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-rw-r--r--Client/Source/Phy2D/Common/Math.h191
-rw-r--r--Client/Source/Phy2D/Common/Settings.h82
-rw-r--r--Client/Source/Phy2D/Common/Type.h (renamed from Client/Source/Phy2D/Shapes/p2CircleShape.cpp)0
-rw-r--r--Client/Source/Phy2D/Dynamic/Arbiter.cpp189
-rw-r--r--Client/Source/Phy2D/Dynamic/Arbiter.h91
-rw-r--r--Client/Source/Phy2D/Dynamic/Body.cpp47
-rw-r--r--Client/Source/Phy2D/Dynamic/Body.h34
-rw-r--r--Client/Source/Phy2D/Dynamic/Collide.cpp326
-rw-r--r--Client/Source/Phy2D/Dynamic/Joint.cpp102
-rw-r--r--Client/Source/Phy2D/Dynamic/Joint.h34
-rw-r--r--Client/Source/Phy2D/Dynamic/World.cpp129
-rw-r--r--Client/Source/Phy2D/Dynamic/World.h36
-rw-r--r--Client/Source/Phy2D/Phy2D.h4
-rw-r--r--Client/Source/Phy2D/Shapes/p2CircleShape.h8
-rw-r--r--Client/Source/Phy2D/Shapes/p2PolygonShape.cpp0
-rw-r--r--Client/Source/Phy2D/Shapes/p2PolygonShape.h0
-rw-r--r--Client/Source/Phy2D/Shapes/p2Shape.h7
-rw-r--r--Client/Source/Phy2D/Tests/test.h2
-rw-r--r--Client/Source/Phy2D/Tests/test_math.cpp9
-rw-r--r--Client/Source/Phy2D/Tests/test_p2d.cpp625
-rw-r--r--Client/Source/Phy2DLite/Constants.h24
-rw-r--r--Client/Source/Phy2DLite/Settings.h23
-rw-r--r--Client/Source/Phy2DLite/World.cpp2
23 files changed, 124 insertions, 1841 deletions
diff --git a/Client/Source/Phy2D/Common/Math.h b/Client/Source/Phy2D/Common/Math.h
index 9c0ff8f..e69de29 100644
--- a/Client/Source/Phy2D/Common/Math.h
+++ b/Client/Source/Phy2D/Common/Math.h
@@ -1,191 +0,0 @@
-#pragma once
-
-#include <math.h>
-#include <assert.h>
-#include <stdlib.h>
-#include <string>
-
-#include "Settings.h"
-
-namespace Phy2D
-{
-
- struct Vec2
- {
- Vec2() {}
- Vec2(number x, number y) : x(x), y(y) {}
-
- void Set(number x_, number y_) { x = x_; y = y_; }
-
- Vec2 operator -() { return Vec2(-x, -y); }
-
- void operator += (const Vec2& v)
- {
- x += v.x; y += v.y;
- }
-
- void operator -= (const Vec2& v)
- {
- x -= v.x; y -= v.y;
- }
-
- void operator *= (number a)
- {
- x *= a; y *= a;
- }
-
- number Length() const
- {
- return SQRT(x * x + y * y);
- }
-
- std::string ToString()
- {
- return std::to_string((float)x) + "," + std::to_string((float)y);
- }
-
- number x, y;
- };
-
- struct Mat22
- {
- Mat22() {}
- Mat22(number angle)
- {
- number c = COS(angle), s = SIN(angle);
- col1.x = c; col2.x = -s;
- col1.y = s; col2.y = c;
- }
-
- Mat22(const Vec2& col1, const Vec2& col2) : col1(col1), col2(col2) {}
-
- Mat22 Transpose() const
- {
- return Mat22(Vec2(col1.x, col2.x), Vec2(col1.y, col2.y));
- }
-
- Mat22 Invert() const
- {
- number a = col1.x, b = col2.x, c = col1.y, d = col2.y;
- Mat22 B;
- number det = a * d - b * c;
- assert(det != 0.0f);
- det = (number)1.0f / det;
- B.col1.x = det * d; B.col2.x = -det * b;
- B.col1.y = -det * c; B.col2.y = det * a;
- return B;
- }
-
- Vec2 col1, col2;
- };
-
- inline number Dot(const Vec2& a, const Vec2& b)
- {
- return a.x * b.x + a.y * b.y;
- }
-
- inline number Cross(const Vec2& a, const Vec2& b)
- {
- return a.x * b.y - a.y * b.x;
- }
-
- inline Vec2 Cross(const Vec2& a, number s)
- {
- return Vec2(s * a.y, -s * a.x);
- }
-
- inline Vec2 Cross(number s, const Vec2& a)
- {
- return Vec2(-s * a.y, s * a.x);
- }
-
- inline Vec2 operator * (const Mat22& A, const Vec2& v)
- {
- return Vec2(A.col1.x * v.x + A.col2.x * v.y, A.col1.y * v.x + A.col2.y * v.y);
- }
-
- inline Vec2 operator + (const Vec2& a, const Vec2& b)
- {
- return Vec2(a.x + b.x, a.y + b.y);
- }
-
- inline Vec2 operator - (const Vec2& a, const Vec2& b)
- {
- return Vec2(a.x - b.x, a.y - b.y);
- }
-
- inline Vec2 operator * (number s, const Vec2& v)
- {
- return Vec2(s * v.x, s * v.y);
- }
-
- inline Mat22 operator + (const Mat22& A, const Mat22& B)
- {
- return Mat22(A.col1 + B.col1, A.col2 + B.col2);
- }
-
- inline Mat22 operator * (const Mat22& A, const Mat22& B)
- {
- return Mat22(A * B.col1, A * B.col2);
- }
-
- inline number Abs(number a)
- {
- return a > 0.0f ? a : -a;
- }
-
- inline Vec2 Abs(const Vec2& a)
- {
- return Vec2(fabsf(a.x), fabsf(a.y));
- }
-
- inline Mat22 Abs(const Mat22& A)
- {
- return Mat22(Abs(A.col1), Abs(A.col2));
- }
-
- inline number Sign(number x)
- {
- return (float) x < 0.0f ? -1.0f : 1.0f;
- }
-
- inline number Min(number a, number b)
- {
- return a < b ? a : b;
- }
-
- inline number Max(number a, number b)
- {
- return a > b ? a : b;
- }
-
- inline number Clamp(number a, number low, number high)
- {
- return Max(low, Min(a, high));
- }
-
- template<typename T> inline void Swap(T& a, T& b)
- {
- T tmp = a;
- a = b;
- b = tmp;
- }
-
- //// Random number in range [-1,1]
- //inline number Random()
- //{
- // number r = (number)rand();
- // r /= RAND_MAX;
- // r = (number)2.0f * r - 1.0f;
- // return r;
- //}
-
- //inline number Random(number lo, number hi)
- //{
- // number r = (number)rand();
- // r /= RAND_MAX;
- // r = (hi - lo) * r + lo;
- // return r;
- //}
-
-}
diff --git a/Client/Source/Phy2D/Common/Settings.h b/Client/Source/Phy2D/Common/Settings.h
index 5c24b57..318a76c 100644
--- a/Client/Source/Phy2D/Common/Settings.h
+++ b/Client/Source/Phy2D/Common/Settings.h
@@ -1,27 +1,97 @@
#pragma once
+#define NUMBER_FLOAT 1
+#define NUMBER_LIBFIX 2
+#define NUMBER_FPM 3
+
+#define NUMBER_ALIAS NUMBER_FPM
+
+#if NUMBER_ALIAS == NUMBER_LIBFIX
#include "libfixmath/libfixmath/fixmath.h"
+#elif NUMBER_ALIAS == NUMBER_FPM
+#include "fpm/include/fpm/fixed.hpp"
+#include "fpm/include/fpm/math.hpp"
+#endif
namespace Phy2D
{
-#define NUMBER_FLOAT false
+#if NUMBER_ALIAS == NUMBER_FLOAT
-#if NUMBER_FLOAT
-typedef float number;
+ typedef float fixed;
#define NUMBER_MAX (FLT_MAX)
#define NUMBER_MIN (FLT_MIN)
#define SQRT(a) (sqrt((a)))
#define SIN(a) (sin((a)))
#define COS(a) (cos((a)))
-#else
-// 同时一定要开启内联函数扩展，否则执行效率会非常低
-typedef Fix16 number;
+#define PI (3.1415925f)
+
+#elif NUMBER_ALIAS == NUMBER_LIBFIX
+
+ // 同时一定要开启内联函数扩展，否则执行效率会非常低
+ typedef Fix16 fixed;
#define NUMBER_MAX (fix16_maximum)
#define NUMBER_MIN (fix16_minimum)
#define SQRT(a) ((a).sqrt())
#define SIN(a) ((a).sin())
#define COS(a) ((a).cos())
+#define PI (fix16_pi)
+
+#elif NUMBER_ALIAS == NUMBER_FPM
+
+ template <typename T>
+ struct Limits {};
+
+ template <>
+ struct Limits<fpm::fixed_16_16>
+ {
