diff options
| author | Alon Zakai <alonzakai@gmail.com> | 2013-04-10 15:53:50 -0700 |
|---|---|---|
| committer | Alon Zakai <alonzakai@gmail.com> | 2013-04-10 15:53:50 -0700 |
| commit | f84537c333524d0841923eaec66604584bf77326 (patch) | |
| tree | 6a43fab885a397a80de2cd8117b6ebafdb00cdf5 /tests/box2d/Box2D/Dynamics | |
| parent | a4a20535e79f10c553b685b188fcfd6af12fac07 (diff) | |
more work towards box2d benchmark
Diffstat (limited to 'tests/box2d/Box2D/Dynamics')
53 files changed, 12736 insertions, 0 deletions
diff --git a/tests/box2d/Box2D/Dynamics/Contacts/b2ChainAndCircleContact.cpp b/tests/box2d/Box2D/Dynamics/Contacts/b2ChainAndCircleContact.cpp new file mode 100755 index 00000000..3886dfd7 --- /dev/null +++ b/tests/box2d/Box2D/Dynamics/Contacts/b2ChainAndCircleContact.cpp @@ -0,0 +1,54 @@ +/*
+* 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>
+using namespace std;
+
+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);
+}
diff --git a/tests/box2d/Box2D/Dynamics/Contacts/b2ChainAndCircleContact.h b/tests/box2d/Box2D/Dynamics/Contacts/b2ChainAndCircleContact.h new file mode 100755 index 00000000..2dad0b64 --- /dev/null +++ b/tests/box2d/Box2D/Dynamics/Contacts/b2ChainAndCircleContact.h @@ -0,0 +1,39 @@ +/*
+* 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);
+};
+
+#endif
diff --git a/tests/box2d/Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.cpp b/tests/box2d/Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.cpp new file mode 100755 index 00000000..02bcaaf6 --- /dev/null +++ b/tests/box2d/Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.cpp @@ -0,0 +1,54 @@ +/*
+* 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>
+using namespace std;
+
+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);
+}
diff --git a/tests/box2d/Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.h b/tests/box2d/Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.h new file mode 100755 index 00000000..8f30ee86 --- /dev/null +++ b/tests/box2d/Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.h @@ -0,0 +1,39 @@ +/*
+* 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_POLYGON_CONTACT_H
+#define B2_CHAIN_AND_POLYGON_CONTACT_H
+
+#include <Box2D/Dynamics/Contacts/b2Contact.h>
+
+class b2BlockAllocator;
+
+class b2ChainAndPolygonContact : public b2Contact
+{
+public:
+ static b2Contact* Create( b2Fixture* fixtureA, int32 indexA,
+ b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator);
+ static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);
+
+ b2ChainAndPolygonContact(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB);
+ ~b2ChainAndPolygonContact() {}
+
+ void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB);
+};
+
+#endif
diff --git a/tests/box2d/Box2D/Dynamics/Contacts/b2CircleContact.cpp b/tests/box2d/Box2D/Dynamics/Contacts/b2CircleContact.cpp new file mode 100755 index 00000000..584ef2f1 --- /dev/null +++ b/tests/box2d/Box2D/Dynamics/Contacts/b2CircleContact.cpp @@ -0,0 +1,53 @@ +/*
+* 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/Dynamics/Contacts/b2CircleContact.h>
+#include <Box2D/Dynamics/b2Body.h>
+#include <Box2D/Dynamics/b2Fixture.h>
+#include <Box2D/Dynamics/b2WorldCallbacks.h>
+#include <Box2D/Common/b2BlockAllocator.h>
+#include <Box2D/Collision/b2TimeOfImpact.h>
+
+#include <new>
+using namespace std;
+
+b2Contact* b2CircleContact::Create(b2Fixture* fixtureA, int32, b2Fixture* fixtureB, int32, b2BlockAllocator* allocator)
+{
+ void* mem = allocator->Allocate(sizeof(b2CircleContact));
+ return new (mem) b2CircleContact(fixtureA, fixtureB);
+}
+
+void b2CircleContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
+{
+ ((b2CircleContact*)contact)->~b2CircleContact();
