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TP/NP_controle/Box2D/src/Box2D/Collision/b2DynamicTree.cpp deleted 100644 → 0
View file @ 8277e9b3
/*
* Copyright (c) 2009 Erin Catto http://www.box2d.org
*
* 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/Collision/b2DynamicTree.h"
#include <string.h>
b2DynamicTree::b2DynamicTree()
{
m_root = b2_nullNode;
m_nodeCapacity = 16;
m_nodeCount = 0;
m_nodes = (b2TreeNode*)b2Alloc(m_nodeCapacity * sizeof(b2TreeNode));
memset(m_nodes, 0, m_nodeCapacity * sizeof(b2TreeNode));
// Build a linked list for the free list.
for (int32 i = 0; i < m_nodeCapacity - 1; ++i)
{
m_nodes[i].next = i + 1;
m_nodes[i].height = -1;
}
m_nodes[m_nodeCapacity-1].next = b2_nullNode;
m_nodes[m_nodeCapacity-1].height = -1;
m_freeList = 0;
m_path = 0;
m_insertionCount = 0;
}
b2DynamicTree::~b2DynamicTree()
{
// This frees the entire tree in one shot.
b2Free(m_nodes);
}
// Allocate a node from the pool. Grow the pool if necessary.
int32 b2DynamicTree::AllocateNode()
{
// Expand the node pool as needed.
if (m_freeList == b2_nullNode)
{
b2Assert(m_nodeCount == m_nodeCapacity);
// The free list is empty. Rebuild a bigger pool.
b2TreeNode* oldNodes = m_nodes;
m_nodeCapacity *= 2;
m_nodes = (b2TreeNode*)b2Alloc(m_nodeCapacity * sizeof(b2TreeNode));
memcpy(m_nodes, oldNodes, m_nodeCount * sizeof(b2TreeNode));
b2Free(oldNodes);
// Build a linked list for the free list. The parent
// pointer becomes the "next" pointer.
for (int32 i = m_nodeCount; i < m_nodeCapacity - 1; ++i)
{
m_nodes[i].next = i + 1;
m_nodes[i].height = -1;
}
m_nodes[m_nodeCapacity-1].next = b2_nullNode;
m_nodes[m_nodeCapacity-1].height = -1;
m_freeList = m_nodeCount;
}
// Peel a node off the free list.
int32 nodeId = m_freeList;
m_freeList = m_nodes[nodeId].next;
m_nodes[nodeId].parent = b2_nullNode;
m_nodes[nodeId].child1 = b2_nullNode;
m_nodes[nodeId].child2 = b2_nullNode;
m_nodes[nodeId].height = 0;
m_nodes[nodeId].userData = nullptr;
++m_nodeCount;
return nodeId;
}
// Return a node to the pool.
void b2DynamicTree::FreeNode(int32 nodeId)
{
b2Assert(0 <= nodeId && nodeId < m_nodeCapacity);
b2Assert(0 < m_nodeCount);
m_nodes[nodeId].next = m_freeList;
m_nodes[nodeId].height = -1;
m_freeList = nodeId;
--m_nodeCount;
}
// Create a proxy in the tree as a leaf node. We return the index
// of the node instead of a pointer so that we can grow
// the node pool.
int32 b2DynamicTree::CreateProxy(const b2AABB& aabb, void* userData)
{
int32 proxyId = AllocateNode();
// Fatten the aabb.
b2Vec2 r(b2_aabbExtension, b2_aabbExtension);
m_nodes[proxyId].aabb.lowerBound = aabb.lowerBound - r;
m_nodes[proxyId].aabb.upperBound = aabb.upperBound + r;
m_nodes[proxyId].userData = userData;
m_nodes[proxyId].height = 0;
InsertLeaf(proxyId);
return proxyId;
}
void b2DynamicTree::DestroyProxy(int32 proxyId)
{
b2Assert(0 <= proxyId && proxyId < m_nodeCapacity);
b2Assert(m_nodes[proxyId].IsLeaf());
RemoveLeaf(proxyId);
FreeNode(proxyId);
}
bool b2DynamicTree::MoveProxy(int32 proxyId, const b2AABB& aabb, const b2Vec2& displacement)
{
b2Assert(0 <= proxyId && proxyId < m_nodeCapacity);
b2Assert(m_nodes[proxyId].IsLeaf());
if (m_nodes[proxyId].aabb.Contains(aabb))
{
return false;
}
RemoveLeaf(proxyId);
// Extend AABB.
b2AABB b = aabb;
b2Vec2 r(b2_aabbExtension, b2_aabbExtension);
b.lowerBound = b.lowerBound - r;
b.upperBound = b.upperBound + r;
// Predict AABB displacement.
b2Vec2 d = b2_aabbMultiplier * displacement;
if (d.x < 0.0f)
{
b.lowerBound.x += d.x;
}
else
{
b.upperBound.x += d.x;
}
if (d.y < 0.0f)
{
b.lowerBound.y += d.y;
}
else
{
b.upperBound.y += d.y;
}
m_nodes[proxyId].aabb = b;
InsertLeaf(proxyId);
return true;
}
void b2DynamicTree::InsertLeaf(int32 leaf)
{
++m_insertionCount;
if (m_root == b2_nullNode)
{
m_root = leaf;
m_nodes[m_root].parent = b2_nullNode;
return;
}
// Find the best sibling for this node
b2AABB leafAABB = m_nodes[leaf].aabb;
int32 index = m_root;
while (m_nodes[index].IsLeaf() == false)
{
int32 child1 = m_nodes[index].child1;
int32 child2 = m_nodes[index].child2;
float32 area = m_nodes[index].aabb.GetPerimeter();
b2AABB combinedAABB;
combinedAABB.Combine(m_nodes[index].aabb, leafAABB);
float32 combinedArea = combinedAABB.GetPerimeter();
// Cost of creating a new parent for this node and the new leaf
float32 cost = 2.0f * combinedArea;
// Minimum cost of pushing the leaf further down the tree
float32 inheritanceCost = 2.0f * (combinedArea - area);
// Cost of descending into child1
float32 cost1;
if (m_nodes[child1].IsLeaf())
{
b2AABB aabb;
aabb.Combine(leafAABB, m_nodes[child1].aabb);
cost1 = aabb.GetPerimeter() + inheritanceCost;
}
else
{
b2AABB aabb;
aabb.Combine(leafAABB, m_nodes[child1].aabb);
float32 oldArea = m_nodes[child1].aabb.GetPerimeter();
float32 newArea = aabb.GetPerimeter();
cost1 = (newArea - oldArea) + inheritanceCost;
}
// Cost of descending into child2
float32 cost2;
if (m_nodes[child2].IsLeaf())
{
b2AABB aabb;
aabb.Combine(leafAABB, m_nodes[child2].aabb);
cost2 = aabb.GetPerimeter() + inheritanceCost;
}
else
{
b2AABB aabb;
aabb.Combine(leafAABB, m_nodes[child2].aabb);
float32 oldArea = m_nodes[child2].aabb.GetPerimeter();
float32 newArea = aabb.GetPerimeter();
cost2 = newArea - oldArea + inheritanceCost;
}
// Descend according to the minimum cost.
if (cost < cost1 && cost < cost2)
{
break;
}
// Descend
if (cost1 < cost2)
{
index = child1;
}
else
{
index = child2;
}
}
int32 sibling = index;
// Create a new parent.
int32 oldParent = m_nodes[sibling].parent;
int32 newParent = AllocateNode();
m_nodes[newParent].parent = oldParent;
m_nodes[newParent].userData = nullptr;
m_nodes[newParent].aabb.Combine(leafAABB, m_nodes[sibling].aabb);
m_nodes[newParent].height = m_nodes[sibling].height + 1;
if (oldParent != b2_nullNode)
{
// The sibling was not the root.
if (m_nodes[oldParent].child1 == sibling)
{
m_nodes[oldParent].child1 = newParent;
}
else
{
m_nodes[oldParent].child2 = newParent;
}
m_nodes[newParent].child1 = sibling;
m_nodes[newParent].child2 = leaf;
m_nodes[sibling].parent = newParent;
m_nodes[leaf].parent = newParent;
}
else
{
// The sibling was the root.
m_nodes[newParent].child1 = sibling;
m_nodes[newParent].child2 = leaf;
m_nodes[sibling].parent = newParent;
m_nodes[leaf].parent = newParent;
m_root = newParent;
}
// Walk back up the tree fixing heights and AABBs
index = m_nodes[leaf].parent;
while (index != b2_nullNode)
{
index = Balance(index);
int32 child1 = m_nodes[index].child1;
int32 child2 = m_nodes[index].child2;
b2Assert(child1 != b2_nullNode);
b2Assert(child2 != b2_nullNode);
m_nodes[index].height = 1 + b2Max(m_nodes[child1].height, m_nodes[child2].height);
m_nodes[index].aabb.Combine(m_nodes[child1].aabb, m_nodes[child2].aabb);
index = m_nodes[index].parent;
}
//Validate();
}
void b2DynamicTree::RemoveLeaf(int32 leaf)
{
if (leaf == m_root)
{
m_root = b2_nullNode;
return;
}
int32 parent = m_nodes[leaf].parent;
int32 grandParent = m_nodes[parent].parent;
int32 sibling;
if (m_nodes[parent].child1 == leaf)
{
sibling = m_nodes[parent].child2;
}
else
{
sibling = m_nodes[parent].child1;
}
if (grandParent != b2_nullNode)
{
// Destroy parent and connect sibling to grandParent.
if (m_nodes[grandParent].child1 == parent)
{
m_nodes[grandParent].child1 = sibling;
}
else
{
m_nodes[grandParent].child2 = sibling;
}
m_nodes[sibling].parent = grandParent;
FreeNode(parent);
// Adjust ancestor bounds.
int32 index = grandParent;
while (index != b2_nullNode)
{
index = Balance(index);
int32 child1 = m_nodes[index].child1;
int32 child2 = m_nodes[index].child2;
m_nodes[index].aabb.Combine(m_nodes[child1].aabb, m_nodes[child2].aabb);
m_nodes[index].height = 1 + b2Max(m_nodes[child1].height, m_nodes[child2].height);
index = m_nodes[index].parent;
}
}
else
{
m_root = sibling;
m_nodes[sibling].parent = b2_nullNode;
FreeNode(parent);
}
//Validate();
}
// Perform a left or right rotation if node A is imbalanced.
