
m_lowerLimit = -m_normal1;
|
||||||
|
m_upperLimit = -m_normal0;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_front = offset0 >= 0.0f && offset1 >= 0.0f && offset2 >= 0.0f;
|
||||||
|
if (m_front)
|
||||||
|
{
|
||||||
|
m_normal = m_normal1;
|
||||||
|
m_lowerLimit = m_normal1;
|
||||||
|
m_upperLimit = m_normal1;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_normal = -m_normal1;
|
||||||
|
m_lowerLimit = -m_normal2;
|
||||||
|
m_upperLimit = -m_normal0;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if (hasVertex0)
|
||||||
|
{
|
||||||
|
if (convex1)
|
||||||
|
{
|
||||||
|
m_front = offset0 >= 0.0f || offset1 >= 0.0f;
|
||||||
|
if (m_front)
|
||||||
|
{
|
||||||
|
m_normal = m_normal1;
|
||||||
|
m_lowerLimit = m_normal0;
|
||||||
|
m_upperLimit = -m_normal1;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_normal = -m_normal1;
|
||||||
|
m_lowerLimit = m_normal1;
|
||||||
|
m_upperLimit = -m_normal1;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_front = offset0 >= 0.0f && offset1 >= 0.0f;
|
||||||
|
if (m_front)
|
||||||
|
{
|
||||||
|
m_normal = m_normal1;
|
||||||
|
m_lowerLimit = m_normal1;
|
||||||
|
m_upperLimit = -m_normal1;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_normal = -m_normal1;
|
||||||
|
m_lowerLimit = m_normal1;
|
||||||
|
m_upperLimit = -m_normal0;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if (hasVertex3)
|
||||||
|
{
|
||||||
|
if (convex2)
|
||||||
|
{
|
||||||
|
m_front = offset1 >= 0.0f || offset2 >= 0.0f;
|
||||||
|
if (m_front)
|
||||||
|
{
|
||||||
|
m_normal = m_normal1;
|
||||||
|
m_lowerLimit = -m_normal1;
|
||||||
|
m_upperLimit = m_normal2;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_normal = -m_normal1;
|
||||||
|
m_lowerLimit = -m_normal1;
|
||||||
|
m_upperLimit = m_normal1;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_front = offset1 >= 0.0f && offset2 >= 0.0f;
|
||||||
|
if (m_front)
|
||||||
|
{
|
||||||
|
m_normal = m_normal1;
|
||||||
|
m_lowerLimit = -m_normal1;
|
||||||
|
m_upperLimit = m_normal1;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_normal = -m_normal1;
|
||||||
|
m_lowerLimit = -m_normal2;
|
||||||
|
m_upperLimit = m_normal1;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_front = offset1 >= 0.0f;
|
||||||
|
if (m_front)
|
||||||
|
{
|
||||||
|
m_normal = m_normal1;
|
||||||
|
m_lowerLimit = -m_normal1;
|
||||||
|
m_upperLimit = -m_normal1;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_normal = -m_normal1;
|
||||||
|
m_lowerLimit = m_normal1;
|
||||||
|
m_upperLimit = m_normal1;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Get polygonB in frameA
|
||||||
|
m_polygonB.count = polygonB->m_count;
|
||||||
|
for (int32 i = 0; i < polygonB->m_count; ++i)
|
||||||
|
{
|
||||||
|
m_polygonB.vertices[i] = b2Mul(m_xf, polygonB->m_vertices[i]);
|
||||||
|
m_polygonB.normals[i] = b2Mul(m_xf.q, polygonB->m_normals[i]);
|
||||||
|
}
|
||||||
|
|
||||||
|
m_radius = polygonB->m_radius + edgeA->m_radius;
|
||||||
|
|
||||||
|
manifold->pointCount = 0;
|
||||||
|
|
||||||
|
b2EPAxis edgeAxis = ComputeEdgeSeparation();
|
||||||
|
|
||||||
|
// If no valid normal can be found than this edge should not collide.
|
||||||
|
if (edgeAxis.type == b2EPAxis::e_unknown)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (edgeAxis.separation > m_radius)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2EPAxis polygonAxis = ComputePolygonSeparation();
|
||||||
|
if (polygonAxis.type != b2EPAxis::e_unknown && polygonAxis.separation > m_radius)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Use hysteresis for jitter reduction.
|
||||||
|
const float32 k_relativeTol = 0.98f;
|
||||||
|
const float32 k_absoluteTol = 0.001f;
|
||||||
|
|
||||||
|
b2EPAxis primaryAxis;
|
||||||
|
if (polygonAxis.type == b2EPAxis::e_unknown)
|
||||||
|
{
|
||||||
|
primaryAxis = edgeAxis;
|
||||||
|
}
|
||||||
|
else if (polygonAxis.separation > k_relativeTol * edgeAxis.separation + k_absoluteTol)
|
||||||
|
{
|
||||||
|
primaryAxis = polygonAxis;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
primaryAxis = edgeAxis;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2ClipVertex ie[2];
|
||||||
|
b2ReferenceFace rf;
|
||||||
|
if (primaryAxis.type == b2EPAxis::e_edgeA)
|
||||||
|
{
|
||||||
|
manifold->type = b2Manifold::e_faceA;
|
||||||
|
|
||||||
|
// Search for the polygon normal that is most anti-parallel to the edge normal.
|
||||||
|
int32 bestIndex = 0;
|
||||||
|
float32 bestValue = b2Dot(m_normal, m_polygonB.normals[0]);
|
||||||
|
for (int32 i = 1; i < m_polygonB.count; ++i)
|
||||||
|
{
|
||||||
|
float32 value = b2Dot(m_normal, m_polygonB.normals[i]);
|
||||||
|
if (value < bestValue)
|
||||||
|
{
|
||||||
|
bestValue = value;
|
||||||
|
bestIndex = i;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 i1 = bestIndex;
|
||||||
|
int32 i2 = i1 + 1 < m_polygonB.count ? i1 + 1 : 0;
|
||||||
|
|
||||||
|
ie[0].v = m_polygonB.vertices[i1];
|
||||||
|
ie[0].id.cf.indexA = 0;
|
||||||
|
ie[0].id.cf.indexB = static_cast<uint8>(i1);
|
||||||
|
ie[0].id.cf.typeA = b2ContactFeature::e_face;
|
||||||
|
ie[0].id.cf.typeB = b2ContactFeature::e_vertex;
|
||||||
|
|
||||||
|
ie[1].v = m_polygonB.vertices[i2];
|
||||||
|
ie[1].id.cf.indexA = 0;
|
||||||
|
ie[1].id.cf.indexB = static_cast<uint8>(i2);
|
||||||
|
ie[1].id.cf.typeA = b2ContactFeature::e_face;
|
||||||
|
ie[1].id.cf.typeB = b2ContactFeature::e_vertex;
|
||||||
|
|
||||||
|
if (m_front)
|
||||||
|
{
|
||||||
|
rf.i1 = 0;
|
||||||
|
rf.i2 = 1;
|
||||||
|
rf.v1 = m_v1;
|
||||||
|
rf.v2 = m_v2;
|
||||||
|
rf.normal = m_normal1;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
rf.i1 = 1;
|
||||||
|
rf.i2 = 0;
|
||||||
|
rf.v1 = m_v2;
|
||||||
|
rf.v2 = m_v1;
|
||||||
|
rf.normal = -m_normal1;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
manifold->type = b2Manifold::e_faceB;
|
||||||
|
|
||||||
|
ie[0].v = m_v1;
|
||||||
|
ie[0].id.cf.indexA = 0;
|
||||||
|
ie[0].id.cf.indexB = static_cast<uint8>(primaryAxis.index);
|
||||||
|
ie[0].id.cf.typeA = b2ContactFeature::e_vertex;
|
||||||
|
ie[0].id.cf.typeB = b2ContactFeature::e_face;
|
||||||
|
|
||||||
|
ie[1].v = m_v2;
|
||||||
|
ie[1].id.cf.indexA = 0;
|
||||||
|
ie[1].id.cf.indexB = static_cast<uint8>(primaryAxis.index);
|
||||||
|
ie[1].id.cf.typeA = b2ContactFeature::e_vertex;
|
||||||
|
ie[1].id.cf.typeB = b2ContactFeature::e_face;
|
||||||
|
|
||||||
|
rf.i1 = primaryAxis.index;
|
||||||
|
rf.i2 = rf.i1 + 1 < m_polygonB.count ? rf.i1 + 1 : 0;
|
||||||
|
rf.v1 = m_polygonB.vertices[rf.i1];
|
||||||
|
rf.v2 = m_polygonB.vertices[rf.i2];
|
||||||
|
rf.normal = m_polygonB.normals[rf.i1];
|
||||||
|
}
|
||||||
|
|
||||||
|
rf.sideNormal1.Set(rf.normal.y, -rf.normal.x);
|
||||||
|
rf.sideNormal2 = -rf.sideNormal1;
|
||||||
|
rf.sideOffset1 = b2Dot(rf.sideNormal1, rf.v1);
|
||||||
|
rf.sideOffset2 = b2Dot(rf.sideNormal2, rf.v2);
|
||||||
|
|
||||||
|
// Clip incident edge against extruded edge1 side edges.
|
||||||
|
b2ClipVertex clipPoints1[2];
|
||||||
|
b2ClipVertex clipPoints2[2];
|
||||||
|
int32 np;
|
||||||
|
|
||||||
|
// Clip to box side 1
|
||||||
|
np = b2ClipSegmentToLine(clipPoints1, ie, rf.sideNormal1, rf.sideOffset1, rf.i1);
|
||||||
|
|
||||||
|
if (np < b2_maxManifoldPoints)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Clip to negative box side 1
|
||||||
|
np = b2ClipSegmentToLine(clipPoints2, clipPoints1, rf.sideNormal2, rf.sideOffset2, rf.i2);
|
||||||
|
|
||||||
|
if (np < b2_maxManifoldPoints)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Now clipPoints2 contains the clipped points.
|
||||||
|
if (primaryAxis.type == b2EPAxis::e_edgeA)
|
||||||
|
{
|
||||||
|
manifold->localNormal = rf.normal;
|
||||||
|
manifold->localPoint = rf.v1;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
manifold->localNormal = polygonB->m_normals[rf.i1];
|
||||||
|
manifold->localPoint = polygonB->m_vertices[rf.i1];
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 pointCount = 0;
|
||||||
|
for (int32 i = 0; i < b2_maxManifoldPoints; ++i)
|
||||||
|
{
|
||||||
|
float32 separation;
|
||||||
|
|
||||||
|
separation = b2Dot(rf.normal, clipPoints2[i].v - rf.v1);
|
||||||
|
|
||||||
|
if (separation <= m_radius)
|
||||||
|
{
|
||||||
|
b2ManifoldPoint* cp = manifold->points + pointCount;
|
||||||
|
|
||||||
|
if (primaryAxis.type == b2EPAxis::e_edgeA)
|
||||||
|
{
|
||||||
|
cp->localPoint = b2MulT(m_xf, clipPoints2[i].v);
|
||||||
|
cp->id = clipPoints2[i].id;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
cp->localPoint = clipPoints2[i].v;
|
||||||
|
cp->id.cf.typeA = clipPoints2[i].id.cf.typeB;
|
||||||
|
cp->id.cf.typeB = clipPoints2[i].id.cf.typeA;
|
||||||
|
cp->id.cf.indexA = clipPoints2[i].id.cf.indexB;
|
||||||
|
cp->id.cf.indexB = clipPoints2[i].id.cf.indexA;
|
||||||
|
}
|
||||||
|
|
||||||
|
++pointCount;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
manifold->pointCount = pointCount;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2EPAxis b2EPCollider::ComputeEdgeSeparation()
|
||||||
|
{
|
||||||
|
b2EPAxis axis;
|
||||||
|
axis.type = b2EPAxis::e_edgeA;
|
||||||
|
axis.index = m_front ? 0 : 1;
|
||||||
|
axis.separation = FLT_MAX;
|
||||||
|
|
||||||
|
for (int32 i = 0; i < m_polygonB.count; ++i)
|
||||||
|
{
|
||||||
|
float32 s = b2Dot(m_normal, m_polygonB.vertices[i] - m_v1);
|
||||||
|
if (s < axis.separation)
|
||||||
|
{
|
||||||
|
axis.separation = s;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return axis;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2EPAxis b2EPCollider::ComputePolygonSeparation()
|
||||||
|
{
|
||||||
|
b2EPAxis axis;
|
||||||
|
axis.type = b2EPAxis::e_unknown;
|
||||||
|
axis.index = -1;
|
||||||
|
axis.separation = -FLT_MAX;
|
||||||
|
|
||||||
|
b2Vec2 perp(-m_normal.y, m_normal.x);
|
||||||
|
|
||||||
|
for (int32 i = 0; i < m_polygonB.count; ++i)
|
||||||
|
{
|
||||||
|
b2Vec2 n = -m_polygonB.normals[i];
|
||||||
|
|
||||||
|
float32 s1 = b2Dot(n, m_polygonB.vertices[i] - m_v1);
|
||||||
|
float32 s2 = b2Dot(n, m_polygonB.vertices[i] - m_v2);
|
||||||
|
float32 s = b2Min(s1, s2);
|
||||||
|
|
||||||
|
if (s > m_radius)
|
||||||
|
{
|
||||||
|
// No collision
|
||||||
|
axis.type = b2EPAxis::e_edgeB;
|
||||||
|
axis.index = i;
|
||||||
|
axis.separation = s;
|
||||||
|
return axis;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Adjacency
|
||||||
|
if (b2Dot(n, perp) >= 0.0f)
|
||||||
|
{
|
||||||
|
if (b2Dot(n - m_upperLimit, m_normal) < -b2_angularSlop)
|
||||||
|
{
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
if (b2Dot(n - m_lowerLimit, m_normal) < -b2_angularSlop)
|
||||||
|
{
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (s > axis.separation)
|
||||||
|
{
|
||||||
|
axis.type = b2EPAxis::e_edgeB;
|
||||||
|
axis.index = i;
|
||||||
|
axis.separation = s;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return axis;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2CollideEdgeAndPolygon( b2Manifold* manifold,
|
||||||
|
const b2EdgeShape* edgeA, const b2Transform& xfA,
|
||||||
|
const b2PolygonShape* polygonB, const b2Transform& xfB)
|
||||||
|
{
|
||||||
|
b2EPCollider collider;
|
||||||
|
collider.Collide(manifold, edgeA, xfA, polygonB, xfB);
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,239 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Collision/b2Collision.h"
|
||||||
|
#include "Box2D/Collision/Shapes/b2PolygonShape.h"
|
||||||
|
|
||||||
|
// Find the max separation between poly1 and poly2 using edge normals from poly1.
|
||||||
|
static float32 b2FindMaxSeparation(int32* edgeIndex,
|
||||||
|
const b2PolygonShape* poly1, const b2Transform& xf1,
|
||||||
|
const b2PolygonShape* poly2, const b2Transform& xf2)
|
||||||
|
{
|
||||||
|
int32 count1 = poly1->m_count;
|
||||||
|
int32 count2 = poly2->m_count;
|
||||||
|
const b2Vec2* n1s = poly1->m_normals;
|
||||||
|
const b2Vec2* v1s = poly1->m_vertices;
|
||||||
|
const b2Vec2* v2s = poly2->m_vertices;
|
||||||
|
b2Transform xf = b2MulT(xf2, xf1);
|
||||||
|
|
||||||
|
int32 bestIndex = 0;
|
||||||
|
float32 maxSeparation = -b2_maxFloat;
|
||||||
|
for (int32 i = 0; i < count1; ++i)
|
||||||
|
{
|
||||||
|
// Get poly1 normal in frame2.
|
||||||
|
b2Vec2 n = b2Mul(xf.q, n1s[i]);
|
||||||
|
b2Vec2 v1 = b2Mul(xf, v1s[i]);
|
||||||
|
|
||||||
|
// Find deepest point for normal i.
|
||||||
|
float32 si = b2_maxFloat;
|
||||||
|
for (int32 j = 0; j < count2; ++j)
|
||||||
|
{
|
||||||
|
float32 sij = b2Dot(n, v2s[j] - v1);
|
||||||
|
if (sij < si)
|
||||||
|
{
|
||||||
|
si = sij;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (si > maxSeparation)
|
||||||
|
{
|
||||||
|
maxSeparation = si;
|
||||||
|
bestIndex = i;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
*edgeIndex = bestIndex;
|
||||||
|
return maxSeparation;
|
||||||
|
}
|
||||||
|
|
||||||
|
static void b2FindIncidentEdge(b2ClipVertex c[2],
|
||||||
|
const b2PolygonShape* poly1, const b2Transform& xf1, int32 edge1,
|
||||||
|
const b2PolygonShape* poly2, const b2Transform& xf2)
|
||||||
|
{
|
||||||
|
const b2Vec2* normals1 = poly1->m_normals;
|
||||||
|
|
||||||
|
int32 count2 = poly2->m_count;
|
||||||
|
const b2Vec2* vertices2 = poly2->m_vertices;
|
||||||
|
const b2Vec2* normals2 = poly2->m_normals;
|
||||||
|
|
||||||
|
b2Assert(0 <= edge1 && edge1 < poly1->m_count);
|
||||||
|
|
||||||
|
// Get the normal of the reference edge in poly2's frame.
|
||||||
|
b2Vec2 normal1 = b2MulT(xf2.q, b2Mul(xf1.q, normals1[edge1]));
|
||||||
|
|
||||||
|
// Find the incident edge on poly2.
|
||||||
|
int32 index = 0;
|
||||||
|
float32 minDot = b2_maxFloat;
|
||||||
|
for (int32 i = 0; i < count2; ++i)
|
||||||
|
{
|
||||||
|
float32 dot = b2Dot(normal1, normals2[i]);
|
||||||
|
if (dot < minDot)
|
||||||
|
{
|
||||||
|
minDot = dot;
|
||||||
|
index = i;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Build the clip vertices for the incident edge.
|
||||||
|
int32 i1 = index;
|
||||||
|
int32 i2 = i1 + 1 < count2 ? i1 + 1 : 0;
|
||||||
|
|
||||||
|
c[0].v = b2Mul(xf2, vertices2[i1]);
|
||||||
|
c[0].id.cf.indexA = (uint8)edge1;
|
||||||
|
c[0].id.cf.indexB = (uint8)i1;
|
||||||
|
c[0].id.cf.typeA = b2ContactFeature::e_face;
|
||||||
|
c[0].id.cf.typeB = b2ContactFeature::e_vertex;
|
||||||
|
|
||||||
|
c[1].v = b2Mul(xf2, vertices2[i2]);
|
||||||
|
c[1].id.cf.indexA = (uint8)edge1;
|
||||||
|
c[1].id.cf.indexB = (uint8)i2;
|
||||||
|
c[1].id.cf.typeA = b2ContactFeature::e_face;
|
||||||
|
c[1].id.cf.typeB = b2ContactFeature::e_vertex;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Find edge normal of max separation on A - return if separating axis is found
|
||||||
|
// Find edge normal of max separation on B - return if separation axis is found
|
||||||
|
// Choose reference edge as min(minA, minB)
|
||||||
|
// Find incident edge
|
||||||
|
// Clip
|
||||||
|
|
||||||
|
// The normal points from 1 to 2
|
||||||
|
void b2CollidePolygons(b2Manifold* manifold,
|
||||||
|
const b2PolygonShape* polyA, const b2Transform& xfA,
|
||||||
|
const b2PolygonShape* polyB, const b2Transform& xfB)
|
||||||
|
{
|
||||||
|
manifold->pointCount = 0;
|
||||||
|
float32 totalRadius = polyA->m_radius + polyB->m_radius;
|
||||||
|
|
||||||
|
int32 edgeA = 0;
|
||||||
|
float32 separationA = b2FindMaxSeparation(&edgeA, polyA, xfA, polyB, xfB);
|
||||||
|
if (separationA > totalRadius)
|
||||||
|
return;
|
||||||
|
|
||||||
|
int32 edgeB = 0;
|
||||||
|
float32 separationB = b2FindMaxSeparation(&edgeB, polyB, xfB, polyA, xfA);
|
||||||
|
if (separationB > totalRadius)
|
||||||
|
return;
|
||||||
|
|
||||||
|
const b2PolygonShape* poly1; // reference polygon
|
||||||
|
const b2PolygonShape* poly2; // incident polygon
|
||||||
|
b2Transform xf1, xf2;
|
||||||
|
int32 edge1; // reference edge
|
||||||
|
uint8 flip;
|
||||||
|
const float32 k_tol = 0.1f * b2_linearSlop;
|
||||||
|
|
||||||
|
if (separationB > separationA + k_tol)
|
||||||
|
{
|
||||||
|
poly1 = polyB;
|
||||||
|
poly2 = polyA;
|
||||||
|
xf1 = xfB;
|
||||||
|
xf2 = xfA;
|
||||||
|
edge1 = edgeB;
|
||||||
|
manifold->type = b2Manifold::e_faceB;
|
||||||
|
flip = 1;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
poly1 = polyA;
|
||||||
|
poly2 = polyB;
|
||||||
|
xf1 = xfA;
|
||||||
|
xf2 = xfB;
|
||||||
|
edge1 = edgeA;
|
||||||
|
manifold->type = b2Manifold::e_faceA;
|
||||||
|
flip = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2ClipVertex incidentEdge[2];
|
||||||
|
b2FindIncidentEdge(incidentEdge, poly1, xf1, edge1, poly2, xf2);
|
||||||
|
|
||||||
|
int32 count1 = poly1->m_count;
|
||||||
|
const b2Vec2* vertices1 = poly1->m_vertices;
|
||||||
|
|
||||||
|
int32 iv1 = edge1;
|
||||||
|
int32 iv2 = edge1 + 1 < count1 ? edge1 + 1 : 0;
|
||||||
|
|
||||||
|
b2Vec2 v11 = vertices1[iv1];
|
||||||
|
b2Vec2 v12 = vertices1[iv2];
|
||||||
|
|
||||||
|
b2Vec2 localTangent = v12 - v11;
|
||||||
|
localTangent.Normalize();
|
||||||
|
|
||||||
|
b2Vec2 localNormal = b2Cross(localTangent, 1.0f);
|
||||||
|
b2Vec2 planePoint = 0.5f * (v11 + v12);
|
||||||
|
|
||||||
|
b2Vec2 tangent = b2Mul(xf1.q, localTangent);
|
||||||
|
b2Vec2 normal = b2Cross(tangent, 1.0f);
|
||||||
|
|
||||||
|
v11 = b2Mul(xf1, v11);
|
||||||
|
v12 = b2Mul(xf1, v12);
|
||||||
|
|
||||||
|
// Face offset.
|
||||||
|
float32 frontOffset = b2Dot(normal, v11);
|
||||||
|
|
||||||
|
// Side offsets, extended by polytope skin thickness.
|
||||||
|
float32 sideOffset1 = -b2Dot(tangent, v11) + totalRadius;
|
||||||
|
float32 sideOffset2 = b2Dot(tangent, v12) + totalRadius;
|
||||||
|
|
||||||
|
// Clip incident edge against extruded edge1 side edges.
|
||||||
|
b2ClipVertex clipPoints1[2];
|
||||||
|
b2ClipVertex clipPoints2[2];
|
||||||
|
int np;
|
||||||
|
|
||||||
|
// Clip to box side 1
|
||||||
|
np = b2ClipSegmentToLine(clipPoints1, incidentEdge, -tangent, sideOffset1, iv1);
|
||||||
|
|
||||||
|
if (np < 2)
|
||||||
|
return;
|
||||||
|
|
||||||
|
// Clip to negative box side 1
|
||||||
|
np = b2ClipSegmentToLine(clipPoints2, clipPoints1, tangent, sideOffset2, iv2);
|
||||||
|
|
||||||
|
if (np < 2)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Now clipPoints2 contains the clipped points.
|
||||||
|
manifold->localNormal = localNormal;
|
||||||
|
manifold->localPoint = planePoint;
|
||||||
|
|
||||||
|
int32 pointCount = 0;
|
||||||
|
for (int32 i = 0; i < b2_maxManifoldPoints; ++i)
|
||||||
|
{
|
||||||
|
float32 separation = b2Dot(normal, clipPoints2[i].v) - frontOffset;
|
||||||
|
|
||||||
|
if (separation <= totalRadius)
|
||||||
|
{
|
||||||
|
b2ManifoldPoint* cp = manifold->points + pointCount;
|
||||||
|
cp->localPoint = b2MulT(xf2, clipPoints2[i].v);
|
||||||
|
cp->id = clipPoints2[i].id;
|
||||||
|
if (flip)
|
||||||
|
{
|
||||||
|
// Swap features
|
||||||
|
b2ContactFeature cf = cp->id.cf;
|
||||||
|
cp->id.cf.indexA = cf.indexB;
|
||||||
|
cp->id.cf.indexB = cf.indexA;
|
||||||
|
cp->id.cf.typeA = cf.typeB;
|
||||||
|
cp->id.cf.typeB = cf.typeA;
|
||||||
|
}
|
||||||
|
++pointCount;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
manifold->pointCount = pointCount;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,252 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2007-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Collision/b2Collision.h"
|
||||||
|
#include "Box2D/Collision/b2Distance.h"
|
||||||
|
|
||||||
|
void b2WorldManifold::Initialize(const b2Manifold* manifold,
|
||||||
|
const b2Transform& xfA, float32 radiusA,
|
||||||
|
const b2Transform& xfB, float32 radiusB)
|
||||||
|
{
|
||||||
|
if (manifold->pointCount == 0)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
switch (manifold->type)
|
||||||
|
{
|
||||||
|
case b2Manifold::e_circles:
|
||||||
|
{
|
||||||
|
normal.Set(1.0f, 0.0f);
|
||||||
|
b2Vec2 pointA = b2Mul(xfA, manifold->localPoint);
|
||||||
|
b2Vec2 pointB = b2Mul(xfB, manifold->points[0].localPoint);
|
||||||
|
if (b2DistanceSquared(pointA, pointB) > b2_epsilon * b2_epsilon)
|
||||||
|
{
|
||||||
|
normal = pointB - pointA;
|
||||||
|
normal.Normalize();
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Vec2 cA = pointA + radiusA * normal;
|
||||||
|
b2Vec2 cB = pointB - radiusB * normal;
|
||||||
|
points[0] = 0.5f * (cA + cB);
|
||||||
|
separations[0] = b2Dot(cB - cA, normal);
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case b2Manifold::e_faceA:
|
||||||
|
{
|
||||||
|
normal = b2Mul(xfA.q, manifold->localNormal);
|
||||||
|
b2Vec2 planePoint = b2Mul(xfA, manifold->localPoint);
|
||||||
|
|
||||||
|
for (int32 i = 0; i < manifold->pointCount; ++i)
|
||||||
|
{
|
||||||
|
b2Vec2 clipPoint = b2Mul(xfB, manifold->points[i].localPoint);
|
||||||
|
b2Vec2 cA = clipPoint + (radiusA - b2Dot(clipPoint - planePoint, normal)) * normal;
|
||||||
|
b2Vec2 cB = clipPoint - radiusB * normal;
|
||||||
|
points[i] = 0.5f * (cA + cB);
|
||||||
|
separations[i] = b2Dot(cB - cA, normal);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case b2Manifold::e_faceB:
|
||||||
|
{
|
||||||
|
normal = b2Mul(xfB.q, manifold->localNormal);
|
||||||
|
b2Vec2 planePoint = b2Mul(xfB, manifold->localPoint);
|
||||||
|
|
||||||
|
for (int32 i = 0; i < manifold->pointCount; ++i)
|
||||||
|
{
|
||||||
|
b2Vec2 clipPoint = b2Mul(xfA, manifold->points[i].localPoint);
|
||||||
|
b2Vec2 cB = clipPoint + (radiusB - b2Dot(clipPoint - planePoint, normal)) * normal;
|
||||||
|
b2Vec2 cA = clipPoint - radiusA * normal;
|
||||||
|
points[i] = 0.5f * (cA + cB);
|
||||||
|
separations[i] = b2Dot(cA - cB, normal);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Ensure normal points from A to B.
