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initial commit. includes PhsyicsBox2dExtension

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warren powers
2011-07-02 16:16:50 +00:00
parent b93ab61397
commit a5d67cad19
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52
AndEngine/jni/Box2D/Dynamics/Contacts/b2CircleContact.cpp Normal file
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/*
* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com
*
* 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/b2CircleContact.h"
#include "Box2D/Dynamics/b2Body.h"
#include "Box2D/Dynamics/b2Fixture.h"
#include "Box2D/Dynamics/b2WorldCallbacks.h"
#include "Box2D/Common/b2BlockAllocator.h"
#include "Box2D/Collision/b2TimeOfImpact.h"
#include <new>
b2Contact* b2CircleContact::Create(b2Fixture* fixtureA, b2Fixture* fixtureB, b2BlockAllocator* allocator)
{
void* mem = allocator->Allocate(sizeof(b2CircleContact));
return new (mem) b2CircleContact(fixtureA, fixtureB);
}
void b2CircleContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
{
((b2CircleContact*)contact)->~b2CircleContact();
allocator->Free(contact, sizeof(b2CircleContact));
}
b2CircleContact::b2CircleContact(b2Fixture* fixtureA, b2Fixture* fixtureB)
: b2Contact(fixtureA, fixtureB)
{
b2Assert(m_fixtureA->GetType() == b2Shape::e_circle);
b2Assert(m_fixtureB->GetType() == b2Shape::e_circle);
}
void b2CircleContact::Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB)
{
b2CollideCircles(manifold,
(b2CircleShape*)m_fixtureA->GetShape(), xfA,
(b2CircleShape*)m_fixtureB->GetShape(), xfB);
}

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AndEngine/jni/Box2D/Dynamics/Contacts/b2CircleContact.h Normal file
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/*
* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com
*
* 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_CONTACT_H
#define B2_CIRCLE_CONTACT_H
#include "Box2D/Dynamics/Contacts/b2Contact.h"
class b2BlockAllocator;
class b2CircleContact : public b2Contact
{
public:
static b2Contact* Create(b2Fixture* fixtureA, b2Fixture* fixtureB, b2BlockAllocator* allocator);
static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);
b2CircleContact(b2Fixture* fixtureA, b2Fixture* fixtureB);
~b2CircleContact() {}
void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB);
};
#endif

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AndEngine/jni/Box2D/Dynamics/Contacts/b2Contact.cpp Normal file
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/*
* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com
*
* 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/b2Contact.h"
#include "Box2D/Dynamics/Contacts/b2CircleContact.h"
#include "Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.h"
#include "Box2D/Dynamics/Contacts/b2PolygonContact.h"
#include "Box2D/Dynamics/Contacts/b2ContactSolver.h"
#include "Box2D/Collision/b2Collision.h"
#include "Box2D/Collision/b2TimeOfImpact.h"
#include "Box2D/Collision/Shapes/b2Shape.h"
#include "Box2D/Common/b2BlockAllocator.h"
#include "Box2D/Dynamics/b2Body.h"
#include "Box2D/Dynamics/b2Fixture.h"
#include "Box2D/Dynamics/b2World.h"
b2ContactRegister b2Contact::s_registers[b2Shape::e_typeCount][b2Shape::e_typeCount];
bool b2Contact::s_initialized = false;
void b2Contact::InitializeRegisters()
{
AddType(b2CircleContact::Create, b2CircleContact::Destroy, b2Shape::e_circle, b2Shape::e_circle);
AddType(b2PolygonAndCircleContact::Create, b2PolygonAndCircleContact::Destroy, b2Shape::e_polygon, b2Shape::e_circle);
AddType(b2PolygonContact::Create, b2PolygonContact::Destroy, b2Shape::e_polygon, b2Shape::e_polygon);
}
void b2Contact::AddType(b2ContactCreateFcn* createFcn, b2ContactDestroyFcn* destoryFcn,
b2Shape::Type type1, b2Shape::Type type2)
{
b2Assert(b2Shape::e_unknown < type1 && type1 < b2Shape::e_typeCount);
b2Assert(b2Shape::e_unknown < type2 && type2 < b2Shape::e_typeCount);
s_registers[type1][type2].createFcn = createFcn;
s_registers[type1][type2].destroyFcn = destoryFcn;
s_registers[type1][type2].primary = true;
if (type1 != type2)
{
s_registers[type2][type1].createFcn = createFcn;
s_registers[type2][type1].destroyFcn = destoryFcn;
s_registers[type2][type1].primary = false;
}
}
b2Contact* b2Contact::Create(b2Fixture* fixtureA, b2Fixture* fixtureB, b2BlockAllocator* allocator)
{
if (s_initialized == false)
{
InitializeRegisters();
s_initialized = true;
}
b2Shape::Type type1 = fixtureA->GetType();
b2Shape::Type type2 = fixtureB->GetType();
b2Assert(b2Shape::e_unknown < type1 && type1 < b2Shape::e_typeCount);
b2Assert(b2Shape::e_unknown < type2 && type2 < b2Shape::e_typeCount);
b2ContactCreateFcn* createFcn = s_registers[type1][type2].createFcn;
if (createFcn)
{
if (s_registers[type1][type2].primary)
{
return createFcn(fixtureA, fixtureB, allocator);
}
else
{
return createFcn(fixtureB, fixtureA, allocator);
}
}
else
{
return NULL;
}
}
void b2Contact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
{
b2Assert(s_initialized == true);
if (contact->m_manifold.pointCount > 0)
{
contact->GetFixtureA()->GetBody()->SetAwake(true);
contact->GetFixtureB()->GetBody()->SetAwake(true);
}
b2Shape::Type typeA = contact->GetFixtureA()->GetType();
b2Shape::Type typeB = contact->GetFixtureB()->GetType();
b2Assert(b2Shape::e_unknown < typeA && typeB < b2Shape::e_typeCount);
b2Assert(b2Shape::e_unknown < typeA && typeB < b2Shape::e_typeCount);
b2ContactDestroyFcn* destroyFcn = s_registers[typeA][typeB].destroyFcn;
destroyFcn(contact, allocator);
}
b2Contact::b2Contact(b2Fixture* fA, b2Fixture* fB)
{
m_flags = e_enabledFlag;
m_fixtureA = fA;
m_fixtureB = fB;
m_manifold.pointCount = 0;
m_prev = NULL;
m_next = NULL;
m_nodeA.contact = NULL;
m_nodeA.prev = NULL;
m_nodeA.next = NULL;
m_nodeA.other = NULL;
m_nodeB.contact = NULL;
m_nodeB.prev = NULL;
m_nodeB.next = NULL;
m_nodeB.other = NULL;
m_toiCount = 0;
}
// Update the contact manifold and touching status.