+ static constexpr bool is_signed() noexcept { return true; }
+ static constexpr int digits() noexcept { return 31; }
+ static constexpr int max_digits10() noexcept { return 5 + 5; }
+ static constexpr int min_exponent() noexcept { return -15; }
+ static constexpr int max_exponent() noexcept { return 15; }
+ static constexpr int min_exponent10() noexcept { return -4; }
+ static constexpr int max_exponent10() noexcept { return 4; }
+ static constexpr fpm::fixed_16_16 min() noexcept { return fpm::fixed_16_16::from_raw_value(-2147483647 - 1); }
+ static constexpr fpm::fixed_16_16 max() noexcept { return fpm::fixed_16_16::from_raw_value(2147483647); }
+ };
+
+ template <>
+ struct Limits<fpm::fixed_24_8>
+ {
+ static constexpr bool is_signed() noexcept { return true; }
+ static constexpr int digits() noexcept { return 31; }
+ static constexpr int max_digits10() noexcept { return 7 + 3; }
+ static constexpr int min_exponent() noexcept { return -7; }
+ static constexpr int max_exponent() noexcept { return 23; }
+ static constexpr int min_exponent10() noexcept { return -2; }
+ static constexpr int max_exponent10() noexcept { return 6; }
+ static constexpr fpm::fixed_24_8 min() noexcept { return fpm::fixed_24_8::from_raw_value(-2147483647 - 1); }
+ static constexpr fpm::fixed_24_8 max() noexcept { return fpm::fixed_24_8::from_raw_value(2147483647); }
+ };
+
+ template <>
+ struct Limits<fpm::fixed_8_24>
+ {
+ static constexpr bool is_signed() noexcept { return true; }
+ static constexpr int digits() noexcept { return 31; }
+ static constexpr int max_digits10() noexcept { return 3 + 8; }
+ static constexpr int min_exponent() noexcept { return -23; }
+ static constexpr int max_exponent() noexcept { return 7; }
+ static constexpr int min_exponent10() noexcept { return -7; }
+ static constexpr int max_exponent10() noexcept { return 2; }
+ static constexpr fpm::fixed_8_24 min() noexcept { return fpm::fixed_8_24::from_raw_value(-2147483647 - 1); }
+ static constexpr fpm::fixed_8_24 max() noexcept { return fpm::fixed_8_24::from_raw_value(2147483647); }
+ };
+
+ typedef fpm::fixed_16_16 fixed;
+#define NUMBER_MAX (Limits<fixed>::max())
+#define NUMBER_MIN (Limits<fixed>::min())
+#define SQRT(a) (fpm::sqrt((a)))
+#define SIN(a) (fpm::sin((a)))
+#define COS(a) (fpm::cos((a)))
+#define PI (fixed::pi())
+
#endif
} \ No newline at end of file
diff --git a/Client/Source/Phy2D/Shapes/p2CircleShape.cpp b/Client/Source/Phy2D/Common/Type.h
index e69de29..e69de29 100644
--- a/Client/Source/Phy2D/Shapes/p2CircleShape.cpp
+++ b/Client/Source/Phy2D/Common/Type.h
diff --git a/Client/Source/Phy2D/Dynamic/Arbiter.cpp b/Client/Source/Phy2D/Dynamic/Arbiter.cpp
deleted file mode 100644
index 4163154..0000000
--- a/Client/Source/Phy2D/Dynamic/Arbiter.cpp
+++ /dev/null
@@ -1,189 +0,0 @@
-#include "Arbiter.h"
-#include "World.h"
-#include "Body.h"
-#include "Joint.h"
-
-using namespace Phy2D;
-
-Arbiter::Arbiter(Body* b1, Body* b2)
-{
- if (b1 < b2)
- {
- body1 = b1;
- body2 = b2;
- }
- else
- {
- body1 = b2;
- body2 = b1;
- }
-
- numContacts = Collide(contacts, body1, body2);
-
- friction = SQRT(body1->friction * body2->friction);
-}
-
-void Arbiter::Update(Contact* newContacts, int numNewContacts)
-{
- Contact mergedContacts[2];
-
- for (int i = 0; i < numNewContacts; ++i)
- {
- Contact* cNew = newContacts + i;
- int k = -1;
- for (int j = 0; j < numContacts; ++j)
- {
- Contact* cOld = contacts + j;
- if (cNew->feature.value == cOld->feature.value)
- {
- k = j;
- break;
- }
- }
-
- if (k > -1)
- {
- Contact* c = mergedContacts + i;
- Contact* cOld = contacts + k;
- *c = *cNew;
- if (World::warmStarting)
- {
- c->Pn = cOld->Pn;
- c->Pt = cOld->Pt;
- c->Pnb = cOld->Pnb;
- }
- else
- {
- c->Pn = 0.0f;
- c->Pt = 0.0f;
- c->Pnb = 0.0f;
- }
- }
- else
- {
- mergedContacts[i] = newContacts[i];
- }
- }
-
- for (int i = 0; i < numNewContacts; ++i)
- contacts[i] = mergedContacts[i];
-
- numContacts = numNewContacts;
-}
-
-
-void Arbiter::PreStep(number inv_dt)
-{
- const number k_allowedPenetration = 0.01f;
- number k_biasFactor = World::positionCorrection ? 0.2f : 0.0f;
-
- for (int i = 0; i < numContacts; ++i)
- {
- Contact* c = contacts + i;
-
- Vec2 r1 = c->position - body1->position;
- Vec2 r2 = c->position - body2->position;
-
- // Precompute normal mass, tangent mass, and bias.
- number rn1 = Dot(r1, c->normal);
- number rn2 = Dot(r2, c->normal);
- number kNormal = body1->invMass + body2->invMass;
- kNormal += body1->invI * (Dot(r1, r1) - rn1 * rn1) + body2->invI * (Dot(r2, r2) - rn2 * rn2);
- c->massNormal = (number) 1.0f / kNormal;
-
- Vec2 tangent = Cross(c->normal, 1.0f);
- number rt1 = Dot(r1, tangent);
- number rt2 = Dot(r2, tangent);
- number kTangent = body1->invMass + body2->invMass;
- kTangent += body1->invI * (Dot(r1, r1) - rt1 * rt1) + body2->invI * (Dot(r2, r2) - rt2 * rt2);
- c->massTangent = (number) 1.0f / kTangent;
-
- c->bias = -k_biasFactor * inv_dt * Min(0.0f, c->separation + k_allowedPenetration);
-
- if (World::accumulateImpulses)
- {
- // Apply normal + friction impulse
- Vec2 P = c->Pn * c->normal + c->Pt * tangent;
-
- body1->velocity -= body1->invMass * P;
- body1->angularVelocity -= body1->invI * Cross(r1, P);
-
- body2->velocity += body2->invMass * P;
- body2->angularVelocity += body2->invI * Cross(r2, P);
- }
- }
-}
-
-void Arbiter::ApplyImpulse()
-{
- Body* b1 = body1;
- Body* b2 = body2;
-
- for (int i = 0; i < numContacts; ++i)
- {
- Contact* c = contacts + i;
- c->r1 = c->position - b1->position;
- c->r2 = c->position - b2->position;
-
- // Relative velocity at contact
- Vec2 dv = b2->velocity + Cross(b2->angularVelocity, c->r2) - b1->velocity - Cross(b1->angularVelocity, c->r1);
-
- // Compute normal impulse
- number vn = Dot(dv, c->normal);
-
- number dPn = c->massNormal * (-vn + c->bias);
-
- if (World::accumulateImpulses)
- {
- // Clamp the accumulated impulse
- number Pn0 = c->Pn;
- c->Pn = Max(Pn0 + dPn, 0.0f);
- dPn = c->Pn - Pn0;
- }
- else
- {
- dPn = Max(dPn, 0.0f);
- }
-
- // Apply contact impulse
- Vec2 Pn = dPn * c->normal;
-
- b1->velocity -= b1->invMass * Pn;
- b1->angularVelocity -= b1->invI * Cross(c->r1, Pn);
-
- b2->velocity += b2->invMass * Pn;
- b2->angularVelocity += b2->invI * Cross(c->r2, Pn);