|
||||||
|
normal = -normal;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2GetPointStates(b2PointState state1[b2_maxManifoldPoints], b2PointState state2[b2_maxManifoldPoints],
|
||||||
|
const b2Manifold* manifold1, const b2Manifold* manifold2)
|
||||||
|
{
|
||||||
|
for (int32 i = 0; i < b2_maxManifoldPoints; ++i)
|
||||||
|
{
|
||||||
|
state1[i] = b2_nullState;
|
||||||
|
state2[i] = b2_nullState;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Detect persists and removes.
|
||||||
|
for (int32 i = 0; i < manifold1->pointCount; ++i)
|
||||||
|
{
|
||||||
|
b2ContactID id = manifold1->points[i].id;
|
||||||
|
|
||||||
|
state1[i] = b2_removeState;
|
||||||
|
|
||||||
|
for (int32 j = 0; j < manifold2->pointCount; ++j)
|
||||||
|
{
|
||||||
|
if (manifold2->points[j].id.key == id.key)
|
||||||
|
{
|
||||||
|
state1[i] = b2_persistState;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Detect persists and adds.
|
||||||
|
for (int32 i = 0; i < manifold2->pointCount; ++i)
|
||||||
|
{
|
||||||
|
b2ContactID id = manifold2->points[i].id;
|
||||||
|
|
||||||
|
state2[i] = b2_addState;
|
||||||
|
|
||||||
|
for (int32 j = 0; j < manifold1->pointCount; ++j)
|
||||||
|
{
|
||||||
|
if (manifold1->points[j].id.key == id.key)
|
||||||
|
{
|
||||||
|
state2[i] = b2_persistState;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// From Real-time Collision Detection, p179.
|
||||||
|
bool b2AABB::RayCast(b2RayCastOutput* output, const b2RayCastInput& input) const
|
||||||
|
{
|
||||||
|
float32 tmin = -b2_maxFloat;
|
||||||
|
float32 tmax = b2_maxFloat;
|
||||||
|
|
||||||
|
b2Vec2 p = input.p1;
|
||||||
|
b2Vec2 d = input.p2 - input.p1;
|
||||||
|
b2Vec2 absD = b2Abs(d);
|
||||||
|
|
||||||
|
b2Vec2 normal;
|
||||||
|
|
||||||
|
for (int32 i = 0; i < 2; ++i)
|
||||||
|
{
|
||||||
|
if (absD(i) < b2_epsilon)
|
||||||
|
{
|
||||||
|
// Parallel.
|
||||||
|
if (p(i) < lowerBound(i) || upperBound(i) < p(i))
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
float32 inv_d = 1.0f / d(i);
|
||||||
|
float32 t1 = (lowerBound(i) - p(i)) * inv_d;
|
||||||
|
float32 t2 = (upperBound(i) - p(i)) * inv_d;
|
||||||
|
|
||||||
|
// Sign of the normal vector.
|
||||||
|
float32 s = -1.0f;
|
||||||
|
|
||||||
|
if (t1 > t2)
|
||||||
|
{
|
||||||
|
b2Swap(t1, t2);
|
||||||
|
s = 1.0f;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Push the min up
|
||||||
|
if (t1 > tmin)
|
||||||
|
{
|
||||||
|
normal.SetZero();
|
||||||
|
normal(i) = s;
|
||||||
|
tmin = t1;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Pull the max down
|
||||||
|
tmax = b2Min(tmax, t2);
|
||||||
|
|
||||||
|
if (tmin > tmax)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Does the ray start inside the box?
|
||||||
|
// Does the ray intersect beyond the max fraction?
|
||||||
|
if (tmin < 0.0f || input.maxFraction < tmin)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Intersection.
|
||||||
|
output->fraction = tmin;
|
||||||
|
output->normal = normal;
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Sutherland-Hodgman clipping.
|
||||||
|
int32 b2ClipSegmentToLine(b2ClipVertex vOut[2], const b2ClipVertex vIn[2],
|
||||||
|
const b2Vec2& normal, float32 offset, int32 vertexIndexA)
|
||||||
|
{
|
||||||
|
// Start with no output points
|
||||||
|
int32 numOut = 0;
|
||||||
|
|
||||||
|
// Calculate the distance of end points to the line
|
||||||
|
float32 distance0 = b2Dot(normal, vIn[0].v) - offset;
|
||||||
|
float32 distance1 = b2Dot(normal, vIn[1].v) - offset;
|
||||||
|
|
||||||
|
// If the points are behind the plane
|
||||||
|
if (distance0 <= 0.0f) vOut[numOut++] = vIn[0];
|
||||||
|
if (distance1 <= 0.0f) vOut[numOut++] = vIn[1];
|
||||||
|
|
||||||
|
// If the points are on different sides of the plane
|
||||||
|
if (distance0 * distance1 < 0.0f)
|
||||||
|
{
|
||||||
|
// Find intersection point of edge and plane
|
||||||
|
float32 interp = distance0 / (distance0 - distance1);
|
||||||
|
vOut[numOut].v = vIn[0].v + interp * (vIn[1].v - vIn[0].v);
|
||||||
|
|
||||||
|
// VertexA is hitting edgeB.
|
||||||
|
vOut[numOut].id.cf.indexA = static_cast<uint8>(vertexIndexA);
|
||||||
|
vOut[numOut].id.cf.indexB = vIn[0].id.cf.indexB;
|
||||||
|
vOut[numOut].id.cf.typeA = b2ContactFeature::e_vertex;
|
||||||
|
vOut[numOut].id.cf.typeB = b2ContactFeature::e_face;
|
||||||
|
++numOut;
|
||||||
|
}
|
||||||
|
|
||||||
|
return numOut;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool b2TestOverlap( const b2Shape* shapeA, int32 indexA,
|
||||||
|
const b2Shape* shapeB, int32 indexB,
|
||||||
|
const b2Transform& xfA, const b2Transform& xfB)
|
||||||
|
{
|
||||||
|
b2DistanceInput input;
|
||||||
|
input.proxyA.Set(shapeA, indexA);
|
||||||
|
input.proxyB.Set(shapeB, indexB);
|
||||||
|
input.transformA = xfA;
|
||||||
|
input.transformB = xfB;
|
||||||
|
input.useRadii = true;
|
||||||
|
|
||||||
|
b2SimplexCache cache;
|
||||||
|
cache.count = 0;
|
||||||
|
|
||||||
|
b2DistanceOutput output;
|
||||||
|
|
||||||
|
b2Distance(&output, &cache, &input);
|
||||||
|
|
||||||
|
return output.distance < 10.0f * b2_epsilon;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,277 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef B2_COLLISION_H
|
||||||
|
#define B2_COLLISION_H
|
||||||
|
|
||||||
|
#include "../Common/b2Math.h"
|
||||||
|
#include <limits.h>
|
||||||
|
|
||||||
|
/// @file
|
||||||
|
/// Structures and functions used for computing contact points, distance
|
||||||
|
/// queries, and TOI queries.
|
||||||
|
|
||||||
|
class b2Shape;
|
||||||
|
class b2CircleShape;
|
||||||
|
class b2EdgeShape;
|
||||||
|
class b2PolygonShape;
|
||||||
|
|
||||||
|
const uint8 b2_nullFeature = UCHAR_MAX;
|
||||||
|
|
||||||
|
/// The features that intersect to form the contact point
|
||||||
|
/// This must be 4 bytes or less.
|
||||||
|
struct b2ContactFeature
|
||||||
|
{
|
||||||
|
enum Type
|
||||||
|
{
|
||||||
|
e_vertex = 0,
|
||||||
|
e_face = 1
|
||||||
|
};
|
||||||
|
|
||||||
|
uint8 indexA; ///< Feature index on shapeA
|
||||||
|
uint8 indexB; ///< Feature index on shapeB
|
||||||
|
uint8 typeA; ///< The feature type on shapeA
|
||||||
|
uint8 typeB; ///< The feature type on shapeB
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Contact ids to facilitate warm starting.
|
||||||
|
union b2ContactID
|
||||||
|
{
|
||||||
|
b2ContactFeature cf;
|
||||||
|
uint32 key; ///< Used to quickly compare contact ids.
|
||||||
|
};
|
||||||
|
|
||||||
|
/// A manifold point is a contact point belonging to a contact
|
||||||
|
/// manifold. It holds details related to the geometry and dynamics
|
||||||
|
/// of the contact points.
|
||||||
|
/// The local point usage depends on the manifold type:
|
||||||
|
/// -e_circles: the local center of circleB
|
||||||
|
/// -e_faceA: the local center of cirlceB or the clip point of polygonB
|
||||||
|
/// -e_faceB: the clip point of polygonA
|
||||||
|
/// This structure is stored across time steps, so we keep it small.
|
||||||
|
/// Note: the impulses are used for internal caching and may not
|
||||||
|
/// provide reliable contact forces, especially for high speed collisions.
|
||||||
|
struct b2ManifoldPoint
|
||||||
|
{
|
||||||
|
b2Vec2 localPoint; ///< usage depends on manifold type
|
||||||
|
float32 normalImpulse; ///< the non-penetration impulse
|
||||||
|
float32 tangentImpulse; ///< the friction impulse
|
||||||
|
b2ContactID id; ///< uniquely identifies a contact point between two shapes
|
||||||
|
};
|
||||||
|
|
||||||
|
/// A manifold for two touching convex shapes.
|
||||||
|
/// Box2D supports multiple types of contact:
|
||||||
|
/// - clip point versus plane with radius
|
||||||
|
/// - point versus point with radius (circles)
|
||||||
|
/// The local point usage depends on the manifold type:
|
||||||
|
/// -e_circles: the local center of circleA
|
||||||
|
/// -e_faceA: the center of faceA
|
||||||
|
/// -e_faceB: the center of faceB
|
||||||
|
/// Similarly the local normal usage:
|
||||||
|
/// -e_circles: not used
|
||||||
|
/// -e_faceA: the normal on polygonA
|
||||||
|
/// -e_faceB: the normal on polygonB
|
||||||
|
/// We store contacts in this way so that position correction can
|
||||||
|
/// account for movement, which is critical for continuous physics.
|
||||||
|
/// All contact scenarios must be expressed in one of these types.
|
||||||
|
/// This structure is stored across time steps, so we keep it small.
|
||||||
|
struct b2Manifold
|
||||||
|
{
|
||||||
|
enum Type
|
||||||
|
{
|
||||||
|
e_circles,
|
||||||
|
e_faceA,
|
||||||
|
e_faceB
|
||||||
|
};
|
||||||
|
|
||||||
|
b2ManifoldPoint points[b2_maxManifoldPoints]; ///< the points of contact
|
||||||
|
b2Vec2 localNormal; ///< not use for Type::e_points
|
||||||
|
b2Vec2 localPoint; ///< usage depends on manifold type
|
||||||
|
Type type;
|
||||||
|
int32 pointCount; ///< the number of manifold points
|
||||||
|
};
|
||||||
|
|
||||||
|
/// This is used to compute the current state of a contact manifold.
|
||||||
|
struct b2WorldManifold
|
||||||
|
{
|
||||||
|
/// Evaluate the manifold with supplied transforms. This assumes
|
||||||
|
/// modest motion from the original state. This does not change the
|
||||||
|
/// point count, impulses, etc. The radii must come from the shapes
|
||||||
|
/// that generated the manifold.
|
||||||
|
void Initialize(const b2Manifold* manifold,
|
||||||
|
const b2Transform& xfA, float32 radiusA,
|
||||||
|
const b2Transform& xfB, float32 radiusB);
|
||||||
|
|
||||||
|
b2Vec2 normal; ///< world vector pointing from A to B
|
||||||
|
b2Vec2 points[b2_maxManifoldPoints]; ///< world contact point (point of intersection)
|
||||||
|
float32 separations[b2_maxManifoldPoints]; ///< a negative value indicates overlap, in meters
|
||||||
|
};
|
||||||
|
|
||||||
|
/// This is used for determining the state of contact points.
|
||||||
|
enum b2PointState
|
||||||
|
{
|
||||||
|
b2_nullState, ///< point does not exist
|
||||||
|
b2_addState, ///< point was added in the update
|
||||||
|
b2_persistState, ///< point persisted across the update
|
||||||
|
b2_removeState ///< point was removed in the update
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Compute the point states given two manifolds. The states pertain to the transition from manifold1
|
||||||
|
/// to manifold2. So state1 is either persist or remove while state2 is either add or persist.
|
||||||
|
void b2GetPointStates(b2PointState state1[b2_maxManifoldPoints], b2PointState state2[b2_maxManifoldPoints],
|
||||||
|
const b2Manifold* manifold1, const b2Manifold* manifold2);
|
||||||
|
|
||||||
|
/// Used for computing contact manifolds.
|
||||||
|
struct b2ClipVertex
|
||||||
|
{
|
||||||
|
b2Vec2 v;
|
||||||
|
b2ContactID id;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1).
|
||||||
|
struct b2RayCastInput
|
||||||
|
{
|
||||||
|
b2Vec2 p1, p2;
|
||||||
|
float32 maxFraction;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Ray-cast output data. The ray hits at p1 + fraction * (p2 - p1), where p1 and p2
|
||||||
|
/// come from b2RayCastInput.
|
||||||
|
struct b2RayCastOutput
|
||||||
|
{
|
||||||
|
b2Vec2 normal;
|
||||||
|
float32 fraction;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// An axis aligned bounding box.
|
||||||
|
struct b2AABB
|
||||||
|
{
|
||||||
|
/// Verify that the bounds are sorted.
|
||||||
|
bool IsValid() const;
|
||||||
|
|
||||||
|
/// Get the center of the AABB.
|
||||||
|
b2Vec2 GetCenter() const
|
||||||
|
{
|
||||||
|
return 0.5f * (lowerBound + upperBound);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Get the extents of the AABB (half-widths).
|
||||||
|
b2Vec2 GetExtents() const
|
||||||
|
{
|
||||||
|
return 0.5f * (upperBound - lowerBound);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Get the perimeter length
|
||||||
|
float32 GetPerimeter() const
|
||||||
|
{
|
||||||
|
float32 wx = upperBound.x - lowerBound.x;
|
||||||
|
float32 wy = upperBound.y - lowerBound.y;
|
||||||
|
return 2.0f * (wx + wy);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Combine an AABB into this one.
|
||||||
|
void Combine(const b2AABB& aabb)
|
||||||
|
{
|
||||||
|
lowerBound = b2Min(lowerBound, aabb.lowerBound);
|
||||||
|
upperBound = b2Max(upperBound, aabb.upperBound);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Combine two AABBs into this one.
|
||||||
|
void Combine(const b2AABB& aabb1, const b2AABB& aabb2)
|
||||||
|
{
|
||||||
|
lowerBound = b2Min(aabb1.lowerBound, aabb2.lowerBound);
|
||||||
|
upperBound = b2Max(aabb1.upperBound, aabb2.upperBound);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Does this aabb contain the provided AABB.
|
||||||
|
bool Contains(const b2AABB& aabb) const
|
||||||
|
{
|
||||||
|
bool result = true;
|
||||||
|
result = result && lowerBound.x <= aabb.lowerBound.x;
|
||||||
|
result = result && lowerBound.y <= aabb.lowerBound.y;
|
||||||
|
result = result && aabb.upperBound.x <= upperBound.x;
|
||||||
|
result = result && aabb.upperBound.y <= upperBound.y;
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input) const;
|
||||||
|
|
||||||
|
b2Vec2 lowerBound; ///< the lower vertex
|
||||||
|
b2Vec2 upperBound; ///< the upper vertex
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Compute the collision manifold between two circles.
|
||||||
|
void b2CollideCircles(b2Manifold* manifold,
|
||||||
|
const b2CircleShape* circleA, const b2Transform& xfA,
|
||||||
|
const b2CircleShape* circleB, const b2Transform& xfB);
|
||||||
|
|
||||||
|
/// Compute the collision manifold between a polygon and a circle.
|
||||||
|
void b2CollidePolygonAndCircle(b2Manifold* manifold,
|
||||||
|
const b2PolygonShape* polygonA, const b2Transform& xfA,
|
||||||
|
const b2CircleShape* circleB, const b2Transform& xfB);
|
||||||
|
|
||||||
|
/// Compute the collision manifold between two polygons.
|
||||||
|
void b2CollidePolygons(b2Manifold* manifold,
|
||||||
|
const b2PolygonShape* polygonA, const b2Transform& xfA,
|
||||||
|
const b2PolygonShape* polygonB, const b2Transform& xfB);
|
||||||
|
|
||||||
|
/// Compute the collision manifold between an edge and a circle.
|
||||||
|
void b2CollideEdgeAndCircle(b2Manifold* manifold,
|
||||||
|
const b2EdgeShape* polygonA, const b2Transform& xfA,
|
||||||
|
const b2CircleShape* circleB, const b2Transform& xfB);
|
||||||
|
|
||||||
|
/// Compute the collision manifold between an edge and a circle.
|
||||||
|
void b2CollideEdgeAndPolygon(b2Manifold* manifold,
|
||||||
|
const b2EdgeShape* edgeA, const b2Transform& xfA,
|
||||||
|
const b2PolygonShape* circleB, const b2Transform& xfB);
|
||||||
|
|
||||||
|
/// Clipping for contact manifolds.
|
||||||
|
int32 b2ClipSegmentToLine(b2ClipVertex vOut[2], const b2ClipVertex vIn[2],
|
||||||
|
const b2Vec2& normal, float32 offset, int32 vertexIndexA);
|
||||||
|
|
||||||
|
/// Determine if two generic shapes overlap.
|
||||||
|
bool b2TestOverlap( const b2Shape* shapeA, int32 indexA,
|
||||||
|
const b2Shape* shapeB, int32 indexB,
|
||||||
|
const b2Transform& xfA, const b2Transform& xfB);
|
||||||
|
|
||||||
|
// ---------------- Inline Functions ------------------------------------------
|
||||||
|
|
||||||
|
inline bool b2AABB::IsValid() const
|
||||||
|
{
|
||||||
|
b2Vec2 d = upperBound - lowerBound;
|
||||||
|
bool valid = d.x >= 0.0f && d.y >= 0.0f;
|
||||||
|
valid = valid && lowerBound.IsValid() && upperBound.IsValid();
|
||||||
|
return valid;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline bool b2TestOverlap(const b2AABB& a, const b2AABB& b)
|
||||||
|
{
|
||||||
|
b2Vec2 d1, d2;
|
||||||
|
d1 = b.lowerBound - a.upperBound;
|
||||||
|
d2 = a.lowerBound - b.upperBound;
|
||||||
|
|
||||||
|
if (d1.x > 0.0f || d1.y > 0.0f)
|
||||||
|
return false;
|
||||||
|
|
||||||
|
if (d2.x > 0.0f || d2.y > 0.0f)
|
||||||
|
return false;
|
||||||
|
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,737 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2007-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Collision/b2Distance.h"
|
||||||
|
#include "Box2D/Collision/Shapes/b2CircleShape.h"
|
||||||
|
#include "Box2D/Collision/Shapes/b2EdgeShape.h"
|
||||||
|
#include "Box2D/Collision/Shapes/b2ChainShape.h"
|
||||||
|
#include "Box2D/Collision/Shapes/b2PolygonShape.h"
|
||||||
|
|
||||||
|
// GJK using Voronoi regions (Christer Ericson) and Barycentric coordinates.
|
||||||
|
int32 b2_gjkCalls, b2_gjkIters, b2_gjkMaxIters;
|
||||||
|
|
||||||
|
void b2DistanceProxy::Set(const b2Shape* shape, int32 index)
|
||||||
|
{
|
||||||
|
switch (shape->GetType())
|
||||||
|
{
|
||||||
|
case b2Shape::e_circle:
|
||||||
|
{
|
||||||
|
const b2CircleShape* circle = static_cast<const b2CircleShape*>(shape);
|
||||||
|
m_vertices = &circle->m_p;
|
||||||
|
m_count = 1;
|
||||||
|
m_radius = circle->m_radius;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case b2Shape::e_polygon:
|
||||||
|
{
|
||||||
|
const b2PolygonShape* polygon = static_cast<const b2PolygonShape*>(shape);
|
||||||
|
m_vertices = polygon->m_vertices;
|
||||||
|
m_count = polygon->m_count;
|
||||||
|
m_radius = polygon->m_radius;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case b2Shape::e_chain:
|
||||||
|
{
|
||||||
|
const b2ChainShape* chain = static_cast<const b2ChainShape*>(shape);
|
||||||
|
b2Assert(0 <= index && index < chain->m_count);
|
||||||
|
|
||||||
|
m_buffer[0] = chain->m_vertices[index];
|
||||||
|
if (index + 1 < chain->m_count)
|
||||||
|
{
|
||||||
|
m_buffer[1] = chain->m_vertices[index + 1];
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_buffer[1] = chain->m_vertices[0];
|
||||||
|
}
|
||||||
|
|
||||||
|
m_vertices = m_buffer;
|
||||||
|
m_count = 2;
|
||||||
|
m_radius = chain->m_radius;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case b2Shape::e_edge:
|
||||||
|
{
|
||||||
|
const b2EdgeShape* edge = static_cast<const b2EdgeShape*>(shape);
|
||||||
|
m_vertices = &edge->m_vertex1;
|
||||||
|
m_count = 2;
|
||||||
|
m_radius = edge->m_radius;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
b2Assert(false);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2DistanceProxy::Set(const b2Vec2* vertices, int32 count, float32 radius)
|
||||||
|
{
|
||||||
|
m_vertices = vertices;
|
||||||
|
m_count = count;
|
||||||
|
m_radius = radius;
|
||||||
|
}
|
||||||
|
|
||||||
|
struct b2SimplexVertex
|
||||||
|
{
|
||||||
|
b2Vec2 wA; // support point in proxyA
|
||||||
|
b2Vec2 wB; // support point in proxyB
|
||||||
|
b2Vec2 w; // wB - wA
|
||||||
|
float32 a; // barycentric coordinate for closest point
|
||||||
|
int32 indexA; // wA index
|
||||||
|
int32 indexB; // wB index
|
||||||
|
};
|
||||||
|
|
||||||
|
struct b2Simplex
|
||||||
|
{
|
||||||
|
void ReadCache( const b2SimplexCache* cache,
|
||||||
|
const b2DistanceProxy* proxyA, const b2Transform& transformA,
|
||||||
|
const b2DistanceProxy* proxyB, const b2Transform& transformB)
|
||||||
|
{
|
||||||
|
b2Assert(cache->count <= 3);
|
||||||
|
|
||||||
|
// Copy data from cache.
|
||||||
|
m_count = cache->count;
|
||||||
|
b2SimplexVertex* vertices = &m_v1;
|
||||||
|
for (int32 i = 0; i < m_count; ++i)
|
||||||
|
{
|
||||||
|
b2SimplexVertex* v = vertices + i;
|
||||||
|
v->indexA = cache->indexA[i];
|
||||||
|
v->indexB = cache->indexB[i];
|
||||||
|
b2Vec2 wALocal = proxyA->GetVertex(v->indexA);
|
||||||
|
b2Vec2 wBLocal = proxyB->GetVertex(v->indexB);
|
||||||
|
v->wA = b2Mul(transformA, wALocal);
|
||||||
|
v->wB = b2Mul(transformB, wBLocal);
|
||||||
|
v->w = v->wB - v->wA;
|
||||||
|
v->a = 0.0f;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Compute the new simplex metric, if it is substantially different than
|
||||||
|
// old metric then flush the simplex.
|
||||||
|
if (m_count > 1)
|
||||||
|
{
|
||||||
|
float32 metric1 = cache->metric;
|
||||||
|
float32 metric2 = GetMetric();
|
||||||
|
if (metric2 < 0.5f * metric1 || 2.0f * metric1 < metric2 || metric2 < b2_epsilon)
|
||||||
|
{
|
||||||
|
// Reset the simplex.
|
||||||
|
m_count = 0;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// If the cache is empty or invalid ...
|
||||||
|
if (m_count == 0)
|
||||||
|
{
|
||||||
|
b2SimplexVertex* v = vertices + 0;
|
||||||
|
v->indexA = 0;
|
||||||
|
v->indexB = 0;
|
||||||
|
b2Vec2 wALocal = proxyA->GetVertex(0);
|
||||||
|
b2Vec2 wBLocal = proxyB->GetVertex(0);
|
||||||
|
v->wA = b2Mul(transformA, wALocal);
|
||||||
|
v->wB = b2Mul(transformB, wBLocal);
|
||||||
|
v->w = v->wB - v->wA;
|
||||||
|
v->a = 1.0f;
|
||||||
|
m_count = 1;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void WriteCache(b2SimplexCache* cache) const
|
||||||
|
{
|
||||||
|
cache->metric = GetMetric();
|
||||||
|
cache->count = uint16(m_count);
|
||||||
|
const b2SimplexVertex* vertices = &m_v1;
|
||||||
|
for (int32 i = 0; i < m_count; ++i)
|
||||||
|
{
|
||||||
|
cache->indexA[i] = uint8(vertices[i].indexA);
|
||||||
|
cache->indexB[i] = uint8(vertices[i].indexB);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Vec2 GetSearchDirection() const
|
||||||
|
{
|
||||||
|
switch (m_count)
|
||||||
|
{
|
||||||
|
case 1:
|
||||||
|
return -m_v1.w;
|
||||||
|
|
||||||
|
case 2:
|
||||||
|
{
|
||||||
|
b2Vec2 e12 = m_v2.w - m_v1.w;
|
||||||
|
float32 sgn = b2Cross(e12, -m_v1.w);
|
||||||
|
if (sgn > 0.0f)
|
||||||
|
{
|
||||||
|
// Origin is left of e12.