// Note: do not assume the fixture AABBs are overlapping or are valid.
void b2Contact::Update(b2ContactListener* listener)
{
b2Manifold oldManifold = m_manifold;
// Re-enable this contact.
m_flags |= e_enabledFlag;
bool touching = false;
bool wasTouching = (m_flags & e_touchingFlag) == e_touchingFlag;
bool sensorA = m_fixtureA->IsSensor();
bool sensorB = m_fixtureB->IsSensor();
bool sensor = sensorA || sensorB;
b2Body* bodyA = m_fixtureA->GetBody();
b2Body* bodyB = m_fixtureB->GetBody();
const b2Transform& xfA = bodyA->GetTransform();
const b2Transform& xfB = bodyB->GetTransform();
// Is this contact a sensor?
if (sensor)
{
const b2Shape* shapeA = m_fixtureA->GetShape();
const b2Shape* shapeB = m_fixtureB->GetShape();
touching = b2TestOverlap(shapeA, shapeB, xfA, xfB);
// Sensors don't generate manifolds.
m_manifold.pointCount = 0;
}
else
{
Evaluate(&m_manifold, xfA, xfB);
touching = m_manifold.pointCount > 0;
// Match old contact ids to new contact ids and copy the
// stored impulses to warm start the solver.
for (int32 i = 0; i < m_manifold.pointCount; ++i)
{
b2ManifoldPoint* mp2 = m_manifold.points + i;
mp2->normalImpulse = 0.0f;
mp2->tangentImpulse = 0.0f;
b2ContactID id2 = mp2->id;
for (int32 j = 0; j < oldManifold.pointCount; ++j)
{
b2ManifoldPoint* mp1 = oldManifold.points + j;
if (mp1->id.key == id2.key)
{
mp2->normalImpulse = mp1->normalImpulse;
mp2->tangentImpulse = mp1->tangentImpulse;
break;
}
}
}
if (touching != wasTouching)
{
bodyA->SetAwake(true);
bodyB->SetAwake(true);
}
}
if (touching)
{
m_flags |= e_touchingFlag;
}
else
{
m_flags &= ~e_touchingFlag;
}
if (wasTouching == false && touching == true && listener)
{
listener->BeginContact(this);
}
if (wasTouching == true && touching == false && listener)
{
listener->EndContact(this);
}
if (sensor == false && touching && listener)
{
listener->PreSolve(this, &oldManifold);
}
}

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AndEngine/jni/Box2D/Dynamics/Contacts/b2Contact.h Normal file
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/*
* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
#ifndef B2_CONTACT_H
#define B2_CONTACT_H
#include "Box2D/Common/b2Math.h"
#include "Box2D/Collision/b2Collision.h"
#include "Box2D/Collision/Shapes/b2Shape.h"
#include "Box2D/Dynamics/Contacts/b2Contact.h"
#include "Box2D/Dynamics/b2Fixture.h"
class b2Body;
class b2Contact;
class b2Fixture;
class b2World;
class b2BlockAllocator;
class b2StackAllocator;
class b2ContactListener;
typedef b2Contact* b2ContactCreateFcn(b2Fixture* fixtureA, b2Fixture* fixtureB, b2BlockAllocator* allocator);
typedef void b2ContactDestroyFcn(b2Contact* contact, b2BlockAllocator* allocator);
struct b2ContactRegister
{
b2ContactCreateFcn* createFcn;
b2ContactDestroyFcn* destroyFcn;
bool primary;
};
/// A contact edge is used to connect bodies and contacts together
/// in a contact graph where each body is a node and each contact
/// is an edge. A contact edge belongs to a doubly linked list
/// maintained in each attached body. Each contact has two contact
/// nodes, one for each attached body.
struct b2ContactEdge
{
b2Body* other; ///< provides quick access to the other body attached.
b2Contact* contact; ///< the contact
b2ContactEdge* prev; ///< the previous contact edge in the body's contact list
b2ContactEdge* next; ///< the next contact edge in the body's contact list
};
/// The class manages contact between two shapes. A contact exists for each overlapping
/// AABB in the broad-phase (except if filtered). Therefore a contact object may exist
/// that has no contact points.
class b2Contact
{
public:
/// Get the contact manifold. Do not modify the manifold unless you understand the
/// internals of Box2D.
b2Manifold* GetManifold();
const b2Manifold* GetManifold() const;
/// Get the world manifold.
void GetWorldManifold(b2WorldManifold* worldManifold) const;
/// Is this contact touching?
bool IsTouching() const;
/// Enable/disable this contact. This can be used inside the pre-solve
/// contact listener. The contact is only disabled for the current
/// time step (or sub-step in continuous collisions).
void SetEnabled(bool flag);
/// Has this contact been disabled?
bool IsEnabled() const;
/// Get the next contact in the world's contact list.
b2Contact* GetNext();
const b2Contact* GetNext() const;
/// Get the first fixture in this contact.
b2Fixture* GetFixtureA();
const b2Fixture* GetFixtureA() const;
/// Get the second fixture in this contact.
b2Fixture* GetFixtureB();
const b2Fixture* GetFixtureB() const;
/// Evaluate this contact with your own manifold and transforms.
virtual void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB) = 0;
protected:
friend class b2ContactManager;
friend class b2World;
friend class b2ContactSolver;
friend class b2Body;
friend class b2Fixture;
// Flags stored in m_flags
enum
{
// Used when crawling contact graph when forming islands.
