Hipmunk 0.2.1 → 0.2.2

raw patch · 10 files changed

+129/−49 lines, 10 filesPVP: major bump suggested

API removals or changes: PVP suggests a major version bump

API changes (from Hackage documentation)

Files

• Hipmunk.cabal +4/−4
• NEWS +4/−0
• Physics/Hipmunk/Common.hsc +1/−1
• chipmunk/chipmunk.h +6/−1
• chipmunk/cpBody.c +15/−15
• chipmunk/cpBody.h +29/−7
• chipmunk/cpCollision.c +20/−2
• chipmunk/cpPolyShape.h +16/−0
• chipmunk/cpShape.h +24/−16
• chipmunk/cpSpace.h +10/−3

@@ -3,7 +3,7 @@ Tested-With:   GHC Category:      Physics, Game Name:          Hipmunk-Version:       0.2.1+Version:       0.2.2 Stability:     provisional License:       OtherLicense License-File:  LICENSE@@ -13,9 +13,9 @@ Synopsis:      A Haskell binding for Chipmunk. Description:       Chipmunk is a fast, simple, portable, 2D physics engine-      (<http://wiki.slembcke.net/main/published/Chipmunk>).-      This package contains the Chipmunk rev4 source-      (from <http://chipmunk-physics.googlecode.com/svn/trunk/>)+      (<http://wiki.slembcke.net/main/published/Chipmunk>).  This+      package contains the Chipmunk 4.1.0 source (see+      <http://www.slembcke.net/forums/viewtopic.php?f=4&t=276>)       and Haskell bindings to all of its functions. It is       completely self-contained.       .

@@ -1,3 +1,7 @@+Version 0.2.2+=============+ - Update Chipmunk to version 4.1.0.+ Version 0.2.1 =============  - Small fix for GHC 6.10. Thanks Pekka Karjalainen and Creighton Hogg

@@ -104,7 +104,7 @@ -- | @infinity@ may be used to create bodies with --   an infinite mass. infinity :: CpFloat-infinity = 1e100+infinity = 1e1000  -- | Type synonym used to hint that the argument or result --   represents time.

@@ -19,11 +19,14 @@  * SOFTWARE.  */ +#ifndef CHIPMUNK_HEADER+#define CHIPMUNK_HEADER+ #ifdef __cplusplus extern "C" { #endif 	-typedef float cpFloat;+typedef double cpFloat; 	 static inline cpFloat cpfmax(cpFloat a, cpFloat b)@@ -83,4 +86,6 @@  #ifdef __cplusplus }+#endif+ #endif

@@ -1,15 +1,15 @@ /* Copyright (c) 2007 Scott Lembcke- *+ *   * Permission is hereby granted, free of charge, to any person obtaining a copy  * of this software and associated documentation files (the "Software"), to deal  * in the Software without restriction, including without limitation the rights  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell  * copies of the Software, and to permit persons to whom the Software is  * furnished to do so, subject to the following conditions:- *+ *   * The above copyright notice and this permission notice shall be included in  * all copies or substantial portions of the Software.- *+ *   * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE@@ -18,7 +18,7 @@  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE  * SOFTWARE.  */-+  #include <stdlib.h> #include <math.h> #include <float.h>@@ -36,21 +36,21 @@ { 	body->velocity_func = cpBodyUpdateVelocity; 	body->position_func = cpBodyUpdatePosition;-+	 	cpBodySetMass(body, m); 	cpBodySetMoment(body, i);  	body->p = cpvzero; 	body->v = cpvzero; 	body->f = cpvzero;-+	 	cpBodySetAngle(body, 0.0f); 	body->w = 0.0f; 	body->t = 0.0f;-+	 	body->v_bias = cpvzero; 	body->w_bias = 0.0f;-+	 	body->data = NULL; //	body->active = 1; @@ -112,7 +112,7 @@ { 	body->p = cpvadd(body->p, cpvmult(cpvadd(body->v, body->v_bias), dt)); 	cpBodySetAngle(body, body->a + (body->w + body->w_bias)*dt);-+	 	body->v_bias = cpvzero; 	body->w_bias = 0.0f; }@@ -137,22 +137,22 @@ 	// Calculate the world space anchor coordinates. 	cpVect r1 = cpvrotate(anchr1, a->rot); 	cpVect r2 = cpvrotate(anchr2, b->rot);-+	 	cpVect delta = cpvsub(cpvadd(b->p, r2), cpvadd(a->p, r1)); 	cpFloat dist = cpvlength(delta); 	cpVect n = dist ? cpvmult(delta, 1.0f/dist) : cpvzero;-+	 	cpFloat f_spring = (dist - rlen)*k;  	// Calculate the world relative velocities of the anchor points. 	cpVect v1 = cpvadd(a->v, cpvmult(cpvperp(r1), a->w)); 	cpVect v2 = cpvadd(b->v, cpvmult(cpvperp(r2), b->w));-+	 	// Calculate the damping force. 	// This really should be in the impulse solver and can produce problems when using large damping values. 	cpFloat vrn = cpvdot(cpvsub(v2, v1), n); 	cpFloat f_damp = vrn*cpfmin(dmp, 1.0f/(dt*(a->m_inv + b->m_inv)));-+	 	// Apply! 	cpVect f = cpvmult(n, f_spring + f_damp); 	cpBodyApplyForce(a, f, r1);@@ -164,7 +164,7 @@ //{ //	cpFloat ke = body->m*cpvdot(body->v, body->v); //	cpFloat re = body->i*body->w*body->w;-//+//	 //	if(ke + re > body->m*dvsq) //		body->active = 1; //	else if(body->active)@@ -175,6 +175,6 @@ //		body->w = 0.0f; //		body->w_bias = 0.0f; //	}-//+//	 //	return body->active; //}