|
||||||
|
return b2Cross(1.0f, e12);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
// Origin is right of e12.
|
||||||
|
return b2Cross(e12, 1.0f);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
default:
|
||||||
|
b2Assert(false);
|
||||||
|
return b2Vec2_zero;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Vec2 GetClosestPoint() const
|
||||||
|
{
|
||||||
|
switch (m_count)
|
||||||
|
{
|
||||||
|
case 0:
|
||||||
|
b2Assert(false);
|
||||||
|
return b2Vec2_zero;
|
||||||
|
|
||||||
|
case 1:
|
||||||
|
return m_v1.w;
|
||||||
|
|
||||||
|
case 2:
|
||||||
|
return m_v1.a * m_v1.w + m_v2.a * m_v2.w;
|
||||||
|
|
||||||
|
case 3:
|
||||||
|
return b2Vec2_zero;
|
||||||
|
|
||||||
|
default:
|
||||||
|
b2Assert(false);
|
||||||
|
return b2Vec2_zero;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void GetWitnessPoints(b2Vec2* pA, b2Vec2* pB) const
|
||||||
|
{
|
||||||
|
switch (m_count)
|
||||||
|
{
|
||||||
|
case 0:
|
||||||
|
b2Assert(false);
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 1:
|
||||||
|
*pA = m_v1.wA;
|
||||||
|
*pB = m_v1.wB;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 2:
|
||||||
|
*pA = m_v1.a * m_v1.wA + m_v2.a * m_v2.wA;
|
||||||
|
*pB = m_v1.a * m_v1.wB + m_v2.a * m_v2.wB;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 3:
|
||||||
|
*pA = m_v1.a * m_v1.wA + m_v2.a * m_v2.wA + m_v3.a * m_v3.wA;
|
||||||
|
*pB = *pA;
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
b2Assert(false);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
float32 GetMetric() const
|
||||||
|
{
|
||||||
|
switch (m_count)
|
||||||
|
{
|
||||||
|
case 0:
|
||||||
|
b2Assert(false);
|
||||||
|
return 0.0f;
|
||||||
|
|
||||||
|
case 1:
|
||||||
|
return 0.0f;
|
||||||
|
|
||||||
|
case 2:
|
||||||
|
return b2Distance(m_v1.w, m_v2.w);
|
||||||
|
|
||||||
|
case 3:
|
||||||
|
return b2Cross(m_v2.w - m_v1.w, m_v3.w - m_v1.w);
|
||||||
|
|
||||||
|
default:
|
||||||
|
b2Assert(false);
|
||||||
|
return 0.0f;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void Solve2();
|
||||||
|
void Solve3();
|
||||||
|
|
||||||
|
b2SimplexVertex m_v1, m_v2, m_v3;
|
||||||
|
int32 m_count;
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
// Solve a line segment using barycentric coordinates.
|
||||||
|
//
|
||||||
|
// p = a1 * w1 + a2 * w2
|
||||||
|
// a1 + a2 = 1
|
||||||
|
//
|
||||||
|
// The vector from the origin to the closest point on the line is
|
||||||
|
// perpendicular to the line.
|
||||||
|
// e12 = w2 - w1
|
||||||
|
// dot(p, e) = 0
|
||||||
|
// a1 * dot(w1, e) + a2 * dot(w2, e) = 0
|
||||||
|
//
|
||||||
|
// 2-by-2 linear system
|
||||||
|
// [1 1 ][a1] = [1]
|
||||||
|
// [w1.e12 w2.e12][a2] = [0]
|
||||||
|
//
|
||||||
|
// Define
|
||||||
|
// d12_1 = dot(w2, e12)
|
||||||
|
// d12_2 = -dot(w1, e12)
|
||||||
|
// d12 = d12_1 + d12_2
|
||||||
|
//
|
||||||
|
// Solution
|
||||||
|
// a1 = d12_1 / d12
|
||||||
|
// a2 = d12_2 / d12
|
||||||
|
void b2Simplex::Solve2()
|
||||||
|
{
|
||||||
|
b2Vec2 w1 = m_v1.w;
|
||||||
|
b2Vec2 w2 = m_v2.w;
|
||||||
|
b2Vec2 e12 = w2 - w1;
|
||||||
|
|
||||||
|
// w1 region
|
||||||
|
float32 d12_2 = -b2Dot(w1, e12);
|
||||||
|
if (d12_2 <= 0.0f)
|
||||||
|
{
|
||||||
|
// a2 <= 0, so we clamp it to 0
|
||||||
|
m_v1.a = 1.0f;
|
||||||
|
m_count = 1;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// w2 region
|
||||||
|
float32 d12_1 = b2Dot(w2, e12);
|
||||||
|
if (d12_1 <= 0.0f)
|
||||||
|
{
|
||||||
|
// a1 <= 0, so we clamp it to 0
|
||||||
|
m_v2.a = 1.0f;
|
||||||
|
m_count = 1;
|
||||||
|
m_v1 = m_v2;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Must be in e12 region.
|
||||||
|
float32 inv_d12 = 1.0f / (d12_1 + d12_2);
|
||||||
|
m_v1.a = d12_1 * inv_d12;
|
||||||
|
m_v2.a = d12_2 * inv_d12;
|
||||||
|
m_count = 2;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Possible regions:
|
||||||
|
// - points[2]
|
||||||
|
// - edge points[0]-points[2]
|
||||||
|
// - edge points[1]-points[2]
|
||||||
|
// - inside the triangle
|
||||||
|
void b2Simplex::Solve3()
|
||||||
|
{
|
||||||
|
b2Vec2 w1 = m_v1.w;
|
||||||
|
b2Vec2 w2 = m_v2.w;
|
||||||
|
b2Vec2 w3 = m_v3.w;
|
||||||
|
|
||||||
|
// Edge12
|
||||||
|
// [1 1 ][a1] = [1]
|
||||||
|
// [w1.e12 w2.e12][a2] = [0]
|
||||||
|
// a3 = 0
|
||||||
|
b2Vec2 e12 = w2 - w1;
|
||||||
|
float32 w1e12 = b2Dot(w1, e12);
|
||||||
|
float32 w2e12 = b2Dot(w2, e12);
|
||||||
|
float32 d12_1 = w2e12;
|
||||||
|
float32 d12_2 = -w1e12;
|
||||||
|
|
||||||
|
// Edge13
|
||||||
|
// [1 1 ][a1] = [1]
|
||||||
|
// [w1.e13 w3.e13][a3] = [0]
|
||||||
|
// a2 = 0
|
||||||
|
b2Vec2 e13 = w3 - w1;
|
||||||
|
float32 w1e13 = b2Dot(w1, e13);
|
||||||
|
float32 w3e13 = b2Dot(w3, e13);
|
||||||
|
float32 d13_1 = w3e13;
|
||||||
|
float32 d13_2 = -w1e13;
|
||||||
|
|
||||||
|
// Edge23
|
||||||
|
// [1 1 ][a2] = [1]
|
||||||
|
// [w2.e23 w3.e23][a3] = [0]
|
||||||
|
// a1 = 0
|
||||||
|
b2Vec2 e23 = w3 - w2;
|
||||||
|
float32 w2e23 = b2Dot(w2, e23);
|
||||||
|
float32 w3e23 = b2Dot(w3, e23);
|
||||||
|
float32 d23_1 = w3e23;
|
||||||
|
float32 d23_2 = -w2e23;
|
||||||
|
|
||||||
|
// Triangle123
|
||||||
|
float32 n123 = b2Cross(e12, e13);
|
||||||
|
|
||||||
|
float32 d123_1 = n123 * b2Cross(w2, w3);
|
||||||
|
float32 d123_2 = n123 * b2Cross(w3, w1);
|
||||||
|
float32 d123_3 = n123 * b2Cross(w1, w2);
|
||||||
|
|
||||||
|
// w1 region
|
||||||
|
if (d12_2 <= 0.0f && d13_2 <= 0.0f)
|
||||||
|
{
|
||||||
|
m_v1.a = 1.0f;
|
||||||
|
m_count = 1;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// e12
|
||||||
|
if (d12_1 > 0.0f && d12_2 > 0.0f && d123_3 <= 0.0f)
|
||||||
|
{
|
||||||
|
float32 inv_d12 = 1.0f / (d12_1 + d12_2);
|
||||||
|
m_v1.a = d12_1 * inv_d12;
|
||||||
|
m_v2.a = d12_2 * inv_d12;
|
||||||
|
m_count = 2;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// e13
|
||||||
|
if (d13_1 > 0.0f && d13_2 > 0.0f && d123_2 <= 0.0f)
|
||||||
|
{
|
||||||
|
float32 inv_d13 = 1.0f / (d13_1 + d13_2);
|
||||||
|
m_v1.a = d13_1 * inv_d13;
|
||||||
|
m_v3.a = d13_2 * inv_d13;
|
||||||
|
m_count = 2;
|
||||||
|
m_v2 = m_v3;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// w2 region
|
||||||
|
if (d12_1 <= 0.0f && d23_2 <= 0.0f)
|
||||||
|
{
|
||||||
|
m_v2.a = 1.0f;
|
||||||
|
m_count = 1;
|
||||||
|
m_v1 = m_v2;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// w3 region
|
||||||
|
if (d13_1 <= 0.0f && d23_1 <= 0.0f)
|
||||||
|
{
|
||||||
|
m_v3.a = 1.0f;
|
||||||
|
m_count = 1;
|
||||||
|
m_v1 = m_v3;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// e23
|
||||||
|
if (d23_1 > 0.0f && d23_2 > 0.0f && d123_1 <= 0.0f)
|
||||||
|
{
|
||||||
|
float32 inv_d23 = 1.0f / (d23_1 + d23_2);
|
||||||
|
m_v2.a = d23_1 * inv_d23;
|
||||||
|
m_v3.a = d23_2 * inv_d23;
|
||||||
|
m_count = 2;
|
||||||
|
m_v1 = m_v3;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Must be in triangle123
|
||||||
|
float32 inv_d123 = 1.0f / (d123_1 + d123_2 + d123_3);
|
||||||
|
m_v1.a = d123_1 * inv_d123;
|
||||||
|
m_v2.a = d123_2 * inv_d123;
|
||||||
|
m_v3.a = d123_3 * inv_d123;
|
||||||
|
m_count = 3;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2Distance(b2DistanceOutput* output,
|
||||||
|
b2SimplexCache* cache,
|
||||||
|
const b2DistanceInput* input)
|
||||||
|
{
|
||||||
|
++b2_gjkCalls;
|
||||||
|
|
||||||
|
const b2DistanceProxy* proxyA = &input->proxyA;
|
||||||
|
const b2DistanceProxy* proxyB = &input->proxyB;
|
||||||
|
|
||||||
|
b2Transform transformA = input->transformA;
|
||||||
|
b2Transform transformB = input->transformB;
|
||||||
|
|
||||||
|
// Initialize the simplex.
|
||||||
|
b2Simplex simplex;
|
||||||
|
simplex.ReadCache(cache, proxyA, transformA, proxyB, transformB);
|
||||||
|
|
||||||
|
// Get simplex vertices as an array.
|
||||||
|
b2SimplexVertex* vertices = &simplex.m_v1;
|
||||||
|
const int32 k_maxIters = 20;
|
||||||
|
|
||||||
|
// These store the vertices of the last simplex so that we
|
||||||
|
// can check for duplicates and prevent cycling.
|
||||||
|
int32 saveA[3], saveB[3];
|
||||||
|
int32 saveCount = 0;
|
||||||
|
|
||||||
|
// Main iteration loop.
|
||||||
|
int32 iter = 0;
|
||||||
|
while (iter < k_maxIters)
|
||||||
|
{
|
||||||
|
// Copy simplex so we can identify duplicates.
|
||||||
|
saveCount = simplex.m_count;
|
||||||
|
for (int32 i = 0; i < saveCount; ++i)
|
||||||
|
{
|
||||||
|
saveA[i] = vertices[i].indexA;
|
||||||
|
saveB[i] = vertices[i].indexB;
|
||||||
|
}
|
||||||
|
|
||||||
|
switch (simplex.m_count)
|
||||||
|
{
|
||||||
|
case 1:
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 2:
|
||||||
|
simplex.Solve2();
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 3:
|
||||||
|
simplex.Solve3();
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
b2Assert(false);
|
||||||
|
}
|
||||||
|
|
||||||
|
// If we have 3 points, then the origin is in the corresponding triangle.
|
||||||
|
if (simplex.m_count == 3)
|
||||||
|
{
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Get search direction.
|
||||||
|
b2Vec2 d = simplex.GetSearchDirection();
|
||||||
|
|
||||||
|
// Ensure the search direction is numerically fit.
|
||||||
|
if (d.LengthSquared() < b2_epsilon * b2_epsilon)
|
||||||
|
{
|
||||||
|
// The origin is probably contained by a line segment
|
||||||
|
// or triangle. Thus the shapes are overlapped.
|
||||||
|
|
||||||
|
// We can't return zero here even though there may be overlap.
|
||||||
|
// In case the simplex is a point, segment, or triangle it is difficult
|
||||||
|
// to determine if the origin is contained in the CSO or very close to it.
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Compute a tentative new simplex vertex using support points.
|
||||||
|
b2SimplexVertex* vertex = vertices + simplex.m_count;
|
||||||
|
vertex->indexA = proxyA->GetSupport(b2MulT(transformA.q, -d));
|
||||||
|
vertex->wA = b2Mul(transformA, proxyA->GetVertex(vertex->indexA));
|
||||||
|
b2Vec2 wBLocal;
|
||||||
|
vertex->indexB = proxyB->GetSupport(b2MulT(transformB.q, d));
|
||||||
|
vertex->wB = b2Mul(transformB, proxyB->GetVertex(vertex->indexB));
|
||||||
|
vertex->w = vertex->wB - vertex->wA;
|
||||||
|
|
||||||
|
// Iteration count is equated to the number of support point calls.
|
||||||
|
++iter;
|
||||||
|
++b2_gjkIters;
|
||||||
|
|
||||||
|
// Check for duplicate support points. This is the main termination criteria.
|
||||||
|
bool duplicate = false;
|
||||||
|
for (int32 i = 0; i < saveCount; ++i)
|
||||||
|
{
|
||||||
|
if (vertex->indexA == saveA[i] && vertex->indexB == saveB[i])
|
||||||
|
{
|
||||||
|
duplicate = true;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// If we found a duplicate support point we must exit to avoid cycling.
|
||||||
|
if (duplicate)
|
||||||
|
{
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
// New vertex is ok and needed.
|
||||||
|
++simplex.m_count;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2_gjkMaxIters = b2Max(b2_gjkMaxIters, iter);
|
||||||
|
|
||||||
|
// Prepare output.
|
||||||
|
simplex.GetWitnessPoints(&output->pointA, &output->pointB);
|
||||||
|
output->distance = b2Distance(output->pointA, output->pointB);
|
||||||
|
output->iterations = iter;
|
||||||
|
|
||||||
|
// Cache the simplex.
|
||||||
|
simplex.WriteCache(cache);
|
||||||
|
|
||||||
|
// Apply radii if requested.
|
||||||
|
if (input->useRadii)
|
||||||
|
{
|
||||||
|
float32 rA = proxyA->m_radius;
|
||||||
|
float32 rB = proxyB->m_radius;
|
||||||
|
|
||||||
|
if (output->distance > rA + rB && output->distance > b2_epsilon)
|
||||||
|
{
|
||||||
|
// Shapes are still no overlapped.
|
||||||
|
// Move the witness points to the outer surface.
|
||||||
|
output->distance -= rA + rB;
|
||||||
|
b2Vec2 normal = output->pointB - output->pointA;
|
||||||
|
normal.Normalize();
|
||||||
|
output->pointA += rA * normal;
|
||||||
|
output->pointB -= rB * normal;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
// Shapes are overlapped when radii are considered.
|
||||||
|
// Move the witness points to the middle.
|
||||||
|
b2Vec2 p = 0.5f * (output->pointA + output->pointB);
|
||||||
|
output->pointA = p;
|
||||||
|
output->pointB = p;
|
||||||
|
output->distance = 0.0f;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// GJK-raycast
|
||||||
|
// Algorithm by Gino van den Bergen.
|
||||||
|
// "Smooth Mesh Contacts with GJK" in Game Physics Pearls. 2010
|
||||||
|
bool b2ShapeCast(b2ShapeCastOutput * output, const b2ShapeCastInput * input)
|
||||||
|
{
|
||||||
|
output->iterations = 0;
|
||||||
|
output->lambda = 1.0f;
|
||||||
|
output->normal.SetZero();
|
||||||
|
output->point.SetZero();
|
||||||
|
|
||||||
|
const b2DistanceProxy* proxyA = &input->proxyA;
|
||||||
|
const b2DistanceProxy* proxyB = &input->proxyB;
|
||||||
|
|
||||||
|
float32 radiusA = b2Max(proxyA->m_radius, b2_polygonRadius);
|
||||||
|
float32 radiusB = b2Max(proxyB->m_radius, b2_polygonRadius);
|
||||||
|
float32 radius = radiusA + radiusB;
|
||||||
|
|
||||||
|
b2Transform xfA = input->transformA;
|
||||||
|
b2Transform xfB = input->transformB;
|
||||||
|
|
||||||
|
b2Vec2 r = input->translationB;
|
||||||
|
b2Vec2 n(0.0f, 0.0f);
|
||||||
|
float32 lambda = 0.0f;
|
||||||
|
|
||||||
|
// Initial simplex
|
||||||
|
b2Simplex simplex;
|
||||||
|
simplex.m_count = 0;
|
||||||
|
|
||||||
|
// Get simplex vertices as an array.
|
||||||
|
b2SimplexVertex* vertices = &simplex.m_v1;
|
||||||
|
|
||||||
|
// Get support point in -r direction
|
||||||
|
int32 indexA = proxyA->GetSupport(b2MulT(xfA.q, -r));
|
||||||
|
b2Vec2 wA = b2Mul(xfA, proxyA->GetVertex(indexA));
|
||||||
|
int32 indexB = proxyB->GetSupport(b2MulT(xfB.q, r));
|
||||||
|
b2Vec2 wB = b2Mul(xfB, proxyB->GetVertex(indexB));
|
||||||
|
b2Vec2 v = wA - wB;
|
||||||
|
|
||||||
|
// Sigma is the target distance between polygons
|
||||||
|
float32 sigma = b2Max(b2_polygonRadius, radius - b2_polygonRadius);
|
||||||
|
const float32 tolerance = 0.5f * b2_linearSlop;
|
||||||
|
|
||||||
|
// Main iteration loop.
|
||||||
|
const int32 k_maxIters = 20;
|
||||||
|
int32 iter = 0;
|
||||||
|
while (iter < k_maxIters && b2Abs(v.Length() - sigma) > tolerance)
|
||||||
|
{
|
||||||
|
b2Assert(simplex.m_count < 3);
|
||||||
|
|
||||||
|
output->iterations += 1;
|
||||||
|
|
||||||
|
// Support in direction -v (A - B)
|
||||||
|
indexA = proxyA->GetSupport(b2MulT(xfA.q, -v));
|
||||||
|
wA = b2Mul(xfA, proxyA->GetVertex(indexA));
|
||||||
|
indexB = proxyB->GetSupport(b2MulT(xfB.q, v));
|
||||||
|
wB = b2Mul(xfB, proxyB->GetVertex(indexB));
|
||||||
|
b2Vec2 p = wA - wB;
|
||||||
|
|
||||||
|
// -v is a normal at p
|
||||||
|
v.Normalize();
|
||||||
|
|
||||||
|
// Intersect ray with plane
|
||||||
|
float32 vp = b2Dot(v, p);
|
||||||
|
float32 vr = b2Dot(v, r);
|
||||||
|
if (vp - sigma > lambda * vr)
|
||||||
|
{
|
||||||
|
if (vr <= 0.0f)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
lambda = (vp - sigma) / vr;
|
||||||
|
if (lambda > 1.0f)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
n = -v;
|
||||||
|
simplex.m_count = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Reverse simplex since it works with B - A.
|
||||||
|
// Shift by lambda * r because we want the closest point to the current clip point.
|
||||||
|
// Note that the support point p is not shifted because we want the plane equation
|
||||||
|
// to be formed in unshifted space.
|
||||||
|
b2SimplexVertex* vertex = vertices + simplex.m_count;
|
||||||
|
vertex->indexA = indexB;
|
||||||
|
vertex->wA = wB + lambda * r;
|
||||||
|
vertex->indexB = indexA;
|
||||||
|
vertex->wB = wA;
|
||||||
|
vertex->w = vertex->wB - vertex->wA;
|
||||||
|
vertex->a = 1.0f;
|
||||||
|
simplex.m_count += 1;
|
||||||
|
|
||||||
|
switch (simplex.m_count)
|
||||||
|
{
|
||||||
|
case 1:
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 2:
|
||||||
|
simplex.Solve2();
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 3:
|
||||||
|
simplex.Solve3();
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
b2Assert(false);
|
||||||
|
}
|
||||||
|
|
||||||
|
// If we have 3 points, then the origin is in the corresponding triangle.
|
||||||
|
if (simplex.m_count == 3)
|
||||||
|
{
|
||||||
|
// Overlap
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Get search direction.
|
||||||
|
v = simplex.GetClosestPoint();
|
||||||
|
|
||||||
|
// Iteration count is equated to the number of support point calls.
|
||||||
|
++iter;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Prepare output.
|
||||||
|
b2Vec2 pointA, pointB;
|
||||||
|
simplex.GetWitnessPoints(&pointB, &pointA);
|
||||||
|
|
||||||
|
if (v.LengthSquared() > 0.0f)
|
||||||
|
{
|
||||||
|
n = -v;
|
||||||
|
n.Normalize();
|
||||||
|
}
|
||||||
|
|
||||||
|
output->point = pointA + radiusA * n;
|
||||||
|
output->normal = n;
|
||||||
|
output->lambda = lambda;
|
||||||
|
output->iterations = iter;
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,166 @@
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef B2_DISTANCE_H
|
||||||
|
#define B2_DISTANCE_H
|
||||||
|
|
||||||
|
#include "../Common/b2Math.h"
|
||||||
|
|
||||||
|
class b2Shape;
|
||||||
|
|
||||||
|
/// A distance proxy is used by the GJK algorithm.
|
||||||
|
/// It encapsulates any shape.
|
||||||
|
struct b2DistanceProxy
|
||||||
|
{
|
||||||
|
b2DistanceProxy() : m_vertices(nullptr), m_count(0), m_radius(0.0f) {}
|
||||||
|
|
||||||
|
/// Initialize the proxy using the given shape. The shape
|
||||||
|
/// must remain in scope while the proxy is in use.
|
||||||
|
void Set(const b2Shape* shape, int32 index);
|
||||||
|
|
||||||
|
/// Initialize the proxy using a vertex cloud and radius. The vertices
|
||||||
|
/// must remain in scope while the proxy is in use.
|
||||||
|
void Set(const b2Vec2* vertices, int32 count, float32 radius);
|
||||||
|
|
||||||
|
/// Get the supporting vertex index in the given direction.
|
||||||
|
int32 GetSupport(const b2Vec2& d) const;
|
||||||
|
|
||||||
|
/// Get the supporting vertex in the given direction.
|
||||||
|
const b2Vec2& GetSupportVertex(const b2Vec2& d) const;
|
||||||
|
|
||||||
|
/// Get the vertex count.
|
||||||
|
int32 GetVertexCount() const;
|
||||||
|
|
||||||
|
/// Get a vertex by index. Used by b2Distance.
|
||||||
|
const b2Vec2& GetVertex(int32 index) const;
|
||||||
|
|
||||||
|
b2Vec2 m_buffer[2];
|
||||||
|
const b2Vec2* m_vertices;
|
||||||
|
int32 m_count;
|
||||||
|
float32 m_radius;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Used to warm start b2Distance.
|
||||||
|
/// Set count to zero on first call.
|
||||||
|
struct b2SimplexCache
|
||||||
|
{
|
||||||
|
float32 metric; ///< length or area
|
||||||
|
uint16 count;
|
||||||
|
uint8 indexA[3]; ///< vertices on shape A
|
||||||
|
uint8 indexB[3]; ///< vertices on shape B
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Input for b2Distance.
|
||||||
|
/// You have to option to use the shape radii
|
||||||
|
/// in the computation. Even
|
||||||
|
struct b2DistanceInput
|
||||||
|
{
|
||||||
|
b2DistanceProxy proxyA;
|
||||||
|
b2DistanceProxy proxyB;
|
||||||
|
b2Transform transformA;
|
||||||
|
b2Transform transformB;
|
||||||
|
bool useRadii;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Output for b2Distance.
|
||||||
|
struct b2DistanceOutput
|
||||||
|
{
|
||||||
|
b2Vec2 pointA; ///< closest point on shapeA
|
||||||
|
b2Vec2 pointB; ///< closest point on shapeB
|
||||||
|
float32 distance;
|
||||||
|
int32 iterations; ///< number of GJK iterations used
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Compute the closest points between two shapes. Supports any combination of:
|
||||||
|
/// b2CircleShape, b2PolygonShape, b2EdgeShape. The simplex cache is input/output.
|
||||||
|
/// On the first call set b2SimplexCache.count to zero.