e_islandFlag = 0x0001,
// Set when the shapes are touching.
e_touchingFlag = 0x0002,
// This contact can be disabled (by user)
e_enabledFlag = 0x0004,
// This contact needs filtering because a fixture filter was changed.
e_filterFlag = 0x0008,
// This bullet contact had a TOI event
e_bulletHitFlag = 0x0010,
};
/// Flag this contact for filtering. Filtering will occur the next time step.
void FlagForFiltering();
static void AddType(b2ContactCreateFcn* createFcn, b2ContactDestroyFcn* destroyFcn,
b2Shape::Type typeA, b2Shape::Type typeB);
static void InitializeRegisters();
static b2Contact* Create(b2Fixture* fixtureA, b2Fixture* fixtureB, b2BlockAllocator* allocator);
static void Destroy(b2Contact* contact, b2Shape::Type typeA, b2Shape::Type typeB, b2BlockAllocator* allocator);
static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);
b2Contact() : m_fixtureA(NULL), m_fixtureB(NULL) {}
b2Contact(b2Fixture* fixtureA, b2Fixture* fixtureB);
virtual ~b2Contact() {}
void Update(b2ContactListener* listener);
static b2ContactRegister s_registers[b2Shape::e_typeCount][b2Shape::e_typeCount];
static bool s_initialized;
uint32 m_flags;
// World pool and list pointers.
b2Contact* m_prev;
b2Contact* m_next;
// Nodes for connecting bodies.
b2ContactEdge m_nodeA;
b2ContactEdge m_nodeB;
b2Fixture* m_fixtureA;
b2Fixture* m_fixtureB;
b2Manifold m_manifold;
int32 m_toiCount;
// float32 m_toi;
};
inline b2Manifold* b2Contact::GetManifold()
{
return &m_manifold;
}
inline const b2Manifold* b2Contact::GetManifold() const
{
return &m_manifold;
}
inline void b2Contact::GetWorldManifold(b2WorldManifold* worldManifold) const
{
const b2Body* bodyA = m_fixtureA->GetBody();
const b2Body* bodyB = m_fixtureB->GetBody();
const b2Shape* shapeA = m_fixtureA->GetShape();
const b2Shape* shapeB = m_fixtureB->GetShape();
worldManifold->Initialize(&m_manifold, bodyA->GetTransform(), shapeA->m_radius, bodyB->GetTransform(), shapeB->m_radius);
}
inline void b2Contact::SetEnabled(bool flag)
{
if (flag)
{
m_flags |= e_enabledFlag;
}
else
{
m_flags &= ~e_enabledFlag;
}
}
inline bool b2Contact::IsEnabled() const
{
return (m_flags & e_enabledFlag) == e_enabledFlag;
}
inline bool b2Contact::IsTouching() const
{
return (m_flags & e_touchingFlag) == e_touchingFlag;
}
inline b2Contact* b2Contact::GetNext()
{
return m_next;
}
inline const b2Contact* b2Contact::GetNext() const
{
return m_next;
}
inline b2Fixture* b2Contact::GetFixtureA()
{
return m_fixtureA;
}
inline const b2Fixture* b2Contact::GetFixtureA() const
{
return m_fixtureA;
}
inline b2Fixture* b2Contact::GetFixtureB()
{
return m_fixtureB;
}
inline const b2Fixture* b2Contact::GetFixtureB() const
{
return m_fixtureB;
}
inline void b2Contact::FlagForFiltering()
{
m_flags |= e_filterFlag;
}
#endif

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AndEngine/jni/Box2D/Dynamics/Contacts/b2ContactSolver.cpp Normal file
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/*
* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com
*
* 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/b2ContactSolver.h"
#include "Box2D/Dynamics/Contacts/b2Contact.h"
#include "Box2D/Dynamics/b2Body.h"
#include "Box2D/Dynamics/b2Fixture.h"
#include "Box2D/Dynamics/b2World.h"
#include "Box2D/Common/b2StackAllocator.h"
#define B2_DEBUG_SOLVER 0
b2ContactSolver::b2ContactSolver(b2Contact** contacts, int32 contactCount,
b2StackAllocator* allocator, float32 impulseRatio)
{
m_allocator = allocator;
m_constraintCount = contactCount;
m_constraints = (b2ContactConstraint*)m_allocator->Allocate(m_constraintCount * sizeof(b2ContactConstraint));
for (int32 i = 0; i < m_constraintCount; ++i)
{
b2Contact* contact = contacts[i];
b2Fixture* fixtureA = contact->m_fixtureA;
b2Fixture* fixtureB = contact->m_fixtureB;
b2Shape* shapeA = fixtureA->GetShape();
b2Shape* shapeB = fixtureB->GetShape();
float32 radiusA = shapeA->m_radius;
float32 radiusB = shapeB->m_radius;
b2Body* bodyA = fixtureA->GetBody();
b2Body* bodyB = fixtureB->GetBody();
b2Manifold* manifold = contact->GetManifold();
float32 friction = b2MixFriction(fixtureA->GetFriction(), fixtureB->GetFriction());
float32 restitution = b2MixRestitution(fixtureA->GetRestitution(), fixtureB->GetRestitution());
b2Vec2 vA = bodyA->m_linearVelocity;
b2Vec2 vB = bodyB->m_linearVelocity;
float32 wA = bodyA->m_angularVelocity;
float32 wB = bodyB->m_angularVelocity;
b2Assert(manifold->pointCount > 0);
b2WorldManifold worldManifold;
worldManifold.Initialize(manifold, bodyA->m_xf, radiusA, bodyB->m_xf, radiusB);
b2ContactConstraint* cc = m_constraints + i;
cc->bodyA = bodyA;
cc->bodyB = bodyB;
cc->manifold = manifold;
cc->normal = worldManifold.normal;
cc->pointCount = manifold->pointCount;
cc->friction = friction;
cc->localNormal = manifold->localNormal;
cc->localPoint = manifold->localPoint;
cc->radius = radiusA + radiusB;
cc->type = manifold->type;
for (int32 j = 0; j < cc->pointCount; ++j)
{
b2ManifoldPoint* cp = manifold->points + j;
b2ContactConstraintPoint* ccp = cc->points + j;
ccp->normalImpulse = impulseRatio * cp->normalImpulse;
ccp->tangentImpulse = impulseRatio * cp->tangentImpulse;
ccp->localPoint = cp->localPoint;
ccp->rA = worldManifold.points[j] - bodyA->m_sweep.c;
ccp->rB = worldManifold.points[j] - bodyB->m_sweep.c;
float32 rnA = b2Cross(ccp->rA, cc->normal);
float32 rnB = b2Cross(ccp->rB, cc->normal);
rnA *= rnA;
rnB *= rnB;
float32 kNormal = bodyA->m_invMass + bodyB->m_invMass + bodyA->m_invI * rnA + bodyB->m_invI * rnB;
b2Assert(kNormal > b2_epsilon);
ccp->normalMass = 1.0f / kNormal;
b2Vec2 tangent = b2Cross(cc->normal, 1.0f);
float32 rtA = b2Cross(ccp->rA, tangent);
float32 rtB = b2Cross(ccp->rB, tangent);
rtA *= rtA;
rtB *= rtB;
float32 kTangent = bodyA->m_invMass + bodyB->m_invMass + bodyA->m_invI * rtA + bodyB->m_invI * rtB;
b2Assert(kTangent > b2_epsilon);
ccp->tangentMass = 1.0f / kTangent;
// Setup a velocity bias for restitution.
