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comparison trunk/chipmunkd/cpArbiter.d @ 23:4ceef5833c8c

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updated to chipmunk 5.3.3
author Extrawurst
date Fri, 10 Dec 2010 02:10:27 +0100
parents df4ebc8add66
children 4541ca17975b
comparison
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22:ed2c81f3d1df 23:4ceef5833c8c
35 // 35 //
36 //// Sum the contact impulses. (Can be used after cpSpaceStep() returns) 36 //// Sum the contact impulses. (Can be used after cpSpaceStep() returns)
37 //cpVect cpContactsSumImpulses(cpContact *contacts, int numContacts); 37 //cpVect cpContactsSumImpulses(cpContact *contacts, int numContacts);
38 //cpVect cpContactsSumImpulsesWithFriction(cpContact *contacts, int numContacts); 38 //cpVect cpContactsSumImpulsesWithFriction(cpContact *contacts, int numContacts);
39 39
40 enum CP_MAX_CONTACTS_PER_ARBITER = 6;
41
40 enum cpArbiterState { 42 enum cpArbiterState {
41 cpArbiterStateNormal, 43 cpArbiterStateNormal,
42 cpArbiterStateFirstColl, 44 cpArbiterStateFirstColl,
43 cpArbiterStateIgnore, 45 cpArbiterStateIgnore,
44 cpArbiterStateSleep, 46 cpArbiterStateSleep,
53 55
54 // The two shapes and bodies involved in the collision. 56 // The two shapes and bodies involved in the collision.
55 // These variables are NOT in the order defined by the collision handler. 57 // These variables are NOT in the order defined by the collision handler.
56 // Using CP_ARBITER_GET_SHAPES and CP_ARBITER_GET_BODIES will save you from 58 // Using CP_ARBITER_GET_SHAPES and CP_ARBITER_GET_BODIES will save you from
57 // many headaches 59 // many headaches
58 cpShape* private_a; 60 cpShape* a;
59 cpShape* private_b; 61 cpShape* b;
60 62
61 // Calculated before calling the pre-solve collision handler 63 // Calculated before calling the pre-solve collision handler
62 // Override them with custom values if you want specialized behavior 64 // Override them with custom values if you want specialized behavior
63 cpFloat e; 65 cpFloat e;
64 cpFloat u; 66 cpFloat u;
95 97
96 static void 98 static void
97 cpArbiterGetShapes(/+const+/ cpArbiter *arb, cpShape **a, cpShape **b) 99 cpArbiterGetShapes(/+const+/ cpArbiter *arb, cpShape **a, cpShape **b)
98 { 100 {
99 if(arb.swappedColl){ 101 if(arb.swappedColl){
100 (*a) = arb.private_b, (*b) = arb.private_a; 102 (*a) = arb.b, (*b) = arb.a;
101 } else { 103 } else {
102 (*a) = arb.private_a, (*b) = arb.private_b; 104 (*a) = arb.a, (*b) = arb.b;
103 } 105 }
104 } 106 }
105 107
106 template CP_ARBITER_GET_SHAPES(string arb,string a,string b) 108 template CP_ARBITER_GET_SHAPES(string arb,string a,string b)
107 { 109 {
123 cpArbiterIsFirstContact(const cpArbiter *arb) 125 cpArbiterIsFirstContact(const cpArbiter *arb)
124 { 126 {
125 return arb.state == cpArbiterState.cpArbiterStateFirstColl; 127 return arb.state == cpArbiterState.cpArbiterStateFirstColl;
126 } 128 }
127 129
130 static int
131 cpArbiterGetCount(const cpArbiter *arb)
132 {
133 return arb.numContacts;
134 }
135
128 static cpVect 136 static cpVect
129 cpArbiterGetNormal(const cpArbiter *arb, int i) 137 cpArbiterGetNormal(const cpArbiter *arb, int i)
130 { 138 {
131 cpVect n = arb.contacts[i].n; 139 cpVect n = arb.contacts[i].n;
132 return arb.swappedColl ? cpvneg(n) : n; 140 return arb.swappedColl ? cpvneg(n) : n;
135 static cpVect 143 static cpVect
136 cpArbiterGetPoint(const cpArbiter *arb, int i) 144 cpArbiterGetPoint(const cpArbiter *arb, int i)
137 { 145 {
138 return arb.contacts[i].p; 146 return arb.contacts[i].p;
139 } 147 }
148
149
150 static cpFloat
151 cpArbiteGetDepth(const cpArbiter *arb, int i)
152 {
153 return arb.contacts[i].dist;
154 }
155
156 struct cpContactPointSet {
157 int count;
158
159 struct TPoint
160 {
161 cpVect point, normal;
162 cpFloat dist = 0;
163 }
164
165 TPoint[CP_MAX_CONTACTS_PER_ARBITER] points;
166 }
167
168 static cpContactPointSet
169 cpArbiterGetContactPointSet(const cpArbiter *arb)
170 {
171 cpContactPointSet set;
