mirror of https://github.com/axmolengine/axmol.git
323 lines
9.4 KiB
C
323 lines
9.4 KiB
C
/* 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
|
|
* 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.
|
|
*/
|
|
|
|
#include <stdio.h>
|
|
#include <string.h>
|
|
#include <stdarg.h>
|
|
|
|
#include "chipmunk_private.h"
|
|
|
|
void
|
|
cpMessage(const char *condition, const char *file, int line, cpBool isError, cpBool isHardError, const char *message, ...)
|
|
{
|
|
fprintf(stderr, (isError ? "Aborting due to Chipmunk error: " : "Chipmunk warning: "));
|
|
|
|
va_list vargs;
|
|
va_start(vargs, message); {
|
|
vfprintf(stderr, message, vargs);
|
|
fprintf(stderr, "\n");
|
|
} va_end(vargs);
|
|
|
|
fprintf(stderr, "\tFailed condition: %s\n", condition);
|
|
fprintf(stderr, "\tSource:%s:%d\n", file, line);
|
|
|
|
if(isError) abort();
|
|
}
|
|
|
|
#define STR(s) #s
|
|
#define XSTR(s) STR(s)
|
|
|
|
const char *cpVersionString = XSTR(CP_VERSION_MAJOR)"."XSTR(CP_VERSION_MINOR)"."XSTR(CP_VERSION_RELEASE);
|
|
|
|
void
|
|
cpInitChipmunk(void)
|
|
{
|
|
cpAssertWarn(cpFalse, "cpInitChipmunk is deprecated and no longer required. It will be removed in the future.");
|
|
}
|
|
|
|
//MARK: Misc Functions
|
|
|
|
cpFloat
|
|
cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset)
|
|
{
|
|
return m*(0.5f*(r1*r1 + r2*r2) + cpvlengthsq(offset));
|
|
}
|
|
|
|
cpFloat
|
|
cpAreaForCircle(cpFloat r1, cpFloat r2)
|
|
{
|
|
return (cpFloat)M_PI*cpfabs(r1*r1 - r2*r2);
|
|
}
|
|
|
|
cpFloat
|
|
cpMomentForSegment(cpFloat m, cpVect a, cpVect b)
|
|
{
|
|
cpVect offset = cpvmult(cpvadd(a, b), 0.5f);
|
|
return m*(cpvdistsq(b, a)/12.0f + cpvlengthsq(offset));
|
|
}
|
|
|
|
cpFloat
|
|
cpAreaForSegment(cpVect a, cpVect b, cpFloat r)
|
|
{
|
|
return r*((cpFloat)M_PI*r + 2.0f*cpvdist(a, b));
|
|
}
|
|
|
|
cpFloat
|
|
cpMomentForPoly(cpFloat m, const int numVerts, const cpVect *verts, cpVect offset)
|
|
{
|
|
cpFloat sum1 = 0.0f;
|
|
cpFloat sum2 = 0.0f;
|
|
for(int i=0; i<numVerts; i++){
|
|
cpVect v1 = cpvadd(verts[i], offset);
|
|
cpVect v2 = cpvadd(verts[(i+1)%numVerts], offset);
|
|
|
|
cpFloat a = cpvcross(v2, v1);
|
|
cpFloat b = cpvdot(v1, v1) + cpvdot(v1, v2) + cpvdot(v2, v2);
|
|
|
|
sum1 += a*b;
|
|
sum2 += a;
|
|
}
|
|
|
|
return (m*sum1)/(6.0f*sum2);
|
|
}
|
|
|
|
cpFloat
|
|
cpAreaForPoly(const int numVerts, const cpVect *verts)
|
|
{
|
|
cpFloat area = 0.0f;
|
|
for(int i=0; i<numVerts; i++){
|
|
area += cpvcross(verts[i], verts[(i+1)%numVerts]);
|
|
}
|
|
|
|
return -area/2.0f;
|
|
}
|
|
|
|
cpVect
|
|
cpCentroidForPoly(const int numVerts, const cpVect *verts)
|
|
{
|
|
cpFloat sum = 0.0f;
|
|
cpVect vsum = cpvzero;
|
|
|
|
for(int i=0; i<numVerts; i++){
|
|
cpVect v1 = verts[i];
|
|
cpVect v2 = verts[(i+1)%numVerts];
|
|
cpFloat cross = cpvcross(v1, v2);
|
|
|
|
sum += cross;
|
|
vsum = cpvadd(vsum, cpvmult(cpvadd(v1, v2), cross));
|
|
}
|
|
|
|
return cpvmult(vsum, 1.0f/(3.0f*sum));
|
|
}
|
|
|
|
void
|
|
cpRecenterPoly(const int numVerts, cpVect *verts){
|
|