// Returns the new root index.
int32 b2DynamicTree::Balance(int32 iA)
{
b2Assert(iA != b2_nullNode);
b2TreeNode* A = m_nodes + iA;
if (A->IsLeaf() || A->height < 2)
{
return iA;
}
int32 iB = A->child1;
int32 iC = A->child2;
b2Assert(0 <= iB && iB < m_nodeCapacity);
b2Assert(0 <= iC && iC < m_nodeCapacity);
b2TreeNode* B = m_nodes + iB;
b2TreeNode* C = m_nodes + iC;
int32 balance = C->height - B->height;
// Rotate C up
if (balance > 1)
{
int32 iF = C->child1;
int32 iG = C->child2;
b2TreeNode* F = m_nodes + iF;
b2TreeNode* G = m_nodes + iG;
b2Assert(0 <= iF && iF < m_nodeCapacity);
b2Assert(0 <= iG && iG < m_nodeCapacity);
// Swap A and C
C->child1 = iA;
C->parent = A->parent;
A->parent = iC;
// A's old parent should point to C
if (C->parent != b2_nullNode)
{
if (m_nodes[C->parent].child1 == iA)
{
m_nodes[C->parent].child1 = iC;
}
else
{
b2Assert(m_nodes[C->parent].child2 == iA);
m_nodes[C->parent].child2 = iC;
}
}
else
{
m_root = iC;
}
// Rotate
if (F->height > G->height)
{
C->child2 = iF;
A->child2 = iG;
G->parent = iA;
A->aabb.Combine(B->aabb, G->aabb);
C->aabb.Combine(A->aabb, F->aabb);
A->height = 1 + b2Max(B->height, G->height);
C->height = 1 + b2Max(A->height, F->height);
}
else
{
C->child2 = iG;
A->child2 = iF;
F->parent = iA;
A->aabb.Combine(B->aabb, F->aabb);
C->aabb.Combine(A->aabb, G->aabb);
A->height = 1 + b2Max(B->height, F->height);
C->height = 1 + b2Max(A->height, G->height);
}
return iC;
}
// Rotate B up
if (balance < -1)
{
int32 iD = B->child1;
int32 iE = B->child2;
b2TreeNode* D = m_nodes + iD;
b2TreeNode* E = m_nodes + iE;
b2Assert(0 <= iD && iD < m_nodeCapacity);
b2Assert(0 <= iE && iE < m_nodeCapacity);
// Swap A and B
B->child1 = iA;
B->parent = A->parent;
A->parent = iB;
// A's old parent should point to B
if (B->parent != b2_nullNode)
{
if (m_nodes[B->parent].child1 == iA)
{
m_nodes[B->parent].child1 = iB;
}
else
{
b2Assert(m_nodes[B->parent].child2 == iA);
m_nodes[B->parent].child2 = iB;
}
}
else
{
m_root = iB;
}
// Rotate
if (D->height > E->height)
{
B->child2 = iD;
A->child1 = iE;
E->parent = iA;
A->aabb.Combine(C->aabb, E->aabb);
B->aabb.Combine(A->aabb, D->aabb);
A->height = 1 + b2Max(C->height, E->height);
B->height = 1 + b2Max(A->height, D->height);
}
else
{
B->child2 = iE;
A->child1 = iD;
D->parent = iA;
A->aabb.Combine(C->aabb, D->aabb);
B->aabb.Combine(A->aabb, E->aabb);
A->height = 1 + b2Max(C->height, D->height);
B->height = 1 + b2Max(A->height, E->height);
}
return iB;
}
return iA;
}
int32 b2DynamicTree::GetHeight() const
{
if (m_root == b2_nullNode)
{
return 0;
}
return m_nodes[m_root].height;
}
//
float32 b2DynamicTree::GetAreaRatio() const
{
if (m_root == b2_nullNode)
{
return 0.0f;
}
const b2TreeNode* root = m_nodes + m_root;
float32 rootArea = root->aabb.GetPerimeter();
float32 totalArea = 0.0f;
for (int32 i = 0; i < m_nodeCapacity; ++i)
{
const b2TreeNode* node = m_nodes + i;
if (node->height < 0)
{
// Free node in pool
continue;
}
totalArea += node->aabb.GetPerimeter();
}
return totalArea / rootArea;
}
// Compute the height of a sub-tree.
int32 b2DynamicTree::ComputeHeight(int32 nodeId) const
{
b2Assert(0 <= nodeId && nodeId < m_nodeCapacity);
b2TreeNode* node = m_nodes + nodeId;
if (node->IsLeaf())
{
return 0;
}
int32 height1 = ComputeHeight(node->child1);
int32 height2 = ComputeHeight(node->child2);
return 1 + b2Max(height1, height2);
}
int32 b2DynamicTree::ComputeHeight() const
{
int32 height = ComputeHeight(m_root);
return height;
}
void b2DynamicTree::ValidateStructure(int32 index) const
{
if (index == b2_nullNode)
{
return;
}
if (index == m_root)
{
b2Assert(m_nodes[index].parent == b2_nullNode);
}
const b2TreeNode* node = m_nodes + index;
int32 child1 = node->child1;
int32 child2 = node->child2;
if (node->IsLeaf())
{
b2Assert(child1 == b2_nullNode);
b2Assert(child2 == b2_nullNode);
b2Assert(node->height == 0);
return;
}
b2Assert(0 <= child1 && child1 < m_nodeCapacity);
b2Assert(0 <= child2 && child2 < m_nodeCapacity);
b2Assert(m_nodes[child1].parent == index);
b2Assert(m_nodes[child2].parent == index);
ValidateStructure(child1);
ValidateStructure(child2);
}
void b2DynamicTree::ValidateMetrics(int32 index) const
{
if (index == b2_nullNode)
{
return;
}
const b2TreeNode* node = m_nodes + index;
int32 child1 = node->child1;
int32 child2 = node->child2;
if (node->IsLeaf())
{
b2Assert(child1 == b2_nullNode);
b2Assert(child2 == b2_nullNode);
b2Assert(node->height == 0);
return;
}
b2Assert(0 <= child1 && child1 < m_nodeCapacity);
b2Assert(0 <= child2 && child2 < m_nodeCapacity);
int32 height1 = m_nodes[child1].height;
int32 height2 = m_nodes[child2].height;
int32 height;
height = 1 + b2Max(height1, height2);
b2Assert(node->height == height);
b2AABB aabb;
aabb.Combine(m_nodes[child1].aabb, m_nodes[child2].aabb);
b2Assert(aabb.lowerBound == node->aabb.lowerBound);
b2Assert(aabb.upperBound == node->aabb.upperBound);
ValidateMetrics(child1);
ValidateMetrics(child2);
}
void b2DynamicTree::Validate() const
{
#if defined(b2DEBUG)
ValidateStructure(m_root);
ValidateMetrics(m_root);
int32 freeCount = 0;
int32 freeIndex = m_freeList;
while (freeIndex != b2_nullNode)
{
b2Assert(0 <= freeIndex && freeIndex < m_nodeCapacity);
freeIndex = m_nodes[freeIndex].next;
++freeCount;
}
b2Assert(GetHeight() == ComputeHeight());
b2Assert(m_nodeCount + freeCount == m_nodeCapacity);
#endif
}
int32 b2DynamicTree::GetMaxBalance() const
{
int32 maxBalance = 0;
for (int32 i = 0; i < m_nodeCapacity; ++i)
{
const b2TreeNode* node = m_nodes + i;
if (node->height <= 1)
{
continue;
}
b2Assert(node->IsLeaf() == false);
int32 child1 = node->child1;
int32 child2 = node->child2;
int32 balance = b2Abs(m_nodes[child2].height - m_nodes[child1].height);
maxBalance = b2Max(maxBalance, balance);
}
return maxBalance;
}
void b2DynamicTree::RebuildBottomUp()
{
int32* nodes = (int32*)b2Alloc(m_nodeCount * sizeof(int32));
int32 count = 0;
// Build array of leaves. Free the rest.
for (int32 i = 0; i < m_nodeCapacity; ++i)
{
if (m_nodes[i].height < 0)
{
// free node in pool
continue;
}
if (m_nodes[i].IsLeaf())
{
m_nodes[i].parent = b2_nullNode;
nodes[count] = i;
++count;
}
else
{
FreeNode(i);
}
}
while (count > 1)
{
float32 minCost = b2_maxFloat;
int32 iMin = -1, jMin = -1;
for (int32 i = 0; i < count; ++i)
{
b2AABB aabbi = m_nodes[nodes[i]].aabb;
for (int32 j = i + 1; j < count; ++j)
{
b2AABB aabbj = m_nodes[nodes[j]].aabb;
b2AABB b;
b.Combine(aabbi, aabbj);
float32 cost = b.GetPerimeter();
if (cost < minCost)
{
iMin = i;
jMin = j;
minCost = cost;
}
}
}
int32 index1 = nodes[iMin];
int32 index2 = nodes[jMin];
b2TreeNode* child1 = m_nodes + index1;
b2TreeNode* child2 = m_nodes + index2;
int32 parentIndex = AllocateNode();
b2TreeNode* parent = m_nodes + parentIndex;
parent->child1 = index1;
parent->child2 = index2;
parent->height = 1 + b2Max(child1->height, child2->height);
parent->aabb.Combine(child1->aabb, child2->aabb);
parent->parent = b2_nullNode;
child1->parent = parentIndex;
child2->parent = parentIndex;
nodes[jMin] = nodes[count-1];
nodes[iMin] = parentIndex;
--count;
}
m_root = nodes[0];
b2Free(nodes);
Validate();
}
void b2DynamicTree::ShiftOrigin(const b2Vec2& newOrigin)
{
// Build array of leaves. Free the rest.
for (int32 i = 0; i < m_nodeCapacity; ++i)
{
m_nodes[i].aabb.lowerBound -= newOrigin;
m_nodes[i].aabb.upperBound -= newOrigin;
}
}
TP/NP_controle/Box2D/src/Box2D/Collision/b2DynamicTree.h deleted 100644 → 0
View file @ 8277e9b3
/*
* Copyright (c) 2009 Erin Catto http://www.box2d.org
*
* 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_DYNAMIC_TREE_H
#define B2_DYNAMIC_TREE_H
#include "Box2D/Collision/b2Collision.h"
#include "Box2D/Common/b2GrowableStack.h"
#define b2_nullNode (-1)
/// A node in the dynamic tree. The client does not interact with this directly.
struct b2TreeNode
{
bool IsLeaf() const
{
return child1 == b2_nullNode;
}
/// Enlarged AABB
b2AABB aabb;
void* userData;
union
{
int32 parent;
int32 next;
};
int32 child1;
int32 child2;
// leaf = 0, free node = -1
int32 height;
};
/// A dynamic AABB tree broad-phase, inspired by Nathanael Presson's btDbvt.
/// A dynamic tree arranges data in a binary tree to accelerate
/// queries such as volume queries and ray casts. Leafs are proxies
/// with an AABB. In the tree we expand the proxy AABB by b2_fatAABBFactor
/// so that the proxy AABB is bigger than the client object. This allows the client
/// object to move by small amounts without triggering a tree update.
///
/// Nodes are pooled and relocatable, so we use node indices rather than pointers.
class b2DynamicTree
{
public:
/// Constructing the tree initializes the node pool.
b2DynamicTree();
/// Destroy the tree, freeing the node pool.
~b2DynamicTree();
/// Create a proxy. Provide a tight fitting AABB and a userData pointer.
int32 CreateProxy(const b2AABB& aabb, void* userData);
/// Destroy a proxy. This asserts if the id is invalid.
void DestroyProxy(int32 proxyId);
/// Move a proxy with a swepted AABB. If the proxy has moved outside of its fattened AABB,
/// then the proxy is removed from the tree and re-inserted. Otherwise
/// the function returns immediately.
/// @return true if the proxy was re-inserted.
bool MoveProxy(int32 proxyId, const b2AABB& aabb1, const b2Vec2& displacement);
/// Get proxy user data.
/// @return the proxy user data or 0 if the id is invalid.
void* GetUserData(int32 proxyId) const;
/// Get the fat AABB for a proxy.
const b2AABB& GetFatAABB(int32 proxyId) const;
/// Query an AABB for overlapping proxies. The callback class
/// is called for each proxy that overlaps the supplied AABB.
template <typename T>
void Query(T* callback, const b2AABB& aabb) const;
/// Ray-cast against the proxies in the tree. This relies on the callback
/// to perform a exact ray-cast in the case were the proxy contains a shape.