-
- // Relative velocity at contact
- dv = b2->velocity + Cross(b2->angularVelocity, c->r2) - b1->velocity - Cross(b1->angularVelocity, c->r1);
-
- Vec2 tangent = Cross(c->normal, 1.0f);
- number vt = Dot(dv, tangent);
- number dPt = c->massTangent * (-vt);
-
- if (World::accumulateImpulses)
- {
- // Compute friction impulse
- number maxPt = friction * c->Pn;
-
- // Clamp friction
- number oldTangentImpulse = c->Pt;
- c->Pt = Clamp(oldTangentImpulse + dPt, -maxPt, maxPt);
- dPt = c->Pt - oldTangentImpulse;
- }
- else
- {
- number maxPt = friction * dPn;
- dPt = Clamp(dPt, -maxPt, maxPt);
- }
-
- // Apply contact impulse
- Vec2 Pt = dPt * tangent;
-
- b1->velocity -= b1->invMass * Pt;
- b1->angularVelocity -= b1->invI * Cross(c->r1, Pt);
-
- b2->velocity += b2->invMass * Pt;
- b2->angularVelocity += b2->invI * Cross(c->r2, Pt);
- }
-}
diff --git a/Client/Source/Phy2D/Dynamic/Arbiter.h b/Client/Source/Phy2D/Dynamic/Arbiter.h
deleted file mode 100644
index 64bed72..0000000
--- a/Client/Source/Phy2D/Dynamic/Arbiter.h
+++ /dev/null
@@ -1,91 +0,0 @@
-#pragma once
-
-#include "../Common/Math.h"
-
-namespace Phy2D
-{
-
- struct Body;
-
- union FeaturePair
- {
- struct Edges
- {
- char inEdge1;
- char outEdge1;
- char inEdge2;
- char outEdge2;
- } e;
- int value;
- };
-
- struct Contact
- {
- Contact() : Pn(0.0f), Pt(0.0f), Pnb(0.0f) {}
-
- Vec2 position;
- Vec2 normal;
- Vec2 r1, r2;
- number separation;
- number Pn; // accumulated normal impulse
- number Pt; // accumulated tangent impulse
- number Pnb; // accumulated normal impulse for position bias
- number massNormal, massTangent;
- number bias;
- FeaturePair feature;
- };
-
- struct ArbiterKey
- {
- ArbiterKey(Body* b1, Body* b2)
- {
- if (b1 < b2)
- {
- body1 = b1; body2 = b2;
- }
- else
- {
- body1 = b2; body2 = b1;
- }
- }
-
- Body* body1;
- Body* body2;
- };
-
- struct Arbiter
- {
- enum { MAX_POINTS = 2 };
-
- Arbiter(Body* b1, Body* b2);
-
- void Update(Contact* contacts, int numContacts);
-
- void PreStep(number inv_dt);
- void ApplyImpulse();
-
- Contact contacts[MAX_POINTS];
- int numContacts;
-
- Body* body1;
- Body* body2;
-
- // Combined friction
- number friction;
- };
-
- // This is used by std::set
- inline bool operator < (const ArbiterKey& a1, const ArbiterKey& a2)
- {
- if (a1.body1 < a2.body1)
- return true;
-
- if (a1.body1 == a2.body1 && a1.body2 < a2.body2)
- return true;
-
- return false;
- }
-
- int Collide(Contact* contacts, Body* body1, Body* body2);
-
-} \ No newline at end of file
diff --git a/Client/Source/Phy2D/Dynamic/Body.cpp b/Client/Source/Phy2D/Dynamic/Body.cpp
deleted file mode 100644
index 1d896fd..0000000
--- a/Client/Source/Phy2D/Dynamic/Body.cpp
+++ /dev/null
@@ -1,47 +0,0 @@
-#include "Body.h"
-
-using namespace Phy2D;
-
-Body::Body()
-{
- position.Set(0.0f, 0.0f);
- rotation = 0.0f;
- velocity.Set(0.0f, 0.0f);
- angularVelocity = 0.0f;
- force.Set(0.0f, 0.0f);
- torque = 0.0f;
- friction = 0.2f;
-
- width.Set(1.0f, 1.0f);
- mass = NUMBER_MAX;
- invMass = 0.0f;
- I = NUMBER_MAX;
- invI = 0.0f;
-}
-
-void Body::Set(const Vec2& w, number m)
-{
- position.Set(0.0f, 0.0f);
- rotation = 0.0f;
- velocity.Set(0.0f, 0.0f);
- angularVelocity = 0.0f;
- force.Set(0.0f, 0.0f);
- torque = 0.0f;
- friction = 0.2f;
-
- width = w;
- mass = m;
-
- if (mass < NUMBER_MAX)
- {
- invMass = (number)1.0f / mass;
- I = mass * (width.x * width.x + width.y * width.y) / 12.0f;
- invI = (number)1.0f / I;
- }
- else
- {
- invMass = 0.0f;
- I = NUMBER_MAX;
- invI = 0.0f;
- }
-}
diff --git a/Client/Source/Phy2D/Dynamic/Body.h b/Client/Source/Phy2D/Dynamic/Body.h
deleted file mode 100644
index 8c2ac72..0000000
--- a/Client/Source/Phy2D/Dynamic/Body.h
+++ /dev/null
@@ -1,34 +0,0 @@
-#pragma once
-
-#include "../Common/Math.h"
-
-namespace Phy2D
-{
-
- struct Body
- {
- Body();
- void Set(const Vec2& w, number m);
-
- void AddForce(const Vec2& f)
- {
- force += f;
- }
-
- Vec2 position;
- number rotation;
-
- Vec2 velocity;
- number angularVelocity;
-
- Vec2 force;
- number torque;
-
- Vec2 width;
-
- number friction;
- number mass, invMass;
- number I, invI;
- };
-
-} \ No newline at end of file
diff --git a/Client/Source/Phy2D/Dynamic/Collide.cpp b/Client/Source/Phy2D/Dynamic/Collide.cpp
deleted file mode 100644
index 6849c0e..0000000
--- a/Client/Source/Phy2D/Dynamic/Collide.cpp
+++ /dev/null
@@ -1,326 +0,0 @@
-#include "Arbiter.h"
-#include "Body.h"
-#include "World.h"
-#include "Joint.h"
-
-using namespace Phy2D;
-
-// Box vertex and edge numbering:
-//
-// ^ y
-// |
-// e1
-// v2 ------ v1
-// | |
-// e2 | | e4 --> x
-// | |
-// v3 ------ v4
-// e3
-
-enum Axis
-{
- FACE_A_X,
- FACE_A_Y,
- FACE_B_X,
- FACE_B_Y
-};
-
-enum EdgeNumbers
-{
- NO_EDGE = 0,
- EDGE1,
- EDGE2,
- EDGE3,
- EDGE4
-};
-
-struct ClipVertex
-{
- ClipVertex() { fp.value = 0; }
- Vec2 v;
- FeaturePair fp;
-};
-
-void Flip(FeaturePair& fp)
-{
- Swap(fp.e.inEdge1, fp.e.inEdge2);
- Swap(fp.e.outEdge1, fp.e.outEdge2);
-}
-
-int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
- const Vec2& normal, number offset, char clipEdge)
-{
- // Start with no output points
- int numOut = 0;
-
- // Calculate the distance of end points to the line
- number distance0 = Dot(normal, vIn[0].v) - offset;
- number distance1 = Dot(normal, vIn[1].v) - offset;
-
- // If the points are behind the plane
- if (distance0 <= 0.0f) vOut[numOut++] = vIn[0];
- if (distance1 <= 0.0f) vOut[numOut++] = vIn[1];
-
- // If the points are on different sides of the plane
- if (distance0 * distance1 < 0.0f)
- {
- // Find intersection point of edge and plane
- number interp = distance0 / (distance0 - distance1);
- vOut[numOut].v = vIn[0].v + interp * (vIn[1].v - vIn[0].v);
- if (distance0 > 0.0f)
- {
- vOut[numOut].fp = vIn[0].fp;
- vOut[numOut].fp.e.inEdge1 = clipEdge;
- vOut[numOut].fp.e.inEdge2 = NO_EDGE;
- }
- else
- {
- vOut[numOut].fp = vIn[1].fp;
- vOut[numOut].fp.e.outEdge1 = clipEdge;
- vOut[numOut].fp.e.outEdge2 = NO_EDGE;
- }
- ++numOut;
- }
-
- return numOut;
-}
-
-static void ComputeIncidentEdge(ClipVertex c[2], const Vec2& h, const Vec2& pos,
- const Mat22& Rot, const Vec2& normal)
-{
- // The normal is from the reference box. Convert it
- // to the incident boxe's frame and flip sign.