ccp->velocityBias = 0.0f;
float32 vRel = b2Dot(cc->normal, vB + b2Cross(wB, ccp->rB) - vA - b2Cross(wA, ccp->rA));
if (vRel < -b2_velocityThreshold)
{
ccp->velocityBias = -restitution * vRel;
}
}
// If we have two points, then prepare the block solver.
if (cc->pointCount == 2)
{
b2ContactConstraintPoint* ccp1 = cc->points + 0;
b2ContactConstraintPoint* ccp2 = cc->points + 1;
float32 invMassA = bodyA->m_invMass;
float32 invIA = bodyA->m_invI;
float32 invMassB = bodyB->m_invMass;
float32 invIB = bodyB->m_invI;
float32 rn1A = b2Cross(ccp1->rA, cc->normal);
float32 rn1B = b2Cross(ccp1->rB, cc->normal);
float32 rn2A = b2Cross(ccp2->rA, cc->normal);
float32 rn2B = b2Cross(ccp2->rB, cc->normal);
float32 k11 = invMassA + invMassB + invIA * rn1A * rn1A + invIB * rn1B * rn1B;
float32 k22 = invMassA + invMassB + invIA * rn2A * rn2A + invIB * rn2B * rn2B;
float32 k12 = invMassA + invMassB + invIA * rn1A * rn2A + invIB * rn1B * rn2B;
// Ensure a reasonable condition number.
const float32 k_maxConditionNumber = 100.0f;
if (k11 * k11 < k_maxConditionNumber * (k11 * k22 - k12 * k12))
{
// K is safe to invert.
cc->K.col1.Set(k11, k12);
cc->K.col2.Set(k12, k22);
cc->normalMass = cc->K.GetInverse();
}
else
{
// The constraints are redundant, just use one.
// TODO_ERIN use deepest?
cc->pointCount = 1;
}
}
}
}
b2ContactSolver::~b2ContactSolver()
{
m_allocator->Free(m_constraints);
}
void b2ContactSolver::WarmStart()
{
// Warm start.
for (int32 i = 0; i < m_constraintCount; ++i)
{
b2ContactConstraint* c = m_constraints + i;
b2Body* bodyA = c->bodyA;
b2Body* bodyB = c->bodyB;
float32 invMassA = bodyA->m_invMass;
float32 invIA = bodyA->m_invI;
float32 invMassB = bodyB->m_invMass;
float32 invIB = bodyB->m_invI;
b2Vec2 normal = c->normal;
b2Vec2 tangent = b2Cross(normal, 1.0f);
for (int32 j = 0; j < c->pointCount; ++j)
{
b2ContactConstraintPoint* ccp = c->points + j;
b2Vec2 P = ccp->normalImpulse * normal + ccp->tangentImpulse * tangent;
bodyA->m_angularVelocity -= invIA * b2Cross(ccp->rA, P);
bodyA->m_linearVelocity -= invMassA * P;
bodyB->m_angularVelocity += invIB * b2Cross(ccp->rB, P);
bodyB->m_linearVelocity += invMassB * P;
}
}
}
void b2ContactSolver::SolveVelocityConstraints()
{
for (int32 i = 0; i < m_constraintCount; ++i)
{
b2ContactConstraint* c = m_constraints + i;
b2Body* bodyA = c->bodyA;
b2Body* bodyB = c->bodyB;
float32 wA = bodyA->m_angularVelocity;
float32 wB = bodyB->m_angularVelocity;
b2Vec2 vA = bodyA->m_linearVelocity;
b2Vec2 vB = bodyB->m_linearVelocity;
float32 invMassA = bodyA->m_invMass;
float32 invIA = bodyA->m_invI;
float32 invMassB = bodyB->m_invMass;
float32 invIB = bodyB->m_invI;
b2Vec2 normal = c->normal;
b2Vec2 tangent = b2Cross(normal, 1.0f);
float32 friction = c->friction;
b2Assert(c->pointCount == 1 || c->pointCount == 2);
// Solve tangent constraints
for (int32 j = 0; j < c->pointCount; ++j)
{
b2ContactConstraintPoint* ccp = c->points + j;
// Relative velocity at contact
b2Vec2 dv = vB + b2Cross(wB, ccp->rB) - vA - b2Cross(wA, ccp->rA);
// Compute tangent force
float32 vt = b2Dot(dv, tangent);
float32 lambda = ccp->tangentMass * (-vt);
// b2Clamp the accumulated force
float32 maxFriction = friction * ccp->normalImpulse;
float32 newImpulse = b2Clamp(ccp->tangentImpulse + lambda, -maxFriction, maxFriction);
lambda = newImpulse - ccp->tangentImpulse;
// Apply contact impulse
b2Vec2 P = lambda * tangent;
vA -= invMassA * P;
wA -= invIA * b2Cross(ccp->rA, P);
vB += invMassB * P;
wB += invIB * b2Cross(ccp->rB, P);
ccp->tangentImpulse = newImpulse;
}
// Solve normal constraints
if (c->pointCount == 1)
{
b2ContactConstraintPoint* ccp = c->points + 0;
// Relative velocity at contact
b2Vec2 dv = vB + b2Cross(wB, ccp->rB) - vA - b2Cross(wA, ccp->rA);
// Compute normal impulse
float32 vn = b2Dot(dv, normal);
float32 lambda = -ccp->normalMass * (vn - ccp->velocityBias);
// b2Clamp the accumulated impulse
float32 newImpulse = b2Max(ccp->normalImpulse + lambda, 0.0f);
lambda = newImpulse - ccp->normalImpulse;
// Apply contact impulse
b2Vec2 P = lambda * normal;
vA -= invMassA * P;
wA -= invIA * b2Cross(ccp->rA, P);
vB += invMassB * P;
wB += invIB * b2Cross(ccp->rB, P);
ccp->normalImpulse = newImpulse;
}
else
{
// Block solver developed in collaboration with Dirk Gregorius (back in 01/07 on Box2D_Lite).