cpVect centroid = cpCentroidForPoly(numVerts, verts);
|
|
|
|
for(int i=0; i<numVerts; i++){
|
|
verts[i] = cpvsub(verts[i], centroid);
|
|
}
|
|
}
|
|
|
|
cpFloat
|
|
cpMomentForBox(cpFloat m, cpFloat width, cpFloat height)
|
|
{
|
|
return m*(width*width + height*height)/12.0f;
|
|
}
|
|
|
|
cpFloat
|
|
cpMomentForBox2(cpFloat m, cpBB box)
|
|
{
|
|
cpFloat width = box.r - box.l;
|
|
cpFloat height = box.t - box.b;
|
|
cpVect offset = cpvmult(cpv(box.l + box.r, box.b + box.t), 0.5f);
|
|
|
|
// TODO NaN when offset is 0 and m is INFINITY
|
|
return cpMomentForBox(m, width, height) + m*cpvlengthsq(offset);
|
|
}
|
|
|
|
//MARK: Quick Hull
|
|
|
|
void
|
|
cpLoopIndexes(cpVect *verts, int count, int *start, int *end)
|
|
{
|
|
(*start) = (*end) = 0;
|
|
cpVect min = verts[0];
|
|
cpVect max = min;
|
|
|
|
for(int i=1; i<count; i++){
|
|
cpVect v = verts[i];
|
|
|
|
if(v.x < min.x || (v.x == min.x && v.y < min.y)){
|
|
min = v;
|
|
(*start) = i;
|
|
} else if(v.x > max.x || (v.x == max.x && v.y > max.y)){
|
|
max = v;
|
|
(*end) = i;
|
|
}
|
|
}
|
|
}
|
|
|
|
#define SWAP(__A__, __B__) {cpVect __TMP__ = __A__; __A__ = __B__; __B__ = __TMP__;}
|
|
|
|
static int
|
|
QHullPartition(cpVect *verts, int count, cpVect a, cpVect b, cpFloat tol)
|
|
{
|
|
if(count == 0) return 0;
|
|
|
|
cpFloat max = 0;
|
|
int pivot = 0;
|
|
|
|
cpVect delta = cpvsub(b, a);
|
|
cpFloat valueTol = tol*cpvlength(delta);
|
|
|
|
int head = 0;
|
|
for(int tail = count-1; head <= tail;){
|
|
cpFloat value = cpvcross(delta, cpvsub(verts[head], a));
|
|
if(value > valueTol){
|
|
if(value > max){
|
|
max = value;
|
|
pivot = head;
|
|
}
|
|
|
|
head++;
|
|
} else {
|
|
SWAP(verts[head], verts[tail]);
|
|
tail--;
|
|
}
|
|
}
|
|
|
|
// move the new pivot to the front if it's not already there.
|
|
if(pivot != 0) SWAP(verts[0], verts[pivot]);
|
|
return head;
|
|
}
|
|
|
|
static int
|
|
QHullReduce(cpFloat tol, cpVect *verts, int count, cpVect a, cpVect pivot, cpVect b, cpVect *result)
|
|
{
|
|
if(count < 0){
|
|
return 0;
|
|
} else if(count == 0) {
|
|
result[0] = pivot;
|
|
return 1;
|
|
} else {
|
|
int left_count = QHullPartition(verts, count, a, pivot, tol);
|
|
int index = QHullReduce(tol, verts + 1, left_count - 1, a, verts[0], pivot, result);
|
|
|
|
result[index++] = pivot;
|
|
|
|
int right_count = QHullPartition(verts + left_count, count - left_count, pivot, b, tol);
|
|
return index + QHullReduce(tol, verts + left_count + 1, right_count - 1, pivot, verts[left_count], b, result + index);
|
|
}
|
|
}
|
|
|
|
// QuickHull seemed like a neat algorithm, and efficient-ish for large input sets.
|
|
// My implementation performs an in place reduction using the result array as scratch space.
|
|
int
|
|
cpConvexHull(int count, cpVect *verts, cpVect *result, int *first, cpFloat tol)
|
|
{
|
|
if(result){
|
|
// Copy the line vertexes into the empty part of the result polyline to use as a scratch buffer.
|
|
memcpy(result, verts, count*sizeof(cpVect));
|
|
} else {
|
|
// If a result array was not specified, reduce the input instead.