- Mat22 RotT = Rot.Transpose();
- Vec2 n = -(RotT * normal);
- Vec2 nAbs = Abs(n);
-
- if (nAbs.x > nAbs.y)
- {
- if (Sign(n.x) > 0.0f)
- {
- c[0].v.Set(h.x, -h.y);
- c[0].fp.e.inEdge2 = EDGE3;
- c[0].fp.e.outEdge2 = EDGE4;
-
- c[1].v.Set(h.x, h.y);
- c[1].fp.e.inEdge2 = EDGE4;
- c[1].fp.e.outEdge2 = EDGE1;
- }
- else
- {
- c[0].v.Set(-h.x, h.y);
- c[0].fp.e.inEdge2 = EDGE1;
- c[0].fp.e.outEdge2 = EDGE2;
-
- c[1].v.Set(-h.x, -h.y);
- c[1].fp.e.inEdge2 = EDGE2;
- c[1].fp.e.outEdge2 = EDGE3;
- }
- }
- else
- {
- if (Sign(n.y) > 0.0f)
- {
- c[0].v.Set(h.x, h.y);
- c[0].fp.e.inEdge2 = EDGE4;
- c[0].fp.e.outEdge2 = EDGE1;
-
- c[1].v.Set(-h.x, h.y);
- c[1].fp.e.inEdge2 = EDGE1;
- c[1].fp.e.outEdge2 = EDGE2;
- }
- else
- {
- c[0].v.Set(-h.x, -h.y);
- c[0].fp.e.inEdge2 = EDGE2;
- c[0].fp.e.outEdge2 = EDGE3;
-
- c[1].v.Set(h.x, -h.y);
- c[1].fp.e.inEdge2 = EDGE3;
- c[1].fp.e.outEdge2 = EDGE4;
- }
- }
-
- c[0].v = pos + Rot * c[0].v;
- c[1].v = pos + Rot * c[1].v;
-}
-
-namespace Phy2D
-{
-
- // The normal points from A to B
- int Collide(Contact* contacts, Body* bodyA, Body* bodyB)
- {
- // Setup
- Vec2 hA = 0.5f * bodyA->width;
- Vec2 hB = 0.5f * bodyB->width;
-
- Vec2 posA = bodyA->position;
- Vec2 posB = bodyB->position;
-
- Mat22 RotA(bodyA->rotation), RotB(bodyB->rotation);
-
- Mat22 RotAT = RotA.Transpose();
- Mat22 RotBT = RotB.Transpose();
-
- Vec2 dp = posB - posA;
- Vec2 dA = RotAT * dp;
- Vec2 dB = RotBT * dp;
-
- Mat22 C = RotAT * RotB;
- Mat22 absC = Abs(C);
- Mat22 absCT = absC.Transpose();
-
- // Box A faces
- Vec2 faceA = Abs(dA) - hA - absC * hB;
- if (faceA.x > 0.0f || faceA.y > 0.0f)
- return 0;
-
- // Box B faces
- Vec2 faceB = Abs(dB) - absCT * hA - hB;
- if (faceB.x > 0.0f || faceB.y > 0.0f)
- return 0;
-
- // Find best axis
- Axis axis;
- number separation;
- Vec2 normal;
-
- // Box A faces
- axis = FACE_A_X;
- separation = faceA.x;
- normal = dA.x > 0.0f ? RotA.col1 : -RotA.col1;
-
- const number relativeTol = 0.95f;
- const number absoluteTol = 0.01f;
-
- if (faceA.y > relativeTol * separation + absoluteTol * hA.y)
- {
- axis = FACE_A_Y;
- separation = faceA.y;
- normal = dA.y > 0.0f ? RotA.col2 : -RotA.col2;
- }
-
- // Box B faces
- if (faceB.x > relativeTol * separation + absoluteTol * hB.x)
- {
- axis = FACE_B_X;
- separation = faceB.x;
- normal = dB.x > 0.0f ? RotB.col1 : -RotB.col1;
- }
-
- if (faceB.y > relativeTol * separation + absoluteTol * hB.y)
- {
- axis = FACE_B_Y;
- separation = faceB.y;
- normal = dB.y > 0.0f ? RotB.col2 : -RotB.col2;
- }
-
- // Setup clipping plane data based on the separating axis
- Vec2 frontNormal, sideNormal;
- ClipVertex incidentEdge[2];
- number front, negSide, posSide;
- char negEdge, posEdge;
-
- // Compute the clipping lines and the line segment to be clipped.
- switch (axis)
- {
- case FACE_A_X:
- {
- frontNormal = normal;
- front = Dot(posA, frontNormal) + hA.x;
- sideNormal = RotA.col2;
- number side = Dot(posA, sideNormal);
- negSide = -side + hA.y;
- posSide = side + hA.y;
- negEdge = EDGE3;
- posEdge = EDGE1;
- ComputeIncidentEdge(incidentEdge, hB, posB, RotB, frontNormal);
- }
- break;
-
- case FACE_A_Y:
- {
- frontNormal = normal;
- front = Dot(posA, frontNormal) + hA.y;
- sideNormal = RotA.col1;
- number side = Dot(posA, sideNormal);
- negSide = -side + hA.x;
- posSide = side + hA.x;
- negEdge = EDGE2;
- posEdge = EDGE4;
- ComputeIncidentEdge(incidentEdge, hB, posB, RotB, frontNormal);
- }
- break;
-
- case FACE_B_X:
- {
- frontNormal = -normal;
- front = Dot(posB, frontNormal) + hB.x;
- sideNormal = RotB.col2;
- number side = Dot(posB, sideNormal);
- negSide = -side + hB.y;
- posSide = side + hB.y;
- negEdge = EDGE3;
- posEdge = EDGE1;
- ComputeIncidentEdge(incidentEdge, hA, posA, RotA, frontNormal);
- }
- break;
-
- case FACE_B_Y:
- {
- frontNormal = -normal;
- front = Dot(posB, frontNormal) + hB.y;
- sideNormal = RotB.col1;
- number side = Dot(posB, sideNormal);
- negSide = -side + hB.x;
- posSide = side + hB.x;
- negEdge = EDGE2;
- posEdge = EDGE4;
- ComputeIncidentEdge(incidentEdge, hA, posA, RotA, frontNormal);
- }
- break;
- }
-
- // clip other face with 5 box planes (1 face plane, 4 edge planes)
-
- ClipVertex clipPoints1[2];
- ClipVertex clipPoints2[2];
- int np;
-
- // Clip to box side 1
- np = ClipSegmentToLine(clipPoints1, incidentEdge, -sideNormal, negSide, negEdge);
-
- if (np < 2)
- return 0;
-
- // Clip to negative box side 1
- np = ClipSegmentToLine(clipPoints2, clipPoints1, sideNormal, posSide, posEdge);
-
- if (np < 2)
- return 0;
-
- // Now clipPoints2 contains the clipping points.
- // Due to roundoff, it is possible that clipping removes all points.
-
- int numContacts = 0;
- for (int i = 0; i < 2; ++i)
- {
- number separation = Dot(frontNormal, clipPoints2[i].v) - front;
-
- if (separation <= 0)
- {
- contacts[numContacts].separation = separation;
- contacts[numContacts].normal = normal;
- // slide contact point onto reference face (easy to cull)
- contacts[numContacts].position = clipPoints2[i].v - separation * frontNormal;
- contacts[numContacts].feature = clipPoints2[i].fp;
- if (axis == FACE_B_X || axis == FACE_B_Y)
- Flip(contacts[numContacts].feature);
- ++numContacts;
- }
- }
-
- return numContacts;
- }
-} \ No newline at end of file
diff --git a/Client/Source/Phy2D/Dynamic/Joint.cpp b/Client/Source/Phy2D/Dynamic/Joint.cpp
deleted file mode 100644
index 95f7c64..0000000
--- a/Client/Source/Phy2D/Dynamic/Joint.cpp
+++ /dev/null
@@ -1,102 +0,0 @@
-#include "Joint.h"
-#include "Body.h"
-#include "World.h"
-
-using namespace Phy2D;
-
-void Joint::Set(Body* b1, Body* b2, const Vec2& anchor)
-{
- body1 = b1;
- body2 = b2;
-
- Mat22 Rot1(body1->rotation);
- Mat22 Rot2(body2->rotation);
- Mat22 Rot1T = Rot1.Transpose();
- Mat22 Rot2T = Rot2.Transpose();
-
- localAnchor1 = Rot1T * (anchor - body1->position);
- localAnchor2 = Rot2T * (anchor - body2->position);
-
- P.Set(0.0f, 0.0f);
-
- softness = 0.0f;
- biasFactor = 0.2f;
-}
-
-void Joint::PreStep(number inv_dt)
-{
- // Pre-compute anchors, mass matrix, and bias.
