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Updated physac to latest version

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raysan5 2017-04-16 19:08:34 +02:00
parent b4d28cc7a1
commit 3e082f1d62
1 changed files with 49 additions and 55 deletions
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104
src/physac.h
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@ -2,22 +2,22 @@
*
* Physac v1.0 - 2D Physics library for videogames
*
* DESCRIPTION:
* DESCRIPTION:
*
* Physac is a small 2D physics engine written in pure C. The engine uses a fixed time-step thread loop
* to simluate physics. A physics step contains the following phases: get collision information,
* apply dynamics, collision solving and position correction. It uses a very simple struct for physic
* Physac is a small 2D physics engine written in pure C. The engine uses a fixed time-step thread loop
* to simluate physics. A physics step contains the following phases: get collision information,
* apply dynamics, collision solving and position correction. It uses a very simple struct for physic
* bodies with a position vector to be used in any 3D rendering API.
*
*
* CONFIGURATION:
*
*
* #define PHYSAC_IMPLEMENTATION
* Generates the implementation of the library into the included file.
* If not defined, the library is in header only mode and can be included in other headers
* If not defined, the library is in header only mode and can be included in other headers
* or source files without problems. But only ONE file should hold the implementation.
*
* #define PHYSAC_STATIC (defined by default)
* The generated implementation will stay private inside implementation file and all
* The generated implementation will stay private inside implementation file and all
* internal symbols and functions will only be visible inside that file.
*
* #define PHYSAC_NO_THREADS
@ -30,7 +30,7 @@
* the user (check library implementation for further details).
*
* #define PHYSAC_DEBUG
* Traces log messages when creating and destroying physics bodies and detects errors in physics
* Traces log messages when creating and destroying physics bodies and detects errors in physics
* calculations and reference exceptions; it is useful for debug purposes
*
* #define PHYSAC_MALLOC()
@ -39,10 +39,11 @@
* Otherwise it will include stdlib.h and use the C standard library malloc()/free() function.
*
*
* NOTE: Physac requires multi-threading, when InitPhysics() a second thread is created to manage physics calculations.
* NOTE 1: Physac requires multi-threading, when InitPhysics() a second thread is created to manage physics calculations.
* NOTE 2: Physac requires static C library linkage to avoid dependency on MinGW DLL (-static -lpthread)
*
* Use the following code to compile (-static -lpthread):
* gcc -o $(NAME_PART).exe $(FILE_NAME) -s $(RAYLIB_DIR)\raylib\raylib_icon -static -lraylib -lpthread
* Use the following code to compile:
* gcc -o physac_sample.exe physac_sample.c -s $(RAYLIB_DIR)\raylib\raylib_icon -static -lraylib -lpthread \
* -lglfw3 -lopengl32 -lgdi32 -lopenal32 -lwinmm -std=c99 -Wl,--subsystem,windows -Wl,-allow-multiple-definition
*
* VERY THANKS TO:
@ -51,7 +52,7 @@
*
* LICENSE: zlib/libpng
*
* Copyright (c) 2017 Victor Fisac
* Copyright (c) 2016-2017 Victor Fisac
*
* 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.
@ -73,7 +74,7 @@
#if !defined(PHYSAC_H)
#define PHYSAC_H
#define PHYSAC_STATIC
// #define PHYSAC_STATIC
// #define PHYSAC_NO_THREADS
// #define PHYSAC_STANDALONE
// #define PHYSAC_DEBUG
@ -250,6 +251,7 @@ PHYSACDEF void ClosePhysics(void);
int __stdcall QueryPerformanceCounter(unsigned long long int *lpPerformanceCount);
int __stdcall QueryPerformanceFrequency(unsigned long long int *lpFrequency);
#elif defined(__linux__) || defined(PLATFORM_WEB)
#define _DEFAULT_SOURCE // Enables BSD function definitions and C99 POSIX compliance
#include <sys/time.h> // Required for: timespec
#include <time.h> // Required for: clock_gettime()
#include <stdint.h>
@ -404,7 +406,7 @@ PHYSACDEF PhysicsBody CreatePhysicsBodyRectangle(Vector2 pos, float width, float
// Initialize new body with generic values
newBody->id = newId;
newBody->enabled = true;
newBody->position = pos;
newBody->position = pos;
newBody->velocity = (Vector2){ 0 };
newBody->force = (Vector2){ 0 };
newBody->angularVelocity = 0;