|
||||||
|
void b2Distance(b2DistanceOutput* output,
|
||||||
|
b2SimplexCache* cache,
|
||||||
|
const b2DistanceInput* input);
|
||||||
|
|
||||||
|
/// Input parameters for b2ShapeCast
|
||||||
|
struct b2ShapeCastInput
|
||||||
|
{
|
||||||
|
b2DistanceProxy proxyA;
|
||||||
|
b2DistanceProxy proxyB;
|
||||||
|
b2Transform transformA;
|
||||||
|
b2Transform transformB;
|
||||||
|
b2Vec2 translationB;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Output results for b2ShapeCast
|
||||||
|
struct b2ShapeCastOutput
|
||||||
|
{
|
||||||
|
b2Vec2 point;
|
||||||
|
b2Vec2 normal;
|
||||||
|
float32 lambda;
|
||||||
|
int32 iterations;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Perform a linear shape cast of shape B moving and shape A fixed. Determines the hit point, normal, and translation fraction.
|
||||||
|
bool b2ShapeCast(b2ShapeCastOutput* output, const b2ShapeCastInput* input);
|
||||||
|
|
||||||
|
//////////////////////////////////////////////////////////////////////////
|
||||||
|
|
||||||
|
inline int32 b2DistanceProxy::GetVertexCount() const
|
||||||
|
{
|
||||||
|
return m_count;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline const b2Vec2& b2DistanceProxy::GetVertex(int32 index) const
|
||||||
|
{
|
||||||
|
b2Assert(0 <= index && index < m_count);
|
||||||
|
return m_vertices[index];
|
||||||
|
}
|
||||||
|
|
||||||
|
inline int32 b2DistanceProxy::GetSupport(const b2Vec2& d) const
|
||||||
|
{
|
||||||
|
int32 bestIndex = 0;
|
||||||
|
float32 bestValue = b2Dot(m_vertices[0], d);
|
||||||
|
for (int32 i = 1; i < m_count; ++i)
|
||||||
|
{
|
||||||
|
float32 value = b2Dot(m_vertices[i], d);
|
||||||
|
if (value > bestValue)
|
||||||
|
{
|
||||||
|
bestIndex = i;
|
||||||
|
bestValue = value;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return bestIndex;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline const b2Vec2& b2DistanceProxy::GetSupportVertex(const b2Vec2& d) const
|
||||||
|
{
|
||||||
|
int32 bestIndex = 0;
|
||||||
|
float32 bestValue = b2Dot(m_vertices[0], d);
|
||||||
|
for (int32 i = 1; i < m_count; ++i)
|
||||||
|
{
|
||||||
|
float32 value = b2Dot(m_vertices[i], d);
|
||||||
|
if (value > bestValue)
|
||||||
|
{
|
||||||
|
bestIndex = i;
|
||||||
|
bestValue = value;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return m_vertices[bestIndex];
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,780 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Collision/b2DynamicTree.h"
|
||||||
|
#include <string.h>
|
||||||
|
|
||||||
|
b2DynamicTree::b2DynamicTree()
|
||||||
|
{
|
||||||
|
m_root = b2_nullNode;
|
||||||
|
|
||||||
|
m_nodeCapacity = 16;
|
||||||
|
m_nodeCount = 0;
|
||||||
|
m_nodes = (b2TreeNode*)b2Alloc(m_nodeCapacity * sizeof(b2TreeNode));
|
||||||
|
memset(m_nodes, 0, m_nodeCapacity * sizeof(b2TreeNode));
|
||||||
|
|
||||||
|
// Build a linked list for the free list.
|
||||||
|
for (int32 i = 0; i < m_nodeCapacity - 1; ++i)
|
||||||
|
{
|
||||||
|
m_nodes[i].next = i + 1;
|
||||||
|
m_nodes[i].height = -1;
|
||||||
|
}
|
||||||
|
m_nodes[m_nodeCapacity-1].next = b2_nullNode;
|
||||||
|
m_nodes[m_nodeCapacity-1].height = -1;
|
||||||
|
m_freeList = 0;
|
||||||
|
|
||||||
|
m_path = 0;
|
||||||
|
|
||||||
|
m_insertionCount = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2DynamicTree::~b2DynamicTree()
|
||||||
|
{
|
||||||
|
// This frees the entire tree in one shot.
|
||||||
|
b2Free(m_nodes);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Allocate a node from the pool. Grow the pool if necessary.
|
||||||
|
int32 b2DynamicTree::AllocateNode()
|
||||||
|
{
|
||||||
|
// Expand the node pool as needed.
|
||||||
|
if (m_freeList == b2_nullNode)
|
||||||
|
{
|
||||||
|
b2Assert(m_nodeCount == m_nodeCapacity);
|
||||||
|
|
||||||
|
// The free list is empty. Rebuild a bigger pool.
|
||||||
|
b2TreeNode* oldNodes = m_nodes;
|
||||||
|
m_nodeCapacity *= 2;
|
||||||
|
m_nodes = (b2TreeNode*)b2Alloc(m_nodeCapacity * sizeof(b2TreeNode));
|
||||||
|
memcpy(m_nodes, oldNodes, m_nodeCount * sizeof(b2TreeNode));
|
||||||
|
b2Free(oldNodes);
|
||||||
|
|
||||||
|
// Build a linked list for the free list. The parent
|
||||||
|
// pointer becomes the "next" pointer.
|
||||||
|
for (int32 i = m_nodeCount; i < m_nodeCapacity - 1; ++i)
|
||||||
|
{
|
||||||
|
m_nodes[i].next = i + 1;
|
||||||
|
m_nodes[i].height = -1;
|
||||||
|
}
|
||||||
|
m_nodes[m_nodeCapacity-1].next = b2_nullNode;
|
||||||
|
m_nodes[m_nodeCapacity-1].height = -1;
|
||||||
|
m_freeList = m_nodeCount;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Peel a node off the free list.
|
||||||
|
int32 nodeId = m_freeList;
|
||||||
|
m_freeList = m_nodes[nodeId].next;
|
||||||
|
m_nodes[nodeId].parent = b2_nullNode;
|
||||||
|
m_nodes[nodeId].child1 = b2_nullNode;
|
||||||
|
m_nodes[nodeId].child2 = b2_nullNode;
|
||||||
|
m_nodes[nodeId].height = 0;
|
||||||
|
m_nodes[nodeId].userData = nullptr;
|
||||||
|
++m_nodeCount;
|
||||||
|
return nodeId;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Return a node to the pool.
|
||||||
|
void b2DynamicTree::FreeNode(int32 nodeId)
|
||||||
|
{
|
||||||
|
b2Assert(0 <= nodeId && nodeId < m_nodeCapacity);
|
||||||
|
b2Assert(0 < m_nodeCount);
|
||||||
|
m_nodes[nodeId].next = m_freeList;
|
||||||
|
m_nodes[nodeId].height = -1;
|
||||||
|
m_freeList = nodeId;
|
||||||
|
--m_nodeCount;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Create a proxy in the tree as a leaf node. We return the index
|
||||||
|
// of the node instead of a pointer so that we can grow
|
||||||
|
// the node pool.
|
||||||
|
int32 b2DynamicTree::CreateProxy(const b2AABB& aabb, void* userData)
|
||||||
|
{
|
||||||
|
int32 proxyId = AllocateNode();
|
||||||
|
|
||||||
|
// Fatten the aabb.
|
||||||
|
b2Vec2 r(b2_aabbExtension, b2_aabbExtension);
|
||||||
|
m_nodes[proxyId].aabb.lowerBound = aabb.lowerBound - r;
|
||||||
|
m_nodes[proxyId].aabb.upperBound = aabb.upperBound + r;
|
||||||
|
m_nodes[proxyId].userData = userData;
|
||||||
|
m_nodes[proxyId].height = 0;
|
||||||
|
|
||||||
|
InsertLeaf(proxyId);
|
||||||
|
|
||||||
|
return proxyId;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2DynamicTree::DestroyProxy(int32 proxyId)
|
||||||
|
{
|
||||||
|
b2Assert(0 <= proxyId && proxyId < m_nodeCapacity);
|
||||||
|
b2Assert(m_nodes[proxyId].IsLeaf());
|
||||||
|
|
||||||
|
RemoveLeaf(proxyId);
|
||||||
|
FreeNode(proxyId);
|
||||||
|
}
|
||||||
|
|
||||||
|
bool b2DynamicTree::MoveProxy(int32 proxyId, const b2AABB& aabb, const b2Vec2& displacement)
|
||||||
|
{
|
||||||
|
b2Assert(0 <= proxyId && proxyId < m_nodeCapacity);
|
||||||
|
|
||||||
|
b2Assert(m_nodes[proxyId].IsLeaf());
|
||||||
|
|
||||||
|
if (m_nodes[proxyId].aabb.Contains(aabb))
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
RemoveLeaf(proxyId);
|
||||||
|
|
||||||
|
// Extend AABB.
|
||||||
|
b2AABB b = aabb;
|
||||||
|
b2Vec2 r(b2_aabbExtension, b2_aabbExtension);
|
||||||
|
b.lowerBound = b.lowerBound - r;
|
||||||
|
b.upperBound = b.upperBound + r;
|
||||||
|
|
||||||
|
// Predict AABB displacement.
|
||||||
|
b2Vec2 d = b2_aabbMultiplier * displacement;
|
||||||
|
|
||||||
|
if (d.x < 0.0f)
|
||||||
|
{
|
||||||
|
b.lowerBound.x += d.x;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
b.upperBound.x += d.x;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (d.y < 0.0f)
|
||||||
|
{
|
||||||
|
b.lowerBound.y += d.y;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
b.upperBound.y += d.y;
|
||||||
|
}
|
||||||
|
|
||||||
|
m_nodes[proxyId].aabb = b;
|
||||||
|
|
||||||
|
InsertLeaf(proxyId);
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2DynamicTree::InsertLeaf(int32 leaf)
|
||||||
|
{
|
||||||
|
++m_insertionCount;
|
||||||
|
|
||||||
|
if (m_root == b2_nullNode)
|
||||||
|
{
|
||||||
|
m_root = leaf;
|
||||||
|
m_nodes[m_root].parent = b2_nullNode;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Find the best sibling for this node
|
||||||
|
b2AABB leafAABB = m_nodes[leaf].aabb;
|
||||||
|
int32 index = m_root;
|
||||||
|
while (m_nodes[index].IsLeaf() == false)
|
||||||
|
{
|
||||||
|
int32 child1 = m_nodes[index].child1;
|
||||||
|
int32 child2 = m_nodes[index].child2;
|
||||||
|
|
||||||
|
float32 area = m_nodes[index].aabb.GetPerimeter();
|
||||||
|
|
||||||
|
b2AABB combinedAABB;
|
||||||
|
combinedAABB.Combine(m_nodes[index].aabb, leafAABB);
|
||||||
|
float32 combinedArea = combinedAABB.GetPerimeter();
|
||||||
|
|
||||||
|
// Cost of creating a new parent for this node and the new leaf
|
||||||
|
float32 cost = 2.0f * combinedArea;
|
||||||
|
|
||||||
|
// Minimum cost of pushing the leaf further down the tree
|
||||||
|
float32 inheritanceCost = 2.0f * (combinedArea - area);
|
||||||
|
|
||||||
|
// Cost of descending into child1
|
||||||
|
float32 cost1;
|
||||||
|
if (m_nodes[child1].IsLeaf())
|
||||||
|
{
|
||||||
|
b2AABB aabb;
|
||||||
|
aabb.Combine(leafAABB, m_nodes[child1].aabb);
|
||||||
|
cost1 = aabb.GetPerimeter() + inheritanceCost;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
b2AABB aabb;
|
||||||
|
aabb.Combine(leafAABB, m_nodes[child1].aabb);
|
||||||
|
float32 oldArea = m_nodes[child1].aabb.GetPerimeter();
|
||||||
|
float32 newArea = aabb.GetPerimeter();
|
||||||
|
cost1 = (newArea - oldArea) + inheritanceCost;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Cost of descending into child2
|
||||||
|
float32 cost2;
|
||||||
|
if (m_nodes[child2].IsLeaf())
|
||||||
|
{
|
||||||
|
b2AABB aabb;
|
||||||
|
aabb.Combine(leafAABB, m_nodes[child2].aabb);
|
||||||
|
cost2 = aabb.GetPerimeter() + inheritanceCost;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
b2AABB aabb;
|
||||||
|
aabb.Combine(leafAABB, m_nodes[child2].aabb);
|
||||||
|
float32 oldArea = m_nodes[child2].aabb.GetPerimeter();
|
||||||
|
float32 newArea = aabb.GetPerimeter();
|
||||||
|
cost2 = newArea - oldArea + inheritanceCost;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Descend according to the minimum cost.
|
||||||
|
if (cost < cost1 && cost < cost2)
|
||||||
|
{
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Descend
|
||||||
|
if (cost1 < cost2)
|
||||||
|
{
|
||||||
|
index = child1;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
index = child2;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 sibling = index;
|
||||||
|
|
||||||
|
// Create a new parent.
|
||||||
|
int32 oldParent = m_nodes[sibling].parent;
|
||||||
|
int32 newParent = AllocateNode();
|
||||||
|
m_nodes[newParent].parent = oldParent;
|
||||||
|
m_nodes[newParent].userData = nullptr;
|
||||||
|
m_nodes[newParent].aabb.Combine(leafAABB, m_nodes[sibling].aabb);
|
||||||
|
m_nodes[newParent].height = m_nodes[sibling].height + 1;
|
||||||
|
|
||||||
|
if (oldParent != b2_nullNode)
|
||||||
|
{
|
||||||
|
// The sibling was not the root.
|
||||||
|
if (m_nodes[oldParent].child1 == sibling)
|
||||||
|
{
|
||||||
|
m_nodes[oldParent].child1 = newParent;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_nodes[oldParent].child2 = newParent;
|
||||||
|
}
|
||||||
|
|
||||||
|
m_nodes[newParent].child1 = sibling;
|
||||||
|
m_nodes[newParent].child2 = leaf;
|
||||||
|
m_nodes[sibling].parent = newParent;
|
||||||
|
m_nodes[leaf].parent = newParent;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
// The sibling was the root.
|
||||||
|
m_nodes[newParent].child1 = sibling;
|
||||||
|
m_nodes[newParent].child2 = leaf;
|
||||||
|
m_nodes[sibling].parent = newParent;
|
||||||
|
m_nodes[leaf].parent = newParent;
|
||||||
|
m_root = newParent;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Walk back up the tree fixing heights and AABBs
|
||||||
|
index = m_nodes[leaf].parent;
|
||||||
|
while (index != b2_nullNode)
|
||||||
|
{
|
||||||
|
index = Balance(index);
|
||||||
|
|
||||||
|
int32 child1 = m_nodes[index].child1;
|
||||||
|
int32 child2 = m_nodes[index].child2;
|
||||||
|
|
||||||
|
b2Assert(child1 != b2_nullNode);
|
||||||
|
b2Assert(child2 != b2_nullNode);
|
||||||
|
|
||||||
|
m_nodes[index].height = 1 + b2Max(m_nodes[child1].height, m_nodes[child2].height);
|
||||||
|
m_nodes[index].aabb.Combine(m_nodes[child1].aabb, m_nodes[child2].aabb);
|
||||||
|
|
||||||
|
index = m_nodes[index].parent;
|
||||||
|
}
|
||||||
|
|
||||||
|
//Validate();
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2DynamicTree::RemoveLeaf(int32 leaf)
|
||||||
|
{
|
||||||
|
if (leaf == m_root)
|
||||||
|
{
|
||||||
|
m_root = b2_nullNode;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 parent = m_nodes[leaf].parent;
|
||||||
|
int32 grandParent = m_nodes[parent].parent;
|
||||||
|
int32 sibling;
|
||||||
|
if (m_nodes[parent].child1 == leaf)
|
||||||
|
{
|
||||||
|
sibling = m_nodes[parent].child2;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
sibling = m_nodes[parent].child1;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (grandParent != b2_nullNode)
|
||||||
|
{
|
||||||
|
// Destroy parent and connect sibling to grandParent.
|
||||||
|
if (m_nodes[grandParent].child1 == parent)
|
||||||
|
{
|
||||||
|
m_nodes[grandParent].child1 = sibling;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_nodes[grandParent].child2 = sibling;
|
||||||
|
}
|
||||||
|
m_nodes[sibling].parent = grandParent;
|
||||||
|
FreeNode(parent);
|
||||||
|
|
||||||
|
// Adjust ancestor bounds.
|
||||||
|
int32 index = grandParent;
|
||||||
|
while (index != b2_nullNode)
|
||||||
|
{
|
||||||
|
index = Balance(index);
|
||||||
|
|
||||||
|
int32 child1 = m_nodes[index].child1;
|
||||||
|
int32 child2 = m_nodes[index].child2;
|
||||||
|
|
||||||
|
m_nodes[index].aabb.Combine(m_nodes[child1].aabb, m_nodes[child2].aabb);
|
||||||
|
m_nodes[index].height = 1 + b2Max(m_nodes[child1].height, m_nodes[child2].height);
|
||||||
|
|
||||||
|
index = m_nodes[index].parent;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_root = sibling;
|
||||||
|
m_nodes[sibling].parent = b2_nullNode;
|
||||||
|
FreeNode(parent);
|
||||||
|
}
|
||||||
|
|
||||||
|
//Validate();
|
||||||
|
}
|
||||||
|
|
||||||
|
// Perform a left or right rotation if node A is imbalanced.
|
||||||
|
// Returns the new root index.
|
||||||
|
int32 b2DynamicTree::Balance(int32 iA)
|
||||||
|
{
|
||||||
|
b2Assert(iA != b2_nullNode);
|
||||||
|
|
||||||
|
b2TreeNode* A = m_nodes + iA;
|
||||||
|
if (A->IsLeaf() || A->height < 2)
|
||||||
|
{
|
||||||
|
return iA;
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 iB = A->child1;
|
||||||
|
int32 iC = A->child2;
|
||||||
|
b2Assert(0 <= iB && iB < m_nodeCapacity);
|
||||||
|
b2Assert(0 <= iC && iC < m_nodeCapacity);
|
||||||
|
|
||||||
|
b2TreeNode* B = m_nodes + iB;
|
||||||
|
b2TreeNode* C = m_nodes + iC;
|
||||||
|
|
||||||
|
int32 balance = C->height - B->height;
|
||||||
|
|
||||||
|
// Rotate C up
|
||||||
|
if (balance > 1)
|
||||||
|
{
|
||||||
|
int32 iF = C->child1;
|
||||||
|
int32 iG = C->child2;
|
||||||
|
b2TreeNode* F = m_nodes + iF;
|
||||||
|
b2TreeNode* G = m_nodes + iG;
|
||||||
|
b2Assert(0 <= iF && iF < m_nodeCapacity);
|
||||||
|
b2Assert(0 <= iG && iG < m_nodeCapacity);
|
||||||
|
|
||||||
|
// Swap A and C
|
||||||
|
C->child1 = iA;
|
||||||
|
C->parent = A->parent;
|
||||||
|
A->parent = iC;
|
||||||
|
|
||||||
|
// A's old parent should point to C
|
||||||
|
if (C->parent != b2_nullNode)
|
||||||
|
{
|
||||||
|
if (m_nodes[C->parent].child1 == iA)
|
||||||
|
{
|
||||||
|
m_nodes[C->parent].child1 = iC;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
b2Assert(m_nodes[C->parent].child2 == iA);
|
||||||
|
m_nodes[C->parent].child2 = iC;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_root = iC;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Rotate
|
||||||
|
if (F->height > G->height)
|
||||||
|
{
|
||||||
|
C->child2 = iF;
|
||||||
|
A->child2 = iG;
|
||||||
|
G->parent = iA;
|
||||||
|
A->aabb.Combine(B->aabb, G->aabb);
|
||||||
|
C->aabb.Combine(A->aabb, F->aabb);
|
||||||
|
|
||||||
|
A->height = 1 + b2Max(B->height, G->height);
|
||||||
|
C->height = 1 + b2Max(A->height, F->height);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
C->child2 = iG;
|
||||||
|
A->child2 = iF;
|
||||||
|
F->parent = iA;
|
||||||
|
A->aabb.Combine(B->aabb, F->aabb);
|
||||||
|
C->aabb.Combine(A->aabb, G->aabb);
|
||||||
|
|
||||||
|
A->height = 1 + b2Max(B->height, F->height);
|
||||||
|
C->height = 1 + b2Max(A->height, G->height);
|
||||||
|
}
|
||||||
|
|
||||||
|
return iC;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Rotate B up
|
||||||
|
if (balance < -1)
|
||||||
|
{
|
||||||
|
int32 iD = B->child1;
|
||||||
|
int32 iE = B->child2;
|
||||||
|
b2TreeNode* D = m_nodes + iD;
|
||||||
|
b2TreeNode* E = m_nodes + iE;
|
||||||
|
b2Assert(0 <= iD && iD < m_nodeCapacity);
|
||||||
|
b2Assert(0 <= iE && iE < m_nodeCapacity);
|
||||||
|
|
||||||
|
// Swap A and B
|
||||||
|
B->child1 = iA;
|
||||||
|
B->parent = A->parent;
|
||||||
|
A->parent = iB;
|
||||||
|
|
||||||
|
// A's old parent should point to B
|
||||||
|
if (B->parent != b2_nullNode)
|
||||||
|
{
|
||||||
|
if (m_nodes[B->parent].child1 == iA)
|
||||||
|
{
|
||||||
|
m_nodes[B->parent].child1 = iB;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
b2Assert(m_nodes[B->parent].child2 == iA);
|
||||||
|
m_nodes[B->parent].child2 = iB;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_root = iB;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Rotate
|
||||||
|
if (D->height > E->height)
|
||||||
|
{
|
||||||
|
B->child2 = iD;
|
||||||
|
A->child1 = iE;
|
||||||
|
E->parent = iA;
|
||||||
|
A->aabb.Combine(C->aabb, E->aabb);
|
||||||
|
B->aabb.Combine(A->aabb, D->aabb);
|
||||||
|
|
||||||
|
A->height = 1 + b2Max(C->height, E->height);
|
||||||
|
B->height = 1 + b2Max(A->height, D->height);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
B->child2 = iE;
|
||||||
|
A->child1 = iD;
|
||||||
|
D->parent = iA;
|
||||||
|
A->aabb.Combine(C->aabb, D->aabb);
|
||||||
|
B->aabb.Combine(A->aabb, E->aabb);
|
||||||
|
|
||||||
|
A->height = 1 + b2Max(C->height, D->height);
|
||||||
|
B->height = 1 + b2Max(A->height, E->height);
|
||||||
|
}
|
||||||
|
|
||||||
|
return iB;
|
||||||
|
}
|
||||||
|
|
||||||
|
return iA;
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 b2DynamicTree::GetHeight() const
|
||||||
|
{
|
||||||
|
if (m_root == b2_nullNode)
|
||||||
|
{
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
return m_nodes[m_root].height;
|
||||||
|
}
|
||||||
|
|
||||||
|
//
|
||||||
|
float32 b2DynamicTree::GetAreaRatio() const
|
||||||
|
{
|
||||||
|
if (m_root == b2_nullNode)
|
||||||
|
{
|
||||||
|
return 0.0f;
|
||||||
|
}
|
||||||
|
|
||||||
|
const b2TreeNode* root = m_nodes + m_root;
|
||||||
|
float32 rootArea = root->aabb.GetPerimeter();
|
||||||
|
|
||||||
|
float32 totalArea = 0.0f;
|
||||||
|
for (int32 i = 0; i < m_nodeCapacity; ++i)
|
||||||
|
{
|
||||||
|
const b2TreeNode* node = m_nodes + i;
|
||||||
|
if (node->height < 0)
|
||||||
|
{
|
||||||
|
// Free node in pool
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
totalArea += node->aabb.GetPerimeter();
|
||||||
|
}
|
||||||
|
|
||||||
|
return totalArea / rootArea;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Compute the height of a sub-tree.
|
||||||
|
int32 b2DynamicTree::ComputeHeight(int32 nodeId) const
|
||||||
|
{
|
||||||
|
b2Assert(0 <= nodeId && nodeId < m_nodeCapacity);
|
||||||
|
b2TreeNode* node = m_nodes + nodeId;
|
||||||
|
|
||||||
|
if (node->IsLeaf())
|
||||||
|
{
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 height1 = ComputeHeight(node->child1);
|
||||||
|
int32 height2 = ComputeHeight(node->child2);
|
||||||
|
return 1 + b2Max(height1, height2);
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 b2DynamicTree::ComputeHeight() const
|
||||||
|
{
|
||||||
|
int32 height = ComputeHeight(m_root);
|
||||||
|
return height;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2DynamicTree::ValidateStructure(int32 index) const
|
||||||
|
{
|
||||||
|
if (index == b2_nullNode)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (index == m_root)
|
||||||
|
{
|
||||||
|
b2Assert(m_nodes[index].parent == b2_nullNode);
|
||||||
|
}
|
||||||
|
|
||||||
|
const b2TreeNode* node = m_nodes + index;
|
||||||
|
|
||||||
|
int32 child1 = node->child1;
|
||||||
|
int32 child2 = node->child2;
|
||||||
|
|
||||||
|
if (node->IsLeaf())
|
||||||
|
{
|
||||||
|
b2Assert(child1 == b2_nullNode);
|
||||||
|
b2Assert(child2 == b2_nullNode);
|
||||||
|
b2Assert(node->height == 0);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Assert(0 <= child1 && child1 < m_nodeCapacity);
|
||||||
|
b2Assert(0 <= child2 && child2 < m_nodeCapacity);
|
||||||
|
|
||||||
|
b2Assert(m_nodes[child1].parent == index);
|
||||||
|
b2Assert(m_nodes[child2].parent == index);
|
||||||
|
|
||||||
|
ValidateStructure(child1);
|
||||||
|
ValidateStructure(child2);
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2DynamicTree::ValidateMetrics(int32 index) const
|
||||||
|
{
|
||||||
|
if (index == b2_nullNode)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
const b2TreeNode* node = m_nodes + index;
|
||||||
|
|
||||||
|
int32 child1 = node->child1;
|
||||||
|
int32 child2 = node->child2;
|
||||||
|
|
||||||
|
if (node->IsLeaf())
|
||||||
|
{
|
||||||
|
b2Assert(child1 == b2_nullNode);
|
||||||
|
b2Assert(child2 == b2_nullNode);
|
||||||
|
b2Assert(node->height == 0);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Assert(0 <= child1 && child1 < m_nodeCapacity);
|
||||||
|
b2Assert(0 <= child2 && child2 < m_nodeCapacity);
|
||||||
|
|
||||||
|
int32 height1 = m_nodes[child1].height;
|
||||||
|
int32 height2 = m_nodes[child2].height;
|
||||||
|
int32 height;
|
||||||
|
height = 1 + b2Max(height1, height2);
|
||||||
|
b2Assert(node->height == height);
|
||||||
|
|
||||||
|
b2AABB aabb;
|
||||||
|
aabb.Combine(m_nodes[child1].aabb, m_nodes[child2].aabb);
|
||||||
|
|
||||||
|
b2Assert(aabb.lowerBound == node->aabb.lowerBound);
|
||||||
|
b2Assert(aabb.upperBound == node->aabb.upperBound);
|
||||||
|
|
||||||
|
ValidateMetrics(child1);
|
||||||
|
ValidateMetrics(child2);
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2DynamicTree::Validate() const
|
||||||
|
{
|
||||||
|
#if defined(b2DEBUG)
|
||||||
|
ValidateStructure(m_root);
|
||||||
|
ValidateMetrics(m_root);
|
||||||
|
|
||||||
|
int32 freeCount = 0;
|
||||||
|
int32 freeIndex = m_freeList;
|
||||||
|
while (freeIndex != b2_nullNode)
|
||||||
|
{
|
||||||
|
b2Assert(0 <= freeIndex && freeIndex < m_nodeCapacity);
|
||||||
|
freeIndex = m_nodes[freeIndex].next;
|
||||||
|
++freeCount;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Assert(GetHeight() == ComputeHeight());
|
||||||
|
|
||||||
|
b2Assert(m_nodeCount + freeCount == m_nodeCapacity);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 b2DynamicTree::GetMaxBalance() const
|
||||||
|
{
|
||||||
|
int32 maxBalance = 0;
|
||||||
|
for (int32 i = 0; i < m_nodeCapacity; ++i)
|
||||||
|
{
|
||||||
|
const b2TreeNode* node = m_nodes + i;
|
||||||
|
if (node->height <= 1)
|
||||||
|
{
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Assert(node->IsLeaf() == false);
|
||||||
|
|
||||||
|
int32 child1 = node->child1;
|
||||||
|
int32 child2 = node->child2;
|
||||||
|
int32 balance = b2Abs(m_nodes[child2].height - m_nodes[child1].height);
|
||||||
|
maxBalance = b2Max(maxBalance, balance);
|
||||||
|
}
|
||||||
|
|
||||||
|
return maxBalance;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2DynamicTree::RebuildBottomUp()
|
||||||
|
{
|
||||||
|
int32* nodes = (int32*)b2Alloc(m_nodeCount * sizeof(int32));
|
||||||
|
int32 count = 0;
|
||||||
|
|
||||||
|
// Build array of leaves. Free the rest.
