Add initial prototype.
This commit is contained in:
Rod Kay
378
3-mid/physics/implement/box2d/source/c/box2d-space.cpp
Normal file
378
3-mid/physics/implement/box2d/source/c/box2d-space.cpp
Normal file
@@ -0,0 +1,378 @@
|
||||
#include "box2d-space.h"
|
||||
#include "box2d-conversions.h"
|
||||
|
||||
#include <box2d/box2d.h>
|
||||
#include "box2d-object-private.h"
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
|
||||
|
||||
///////////////
|
||||
/// Conversions
|
||||
//
|
||||
|
||||
b2World*
|
||||
to_World (Space* From)
|
||||
{
|
||||
return (b2World*) From;
|
||||
}
|
||||
|
||||
|
||||
Space*
|
||||
to_Space (b2World* From)
|
||||
{
|
||||
return (Space*) From;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
///////////////
|
||||
/// C++ Support
|
||||
//
|
||||
|
||||
|
||||
/// Raycasts
|
||||
//
|
||||
|
||||
class my_raycast_Callback : public b2RayCastCallback
|
||||
{
|
||||
public:
|
||||
|
||||
b2Fixture* Nearest;
|
||||
|
||||
float
|
||||
ReportFixture
|
||||
(b2Fixture* fixture,
|
||||
const b2Vec2& point,
|
||||
const b2Vec2& normal,
|
||||
float fraction)
|
||||
{
|
||||
Nearest = fixture;
|
||||
|
||||
return fraction;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
/// Collisions
|
||||
//
|
||||
|
||||
const int32 k_maxContactPoints = 4 * 2048;
|
||||
|
||||
struct ContactPoint
|
||||
{
|
||||
b2Fixture* fixtureA;
|
||||
b2Fixture* fixtureB;
|
||||
b2Vec2 normal;
|
||||
b2Vec2 position;
|
||||
b2PointState state;
|
||||
float normalImpulse;
|
||||
float tangentImpulse;
|
||||
float separation;
|
||||
};
|
||||
|
||||
|
||||
class contact_Listener : public b2ContactListener
|
||||
{
|
||||
public:
|
||||
contact_Listener();
|
||||
virtual ~contact_Listener();
|
||||
|
||||
|
||||
virtual void BeginContact (b2Contact* contact) { B2_NOT_USED(contact); }
|
||||
virtual void EndContact (b2Contact* contact) { B2_NOT_USED(contact); }
|
||||
virtual void PreSolve (b2Contact* contact, const b2Manifold* oldManifold);
|
||||
virtual void PostSolve (b2Contact* contact, const b2ContactImpulse* impulse)
|
||||
{
|
||||
B2_NOT_USED(contact);
|
||||
B2_NOT_USED(impulse);
|
||||
}
|
||||
|
||||
ContactPoint m_points[k_maxContactPoints];
|
||||
int32 m_pointCount;
|
||||
};
|
||||
|
||||
|
||||
contact_Listener::
|
||||
contact_Listener()
|
||||
{
|
||||
m_pointCount = 0;
|
||||
}
|
||||
|
||||
|
||||
contact_Listener::
|
||||
~contact_Listener()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
contact_Listener::
|
||||
PreSolve (b2Contact* contact,
|
||||
const b2Manifold* oldManifold)
|
||||
{
|
||||
if (m_pointCount == k_maxContactPoints)
|
||||
return;
|
||||
|
||||
const b2Manifold* manifold = contact->GetManifold();
|
||||
|
||||
if (manifold->pointCount == 0)
|
||||
return;
|
||||
|
||||
|
||||
b2Fixture* fixtureA = contact->GetFixtureA();
|
||||
b2Fixture* fixtureB = contact->GetFixtureB();
|
||||
|
||||
b2PointState state1 [b2_maxManifoldPoints],
|
||||
state2 [b2_maxManifoldPoints];
|
||||
|
||||
b2GetPointStates (state1, state2,
|
||||
oldManifold, manifold);
|
||||
|
||||
b2WorldManifold worldManifold;
|
||||
|
||||
contact->GetWorldManifold (&worldManifold);
|
||||
|
||||
ContactPoint* cp = m_points + m_pointCount;
|
||||
|
||||
cp->fixtureA = fixtureA;
|
||||
cp->fixtureB = fixtureB;
|
||||
cp->position.SetZero();
|
||||
|
||||
for (int32 i = 0; i < manifold->pointCount; ++i)
|
||||
{
|
||||
cp->position += worldManifold.points [i];
|
||||
cp->normal = worldManifold.normal;
|
||||
cp->state = state2 [i];
|
||||
cp->normalImpulse = manifold->points [i].normalImpulse;
|
||||
cp->tangentImpulse = manifold->points [i].tangentImpulse;
|
||||
cp->separation = worldManifold.separations [i];
|
||||
}
|
||||
|
||||
if (manifold->pointCount > 1)
|
||||
cp->position *= (1.0 / float (manifold->pointCount)); // Calculate middle site.