/// The callback also performs the any collision filtering. This has performance
/// roughly equal to k * log(n), where k is the number of collisions and n is the
/// number of proxies in the tree.
/// @param input the ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1).
/// @param callback a callback class that is called for each proxy that is hit by the ray.
template <typename T>
void RayCast(T* callback, const b2RayCastInput& input) const;
/// Validate this tree. For testing.
void Validate() const;
/// Compute the height of the binary tree in O(N) time. Should not be
/// called often.
int32 GetHeight() const;
/// Get the maximum balance of an node in the tree. The balance is the difference
/// in height of the two children of a node.
int32 GetMaxBalance() const;
/// Get the ratio of the sum of the node areas to the root area.
float32 GetAreaRatio() const;
/// Build an optimal tree. Very expensive. For testing.
void RebuildBottomUp();
/// Shift the world origin. Useful for large worlds.
/// The shift formula is: position -= newOrigin
/// @param newOrigin the new origin with respect to the old origin
void ShiftOrigin(const b2Vec2& newOrigin);
private:
int32 AllocateNode();
void FreeNode(int32 node);
void InsertLeaf(int32 node);
void RemoveLeaf(int32 node);
int32 Balance(int32 index);
int32 ComputeHeight() const;
int32 ComputeHeight(int32 nodeId) const;
void ValidateStructure(int32 index) const;
void ValidateMetrics(int32 index) const;
int32 m_root;
b2TreeNode* m_nodes;
int32 m_nodeCount;
int32 m_nodeCapacity;
int32 m_freeList;
/// This is used to incrementally traverse the tree for re-balancing.
uint32 m_path;
int32 m_insertionCount;
};
inline void* b2DynamicTree::GetUserData(int32 proxyId) const
{
b2Assert(0 <= proxyId && proxyId < m_nodeCapacity);
return m_nodes[proxyId].userData;
}
inline const b2AABB& b2DynamicTree::GetFatAABB(int32 proxyId) const
{
b2Assert(0 <= proxyId && proxyId < m_nodeCapacity);
return m_nodes[proxyId].aabb;
}
template <typename T>
inline void b2DynamicTree::Query(T* callback, const b2AABB& aabb) const
{
b2GrowableStack<int32, 256> stack;
stack.Push(m_root);
while (stack.GetCount() > 0)
{
int32 nodeId = stack.Pop();
if (nodeId == b2_nullNode)
{
continue;
}
const b2TreeNode* node = m_nodes + nodeId;
if (b2TestOverlap(node->aabb, aabb))
{
if (node->IsLeaf())
{
bool proceed = callback->QueryCallback(nodeId);
if (proceed == false)
{
return;
}
}
else
{
stack.Push(node->child1);
stack.Push(node->child2);
}
}
}
}
template <typename T>
inline void b2DynamicTree::RayCast(T* callback, const b2RayCastInput& input) const
{
b2Vec2 p1 = input.p1;
b2Vec2 p2 = input.p2;
b2Vec2 r = p2 - p1;
b2Assert(r.LengthSquared() > 0.0f);
r.Normalize();
// v is perpendicular to the segment.
b2Vec2 v = b2Cross(1.0f, r);
b2Vec2 abs_v = b2Abs(v);
// Separating axis for segment (Gino, p80).
// |dot(v, p1 - c)| > dot(|v|, h)
float32 maxFraction = input.maxFraction;
// Build a bounding box for the segment.
b2AABB segmentAABB;
{
b2Vec2 t = p1 + maxFraction * (p2 - p1);
segmentAABB.lowerBound = b2Min(p1, t);
segmentAABB.upperBound = b2Max(p1, t);
}
b2GrowableStack<int32, 256> stack;
stack.Push(m_root);
while (stack.GetCount() > 0)
{
int32 nodeId = stack.Pop();
if (nodeId == b2_nullNode)
{
continue;
}
const b2TreeNode* node = m_nodes + nodeId;
if (b2TestOverlap(node->aabb, segmentAABB) == false)
{
continue;
}
// Separating axis for segment (Gino, p80).
// |dot(v, p1 - c)| > dot(|v|, h)
b2Vec2 c = node->aabb.GetCenter();
b2Vec2 h = node->aabb.GetExtents();
float32 separation = b2Abs(b2Dot(v, p1 - c)) - b2Dot(abs_v, h);
if (separation > 0.0f)
{
continue;
}
if (node->IsLeaf())
{
b2RayCastInput subInput;
subInput.p1 = input.p1;
subInput.p2 = input.p2;
subInput.maxFraction = maxFraction;
float32 value = callback->RayCastCallback(subInput, nodeId);
if (value == 0.0f)
{
// The client has terminated the ray cast.
return;
}
if (value > 0.0f)
{
// Update segment bounding box.
maxFraction = value;
b2Vec2 t = p1 + maxFraction * (p2 - p1);
segmentAABB.lowerBound = b2Min(p1, t);
segmentAABB.upperBound = b2Max(p1, t);
}
}
else
{
stack.Push(node->child1);
stack.Push(node->child2);
}
}
}
#endif
TP/NP_controle/Box2D/src/Box2D/Collision/b2TimeOfImpact.cpp deleted 100644 → 0
View file @ 8277e9b3
/*
* Copyright (c) 2007-2009 Erin Catto http://www.box2d.org
*
* 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/Collision/b2Collision.h"
#include "Box2D/Collision/b2Distance.h"
#include "Box2D/Collision/b2TimeOfImpact.h"
#include "Box2D/Collision/Shapes/b2CircleShape.h"
#include "Box2D/Collision/Shapes/b2PolygonShape.h"
#include "Box2D/Common/b2Timer.h"
#include <stdio.h>
float32 b2_toiTime, b2_toiMaxTime;
int32 b2_toiCalls, b2_toiIters, b2_toiMaxIters;
int32 b2_toiRootIters, b2_toiMaxRootIters;
//
struct b2SeparationFunction
{
enum Type
{
e_points,
e_faceA,
e_faceB
};
// TODO_ERIN might not need to return the separation
float32 Initialize(const b2SimplexCache* cache,
const b2DistanceProxy* proxyA, const b2Sweep& sweepA,
const b2DistanceProxy* proxyB, const b2Sweep& sweepB,
float32 t1)
{
m_proxyA = proxyA;
m_proxyB = proxyB;
int32 count = cache->count;
b2Assert(0 < count && count < 3);
m_sweepA = sweepA;
m_sweepB = sweepB;
b2Transform xfA, xfB;
m_sweepA.GetTransform(&xfA, t1);
m_sweepB.GetTransform(&xfB, t1);
if (count == 1)
{
m_type = e_points;
b2Vec2 localPointA = m_proxyA->GetVertex(cache->indexA[0]);
b2Vec2 localPointB = m_proxyB->GetVertex(cache->indexB[0]);
b2Vec2 pointA = b2Mul(xfA, localPointA);
b2Vec2 pointB = b2Mul(xfB, localPointB);
m_axis = pointB - pointA;
float32 s = m_axis.Normalize();
return s;
}
else if (cache->indexA[0] == cache->indexA[1])
{
// Two points on B and one on A.
m_type = e_faceB;
b2Vec2 localPointB1 = proxyB->GetVertex(cache->indexB[0]);
b2Vec2 localPointB2 = proxyB->GetVertex(cache->indexB[1]);
m_axis = b2Cross(localPointB2 - localPointB1, 1.0f);
m_axis.Normalize();
b2Vec2 normal = b2Mul(xfB.q, m_axis);
m_localPoint = 0.5f * (localPointB1 + localPointB2);
b2Vec2 pointB = b2Mul(xfB, m_localPoint);
b2Vec2 localPointA = proxyA->GetVertex(cache->indexA[0]);
b2Vec2 pointA = b2Mul(xfA, localPointA);
float32 s = b2Dot(pointA - pointB, normal);
if (s < 0.0f)
{
m_axis = -m_axis;
s = -s;
}
return s;
}
else
{
// Two points on A and one or two points on B.
m_type = e_faceA;
b2Vec2 localPointA1 = m_proxyA->GetVertex(cache->indexA[0]);
b2Vec2 localPointA2 = m_proxyA->GetVertex(cache->indexA[1]);
m_axis = b2Cross(localPointA2 - localPointA1, 1.0f);
m_axis.Normalize();
b2Vec2 normal = b2Mul(xfA.q, m_axis);
m_localPoint = 0.5f * (localPointA1 + localPointA2);
b2Vec2 pointA = b2Mul(xfA, m_localPoint);
b2Vec2 localPointB = m_proxyB->GetVertex(cache->indexB[0]);
b2Vec2 pointB = b2Mul(xfB, localPointB);
float32 s = b2Dot(pointB - pointA, normal);
if (s < 0.0f)
{
m_axis = -m_axis;
s = -s;
}
return s;
}
}
//
float32 FindMinSeparation(int32* indexA, int32* indexB, float32 t) const
{
b2Transform xfA, xfB;
m_sweepA.GetTransform(&xfA, t);
m_sweepB.GetTransform(&xfB, t);
switch (m_type)
{
case e_points:
{
b2Vec2 axisA = b2MulT(xfA.q, m_axis);
b2Vec2 axisB = b2MulT(xfB.q, -m_axis);
*indexA = m_proxyA->GetSupport(axisA);
*indexB = m_proxyB->GetSupport(axisB);
b2Vec2 localPointA = m_proxyA->GetVertex(*indexA);
b2Vec2 localPointB = m_proxyB->GetVertex(*indexB);
b2Vec2 pointA = b2Mul(xfA, localPointA);
b2Vec2 pointB = b2Mul(xfB, localPointB);
float32 separation = b2Dot(pointB - pointA, m_axis);
return separation;
}
case e_faceA:
{
b2Vec2 normal = b2Mul(xfA.q, m_axis);
b2Vec2 pointA = b2Mul(xfA, m_localPoint);
b2Vec2 axisB = b2MulT(xfB.q, -normal);
*indexA = -1;
*indexB = m_proxyB->GetSupport(axisB);
b2Vec2 localPointB = m_proxyB->GetVertex(*indexB);
b2Vec2 pointB = b2Mul(xfB, localPointB);
float32 separation = b2Dot(pointB - pointA, normal);
return separation;
}
case e_faceB:
{
b2Vec2 normal = b2Mul(xfB.q, m_axis);
b2Vec2 pointB = b2Mul(xfB, m_localPoint);
b2Vec2 axisA = b2MulT(xfA.q, -normal);
*indexB = -1;
*indexA = m_proxyA->GetSupport(axisA);
b2Vec2 localPointA = m_proxyA->GetVertex(*indexA);
b2Vec2 pointA = b2Mul(xfA, localPointA);
float32 separation = b2Dot(pointA - pointB, normal);
return separation;
}
default:
b2Assert(false);
*indexA = -1;
*indexB = -1;
return 0.0f;
}
}
//
float32 Evaluate(int32 indexA, int32 indexB, float32 t) const
{
b2Transform xfA, xfB;
m_sweepA.GetTransform(&xfA, t);
m_sweepB.GetTransform(&xfB, t);
switch (m_type)
{
case e_points:
{
b2Vec2 localPointA = m_proxyA->GetVertex(indexA);
b2Vec2 localPointB = m_proxyB->GetVertex(indexB);
b2Vec2 pointA = b2Mul(xfA, localPointA);
b2Vec2 pointB = b2Mul(xfB, localPointB);
float32 separation = b2Dot(pointB - pointA, m_axis);
return separation;
}
case e_faceA:
{
b2Vec2 normal = b2Mul(xfA.q, m_axis);
b2Vec2 pointA = b2Mul(xfA, m_localPoint);
b2Vec2 localPointB = m_proxyB->GetVertex(indexB);
b2Vec2 pointB = b2Mul(xfB, localPointB);
float32 separation = b2Dot(pointB - pointA, normal);
return separation;
}
case e_faceB:
{
b2Vec2 normal = b2Mul(xfB.q, m_axis);
b2Vec2 pointB = b2Mul(xfB, m_localPoint);
b2Vec2 localPointA = m_proxyA->GetVertex(indexA);
b2Vec2 pointA = b2Mul(xfA, localPointA);
float32 separation = b2Dot(pointA - pointB, normal);
return separation;
}
default:
b2Assert(false);
return 0.0f;
}
}
const b2DistanceProxy* m_proxyA;
const b2DistanceProxy* m_proxyB;
b2Sweep m_sweepA, m_sweepB;
Type m_type;
b2Vec2 m_localPoint;
b2Vec2 m_axis;
};
// CCD via the local separating axis method. This seeks progression
// by computing the largest time at which separation is maintained.