|
||||||
|
for (int32 i = 0; i < m_nodeCapacity; ++i)
|
||||||
|
{
|
||||||
|
if (m_nodes[i].height < 0)
|
||||||
|
{
|
||||||
|
// free node in pool
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (m_nodes[i].IsLeaf())
|
||||||
|
{
|
||||||
|
m_nodes[i].parent = b2_nullNode;
|
||||||
|
nodes[count] = i;
|
||||||
|
++count;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
FreeNode(i);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
while (count > 1)
|
||||||
|
{
|
||||||
|
float32 minCost = b2_maxFloat;
|
||||||
|
int32 iMin = -1, jMin = -1;
|
||||||
|
for (int32 i = 0; i < count; ++i)
|
||||||
|
{
|
||||||
|
b2AABB aabbi = m_nodes[nodes[i]].aabb;
|
||||||
|
|
||||||
|
for (int32 j = i + 1; j < count; ++j)
|
||||||
|
{
|
||||||
|
b2AABB aabbj = m_nodes[nodes[j]].aabb;
|
||||||
|
b2AABB b;
|
||||||
|
b.Combine(aabbi, aabbj);
|
||||||
|
float32 cost = b.GetPerimeter();
|
||||||
|
if (cost < minCost)
|
||||||
|
{
|
||||||
|
iMin = i;
|
||||||
|
jMin = j;
|
||||||
|
minCost = cost;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 index1 = nodes[iMin];
|
||||||
|
int32 index2 = nodes[jMin];
|
||||||
|
b2TreeNode* child1 = m_nodes + index1;
|
||||||
|
b2TreeNode* child2 = m_nodes + index2;
|
||||||
|
|
||||||
|
int32 parentIndex = AllocateNode();
|
||||||
|
b2TreeNode* parent = m_nodes + parentIndex;
|
||||||
|
parent->child1 = index1;
|
||||||
|
parent->child2 = index2;
|
||||||
|
parent->height = 1 + b2Max(child1->height, child2->height);
|
||||||
|
parent->aabb.Combine(child1->aabb, child2->aabb);
|
||||||
|
parent->parent = b2_nullNode;
|
||||||
|
|
||||||
|
child1->parent = parentIndex;
|
||||||
|
child2->parent = parentIndex;
|
||||||
|
|
||||||
|
nodes[jMin] = nodes[count-1];
|
||||||
|
nodes[iMin] = parentIndex;
|
||||||
|
--count;
|
||||||
|
}
|
||||||
|
|
||||||
|
m_root = nodes[0];
|
||||||
|
b2Free(nodes);
|
||||||
|
|
||||||
|
Validate();
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2DynamicTree::ShiftOrigin(const b2Vec2& newOrigin)
|
||||||
|
{
|
||||||
|
// Build array of leaves. Free the rest.
|
||||||
|
for (int32 i = 0; i < m_nodeCapacity; ++i)
|
||||||
|
{
|
||||||
|
m_nodes[i].aabb.lowerBound -= newOrigin;
|
||||||
|
m_nodes[i].aabb.upperBound -= newOrigin;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,289 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef B2_DYNAMIC_TREE_H
|
||||||
|
#define B2_DYNAMIC_TREE_H
|
||||||
|
|
||||||
|
#include "b2Collision.h"
|
||||||
|
#include "../Common/b2GrowableStack.h"
|
||||||
|
|
||||||
|
#define b2_nullNode (-1)
|
||||||
|
|
||||||
|
/// A node in the dynamic tree. The client does not interact with this directly.
|
||||||
|
struct b2TreeNode
|
||||||
|
{
|
||||||
|
bool IsLeaf() const
|
||||||
|
{
|
||||||
|
return child1 == b2_nullNode;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Enlarged AABB
|
||||||
|
b2AABB aabb;
|
||||||
|
|
||||||
|
void* userData;
|
||||||
|
|
||||||
|
union
|
||||||
|
{
|
||||||
|
int32 parent;
|
||||||
|
int32 next;
|
||||||
|
};
|
||||||
|
|
||||||
|
int32 child1;
|
||||||
|
int32 child2;
|
||||||
|
|
||||||
|
// leaf = 0, free node = -1
|
||||||
|
int32 height;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// A dynamic AABB tree broad-phase, inspired by Nathanael Presson's btDbvt.
|
||||||
|
/// A dynamic tree arranges data in a binary tree to accelerate
|
||||||
|
/// queries such as volume queries and ray casts. Leafs are proxies
|
||||||
|
/// with an AABB. In the tree we expand the proxy AABB by b2_fatAABBFactor
|
||||||
|
/// so that the proxy AABB is bigger than the client object. This allows the client
|
||||||
|
/// object to move by small amounts without triggering a tree update.
|
||||||
|
///
|
||||||
|
/// Nodes are pooled and relocatable, so we use node indices rather than pointers.
|
||||||
|
class b2DynamicTree
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
/// Constructing the tree initializes the node pool.
|
||||||
|
b2DynamicTree();
|
||||||
|
|
||||||
|
/// Destroy the tree, freeing the node pool.
|
||||||
|
~b2DynamicTree();
|
||||||
|
|
||||||
|
/// Create a proxy. Provide a tight fitting AABB and a userData pointer.
|
||||||
|
int32 CreateProxy(const b2AABB& aabb, void* userData);
|
||||||
|
|
||||||
|
/// Destroy a proxy. This asserts if the id is invalid.
|
||||||
|
void DestroyProxy(int32 proxyId);
|
||||||
|
|
||||||
|
/// Move a proxy with a swepted AABB. If the proxy has moved outside of its fattened AABB,
|
||||||
|
/// then the proxy is removed from the tree and re-inserted. Otherwise
|
||||||
|
/// the function returns immediately.
|
||||||
|
/// @return true if the proxy was re-inserted.
|
||||||
|
bool MoveProxy(int32 proxyId, const b2AABB& aabb1, const b2Vec2& displacement);
|
||||||
|
|
||||||
|
/// Get proxy user data.
|
||||||
|
/// @return the proxy user data or 0 if the id is invalid.
|
||||||
|
void* GetUserData(int32 proxyId) const;
|
||||||
|
|
||||||
|
/// Get the fat AABB for a proxy.
|
||||||
|
const b2AABB& GetFatAABB(int32 proxyId) const;
|
||||||
|
|
||||||
|
/// Query an AABB for overlapping proxies. The callback class
|
||||||
|
/// is called for each proxy that overlaps the supplied AABB.
|
||||||
|
template <typename T>
|
||||||
|
void Query(T* callback, const b2AABB& aabb) const;
|
||||||
|
|
||||||
|
/// Ray-cast against the proxies in the tree. This relies on the callback
|
||||||
|
/// to perform a exact ray-cast in the case were the proxy contains a shape.
|
||||||
|
/// The callback also performs the any collision filtering. This has performance
|
||||||
|
/// roughly equal to k * log(n), where k is the number of collisions and n is the
|
||||||
|
/// number of proxies in the tree.
|
||||||
|
/// @param input the ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1).
|
||||||
|
/// @param callback a callback class that is called for each proxy that is hit by the ray.
|
||||||
|
template <typename T>
|
||||||
|
void RayCast(T* callback, const b2RayCastInput& input) const;
|
||||||
|
|
||||||
|
/// Validate this tree. For testing.
|
||||||
|
void Validate() const;
|
||||||
|
|
||||||
|
/// Compute the height of the binary tree in O(N) time. Should not be
|
||||||
|
/// called often.
|
||||||
|
int32 GetHeight() const;
|
||||||
|
|
||||||
|
/// Get the maximum balance of an node in the tree. The balance is the difference
|
||||||
|
/// in height of the two children of a node.
|
||||||
|
int32 GetMaxBalance() const;
|
||||||
|
|
||||||
|
/// Get the ratio of the sum of the node areas to the root area.
|
||||||
|
float32 GetAreaRatio() const;
|
||||||
|
|
||||||
|
/// Build an optimal tree. Very expensive. For testing.
|
||||||
|
void RebuildBottomUp();
|
||||||
|
|
||||||
|
/// Shift the world origin. Useful for large worlds.
|
||||||
|
/// The shift formula is: position -= newOrigin
|
||||||
|
/// @param newOrigin the new origin with respect to the old origin
|
||||||
|
void ShiftOrigin(const b2Vec2& newOrigin);
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
int32 AllocateNode();
|
||||||
|
void FreeNode(int32 node);
|
||||||
|
|
||||||
|
void InsertLeaf(int32 node);
|
||||||
|
void RemoveLeaf(int32 node);
|
||||||
|
|
||||||
|
int32 Balance(int32 index);
|
||||||
|
|
||||||
|
int32 ComputeHeight() const;
|
||||||
|
int32 ComputeHeight(int32 nodeId) const;
|
||||||
|
|
||||||
|
void ValidateStructure(int32 index) const;
|
||||||
|
void ValidateMetrics(int32 index) const;
|
||||||
|
|
||||||
|
int32 m_root;
|
||||||
|
|
||||||
|
b2TreeNode* m_nodes;
|
||||||
|
int32 m_nodeCount;
|
||||||
|
int32 m_nodeCapacity;
|
||||||
|
|
||||||
|
int32 m_freeList;
|
||||||
|
|
||||||
|
/// This is used to incrementally traverse the tree for re-balancing.
|
||||||
|
uint32 m_path;
|
||||||
|
|
||||||
|
int32 m_insertionCount;
|
||||||
|
};
|
||||||
|
|
||||||
|
inline void* b2DynamicTree::GetUserData(int32 proxyId) const
|
||||||
|
{
|
||||||
|
b2Assert(0 <= proxyId && proxyId < m_nodeCapacity);
|
||||||
|
return m_nodes[proxyId].userData;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline const b2AABB& b2DynamicTree::GetFatAABB(int32 proxyId) const
|
||||||
|
{
|
||||||
|
b2Assert(0 <= proxyId && proxyId < m_nodeCapacity);
|
||||||
|
return m_nodes[proxyId].aabb;
|
||||||
|
}
|
||||||
|
|
||||||
|
template <typename T>
|
||||||
|
inline void b2DynamicTree::Query(T* callback, const b2AABB& aabb) const
|
||||||
|
{
|
||||||
|
b2GrowableStack<int32, 256> stack;
|
||||||
|
stack.Push(m_root);
|
||||||
|
|
||||||
|
while (stack.GetCount() > 0)
|
||||||
|
{
|
||||||
|
int32 nodeId = stack.Pop();
|
||||||
|
if (nodeId == b2_nullNode)
|
||||||
|
{
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
const b2TreeNode* node = m_nodes + nodeId;
|
||||||
|
|
||||||
|
if (b2TestOverlap(node->aabb, aabb))
|
||||||
|
{
|
||||||
|
if (node->IsLeaf())
|
||||||
|
{
|
||||||
|
bool proceed = callback->QueryCallback(nodeId);
|
||||||
|
if (proceed == false)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
stack.Push(node->child1);
|
||||||
|
stack.Push(node->child2);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
template <typename T>
|
||||||
|
inline void b2DynamicTree::RayCast(T* callback, const b2RayCastInput& input) const
|
||||||
|
{
|
||||||
|
b2Vec2 p1 = input.p1;
|
||||||
|
b2Vec2 p2 = input.p2;
|
||||||
|
b2Vec2 r = p2 - p1;
|
||||||
|
b2Assert(r.LengthSquared() > 0.0f);
|
||||||
|
r.Normalize();
|
||||||
|
|
||||||
|
// v is perpendicular to the segment.
|
||||||
|
b2Vec2 v = b2Cross(1.0f, r);
|
||||||
|
b2Vec2 abs_v = b2Abs(v);
|
||||||
|
|
||||||
|
// Separating axis for segment (Gino, p80).
|
||||||
|
// |dot(v, p1 - c)| > dot(|v|, h)
|
||||||
|
|
||||||
|
float32 maxFraction = input.maxFraction;
|
||||||
|
|
||||||
|
// Build a bounding box for the segment.
|
||||||
|
b2AABB segmentAABB;
|
||||||
|
{
|
||||||
|
b2Vec2 t = p1 + maxFraction * (p2 - p1);
|
||||||
|
segmentAABB.lowerBound = b2Min(p1, t);
|
||||||
|
segmentAABB.upperBound = b2Max(p1, t);
|
||||||
|
}
|
||||||
|
|
||||||
|
b2GrowableStack<int32, 256> stack;
|
||||||
|
stack.Push(m_root);
|
||||||
|
|
||||||
|
while (stack.GetCount() > 0)
|
||||||
|
{
|
||||||
|
int32 nodeId = stack.Pop();
|
||||||
|
if (nodeId == b2_nullNode)
|
||||||
|
{
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
const b2TreeNode* node = m_nodes + nodeId;
|
||||||
|
|
||||||
|
if (b2TestOverlap(node->aabb, segmentAABB) == false)
|
||||||
|
{
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Separating axis for segment (Gino, p80).
|
||||||
|
// |dot(v, p1 - c)| > dot(|v|, h)
|
||||||
|
b2Vec2 c = node->aabb.GetCenter();
|
||||||
|
b2Vec2 h = node->aabb.GetExtents();
|
||||||
|
float32 separation = b2Abs(b2Dot(v, p1 - c)) - b2Dot(abs_v, h);
|
||||||
|
if (separation > 0.0f)
|
||||||
|
{
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (node->IsLeaf())
|
||||||
|
{
|
||||||
|
b2RayCastInput subInput;
|
||||||
|
subInput.p1 = input.p1;
|
||||||
|
subInput.p2 = input.p2;
|
||||||
|
subInput.maxFraction = maxFraction;
|
||||||
|
|
||||||
|
float32 value = callback->RayCastCallback(subInput, nodeId);
|
||||||
|
|
||||||
|
if (value == 0.0f)
|
||||||
|
{
|
||||||
|
// The client has terminated the ray cast.
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (value > 0.0f)
|
||||||
|
{
|
||||||
|
// Update segment bounding box.
|
||||||
|
maxFraction = value;
|
||||||
|
b2Vec2 t = p1 + maxFraction * (p2 - p1);
|
||||||
|
segmentAABB.lowerBound = b2Min(p1, t);
|
||||||
|
segmentAABB.upperBound = b2Max(p1, t);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
stack.Push(node->child1);
|
||||||
|
stack.Push(node->child2);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,486 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2007-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Collision/b2Collision.h"
|
||||||
|
#include "Box2D/Collision/b2Distance.h"
|
||||||
|
#include "Box2D/Collision/b2TimeOfImpact.h"
|
||||||
|
#include "Box2D/Collision/Shapes/b2CircleShape.h"
|
||||||
|
#include "Box2D/Collision/Shapes/b2PolygonShape.h"
|
||||||
|
#include "Box2D/Common/b2Timer.h"
|
||||||
|
|
||||||
|
#include <stdio.h>
|
||||||
|
|
||||||
|
float32 b2_toiTime, b2_toiMaxTime;
|
||||||
|
int32 b2_toiCalls, b2_toiIters, b2_toiMaxIters;
|
||||||
|
int32 b2_toiRootIters, b2_toiMaxRootIters;
|
||||||
|
|
||||||
|
//
|
||||||
|
struct b2SeparationFunction
|
||||||
|
{
|
||||||
|
enum Type
|
||||||
|
{
|
||||||
|
e_points,
|
||||||
|
e_faceA,
|
||||||
|
e_faceB
|
||||||
|
};
|
||||||
|
|
||||||
|
// TODO_ERIN might not need to return the separation
|
||||||
|
|
||||||
|
float32 Initialize(const b2SimplexCache* cache,
|
||||||
|
const b2DistanceProxy* proxyA, const b2Sweep& sweepA,
|
||||||
|
const b2DistanceProxy* proxyB, const b2Sweep& sweepB,
|
||||||
|
float32 t1)
|
||||||
|
{
|
||||||
|
m_proxyA = proxyA;
|
||||||
|
m_proxyB = proxyB;
|
||||||
|
int32 count = cache->count;
|
||||||
|
b2Assert(0 < count && count < 3);
|
||||||
|
|
||||||
|
m_sweepA = sweepA;
|
||||||
|
m_sweepB = sweepB;
|
||||||
|
|
||||||
|
b2Transform xfA, xfB;
|
||||||
|
m_sweepA.GetTransform(&xfA, t1);
|
||||||
|
m_sweepB.GetTransform(&xfB, t1);
|
||||||
|
|
||||||
|
if (count == 1)
|
||||||
|
{
|
||||||
|
m_type = e_points;
|
||||||
|
b2Vec2 localPointA = m_proxyA->GetVertex(cache->indexA[0]);
|
||||||
|
b2Vec2 localPointB = m_proxyB->GetVertex(cache->indexB[0]);
|
||||||
|
b2Vec2 pointA = b2Mul(xfA, localPointA);
|
||||||
|
b2Vec2 pointB = b2Mul(xfB, localPointB);
|
||||||
|
m_axis = pointB - pointA;
|
||||||
|
float32 s = m_axis.Normalize();
|
||||||
|
return s;
|
||||||
|
}
|
||||||
|
else if (cache->indexA[0] == cache->indexA[1])
|
||||||
|
{
|
||||||
|
// Two points on B and one on A.
|
||||||
|
m_type = e_faceB;
|
||||||
|
b2Vec2 localPointB1 = proxyB->GetVertex(cache->indexB[0]);
|
||||||
|
b2Vec2 localPointB2 = proxyB->GetVertex(cache->indexB[1]);
|
||||||
|
|
||||||
|
m_axis = b2Cross(localPointB2 - localPointB1, 1.0f);
|
||||||
|
m_axis.Normalize();
|
||||||
|
b2Vec2 normal = b2Mul(xfB.q, m_axis);
|
||||||
|
|
||||||
|
m_localPoint = 0.5f * (localPointB1 + localPointB2);
|
||||||
|
b2Vec2 pointB = b2Mul(xfB, m_localPoint);
|
||||||
|
|
||||||
|
b2Vec2 localPointA = proxyA->GetVertex(cache->indexA[0]);
|
||||||
|
b2Vec2 pointA = b2Mul(xfA, localPointA);
|
||||||
|
|
||||||
|
float32 s = b2Dot(pointA - pointB, normal);
|
||||||
|
if (s < 0.0f)
|
||||||
|
{
|
||||||
|
m_axis = -m_axis;
|
||||||
|
s = -s;
|
||||||
|
}
|
||||||
|
return s;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
// Two points on A and one or two points on B.
|
||||||
|
m_type = e_faceA;
|
||||||
|
b2Vec2 localPointA1 = m_proxyA->GetVertex(cache->indexA[0]);
|
||||||
|
b2Vec2 localPointA2 = m_proxyA->GetVertex(cache->indexA[1]);
|
||||||
|
|
||||||
|
m_axis = b2Cross(localPointA2 - localPointA1, 1.0f);
|
||||||
|
m_axis.Normalize();
|
||||||
|
b2Vec2 normal = b2Mul(xfA.q, m_axis);
|
||||||
|
|
||||||
|
m_localPoint = 0.5f * (localPointA1 + localPointA2);
|
||||||
|
b2Vec2 pointA = b2Mul(xfA, m_localPoint);
|
||||||
|
|
||||||
|
b2Vec2 localPointB = m_proxyB->GetVertex(cache->indexB[0]);
|
||||||
|
b2Vec2 pointB = b2Mul(xfB, localPointB);
|
||||||
|
|
||||||
|
float32 s = b2Dot(pointB - pointA, normal);
|
||||||
|
if (s < 0.0f)
|
||||||
|
{
|
||||||
|
m_axis = -m_axis;
|
||||||
|
s = -s;
|
||||||
|
}
|
||||||
|
return s;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
//
|
||||||
|
float32 FindMinSeparation(int32* indexA, int32* indexB, float32 t) const
|
||||||
|
{
|
||||||
|
b2Transform xfA, xfB;
|
||||||
|
m_sweepA.GetTransform(&xfA, t);
|
||||||
|
m_sweepB.GetTransform(&xfB, t);
|
||||||
|
|
||||||
|
switch (m_type)
|
||||||
|
{
|
||||||
|
case e_points:
|
||||||
|
{
|
||||||
|
b2Vec2 axisA = b2MulT(xfA.q, m_axis);
|
||||||
|
b2Vec2 axisB = b2MulT(xfB.q, -m_axis);
|
||||||
|
|
||||||
|
*indexA = m_proxyA->GetSupport(axisA);
|
||||||
|
*indexB = m_proxyB->GetSupport(axisB);
|
||||||
|
|
||||||
|
b2Vec2 localPointA = m_proxyA->GetVertex(*indexA);
|
||||||
|
b2Vec2 localPointB = m_proxyB->GetVertex(*indexB);
|
||||||
|
|
||||||
|
b2Vec2 pointA = b2Mul(xfA, localPointA);
|
||||||
|
b2Vec2 pointB = b2Mul(xfB, localPointB);
|
||||||
|
|
||||||
|
float32 separation = b2Dot(pointB - pointA, m_axis);
|
||||||
|
return separation;
|
||||||
|
}
|
||||||
|
|
||||||
|
case e_faceA:
|
||||||
|
{
|
||||||
|
b2Vec2 normal = b2Mul(xfA.q, m_axis);
|
||||||
|
b2Vec2 pointA = b2Mul(xfA, m_localPoint);
|
||||||
|
|
||||||
|
b2Vec2 axisB = b2MulT(xfB.q, -normal);
|
||||||
|
|
||||||
|
*indexA = -1;
|
||||||
|
*indexB = m_proxyB->GetSupport(axisB);
|
||||||
|
|
||||||
|
b2Vec2 localPointB = m_proxyB->GetVertex(*indexB);
|
||||||
|
b2Vec2 pointB = b2Mul(xfB, localPointB);
|
||||||
|
|
||||||
|
float32 separation = b2Dot(pointB - pointA, normal);
|
||||||
|
return separation;
|
||||||
|
}
|
||||||
|
|
||||||
|
case e_faceB:
|
||||||
|
{
|
||||||
|
b2Vec2 normal = b2Mul(xfB.q, m_axis);
|
||||||
|
b2Vec2 pointB = b2Mul(xfB, m_localPoint);
|
||||||
|
|
||||||
|
b2Vec2 axisA = b2MulT(xfA.q, -normal);
|
||||||
|
|
||||||
|
*indexB = -1;
|
||||||
|
*indexA = m_proxyA->GetSupport(axisA);
|
||||||
|
|
||||||
|
b2Vec2 localPointA = m_proxyA->GetVertex(*indexA);
|
||||||
|
b2Vec2 pointA = b2Mul(xfA, localPointA);
|
||||||
|
|
||||||
|
float32 separation = b2Dot(pointA - pointB, normal);
|
||||||
|
return separation;
|
||||||
|
}
|
||||||
|
|
||||||
|
default:
|
||||||
|
b2Assert(false);
|
||||||
|
*indexA = -1;
|
||||||
|
*indexB = -1;
|
||||||
|
return 0.0f;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
//
|
||||||
|
float32 Evaluate(int32 indexA, int32 indexB, float32 t) const
|
||||||
|
{
|
||||||
|
b2Transform xfA, xfB;
|
||||||
|
m_sweepA.GetTransform(&xfA, t);
|
||||||
|
m_sweepB.GetTransform(&xfB, t);
|
||||||
|
|
||||||
|
switch (m_type)
|
||||||
|
{
|
||||||
|
case e_points:
|
||||||
|
{
|
||||||
|
b2Vec2 localPointA = m_proxyA->GetVertex(indexA);
|
||||||
|
b2Vec2 localPointB = m_proxyB->GetVertex(indexB);
|
||||||
|
|
||||||
|
b2Vec2 pointA = b2Mul(xfA, localPointA);
|
||||||
|
b2Vec2 pointB = b2Mul(xfB, localPointB);
|
||||||
|
float32 separation = b2Dot(pointB - pointA, m_axis);
|
||||||
|
|
||||||
|
return separation;
|
||||||
|
}
|
||||||
|
|
||||||
|
case e_faceA:
|
||||||
|
{
|
||||||
|
b2Vec2 normal = b2Mul(xfA.q, m_axis);
|
||||||
|
b2Vec2 pointA = b2Mul(xfA, m_localPoint);
|
||||||
|
|
||||||
|
b2Vec2 localPointB = m_proxyB->GetVertex(indexB);
|
||||||
|
b2Vec2 pointB = b2Mul(xfB, localPointB);
|
||||||
|
|
||||||
|
float32 separation = b2Dot(pointB - pointA, normal);
|
||||||
|
return separation;
|
||||||
|
}
|
||||||
|
|
||||||
|
case e_faceB:
|
||||||
|
{
|
||||||
|
b2Vec2 normal = b2Mul(xfB.q, m_axis);
|
||||||
|
b2Vec2 pointB = b2Mul(xfB, m_localPoint);
|
||||||
|
|
||||||
|
b2Vec2 localPointA = m_proxyA->GetVertex(indexA);
|
||||||
|
b2Vec2 pointA = b2Mul(xfA, localPointA);
|
||||||
|
|
||||||
|
float32 separation = b2Dot(pointA - pointB, normal);
|
||||||
|
return separation;
|
||||||
|
}
|
||||||
|
|
||||||
|
default:
|
||||||
|
b2Assert(false);
|
||||||
|
return 0.0f;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
const b2DistanceProxy* m_proxyA;
|
||||||
|
const b2DistanceProxy* m_proxyB;
|
||||||
|
b2Sweep m_sweepA, m_sweepB;
|
||||||
|
Type m_type;
|
||||||
|
b2Vec2 m_localPoint;
|
||||||
|
b2Vec2 m_axis;
|
||||||
|
};
|
||||||
|
|
||||||
|
// CCD via the local separating axis method. This seeks progression
|
||||||
|
// by computing the largest time at which separation is maintained.