172 set.count = cpArbiterGetCount(arb);
173
174 int i;
175 for(i=0; i<set.count; i++){
176 set.points[i].point = arb.contacts[i].p;
177 set.points[i].normal = arb.contacts[i].p;
178 set.points[i].dist = arb.contacts[i].dist;
179 }
180
181 return set;
182 }
183
184 // cpArbiter.c --------------------------
140 185
141 cpFloat cp_bias_coef = 0.1f; 186 cpFloat cp_bias_coef = 0.1f;
142 cpFloat cp_collision_slop = 0.1f; 187 cpFloat cp_collision_slop = 0.1f;
143 188
144 cpContact* 189 cpContact*
216 } 261 }
217 262
218 cpArbiter* 263 cpArbiter*
219 cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b) 264 cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b)
220 { 265 {
266 arb.handler = null;
267 arb.swappedColl = cpFalse;
268
269 arb.e = 0.0f;
270 arb.u = 0.0f;
271 arb.surface_vr = cpvzero;
272
221 arb.numContacts = 0; 273 arb.numContacts = 0;
222 arb.contacts = null; 274 arb.contacts = null;
223 275
224 arb.private_a = a; 276 arb.a = a;
225 arb.private_b = b; 277 arb.b = b;
226 278
227 arb.stamp = 0; 279 arb.stamp = 0;
228 arb.state = cpArbiterState.cpArbiterStateFirstColl; 280 arb.state = cpArbiterState.cpArbiterStateFirstColl;
229 281
230 return arb; 282 return arb;
269 new_contact.jnAcc = old.jnAcc; 321 new_contact.jnAcc = old.jnAcc;
270 new_contact.jtAcc = old.jtAcc; 322 new_contact.jtAcc = old.jtAcc;
271 } 323 }
272 } 324 }
273 } 325 }
274
275 // cpfree(arb.contacts);
276 } 326 }
277 327
278 arb.contacts = contacts; 328 arb.contacts = contacts;
279 arb.numContacts = numContacts; 329 arb.numContacts = numContacts;
280 330
284 arb.e = a.e * b.e; 334 arb.e = a.e * b.e;
285 arb.u = a.u * b.u; 335 arb.u = a.u * b.u;
286 arb.surface_vr = cpvsub(a.surface_v, b.surface_v); 336 arb.surface_vr = cpvsub(a.surface_v, b.surface_v);
287 337
288 // For collisions between two similar primitive types, the order could have been swapped. 338 // For collisions between two similar primitive types, the order could have been swapped.
289 arb.private_a = a; 339 arb.a = a;
290 arb.private_b = b; 340 arb.b = b;
291 341
292 // mark it as new if it's been cached 342 // mark it as new if it's been cached
293 if(arb.state == cpArbiterState.cpArbiterStateCached) arb.state = cpArbiterState.cpArbiterStateFirstColl; 343 if(arb.state == cpArbiterState.cpArbiterStateCached) arb.state = cpArbiterState.cpArbiterStateFirstColl;
294 } 344 }
295 345
296 void 346 void
297 cpArbiterPreStep(cpArbiter *arb, cpFloat dt_inv) 347 cpArbiterPreStep(cpArbiter *arb, cpFloat dt_inv)
298 { 348 {
299 cpBody *a = arb.private_a._body; 349 cpBody *a = arb.a._body;
300 cpBody *b = arb.private_b._body; 350 cpBody *b = arb.b._body;
301 351
302 for(int i=0; i<arb.numContacts; i++){ 352 for(int i=0; i<arb.numContacts; i++){
303 cpContact *con = &arb.contacts[i]; 353 cpContact *con = &arb.contacts[i];
304 354
305 // Calculate the offsets. 355 // Calculate the offsets.
320 } 370 }
321 371
322 void 372 void
323 cpArbiterApplyCachedImpulse(cpArbiter *arb) 373 cpArbiterApplyCachedImpulse(cpArbiter *arb)
324 { 374 {
325 cpShape *shapea = arb.private_a; 375 cpShape *shapea = arb.a;
326 cpShape *shapeb = arb.private_b; 376 cpShape *shapeb = arb.b;
327 377
328 arb.u = shapea.u * shapeb.u; 378 arb.u = shapea.u * shapeb.u;
329 arb.surface_vr = cpvsub(shapeb.surface_v, shapea.surface_v); 379 arb.surface_vr = cpvsub(shapeb.surface_v, shapea.surface_v);
330 380
331 cpBody *a = shapea._body; 381 cpBody *a = shapea._body;
338 } 388 }
339 389
340 void 390 void
341 cpArbiterApplyImpulse(cpArbiter *arb, cpFloat eCoef) 391 cpArbiterApplyImpulse(cpArbiter *arb, cpFloat eCoef)
342 { 392 {
343 cpBody *a = arb.private_a._body; 393 cpBody *a = arb.a._body;
344 cpBody *b = arb.private_b._body; 394 cpBody *b = arb.b._body;
345 395
346 for(int i=0; i<arb.numContacts; i++){ 396 for(int i=0; i<arb.numContacts; i++){
347 cpContact *con = &arb.contacts[i]; 397 cpContact *con = &arb.contacts[i];
348 cpVect n = con.n; 398 cpVect n = con.n;
349 cpVect r1 = con.r1; 399 cpVect r1 = con.r1;