@ -512,7 +514,7 @@ PHYSACDEF PhysicsBody CreatePhysicsBodyPolygon(Vector2 pos, float radius, int si
// Initialize new body with generic values
newBody->id = newId;
newBody->enabled = true;
newBody->position = pos;
newBody->position = pos;
newBody->velocity = (Vector2){ 0 };
newBody->force = (Vector2){ 0 };
newBody->angularVelocity = 0;
@ -745,82 +747,74 @@ PHYSACDEF int GetPhysicsBodiesCount(void)
// Returns a physics body of the bodies pool at a specific index
PHYSACDEF PhysicsBody GetPhysicsBody(int index)
{
PhysicsBody body = NULL;
if (index < physicsBodiesCount)
{
PhysicsBody body = bodies[index];
if (body != NULL) return body;
else
body = bodies[index];
if (body == NULL)
{
#if defined(PHYSAC_DEBUG)
printf("[PHYSAC] error when trying to get a null reference physics body");
#endif
return NULL;
}
}
#if defined(PHYSAC_DEBUG)
else
{
printf("[PHYSAC] physics body index is out of bounds");
return NULL;
}
else printf("[PHYSAC] physics body index is out of bounds");
#endif
return body;
}
// Returns the physics body shape type (PHYSICS_CIRCLE or PHYSICS_POLYGON)
PHYSACDEF int GetPhysicsShapeType(int index)
{
int result = -1;
if (index < physicsBodiesCount)
{
PhysicsBody body = bodies[index];
if (body != NULL) return body->shape.type;
if (body != NULL) result = body->shape.type;
#if defined(PHYSAC_DEBUG)
else
{
printf("[PHYSAC] error when trying to get a null reference physics body");
return -1;
}
else printf("[PHYSAC] error when trying to get a null reference physics body");
#endif
}
#if defined(PHYSAC_DEBUG)
else
{
printf("[PHYSAC] physics body index is out of bounds");
return -1;
}
else printf("[PHYSAC] physics body index is out of bounds");
#endif
return result;
}
// Returns the amount of vertices of a physics body shape
PHYSACDEF int GetPhysicsShapeVerticesCount(int index)
{
int result = 0;
if (index < physicsBodiesCount)
{
PhysicsBody body = bodies[index];
if (body != NULL)
{
switch (body->shape.type)
{
case PHYSICS_CIRCLE: return PHYSAC_CIRCLE_VERTICES; break;
case PHYSICS_POLYGON: return body->shape.vertexData.vertexCount; break;
case PHYSICS_CIRCLE: result = PHYSAC_CIRCLE_VERTICES; break;
case PHYSICS_POLYGON: result = body->shape.vertexData.vertexCount; break;
default: break;
}
}
#if defined(PHYSAC_DEBUG)
else
{
printf("[PHYSAC] error when trying to get a null reference physics body");
return 0;
}
else printf("[PHYSAC] error when trying to get a null reference physics body");
#endif
}
#if defined(PHYSAC_DEBUG)
else
{
printf("[PHYSAC] physics body index is out of bounds");
return 0;
}
else printf("[PHYSAC] physics body index is out of bounds");
#endif
return result;
}
// Returns transformed position of a body shape (body position + vertex transformed position)
@ -1082,7 +1076,7 @@ static void PhysicsStep(void)
PhysicsManifold manifold = contacts[i];
if (manifold != NULL) DestroyPhysicsManifold(manifold);
}
// Reset physics bodies grounded state
for (int i = 0; i < physicsBodiesCount; i++)
{
@ -1208,7 +1202,7 @@ static PhysicsManifold CreatePhysicsManifold(PhysicsBody a, PhysicsBody b)
}
if (newId != -1)
{
{
// Initialize new manifold with generic values
newManifold->id = newId;
newManifold->bodyA = a;
@ -1298,7 +1292,7 @@ static void SolvePhysicsManifold(PhysicsManifold manifold)
} break;
default: break;
}
// Update physics body grounded state if normal direction is down and grounded state is not set yet in previous manifolds
if (!manifold->bodyB->isGrounded) manifold->bodyB->isGrounded = (manifold->normal.y < 0);
}
@ -1395,7 +1389,7 @@ static void SolveCircleToPolygon(PhysicsManifold manifold)
manifold->penetration = bodyA->shape.radius - separation;
if (dot1 <= 0) // Closest to v1
{
{
if (DistSqr(center, v1) > bodyA->shape.radius*bodyA->shape.radius) return;
manifold->contactsCount = 1;
@ -1600,7 +1594,7 @@ static void IntegratePhysicsImpulses(PhysicsManifold manifold)
// Early out and positional correct if both objects have infinite mass
if (fabs(bodyA->inverseMass + bodyB->inverseMass) <= PHYSAC_EPSILON)
{
bodyA->velocity = (Vector2){ 0 };
bodyA->velocity = (Vector2){ 0 };
bodyB->velocity = (Vector2){ 0 };
return;
}
@ -1629,7 +1623,7 @@ static void IntegratePhysicsImpulses(PhysicsManifold manifold)
// Calculate impulse scalar value
float impulse = -(1.0f + manifold->restitution)*contactVelocity;
impulse /= inverseMassSum;
impulse /= inverseMassSum;
impulse /= (float)manifold->contactsCount;
// Apply impulse to each physics body