void b2TimeOfImpact(b2TOIOutput* output, const b2TOIInput* input)
{
b2Timer timer;
++b2_toiCalls;
output->state = b2TOIOutput::e_unknown;
output->t = input->tMax;
const b2DistanceProxy* proxyA = &input->proxyA;
const b2DistanceProxy* proxyB = &input->proxyB;
b2Sweep sweepA = input->sweepA;
b2Sweep sweepB = input->sweepB;
// Large rotations can make the root finder fail, so we normalize the
// sweep angles.
sweepA.Normalize();
sweepB.Normalize();
float32 tMax = input->tMax;
float32 totalRadius = proxyA->m_radius + proxyB->m_radius;
float32 target = b2Max(b2_linearSlop, totalRadius - 3.0f * b2_linearSlop);
float32 tolerance = 0.25f * b2_linearSlop;
b2Assert(target > tolerance);
float32 t1 = 0.0f;
const int32 k_maxIterations = 20; // TODO_ERIN b2Settings
int32 iter = 0;
// Prepare input for distance query.
b2SimplexCache cache;
cache.count = 0;
b2DistanceInput distanceInput;
distanceInput.proxyA = input->proxyA;
distanceInput.proxyB = input->proxyB;
distanceInput.useRadii = false;
// The outer loop progressively attempts to compute new separating axes.
// This loop terminates when an axis is repeated (no progress is made).
for(;;)
{
b2Transform xfA, xfB;
sweepA.GetTransform(&xfA, t1);
sweepB.GetTransform(&xfB, t1);
// Get the distance between shapes. We can also use the results
// to get a separating axis.
distanceInput.transformA = xfA;
distanceInput.transformB = xfB;
b2DistanceOutput distanceOutput;
b2Distance(&distanceOutput, &cache, &distanceInput);
// If the shapes are overlapped, we give up on continuous collision.
if (distanceOutput.distance <= 0.0f)
{
// Failure!
output->state = b2TOIOutput::e_overlapped;
output->t = 0.0f;
break;
}
if (distanceOutput.distance < target + tolerance)
{
// Victory!
output->state = b2TOIOutput::e_touching;
output->t = t1;
break;
}
// Initialize the separating axis.
b2SeparationFunction fcn;
fcn.Initialize(&cache, proxyA, sweepA, proxyB, sweepB, t1);
#if 0
// Dump the curve seen by the root finder
{
const int32 N = 100;
float32 dx = 1.0f / N;
float32 xs[N+1];
float32 fs[N+1];
float32 x = 0.0f;
for (int32 i = 0; i <= N; ++i)
{
sweepA.GetTransform(&xfA, x);
sweepB.GetTransform(&xfB, x);
float32 f = fcn.Evaluate(xfA, xfB) - target;
printf("%g %g\n", x, f);
xs[i] = x;
fs[i] = f;
x += dx;
}
}
#endif
// Compute the TOI on the separating axis. We do this by successively
// resolving the deepest point. This loop is bounded by the number of vertices.
bool done = false;
float32 t2 = tMax;
int32 pushBackIter = 0;
for (;;)
{
// Find the deepest point at t2. Store the witness point indices.
int32 indexA, indexB;
float32 s2 = fcn.FindMinSeparation(&indexA, &indexB, t2);
// Is the final configuration separated?
if (s2 > target + tolerance)
{
// Victory!
output->state = b2TOIOutput::e_separated;
output->t = tMax;
done = true;
break;
}
// Has the separation reached tolerance?
if (s2 > target - tolerance)
{
// Advance the sweeps
t1 = t2;
break;
}
// Compute the initial separation of the witness points.
float32 s1 = fcn.Evaluate(indexA, indexB, t1);
// Check for initial overlap. This might happen if the root finder
// runs out of iterations.
if (s1 < target - tolerance)
{
output->state = b2TOIOutput::e_failed;
output->t = t1;
done = true;
break;
}
// Check for touching
if (s1 <= target + tolerance)
{
// Victory! t1 should hold the TOI (could be 0.0).
output->state = b2TOIOutput::e_touching;
output->t = t1;
done = true;
break;
}
// Compute 1D root of: f(x) - target = 0
int32 rootIterCount = 0;
float32 a1 = t1, a2 = t2;
for (;;)
{
// Use a mix of the secant rule and bisection.
float32 t;
if (rootIterCount & 1)
{
// Secant rule to improve convergence.
t = a1 + (target - s1) * (a2 - a1) / (s2 - s1);
}
else
{
// Bisection to guarantee progress.
t = 0.5f * (a1 + a2);
}
++rootIterCount;
++b2_toiRootIters;
float32 s = fcn.Evaluate(indexA, indexB, t);
if (b2Abs(s - target) < tolerance)
{
// t2 holds a tentative value for t1
t2 = t;
break;
}
// Ensure we continue to bracket the root.
if (s > target)
{
a1 = t;
s1 = s;
}
else
{
a2 = t;
s2 = s;
}
if (rootIterCount == 50)
{
break;
}
}
b2_toiMaxRootIters = b2Max(b2_toiMaxRootIters, rootIterCount);
++pushBackIter;
if (pushBackIter == b2_maxPolygonVertices)
{
break;
}
}
++iter;
++b2_toiIters;
if (done)
{
break;
}
if (iter == k_maxIterations)
{
// Root finder got stuck. Semi-victory.
output->state = b2TOIOutput::e_failed;
output->t = t1;
break;
}
}
b2_toiMaxIters = b2Max(b2_toiMaxIters, iter);
float32 time = timer.GetMilliseconds();
b2_toiMaxTime = b2Max(b2_toiMaxTime, time);
b2_toiTime += time;
}
TP/NP_controle/Box2D/src/Box2D/Collision/b2TimeOfImpact.h deleted 100644 → 0
View file @ 8277e9b3
/*
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
*
* 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_TIME_OF_IMPACT_H
#define B2_TIME_OF_IMPACT_H
#include "Box2D/Common/b2Math.h"
#include "Box2D/Collision/b2Distance.h"
/// Input parameters for b2TimeOfImpact
struct b2TOIInput
{
b2DistanceProxy proxyA;
b2DistanceProxy proxyB;
b2Sweep sweepA;
b2Sweep sweepB;
float32 tMax; // defines sweep interval [0, tMax]
};
// Output parameters for b2TimeOfImpact.
struct b2TOIOutput
{
enum State
{
e_unknown,
e_failed,
e_overlapped,
e_touching,
e_separated
};
State state;
float32 t;
};
/// Compute the upper bound on time before two shapes penetrate. Time is represented as
/// a fraction between [0,tMax]. This uses a swept separating axis and may miss some intermediate,
/// non-tunneling collision. If you change the time interval, you should call this function
/// again.
/// Note: use b2Distance to compute the contact point and normal at the time of impact.
void b2TimeOfImpact(b2TOIOutput* output, const b2TOIInput* input);
#endif
TP/NP_controle/Box2D/src/Box2D/Common/b2BlockAllocator.cpp deleted 100644 → 0
View file @ 8277e9b3
/*
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
*
* 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/Common/b2BlockAllocator.h"
#include <limits.h>
#include <string.h>
#include <stddef.h>
int32 b2BlockAllocator::s_blockSizes[b2_blockSizes] =
{
16, // 0
32, // 1
64, // 2
96, // 3
128, // 4
160, // 5
192, // 6
224, // 7
256, // 8
320, // 9
384, // 10
448, // 11
512, // 12
640, // 13
};
uint8 b2BlockAllocator::s_blockSizeLookup[b2_maxBlockSize + 1];
bool b2BlockAllocator::s_blockSizeLookupInitialized;
struct b2Chunk
{
int32 blockSize;
b2Block* blocks;
};
struct b2Block
{
b2Block* next;
};
b2BlockAllocator::b2BlockAllocator()
{
b2Assert(b2_blockSizes < UCHAR_MAX);
m_chunkSpace = b2_chunkArrayIncrement;
m_chunkCount = 0;
m_chunks = (b2Chunk*)b2Alloc(m_chunkSpace * sizeof(b2Chunk));
memset(m_chunks, 0, m_chunkSpace * sizeof(b2Chunk));
memset(m_freeLists, 0, sizeof(m_freeLists));
if (s_blockSizeLookupInitialized == false)
{
int32 j = 0;
for (int32 i = 1; i <= b2_maxBlockSize; ++i)
{
b2Assert(j < b2_blockSizes);
if (i <= s_blockSizes[j])
{
s_blockSizeLookup[i] = (uint8)j;
}
else
{
++j;
s_blockSizeLookup[i] = (uint8)j;
}
}
s_blockSizeLookupInitialized = true;
}
}
b2BlockAllocator::~b2BlockAllocator()
{
for (int32 i = 0; i < m_chunkCount; ++i)
{
b2Free(m_chunks[i].blocks);
}
b2Free(m_chunks);
}
void* b2BlockAllocator::Allocate(int32 size)
{
if (size == 0)
return nullptr;
b2Assert(0 < size);
if (size > b2_maxBlockSize)
{
return b2Alloc(size);
}
int32 index = s_blockSizeLookup[size];
b2Assert(0 <= index && index < b2_blockSizes);
if (m_freeLists[index])
{
b2Block* block = m_freeLists[index];
m_freeLists[index] = block->next;
return block;
}
else
{
if (m_chunkCount == m_chunkSpace)
{
b2Chunk* oldChunks = m_chunks;
m_chunkSpace += b2_chunkArrayIncrement;
m_chunks = (b2Chunk*)b2Alloc(m_chunkSpace * sizeof(b2Chunk));
memcpy(m_chunks, oldChunks, m_chunkCount * sizeof(b2Chunk));
memset(m_chunks + m_chunkCount, 0, b2_chunkArrayIncrement * sizeof(b2Chunk));
b2Free(oldChunks);
}
b2Chunk* chunk = m_chunks + m_chunkCount;
chunk->blocks = (b2Block*)b2Alloc(b2_chunkSize);
#if defined(_DEBUG)
memset(chunk->blocks, 0xcd, b2_chunkSize);
#endif
int32 blockSize = s_blockSizes[index];
chunk->blockSize = blockSize;
int32 blockCount = b2_chunkSize / blockSize;
b2Assert(blockCount * blockSize <= b2_chunkSize);
for (int32 i = 0; i < blockCount - 1; ++i)
{
b2Block* block = (b2Block*)((int8*)chunk->blocks + blockSize * i);
b2Block* next = (b2Block*)((int8*)chunk->blocks + blockSize * (i + 1));
block->next = next;
}
b2Block* last = (b2Block*)((int8*)chunk->blocks + blockSize * (blockCount - 1));
last->next = nullptr;
m_freeLists[index] = chunk->blocks->next;
++m_chunkCount;
return chunk->blocks;
}
}
void b2BlockAllocator::Free(void* p, int32 size)
{
if (size == 0)
{
return;
}
b2Assert(0 < size);
if (size > b2_maxBlockSize)
{
b2Free(p);
return;
}
int32 index = s_blockSizeLookup[size];
b2Assert(0 <= index && index < b2_blockSizes);
#ifdef _DEBUG
// Verify the memory address and size is valid.
