diff --git a/Hipmunk.cabal b/Hipmunk.cabal --- a/Hipmunk.cabal +++ b/Hipmunk.cabal @@ -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 - (). - This package contains the Chipmunk rev4 source - (from ) + (). This + package contains the Chipmunk 4.1.0 source (see + ) and Haskell bindings to all of its functions. It is completely self-contained. . diff --git a/NEWS b/NEWS --- a/NEWS +++ b/NEWS @@ -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 diff --git a/Physics/Hipmunk/Common.hsc b/Physics/Hipmunk/Common.hsc --- a/Physics/Hipmunk/Common.hsc +++ b/Physics/Hipmunk/Common.hsc @@ -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. diff --git a/chipmunk/chipmunk.h b/chipmunk/chipmunk.h --- a/chipmunk/chipmunk.h +++ b/chipmunk/chipmunk.h @@ -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 diff --git a/chipmunk/cpBody.c b/chipmunk/cpBody.c --- a/chipmunk/cpBody.c +++ b/chipmunk/cpBody.c @@ -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 #include #include @@ -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; //} diff --git a/chipmunk/cpBody.h b/chipmunk/cpBody.h --- a/chipmunk/cpBody.h +++ b/chipmunk/cpBody.h @@ -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); diff --git a/chipmunk/cpCollision.c b/chipmunk/cpCollision.c --- a/chipmunk/cpCollision.c +++ b/chipmunk/cpCollision.c @@ -170,13 +170,13 @@ for(int i=0; inumVerts; 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; inumVerts; 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; diff --git a/chipmunk/cpPolyShape.h b/chipmunk/cpPolyShape.h --- a/chipmunk/cpPolyShape.h +++ b/chipmunk/cpPolyShape.h @@ -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; inumVerts; 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; +} diff --git a/chipmunk/cpShape.h b/chipmunk/cpShape.h --- a/chipmunk/cpShape.h +++ b/chipmunk/cpShape.h @@ -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); diff --git a/chipmunk/cpSpace.h b/chipmunk/cpSpace.h --- a/chipmunk/cpSpace.h +++ b/chipmunk/cpSpace.h @@ -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;