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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 * 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 * 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, * 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 * 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. * bodies with a position vector to be used in any 3D rendering API.
* *
* CONFIGURATION: * CONFIGURATION:
* *
* #define PHYSAC_IMPLEMENTATION * #define PHYSAC_IMPLEMENTATION
* Generates the implementation of the library into the included file. * 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. * or source files without problems. But only ONE file should hold the implementation.
* *
* #define PHYSAC_STATIC (defined by default) * #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. * internal symbols and functions will only be visible inside that file.
* *
* #define PHYSAC_NO_THREADS * #define PHYSAC_NO_THREADS
@ -30,7 +30,7 @@
* the user (check library implementation for further details). * the user (check library implementation for further details).
* *
* #define PHYSAC_DEBUG * #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 * calculations and reference exceptions; it is useful for debug purposes
* *
* #define PHYSAC_MALLOC() * #define PHYSAC_MALLOC()
@ -39,10 +39,11 @@
* Otherwise it will include stdlib.h and use the C standard library malloc()/free() function. * 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): * Use the following code to compile:
* gcc -o $(NAME_PART).exe $(FILE_NAME) -s $(RAYLIB_DIR)\raylib\raylib_icon -static -lraylib -lpthread * 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 * -lglfw3 -lopengl32 -lgdi32 -lopenal32 -lwinmm -std=c99 -Wl,--subsystem,windows -Wl,-allow-multiple-definition
* *
* VERY THANKS TO: * VERY THANKS TO:
@ -51,7 +52,7 @@
* *
* LICENSE: zlib/libpng * 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 * 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. * will the authors be held liable for any damages arising from the use of this software.
@ -73,7 +74,7 @@
#if !defined(PHYSAC_H) #if !defined(PHYSAC_H)
#define PHYSAC_H #define PHYSAC_H
#define PHYSAC_STATIC // #define PHYSAC_STATIC
// #define PHYSAC_NO_THREADS // #define PHYSAC_NO_THREADS
// #define PHYSAC_STANDALONE // #define PHYSAC_STANDALONE
// #define PHYSAC_DEBUG // #define PHYSAC_DEBUG
@ -250,6 +251,7 @@ PHYSACDEF void ClosePhysics(void);
int __stdcall QueryPerformanceCounter(unsigned long long int *lpPerformanceCount); int __stdcall QueryPerformanceCounter(unsigned long long int *lpPerformanceCount);
int __stdcall QueryPerformanceFrequency(unsigned long long int *lpFrequency); int __stdcall QueryPerformanceFrequency(unsigned long long int *lpFrequency);
#elif defined(__linux__) || defined(PLATFORM_WEB) #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 <sys/time.h> // Required for: timespec
#include <time.h> // Required for: clock_gettime() #include <time.h> // Required for: clock_gettime()
#include <stdint.h> #include <stdint.h>
@ -404,7 +406,7 @@ PHYSACDEF PhysicsBody CreatePhysicsBodyRectangle(Vector2 pos, float width, float
// Initialize new body with generic values // Initialize new body with generic values
newBody->id = newId; newBody->id = newId;
newBody->enabled = true; newBody->enabled = true;
newBody->position = pos; newBody->position = pos;
newBody->velocity = (Vector2){ 0 }; newBody->velocity = (Vector2){ 0 };
newBody->force = (Vector2){ 0 }; newBody->force = (Vector2){ 0 };
newBody->angularVelocity = 0; newBody->angularVelocity = 0;
@ -512,7 +514,7 @@ PHYSACDEF PhysicsBody CreatePhysicsBodyPolygon(Vector2 pos, float radius, int si
// Initialize new body with generic values // Initialize new body with generic values
newBody->id = newId; newBody->id = newId;
newBody->enabled = true; newBody->enabled = true;
newBody->position = pos; newBody->position = pos;
newBody->velocity = (Vector2){ 0 }; newBody->velocity = (Vector2){ 0 };
newBody->force = (Vector2){ 0 }; newBody->force = (Vector2){ 0 };
newBody->angularVelocity = 0; newBody->angularVelocity = 0;
@ -745,82 +747,74 @@ PHYSACDEF int GetPhysicsBodiesCount(void)
// Returns a physics body of the bodies pool at a specific index // Returns a physics body of the bodies pool at a specific index
PHYSACDEF PhysicsBody GetPhysicsBody(int index) PHYSACDEF PhysicsBody GetPhysicsBody(int index)
{ {
PhysicsBody body = NULL;
if (index < physicsBodiesCount) if (index < physicsBodiesCount)
{ {
PhysicsBody body = bodies[index]; body = bodies[index];
if (body != NULL) return body;
else if (body == NULL)
{ {
#if defined(PHYSAC_DEBUG) #if defined(PHYSAC_DEBUG)
printf("[PHYSAC] error when trying to get a null reference physics body"); printf("[PHYSAC] error when trying to get a null reference physics body");
#endif #endif
return NULL;
} }
} }
#if defined(PHYSAC_DEBUG) #if defined(PHYSAC_DEBUG)
else else printf("[PHYSAC] physics body index is out of bounds");
{