int32 blockSize = s_blockSizes[index];
bool found = false;
for (int32 i = 0; i < m_chunkCount; ++i)
{
b2Chunk* chunk = m_chunks + i;
if (chunk->blockSize != blockSize)
{
b2Assert( (int8*)p + blockSize <= (int8*)chunk->blocks ||
(int8*)chunk->blocks + b2_chunkSize <= (int8*)p);
}
else
{
if ((int8*)chunk->blocks <= (int8*)p && (int8*)p + blockSize <= (int8*)chunk->blocks + b2_chunkSize)
{
found = true;
}
}
}
b2Assert(found);
memset(p, 0xfd, blockSize);
#endif
b2Block* block = (b2Block*)p;
block->next = m_freeLists[index];
m_freeLists[index] = block;
}
void b2BlockAllocator::Clear()
{
for (int32 i = 0; i < m_chunkCount; ++i)
{
b2Free(m_chunks[i].blocks);
}
m_chunkCount = 0;
memset(m_chunks, 0, m_chunkSpace * sizeof(b2Chunk));
memset(m_freeLists, 0, sizeof(m_freeLists));
}
TP/NP_controle/Box2D/src/Box2D/Common/b2BlockAllocator.h deleted 100644 → 0
View file @ 8277e9b3
/*
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
*
* 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_BLOCK_ALLOCATOR_H
#define B2_BLOCK_ALLOCATOR_H
#include "Box2D/Common/b2Settings.h"
const int32 b2_chunkSize = 16 * 1024;
const int32 b2_maxBlockSize = 640;
const int32 b2_blockSizes = 14;
const int32 b2_chunkArrayIncrement = 128;
struct b2Block;
struct b2Chunk;
/// This is a small object allocator used for allocating small
/// objects that persist for more than one time step.
/// See: http://www.codeproject.com/useritems/Small_Block_Allocator.asp
class b2BlockAllocator
{
public:
b2BlockAllocator();
~b2BlockAllocator();
/// Allocate memory. This will use b2Alloc if the size is larger than b2_maxBlockSize.
void* Allocate(int32 size);
/// Free memory. This will use b2Free if the size is larger than b2_maxBlockSize.
void Free(void* p, int32 size);
void Clear();
private:
b2Chunk* m_chunks;
int32 m_chunkCount;
int32 m_chunkSpace;
b2Block* m_freeLists[b2_blockSizes];
static int32 s_blockSizes[b2_blockSizes];
static uint8 s_blockSizeLookup[b2_maxBlockSize + 1];
static bool s_blockSizeLookupInitialized;
};
#endif
TP/NP_controle/Box2D/src/Box2D/Common/b2Draw.cpp deleted 100644 → 0
View file @ 8277e9b3
/*
* Copyright (c) 2011 Erin Catto http://box2d.org
*
* 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/Common/b2Draw.h"
b2Draw::b2Draw()
{
m_drawFlags = 0;
}
void b2Draw::SetFlags(uint32 flags)
{
m_drawFlags = flags;
}
uint32 b2Draw::GetFlags() const
{
return m_drawFlags;
}
void b2Draw::AppendFlags(uint32 flags)
{
m_drawFlags |= flags;
}
void b2Draw::ClearFlags(uint32 flags)
{
m_drawFlags &= ~flags;
}
TP/NP_controle/Box2D/src/Box2D/Common/b2Draw.h deleted 100644 → 0
View file @ 8277e9b3
/*
* Copyright (c) 2011 Erin Catto http://box2d.org
*
* 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_DRAW_H
#define B2_DRAW_H
#include "Box2D/Common/b2Math.h"
/// Color for debug drawing. Each value has the range [0,1].
struct b2Color
{
b2Color() {}
b2Color(float32 rIn, float32 gIn, float32 bIn, float32 aIn = 1.0f)
{
r = rIn; g = gIn; b = bIn; a = aIn;
}
void Set(float32 rIn, float32 gIn, float32 bIn, float32 aIn = 1.0f)
{
r = rIn; g = gIn; b = bIn; a = aIn;
}
float32 r, g, b, a;
};
/// Implement and register this class with a b2World to provide debug drawing of physics
/// entities in your game.
class b2Draw
{
public:
b2Draw();
virtual ~b2Draw() {}
enum
{
e_shapeBit = 0x0001, ///< draw shapes
e_jointBit = 0x0002, ///< draw joint connections
e_aabbBit = 0x0004, ///< draw axis aligned bounding boxes
e_pairBit = 0x0008, ///< draw broad-phase pairs
e_centerOfMassBit = 0x0010 ///< draw center of mass frame
};
/// Set the drawing flags.
void SetFlags(uint32 flags);
/// Get the drawing flags.
uint32 GetFlags() const;
/// Append flags to the current flags.
void AppendFlags(uint32 flags);
/// Clear flags from the current flags.
void ClearFlags(uint32 flags);
/// Draw a closed polygon provided in CCW order.
virtual void DrawPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color) = 0;
/// Draw a solid closed polygon provided in CCW order.
virtual void DrawSolidPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color) = 0;
/// Draw a circle.
virtual void DrawCircle(const b2Vec2& center, float32 radius, const b2Color& color) = 0;
/// Draw a solid circle.
virtual void DrawSolidCircle(const b2Vec2& center, float32 radius, const b2Vec2& axis, const b2Color& color) = 0;
/// Draw a line segment.
virtual void DrawSegment(const b2Vec2& p1, const b2Vec2& p2, const b2Color& color) = 0;
/// Draw a transform. Choose your own length scale.
/// @param xf a transform.
virtual void DrawTransform(const b2Transform& xf) = 0;
/// Draw a point.
virtual void DrawPoint(const b2Vec2& p, float32 size, const b2Color& color) = 0;
protected:
uint32 m_drawFlags;
};
#endif
TP/NP_controle/Box2D/src/Box2D/Common/b2GrowableStack.h deleted 100644 → 0
View file @ 8277e9b3
/*
* Copyright (c) 2010 Erin Catto http://www.box2d.org
*
* 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_GROWABLE_STACK_H
#define B2_GROWABLE_STACK_H
#include "Box2D/Common/b2Settings.h"
#include <string.h>
/// This is a growable LIFO stack with an initial capacity of N.
/// If the stack size exceeds the initial capacity, the heap is used
/// to increase the size of the stack.
template <typename T, int32 N>
class b2GrowableStack
{
public:
b2GrowableStack()
{
m_stack = m_array;
m_count = 0;
m_capacity = N;
}
~b2GrowableStack()
{
if (m_stack != m_array)
{
b2Free(m_stack);
m_stack = nullptr;
}
}
void Push(const T& element)
{
if (m_count == m_capacity)
{
T* old = m_stack;
m_capacity *= 2;
m_stack = (T*)b2Alloc(m_capacity * sizeof(T));
memcpy(m_stack, old, m_count * sizeof(T));
if (old != m_array)
{
b2Free(old);
}
}
m_stack[m_count] = element;
++m_count;
}
T Pop()
{
b2Assert(m_count > 0);
--m_count;
return m_stack[m_count];
}
int32 GetCount()
{
return m_count;
}
private:
T* m_stack;
T m_array[N];
int32 m_count;
int32 m_capacity;
};
#endif
TP/NP_controle/Box2D/src/Box2D/Common/b2Math.cpp deleted 100644 → 0
View file @ 8277e9b3
/*
* Copyright (c) 2007-2009 Erin Catto http://www.box2d.org
*
* 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/Common/b2Math.h"
const b2Vec2 b2Vec2_zero(0.0f, 0.0f);
/// Solve A * x = b, where b is a column vector. This is more efficient
/// than computing the inverse in one-shot cases.
b2Vec3 b2Mat33::Solve33(const b2Vec3& b) const
{
float32 det = b2Dot(ex, b2Cross(ey, ez));
if (det != 0.0f)
{
det = 1.0f / det;
}
b2Vec3 x;
x.x = det * b2Dot(b, b2Cross(ey, ez));
x.y = det * b2Dot(ex, b2Cross(b, ez));
x.z = det * b2Dot(ex, b2Cross(ey, b));
return x;
}
/// Solve A * x = b, where b is a column vector. This is more efficient
/// than computing the inverse in one-shot cases.
b2Vec2 b2Mat33::Solve22(const b2Vec2& b) const
{
float32 a11 = ex.x, a12 = ey.x, a21 = ex.y, a22 = ey.y;
float32 det = a11 * a22 - a12 * a21;
if (det != 0.0f)
{
det = 1.0f / det;
}
b2Vec2 x;
x.x = det * (a22 * b.x - a12 * b.y);
x.y = det * (a11 * b.y - a21 * b.x);
return x;
}
///
void b2Mat33::GetInverse22(b2Mat33* M) const
{
float32 a = ex.x, b = ey.x, c = ex.y, d = ey.y;
float32 det = a * d - b * c;
if (det != 0.0f)
{
det = 1.0f / det;
}
M->ex.x = det * d; M->ey.x = -det * b; M->ex.z = 0.0f;
M->ex.y = -det * c; M->ey.y = det * a; M->ey.z = 0.0f;
M->ez.x = 0.0f; M->ez.y = 0.0f; M->ez.z = 0.0f;
}
/// Returns the zero matrix if singular.
void b2Mat33::GetSymInverse33(b2Mat33* M) const
{
float32 det = b2Dot(ex, b2Cross(ey, ez));
if (det != 0.0f)
{
det = 1.0f / det;
}
float32 a11 = ex.x, a12 = ey.x, a13 = ez.x;
float32 a22 = ey.y, a23 = ez.y;
float32 a33 = ez.z;
M->ex.x = det * (a22 * a33 - a23 * a23);
M->ex.y = det * (a13 * a23 - a12 * a33);
M->ex.z = det * (a12 * a23 - a13 * a22);
M->ey.x = M->ex.y;
M->ey.y = det * (a11 * a33 - a13 * a13);
M->ey.z = det * (a13 * a12 - a11 * a23);
M->ez.x = M->ex.z;
M->ez.y = M->ey.z;
M->ez.z = det * (a11 * a22 - a12 * a12);
}
TP/NP_controle/Box2D/src/Box2D/Common/b2Math.h deleted 100644 → 0
View file @ 8277e9b3
/*
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
*
* 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_MATH_H
#define B2_MATH_H
#include "Box2D/Common/b2Settings.h"
#include <math.h>
/// This function is used to ensure that a floating point number is not a NaN or infinity.
inline bool b2IsValid(float32 x)
{
int32 ix = *reinterpret_cast<int32*>(&x);
return (ix & 0x7f800000) != 0x7f800000;
}
/// This is a approximate yet fast inverse square-root.