- Mat22 Rot1(body1->rotation);
- Mat22 Rot2(body2->rotation);
-
- r1 = Rot1 * localAnchor1;
- r2 = Rot2 * localAnchor2;
-
- // deltaV = deltaV0 + K * impulse
- // invM = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)]
- // = [1/m1+1/m2 0 ] + invI1 * [r1.y*r1.y -r1.x*r1.y] + invI2 * [r1.y*r1.y -r1.x*r1.y]
- // [ 0 1/m1+1/m2] [-r1.x*r1.y r1.x*r1.x] [-r1.x*r1.y r1.x*r1.x]
- Mat22 K1;
- K1.col1.x = body1->invMass + body2->invMass; K1.col2.x = 0.0f;
- K1.col1.y = 0.0f; K1.col2.y = body1->invMass + body2->invMass;
-
- Mat22 K2;
- K2.col1.x = body1->invI * r1.y * r1.y; K2.col2.x = -body1->invI * r1.x * r1.y;
- K2.col1.y = -body1->invI * r1.x * r1.y; K2.col2.y = body1->invI * r1.x * r1.x;
-
- Mat22 K3;
- K3.col1.x = body2->invI * r2.y * r2.y; K3.col2.x = -body2->invI * r2.x * r2.y;
- K3.col1.y = -body2->invI * r2.x * r2.y; K3.col2.y = body2->invI * r2.x * r2.x;
-
- Mat22 K = K1 + K2 + K3;
- K.col1.x += softness;
- K.col2.y += softness;
-
- M = K.Invert();
-
- Vec2 p1 = body1->position + r1;
- Vec2 p2 = body2->position + r2;
- Vec2 dp = p2 - p1;
-
- if (World::positionCorrection)
- {
- bias = -biasFactor * inv_dt * dp;
- }
- else
- {
- bias.Set(0.0f, 0.0f);
- }
-
- if (World::warmStarting)
- {
- // Apply accumulated impulse.
- body1->velocity -= body1->invMass * P;
- body1->angularVelocity -= body1->invI * Cross(r1, P);
-
- body2->velocity += body2->invMass * P;
- body2->angularVelocity += body2->invI * Cross(r2, P);
- }
- else
- {
- P.Set(0.0f, 0.0f);
- }
-}
-
-void Joint::ApplyImpulse()
-{
- Vec2 dv = body2->velocity + Cross(body2->angularVelocity, r2) - body1->velocity - Cross(body1->angularVelocity, r1);
-
- Vec2 impulse;
-
- impulse = M * (bias - dv - softness * P);
-
- body1->velocity -= body1->invMass * impulse;
- body1->angularVelocity -= body1->invI * Cross(r1, impulse);
-
- body2->velocity += body2->invMass * impulse;
- body2->angularVelocity += body2->invI * Cross(r2, impulse);
-
- P += impulse;
-}
-
-
diff --git a/Client/Source/Phy2D/Dynamic/Joint.h b/Client/Source/Phy2D/Dynamic/Joint.h
deleted file mode 100644
index ee08b40..0000000
--- a/Client/Source/Phy2D/Dynamic/Joint.h
+++ /dev/null
@@ -1,34 +0,0 @@
-#pragma once
-
-#include "../Common/Math.h"
-
-namespace Phy2D
-{
-
- struct Body;
-
- struct Joint
- {
- Joint() :
- body1(0), body2(0),
- P(0.0f, 0.0f),
- biasFactor(0.2f), softness(0.0f)
- {}
-
- void Set(Body* body1, Body* body2, const Vec2& anchor);
-
- void PreStep(number inv_dt);
- void ApplyImpulse();
-
- Mat22 M;
- Vec2 localAnchor1, localAnchor2;
- Vec2 r1, r2;
- Vec2 bias;
- Vec2 P; // accumulated impulse
- Body* body1;
- Body* body2;
- number biasFactor;
- number softness;
- };
-
-}
diff --git a/Client/Source/Phy2D/Dynamic/World.cpp b/Client/Source/Phy2D/Dynamic/World.cpp
deleted file mode 100644
index 4f48b69..0000000
--- a/Client/Source/Phy2D/Dynamic/World.cpp
+++ /dev/null
@@ -1,129 +0,0 @@
-#include "World.h"
-#include "Body.h"
-#include "Joint.h"
-#include "Arbiter.h"
-
-using namespace Phy2D;
-
-
-using std::vector;
-using std::map;
-using std::pair;
-
-typedef map<ArbiterKey, Arbiter>::iterator ArbIter;
-typedef pair<ArbiterKey, Arbiter> ArbPair;
-
-bool World::accumulateImpulses = true;
-bool World::warmStarting = true;
-bool World::positionCorrection = true;
-
-void World::Add(Body* body)
-{
- bodies.push_back(body);
-}
-
-void World::Add(Joint* joint)
-{
- joints.push_back(joint);
-}
-
-void World::Clear()
-{
- bodies.clear();
- joints.clear();
- arbiters.clear();
-}
-
-void World::BroadPhase()
-{
- // O(n^2) broad-phase
- for (int i = 0; i < (int)bodies.size(); ++i)
- {
- Body* bi = bodies[i];
-
- for (int j = i + 1; j < (int)bodies.size(); ++j)
- {
- Body* bj = bodies[j];
-
- if (bi->invMass == 0.0f && bj->invMass == 0.0f)
- continue;
-
- Arbiter newArb(bi, bj);
- ArbiterKey key(bi, bj);
-
- if (newArb.numContacts > 0)
- {
- ArbIter iter = arbiters.find(key);
- if (iter == arbiters.end())
- {
- arbiters.insert(ArbPair(key, newArb));
- }
- else
- {
- iter->second.Update(newArb.contacts, newArb.numContacts);
- }
- }
- else
- {
- arbiters.erase(key);
- }
- }
- }
-}
-
-void World::Step(number dt)
-{
- number inv_dt = dt > 0.0f ? (number)1.0f / dt : (number)0.0f;
-
- // Determine overlapping bodies and update contact points.
- BroadPhase();
-
- // Integrate forces.
- for (int i = 0; i < (int)bodies.size(); ++i)
- {
- Body* b = bodies[i];
-
- if (b->invMass == 0.0f)
- continue;
-
- b->velocity += dt * (gravity + b->invMass * b->force);
- b->angularVelocity += dt * b->invI * b->torque;
- }
-
- // Perform pre-steps.