printf("[PHYSAC] physics body index is out of bounds");
return NULL;
}
#endif #endif
return body;
} }
// Returns the physics body shape type (PHYSICS_CIRCLE or PHYSICS_POLYGON) // Returns the physics body shape type (PHYSICS_CIRCLE or PHYSICS_POLYGON)
PHYSACDEF int GetPhysicsShapeType(int index) PHYSACDEF int GetPhysicsShapeType(int index)
{ {
int result = -1;
if (index < physicsBodiesCount) if (index < physicsBodiesCount)
{ {
PhysicsBody body = bodies[index]; PhysicsBody body = bodies[index];
if (body != NULL) return body->shape.type;
if (body != NULL) result = body->shape.type;
#if defined(PHYSAC_DEBUG) #if defined(PHYSAC_DEBUG)
else else printf("[PHYSAC] error when trying to get a null reference physics body");
{
printf("[PHYSAC] error when trying to get a null reference physics body");
return -1;
}
#endif #endif
} }
#if defined(PHYSAC_DEBUG) #if defined(PHYSAC_DEBUG)
else else printf("[PHYSAC] physics body index is out of bounds");
{
printf("[PHYSAC] physics body index is out of bounds");
return -1;
}
#endif #endif
return result;
} }
// Returns the amount of vertices of a physics body shape // Returns the amount of vertices of a physics body shape
PHYSACDEF int GetPhysicsShapeVerticesCount(int index) PHYSACDEF int GetPhysicsShapeVerticesCount(int index)
{ {
int result = 0;
if (index < physicsBodiesCount) if (index < physicsBodiesCount)
{ {
PhysicsBody body = bodies[index]; PhysicsBody body = bodies[index];
if (body != NULL) if (body != NULL)
{ {
switch (body->shape.type) switch (body->shape.type)
{ {
case PHYSICS_CIRCLE: return PHYSAC_CIRCLE_VERTICES; break; case PHYSICS_CIRCLE: result = PHYSAC_CIRCLE_VERTICES; break;
case PHYSICS_POLYGON: return body->shape.vertexData.vertexCount; break; case PHYSICS_POLYGON: result = body->shape.vertexData.vertexCount; break;
default: break; default: break;
} }
} }
#if defined(PHYSAC_DEBUG) #if defined(PHYSAC_DEBUG)
else else printf("[PHYSAC] error when trying to get a null reference physics body");
{
printf("[PHYSAC] error when trying to get a null reference physics body");
return 0;
}
#endif #endif
} }
#if defined(PHYSAC_DEBUG) #if defined(PHYSAC_DEBUG)
else else printf("[PHYSAC] physics body index is out of bounds");
{
printf("[PHYSAC] physics body index is out of bounds");
return 0;
}
#endif #endif
return result;
} }
// Returns transformed position of a body shape (body position + vertex transformed position) // Returns transformed position of a body shape (body position + vertex transformed position)
@ -1082,7 +1076,7 @@ static void PhysicsStep(void)
PhysicsManifold manifold = contacts[i]; PhysicsManifold manifold = contacts[i];
if (manifold != NULL) DestroyPhysicsManifold(manifold); if (manifold != NULL) DestroyPhysicsManifold(manifold);
} }
// Reset physics bodies grounded state // Reset physics bodies grounded state
for (int i = 0; i < physicsBodiesCount; i++) for (int i = 0; i < physicsBodiesCount; i++)
{ {
@ -1208,7 +1202,7 @@ static PhysicsManifold CreatePhysicsManifold(PhysicsBody a, PhysicsBody b)
} }
if (newId != -1) if (newId != -1)
{ {
// Initialize new manifold with generic values // Initialize new manifold with generic values
newManifold->id = newId; newManifold->id = newId;
newManifold->bodyA = a; newManifold->bodyA = a;
@ -1298,7 +1292,7 @@ static void SolvePhysicsManifold(PhysicsManifold manifold)
} break; } break;
default: break; default: break;
} }
// Update physics body grounded state if normal direction is down and grounded state is not set yet in previous manifolds // 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); 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; manifold->penetration = bodyA->shape.radius - separation;
if (dot1 <= 0) // Closest to v1 if (dot1 <= 0) // Closest to v1
{ {
if (DistSqr(center, v1) > bodyA->shape.radius*bodyA->shape.radius) return; if (DistSqr(center, v1) > bodyA->shape.radius*bodyA->shape.radius) return;
manifold->contactsCount = 1; manifold->contactsCount = 1;
@ -1600,7 +1594,7 @@ static void IntegratePhysicsImpulses(PhysicsManifold manifold)
// Early out and positional correct if both objects have infinite mass // Early out and positional correct if both objects have infinite mass
if (fabs(bodyA->inverseMass + bodyB->inverseMass) <= PHYSAC_EPSILON) if (fabs(bodyA->inverseMass + bodyB->inverseMass) <= PHYSAC_EPSILON)
{ {
bodyA->velocity = (Vector2){ 0 }; bodyA->velocity = (Vector2){ 0 };
bodyB->velocity = (Vector2){ 0 }; bodyB->velocity = (Vector2){ 0 };
return; return;
} }
@ -1629,7 +1623,7 @@ static void IntegratePhysicsImpulses(PhysicsManifold manifold)
// Calculate impulse scalar value // Calculate impulse scalar value
float impulse = -(1.0f + manifold->restitution)*contactVelocity; float impulse = -(1.0f + manifold->restitution)*contactVelocity;
impulse /= inverseMassSum; impulse /= inverseMassSum;
impulse /= (float)manifold->contactsCount; impulse /= (float)manifold->contactsCount;
// Apply impulse to each physics body // Apply impulse to each physics body