@@ -25,27 +25,48 @@    typedef struct cpBody{+	// *** Integration Functions.+ 	// Function that is called to integrate the body's velocity. (Defaults to cpBodyUpdateVelocity) 	cpBodyVelocityFunc velocity_func; 	 	// Function that is called to integrate the body's position. (Defaults to cpBodyUpdatePosition) 	cpBodyPositionFunc position_func; 	+	// *** Mass Properties+	 	// Mass and it's inverse.+	// Always use cpBodySetMass() whenever changing the mass as these values must agree. 	cpFloat m, m_inv;+	 	// Moment of inertia and it's inverse.+	// Always use cpBodySetMass() whenever changing the mass as these values must agree. 	cpFloat i, i_inv; 	-	// NOTE: v_bias and w_bias are used internally for penetration/joint correction.+	// *** Positional Properties+	 	// Linear components of motion (position, velocity, and force)-	cpVect p, v, f, v_bias;+	cpVect p, v, f;+	 	// Angular components of motion (angle, angular velocity, and torque)-	cpFloat a, w, t, w_bias;-	// Unit length -	cpVect rot; +	// Always use cpBodySetAngle() to set the angle of the body as a and rot must agree.+	cpFloat a, w, t; 	+	// Cached unit length vector representing the angle of the body.+	// Used for fast vector rotation using cpvrotate().+	cpVect rot;+	+	// *** User Definable Fields+	 	// User defined data pointer. 	void *data;+	+	// *** Internally Used Fields+	+	// Velocity bias values used when solving penetrations and correcting joints.+	cpVect v_bias;+	cpFloat w_bias;+	 //	int active; } cpBody; @@ -62,10 +83,11 @@ void cpBodySetMoment(cpBody *body, cpFloat i); void cpBodySetAngle(cpBody *body, cpFloat a); -// Modify the velocity of an object so that it will +//  Modify the velocity of the body so that it will move to the specified absolute coordinates in the next timestep.+// Intended for objects that are moved manually with a custom velocity integration function. void cpBodySlew(cpBody *body, cpVect pos, cpFloat dt); -// Integration functions.+// Default Integration functions. void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt); void cpBodyUpdatePosition(cpBody *body, cpFloat dt); 