|
|
result = verts;
|
|
}
|
|
|
|
// Degenerate case, all poins are the same.
|
|
int start, end;
|
|
cpLoopIndexes(verts, count, &start, &end);
|
|
if(start == end){
|
|
if(first) (*first) = 0;
|
|
return 1;
|
|
}
|
|
|
|
SWAP(result[0], result[start]);
|
|
SWAP(result[1], result[end == 0 ? start : end]);
|
|
|
|
cpVect a = result[0];
|
|
cpVect b = result[1];
|
|
|
|
if(first) (*first) = start;
|
|
int resultCount = QHullReduce(tol, result + 2, count - 2, a, b, a, result + 1) + 1;
|
|
cpAssertSoft(cpPolyValidate(result, resultCount),
|
|
"Internal error: cpConvexHull() and cpPolyValidate() did not agree."
|
|
"Please report this error with as much info as you can.");
|
|
return resultCount;
|
|
}
|
|
|
|
//MARK: Alternate Block Iterators
|
|
|
|
#if defined(__has_extension)
|
|
#if __has_extension(blocks)
|
|
|
|
static void IteratorFunc(void *ptr, void (^block)(void *ptr)){block(ptr);}
|
|
|
|
void cpSpaceEachBody_b(cpSpace *space, void (^block)(cpBody *body)){
|
|
cpSpaceEachBody(space, (cpSpaceBodyIteratorFunc)IteratorFunc, block);
|
|
}
|
|
|
|
void cpSpaceEachShape_b(cpSpace *space, void (^block)(cpShape *shape)){
|
|
cpSpaceEachShape(space, (cpSpaceShapeIteratorFunc)IteratorFunc, block);
|
|
}
|
|
|
|
void cpSpaceEachConstraint_b(cpSpace *space, void (^block)(cpConstraint *constraint)){
|
|
cpSpaceEachConstraint(space, (cpSpaceConstraintIteratorFunc)IteratorFunc, block);
|
|
}
|
|
|
|
static void BodyIteratorFunc(cpBody *body, void *ptr, void (^block)(void *ptr)){block(ptr);}
|
|
|
|
void cpBodyEachShape_b(cpBody *body, void (^block)(cpShape *shape)){
|
|
cpBodyEachShape(body, (cpBodyShapeIteratorFunc)BodyIteratorFunc, block);
|
|
}
|
|
|
|
void cpBodyEachConstraint_b(cpBody *body, void (^block)(cpConstraint *constraint)){
|
|
cpBodyEachConstraint(body, (cpBodyConstraintIteratorFunc)BodyIteratorFunc, block);
|
|
}
|
|
|
|
void cpBodyEachArbiter_b(cpBody *body, void (^block)(cpArbiter *arbiter)){
|
|
cpBodyEachArbiter(body, (cpBodyArbiterIteratorFunc)BodyIteratorFunc, block);
|
|
}
|
|
|
|
static void NearestPointQueryIteratorFunc(cpShape *shape, cpFloat distance, cpVect point, cpSpaceNearestPointQueryBlock block){block(shape, distance, point);}
|
|
void cpSpaceNearestPointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpLayers layers, cpGroup group, cpSpaceNearestPointQueryBlock block){
|
|
cpSpaceNearestPointQuery(space, point, maxDistance, layers, group, (cpSpaceNearestPointQueryFunc)NearestPointQueryIteratorFunc, block);
|
|
}
|
|
|
|
static void SegmentQueryIteratorFunc(cpShape *shape, cpFloat t, cpVect n, cpSpaceSegmentQueryBlock block){block(shape, t, n);}
|
|
void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryBlock block){
|
|
cpSpaceSegmentQuery(space, start, end, layers, group, (cpSpaceSegmentQueryFunc)SegmentQueryIteratorFunc, block);
|
|
}
|
|
|
|
void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryBlock block){
|
|
cpSpaceBBQuery(space, bb, layers, group, (cpSpaceBBQueryFunc)IteratorFunc, block);
|
|
}
|
|
|
|
static void ShapeQueryIteratorFunc(cpShape *shape, cpContactPointSet *points, cpSpaceShapeQueryBlock block){block(shape, points);}
|
|
cpBool cpSpaceShapeQuery_b(cpSpace *space, cpShape *shape, cpSpaceShapeQueryBlock block){
|
|
return cpSpaceShapeQuery(space, shape, (cpSpaceShapeQueryFunc)ShapeQueryIteratorFunc, block);
|
|
}
|
|
|
|
#endif
|
|
#endif
|
|
|
|
#include "chipmunk_ffi.h"
|