+ allocator->Free(contact, sizeof(b2CircleContact));
+}
+
+b2CircleContact::b2CircleContact(b2Fixture* fixtureA, b2Fixture* fixtureB)
+ : b2Contact(fixtureA, 0, fixtureB, 0)
+{
+ b2Assert(m_fixtureA->GetType() == b2Shape::e_circle);
+ b2Assert(m_fixtureB->GetType() == b2Shape::e_circle);
+}
+
+void b2CircleContact::Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB)
+{
+ b2CollideCircles(manifold,
+ (b2CircleShape*)m_fixtureA->GetShape(), xfA,
+ (b2CircleShape*)m_fixtureB->GetShape(), xfB);
+}
diff --git a/tests/box2d/Box2D/Dynamics/Contacts/b2CircleContact.h b/tests/box2d/Box2D/Dynamics/Contacts/b2CircleContact.h new file mode 100755 index 00000000..aac1f0bd --- /dev/null +++ b/tests/box2d/Box2D/Dynamics/Contacts/b2CircleContact.h @@ -0,0 +1,39 @@ +/*
+* 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_CIRCLE_CONTACT_H
+#define B2_CIRCLE_CONTACT_H
+
+#include <Box2D/Dynamics/Contacts/b2Contact.h>
+
+class b2BlockAllocator;
+
+class b2CircleContact : public b2Contact
+{
+public:
+ static b2Contact* Create( b2Fixture* fixtureA, int32 indexA,
+ b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator);
+ static void Destroy(b2Contact* contact, b2BlockAllocator* allocator);
+
+ b2CircleContact(b2Fixture* fixtureA, b2Fixture* fixtureB);
+ ~b2CircleContact() {}
+
+ void Evaluate(b2Manifold* manifold, const b2Transform& xfA, const b2Transform& xfB);
+};
+
+#endif
diff --git a/tests/box2d/Box2D/Dynamics/Contacts/b2Contact.cpp b/tests/box2d/Box2D/Dynamics/Contacts/b2Contact.cpp new file mode 100755 index 00000000..557af7f0 --- /dev/null +++ b/tests/box2d/Box2D/Dynamics/Contacts/b2Contact.cpp @@ -0,0 +1,240 @@ +/*
+* 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/Dynamics/Contacts/b2Contact.h>
+#include <Box2D/Dynamics/Contacts/b2CircleContact.h>
+#include <Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.h>
+#include <Box2D/Dynamics/Contacts/b2PolygonContact.h>
+#include <Box2D/Dynamics/Contacts/b2EdgeAndCircleContact.h>
+#include <Box2D/Dynamics/Contacts/b2EdgeAndPolygonContact.h>
+#include <Box2D/Dynamics/Contacts/b2ChainAndCircleContact.h>
+#include <Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.h>
+#include <Box2D/Dynamics/Contacts/b2ContactSolver.h>
+
+#include <Box2D/Collision/b2Collision.h>
+#include <Box2D/Collision/b2TimeOfImpact.h>
+#include <Box2D/Collision/Shapes/b2Shape.h>
+#include <Box2D/Common/b2BlockAllocator.h>
+#include <Box2D/Dynamics/b2Body.h>
+#include <Box2D/Dynamics/b2Fixture.h>
+#include <Box2D/Dynamics/b2World.h>
+
+b2ContactRegister b2Contact::s_registers[b2Shape::e_typeCount][b2Shape::e_typeCount];
+bool b2Contact::s_initialized = false;
+
+void b2Contact::InitializeRegisters()
+{
+ AddType(b2CircleContact::Create, b2CircleContact::Destroy, b2Shape::e_circle, b2Shape::e_circle);
+ AddType(b2PolygonAndCircleContact::Create, b2PolygonAndCircleContact::Destroy, b2Shape::e_polygon, b2Shape::e_circle);
+ AddType(b2PolygonContact::Create, b2PolygonContact::Destroy, b2Shape::e_polygon, b2Shape::e_polygon);
+ AddType(b2EdgeAndCircleContact::Create, b2EdgeAndCircleContact::Destroy, b2Shape::e_edge, b2Shape::e_circle);
+ AddType(b2EdgeAndPolygonContact::Create, b2EdgeAndPolygonContact::Destroy, b2Shape::e_edge, b2Shape::e_polygon);
+ AddType(b2ChainAndCircleContact::Create, b2ChainAndCircleContact::Destroy, b2Shape::e_chain, b2Shape::e_circle);
+ AddType(b2ChainAndPolygonContact::Create, b2ChainAndPolygonContact::Destroy, b2Shape::e_chain, b2Shape::e_polygon);
+}
+
+void b2Contact::AddType(b2ContactCreateFcn* createFcn, b2ContactDestroyFcn* destoryFcn,
+ b2Shape::Type type1, b2Shape::Type type2)
+{
+ b2Assert(0 <= type1 && type1 < b2Shape::e_typeCount);
+ b2Assert(0 <= type2 && type2 < b2Shape::e_typeCount);