// Build the mini LCP for this contact patch
//
// vn = A * x + b, vn >= 0, , vn >= 0, x >= 0 and vn_i * x_i = 0 with i = 1..2
//
// A = J * W * JT and J = ( -n, -r1 x n, n, r2 x n )
// b = vn_0 - velocityBias
//
// The system is solved using the "Total enumeration method" (s. Murty). The complementary constraint vn_i * x_i
// implies that we must have in any solution either vn_i = 0 or x_i = 0. So for the 2D contact problem the cases
// vn1 = 0 and vn2 = 0, x1 = 0 and x2 = 0, x1 = 0 and vn2 = 0, x2 = 0 and vn1 = 0 need to be tested. The first valid
// solution that satisfies the problem is chosen.
//
// In order to account of the accumulated impulse 'a' (because of the iterative nature of the solver which only requires
// that the accumulated impulse is clamped and not the incremental impulse) we change the impulse variable (x_i).
//
// Substitute:
//
// x = x' - a
//
// Plug into above equation:
//
// vn = A * x + b
// = A * (x' - a) + b
// = A * x' + b - A * a
// = A * x' + b'
// b' = b - A * a;
b2ContactConstraintPoint* cp1 = c->points + 0;
b2ContactConstraintPoint* cp2 = c->points + 1;
b2Vec2 a(cp1->normalImpulse, cp2->normalImpulse);
b2Assert(a.x >= 0.0f && a.y >= 0.0f);
// Relative velocity at contact
b2Vec2 dv1 = vB + b2Cross(wB, cp1->rB) - vA - b2Cross(wA, cp1->rA);
b2Vec2 dv2 = vB + b2Cross(wB, cp2->rB) - vA - b2Cross(wA, cp2->rA);
// Compute normal velocity
float32 vn1 = b2Dot(dv1, normal);
float32 vn2 = b2Dot(dv2, normal);
b2Vec2 b;
b.x = vn1 - cp1->velocityBias;
b.y = vn2 - cp2->velocityBias;
b -= b2Mul(c->K, a);
const float32 k_errorTol = 1e-3f;
B2_NOT_USED(k_errorTol);
for (;;)
{
//
// Case 1: vn = 0
//
// 0 = A * x' + b'
//
// Solve for x':
//
// x' = - inv(A) * b'
//
b2Vec2 x = - b2Mul(c->normalMass, b);
if (x.x >= 0.0f && x.y >= 0.0f)
{
// Resubstitute for the incremental impulse
b2Vec2 d = x - a;
// Apply incremental impulse
b2Vec2 P1 = d.x * normal;
b2Vec2 P2 = d.y * normal;
vA -= invMassA * (P1 + P2);
wA -= invIA * (b2Cross(cp1->rA, P1) + b2Cross(cp2->rA, P2));
vB += invMassB * (P1 + P2);
wB += invIB * (b2Cross(cp1->rB, P1) + b2Cross(cp2->rB, P2));
// Accumulate
cp1->normalImpulse = x.x;
cp2->normalImpulse = x.y;
#if B2_DEBUG_SOLVER == 1
// Postconditions
dv1 = vB + b2Cross(wB, cp1->rB) - vA - b2Cross(wA, cp1->rA);
dv2 = vB + b2Cross(wB, cp2->rB) - vA - b2Cross(wA, cp2->rA);
// Compute normal velocity
vn1 = b2Dot(dv1, normal);
vn2 = b2Dot(dv2, normal);
b2Assert(b2Abs(vn1 - cp1->velocityBias) < k_errorTol);
b2Assert(b2Abs(vn2 - cp2->velocityBias) < k_errorTol);
#endif
break;
}
//
// Case 2: vn1 = 0 and x2 = 0
//
// 0 = a11 * x1' + a12 * 0 + b1'
// vn2 = a21 * x1' + a22 * 0 + b2'
//
x.x = - cp1->normalMass * b.x;
x.y = 0.0f;
vn1 = 0.0f;
vn2 = c->K.col1.y * x.x + b.y;
if (x.x >= 0.0f && vn2 >= 0.0f)
{
// Resubstitute for the incremental impulse
b2Vec2 d = x - a;
// Apply incremental impulse
b2Vec2 P1 = d.x * normal;
b2Vec2 P2 = d.y * normal;
vA -= invMassA * (P1 + P2);
wA -= invIA * (b2Cross(cp1->rA, P1) + b2Cross(cp2->rA, P2));
vB += invMassB * (P1 + P2);
wB += invIB * (b2Cross(cp1->rB, P1) + b2Cross(cp2->rB, P2));
// Accumulate
cp1->normalImpulse = x.x;
cp2->normalImpulse = x.y;
#if B2_DEBUG_SOLVER == 1
// Postconditions
dv1 = vB + b2Cross(wB, cp1->rB) - vA - b2Cross(wA, cp1->rA);
// Compute normal velocity
vn1 = b2Dot(dv1, normal);
b2Assert(b2Abs(vn1 - cp1->velocityBias) < k_errorTol);
#endif
break;
}
//
// Case 3: vn2 = 0 and x1 = 0
//
// vn1 = a11 * 0 + a12 * x2' + b1'
// 0 = a21 * 0 + a22 * x2' + b2'
//
x.x = 0.0f;
x.y = - cp2->normalMass * b.y;
vn1 = c->K.col2.x * x.y + b.x;
vn2 = 0.0f;
if (x.y >= 0.0f && vn1 >= 0.0f)
{
// Resubstitute for the incremental impulse
b2Vec2 d = x - a;