- for (ArbIter arb = arbiters.begin(); arb != arbiters.end(); ++arb)
- {
- arb->second.PreStep(inv_dt);
- }
-
- for (int i = 0; i < (int)joints.size(); ++i)
- {
- joints[i]->PreStep(inv_dt);
- }
-
- // Perform iterations
- for (int i = 0; i < iterations; ++i)
- {
- for (ArbIter arb = arbiters.begin(); arb != arbiters.end(); ++arb)
- {
- arb->second.ApplyImpulse();
- }
-
- for (int j = 0; j < (int)joints.size(); ++j)
- {
- joints[j]->ApplyImpulse();
- }
- }
-
- // Integrate Velocities
- for (int i = 0; i < (int)bodies.size(); ++i)
- {
- Body* b = bodies[i];
-
- b->position += dt * b->velocity;
- b->rotation += dt * b->angularVelocity;
-
- b->force.Set(0.0f, 0.0f);
- b->torque = 0.0f;
- }
-}
diff --git a/Client/Source/Phy2D/Dynamic/World.h b/Client/Source/Phy2D/Dynamic/World.h
deleted file mode 100644
index 93c883d..0000000
--- a/Client/Source/Phy2D/Dynamic/World.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once
-
-#include <vector>
-#include <map>
-#include "../Common/Math.h"
-#include "Arbiter.h"
-
-namespace Phy2D
-{
-
- struct Body;
- struct Joint;
-
- struct World
- {
- World(Vec2 gravity, int iterations) : gravity(gravity), iterations(iterations) {}
-
- void Add(Body* body);
- void Add(Joint* joint);
- void Clear();
-
- void Step(number dt);
-
- void BroadPhase();
-
- std::vector<Body*> bodies;
- std::vector<Joint*> joints;
- std::map<ArbiterKey, Arbiter> arbiters;
- Vec2 gravity;
- int iterations;
- static bool accumulateImpulses;
- static bool warmStarting;
- static bool positionCorrection;
- };
-
-}
diff --git a/Client/Source/Phy2D/Phy2D.h b/Client/Source/Phy2D/Phy2D.h
index d2e97f8..0fc0011 100644
--- a/Client/Source/Phy2D/Phy2D.h
+++ b/Client/Source/Phy2D/Phy2D.h
@@ -2,7 +2,3 @@
// 定点数的物理引擎
-
-#include "Dynamic/World.h"
-#include "Dynamic/Body.h"
-#include "Dynamic/Joint.h"
diff --git a/Client/Source/Phy2D/Shapes/p2CircleShape.h b/Client/Source/Phy2D/Shapes/p2CircleShape.h
deleted file mode 100644
index a13a6ab..0000000
--- a/Client/Source/Phy2D/Shapes/p2CircleShape.h
+++ /dev/null
@@ -1,8 +0,0 @@
-#pragma once
-
-#include "p2Shape.h"
-
-class p2CircleShape : public p2Shape
-{
-
-};
diff --git a/Client/Source/Phy2D/Shapes/p2PolygonShape.cpp b/Client/Source/Phy2D/Shapes/p2PolygonShape.cpp
deleted file mode 100644
index e69de29..0000000
--- a/Client/Source/Phy2D/Shapes/p2PolygonShape.cpp
+++ /dev/null
diff --git a/Client/Source/Phy2D/Shapes/p2PolygonShape.h b/Client/Source/Phy2D/Shapes/p2PolygonShape.h
deleted file mode 100644
index e69de29..0000000
--- a/Client/Source/Phy2D/Shapes/p2PolygonShape.h
+++ /dev/null
diff --git a/Client/Source/Phy2D/Shapes/p2Shape.h b/Client/Source/Phy2D/Shapes/p2Shape.h
deleted file mode 100644
index 4546314..0000000
--- a/Client/Source/Phy2D/Shapes/p2Shape.h
+++ /dev/null
@@ -1,7 +0,0 @@
-#pragma once
-
-class p2Shape
-{
-
-};
-
diff --git a/Client/Source/Phy2D/Tests/test.h b/Client/Source/Phy2D/Tests/test.h
index c814e3f..f3459ea 100644
--- a/Client/Source/Phy2D/Tests/test.h
+++ b/Client/Source/Phy2D/Tests/test.h
@@ -3,4 +3,4 @@
#define TEST_MATH 1
#define TEST_P2D 2
-#define TEST TEST_P2D
+#define TEST TEST_MATH
diff --git a/Client/Source/Phy2D/Tests/test_math.cpp b/Client/Source/Phy2D/Tests/test_math.cpp
index e7642c1..f88170d 100644
--- a/Client/Source/Phy2D/Tests/test_math.cpp
+++ b/Client/Source/Phy2D/Tests/test_math.cpp
@@ -4,16 +4,17 @@
#include <iostream>
#include "../Common/Math.h"
+#include "fix32/fix32.hpp"
-using namespace Phy2D;
using namespace std;
int main(int argc, char **argv)
{
- Vec2 a = Vec2(1.f, 2.f);
- Vec2 b = a;
+ Fix32 a = 1.3;
+ Fix32 b = 2.4;
+ Fix32 c = a * b;
- cout << (a+b).ToString();
+ cout << (double)c;
getchar();
diff --git a/Client/Source/Phy2D/Tests/test_p2d.cpp b/Client/Source/Phy2D/Tests/test_p2d.cpp
index 9050ccd..e69de29 100644
--- a/Client/Source/Phy2D/Tests/test_p2d.cpp
+++ b/Client/Source/Phy2D/Tests/test_p2d.cpp
@@ -1,625 +0,0 @@
-#include "test.h"
-#if TEST == TEST_P2D
-
-#include "libfixmath/libfixmath/fixmath.h"
-#include <iostream>
-#include <time.h>
-#include <math.h>
-#include "SDL2/SDL.h"
-#include "../Rendering/Visualize.h"
-#include "imgui/imgui.h"
-#include "imgui/backends/imgui_impl_opengl2.h"
-#include "imgui/backends/imgui_impl_sdl.h"
-
-#include "../Phy2D.h"
-
-using namespace std;
-using namespace Phy2D;
-
-namespace
-{
- Body bodies[200];
- Joint joints[100];
-
- Body* bomb = NULL;
-
- float timeStep = 1.0f / 60.0f;
- int iterations = 10;
- Vec2 gravity(0.0f, -10.0f);
-
- int numBodies = 0;
- int numJoints = 0;
-
- int demoIndex = 0;
-
- int width = 1280;
- int height = 720;
- float zoom = 10.0f;
- float pan_y = 8.0f;
-
- World world(gravity, iterations);
-}
-
-static void DrawBody(Body* body)
-{
- Mat22 R(body->rotation);
- Vec2 x = body->position;
- Vec2 h = 0.5f * body->width;
-
- Vec2 v1 = x + R * Vec2(-h.x, -h.y);
- Vec2 v2 = x + R * Vec2(h.x, -h.y);
- Vec2 v3 = x + R * Vec2(h.x, h.y);
- Vec2 v4 = x + R * Vec2(-h.x, h.y);
-
- if (body == bomb)
- glColor3f(0.4f, 0.9f, 0.4f);
- else
- glColor3f(0.8f, 0.8f, 0.9f);
-
- glBegin(GL_LINE_LOOP);
- glVertex2f(v1.x, v1.y);
- glVertex2f(v2.x, v2.y);
- glVertex2f(v3.x, v3.y);
- glVertex2f(v4.x, v4.y);
- glEnd();
-}
-
-static void DrawJoint(Joint* joint)
-{
- Body* b1 = joint->body1;
- Body* b2 = joint->body2;
-
- Mat22 R1(b1->rotation);
- Mat22 R2(b2->rotation);
-
- Vec2 x1 = b1->position;
- Vec2 p1 = x1 + R1 * joint->localAnchor1;
-
- Vec2 x2 = b2->position;
- Vec2 p2 = x2 + R2 * joint->localAnchor2;
-
- glColor3f(0.5f, 0.5f, 0.8f);
- glBegin(GL_LINES);
- glVertex2f(x1.x, x1.y);
- glVertex2f(p1.x, p1.y);
- glVertex2f(x2.x, x2.y);
- glVertex2f(p2.x, p2.y);
- glEnd();
-}
-
-static void Demo1(Body* b, Joint* j)
-{
- float x, y;
-
- b->Set(Vec2(100.0f, 20.0f), NUMBER_MAX);
- b->position.Set(0.0f, (number)-0.5f * b->width.y);
- world.Add(b);
- ++b; ++numBodies;
-
- b->Set(Vec2(1.0f, 1.0f), 200.0f);
- b->position.Set(0.0f, 4.0f);
- world.Add(b);
- ++b; ++numBodies;
-}
-
-// A simple pendulum
-static void Demo2(Body* b, Joint* j)
-{
- Body* b1 = b + 0;
- b1->Set(Vec2(100.0f, 20.0f), NUMBER_MAX);
- b1->friction = 0.2f;
- b1->position.Set(0.0f, (number)-0.5f * b1->width.y);
- b1->rotation = 0.0f;
- world.Add(b1);
-
- Body* b2 = b + 1;
- b2->Set(Vec2(1.0f, 1.0f), 100.0f);
- b2->friction = 0.2f;
- b2->position.Set(9.0f, 11.0f);
- b2->rotation = 0.0f;
- world.Add(b2);
-
- numBodies += 2;
-
- j->Set(b1, b2, Vec2(0.0f, 11.0f));
- world.Add(j);
-
- numJoints += 1;
-}
-
-// Varying friction coefficients
-static void Demo3(Body* b, Joint* j)
-{
- b->Set(Vec2(100.0f, 20.0f), NUMBER_MAX);
- b->position.Set(0.0f, (number)-0.5f * b->width.y);
- world.Add(b);
- ++b; ++numBodies;
-
- b->Set(Vec2(13.0f, 0.25f), NUMBER_MAX);
- b->position.Set(-2.0f, 11.0f);
- b->rotation = -0.25f;
- world.Add(b);
- ++b; ++numBodies;
-
- b->Set(Vec2(0.25f, 1.0f), NUMBER_MAX);