|
||||||
|
void b2TimeOfImpact(b2TOIOutput* output, const b2TOIInput* input)
|
||||||
|
{
|
||||||
|
b2Timer timer;
|
||||||
|
|
||||||
|
++b2_toiCalls;
|
||||||
|
|
||||||
|
output->state = b2TOIOutput::e_unknown;
|
||||||
|
output->t = input->tMax;
|
||||||
|
|
||||||
|
const b2DistanceProxy* proxyA = &input->proxyA;
|
||||||
|
const b2DistanceProxy* proxyB = &input->proxyB;
|
||||||
|
|
||||||
|
b2Sweep sweepA = input->sweepA;
|
||||||
|
b2Sweep sweepB = input->sweepB;
|
||||||
|
|
||||||
|
// Large rotations can make the root finder fail, so we normalize the
|
||||||
|
// sweep angles.
|
||||||
|
sweepA.Normalize();
|
||||||
|
sweepB.Normalize();
|
||||||
|
|
||||||
|
float32 tMax = input->tMax;
|
||||||
|
|
||||||
|
float32 totalRadius = proxyA->m_radius + proxyB->m_radius;
|
||||||
|
float32 target = b2Max(b2_linearSlop, totalRadius - 3.0f * b2_linearSlop);
|
||||||
|
float32 tolerance = 0.25f * b2_linearSlop;
|
||||||
|
b2Assert(target > tolerance);
|
||||||
|
|
||||||
|
float32 t1 = 0.0f;
|
||||||
|
const int32 k_maxIterations = 20; // TODO_ERIN b2Settings
|
||||||
|
int32 iter = 0;
|
||||||
|
|
||||||
|
// Prepare input for distance query.
|
||||||
|
b2SimplexCache cache;
|
||||||
|
cache.count = 0;
|
||||||
|
b2DistanceInput distanceInput;
|
||||||
|
distanceInput.proxyA = input->proxyA;
|
||||||
|
distanceInput.proxyB = input->proxyB;
|
||||||
|
distanceInput.useRadii = false;
|
||||||
|
|
||||||
|
// The outer loop progressively attempts to compute new separating axes.
|
||||||
|
// This loop terminates when an axis is repeated (no progress is made).
|
||||||
|
for(;;)
|
||||||
|
{
|
||||||
|
b2Transform xfA, xfB;
|
||||||
|
sweepA.GetTransform(&xfA, t1);
|
||||||
|
sweepB.GetTransform(&xfB, t1);
|
||||||
|
|
||||||
|
// Get the distance between shapes. We can also use the results
|
||||||
|
// to get a separating axis.
|
||||||
|
distanceInput.transformA = xfA;
|
||||||
|
distanceInput.transformB = xfB;
|
||||||
|
b2DistanceOutput distanceOutput;
|
||||||
|
b2Distance(&distanceOutput, &cache, &distanceInput);
|
||||||
|
|
||||||
|
// If the shapes are overlapped, we give up on continuous collision.
|
||||||
|
if (distanceOutput.distance <= 0.0f)
|
||||||
|
{
|
||||||
|
// Failure!
|
||||||
|
output->state = b2TOIOutput::e_overlapped;
|
||||||
|
output->t = 0.0f;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (distanceOutput.distance < target + tolerance)
|
||||||
|
{
|
||||||
|
// Victory!
|
||||||
|
output->state = b2TOIOutput::e_touching;
|
||||||
|
output->t = t1;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Initialize the separating axis.
|
||||||
|
b2SeparationFunction fcn;
|
||||||
|
fcn.Initialize(&cache, proxyA, sweepA, proxyB, sweepB, t1);
|
||||||
|
#if 0
|
||||||
|
// Dump the curve seen by the root finder
|
||||||
|
{
|
||||||
|
const int32 N = 100;
|
||||||
|
float32 dx = 1.0f / N;
|
||||||
|
float32 xs[N+1];
|
||||||
|
float32 fs[N+1];
|
||||||
|
|
||||||
|
float32 x = 0.0f;
|
||||||
|
|
||||||
|
for (int32 i = 0; i <= N; ++i)
|
||||||
|
{
|
||||||
|
sweepA.GetTransform(&xfA, x);
|
||||||
|
sweepB.GetTransform(&xfB, x);
|
||||||
|
float32 f = fcn.Evaluate(xfA, xfB) - target;
|
||||||
|
|
||||||
|
printf("%g %g\n", x, f);
|
||||||
|
|
||||||
|
xs[i] = x;
|
||||||
|
fs[i] = f;
|
||||||
|
|
||||||
|
x += dx;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// Compute the TOI on the separating axis. We do this by successively
|
||||||
|
// resolving the deepest point. This loop is bounded by the number of vertices.
|
||||||
|
bool done = false;
|
||||||
|
float32 t2 = tMax;
|
||||||
|
int32 pushBackIter = 0;
|
||||||
|
for (;;)
|
||||||
|
{
|
||||||
|
// Find the deepest point at t2. Store the witness point indices.
|
||||||
|
int32 indexA, indexB;
|
||||||
|
float32 s2 = fcn.FindMinSeparation(&indexA, &indexB, t2);
|
||||||
|
|
||||||
|
// Is the final configuration separated?
|
||||||
|
if (s2 > target + tolerance)
|
||||||
|
{
|
||||||
|
// Victory!
|
||||||
|
output->state = b2TOIOutput::e_separated;
|
||||||
|
output->t = tMax;
|
||||||
|
done = true;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Has the separation reached tolerance?
|
||||||
|
if (s2 > target - tolerance)
|
||||||
|
{
|
||||||
|
// Advance the sweeps
|
||||||
|
t1 = t2;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Compute the initial separation of the witness points.
|
||||||
|
float32 s1 = fcn.Evaluate(indexA, indexB, t1);
|
||||||
|
|
||||||
|
// Check for initial overlap. This might happen if the root finder
|
||||||
|
// runs out of iterations.
|
||||||
|
if (s1 < target - tolerance)
|
||||||
|
{
|
||||||
|
output->state = b2TOIOutput::e_failed;
|
||||||
|
output->t = t1;
|
||||||
|
done = true;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Check for touching
|
||||||
|
if (s1 <= target + tolerance)
|
||||||
|
{
|
||||||
|
// Victory! t1 should hold the TOI (could be 0.0).
|
||||||
|
output->state = b2TOIOutput::e_touching;
|
||||||
|
output->t = t1;
|
||||||
|
done = true;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Compute 1D root of: f(x) - target = 0
|
||||||
|
int32 rootIterCount = 0;
|
||||||
|
float32 a1 = t1, a2 = t2;
|
||||||
|
for (;;)
|
||||||
|
{
|
||||||
|
// Use a mix of the secant rule and bisection.
|
||||||
|
float32 t;
|
||||||
|
if (rootIterCount & 1)
|
||||||
|
{
|
||||||
|
// Secant rule to improve convergence.
|
||||||
|
t = a1 + (target - s1) * (a2 - a1) / (s2 - s1);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
// Bisection to guarantee progress.
|
||||||
|
t = 0.5f * (a1 + a2);
|
||||||
|
}
|
||||||
|
|
||||||
|
++rootIterCount;
|
||||||
|
++b2_toiRootIters;
|
||||||
|
|
||||||
|
float32 s = fcn.Evaluate(indexA, indexB, t);
|
||||||
|
|
||||||
|
if (b2Abs(s - target) < tolerance)
|
||||||
|
{
|
||||||
|
// t2 holds a tentative value for t1
|
||||||
|
t2 = t;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Ensure we continue to bracket the root.
|
||||||
|
if (s > target)
|
||||||
|
{
|
||||||
|
a1 = t;
|
||||||
|
s1 = s;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
a2 = t;
|
||||||
|
s2 = s;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (rootIterCount == 50)
|
||||||
|
{
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
b2_toiMaxRootIters = b2Max(b2_toiMaxRootIters, rootIterCount);
|
||||||
|
|
||||||
|
++pushBackIter;
|
||||||
|
|
||||||
|
if (pushBackIter == b2_maxPolygonVertices)
|
||||||
|
{
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
++iter;
|
||||||
|
++b2_toiIters;
|
||||||
|
|
||||||
|
if (done)
|
||||||
|
{
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (iter == k_maxIterations)
|
||||||
|
{
|
||||||
|
// Root finder got stuck. Semi-victory.
|
||||||
|
output->state = b2TOIOutput::e_failed;
|
||||||
|
output->t = t1;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
b2_toiMaxIters = b2Max(b2_toiMaxIters, iter);
|
||||||
|
|
||||||
|
float32 time = timer.GetMilliseconds();
|
||||||
|
b2_toiMaxTime = b2Max(b2_toiMaxTime, time);
|
||||||
|
b2_toiTime += time;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,58 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef B2_TIME_OF_IMPACT_H
|
||||||
|
#define B2_TIME_OF_IMPACT_H
|
||||||
|
|
||||||
|
#include "../Common/b2Math.h"
|
||||||
|
#include "b2Distance.h"
|
||||||
|
|
||||||
|
/// Input parameters for b2TimeOfImpact
|
||||||
|
struct b2TOIInput
|
||||||
|
{
|
||||||
|
b2DistanceProxy proxyA;
|
||||||
|
b2DistanceProxy proxyB;
|
||||||
|
b2Sweep sweepA;
|
||||||
|
b2Sweep sweepB;
|
||||||
|
float32 tMax; // defines sweep interval [0, tMax]
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Output parameters for b2TimeOfImpact.
|
||||||
|
struct b2TOIOutput
|
||||||
|
{
|
||||||
|
enum State
|
||||||
|
{
|
||||||
|
e_unknown,
|
||||||
|
e_failed,
|
||||||
|
e_overlapped,
|
||||||
|
e_touching,
|
||||||
|
e_separated
|
||||||
|
};
|
||||||
|
|
||||||
|
State state;
|
||||||
|
float32 t;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Compute the upper bound on time before two shapes penetrate. Time is represented as
|
||||||
|
/// a fraction between [0,tMax]. This uses a swept separating axis and may miss some intermediate,
|
||||||
|
/// non-tunneling collisions. If you change the time interval, you should call this function
|
||||||
|
/// again.
|
||||||
|
/// Note: use b2Distance to compute the contact point and normal at the time of impact.
|
||||||
|
void b2TimeOfImpact(b2TOIOutput* output, const b2TOIInput* input);
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,215 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Common/b2BlockAllocator.h"
|
||||||
|
#include <limits.h>
|
||||||
|
#include <string.h>
|
||||||
|
#include <stddef.h>
|
||||||
|
|
||||||
|
int32 b2BlockAllocator::s_blockSizes[b2_blockSizes] =
|
||||||
|
{
|
||||||
|
16, // 0
|
||||||
|
32, // 1
|
||||||
|
64, // 2
|
||||||
|
96, // 3
|
||||||
|
128, // 4
|
||||||
|
160, // 5
|
||||||
|
192, // 6
|
||||||
|
224, // 7
|
||||||
|
256, // 8
|
||||||
|
320, // 9
|
||||||
|
384, // 10
|
||||||
|
448, // 11
|
||||||
|
512, // 12
|
||||||
|
640, // 13
|
||||||
|
};
|
||||||
|
uint8 b2BlockAllocator::s_blockSizeLookup[b2_maxBlockSize + 1];
|
||||||
|
bool b2BlockAllocator::s_blockSizeLookupInitialized;
|
||||||
|
|
||||||
|
struct b2Chunk
|
||||||
|
{
|
||||||
|
int32 blockSize;
|
||||||
|
b2Block* blocks;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct b2Block
|
||||||
|
{
|
||||||
|
b2Block* next;
|
||||||
|
};
|
||||||
|
|
||||||
|
b2BlockAllocator::b2BlockAllocator()
|
||||||
|
{
|
||||||
|
b2Assert(b2_blockSizes < UCHAR_MAX);
|
||||||
|
|
||||||
|
m_chunkSpace = b2_chunkArrayIncrement;
|
||||||
|
m_chunkCount = 0;
|
||||||
|
m_chunks = (b2Chunk*)b2Alloc(m_chunkSpace * sizeof(b2Chunk));
|
||||||
|
|
||||||
|
memset(m_chunks, 0, m_chunkSpace * sizeof(b2Chunk));
|
||||||
|
memset(m_freeLists, 0, sizeof(m_freeLists));
|
||||||
|
|
||||||
|
if (s_blockSizeLookupInitialized == false)
|
||||||
|
{
|
||||||
|
int32 j = 0;
|
||||||
|
for (int32 i = 1; i <= b2_maxBlockSize; ++i)
|
||||||
|
{
|
||||||
|
b2Assert(j < b2_blockSizes);
|
||||||
|
if (i <= s_blockSizes[j])
|
||||||
|
{
|
||||||
|
s_blockSizeLookup[i] = (uint8)j;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
++j;
|
||||||
|
s_blockSizeLookup[i] = (uint8)j;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
s_blockSizeLookupInitialized = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
b2BlockAllocator::~b2BlockAllocator()
|
||||||
|
{
|
||||||
|
for (int32 i = 0; i < m_chunkCount; ++i)
|
||||||
|
{
|
||||||
|
b2Free(m_chunks[i].blocks);
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Free(m_chunks);
|
||||||
|
}
|
||||||
|
|
||||||
|
void* b2BlockAllocator::Allocate(int32 size)
|
||||||
|
{
|
||||||
|
if (size == 0)
|
||||||
|
return nullptr;
|
||||||
|
|
||||||
|
b2Assert(0 < size);
|
||||||
|
|
||||||
|
if (size > b2_maxBlockSize)
|
||||||
|
{
|
||||||
|
return b2Alloc(size);
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 index = s_blockSizeLookup[size];
|
||||||
|
b2Assert(0 <= index && index < b2_blockSizes);
|
||||||
|
|
||||||
|
if (m_freeLists[index])
|
||||||
|
{
|
||||||
|
b2Block* block = m_freeLists[index];
|
||||||
|
m_freeLists[index] = block->next;
|
||||||
|
return block;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
if (m_chunkCount == m_chunkSpace)
|
||||||
|
{
|
||||||
|
b2Chunk* oldChunks = m_chunks;
|
||||||
|
m_chunkSpace += b2_chunkArrayIncrement;
|
||||||
|
m_chunks = (b2Chunk*)b2Alloc(m_chunkSpace * sizeof(b2Chunk));
|
||||||
|
memcpy(m_chunks, oldChunks, m_chunkCount * sizeof(b2Chunk));
|
||||||
|
memset(m_chunks + m_chunkCount, 0, b2_chunkArrayIncrement * sizeof(b2Chunk));
|
||||||
|
b2Free(oldChunks);
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Chunk* chunk = m_chunks + m_chunkCount;
|
||||||
|
chunk->blocks = (b2Block*)b2Alloc(b2_chunkSize);
|
||||||
|
#if defined(_DEBUG)
|
||||||
|
memset(chunk->blocks, 0xcd, b2_chunkSize);
|
||||||
|
#endif
|
||||||
|
int32 blockSize = s_blockSizes[index];
|
||||||
|
chunk->blockSize = blockSize;
|
||||||
|
int32 blockCount = b2_chunkSize / blockSize;
|
||||||
|
b2Assert(blockCount * blockSize <= b2_chunkSize);
|
||||||
|
for (int32 i = 0; i < blockCount - 1; ++i)
|
||||||
|
{
|
||||||
|
b2Block* block = (b2Block*)((int8*)chunk->blocks + blockSize * i);
|
||||||
|
b2Block* next = (b2Block*)((int8*)chunk->blocks + blockSize * (i + 1));
|
||||||
|
block->next = next;
|
||||||
|
}
|
||||||
|
b2Block* last = (b2Block*)((int8*)chunk->blocks + blockSize * (blockCount - 1));
|
||||||
|
last->next = nullptr;
|
||||||
|
|
||||||
|
m_freeLists[index] = chunk->blocks->next;
|
||||||
|
++m_chunkCount;
|
||||||
|
|
||||||
|
return chunk->blocks;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2BlockAllocator::Free(void* p, int32 size)
|
||||||
|
{
|
||||||
|
if (size == 0)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Assert(0 < size);
|
||||||
|
|
||||||
|
if (size > b2_maxBlockSize)
|
||||||
|
{
|
||||||
|
b2Free(p);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 index = s_blockSizeLookup[size];
|
||||||
|
b2Assert(0 <= index && index < b2_blockSizes);
|
||||||
|
|
||||||
|
#ifdef _DEBUG
|
||||||
|
// Verify the memory address and size is valid.
|
||||||
|
int32 blockSize = s_blockSizes[index];
|
||||||
|
bool found = false;
|
||||||
|
for (int32 i = 0; i < m_chunkCount; ++i)
|
||||||
|
{
|
||||||
|
b2Chunk* chunk = m_chunks + i;
|
||||||
|
if (chunk->blockSize != blockSize)
|
||||||
|
{
|
||||||
|
b2Assert( (int8*)p + blockSize <= (int8*)chunk->blocks ||
|
||||||
|
(int8*)chunk->blocks + b2_chunkSize <= (int8*)p);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
if ((int8*)chunk->blocks <= (int8*)p && (int8*)p + blockSize <= (int8*)chunk->blocks + b2_chunkSize)
|
||||||
|
{
|
||||||
|
found = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Assert(found);
|
||||||
|
|
||||||
|
memset(p, 0xfd, blockSize);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
b2Block* block = (b2Block*)p;
|
||||||
|
block->next = m_freeLists[index];
|
||||||
|
m_freeLists[index] = block;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2BlockAllocator::Clear()
|
||||||
|
{
|
||||||
|
for (int32 i = 0; i < m_chunkCount; ++i)
|
||||||
|
{
|
||||||
|
b2Free(m_chunks[i].blocks);
|
||||||
|
}
|
||||||
|
|
||||||
|
m_chunkCount = 0;
|
||||||
|
memset(m_chunks, 0, m_chunkSpace * sizeof(b2Chunk));
|
||||||
|
|
||||||
|
memset(m_freeLists, 0, sizeof(m_freeLists));
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,62 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef B2_BLOCK_ALLOCATOR_H
|
||||||
|
#define B2_BLOCK_ALLOCATOR_H
|
||||||
|
|
||||||
|
#include "b2Settings.h"
|
||||||
|
|
||||||
|
const int32 b2_chunkSize = 16 * 1024;
|
||||||
|
const int32 b2_maxBlockSize = 640;
|
||||||
|
const int32 b2_blockSizes = 14;
|
||||||
|
const int32 b2_chunkArrayIncrement = 128;
|
||||||
|
|
||||||
|
struct b2Block;
|
||||||
|
struct b2Chunk;
|
||||||
|
|
||||||
|
/// This is a small object allocator used for allocating small
|
||||||
|
/// objects that persist for more than one time step.
|
||||||
|
/// See: http://www.codeproject.com/useritems/Small_Block_Allocator.asp
|
||||||
|
class b2BlockAllocator
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
b2BlockAllocator();
|
||||||
|
~b2BlockAllocator();
|
||||||
|
|
||||||
|
/// Allocate memory. This will use b2Alloc if the size is larger than b2_maxBlockSize.
|
||||||
|
void* Allocate(int32 size);
|
||||||
|
|
||||||
|
/// Free memory. This will use b2Free if the size is larger than b2_maxBlockSize.
|
||||||
|
void Free(void* p, int32 size);
|
||||||
|
|
||||||
|
void Clear();
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
b2Chunk* m_chunks;
|
||||||
|
int32 m_chunkCount;
|
||||||
|
int32 m_chunkSpace;
|
||||||
|
|
||||||
|
b2Block* m_freeLists[b2_blockSizes];
|
||||||
|
|
||||||
|
static int32 s_blockSizes[b2_blockSizes];
|
||||||
|
static uint8 s_blockSizeLookup[b2_maxBlockSize + 1];
|
||||||
|
static bool s_blockSizeLookupInitialized;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,44 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2011 Erin Catto http://box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Common/b2Draw.h"
|
||||||
|
|
||||||
|
b2Draw::b2Draw()
|
||||||
|
{
|
||||||
|
m_drawFlags = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2Draw::SetFlags(uint32 flags)
|
||||||
|
{
|
||||||
|
m_drawFlags = flags;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint32 b2Draw::GetFlags() const
|
||||||
|
{
|
||||||
|
return m_drawFlags;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2Draw::AppendFlags(uint32 flags)
|
||||||
|
{
|
||||||
|
m_drawFlags |= flags;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2Draw::ClearFlags(uint32 flags)
|
||||||
|
{
|
||||||
|
m_drawFlags &= ~flags;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,97 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2011 Erin Catto http://box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef B2_DRAW_H
|
||||||
|
#define B2_DRAW_H
|
||||||
|
|
||||||
|
#include "b2Math.h"
|
||||||
|
|
||||||
|
/// Color for debug drawing. Each value has the range [0,1].
|
||||||
|
struct b2Color
|
||||||
|
{
|
||||||
|
b2Color() {}
|
||||||
|
b2Color(float32 rIn, float32 gIn, float32 bIn, float32 aIn = 1.0f)
|
||||||
|
{
|
||||||
|
r = rIn; g = gIn; b = bIn; a = aIn;
|
||||||
|
}
|
||||||
|
|
||||||
|
void Set(float32 rIn, float32 gIn, float32 bIn, float32 aIn = 1.0f)
|
||||||
|
{
|
||||||
|
r = rIn; g = gIn; b = bIn; a = aIn;
|
||||||
|
}
|
||||||
|
|
||||||
|
float32 r, g, b, a;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Implement and register this class with a b2World to provide debug drawing of physics
|
||||||
|
/// entities in your game.
|
||||||
|
class b2Draw
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
b2Draw();
|
||||||
|
|
||||||
|
virtual ~b2Draw() {}
|
||||||
|
|
||||||
|
enum
|
||||||
|
{
|
||||||
|
e_shapeBit = 0x0001, ///< draw shapes
|
||||||
|
e_jointBit = 0x0002, ///< draw joint connections
|
||||||
|
e_aabbBit = 0x0004, ///< draw axis aligned bounding boxes
|
||||||
|
e_pairBit = 0x0008, ///< draw broad-phase pairs
|
||||||
|
e_centerOfMassBit = 0x0010 ///< draw center of mass frame
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Set the drawing flags.
|
||||||
|
void SetFlags(uint32 flags);
|
||||||
|
|
||||||
|
/// Get the drawing flags.
|
||||||
|
uint32 GetFlags() const;
|
||||||
|
|
||||||
|
/// Append flags to the current flags.
|
||||||
|
void AppendFlags(uint32 flags);
|
||||||
|
|
||||||
|
/// Clear flags from the current flags.
|
||||||
|
void ClearFlags(uint32 flags);
|
||||||
|
|
||||||
|
/// Draw a closed polygon provided in CCW order.
|
||||||
|
virtual void DrawPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color) = 0;
|
||||||
|
|
||||||
|
/// Draw a solid closed polygon provided in CCW order.
|
||||||
|
virtual void DrawSolidPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color) = 0;
|
||||||
|
|
||||||
|
/// Draw a circle.
|
||||||
|
virtual void DrawCircle(const b2Vec2& center, float32 radius, const b2Color& color) = 0;
|
||||||
|
|
||||||
|
/// Draw a solid circle.
|
||||||
|
virtual void DrawSolidCircle(const b2Vec2& center, float32 radius, const b2Vec2& axis, const b2Color& color) = 0;
|
||||||
|
|
||||||
|
/// Draw a line segment.
|
||||||
|
virtual void DrawSegment(const b2Vec2& p1, const b2Vec2& p2, const b2Color& color) = 0;
|
||||||
|
|
||||||
|
/// Draw a transform. Choose your own length scale.
|
||||||
|
/// @param xf a transform.
|
||||||
|
virtual void DrawTransform(const b2Transform& xf) = 0;
|
||||||
|
|
||||||
|
/// Draw a point.
|
||||||
|
virtual void DrawPoint(const b2Vec2& p, float32 size, const b2Color& color) = 0;
|
||||||
|
|
||||||
|
protected:
|
||||||
|
uint32 m_drawFlags;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,85 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2010 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef B2_GROWABLE_STACK_H
|
||||||
|
#define B2_GROWABLE_STACK_H
|
||||||
|
#include "b2Settings.h"
|
||||||
|
#include <string.h>
|
||||||
|
|
||||||
|
/// This is a growable LIFO stack with an initial capacity of N.
|
||||||
|
/// If the stack size exceeds the initial capacity, the heap is used
|
||||||
|
/// to increase the size of the stack.