// Apply incremental impulse
b2Vec2 P1 = d.x * normal;
b2Vec2 P2 = d.y * normal;
vA -= invMassA * (P1 + P2);
wA -= invIA * (b2Cross(cp1->rA, P1) + b2Cross(cp2->rA, P2));
vB += invMassB * (P1 + P2);
wB += invIB * (b2Cross(cp1->rB, P1) + b2Cross(cp2->rB, P2));
// Accumulate
cp1->normalImpulse = x.x;
cp2->normalImpulse = x.y;
#if B2_DEBUG_SOLVER == 1
// Postconditions
dv2 = vB + b2Cross(wB, cp2->rB) - vA - b2Cross(wA, cp2->rA);
// Compute normal velocity
vn2 = b2Dot(dv2, normal);
b2Assert(b2Abs(vn2 - cp2->velocityBias) < k_errorTol);
#endif
break;
}
//
// Case 4: x1 = 0 and x2 = 0
//
// vn1 = b1
// vn2 = b2;
x.x = 0.0f;
x.y = 0.0f;
vn1 = b.x;
vn2 = b.y;
if (vn1 >= 0.0f && vn2 >= 0.0f )
{
// Resubstitute for the incremental impulse
b2Vec2 d = x - a;
// Apply incremental impulse
b2Vec2 P1 = d.x * normal;
b2Vec2 P2 = d.y * normal;
vA -= invMassA * (P1 + P2);
wA -= invIA * (b2Cross(cp1->rA, P1) + b2Cross(cp2->rA, P2));
vB += invMassB * (P1 + P2);
wB += invIB * (b2Cross(cp1->rB, P1) + b2Cross(cp2->rB, P2));
// Accumulate
cp1->normalImpulse = x.x;
cp2->normalImpulse = x.y;
break;
}
// No solution, give up. This is hit sometimes, but it doesn't seem to matter.
break;
}
}
bodyA->m_linearVelocity = vA;
bodyA->m_angularVelocity = wA;
bodyB->m_linearVelocity = vB;
bodyB->m_angularVelocity = wB;
}
}
void b2ContactSolver::StoreImpulses()
{
for (int32 i = 0; i < m_constraintCount; ++i)
{
b2ContactConstraint* c = m_constraints + i;
b2Manifold* m = c->manifold;
for (int32 j = 0; j < c->pointCount; ++j)
{
m->points[j].normalImpulse = c->points[j].normalImpulse;
m->points[j].tangentImpulse = c->points[j].tangentImpulse;
}
}
}
struct b2PositionSolverManifold
{
void Initialize(b2ContactConstraint* cc, int32 index)
{
b2Assert(cc->pointCount > 0);
switch (cc->type)
{
case b2Manifold::e_circles:
{
b2Vec2 pointA = cc->bodyA->GetWorldPoint(cc->localPoint);
b2Vec2 pointB = cc->bodyB->GetWorldPoint(cc->points[0].localPoint);
if (b2DistanceSquared(pointA, pointB) > b2_epsilon * b2_epsilon)
{
normal = pointB - pointA;
normal.Normalize();
}
else
{
normal.Set(1.0f, 0.0f);
}
point = 0.5f * (pointA + pointB);
separation = b2Dot(pointB - pointA, normal) - cc->radius;
}
break;
case b2Manifold::e_faceA:
{
normal = cc->bodyA->GetWorldVector(cc->localNormal);
b2Vec2 planePoint = cc->bodyA->GetWorldPoint(cc->localPoint);
b2Vec2 clipPoint = cc->bodyB->GetWorldPoint(cc->points[index].localPoint);
separation = b2Dot(clipPoint - planePoint, normal) - cc->radius;
point = clipPoint;
}
break;
case b2Manifold::e_faceB:
{
normal = cc->bodyB->GetWorldVector(cc->localNormal);
b2Vec2 planePoint = cc->bodyB->GetWorldPoint(cc->localPoint);
b2Vec2 clipPoint = cc->bodyA->GetWorldPoint(cc->points[index].localPoint);
separation = b2Dot(clipPoint - planePoint, normal) - cc->radius;
point = clipPoint;
// Ensure normal points from A to B
normal = -normal;
}
break;
}
}
b2Vec2 normal;
b2Vec2 point;
float32 separation;
};
// Sequential solver.
bool b2ContactSolver::SolvePositionConstraints(float32 baumgarte)
{
float32 minSeparation = 0.0f;
for (int32 i = 0; i < m_constraintCount; ++i)
{
b2ContactConstraint* c = m_constraints + i;
b2Body* bodyA = c->bodyA;
b2Body* bodyB = c->bodyB;
float32 invMassA = bodyA->m_mass * bodyA->m_invMass;
float32 invIA = bodyA->m_mass * bodyA->m_invI;
float32 invMassB = bodyB->m_mass * bodyB->m_invMass;
float32 invIB = bodyB->m_mass * bodyB->m_invI;
// Solve normal constraints
for (int32 j = 0; j < c->pointCount; ++j)
{
b2PositionSolverManifold psm;
psm.Initialize(c, j);
b2Vec2 normal = psm.normal;
b2Vec2 point = psm.point;
float32 separation = psm.separation;
b2Vec2 rA = point - bodyA->m_sweep.c;
b2Vec2 rB = point - bodyB->m_sweep.c;
// Track max constraint error.