@@ -170,13 +170,13 @@ 	 	for(int i=0; i<poly1->numVerts; i++){ 		cpVect v = poly1->tVerts[i];-		if(cpPolyShapeContainsVert(poly2, v))+		if(cpPolyShapeContainsVertPartial(poly2, v, cpvneg(n))) 			cpContactInit(addContactPoint(arr, &max, &num), v, n, dist, CP_HASH_PAIR(poly1, i)); 	} 	 	for(int i=0; i<poly2->numVerts; i++){ 		cpVect v = poly2->tVerts[i];-		if(cpPolyShapeContainsVert(poly1, v))+		if(cpPolyShapeContainsVertPartial(poly1, v, n)) 			cpContactInit(addContactPoint(arr, &max, &num), v, n, dist, CP_HASH_PAIR(poly2, i)); 	} 	@@ -283,6 +283,24 @@ 			findPointsBehindSeg(arr, &max, &num, seg, poly, minNorm, 1.0f); 		else 			findPointsBehindSeg(arr, &max, &num, seg, poly, minNeg, -1.0f);+	}+	+	// If no other collision points are found, try colliding endpoints.+	if(num == 0){+		cpVect poly_a = poly->tVerts[mini];+		cpVect poly_b = poly->tVerts[(mini + 1)%poly->numVerts];+		+		if(circle2circleQuery(seg->ta, poly_a, seg->r, 0.0f, arr))+			return 1;+			+		if(circle2circleQuery(seg->tb, poly_a, seg->r, 0.0f, arr))+			return 1;+			+		if(circle2circleQuery(seg->ta, poly_b, seg->r, 0.0f, arr))+			return 1;+			+		if(circle2circleQuery(seg->tb, poly_b, seg->r, 0.0f, arr))+			return 1; 	}  	return num;

@@ -74,3 +74,19 @@ 	 	return 1; }++// Same as cpPolyShapeContainsVert() but ignores faces pointing away from the normal.+static inline int+cpPolyShapeContainsVertPartial(cpPolyShape *poly, cpVect v, cpVect n)+{+	cpPolyShapeAxis *axes = poly->tAxes;+	+	int i;+	for(i=0; i<poly->numVerts; i++){+		if(cpvdot(axes[i].n, n) < 0.0f) continue;+		cpFloat dist = cpvdot(axes[i].n, v) - axes[i].d;+		if(dist > 0.0) return 0;+	}+	+	return 1;+}

@@ -43,19 +43,35 @@ 	// Called to by cpShapeDestroy(). 	void (*destroy)(struct cpShape *shape); 	-	// called by cpShapeQueryPoint+	// called by cpShapeQueryPointQuery(). 	int (*pointQuery)(struct cpShape *shape, cpVect p); } cpShapeClass;  // Basic shape struct that the others inherit from. typedef struct cpShape{+	// The "class" of a shape as defined above  	const cpShapeClass *klass; 	-	// Unique id used as the hash value.-	unsigned int id;+	// cpBody that the shape is attached to.+	cpBody *body;+ 	// Cached BBox for the shape. 	cpBB bb; 	+	// *** Surface properties.+	+	// Coefficient of restitution. (elasticity)+	cpFloat e;+	// Coefficient of friction.+	cpFloat u;+	// Surface velocity used when solving for friction.+	cpVect surface_v;++	// *** User Definable Fields++	// User defined data pointer for the shape.+	void *data;+	 	// User defined collision type for the shape. 	unsigned int collision_type; 	// User defined collision group for the shape.@@ -63,18 +79,10 @@ 	// User defined layer bitmask for the shape. 	unsigned int layers; 	-	// User defined data pointer for the shape.-	void *data;-	-	// cpBody that the shape is attached to.-	cpBody *body;+	// *** Internally Used Fields 	-	// Coefficient of restitution. (elasticity)-	cpFloat e;-	// Coefficient of friction.-	cpFloat u;-	// Surface velocity used when solving for friction.-	cpVect surface_v;+	// Unique id used as the hash value.+	unsigned int id; } cpShape;  // Low level shape initialization func.@@ -129,5 +137,5 @@  // Basic allocation functions for cpSegmentShape. cpSegmentShape* cpSegmentShapeAlloc(void);-cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat r);-cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat r);+cpSegmentShape* cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloat radius);+cpShape* cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat radius);

@@ -35,14 +35,21 @@ } cpCollPairFunc;  typedef struct cpSpace{-	// Number of iterations to use in the impulse solver.+	// *** User definable fields+	+	// Number of iterations to use in the impulse solver to solve contacts. 	int iterations;+	+	// Number of iterations to use in the impulse solver to solve elastic collisions. 	int elasticIterations;-//	int sleepTicks; 	-	// Self explanatory.+	// Default gravity to supply when integrating rigid body motions. 	cpVect gravity;+	+	// Default damping to supply when integrating rigid body motions. 	cpFloat damping;+	+	// *** Internally Used Fields 	 	// Time stamp. Is incremented on every call to cpSpaceStep(). 	int stamp;