- b->position.Set(5.25f, 9.5f);
- world.Add(b);
- ++b; ++numBodies;
-
- b->Set(Vec2(13.0f, 0.25f), NUMBER_MAX);
- b->position.Set(2.0f, 7.0f);
- b->rotation = 0.25f;
- world.Add(b);
- ++b; ++numBodies;
-
- b->Set(Vec2(0.25f, 1.0f), NUMBER_MAX);
- b->position.Set(-5.25f, 5.5f);
- world.Add(b);
- ++b; ++numBodies;
-
- b->Set(Vec2(13.0f, 0.25f), NUMBER_MAX);
- b->position.Set(-2.0f, 3.0f);
- b->rotation = -0.25f;
- world.Add(b);
- ++b; ++numBodies;
-
- float friction[5] = { 0.75f, 0.5f, 0.35f, 0.1f, 0.0f };
- for (int i = 0; i < 5; ++i)
- {
- b->Set(Vec2(0.5f, 0.5f), 25.0f);
- b->friction = friction[i];
- b->position.Set(-7.5f + 2.0f * i, 14.0f);
- world.Add(b);
- ++b; ++numBodies;
- }
-}
-
-// A vertical stack
-static void Demo4(Body* b, Joint* j)
-{
- b->Set(Vec2(100.0f, 20.0f), NUMBER_MAX);
- b->friction = 0.2f;
- b->position.Set(0.0f, (number)-0.5f * b->width.y);
- b->rotation = 0.0f;
- world.Add(b);
- ++b; ++numBodies;
-
- for (int i = 0; i < 10; ++i)
- {
- b->Set(Vec2(1.0f, 1.0f), 1.0f);
- b->friction = 0.2f;
- //float x = Random(-0.1f, 0.1f);
- float x = 0;
- b->position.Set(x, 0.51f + 1.05f * i);
- world.Add(b);
- ++b; ++numBodies;
- }
-}
-
-// A pyramid
-static void Demo5(Body* b, Joint* j)
-{
- b->Set(Vec2(100.0f, 20.0f), NUMBER_MAX);
- b->friction = 0.2f;
- b->position.Set(0.0f, (number)-0.5f * b->width.y);
- b->rotation = 0.0f;
- world.Add(b);
- ++b; ++numBodies;
-
- Vec2 x(-6.0f, 0.75f);
- Vec2 y;
-
- for (int i = 0; i < 12; ++i)
- {
- y = x;
-
- for (int j = i; j < 12; ++j)
- {
- b->Set(Vec2(1.0f, 1.0f), 10.0f);
- b->friction = 0.2f;
- b->position = y;
- world.Add(b);
- ++b; ++numBodies;
-
- y += Vec2(1.125f, 0.0f);
- }
-
- //x += Vec2(0.5625f, 1.125f);
- x += Vec2(0.5625f, 2.0f);
- }
-}
-
-// A teeter
-static void Demo6(Body* b, Joint* j)
-{
- Body* b1 = b + 0;
- b1->Set(Vec2(100.0f, 20.0f), NUMBER_MAX);
- b1->position.Set(0.0f, (number)-0.5f * b1->width.y);
- world.Add(b1);
-
- Body* b2 = b + 1;
- b2->Set(Vec2(12.0f, 0.25f), 100.0f);
- b2->position.Set(0.0f, 1.0f);
- world.Add(b2);
-
- Body* b3 = b + 2;
- b3->Set(Vec2(0.5f, 0.5f), 25.0f);
- b3->position.Set(-5.0f, 2.0f);
- world.Add(b3);
-
- Body* b4 = b + 3;
- b4->Set(Vec2(0.5f, 0.5f), 25.0f);
- b4->position.Set(-5.5f, 2.0f);
- world.Add(b4);
-
- Body* b5 = b + 4;
- b5->Set(Vec2(1.0f, 1.0f), 100.0f);
- b5->position.Set(5.5f, 15.0f);
- world.Add(b5);
-
- numBodies += 5;
-
- j->Set(b1, b2, Vec2(0.0f, 1.0f));
- world.Add(j);
-
- numJoints += 1;
-}
-
-// A suspension bridge
-static void Demo7(Body* b, Joint* j)
-{
- b->Set(Vec2(100.0f, 20.0f), NUMBER_MAX);
- b->friction = 0.2f;
- b->position.Set(0.0f, (number)-0.5f * b->width.y);
- b->rotation = 0.0f;
- world.Add(b);
- ++b; ++numBodies;
-
- const int numPlanks = 15;
- float mass = 50.0f;
-
- for (int i = 0; i < numPlanks; ++i)
- {
- b->Set(Vec2(1.0f, 0.25f), mass);
- b->friction = 0.2f;
- b->position.Set(-8.5f + 1.25f * i, 5.0f);
- world.Add(b);
- ++b; ++numBodies;
- }
-
- // Tuning
- float frequencyHz = 2.0f;
- float dampingRatio = 0.7f;
-
- // frequency in radians
- float omega = (number)2.0f * fix16_pi * frequencyHz;
-
- // damping coefficient
- float d = 2.0f * mass * dampingRatio * omega;
-
- // spring stifness
- float k = mass * omega * omega;
-
- // magic formulas
- float softness = 1.0f / (d + timeStep * k);
- float biasFactor = timeStep * k / (d + timeStep * k);
-
- for (int i = 0; i < numPlanks; ++i)
- {
- j->Set(bodies + i, bodies + i + 1, Vec2(-9.125f + 1.25f * i, 5.0f));
- j->softness = softness;
- j->biasFactor = biasFactor;
-
- world.Add(j);
- ++j; ++numJoints;
- }
-
- j->Set(bodies + numPlanks, bodies, Vec2(-9.125f + 1.25f * numPlanks, 5.0f));
- j->softness = softness;
- j->biasFactor = biasFactor;
- world.Add(j);
- ++j; ++numJoints;
-}
-
-// Dominos
-static void Demo8(Body* b, Joint* j)
-{
- Body* b1 = b;
- b->Set(Vec2(100.0f, 20.0f), NUMBER_MAX);
- b->position.Set(0.0f, (number)-0.5f * b->width.y);
- world.Add(b);
- ++b; ++numBodies;
-
- b->Set(Vec2(12.0f, 0.5f), NUMBER_MAX);
- b->position.Set(-1.5f, 10.0f);
- world.Add(b);
- ++b; ++numBodies;
-
- for (int i = 0; i < 10; ++i)
- {
- b->Set(Vec2(0.2f, 2.0f), 10.0f);
- b->position.Set(-6.0f + 1.0f * i, 11.125f);
- b->friction = 0.1f;
- world.Add(b);
- ++b; ++numBodies;
- }
-
- b->Set(Vec2(14.0f, 0.5f), NUMBER_MAX);
- b->position.Set(1.0f, 6.0f);
- b->rotation = 0.3f;
- world.Add(b);
- ++b; ++numBodies;
-
- Body* b2 = b;
- b->Set(Vec2(0.5f, 3.0f), NUMBER_MAX);
- b->position.Set(-7.0f, 4.0f);
- world.Add(b);
- ++b; ++numBodies;
-
- Body* b3 = b;
- b->Set(Vec2(12.0f, 0.25f), 20.0f);
- b->position.Set(-0.9f, 1.0f);
- world.Add(b);
- ++b; ++numBodies;
-
- j->Set(b1, b3, Vec2(-2.0f, 1.0f));
- world.Add(j);
- ++j; ++numJoints;
-
- Body* b4 = b;
- b->Set(Vec2(0.5f, 0.5f), 10.0f);
- b->position.Set(-10.0f, 15.0f);
- world.Add(b);
- ++b; ++numBodies;
-
- j->Set(b2, b4, Vec2(-7.0f, 15.0f));
- world.Add(j);
- ++j; ++numJoints;
-
- Body* b5 = b;
- b->Set(Vec2(2.0f, 2.0f), 20.0f);
- b->position.Set(6.0f, 2.5f);
- b->friction = 0.1f;
- world.Add(b);
- ++b; ++numBodies;
-
- j->Set(b1, b5, Vec2(6.0f, 2.6f));
- world.Add(j);
- ++j; ++numJoints;
-
- Body* b6 = b;
- b->Set(Vec2(2.0f, 0.2f), 10.0f);
- b->position.Set(6.0f, 3.6f);
- world.Add(b);
- ++b; ++numBodies;
-
- j->Set(b5, b6, Vec2(7.0f, 3.5f));
- world.Add(j);
- ++j; ++numJoints;
-}
-
-// A multi-pendulum
-static void Demo9(Body* b, Joint* j)
-{
- b->Set(Vec2(100.0f, 20.0f), NUMBER_MAX);
- b->friction = 0.2f;
- b->position.Set(0.0f, (number)-0.5f * b->width.y);
- b->rotation = 0.0f;
- world.Add(b);
-
- Body * b1 = b;
- ++b;
- ++numBodies;
-
- float mass = 10.0f;
-
- // Tuning
- float frequencyHz = 4.0f;
- float dampingRatio = 0.7f;
-
- // frequency in radians
- float omega = (number) 2.0f * fix16_pi * frequencyHz;
-
- // damping coefficient
- float d = 2.0f * mass * dampingRatio * omega;
-
- // spring stiffness
- float k = mass * omega * omega;
-
- // magic formulas
- float softness = 1.0f / (d + timeStep * k);
- float biasFactor = timeStep * k / (d + timeStep * k);
-
- const float y = 12.0f;
-
- for (int i = 0; i < 15; ++i)
- {
- Vec2 x(0.5f + i, y);
- b->Set(Vec2(0.75f, 0.25f), mass);
- b->friction = 0.2f;
- b->position = x;
- b->rotation = 0.0f;
- world.Add(b);
-
- j->Set(b1, b, Vec2(float(i), y));
- j->softness = softness;
- j->biasFactor = biasFactor;
- world.Add(j);
-
- b1 = b;
- ++b;
- ++numBodies;
- ++j;
- ++numJoints;
- }
-}
-
-static void InitDemo()
-{
- world.Clear();
- numBodies = 0;
- numJoints = 0;
- bomb = NULL;
-
- demoIndex = 0;
- Demo5(bodies, joints);
-}
-
-int main(int argc, char **argv) {
-
- // Setup SDL
- // (Some versions of SDL before <2.0.10 appears to have performance/stalling issues on a minority of Windows systems,
- // depending on whether SDL_INIT_GAMECONTROLLER is enabled or disabled.. updating to latest version of SDL is recommended!)