minSeparation = b2Min(minSeparation, separation);
// Prevent large corrections and allow slop.
float32 C = b2Clamp(baumgarte * (separation + b2_linearSlop), -b2_maxLinearCorrection, 0.0f);
// Compute the effective mass.
float32 rnA = b2Cross(rA, normal);
float32 rnB = b2Cross(rB, normal);
float32 K = invMassA + invMassB + invIA * rnA * rnA + invIB * rnB * rnB;
// Compute normal impulse
float32 impulse = K > 0.0f ? - C / K : 0.0f;
b2Vec2 P = impulse * normal;
bodyA->m_sweep.c -= invMassA * P;
bodyA->m_sweep.a -= invIA * b2Cross(rA, P);
bodyA->SynchronizeTransform();
bodyB->m_sweep.c += invMassB * P;
bodyB->m_sweep.a += invIB * b2Cross(rB, P);
bodyB->SynchronizeTransform();
}
}
// We can't expect minSpeparation >= -b2_linearSlop because we don't
// push the separation above -b2_linearSlop.
return minSeparation >= -1.5f * b2_linearSlop;
}

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/*
* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
#ifndef B2_CONTACT_SOLVER_H
#define B2_CONTACT_SOLVER_H
#include "Box2D/Common/b2Math.h"
#include "Box2D/Collision/b2Collision.h"
#include "Box2D/Dynamics/b2Island.h"
class b2Contact;
class b2Body;
class b2StackAllocator;
struct b2ContactConstraintPoint
{
b2Vec2 localPoint;
b2Vec2 rA;
b2Vec2 rB;
float32 normalImpulse;
float32 tangentImpulse;
float32 normalMass;
float32 tangentMass;
float32 velocityBias;
};
struct b2ContactConstraint
{
b2ContactConstraintPoint points[b2_maxManifoldPoints];
b2Vec2 localNormal;
b2Vec2 localPoint;
b2Vec2 normal;
b2Mat22 normalMass;
b2Mat22 K;
b2Body* bodyA;
b2Body* bodyB;
b2Manifold::Type type;
float32 radius;
float32 friction;
int32 pointCount;
b2Manifold* manifold;
};
class b2ContactSolver
{
public:
b2ContactSolver(b2Contact** contacts, int32 contactCount,
b2StackAllocator* allocator, float32 impulseRatio);
~b2ContactSolver();
void WarmStart();
void SolveVelocityConstraints();
void StoreImpulses();
bool SolvePositionConstraints(float32 baumgarte);
b2StackAllocator* m_allocator;
b2ContactConstraint* m_constraints;
int m_constraintCount;
};
#endif

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/*
* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
#include "Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.h"
#include "Box2D/Common/b2BlockAllocator.h"
#include "Box2D/Collision/b2TimeOfImpact.h"
#include "Box2D/Dynamics/b2Body.h"
#include "Box2D/Dynamics/b2Fixture.h"
#include "Box2D/Dynamics/b2WorldCallbacks.h"
#include <new>
b2Contact* b2PolygonAndCircleContact::Create(b2Fixture* fixtureA, b2Fixture* fixtureB, b2BlockAllocator* allocator)
{
void* mem = allocator->Allocate(sizeof(b2PolygonAndCircleContact));
return new (mem) b2PolygonAndCircleContact(fixtureA, fixtureB);
}
void b2PolygonAndCircleContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
{
((b2PolygonAndCircleContact*)contact)->~b2PolygonAndCircleContact();
allocator->Free(contact, sizeof(b2PolygonAndCircleContact));
}
b2PolygonAndCircleContact::b2PolygonAndCircleContact(b2Fixture* fixtureA, b2Fixture* fixtureB)
: b2Contact(fixtureA, fixtureB)
{
b2Assert(m_fixtureA->GetType() == b2Shape::e_polygon);
b2Assert(m_fixtureB->GetType() == b2Shape::e_circle);
}
void b2PolygonAndCircleContact::Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB)
{
b2CollidePolygonAndCircle( manifold,
(b2PolygonShape*)m_fixtureA->GetShape(), xfA,
(b2CircleShape*)m_fixtureB->GetShape(), xfB);
}

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

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

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

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/*
* Copyright (c) 2006-2010 Erin Catto http://www.gphysics.com
*
* 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/b2TOISolver.h"
#include "Box2D/Dynamics/Contacts/b2Contact.h"
#include "Box2D/Dynamics/b2Body.h"
#include "Box2D/Dynamics/b2Fixture.h"
#include "Box2D/Common/b2StackAllocator.h"
struct b2TOIConstraint
{
b2Vec2 localPoints[b2_maxManifoldPoints];
b2Vec2 localNormal;
b2Vec2 localPoint;
b2Manifold::Type type;
float32 radius;
int32 pointCount;
b2Body* bodyA;
b2Body* bodyB;
};
b2TOISolver::b2TOISolver(b2StackAllocator* allocator)
{
m_allocator = allocator;
m_constraints = NULL;
m_count = NULL;
m_toiBody = NULL;
}
b2TOISolver::~b2TOISolver()
{
Clear();
}
void b2TOISolver::Clear()
{
if (m_allocator && m_constraints)
{
m_allocator->Free(m_constraints);
m_constraints = NULL;
}
}
void b2TOISolver::Initialize(b2Contact** contacts, int32 count, b2Body* toiBody)
{
Clear();
m_count = count;
m_toiBody = toiBody;
m_constraints = (b2TOIConstraint*) m_allocator->Allocate(m_count * sizeof(b2TOIConstraint));
for (int32 i = 0; i < m_count; ++i)
{
b2Contact* contact = contacts[i];