|
||||||
|
template <typename T, int32 N>
|
||||||
|
class b2GrowableStack
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
b2GrowableStack()
|
||||||
|
{
|
||||||
|
m_stack = m_array;
|
||||||
|
m_count = 0;
|
||||||
|
m_capacity = N;
|
||||||
|
}
|
||||||
|
|
||||||
|
~b2GrowableStack()
|
||||||
|
{
|
||||||
|
if (m_stack != m_array)
|
||||||
|
{
|
||||||
|
b2Free(m_stack);
|
||||||
|
m_stack = nullptr;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void Push(const T& element)
|
||||||
|
{
|
||||||
|
if (m_count == m_capacity)
|
||||||
|
{
|
||||||
|
T* old = m_stack;
|
||||||
|
m_capacity *= 2;
|
||||||
|
m_stack = (T*)b2Alloc(m_capacity * sizeof(T));
|
||||||
|
memcpy(m_stack, old, m_count * sizeof(T));
|
||||||
|
if (old != m_array)
|
||||||
|
{
|
||||||
|
b2Free(old);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
m_stack[m_count] = element;
|
||||||
|
++m_count;
|
||||||
|
}
|
||||||
|
|
||||||
|
T Pop()
|
||||||
|
{
|
||||||
|
b2Assert(m_count > 0);
|
||||||
|
--m_count;
|
||||||
|
return m_stack[m_count];
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 GetCount()
|
||||||
|
{
|
||||||
|
return m_count;
|
||||||
|
}
|
||||||
|
|
||||||
|
private:
|
||||||
|
T* m_stack;
|
||||||
|
T m_array[N];
|
||||||
|
int32 m_count;
|
||||||
|
int32 m_capacity;
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,94 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2007-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Common/b2Math.h"
|
||||||
|
|
||||||
|
const b2Vec2 b2Vec2_zero(0.0f, 0.0f);
|
||||||
|
|
||||||
|
/// Solve A * x = b, where b is a column vector. This is more efficient
|
||||||
|
/// than computing the inverse in one-shot cases.
|
||||||
|
b2Vec3 b2Mat33::Solve33(const b2Vec3& b) const
|
||||||
|
{
|
||||||
|
float32 det = b2Dot(ex, b2Cross(ey, ez));
|
||||||
|
if (det != 0.0f)
|
||||||
|
{
|
||||||
|
det = 1.0f / det;
|
||||||
|
}
|
||||||
|
b2Vec3 x;
|
||||||
|
x.x = det * b2Dot(b, b2Cross(ey, ez));
|
||||||
|
x.y = det * b2Dot(ex, b2Cross(b, ez));
|
||||||
|
x.z = det * b2Dot(ex, b2Cross(ey, b));
|
||||||
|
return x;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Solve A * x = b, where b is a column vector. This is more efficient
|
||||||
|
/// than computing the inverse in one-shot cases.
|
||||||
|
b2Vec2 b2Mat33::Solve22(const b2Vec2& b) const
|
||||||
|
{
|
||||||
|
float32 a11 = ex.x, a12 = ey.x, a21 = ex.y, a22 = ey.y;
|
||||||
|
float32 det = a11 * a22 - a12 * a21;
|
||||||
|
if (det != 0.0f)
|
||||||
|
{
|
||||||
|
det = 1.0f / det;
|
||||||
|
}
|
||||||
|
b2Vec2 x;
|
||||||
|
x.x = det * (a22 * b.x - a12 * b.y);
|
||||||
|
x.y = det * (a11 * b.y - a21 * b.x);
|
||||||
|
return x;
|
||||||
|
}
|
||||||
|
|
||||||
|
///
|
||||||
|
void b2Mat33::GetInverse22(b2Mat33* M) const
|
||||||
|
{
|
||||||
|
float32 a = ex.x, b = ey.x, c = ex.y, d = ey.y;
|
||||||
|
float32 det = a * d - b * c;
|
||||||
|
if (det != 0.0f)
|
||||||
|
{
|
||||||
|
det = 1.0f / det;
|
||||||
|
}
|
||||||
|
|
||||||
|
M->ex.x = det * d; M->ey.x = -det * b; M->ex.z = 0.0f;
|
||||||
|
M->ex.y = -det * c; M->ey.y = det * a; M->ey.z = 0.0f;
|
||||||
|
M->ez.x = 0.0f; M->ez.y = 0.0f; M->ez.z = 0.0f;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Returns the zero matrix if singular.
|
||||||
|
void b2Mat33::GetSymInverse33(b2Mat33* M) const
|
||||||
|
{
|
||||||
|
float32 det = b2Dot(ex, b2Cross(ey, ez));
|
||||||
|
if (det != 0.0f)
|
||||||
|
{
|
||||||
|
det = 1.0f / det;
|
||||||
|
}
|
||||||
|
|
||||||
|
float32 a11 = ex.x, a12 = ey.x, a13 = ez.x;
|
||||||
|
float32 a22 = ey.y, a23 = ez.y;
|
||||||
|
float32 a33 = ez.z;
|
||||||
|
|
||||||
|
M->ex.x = det * (a22 * a33 - a23 * a23);
|
||||||
|
M->ex.y = det * (a13 * a23 - a12 * a33);
|
||||||
|
M->ex.z = det * (a12 * a23 - a13 * a22);
|
||||||
|
|
||||||
|
M->ey.x = M->ex.y;
|
||||||
|
M->ey.y = det * (a11 * a33 - a13 * a13);
|
||||||
|
M->ey.z = det * (a13 * a12 - a11 * a23);
|
||||||
|
|
||||||
|
M->ez.x = M->ex.z;
|
||||||
|
M->ez.y = M->ey.z;
|
||||||
|
M->ez.z = det * (a11 * a22 - a12 * a12);
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,707 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef B2_MATH_H
|
||||||
|
#define B2_MATH_H
|
||||||
|
|
||||||
|
#include "b2Settings.h"
|
||||||
|
#include <cmath>
|
||||||
|
|
||||||
|
/// This function is used to ensure that a floating point number is not a NaN or infinity.
|
||||||
|
inline bool b2IsValid(float32 x)
|
||||||
|
{
|
||||||
|
return isfinite(x);
|
||||||
|
}
|
||||||
|
|
||||||
|
#define b2Sqrt(x) sqrtf(x)
|
||||||
|
#define b2Atan2(y, x) atan2f(y, x)
|
||||||
|
|
||||||
|
/// A 2D column vector.
|
||||||
|
struct b2Vec2
|
||||||
|
{
|
||||||
|
/// Default constructor does nothing (for performance).
|
||||||
|
b2Vec2() {}
|
||||||
|
|
||||||
|
/// Construct using coordinates.
|
||||||
|
b2Vec2(float32 xIn, float32 yIn) : x(xIn), y(yIn) {}
|
||||||
|
|
||||||
|
/// Set this vector to all zeros.
|
||||||
|
void SetZero() { x = 0.0f; y = 0.0f; }
|
||||||
|
|
||||||
|
/// Set this vector to some specified coordinates.
|
||||||
|
void Set(float32 x_, float32 y_) { x = x_; y = y_; }
|
||||||
|
|
||||||
|
/// Negate this vector.
|
||||||
|
b2Vec2 operator -() const { b2Vec2 v; v.Set(-x, -y); return v; }
|
||||||
|
|
||||||
|
/// Read from and indexed element.
|
||||||
|
float32 operator () (int32 i) const
|
||||||
|
{
|
||||||
|
return (&x)[i];
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Write to an indexed element.
|
||||||
|
float32& operator () (int32 i)
|
||||||
|
{
|
||||||
|
return (&x)[i];
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Add a vector to this vector.
|
||||||
|
void operator += (const b2Vec2& v)
|
||||||
|
{
|
||||||
|
x += v.x; y += v.y;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Subtract a vector from this vector.
|
||||||
|
void operator -= (const b2Vec2& v)
|
||||||
|
{
|
||||||
|
x -= v.x; y -= v.y;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Multiply this vector by a scalar.
|
||||||
|
void operator *= (float32 a)
|
||||||
|
{
|
||||||
|
x *= a; y *= a;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Get the length of this vector (the norm).
|
||||||
|
float32 Length() const
|
||||||
|
{
|
||||||
|
return b2Sqrt(x * x + y * y);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Get the length squared. For performance, use this instead of
|
||||||
|
/// b2Vec2::Length (if possible).
|
||||||
|
float32 LengthSquared() const
|
||||||
|
{
|
||||||
|
return x * x + y * y;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Convert this vector into a unit vector. Returns the length.
|
||||||
|
float32 Normalize()
|
||||||
|
{
|
||||||
|
float32 length = Length();
|
||||||
|
if (length < b2_epsilon)
|
||||||
|
{
|
||||||
|
return 0.0f;
|
||||||
|
}
|
||||||
|
float32 invLength = 1.0f / length;
|
||||||
|
x *= invLength;
|
||||||
|
y *= invLength;
|
||||||
|
|
||||||
|
return length;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Does this vector contain finite coordinates?
|
||||||
|
bool IsValid() const
|
||||||
|
{
|
||||||
|
return b2IsValid(x) && b2IsValid(y);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Get the skew vector such that dot(skew_vec, other) == cross(vec, other)
|
||||||
|
b2Vec2 Skew() const
|
||||||
|
{
|
||||||
|
return b2Vec2(-y, x);
|
||||||
|
}
|
||||||
|
|
||||||
|
float32 x, y;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// A 2D column vector with 3 elements.
|
||||||
|
struct b2Vec3
|
||||||
|
{
|
||||||
|
/// Default constructor does nothing (for performance).
|
||||||
|
b2Vec3() {}
|
||||||
|
|
||||||
|
/// Construct using coordinates.
|
||||||
|
b2Vec3(float32 xIn, float32 yIn, float32 zIn) : x(xIn), y(yIn), z(zIn) {}
|
||||||
|
|
||||||
|
/// Set this vector to all zeros.
|
||||||
|
void SetZero() { x = 0.0f; y = 0.0f; z = 0.0f; }
|
||||||
|
|
||||||
|
/// Set this vector to some specified coordinates.
|
||||||
|
void Set(float32 x_, float32 y_, float32 z_) { x = x_; y = y_; z = z_; }
|
||||||
|
|
||||||
|
/// Negate this vector.
|
||||||
|
b2Vec3 operator -() const { b2Vec3 v; v.Set(-x, -y, -z); return v; }
|
||||||
|
|
||||||
|
/// Add a vector to this vector.
|
||||||
|
void operator += (const b2Vec3& v)
|
||||||
|
{
|
||||||
|
x += v.x; y += v.y; z += v.z;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Subtract a vector from this vector.
|
||||||
|
void operator -= (const b2Vec3& v)
|
||||||
|
{
|
||||||
|
x -= v.x; y -= v.y; z -= v.z;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Multiply this vector by a scalar.
|
||||||
|
void operator *= (float32 s)
|
||||||
|
{
|
||||||
|
x *= s; y *= s; z *= s;
|
||||||
|
}
|
||||||
|
|
||||||
|
float32 x, y, z;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// A 2-by-2 matrix. Stored in column-major order.
|
||||||
|
struct b2Mat22
|
||||||
|
{
|
||||||
|
/// The default constructor does nothing (for performance).
|
||||||
|
b2Mat22() {}
|
||||||
|
|
||||||
|
/// Construct this matrix using columns.
|
||||||
|
b2Mat22(const b2Vec2& c1, const b2Vec2& c2)
|
||||||
|
{
|
||||||
|
ex = c1;
|
||||||
|
ey = c2;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Construct this matrix using scalars.
|
||||||
|
b2Mat22(float32 a11, float32 a12, float32 a21, float32 a22)
|
||||||
|
{
|
||||||
|
ex.x = a11; ex.y = a21;
|
||||||
|
ey.x = a12; ey.y = a22;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Initialize this matrix using columns.
|
||||||
|
void Set(const b2Vec2& c1, const b2Vec2& c2)
|
||||||
|
{
|
||||||
|
ex = c1;
|
||||||
|
ey = c2;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Set this to the identity matrix.
|
||||||
|
void SetIdentity()
|
||||||
|
{
|
||||||
|
ex.x = 1.0f; ey.x = 0.0f;
|
||||||
|
ex.y = 0.0f; ey.y = 1.0f;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Set this matrix to all zeros.
|
||||||
|
void SetZero()
|
||||||
|
{
|
||||||
|
ex.x = 0.0f; ey.x = 0.0f;
|
||||||
|
ex.y = 0.0f; ey.y = 0.0f;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Mat22 GetInverse() const
|
||||||
|
{
|
||||||
|
float32 a = ex.x, b = ey.x, c = ex.y, d = ey.y;
|
||||||
|
b2Mat22 B;
|
||||||
|
float32 det = a * d - b * c;
|
||||||
|
if (det != 0.0f)
|
||||||
|
{
|
||||||
|
det = 1.0f / det;
|
||||||
|
}
|
||||||
|
B.ex.x = det * d; B.ey.x = -det * b;
|
||||||
|
B.ex.y = -det * c; B.ey.y = det * a;
|
||||||
|
return B;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Solve A * x = b, where b is a column vector. This is more efficient
|
||||||
|
/// than computing the inverse in one-shot cases.
|
||||||
|
b2Vec2 Solve(const b2Vec2& b) const
|
||||||
|
{
|
||||||
|
float32 a11 = ex.x, a12 = ey.x, a21 = ex.y, a22 = ey.y;
|
||||||
|
float32 det = a11 * a22 - a12 * a21;
|
||||||
|
if (det != 0.0f)
|
||||||
|
{
|
||||||
|
det = 1.0f / det;
|
||||||
|
}
|
||||||
|
b2Vec2 x;
|
||||||
|
x.x = det * (a22 * b.x - a12 * b.y);
|
||||||
|
x.y = det * (a11 * b.y - a21 * b.x);
|
||||||
|
return x;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Vec2 ex, ey;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// A 3-by-3 matrix. Stored in column-major order.
|
||||||
|
struct b2Mat33
|
||||||
|
{
|
||||||
|
/// The default constructor does nothing (for performance).
|
||||||
|
b2Mat33() {}
|
||||||
|
|
||||||
|
/// Construct this matrix using columns.
|
||||||
|
b2Mat33(const b2Vec3& c1, const b2Vec3& c2, const b2Vec3& c3)
|
||||||
|
{
|
||||||
|
ex = c1;
|
||||||
|
ey = c2;
|
||||||
|
ez = c3;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Set this matrix to all zeros.
|
||||||
|
void SetZero()
|
||||||
|
{
|
||||||
|
ex.SetZero();
|
||||||
|
ey.SetZero();
|
||||||
|
ez.SetZero();
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Solve A * x = b, where b is a column vector. This is more efficient
|
||||||
|
/// than computing the inverse in one-shot cases.
|
||||||
|
b2Vec3 Solve33(const b2Vec3& b) const;
|
||||||
|
|
||||||
|
/// Solve A * x = b, where b is a column vector. This is more efficient
|
||||||
|
/// than computing the inverse in one-shot cases. Solve only the upper
|
||||||
|
/// 2-by-2 matrix equation.
|
||||||
|
b2Vec2 Solve22(const b2Vec2& b) const;
|
||||||
|
|
||||||
|
/// Get the inverse of this matrix as a 2-by-2.
|
||||||
|
/// Returns the zero matrix if singular.
|
||||||
|
void GetInverse22(b2Mat33* M) const;
|
||||||
|
|
||||||
|
/// Get the symmetric inverse of this matrix as a 3-by-3.
|
||||||
|
/// Returns the zero matrix if singular.
|
||||||
|
void GetSymInverse33(b2Mat33* M) const;
|
||||||
|
|
||||||
|
b2Vec3 ex, ey, ez;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Rotation
|
||||||
|
struct b2Rot
|
||||||
|
{
|
||||||
|
b2Rot() {}
|
||||||
|
|
||||||
|
/// Initialize from an angle in radians
|
||||||
|
explicit b2Rot(float32 angle)
|
||||||
|
{
|
||||||
|
/// TODO_ERIN optimize
|
||||||
|
s = sinf(angle);
|
||||||
|
c = cosf(angle);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Set using an angle in radians.
|
||||||
|
void Set(float32 angle)
|
||||||
|
{
|
||||||
|
/// TODO_ERIN optimize
|
||||||
|
s = sinf(angle);
|
||||||
|
c = cosf(angle);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Set to the identity rotation
|
||||||
|
void SetIdentity()
|
||||||
|
{
|
||||||
|
s = 0.0f;
|
||||||
|
c = 1.0f;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Get the angle in radians
|
||||||
|
float32 GetAngle() const
|
||||||
|
{
|
||||||
|
return b2Atan2(s, c);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Get the x-axis
|
||||||
|
b2Vec2 GetXAxis() const
|
||||||
|
{
|
||||||
|
return b2Vec2(c, s);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Get the u-axis
|
||||||
|
b2Vec2 GetYAxis() const
|
||||||
|
{
|
||||||
|
return b2Vec2(-s, c);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Sine and cosine
|
||||||
|
float32 s, c;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// A transform contains translation and rotation. It is used to represent
|
||||||
|
/// the position and orientation of rigid frames.
|
||||||
|
struct b2Transform
|
||||||
|
{
|
||||||
|
/// The default constructor does nothing.
|
||||||
|
b2Transform() {}
|
||||||
|
|
||||||
|
/// Initialize using a position vector and a rotation.
|
||||||
|
b2Transform(const b2Vec2& position, const b2Rot& rotation) : p(position), q(rotation) {}
|
||||||
|
|
||||||
|
/// Set this to the identity transform.
|
||||||
|
void SetIdentity()
|
||||||
|
{
|
||||||
|
p.SetZero();
|
||||||
|
q.SetIdentity();
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Set this based on the position and angle.
|
||||||
|
void Set(const b2Vec2& position, float32 angle)
|
||||||
|
{
|
||||||
|
p = position;
|
||||||
|
q.Set(angle);
|
||||||
|
}
|
||||||
|
|
||||||
|
b2Vec2 p;
|
||||||
|
b2Rot q;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// This describes the motion of a body/shape for TOI computation.
|
||||||
|
/// Shapes are defined with respect to the body origin, which may
|
||||||
|
/// no coincide with the center of mass. However, to support dynamics
|
||||||
|
/// we must interpolate the center of mass position.
|
||||||
|
struct b2Sweep
|
||||||
|
{
|
||||||
|
/// Get the interpolated transform at a specific time.
|
||||||
|
/// @param beta is a factor in [0,1], where 0 indicates alpha0.
|
||||||
|
void GetTransform(b2Transform* xfb, float32 beta) const;
|
||||||
|
|
||||||
|
/// Advance the sweep forward, yielding a new initial state.
|
||||||
|
/// @param alpha the new initial time.
|
||||||
|
void Advance(float32 alpha);
|
||||||
|
|
||||||
|
/// Normalize the angles.
|
||||||
|
void Normalize();
|
||||||
|
|
||||||
|
b2Vec2 localCenter; ///< local center of mass position
|
||||||
|
b2Vec2 c0, c; ///< center world positions
|
||||||
|
float32 a0, a; ///< world angles
|
||||||
|
|
||||||
|
/// Fraction of the current time step in the range [0,1]
|
||||||
|
/// c0 and a0 are the positions at alpha0.
|
||||||
|
float32 alpha0;
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Useful constant
|
||||||
|
extern const b2Vec2 b2Vec2_zero;
|
||||||
|
|
||||||
|
/// Perform the dot product on two vectors.
|
||||||
|
inline float32 b2Dot(const b2Vec2& a, const b2Vec2& b)
|
||||||
|
{
|
||||||
|
return a.x * b.x + a.y * b.y;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Perform the cross product on two vectors. In 2D this produces a scalar.
|
||||||
|
inline float32 b2Cross(const b2Vec2& a, const b2Vec2& b)
|
||||||
|
{
|
||||||
|
return a.x * b.y - a.y * b.x;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Perform the cross product on a vector and a scalar. In 2D this produces
|
||||||
|
/// a vector.
|
||||||
|
inline b2Vec2 b2Cross(const b2Vec2& a, float32 s)
|
||||||
|
{
|
||||||
|
return b2Vec2(s * a.y, -s * a.x);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Perform the cross product on a scalar and a vector. In 2D this produces
|
||||||
|
/// a vector.
|
||||||
|
inline b2Vec2 b2Cross(float32 s, const b2Vec2& a)
|
||||||
|
{
|
||||||
|
return b2Vec2(-s * a.y, s * a.x);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Multiply a matrix times a vector. If a rotation matrix is provided,
|
||||||
|
/// then this transforms the vector from one frame to another.
|
||||||
|
inline b2Vec2 b2Mul(const b2Mat22& A, const b2Vec2& v)
|
||||||
|
{
|
||||||
|
return b2Vec2(A.ex.x * v.x + A.ey.x * v.y, A.ex.y * v.x + A.ey.y * v.y);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Multiply a matrix transpose times a vector. If a rotation matrix is provided,
|
||||||
|
/// then this transforms the vector from one frame to another (inverse transform).
|
||||||
|
inline b2Vec2 b2MulT(const b2Mat22& A, const b2Vec2& v)
|
||||||
|
{
|
||||||
|
return b2Vec2(b2Dot(v, A.ex), b2Dot(v, A.ey));
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Add two vectors component-wise.
|
||||||
|
inline b2Vec2 operator + (const b2Vec2& a, const b2Vec2& b)
|
||||||
|
{
|
||||||
|
return b2Vec2(a.x + b.x, a.y + b.y);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Subtract two vectors component-wise.
|
||||||
|
inline b2Vec2 operator - (const b2Vec2& a, const b2Vec2& b)
|
||||||
|
{
|
||||||
|
return b2Vec2(a.x - b.x, a.y - b.y);
|
||||||
|
}
|
||||||
|
|
||||||
|
inline b2Vec2 operator * (float32 s, const b2Vec2& a)
|
||||||
|
{
|
||||||
|
return b2Vec2(s * a.x, s * a.y);
|
||||||
|
}
|
||||||
|
|
||||||
|
inline bool operator == (const b2Vec2& a, const b2Vec2& b)
|
||||||
|
{
|
||||||
|
return a.x == b.x && a.y == b.y;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline bool operator != (const b2Vec2& a, const b2Vec2& b)
|
||||||
|
{
|
||||||
|
return a.x != b.x || a.y != b.y;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline float32 b2Distance(const b2Vec2& a, const b2Vec2& b)
|
||||||
|
{
|
||||||
|
b2Vec2 c = a - b;
|
||||||
|
return c.Length();
|
||||||
|
}
|
||||||
|
|
||||||
|
inline float32 b2DistanceSquared(const b2Vec2& a, const b2Vec2& b)
|
||||||
|
{
|
||||||
|
b2Vec2 c = a - b;
|
||||||
|
return b2Dot(c, c);
|
||||||
|
}
|
||||||
|
|
||||||
|
inline b2Vec3 operator * (float32 s, const b2Vec3& a)
|
||||||
|
{
|
||||||
|
return b2Vec3(s * a.x, s * a.y, s * a.z);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Add two vectors component-wise.
|
||||||
|
inline b2Vec3 operator + (const b2Vec3& a, const b2Vec3& b)
|
||||||
|
{
|
||||||
|
return b2Vec3(a.x + b.x, a.y + b.y, a.z + b.z);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Subtract two vectors component-wise.
|
||||||
|
inline b2Vec3 operator - (const b2Vec3& a, const b2Vec3& b)
|
||||||
|
{
|
||||||
|
return b2Vec3(a.x - b.x, a.y - b.y, a.z - b.z);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Perform the dot product on two vectors.
|
||||||
|
inline float32 b2Dot(const b2Vec3& a, const b2Vec3& b)
|
||||||
|
{
|
||||||
|
return a.x * b.x + a.y * b.y + a.z * b.z;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Perform the cross product on two vectors.
|
||||||
|
inline b2Vec3 b2Cross(const b2Vec3& a, const b2Vec3& b)
|
||||||
|
{
|
||||||
|
return b2Vec3(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x);
|
||||||
|
}
|
||||||
|
|
||||||
|
inline b2Mat22 operator + (const b2Mat22& A, const b2Mat22& B)
|
||||||
|
{
|
||||||
|
return b2Mat22(A.ex + B.ex, A.ey + B.ey);
|
||||||
|
}
|
||||||
|
|
||||||
|
// A * B
|
||||||
|
inline b2Mat22 b2Mul(const b2Mat22& A, const b2Mat22& B)
|
||||||
|
{
|
||||||
|
return b2Mat22(b2Mul(A, B.ex), b2Mul(A, B.ey));
|
||||||
|
}
|
||||||
|
|
||||||
|
// A^T * B
|
||||||
|
inline b2Mat22 b2MulT(const b2Mat22& A, const b2Mat22& B)
|
||||||
|
{
|
||||||
|
b2Vec2 c1(b2Dot(A.ex, B.ex), b2Dot(A.ey, B.ex));
|
||||||
|
b2Vec2 c2(b2Dot(A.ex, B.ey), b2Dot(A.ey, B.ey));
|
||||||
|
return b2Mat22(c1, c2);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Multiply a matrix times a vector.
|
||||||
|
inline b2Vec3 b2Mul(const b2Mat33& A, const b2Vec3& v)
|
||||||
|
{
|
||||||
|
return v.x * A.ex + v.y * A.ey + v.z * A.ez;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Multiply a matrix times a vector.