inline float32 b2InvSqrt(float32 x)
{
union
{
float32 x;
int32 i;
} convert;
convert.x = x;
float32 xhalf = 0.5f * x;
convert.i = 0x5f3759df - (convert.i >> 1);
x = convert.x;
x = x * (1.5f - xhalf * x * x);
return x;
}
#define b2Sqrt(x) sqrtf(x)
#define b2Atan2(y, x) atan2f(y, x)
/// A 2D column vector.
struct b2Vec2
{
/// Default constructor does nothing (for performance).
b2Vec2() {}
/// Construct using coordinates.
b2Vec2(float32 xIn, float32 yIn) : x(xIn), y(yIn) {}
/// Set this vector to all zeros.
void SetZero() { x = 0.0f; y = 0.0f; }
/// Set this vector to some specified coordinates.
void Set(float32 x_, float32 y_) { x = x_; y = y_; }
/// Negate this vector.
b2Vec2 operator -() const { b2Vec2 v; v.Set(-x, -y); return v; }
/// Read from and indexed element.
float32 operator () (int32 i) const
{
return (&x)[i];
}
/// Write to an indexed element.
float32& operator () (int32 i)
{
return (&x)[i];
}
/// Add a vector to this vector.
void operator += (const b2Vec2& v)
{
x += v.x; y += v.y;
}
/// Subtract a vector from this vector.
void operator -= (const b2Vec2& v)
{
x -= v.x; y -= v.y;
}
/// Multiply this vector by a scalar.
void operator *= (float32 a)
{
x *= a; y *= a;
}
/// Get the length of this vector (the norm).
float32 Length() const
{
return b2Sqrt(x * x + y * y);
}
/// Get the length squared. For performance, use this instead of
/// b2Vec2::Length (if possible).
float32 LengthSquared() const
{
return x * x + y * y;
}
/// Convert this vector into a unit vector. Returns the length.
float32 Normalize()
{
float32 length = Length();
if (length < b2_epsilon)
{
return 0.0f;
}
float32 invLength = 1.0f / length;
x *= invLength;
y *= invLength;
return length;
}
/// Does this vector contain finite coordinates?
bool IsValid() const
{
return b2IsValid(x) && b2IsValid(y);
}
/// Get the skew vector such that dot(skew_vec, other) == cross(vec, other)
b2Vec2 Skew() const
{
return b2Vec2(-y, x);
}
float32 x, y;
};
/// A 2D column vector with 3 elements.
struct b2Vec3
{
/// Default constructor does nothing (for performance).
b2Vec3() {}
/// Construct using coordinates.
b2Vec3(float32 xIn, float32 yIn, float32 zIn) : x(xIn), y(yIn), z(zIn) {}
/// Set this vector to all zeros.
void SetZero() { x = 0.0f; y = 0.0f; z = 0.0f; }
/// Set this vector to some specified coordinates.
void Set(float32 x_, float32 y_, float32 z_) { x = x_; y = y_; z = z_; }
/// Negate this vector.
b2Vec3 operator -() const { b2Vec3 v; v.Set(-x, -y, -z); return v; }
/// Add a vector to this vector.
void operator += (const b2Vec3& v)
{
x += v.x; y += v.y; z += v.z;
}
/// Subtract a vector from this vector.
void operator -= (const b2Vec3& v)
{
x -= v.x; y -= v.y; z -= v.z;
}
/// Multiply this vector by a scalar.
void operator *= (float32 s)
{
x *= s; y *= s; z *= s;
}
float32 x, y, z;
};
/// A 2-by-2 matrix. Stored in column-major order.
struct b2Mat22
{
/// The default constructor does nothing (for performance).
b2Mat22() {}
/// Construct this matrix using columns.
b2Mat22(const b2Vec2& c1, const b2Vec2& c2)
{
ex = c1;
ey = c2;
}
/// Construct this matrix using scalars.
b2Mat22(float32 a11, float32 a12, float32 a21, float32 a22)
{
ex.x = a11; ex.y = a21;
ey.x = a12; ey.y = a22;
}
/// Initialize this matrix using columns.
void Set(const b2Vec2& c1, const b2Vec2& c2)
{
ex = c1;
ey = c2;
}
/// Set this to the identity matrix.
void SetIdentity()
{
ex.x = 1.0f; ey.x = 0.0f;
ex.y = 0.0f; ey.y = 1.0f;
}
/// Set this matrix to all zeros.
void SetZero()
{
ex.x = 0.0f; ey.x = 0.0f;
ex.y = 0.0f; ey.y = 0.0f;
}
b2Mat22 GetInverse() const
{
float32 a = ex.x, b = ey.x, c = ex.y, d = ey.y;
b2Mat22 B;
float32 det = a * d - b * c;
if (det != 0.0f)
{
det = 1.0f / det;
}
B.ex.x = det * d; B.ey.x = -det * b;
B.ex.y = -det * c; B.ey.y = det * a;
return B;
}
/// Solve A * x = b, where b is a column vector. This is more efficient
/// than computing the inverse in one-shot cases.
b2Vec2 Solve(const b2Vec2& b) const
{
float32 a11 = ex.x, a12 = ey.x, a21 = ex.y, a22 = ey.y;
float32 det = a11 * a22 - a12 * a21;
if (det != 0.0f)
{
det = 1.0f / det;
}
b2Vec2 x;
x.x = det * (a22 * b.x - a12 * b.y);
x.y = det * (a11 * b.y - a21 * b.x);
return x;
}
b2Vec2 ex, ey;
};
/// A 3-by-3 matrix. Stored in column-major order.
struct b2Mat33
{
/// The default constructor does nothing (for performance).
b2Mat33() {}
/// Construct this matrix using columns.
b2Mat33(const b2Vec3& c1, const b2Vec3& c2, const b2Vec3& c3)
{
ex = c1;
ey = c2;
ez = c3;
}
/// Set this matrix to all zeros.
void SetZero()
{
ex.SetZero();
ey.SetZero();
ez.SetZero();
}
/// Solve A * x = b, where b is a column vector. This is more efficient
/// than computing the inverse in one-shot cases.
b2Vec3 Solve33(const b2Vec3& b) const;
/// Solve A * x = b, where b is a column vector. This is more efficient
/// than computing the inverse in one-shot cases. Solve only the upper
/// 2-by-2 matrix equation.
b2Vec2 Solve22(const b2Vec2& b) const;
/// Get the inverse of this matrix as a 2-by-2.
/// Returns the zero matrix if singular.
void GetInverse22(b2Mat33* M) const;
/// Get the symmetric inverse of this matrix as a 3-by-3.
/// Returns the zero matrix if singular.
void GetSymInverse33(b2Mat33* M) const;
b2Vec3 ex, ey, ez;
};
/// Rotation
struct b2Rot
{
b2Rot() {}
/// Initialize from an angle in radians
explicit b2Rot(float32 angle)
{
/// TODO_ERIN optimize
s = sinf(angle);
c = cosf(angle);
}
/// Set using an angle in radians.
void Set(float32 angle)
{
/// TODO_ERIN optimize
s = sinf(angle);
c = cosf(angle);
}
/// Set to the identity rotation
void SetIdentity()
{
s = 0.0f;
c = 1.0f;
}
/// Get the angle in radians
float32 GetAngle() const
{
return b2Atan2(s, c);
}
/// Get the x-axis
b2Vec2 GetXAxis() const
{
return b2Vec2(c, s);
}
/// Get the u-axis
b2Vec2 GetYAxis() const
{
return b2Vec2(-s, c);
}
/// Sine and cosine
float32 s, c;
};
/// A transform contains translation and rotation. It is used to represent
/// the position and orientation of rigid frames.
struct b2Transform
{
/// The default constructor does nothing.
b2Transform() {}
/// Initialize using a position vector and a rotation.
b2Transform(const b2Vec2& position, const b2Rot& rotation) : p(position), q(rotation) {}
/// Set this to the identity transform.
void SetIdentity()
{
p.SetZero();
q.SetIdentity();
}
/// Set this based on the position and angle.
void Set(const b2Vec2& position, float32 angle)
{
p = position;
q.Set(angle);
}
b2Vec2 p;
b2Rot q;
};
/// This describes the motion of a body/shape for TOI computation.
/// Shapes are defined with respect to the body origin, which may
/// no coincide with the center of mass. However, to support dynamics
/// we must interpolate the center of mass position.
struct b2Sweep
{
/// Get the interpolated transform at a specific time.
/// @param beta is a factor in [0,1], where 0 indicates alpha0.
void GetTransform(b2Transform* xfb, float32 beta) const;
/// Advance the sweep forward, yielding a new initial state.
/// @param alpha the new initial time.
void Advance(float32 alpha);
/// Normalize the angles.
void Normalize();
b2Vec2 localCenter; ///< local center of mass position
b2Vec2 c0, c; ///< center world positions
float32 a0, a; ///< world angles
/// Fraction of the current time step in the range [0,1]
/// c0 and a0 are the positions at alpha0.
float32 alpha0;
};
/// Useful constant
extern const b2Vec2 b2Vec2_zero;
/// Perform the dot product on two vectors.
inline float32 b2Dot(const b2Vec2& a, const b2Vec2& b)
{
return a.x * b.x + a.y * b.y;
}
/// Perform the cross product on two vectors. In 2D this produces a scalar.
inline float32 b2Cross(const b2Vec2& a, const b2Vec2& b)
{
return a.x * b.y - a.y * b.x;
}
/// Perform the cross product on a vector and a scalar. In 2D this produces
/// a vector.
inline b2Vec2 b2Cross(const b2Vec2& a, float32 s)
{
return b2Vec2(s * a.y, -s * a.x);
}
/// Perform the cross product on a scalar and a vector. In 2D this produces
/// a vector.
inline b2Vec2 b2Cross(float32 s, const b2Vec2& a)
{
return b2Vec2(-s * a.y, s * a.x);
}
/// Multiply a matrix times a vector. If a rotation matrix is provided,
/// then this transforms the vector from one frame to another.
inline b2Vec2 b2Mul(const b2Mat22& A, const b2Vec2& v)
{
return b2Vec2(A.ex.x * v.x + A.ey.x * v.y, A.ex.y * v.x + A.ey.y * v.y);
}
/// Multiply a matrix transpose times a vector. If a rotation matrix is provided,
/// then this transforms the vector from one frame to another (inverse transform).
inline b2Vec2 b2MulT(const b2Mat22& A, const b2Vec2& v)
{
return b2Vec2(b2Dot(v, A.ex), b2Dot(v, A.ey));
}
/// Add two vectors component-wise.
inline b2Vec2 operator + (const b2Vec2& a, const b2Vec2& b)
{
return b2Vec2(a.x + b.x, a.y + b.y);
}
/// Subtract two vectors component-wise.
inline b2Vec2 operator - (const b2Vec2& a, const b2Vec2& b)
{
return b2Vec2(a.x - b.x, a.y - b.y);
}
inline b2Vec2 operator * (float32 s, const b2Vec2& a)
{
return b2Vec2(s * a.x, s * a.y);
}
inline bool operator == (const b2Vec2& a, const b2Vec2& b)
{
return a.x == b.x && a.y == b.y;
}
inline bool operator != (const b2Vec2& a, const b2Vec2& b)
{
return a.x != b.x || a.y != b.y;
}
inline float32 b2Distance(const b2Vec2& a, const b2Vec2& b)
{
b2Vec2 c = a - b;
return c.Length();
}
inline float32 b2DistanceSquared(const b2Vec2& a, const b2Vec2& b)
{
b2Vec2 c = a - b;
return b2Dot(c, c);
}
inline b2Vec3 operator * (float32 s, const b2Vec3& a)
{
return b2Vec3(s * a.x, s * a.y, s * a.z);
}
/// Add two vectors component-wise.