|
||||
|
||||
++m_pointCount;
|
||||
}
|
||||
|
||||
|
||||
///////////////
|
||||
/// C Interface
|
||||
//
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
int
|
||||
b2d_space_contact_Count (Space* Self)
|
||||
{
|
||||
b2World* the_World = to_World (Self);
|
||||
contact_Listener* the_contact_Listener = dynamic_cast <contact_Listener*> (the_World->GetContactManager().m_contactListener);
|
||||
|
||||
return the_contact_Listener->m_pointCount;
|
||||
}
|
||||
|
||||
|
||||
b2d_Contact
|
||||
b2d_space_Contact (Space* Self, int contact_Id)
|
||||
{
|
||||
b2World* the_World = to_World (Self);
|
||||
contact_Listener* the_contact_Listener = dynamic_cast <contact_Listener*> (the_World->GetContactManager().m_contactListener);
|
||||
|
||||
ContactPoint* point = the_contact_Listener->m_points + contact_Id;
|
||||
|
||||
b2Body* body1 = point->fixtureA->GetBody();
|
||||
b2Body* body2 = point->fixtureB->GetBody();
|
||||
|
||||
b2d_Contact the_Contact;
|
||||
|
||||
the_Contact.Object_A = (Object*) (body1->GetUserData().pointer);
|
||||
the_Contact.Object_B = (Object*) (body2->GetUserData().pointer);
|
||||
|
||||
the_Contact.Site.x = point->position.x;
|
||||
the_Contact.Site.y = point->position.y;
|
||||
the_Contact.Site.z = 0.0;
|
||||
|
||||
return the_Contact;
|
||||
}
|
||||
|
||||
|
||||
|
||||
struct Space*
|
||||
b2d_new_Space ()
|
||||
{
|
||||
b2World* Self = new b2World (b2Vec2 (0.0, -9.8));
|
||||
|
||||
Self->SetContactListener (new contact_Listener());
|
||||
|
||||
return to_Space (Self);
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
b2d_free_Space (struct Space* Self)
|
||||
{
|
||||
b2World* the_World = to_World (Self);
|
||||
|
||||
delete the_World->GetContactManager().m_contactListener;
|
||||
delete the_World;
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
b2d_Space_Gravity_is (Space* Self, Vector_3* Now)
|
||||
{
|
||||
b2World* the_World = to_World (Self);
|
||||
|
||||
the_World->SetGravity (b2Vec2 (Now->x, Now->y));
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
b2d_Space_evolve (Space* Self, float By)
|
||||
{
|
||||
b2World* the_World = to_World (Self);
|
||||
contact_Listener* the_contact_Listener = dynamic_cast <contact_Listener*> (the_World->GetContactManager().m_contactListener);
|
||||
|
||||
the_contact_Listener->m_pointCount = 0;
|
||||
|
||||
the_World->Step (By, 6, 2);
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
b2d_Space_add_Object (Space* Self, Object* the_Object)
|
||||
{
|
||||
b2World* the_World = (b2World*)Self;
|
||||
|
||||
the_Object->body = the_World->CreateBody (&the_Object->bodyDef);
|
||||
// the_Object->body->SetUserData (the_Object);
|
||||
|
||||
the_Object->body->CreateFixture (&the_Object->fixtureDef);
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
b2d_Space_rid_Object (Space* Self, Object* the_Object)
|
||||
{
|
||||
((b2World*)Self)->DestroyBody (the_Object->body);
|
||||
the_Object->body = 0;
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
b2d_Space_add_Joint (Space* Self, Joint* the_Joint)