|
||||||
|
inline b2Vec2 b2Mul22(const b2Mat33& A, const b2Vec2& v)
|
||||||
|
{
|
||||||
|
return b2Vec2(A.ex.x * v.x + A.ey.x * v.y, A.ex.y * v.x + A.ey.y * v.y);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Multiply two rotations: q * r
|
||||||
|
inline b2Rot b2Mul(const b2Rot& q, const b2Rot& r)
|
||||||
|
{
|
||||||
|
// [qc -qs] * [rc -rs] = [qc*rc-qs*rs -qc*rs-qs*rc]
|
||||||
|
// [qs qc] [rs rc] [qs*rc+qc*rs -qs*rs+qc*rc]
|
||||||
|
// s = qs * rc + qc * rs
|
||||||
|
// c = qc * rc - qs * rs
|
||||||
|
b2Rot qr;
|
||||||
|
qr.s = q.s * r.c + q.c * r.s;
|
||||||
|
qr.c = q.c * r.c - q.s * r.s;
|
||||||
|
return qr;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Transpose multiply two rotations: qT * r
|
||||||
|
inline b2Rot b2MulT(const b2Rot& q, const b2Rot& r)
|
||||||
|
{
|
||||||
|
// [ qc qs] * [rc -rs] = [qc*rc+qs*rs -qc*rs+qs*rc]
|
||||||
|
// [-qs qc] [rs rc] [-qs*rc+qc*rs qs*rs+qc*rc]
|
||||||
|
// s = qc * rs - qs * rc
|
||||||
|
// c = qc * rc + qs * rs
|
||||||
|
b2Rot qr;
|
||||||
|
qr.s = q.c * r.s - q.s * r.c;
|
||||||
|
qr.c = q.c * r.c + q.s * r.s;
|
||||||
|
return qr;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Rotate a vector
|
||||||
|
inline b2Vec2 b2Mul(const b2Rot& q, const b2Vec2& v)
|
||||||
|
{
|
||||||
|
return b2Vec2(q.c * v.x - q.s * v.y, q.s * v.x + q.c * v.y);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Inverse rotate a vector
|
||||||
|
inline b2Vec2 b2MulT(const b2Rot& q, const b2Vec2& v)
|
||||||
|
{
|
||||||
|
return b2Vec2(q.c * v.x + q.s * v.y, -q.s * v.x + q.c * v.y);
|
||||||
|
}
|
||||||
|
|
||||||
|
inline b2Vec2 b2Mul(const b2Transform& T, const b2Vec2& v)
|
||||||
|
{
|
||||||
|
float32 x = (T.q.c * v.x - T.q.s * v.y) + T.p.x;
|
||||||
|
float32 y = (T.q.s * v.x + T.q.c * v.y) + T.p.y;
|
||||||
|
|
||||||
|
return b2Vec2(x, y);
|
||||||
|
}
|
||||||
|
|
||||||
|
inline b2Vec2 b2MulT(const b2Transform& T, const b2Vec2& v)
|
||||||
|
{
|
||||||
|
float32 px = v.x - T.p.x;
|
||||||
|
float32 py = v.y - T.p.y;
|
||||||
|
float32 x = (T.q.c * px + T.q.s * py);
|
||||||
|
float32 y = (-T.q.s * px + T.q.c * py);
|
||||||
|
|
||||||
|
return b2Vec2(x, y);
|
||||||
|
}
|
||||||
|
|
||||||
|
// v2 = A.q.Rot(B.q.Rot(v1) + B.p) + A.p
|
||||||
|
// = (A.q * B.q).Rot(v1) + A.q.Rot(B.p) + A.p
|
||||||
|
inline b2Transform b2Mul(const b2Transform& A, const b2Transform& B)
|
||||||
|
{
|
||||||
|
b2Transform C;
|
||||||
|
C.q = b2Mul(A.q, B.q);
|
||||||
|
C.p = b2Mul(A.q, B.p) + A.p;
|
||||||
|
return C;
|
||||||
|
}
|
||||||
|
|
||||||
|
// v2 = A.q' * (B.q * v1 + B.p - A.p)
|
||||||
|
// = A.q' * B.q * v1 + A.q' * (B.p - A.p)
|
||||||
|
inline b2Transform b2MulT(const b2Transform& A, const b2Transform& B)
|
||||||
|
{
|
||||||
|
b2Transform C;
|
||||||
|
C.q = b2MulT(A.q, B.q);
|
||||||
|
C.p = b2MulT(A.q, B.p - A.p);
|
||||||
|
return C;
|
||||||
|
}
|
||||||
|
|
||||||
|
template <typename T>
|
||||||
|
inline T b2Abs(T a)
|
||||||
|
{
|
||||||
|
return a > T(0) ? a : -a;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline b2Vec2 b2Abs(const b2Vec2& a)
|
||||||
|
{
|
||||||
|
return b2Vec2(b2Abs(a.x), b2Abs(a.y));
|
||||||
|
}
|
||||||
|
|
||||||
|
inline b2Mat22 b2Abs(const b2Mat22& A)
|
||||||
|
{
|
||||||
|
return b2Mat22(b2Abs(A.ex), b2Abs(A.ey));
|
||||||
|
}
|
||||||
|
|
||||||
|
template <typename T>
|
||||||
|
inline T b2Min(T a, T b)
|
||||||
|
{
|
||||||
|
return a < b ? a : b;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline b2Vec2 b2Min(const b2Vec2& a, const b2Vec2& b)
|
||||||
|
{
|
||||||
|
return b2Vec2(b2Min(a.x, b.x), b2Min(a.y, b.y));
|
||||||
|
}
|
||||||
|
|
||||||
|
template <typename T>
|
||||||
|
inline T b2Max(T a, T b)
|
||||||
|
{
|
||||||
|
return a > b ? a : b;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline b2Vec2 b2Max(const b2Vec2& a, const b2Vec2& b)
|
||||||
|
{
|
||||||
|
return b2Vec2(b2Max(a.x, b.x), b2Max(a.y, b.y));
|
||||||
|
}
|
||||||
|
|
||||||
|
template <typename T>
|
||||||
|
inline T b2Clamp(T a, T low, T high)
|
||||||
|
{
|
||||||
|
return b2Max(low, b2Min(a, high));
|
||||||
|
}
|
||||||
|
|
||||||
|
inline b2Vec2 b2Clamp(const b2Vec2& a, const b2Vec2& low, const b2Vec2& high)
|
||||||
|
{
|
||||||
|
return b2Max(low, b2Min(a, high));
|
||||||
|
}
|
||||||
|
|
||||||
|
template<typename T> inline void b2Swap(T& a, T& b)
|
||||||
|
{
|
||||||
|
T tmp = a;
|
||||||
|
a = b;
|
||||||
|
b = tmp;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// "Next Largest Power of 2
|
||||||
|
/// Given a binary integer value x, the next largest power of 2 can be computed by a SWAR algorithm
|
||||||
|
/// that recursively "folds" the upper bits into the lower bits. This process yields a bit vector with
|
||||||
|
/// the same most significant 1 as x, but all 1's below it. Adding 1 to that value yields the next
|
||||||
|
/// largest power of 2. For a 32-bit value:"
|
||||||
|
inline uint32 b2NextPowerOfTwo(uint32 x)
|
||||||
|
{
|
||||||
|
x |= (x >> 1);
|
||||||
|
x |= (x >> 2);
|
||||||
|
x |= (x >> 4);
|
||||||
|
x |= (x >> 8);
|
||||||
|
x |= (x >> 16);
|
||||||
|
return x + 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline bool b2IsPowerOfTwo(uint32 x)
|
||||||
|
{
|
||||||
|
bool result = x > 0 && (x & (x - 1)) == 0;
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline void b2Sweep::GetTransform(b2Transform* xf, float32 beta) const
|
||||||
|
{
|
||||||
|
xf->p = (1.0f - beta) * c0 + beta * c;
|
||||||
|
float32 angle = (1.0f - beta) * a0 + beta * a;
|
||||||
|
xf->q.Set(angle);
|
||||||
|
|
||||||
|
// Shift to origin
|
||||||
|
xf->p -= b2Mul(xf->q, localCenter);
|
||||||
|
}
|
||||||
|
|
||||||
|
inline void b2Sweep::Advance(float32 alpha)
|
||||||
|
{
|
||||||
|
b2Assert(alpha0 < 1.0f);
|
||||||
|
float32 beta = (alpha - alpha0) / (1.0f - alpha0);
|
||||||
|
c0 += beta * (c - c0);
|
||||||
|
a0 += beta * (a - a0);
|
||||||
|
alpha0 = alpha;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Normalize an angle in radians to be between -pi and pi
|
||||||
|
inline void b2Sweep::Normalize()
|
||||||
|
{
|
||||||
|
float32 twoPi = 2.0f * b2_pi;
|
||||||
|
float32 d = twoPi * floorf(a0 / twoPi);
|
||||||
|
a0 -= d;
|
||||||
|
a -= d;
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,44 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Common/b2Settings.h"
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <stdarg.h>
|
||||||
|
#include <stdlib.h>
|
||||||
|
|
||||||
|
b2Version b2_version = {2, 3, 2};
|
||||||
|
|
||||||
|
// Memory allocators. Modify these to use your own allocator.
|
||||||
|
void* b2Alloc(int32 size)
|
||||||
|
{
|
||||||
|
return malloc(size);
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2Free(void* mem)
|
||||||
|
{
|
||||||
|
free(mem);
|
||||||
|
}
|
||||||
|
|
||||||
|
// You can modify this to use your logging facility.
|
||||||
|
void b2Log(const char* string, ...)
|
||||||
|
{
|
||||||
|
va_list args;
|
||||||
|
va_start(args, string);
|
||||||
|
vprintf(string, args);
|
||||||
|
va_end(args);
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,155 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef B2_SETTINGS_H
|
||||||
|
#define B2_SETTINGS_H
|
||||||
|
|
||||||
|
#include <stddef.h>
|
||||||
|
#include <assert.h>
|
||||||
|
#include <float.h>
|
||||||
|
|
||||||
|
#if !defined(NDEBUG)
|
||||||
|
#define b2DEBUG
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define B2_NOT_USED(x) ((void)(x))
|
||||||
|
#define b2Assert(A) assert(A)
|
||||||
|
|
||||||
|
typedef signed char int8;
|
||||||
|
typedef signed short int16;
|
||||||
|
typedef signed int int32;
|
||||||
|
typedef unsigned char uint8;
|
||||||
|
typedef unsigned short uint16;
|
||||||
|
typedef unsigned int uint32;
|
||||||
|
typedef float float32;
|
||||||
|
typedef double float64;
|
||||||
|
|
||||||
|
#define b2_maxFloat FLT_MAX
|
||||||
|
#define b2_epsilon FLT_EPSILON
|
||||||
|
#define b2_pi 3.14159265359f
|
||||||
|
|
||||||
|
/// @file
|
||||||
|
/// Global tuning constants based on meters-kilograms-seconds (MKS) units.
|
||||||
|
///
|
||||||
|
|
||||||
|
// Collision
|
||||||
|
|
||||||
|
/// The maximum number of contact points between two convex shapes. Do
|
||||||
|
/// not change this value.
|
||||||
|
#define b2_maxManifoldPoints 2
|
||||||
|
|
||||||
|
/// The maximum number of vertices on a convex polygon. You cannot increase
|
||||||
|
/// this too much because b2BlockAllocator has a maximum object size.
|
||||||
|
#define b2_maxPolygonVertices 8
|
||||||
|
|
||||||
|
/// This is used to fatten AABBs in the dynamic tree. This allows proxies
|
||||||
|
/// to move by a small amount without triggering a tree adjustment.
|
||||||
|
/// This is in meters.
|
||||||
|
#define b2_aabbExtension 0.1f
|
||||||
|
|
||||||
|
/// This is used to fatten AABBs in the dynamic tree. This is used to predict
|
||||||
|
/// the future position based on the current displacement.
|
||||||
|
/// This is a dimensionless multiplier.
|
||||||
|
#define b2_aabbMultiplier 2.0f
|
||||||
|
|
||||||
|
/// A small length used as a collision and constraint tolerance. Usually it is
|
||||||
|
/// chosen to be numerically significant, but visually insignificant.
|
||||||
|
#define b2_linearSlop 0.005f
|
||||||
|
|
||||||
|
/// A small angle used as a collision and constraint tolerance. Usually it is
|
||||||
|
/// chosen to be numerically significant, but visually insignificant.
|
||||||
|
#define b2_angularSlop (2.0f / 180.0f * b2_pi)
|
||||||
|
|
||||||
|
/// The radius of the polygon/edge shape skin. This should not be modified. Making
|
||||||
|
/// this smaller means polygons will have an insufficient buffer for continuous collision.
|
||||||
|
/// Making it larger may create artifacts for vertex collision.
|
||||||
|
#define b2_polygonRadius (2.0f * b2_linearSlop)
|
||||||
|
|
||||||
|
/// Maximum number of sub-steps per contact in continuous physics simulation.
|
||||||
|
#define b2_maxSubSteps 8
|
||||||
|
|
||||||
|
|
||||||
|
// Dynamics
|
||||||
|
|
||||||
|
/// Maximum number of contacts to be handled to solve a TOI impact.
|
||||||
|
#define b2_maxTOIContacts 32
|
||||||
|
|
||||||
|
/// A velocity threshold for elastic collisions. Any collision with a relative linear
|
||||||
|
/// velocity below this threshold will be treated as inelastic.
|
||||||
|
#define b2_velocityThreshold 1.0f
|
||||||
|
|
||||||
|
/// The maximum linear position correction used when solving constraints. This helps to
|
||||||
|
/// prevent overshoot.
|
||||||
|
#define b2_maxLinearCorrection 0.2f
|
||||||
|
|
||||||
|
/// The maximum angular position correction used when solving constraints. This helps to
|
||||||
|
/// prevent overshoot.
|
||||||
|
#define b2_maxAngularCorrection (8.0f / 180.0f * b2_pi)
|
||||||
|
|
||||||
|
/// The maximum linear velocity of a body. This limit is very large and is used
|
||||||
|
/// to prevent numerical problems. You shouldn't need to adjust this.
|
||||||
|
#define b2_maxTranslation 2.0f
|
||||||
|
#define b2_maxTranslationSquared (b2_maxTranslation * b2_maxTranslation)
|
||||||
|
|
||||||
|
/// The maximum angular velocity of a body. This limit is very large and is used
|
||||||
|
/// to prevent numerical problems. You shouldn't need to adjust this.
|
||||||
|
#define b2_maxRotation (0.5f * b2_pi)
|
||||||
|
#define b2_maxRotationSquared (b2_maxRotation * b2_maxRotation)
|
||||||
|
|
||||||
|
/// This scale factor controls how fast overlap is resolved. Ideally this would be 1 so
|
||||||
|
/// that overlap is removed in one time step. However using values close to 1 often lead
|
||||||
|
/// to overshoot.
|
||||||
|
#define b2_baumgarte 0.2f
|
||||||
|
#define b2_toiBaugarte 0.75f
|
||||||
|
|
||||||
|
|
||||||
|
// Sleep
|
||||||
|
|
||||||
|
/// The time that a body must be still before it will go to sleep.
|
||||||
|
#define b2_timeToSleep 0.5f
|
||||||
|
|
||||||
|
/// A body cannot sleep if its linear velocity is above this tolerance.
|
||||||
|
#define b2_linearSleepTolerance 0.01f
|
||||||
|
|
||||||
|
/// A body cannot sleep if its angular velocity is above this tolerance.
|
||||||
|
#define b2_angularSleepTolerance (2.0f / 180.0f * b2_pi)
|
||||||
|
|
||||||
|
// Memory Allocation
|
||||||
|
|
||||||
|
/// Implement this function to use your own memory allocator.
|
||||||
|
void* b2Alloc(int32 size);
|
||||||
|
|
||||||
|
/// If you implement b2Alloc, you should also implement this function.
|
||||||
|
void b2Free(void* mem);
|
||||||
|
|
||||||
|
/// Logging function.
|
||||||
|
void b2Log(const char* string, ...);
|
||||||
|
|
||||||
|
/// Version numbering scheme.
|
||||||
|
/// See http://en.wikipedia.org/wiki/Software_versioning
|
||||||
|
struct b2Version
|
||||||
|
{
|
||||||
|
int32 major; ///< significant changes
|
||||||
|
int32 minor; ///< incremental changes
|
||||||
|
int32 revision; ///< bug fixes
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Current version.
|
||||||
|
extern b2Version b2_version;
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,83 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Common/b2StackAllocator.h"
|
||||||
|
#include "Box2D/Common/b2Math.h"
|
||||||
|
|
||||||
|
b2StackAllocator::b2StackAllocator()
|
||||||
|
{
|
||||||
|
m_index = 0;
|
||||||
|
m_allocation = 0;
|
||||||
|
m_maxAllocation = 0;
|
||||||
|
m_entryCount = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
b2StackAllocator::~b2StackAllocator()
|
||||||
|
{
|
||||||
|
b2Assert(m_index == 0);
|
||||||
|
b2Assert(m_entryCount == 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
void* b2StackAllocator::Allocate(int32 size)
|
||||||
|
{
|
||||||
|
b2Assert(m_entryCount < b2_maxStackEntries);
|
||||||
|
|
||||||
|
b2StackEntry* entry = m_entries + m_entryCount;
|
||||||
|
entry->size = size;
|
||||||
|
if (m_index + size > b2_stackSize)
|
||||||
|
{
|
||||||
|
entry->data = (char*)b2Alloc(size);
|
||||||
|
entry->usedMalloc = true;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
entry->data = m_data + m_index;
|
||||||
|
entry->usedMalloc = false;
|
||||||
|
m_index += size;
|
||||||
|
}
|
||||||
|
|
||||||
|
m_allocation += size;
|
||||||
|
m_maxAllocation = b2Max(m_maxAllocation, m_allocation);
|
||||||
|
++m_entryCount;
|
||||||
|
|
||||||
|
return entry->data;
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2StackAllocator::Free(void* p)
|
||||||
|
{
|
||||||
|
b2Assert(m_entryCount > 0);
|
||||||
|
b2StackEntry* entry = m_entries + m_entryCount - 1;
|
||||||
|
b2Assert(p == entry->data);
|
||||||
|
if (entry->usedMalloc)
|
||||||
|
{
|
||||||
|
b2Free(p);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_index -= entry->size;
|
||||||
|
}
|
||||||
|
m_allocation -= entry->size;
|
||||||
|
--m_entryCount;
|
||||||
|
|
||||||
|
p = nullptr;
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 b2StackAllocator::GetMaxAllocation() const
|
||||||
|
{
|
||||||
|
return m_maxAllocation;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,60 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef B2_STACK_ALLOCATOR_H
|
||||||
|
#define B2_STACK_ALLOCATOR_H
|
||||||
|
|
||||||
|
#include "b2Settings.h"
|
||||||
|
|
||||||
|
const int32 b2_stackSize = 100 * 1024; // 100k
|
||||||
|
const int32 b2_maxStackEntries = 32;
|
||||||
|
|
||||||
|
struct b2StackEntry
|
||||||
|
{
|
||||||
|
char* data;
|
||||||
|
int32 size;
|
||||||
|
bool usedMalloc;
|
||||||
|
};
|
||||||
|
|
||||||
|
// This is a stack allocator used for fast per step allocations.
|
||||||
|
// You must nest allocate/free pairs. The code will assert
|
||||||
|
// if you try to interleave multiple allocate/free pairs.
|
||||||
|
class b2StackAllocator
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
b2StackAllocator();
|
||||||
|
~b2StackAllocator();
|
||||||
|
|
||||||
|
void* Allocate(int32 size);
|
||||||
|
void Free(void* p);
|
||||||
|
|
||||||
|
int32 GetMaxAllocation() const;
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
char m_data[b2_stackSize];
|
||||||
|
int32 m_index;
|
||||||
|
|
||||||
|
int32 m_allocation;
|
||||||
|
int32 m_maxAllocation;
|
||||||
|
|
||||||
|
b2StackEntry m_entries[b2_maxStackEntries];
|
||||||
|
int32 m_entryCount;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,121 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2011 Erin Catto http://box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Common/b2Timer.h"
|
||||||
|
|
||||||
|
#if defined(_WIN32)
|
||||||
|
|
||||||
|
float64 b2Timer::s_invFrequency = 0.0f;
|
||||||
|
|
||||||
|
#ifndef WIN32_LEAN_AND_MEAN
|
||||||
|
#define WIN32_LEAN_AND_MEAN
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include <windows.h>
|
||||||
|
|
||||||
|
b2Timer::b2Timer()
|
||||||
|
{
|
||||||
|
LARGE_INTEGER largeInteger;
|
||||||
|
|
||||||
|
if (s_invFrequency == 0.0f)
|
||||||
|
{
|
||||||
|
QueryPerformanceFrequency(&largeInteger);
|
||||||
|
s_invFrequency = float64(largeInteger.QuadPart);
|
||||||
|
if (s_invFrequency > 0.0f)
|
||||||
|
{
|
||||||
|
s_invFrequency = 1000.0f / s_invFrequency;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
QueryPerformanceCounter(&largeInteger);
|
||||||
|
m_start = float64(largeInteger.QuadPart);
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2Timer::Reset()
|
||||||
|
{
|
||||||
|
LARGE_INTEGER largeInteger;
|
||||||
|
QueryPerformanceCounter(&largeInteger);
|
||||||
|
m_start = float64(largeInteger.QuadPart);
|
||||||
|
}
|
||||||
|
|
||||||
|
float32 b2Timer::GetMilliseconds() const
|
||||||
|
{
|
||||||
|
LARGE_INTEGER largeInteger;
|
||||||
|
QueryPerformanceCounter(&largeInteger);
|
||||||
|
float64 count = float64(largeInteger.QuadPart);
|
||||||
|
float32 ms = float32(s_invFrequency * (count - m_start));
|
||||||
|
return ms;
|
||||||
|
}
|
||||||
|
|
||||||
|
#elif defined(__linux__) || defined (__APPLE__)
|
||||||
|
|
||||||
|
#include <sys/time.h>
|
||||||
|
|
||||||
|
b2Timer::b2Timer()
|
||||||
|
{
|
||||||
|
Reset();
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2Timer::Reset()
|
||||||
|
{
|
||||||
|
timeval t;
|
||||||
|
gettimeofday(&t, 0);
|
||||||
|
m_start_sec = t.tv_sec;
|
||||||
|
m_start_usec = t.tv_usec;
|
||||||
|
}
|
||||||
|
|
||||||
|
float32 b2Timer::GetMilliseconds() const
|
||||||
|
{
|
||||||
|
timeval t;
|
||||||
|
gettimeofday(&t, 0);
|
||||||
|
time_t start_sec = m_start_sec;
|
||||||
|
suseconds_t start_usec = m_start_usec;
|
||||||
|
|
||||||
|
// http://www.gnu.org/software/libc/manual/html_node/Elapsed-Time.html
|
||||||
|
if (t.tv_usec < start_usec)
|
||||||
|
{
|
||||||
|
int nsec = (start_usec - t.tv_usec) / 1000000 + 1;
|
||||||
|
start_usec -= 1000000 * nsec;
|
||||||
|
start_sec += nsec;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (t.tv_usec - start_usec > 1000000)
|
||||||
|
{
|
||||||
|
int nsec = (t.tv_usec - start_usec) / 1000000;
|
||||||
|
start_usec += 1000000 * nsec;
|
||||||
|
start_sec -= nsec;
|
||||||
|
}
|
||||||
|
return 1000.0f * (t.tv_sec - start_sec) + 0.001f * (t.tv_usec - start_usec);
|
||||||
|
}
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
b2Timer::b2Timer()
|
||||||
|
{
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2Timer::Reset()
|
||||||
|
{
|
||||||
|
}
|
||||||
|
|
||||||
|
float32 b2Timer::GetMilliseconds() const
|
||||||
|
{
|
||||||
|
return 0.0f;
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,50 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2011 Erin Catto http://box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef B2_TIMER_H
|
||||||
|
#define B2_TIMER_H
|
||||||
|
|
||||||
|
#include "b2Settings.h"
|
||||||
|
|
||||||
|
/// Timer for profiling. This has platform specific code and may
|
||||||
|
/// not work on every platform.
|
||||||
|
class b2Timer
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
|
||||||
|
/// Constructor
|
||||||
|
b2Timer();
|
||||||
|
|
||||||
|
/// Reset the timer.
|
||||||
|
void Reset();
|
||||||
|
|
||||||
|
/// Get the time since construction or the last reset.
|
||||||
|
float32 GetMilliseconds() const;
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
#if defined(_WIN32)
|
||||||
|
float64 m_start;
|
||||||
|
static float64 s_invFrequency;
|
||||||
|
#elif defined(__linux__) || defined (__APPLE__)
|
||||||
|
unsigned long long m_start_sec;
|
||||||
|
unsigned long long m_start_usec;
|
||||||
|
#endif
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,53 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2006-2010 Erin Catto http://www.box2d.org
|
||||||
|
*
|
||||||
|
* This software is provided 'as-is', without any express or implied
|
||||||
|
* warranty. In no event will the authors be held liable for any damages
|
||||||
|
* arising from the use of this software.
|
||||||
|
* Permission is granted to anyone to use this software for any purpose,
|
||||||
|
* including commercial applications, and to alter it and redistribute it
|
||||||
|
* freely, subject to the following restrictions:
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not
|
||||||
|
* claim that you wrote the original software. If you use this software
|
||||||
|
* in a product, an acknowledgment in the product documentation would be
|
||||||
|
* appreciated but is not required.
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||||
|
* misrepresented as being the original software.
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Box2D/Dynamics/Contacts/b2ChainAndCircleContact.h"
|
||||||
|
#include "Box2D/Common/b2BlockAllocator.h"
|
||||||
|
#include "Box2D/Dynamics/b2Fixture.h"
|
||||||
|
#include "Box2D/Collision/Shapes/b2ChainShape.h"
|
||||||
|
#include "Box2D/Collision/Shapes/b2EdgeShape.h"
|
||||||
|
|
||||||
|
#include <new>
|
||||||
|
|
||||||
|
b2Contact* b2ChainAndCircleContact::Create(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator)
|
||||||
|
{
|
||||||
|
void* mem = allocator->Allocate(sizeof(b2ChainAndCircleContact));
|
||||||
|
return new (mem) b2ChainAndCircleContact(fixtureA, indexA, fixtureB, indexB);
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2ChainAndCircleContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
|
||||||
|
{
|
||||||
|
((b2ChainAndCircleContact*)contact)->~b2ChainAndCircleContact();
|
||||||
|
allocator->Free(contact, sizeof(b2ChainAndCircleContact));
|
||||||
|
}
|
||||||
|
|
||||||
|
b2ChainAndCircleContact::b2ChainAndCircleContact(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB)
|
||||||
|
: b2Contact(fixtureA, indexA, fixtureB, indexB)
|
||||||
|
{
|
||||||
|
b2Assert(m_fixtureA->GetType() == b2Shape::e_chain);
|
||||||
|
b2Assert(m_fixtureB->GetType() == b2Shape::e_circle);
|
||||||
|
}
|
||||||
|
|
||||||
|
void b2ChainAndCircleContact::Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB)
|
||||||
|
{
|
||||||
|
b2ChainShape* chain = (b2ChainShape*)m_fixtureA->GetShape();
|
||||||
|
b2EdgeShape edge;
|
||||||
|
chain->GetChildEdge(&edge, m_indexA);
|
||||||
|
b2CollideEdgeAndCircle( manifold, &edge, xfA,
|
||||||
|
(b2CircleShape*)m_fixtureB->GetShape(), xfB);
|
||||||
|
}
|
||||||
Some files were not shown because too many files have changed in this diff Show More
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Reference in New Issue