+
+ s_registers[type1][type2].createFcn = createFcn;
+ s_registers[type1][type2].destroyFcn = destoryFcn;
+ s_registers[type1][type2].primary = true;
+
+ if (type1 != type2)
+ {
+ s_registers[type2][type1].createFcn = createFcn;
+ s_registers[type2][type1].destroyFcn = destoryFcn;
+ s_registers[type2][type1].primary = false;
+ }
+}
+
+b2Contact* b2Contact::Create(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator)
+{
+ if (s_initialized == false)
+ {
+ InitializeRegisters();
+ s_initialized = true;
+ }
+
+ b2Shape::Type type1 = fixtureA->GetType();
+ b2Shape::Type type2 = fixtureB->GetType();
+
+ b2Assert(0 <= type1 && type1 < b2Shape::e_typeCount);
+ b2Assert(0 <= type2 && type2 < b2Shape::e_typeCount);
+
+ b2ContactCreateFcn* createFcn = s_registers[type1][type2].createFcn;
+ if (createFcn)
+ {
+ if (s_registers[type1][type2].primary)
+ {
+ return createFcn(fixtureA, indexA, fixtureB, indexB, allocator);
+ }
+ else
+ {
+ return createFcn(fixtureB, indexB, fixtureA, indexA, allocator);
+ }
+ }
+ else
+ {
+ return NULL;
+ }
+}
+
+void b2Contact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
+{
+ b2Assert(s_initialized == true);
+
+ if (contact->m_manifold.pointCount > 0)
+ {
+ contact->GetFixtureA()->GetBody()->SetAwake(true);
+ contact->GetFixtureB()->GetBody()->SetAwake(true);
+ }
+
+ b2Shape::Type typeA = contact->GetFixtureA()->GetType();
+ b2Shape::Type typeB = contact->GetFixtureB()->GetType();
+
+ b2Assert(0 <= typeA && typeB < b2Shape::e_typeCount);
+ b2Assert(0 <= typeA && typeB < b2Shape::e_typeCount);
+
+ b2ContactDestroyFcn* destroyFcn = s_registers[typeA][typeB].destroyFcn;
+ destroyFcn(contact, allocator);
+}
+
+b2Contact::b2Contact(b2Fixture* fA, int32 indexA, b2Fixture* fB, int32 indexB)
+{
+ m_flags = e_enabledFlag;
+
+ m_fixtureA = fA;
+ m_fixtureB = fB;
+
+ m_indexA = indexA;
+ m_indexB = indexB;
+
+ m_manifold.pointCount = 0;
+
+ m_prev = NULL;
+ m_next = NULL;
+
+ m_nodeA.contact = NULL;
+ m_nodeA.prev = NULL;
+ m_nodeA.next = NULL;
+ m_nodeA.other = NULL;
+
+ m_nodeB.contact = NULL;
+ m_nodeB.prev = NULL;
+ m_nodeB.next = NULL;
+ m_nodeB.other = NULL;
+
+ m_toiCount = 0;
+
+ m_friction = b2MixFriction(m_fixtureA->m_friction, m_fixtureB->m_friction);
+ m_restitution = b2MixRestitution(m_fixtureA->m_restitution, m_fixtureB->m_restitution);
+}
+
+// Update the contact manifold and touching status.
+// Note: do not assume the fixture AABBs are overlapping or are valid.
+void b2Contact::Update(b2ContactListener* listener)
+{
+ b2Manifold oldManifold = m_manifold;
+
+ // Re-enable this contact.
+ m_flags |= e_enabledFlag;
+
+ bool touching = false;
+ bool wasTouching = (m_flags & e_touchingFlag) == e_touchingFlag;
+
+ bool sensorA = m_fixtureA->IsSensor();
+ bool sensorB = m_fixtureB->IsSensor();
+ bool sensor = sensorA || sensorB;
+
+ b2Body* bodyA = m_fixtureA->GetBody();
+ b2Body* bodyB = m_fixtureB->GetBody();
+ const b2Transform& xfA = bodyA->GetTransform();
+ const b2Transform& xfB = bodyB->GetTransform();
+
+ // Is this contact a sensor?
+ if (sensor)
+ {
+ const b2Shape* shapeA = m_fixtureA->GetShape();
+ const b2Shape* shapeB = m_fixtureB->GetShape();
+ touching = b2TestOverlap(shapeA, m_indexA, shapeB, m_indexB, xfA, xfB);
+
+ // Sensors don't generate manifolds.
+ m_manifold.pointCount = 0;
+ }
+ else
+ {
+ Evaluate(&m_manifold, xfA, xfB);
+ touching = m_manifold.pointCount > 0;
+
+ // Match old contact ids to new contact ids and copy the
+ // stored impulses to warm start the solver.
+ for (int32 i = 0; i < m_manifold.pointCount; ++i)
+ {
+ b2ManifoldPoint* mp2 = m_manifold.points + i;
+ mp2->normalImpulse = 0.0f;
+ mp2->tangentImpulse = 0.0f;
+ b2ContactID id2 = mp2-&g |