|
||||
{
|
||||
b2World* the_World = (b2World*) Self;
|
||||
b2JointDef* jointDef = (b2JointDef*) the_Joint;
|
||||
|
||||
Object* Object_A = (Object*) jointDef->bodyA;
|
||||
Object* Object_B = (Object*) jointDef->bodyB;
|
||||
|
||||
jointDef->bodyA = Object_A->body;
|
||||
jointDef->bodyB = Object_B->body;
|
||||
|
||||
if (jointDef->type == e_revoluteJoint)
|
||||
{
|
||||
b2RevoluteJointDef* revolute_Def = static_cast <b2RevoluteJointDef*> (jointDef);
|
||||
b2RevoluteJoint* the_Joint;
|
||||
|
||||
the_Joint = (b2RevoluteJoint*) the_World->CreateJoint (revolute_Def);
|
||||
jointDef->userData.pointer = (uintptr_t) dynamic_cast <b2Joint*> (the_Joint);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf ("TODO: b2d_Space_add_Joint");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
b2d_Space_rid_Joint (Space* Self, Joint* the_Joint)
|
||||
{
|
||||
b2World* the_World = (b2World*) Self;
|
||||
|
||||
b2JointDef* the_Joint_Def = (b2JointDef*) the_Joint;
|
||||
b2Joint* b2d_Joint = (b2Joint*) the_Joint_Def->userData.pointer;
|
||||
|
||||
Object* Object_A = (Object*) the_Joint_Def->bodyA->GetUserData().pointer;
|
||||
Object* Object_B = (Object*) the_Joint_Def->bodyB->GetUserData().pointer;
|
||||
|
||||
|
||||
the_World->DestroyJoint (b2d_Joint);
|
||||
|
||||
the_Joint_Def->bodyA = (b2Body*) Object_A;
|
||||
the_Joint_Def->bodyB = (b2Body*) Object_B;
|
||||
}
|
||||
|
||||
|
||||
void*
|
||||
b2d_b2Joint_user_Data (b2Joint* the_Joint)
|
||||
{
|
||||
return (void*) the_Joint->GetUserData().pointer;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/// Joint Cursor
|
||||
//
|
||||
|
||||
joint_Cursor
|
||||
b2d_Space_first_Joint (Space* Self)
|
||||
{
|
||||
b2World* the_World = (b2World*) Self;
|
||||
|
||||
return {the_World->GetJointList()};
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
b2d_Space_next_Joint (joint_Cursor* Cursor)
|
||||
{
|
||||
Cursor->Joint = Cursor->Joint->GetNext();
|
||||
}
|
||||
|
||||
|
||||
b2Joint*
|
||||
b2d_Space_joint_Element (joint_Cursor* Cursor)
|
||||
{
|
||||
return Cursor->Joint;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/// Raycasts
|
||||
//
|
||||
|
||||
b2d_ray_Collision
|
||||
b2d_Space_cast_Ray (Space* Self, Vector_3* From,
|
||||
Vector_3* To)
|
||||
{
|
||||
b2World* the_World = (b2World*) Self;
|
||||
my_raycast_Callback the_Callback;
|
||||
|
||||
the_Callback.Nearest = 0;
|
||||
|
||||
the_World->RayCast (&the_Callback,
|
||||
b2Vec2 (From->x, From->y),
|
||||
b2Vec2 (To ->x, To ->y));
|
||||
|
||||
b2d_ray_Collision the_Collision;
|
||||
|
||||
if (the_Callback.Nearest == 0)
|
||||
the_Collision.near_Object = 0;
|
||||
else
|
||||
the_Collision.near_Object = (Object*) (the_Callback.Nearest->GetBody()->GetUserData().pointer);
|
||||
|
||||
the_Collision.hit_Fraction = 0.0;
|
||||
the_Collision.Normal_world = Vector_3 (0.0, 0.0, 0.0);
|
||||
the_Collision.Site_world = Vector_3 (0.0, 0.0, 0.0);
|
||||
|
||||
return the_Collision;
|
||||
}
|
||||
|
||||
|
||||
} // extern "C"
|
||||
Reference in New Issue
Block a user