b2Fixture* fixtureA = contact->GetFixtureA();
b2Fixture* fixtureB = contact->GetFixtureB();
b2Shape* shapeA = fixtureA->GetShape();
b2Shape* shapeB = fixtureB->GetShape();
float32 radiusA = shapeA->m_radius;
float32 radiusB = shapeB->m_radius;
b2Body* bodyA = fixtureA->GetBody();
b2Body* bodyB = fixtureB->GetBody();
b2Manifold* manifold = contact->GetManifold();
b2Assert(manifold->pointCount > 0);
b2TOIConstraint* constraint = m_constraints + i;
constraint->bodyA = bodyA;
constraint->bodyB = bodyB;
constraint->localNormal = manifold->localNormal;
constraint->localPoint = manifold->localPoint;
constraint->type = manifold->type;
constraint->pointCount = manifold->pointCount;
constraint->radius = radiusA + radiusB;
for (int32 j = 0; j < constraint->pointCount; ++j)
{
b2ManifoldPoint* cp = manifold->points + j;
constraint->localPoints[j] = cp->localPoint;
}
}
}
struct b2TOISolverManifold
{
void Initialize(b2TOIConstraint* cc, int32 index)
{
b2Assert(cc->pointCount > 0);
switch (cc->type)
{
case b2Manifold::e_circles:
{
b2Vec2 pointA = cc->bodyA->GetWorldPoint(cc->localPoint);
b2Vec2 pointB = cc->bodyB->GetWorldPoint(cc->localPoints[0]);
if (b2DistanceSquared(pointA, pointB) > b2_epsilon * b2_epsilon)
{
normal = pointB - pointA;
normal.Normalize();
}
else
{
normal.Set(1.0f, 0.0f);
}
point = 0.5f * (pointA + pointB);
separation = b2Dot(pointB - pointA, normal) - cc->radius;
}
break;
case b2Manifold::e_faceA:
{
normal = cc->bodyA->GetWorldVector(cc->localNormal);
b2Vec2 planePoint = cc->bodyA->GetWorldPoint(cc->localPoint);
b2Vec2 clipPoint = cc->bodyB->GetWorldPoint(cc->localPoints[index]);
separation = b2Dot(clipPoint - planePoint, normal) - cc->radius;
point = clipPoint;
}
break;
case b2Manifold::e_faceB:
{
normal = cc->bodyB->GetWorldVector(cc->localNormal);
b2Vec2 planePoint = cc->bodyB->GetWorldPoint(cc->localPoint);
b2Vec2 clipPoint = cc->bodyA->GetWorldPoint(cc->localPoints[index]);
separation = b2Dot(clipPoint - planePoint, normal) - cc->radius;
point = clipPoint;
// Ensure normal points from A to B
normal = -normal;
}
break;
}
}
b2Vec2 normal;
b2Vec2 point;
float32 separation;
};
// Push out the toi body to provide clearance for further simulation.
bool b2TOISolver::Solve(float32 baumgarte)
{
float32 minSeparation = 0.0f;
for (int32 i = 0; i < m_count; ++i)
{
b2TOIConstraint* c = m_constraints + i;
b2Body* bodyA = c->bodyA;
b2Body* bodyB = c->bodyB;
float32 massA = bodyA->m_mass;
float32 massB = bodyB->m_mass;
// Only the TOI body should move.
if (bodyA == m_toiBody)
{
massB = 0.0f;
}
else
{
massA = 0.0f;
}
float32 invMassA = massA * bodyA->m_invMass;
float32 invIA = massA * bodyA->m_invI;
float32 invMassB = massB * bodyB->m_invMass;
float32 invIB = massB * bodyB->m_invI;
// Solve normal constraints
for (int32 j = 0; j < c->pointCount; ++j)
{
b2TOISolverManifold psm;
psm.Initialize(c, j);
b2Vec2 normal = psm.normal;
b2Vec2 point = psm.point;
float32 separation = psm.separation;
b2Vec2 rA = point - bodyA->m_sweep.c;
b2Vec2 rB = point - bodyB->m_sweep.c;
// Track max constraint error.
minSeparation = b2Min(minSeparation, separation);
// Prevent large corrections and allow slop.
float32 C = b2Clamp(baumgarte * (separation + b2_linearSlop), -b2_maxLinearCorrection, 0.0f);
// Compute the effective mass.
float32 rnA = b2Cross(rA, normal);
float32 rnB = b2Cross(rB, normal);
float32 K = invMassA + invMassB + invIA * rnA * rnA + invIB * rnB * rnB;
// Compute normal impulse
float32 impulse = K > 0.0f ? - C / K : 0.0f;
b2Vec2 P = impulse * normal;
bodyA->m_sweep.c -= invMassA * P;
bodyA->m_sweep.a -= invIA * b2Cross(rA, P);
bodyA->SynchronizeTransform();
bodyB->m_sweep.c += invMassB * P;
bodyB->m_sweep.a += invIB * b2Cross(rB, P);
bodyB->SynchronizeTransform();
}
}
// We can't expect minSpeparation >= -b2_linearSlop because we don't
// push the separation above -b2_linearSlop.
return minSeparation >= -1.5f * b2_linearSlop;
}

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/*
* Copyright (c) 2006-2010 Erin Catto http://www.gphysics.com
*
* 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_TOI_SOLVER_H
#define B2_TOI_SOLVER_H
#include "Box2D/Common/b2Math.h"
class b2Contact;
class b2Body;
struct b2TOIConstraint;
class b2StackAllocator;
/// This is a pure position solver for a single movable body in contact with
/// multiple non-moving bodies.
class b2TOISolver
{
public:
b2TOISolver(b2StackAllocator* allocator);
~b2TOISolver();
void Initialize(b2Contact** contacts, int32 contactCount, b2Body* toiBody);
void Clear();
// Perform one solver iteration. Returns true if converged.
bool Solve(float32 baumgarte);
private:
b2TOIConstraint* m_constraints;
int32 m_count;
b2Body* m_toiBody;
b2StackAllocator* m_allocator;
};
#endif