inline b2Vec3 operator + (const b2Vec3& a, const b2Vec3& b)
{
return b2Vec3(a.x + b.x, a.y + b.y, a.z + b.z);
}
/// Subtract two vectors component-wise.
inline b2Vec3 operator - (const b2Vec3& a, const b2Vec3& b)
{
return b2Vec3(a.x - b.x, a.y - b.y, a.z - b.z);
}
/// Perform the dot product on two vectors.
inline float32 b2Dot(const b2Vec3& a, const b2Vec3& b)
{
return a.x * b.x + a.y * b.y + a.z * b.z;
}
/// Perform the cross product on two vectors.
inline b2Vec3 b2Cross(const b2Vec3& a, const b2Vec3& b)
{
return b2Vec3(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x);
}
inline b2Mat22 operator + (const b2Mat22& A, const b2Mat22& B)
{
return b2Mat22(A.ex + B.ex, A.ey + B.ey);
}
// A * B
inline b2Mat22 b2Mul(const b2Mat22& A, const b2Mat22& B)
{
return b2Mat22(b2Mul(A, B.ex), b2Mul(A, B.ey));
}
// A^T * B
inline b2Mat22 b2MulT(const b2Mat22& A, const b2Mat22& B)
{
b2Vec2 c1(b2Dot(A.ex, B.ex), b2Dot(A.ey, B.ex));
b2Vec2 c2(b2Dot(A.ex, B.ey), b2Dot(A.ey, B.ey));
return b2Mat22(c1, c2);
}
/// Multiply a matrix times a vector.
inline b2Vec3 b2Mul(const b2Mat33& A, const b2Vec3& v)
{
return v.x * A.ex + v.y * A.ey + v.z * A.ez;
}
/// Multiply a matrix times a vector.
inline b2Vec2 b2Mul22(const b2Mat33& A, const b2Vec2& v)
{
return b2Vec2(A.ex.x * v.x + A.ey.x * v.y, A.ex.y * v.x + A.ey.y * v.y);
}
/// Multiply two rotations: q * r
inline b2Rot b2Mul(const b2Rot& q, const b2Rot& r)
{
// [qc -qs] * [rc -rs] = [qc*rc-qs*rs -qc*rs-qs*rc]
// [qs qc] [rs rc] [qs*rc+qc*rs -qs*rs+qc*rc]
// s = qs * rc + qc * rs
// c = qc * rc - qs * rs
b2Rot qr;
qr.s = q.s * r.c + q.c * r.s;
qr.c = q.c * r.c - q.s * r.s;
return qr;
}
/// Transpose multiply two rotations: qT * r
inline b2Rot b2MulT(const b2Rot& q, const b2Rot& r)
{
// [ qc qs] * [rc -rs] = [qc*rc+qs*rs -qc*rs+qs*rc]
// [-qs qc] [rs rc] [-qs*rc+qc*rs qs*rs+qc*rc]
// s = qc * rs - qs * rc
// c = qc * rc + qs * rs
b2Rot qr;
qr.s = q.c * r.s - q.s * r.c;
qr.c = q.c * r.c + q.s * r.s;
return qr;
}
/// Rotate a vector
inline b2Vec2 b2Mul(const b2Rot& q, const b2Vec2& v)
{
return b2Vec2(q.c * v.x - q.s * v.y, q.s * v.x + q.c * v.y);
}
/// Inverse rotate a vector
inline b2Vec2 b2MulT(const b2Rot& q, const b2Vec2& v)
{
return b2Vec2(q.c * v.x + q.s * v.y, -q.s * v.x + q.c * v.y);
}
inline b2Vec2 b2Mul(const b2Transform& T, const b2Vec2& v)
{
float32 x = (T.q.c * v.x - T.q.s * v.y) + T.p.x;
float32 y = (T.q.s * v.x + T.q.c * v.y) + T.p.y;
return b2Vec2(x, y);
}
inline b2Vec2 b2MulT(const b2Transform& T, const b2Vec2& v)
{
float32 px = v.x - T.p.x;
float32 py = v.y - T.p.y;
float32 x = (T.q.c * px + T.q.s * py);
float32 y = (-T.q.s * px + T.q.c * py);
return b2Vec2(x, y);
}
// v2 = A.q.Rot(B.q.Rot(v1) + B.p) + A.p
// = (A.q * B.q).Rot(v1) + A.q.Rot(B.p) + A.p
inline b2Transform b2Mul(const b2Transform& A, const b2Transform& B)
{
b2Transform C;
C.q = b2Mul(A.q, B.q);
C.p = b2Mul(A.q, B.p) + A.p;
return C;
}
// v2 = A.q' * (B.q * v1 + B.p - A.p)
// = A.q' * B.q * v1 + A.q' * (B.p - A.p)
inline b2Transform b2MulT(const b2Transform& A, const b2Transform& B)
{
b2Transform C;
C.q = b2MulT(A.q, B.q);
C.p = b2MulT(A.q, B.p - A.p);
return C;
}
template <typename T>
inline T b2Abs(T a)
{
return a > T(0) ? a : -a;
}
inline b2Vec2 b2Abs(const b2Vec2& a)
{
return b2Vec2(b2Abs(a.x), b2Abs(a.y));
}
inline b2Mat22 b2Abs(const b2Mat22& A)
{
return b2Mat22(b2Abs(A.ex), b2Abs(A.ey));
}
template <typename T>
inline T b2Min(T a, T b)
{
return a < b ? a : b;
}
inline b2Vec2 b2Min(const b2Vec2& a, const b2Vec2& b)
{
return b2Vec2(b2Min(a.x, b.x), b2Min(a.y, b.y));
}
template <typename T>
inline T b2Max(T a, T b)
{
return a > b ? a : b;
}
inline b2Vec2 b2Max(const b2Vec2& a, const b2Vec2& b)
{
return b2Vec2(b2Max(a.x, b.x), b2Max(a.y, b.y));
}
template <typename T>
inline T b2Clamp(T a, T low, T high)
{
return b2Max(low, b2Min(a, high));
}
inline b2Vec2 b2Clamp(const b2Vec2& a, const b2Vec2& low, const b2Vec2& high)
{
return b2Max(low, b2Min(a, high));
}
template<typename T> inline void b2Swap(T& a, T& b)
{
T tmp = a;
a = b;
b = tmp;
}
/// "Next Largest Power of 2
/// Given a binary integer value x, the next largest power of 2 can be computed by a SWAR algorithm
/// that recursively "folds" the upper bits into the lower bits. This process yields a bit vector with
/// the same most significant 1 as x, but all 1's below it. Adding 1 to that value yields the next
/// largest power of 2. For a 32-bit value:"
inline uint32 b2NextPowerOfTwo(uint32 x)
{
x |= (x >> 1);
x |= (x >> 2);
x |= (x >> 4);
x |= (x >> 8);
x |= (x >> 16);
return x + 1;
}
inline bool b2IsPowerOfTwo(uint32 x)
{
bool result = x > 0 && (x & (x - 1)) == 0;
return result;
}
inline void b2Sweep::GetTransform(b2Transform* xf, float32 beta) const
{
xf->p = (1.0f - beta) * c0 + beta * c;
float32 angle = (1.0f - beta) * a0 + beta * a;
xf->q.Set(angle);
// Shift to origin
xf->p -= b2Mul(xf->q, localCenter);
}
inline void b2Sweep::Advance(float32 alpha)
{
b2Assert(alpha0 < 1.0f);
float32 beta = (alpha - alpha0) / (1.0f - alpha0);
c0 += beta * (c - c0);
a0 += beta * (a - a0);
alpha0 = alpha;
}
/// Normalize an angle in radians to be between -pi and pi
inline void b2Sweep::Normalize()
{
float32 twoPi = 2.0f * b2_pi;
float32 d = twoPi * floorf(a0 / twoPi);
a0 -= d;
a -= d;
}
#endif
TP/NP_controle/Box2D/src/Box2D/Common/b2Settings.cpp deleted 100644 → 0
View file @ 8277e9b3
/*
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
*
* 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/Common/b2Settings.h"
#include <stdio.h>
#include <stdarg.h>
#include <stdlib.h>
b2Version b2_version = {2, 3, 2};
// Memory allocators. Modify these to use your own allocator.
void* b2Alloc(int32 size)
{
return malloc(size);
}
void b2Free(void* mem)
{
free(mem);
}
// You can modify this to use your logging facility.
void b2Log(const char* string, ...)
{
va_list args;
va_start(args, string);
vprintf(string, args);
va_end(args);
}
TP/NP_controle/Box2D/src/Box2D/Common/b2Settings.h deleted 100644 → 0
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/*
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
*
* 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_SETTINGS_H
#define B2_SETTINGS_H
#include <stddef.h>
#include <assert.h>
#include <float.h>
#if !defined(NDEBUG)
#define b2DEBUG
#endif
#define B2_NOT_USED(x) ((void)(x))
#define b2Assert(A) assert(A)
typedef signed char int8;
typedef signed short int16;
typedef signed int int32;
typedef unsigned char uint8;
typedef unsigned short uint16;
typedef unsigned int uint32;
typedef float float32;
typedef double float64;
#define b2_maxFloat FLT_MAX
#define b2_epsilon FLT_EPSILON
#define b2_pi 3.14159265359f
/// @file
/// Global tuning constants based on meters-kilograms-seconds (MKS) units.
///
// Collision
/// The maximum number of contact points between two convex shapes. Do
/// not change this value.
#define b2_maxManifoldPoints 2
/// The maximum number of vertices on a convex polygon. You cannot increase
/// this too much because b2BlockAllocator has a maximum object size.
#define b2_maxPolygonVertices 8
/// This is used to fatten AABBs in the dynamic tree. This allows proxies
/// to move by a small amount without triggering a tree adjustment.
/// This is in meters.
#define b2_aabbExtension 0.1f
/// This is used to fatten AABBs in the dynamic tree. This is used to predict
/// the future position based on the current displacement.
/// This is a dimensionless multiplier.
#define b2_aabbMultiplier 2.0f
/// A small length used as a collision and constraint tolerance. Usually it is
/// chosen to be numerically significant, but visually insignificant.
#define b2_linearSlop 0.005f
/// A small angle used as a collision and constraint tolerance. Usually it is
/// chosen to be numerically significant, but visually insignificant.
#define b2_angularSlop (2.0f / 180.0f * b2_pi)
/// The radius of the polygon/edge shape skin. This should not be modified. Making
/// this smaller means polygons will have an insufficient buffer for continuous collision.
/// Making it larger may create artifacts for vertex collision.
#define b2_polygonRadius (2.0f * b2_linearSlop)
/// Maximum number of sub-steps per contact in continuous physics simulation.
#define b2_maxSubSteps 8
// Dynamics
/// Maximum number of contacts to be handled to solve a TOI impact.
#define b2_maxTOIContacts 32
/// A velocity threshold for elastic collisions. Any collision with a relative linear
/// velocity below this threshold will be treated as inelastic.
#define b2_velocityThreshold 1.0f
/// The maximum linear position correction used when solving constraints. This helps to
/// prevent overshoot.
#define b2_maxLinearCorrection 0.2f
/// The maximum angular position correction used when solving constraints. This helps to
/// prevent overshoot.
#define b2_maxAngularCorrection (8.0f / 180.0f * b2_pi)
/// The maximum linear velocity of a body. This limit is very large and is used
/// to prevent numerical problems. You shouldn't need to adjust this.
#define b2_maxTranslation 2.0f
#define b2_maxTranslationSquared (b2_maxTranslation * b2_maxTranslation)
/// The maximum angular velocity of a body. This limit is very large and is used
/// to prevent numerical problems. You shouldn't need to adjust this.
#define b2_maxRotation (0.5f * b2_pi)
#define b2_maxRotationSquared (b2_maxRotation * b2_maxRotation)
/// This scale factor controls how fast overlap is resolved. Ideally this would be 1 so
/// that overlap is removed in one time step. However using values close to 1 often lead
/// to overshoot.
#define b2_baumgarte 0.2f
#define b2_toiBaugarte 0.75f
// Sleep
/// The time that a body must be still before it will go to sleep.
#define b2_timeToSleep 0.5f
/// A body cannot sleep if its linear velocity is above this tolerance.
#define b2_linearSleepTolerance 0.01f
/// A body cannot sleep if its angular velocity is above this tolerance.
#define b2_angularSleepTolerance (2.0f / 180.0f * b2_pi)
// Memory Allocation
/// Implement this function to use your own memory allocator.
void* b2Alloc(int32 size);
/// If you implement b2Alloc, you should also implement this function.
void b2Free(void* mem);
/// Logging function.
void b2Log(const char* string, ...);
/// Version numbering scheme.
/// See http://en.wikipedia.org/wiki/Software_versioning
struct b2Version
{
int32 major; ///< significant changes
int32 minor; ///< incremental changes
int32 revision; ///< bug fixes
};
/// Current version.
extern b2Version b2_version;
#endif
TP/NP_controle/Box2D/src/Box2D/Common/b2StackAllocator.cpp deleted 100644 → 0
View file @ 8277e9b3
/*
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
*
* 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/Common/b2StackAllocator.h"
#include "Box2D/Common/b2Math.h"
b2StackAllocator::b2StackAllocator()
{
m_index = 0;
m_allocation = 0;
m_maxAllocation = 0;
m_entryCount = 0;
}
b2StackAllocator::~b2StackAllocator()
{
b2Assert(m_index == 0);
b2Assert(m_entryCount == 0);
}
void* b2StackAllocator::Allocate(int32 size)
{
b2Assert(m_entryCount < b2_maxStackEntries);
b2StackEntry* entry = m_entries + m_entryCount;
entry->size = size;
if (m_index + size > b2_stackSize)
{
entry->data = (char*)b2Alloc(size);
entry->usedMalloc = true;
}
else
{
entry->data = m_data + m_index;
entry->usedMalloc = false;
m_index += size;
}
m_allocation += size;
m_maxAllocation = b2Max(m_maxAllocation, m_allocation);
++m_entryCount;
return entry->data;
}
void b2StackAllocator::Free(void* p)
{
b2Assert(m_entryCount > 0);
b2StackEntry* entry = m_entries + m_entryCount - 1;
b2Assert(p == entry->data);
if (entry->usedMalloc)
{
b2Free(p);
}
else
{
m_index -= entry->size;
}
m_allocation -= entry->size;
--m_entryCount;
p = nullptr;
}
int32 b2StackAllocator::GetMaxAllocation() const
{
return m_maxAllocation;
}
TP/NP_controle/Box2D/src/Box2D/Common/b2StackAllocator.h deleted 100644 → 0
View file @ 8277e9b3
/*
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
*
* 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_STACK_ALLOCATOR_H
#define B2_STACK_ALLOCATOR_H
#include "Box2D/Common/b2Settings.h"
const int32 b2_stackSize = 100 * 1024; // 100k
const int32 b2_maxStackEntries = 32;
struct b2StackEntry
{
char* data;
int32 size;
bool usedMalloc;
};
// This is a stack allocator used for fast per step allocations.
// You must nest allocate/free pairs. The code will assert
// if you try to interleave multiple allocate/free pairs.
class b2StackAllocator
{
public:
b2StackAllocator();
~b2StackAllocator();
void* Allocate(int32 size);
void Free(void* p);
int32 GetMaxAllocation() const;
private:
char m_data[b2_stackSize];
int32 m_index;
int32 m_allocation;
int32 m_maxAllocation;
b2StackEntry m_entries[b2_maxStackEntries];
int32 m_entryCount;
};
#endif
TP/NP_controle/Box2D/src/Box2D/Common/b2Timer.cpp deleted 100644 → 0
View file @ 8277e9b3
/*
* Copyright (c) 2011 Erin Catto http://box2d.org
*
* 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/Common/b2Timer.h"
#if defined(_WIN32)
float64 b2Timer::s_invFrequency = 0.0f;
#ifndef WIN32_LEAN_AND_MEAN
#define WIN32_LEAN_AND_MEAN
#endif
#include <windows.h>
b2Timer::b2Timer()
{
LARGE_INTEGER largeInteger;
if (s_invFrequency == 0.0f)
{
QueryPerformanceFrequency(&largeInteger);
s_invFrequency = float64(largeInteger.QuadPart);
if (s_invFrequency > 0.0f)
{
s_invFrequency = 1000.0f / s_invFrequency;
}
}
QueryPerformanceCounter(&largeInteger);
m_start = float64(largeInteger.QuadPart);
}
void b2Timer::Reset()
{
LARGE_INTEGER largeInteger;
QueryPerformanceCounter(&largeInteger);
m_start = float64(largeInteger.QuadPart);
}
float32 b2Timer::GetMilliseconds() const
{
LARGE_INTEGER largeInteger;
QueryPerformanceCounter(&largeInteger);
float64 count = float64(largeInteger.QuadPart);
float32 ms = float32(s_invFrequency * (count - m_start));
return ms;
}
#elif defined(__linux__) || defined (__APPLE__)
#include <sys/time.h>
b2Timer::b2Timer()
{
Reset();
}
void b2Timer::Reset()
{
timeval t;
gettimeofday(&t, 0);
m_start_sec = t.tv_sec;
m_start_usec = t.tv_usec;
}
float32 b2Timer::GetMilliseconds() const
{
timeval t;
gettimeofday(&t, 0);
return 1000.0f * (t.tv_sec - m_start_sec) + 0.001f * (t.tv_usec - m_start_usec);
}
#else
b2Timer::b2Timer()
{
}
void b2Timer::Reset()
{
}
float32 b2Timer::GetMilliseconds() const
{
return 0.0f;
}
#endif
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View file @ 8277e9b3
/*
* Copyright (c) 2011 Erin Catto http://box2d.org
*
* 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_TIMER_H
#define B2_TIMER_H
#include "Box2D/Common/b2Settings.h"
/// Timer for profiling. This has platform specific code and may
/// not work on every platform.
class b2Timer
{
public:
/// Constructor
b2Timer();
/// Reset the timer.
void Reset();
/// Get the time since construction or the last reset.
float32 GetMilliseconds() const;
private:
#if defined(_WIN32)
float64 m_start;
static float64 s_invFrequency;
#elif defined(__linux__) || defined (__APPLE__)
unsigned long m_start_sec;
unsigned long m_start_usec;
#endif
};
#endif
TP/NP_controle/Box2D/src/Box2D/Dynamics/Contacts/b2ChainAndCircleContact.cpp deleted 100644 → 0
View file @ 8277e9b3
/*
* Copyright (c) 2006-2010 Erin Catto http://www.box2d.org
*
* 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/b2ChainAndCircleContact.h"
#include "Box2D/Common/b2BlockAllocator.h"
#include "Box2D/Dynamics/b2Fixture.h"
#include "Box2D/Collision/Shapes/b2ChainShape.h"
#include "Box2D/Collision/Shapes/b2EdgeShape.h"
#include <new>
b2Contact* b2ChainAndCircleContact::Create(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator)
{
void* mem = allocator->Allocate(sizeof(b2ChainAndCircleContact));
return new (mem) b2ChainAndCircleContact(fixtureA, indexA, fixtureB, indexB);
}
void b2ChainAndCircleContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
{
((b2ChainAndCircleContact*)contact)->~b2ChainAndCircleContact();
allocator->Free(contact, sizeof(b2ChainAndCircleContact));
}
b2ChainAndCircleContact::b2ChainAndCircleContact(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB)
: b2Contact(fixtureA, indexA, fixtureB, indexB)
{
b2Assert(m_fixtureA->GetType() == b2Shape::e_chain);
b2Assert(m_fixtureB->GetType() == b2Shape::e_circle);
}
void b2ChainAndCircleContact::Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB)
{
b2ChainShape* chain = (b2ChainShape*)m_fixtureA->GetShape();
b2EdgeShape edge;
chain->GetChildEdge(&edge, m_indexA);
b2CollideEdgeAndCircle( manifold, &edge, xfA,
(b2CircleShape*)m_fixtureB->GetShape(), xfB);
}
TP/NP_controle/Box2D/src/Box2D/Dynamics/Contacts/b2ChainAndCircleContact.h deleted 100644 → 0
View file @ 8277e9b3
/*
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
*
* 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_CHAIN_AND_CIRCLE_CONTACT_H
#define B2_CHAIN_AND_CIRCLE_CONTACT_H
#include "Box2D/Dynamics/Contacts/b2Contact.h"
class b2BlockAllocator;
class b2ChainAndCircleContact : public b2Contact
{
public:
static b2Contact* Create( b2Fixture* fixtureA, int32 indexA,
b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator);
static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);
b2ChainAndCircleContact(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB);
~b2ChainAndCircleContact() {}
void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB) override;
};
#endif
TP/NP_controle/Box2D/src/Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.cpp deleted 100644 → 0
View file @ 8277e9b3
/*
* Copyright (c) 2006-2010 Erin Catto http://www.box2d.org
*
* 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/b2ChainAndPolygonContact.h"
#include "Box2D/Common/b2BlockAllocator.h"
#include "Box2D/Dynamics/b2Fixture.h"
#include "Box2D/Collision/Shapes/b2ChainShape.h"
#include "Box2D/Collision/Shapes/b2EdgeShape.h"
#include <new>
b2Contact* b2ChainAndPolygonContact::Create(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator)
{
void* mem = allocator->Allocate(sizeof(b2ChainAndPolygonContact));
return new (mem) b2ChainAndPolygonContact(fixtureA, indexA, fixtureB, indexB);
}
void b2ChainAndPolygonContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
{
((b2ChainAndPolygonContact*)contact)->~b2ChainAndPolygonContact();
allocator->Free(contact, sizeof(b2ChainAndPolygonContact));
}
b2ChainAndPolygonContact::b2ChainAndPolygonContact(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB)
: b2Contact(fixtureA, indexA, fixtureB, indexB)
{
b2Assert(m_fixtureA->GetType() == b2Shape::e_chain);
b2Assert(m_fixtureB->GetType() == b2Shape::e_polygon);
}
void b2ChainAndPolygonContact::Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB)
{
b2ChainShape* chain = (b2ChainShape*)m_fixtureA->GetShape();
b2EdgeShape edge;
chain->GetChildEdge(&edge, m_indexA);
b2CollideEdgeAndPolygon( manifold, &edge, xfA,
(b2PolygonShape*)m_fixtureB->GetShape(), xfB);
}