- if (SDL_Init(SDL_INIT_VIDEO | SDL_INIT_TIMER | SDL_INIT_GAMECONTROLLER) != 0)
- {
- printf("Error: %s\n", SDL_GetError());
- return -1;
- }
-
- // Setup window
- SDL_GL_SetAttribute(SDL_GL_DOUBLEBUFFER, 1);
- SDL_GL_SetAttribute(SDL_GL_DEPTH_SIZE, 24);
- SDL_GL_SetAttribute(SDL_GL_STENCIL_SIZE, 8);
- SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
- SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 2);
- SDL_WindowFlags window_flags = (SDL_WindowFlags)(SDL_WINDOW_OPENGL | SDL_WINDOW_RESIZABLE | SDL_WINDOW_ALLOW_HIGHDPI);
- SDL_Window* window = SDL_CreateWindow("Phy2D", SDL_WINDOWPOS_CENTERED, SDL_WINDOWPOS_CENTERED, width, height, window_flags);
- SDL_GLContext gl_context = SDL_GL_CreateContext(window);
-
- if (!gladLoadGLLoader((GLADloadproc)SDL_GL_GetProcAddress)) {
- std::cerr << "Failed to initialize the OpenGL context." << std::endl;
- exit(1);
- }
-
- SDL_GL_MakeCurrent(window, gl_context);
- SDL_GL_SetSwapInterval(1); // Enable vsync
-
- // Setup Dear ImGui context
- IMGUI_CHECKVERSION();
- ImGui::CreateContext();
- ImGuiIO& io = ImGui::GetIO(); (void)io;
- //io.ConfigFlags |= ImGuiConfigFlags_NavEnableKeyboard; // Enable Keyboard Controls
- //io.ConfigFlags |= ImGuiConfigFlags_NavEnableGamepad; // Enable Gamepad Controls
-
- // Setup Dear ImGui style
- ImGui::StyleColorsDark();
- //ImGui::StyleColorsClassic();
-
- // Setup Platform/Renderer backends
- ImGui_ImplSDL2_InitForOpenGL(window, gl_context);
- ImGui_ImplOpenGL2_Init();
-
- // Load Fonts
- // - If no fonts are loaded, dear imgui will use the default font. You can also load multiple fonts and use ImGui::PushFont()/PopFont() to select them.
- // - AddFontFromFileTTF() will return the ImFont* so you can store it if you need to select the font among multiple.
- // - If the file cannot be loaded, the function will return NULL. Please handle those errors in your application (e.g. use an assertion, or display an error and quit).
- // - The fonts will be rasterized at a given size (w/ oversampling) and stored into a texture when calling ImFontAtlas::Build()/GetTexDataAsXXXX(), which ImGui_ImplXXXX_NewFrame below will call.
- // - Read 'docs/FONTS.md' for more instructions and details.
- // - Remember that in C/C++ if you want to include a backslash \ in a string literal you need to write a double backslash \\ !
- //io.Fonts->AddFontDefault();
- //io.Fonts->AddFontFromFileTTF("../../misc/fonts/Roboto-Medium.ttf", 16.0f);
- //io.Fonts->AddFontFromFileTTF("../../misc/fonts/Cousine-Regular.ttf", 15.0f);
- //io.Fonts->AddFontFromFileTTF("../../misc/fonts/DroidSans.ttf", 16.0f);
- //io.Fonts->AddFontFromFileTTF("../../misc/fonts/ProggyTiny.ttf", 10.0f);
- //ImFont* font = io.Fonts->AddFontFromFileTTF("c:\\Windows\\Fonts\\ArialUni.ttf", 18.0f, NULL, io.Fonts->GetGlyphRangesJapanese());
- //IM_ASSERT(font != NULL);
-
- // Our state
- bool show_demo_window = true;
- bool show_another_window = false;
- ImVec4 clear_color = ImVec4(0.45f, 0.55f, 0.60f, 1.00f);
-
- glViewport(0, 0, (int)io.DisplaySize.x, (int)io.DisplaySize.y);
- glMatrixMode(GL_PROJECTION);
- glLoadIdentity();
-
- float aspect = float(width) / float(height);
- if (width >= height)
- {
- // aspect >= 1, set the height from -1 to 1, with larger width
- glOrtho(-zoom * aspect, zoom * aspect, -zoom + pan_y, zoom + pan_y, -1.0, 1.0);
- }
- else
- {
- // aspect < 1, set the width to -1 to 1, with larger height
- glOrtho(-zoom, zoom, -zoom / aspect + pan_y, zoom / aspect + pan_y, -1.0, 1.0);
- }
-
- InitDemo();
-
- // Main loop
- bool done = false;
- while (!done)
- {
- //glClearColor(clear_color.x * clear_color.w, clear_color.y * clear_color.w, clear_color.z * clear_color.w, clear_color.w);
- glClearColor(0, 0, 0, 0);
- glClear(GL_COLOR_BUFFER_BIT);
-
- // Poll and handle events (inputs, window resize, etc.)
- // You can read the io.WantCaptureMouse, io.WantCaptureKeyboard flags to tell if dear imgui wants to use your inputs.
- // - When io.WantCaptureMouse is true, do not dispatch mouse input data to your main application.
- // - When io.WantCaptureKeyboard is true, do not dispatch keyboard input data to your main application.
- // Generally you may always pass all inputs to dear imgui, and hide them from your application based on those two flags.
- SDL_Event event;
- while (SDL_PollEvent(&event))
- {
- ImGui_ImplSDL2_ProcessEvent(&event);
- if (event.type == SDL_QUIT)
- done = true;
- if (event.type == SDL_WINDOWEVENT && event.window.event == SDL_WINDOWEVENT_CLOSE && event.window.windowID == SDL_GetWindowID(window))
- done = true;
- }
-
- // Start the Dear ImGui frame
- ImGui_ImplOpenGL2_NewFrame();
- ImGui_ImplSDL2_NewFrame();
- ImGui::NewFrame();
-
- // Rendering
- ImGui::Render();
-
- glMatrixMode(GL_MODELVIEW);
- glLoadIdentity();
-
- world.Step(timeStep);
-
- for (int i = 0; i < numBodies; ++i)
- DrawBody(bodies + i);
-
- for (int i = 0; i < numJoints; ++i)
- DrawJoint(joints + i);
-
- glPointSize(4.0f);
- glColor3f(1.0f, 0.0f, 0.0f);
- glBegin(GL_POINTS);
- std::map<ArbiterKey, Arbiter>::const_iterator iter;
- for (iter = world.arbiters.begin(); iter != world.arbiters.end(); ++iter)
- {
- const Arbiter& arbiter = iter->second;
- for (int i = 0; i < arbiter.numContacts; ++i)
- {
- Vec2 p = arbiter.contacts[i].position;
- glVertex2f(p.x, p.y);
- }
- }
- glEnd();
- glPointSize(1.0f);
-
- //glUseProgram(0); // You may want this if using this code in an OpenGL 3+ context where shaders may be bound
- ImGui_ImplOpenGL2_RenderDrawData(ImGui::GetDrawData());
- SDL_GL_SwapWindow(window);
- }
-
- // Cleanup
- ImGui_ImplOpenGL2_Shutdown();
- ImGui_ImplSDL2_Shutdown();
- ImGui::DestroyContext();
-
- SDL_GL_DeleteContext(gl_context);
- SDL_DestroyWindow(window);
- SDL_Quit();
-
- return 0;
-}
-
-#endif \ No newline at end of file
diff --git a/Client/Source/Phy2DLite/Constants.h b/Client/Source/Phy2DLite/Constants.h
index f116ca8..59a8c09 100644
--- a/Client/Source/Phy2DLite/Constants.h
+++ b/Client/Source/Phy2DLite/Constants.h
@@ -5,7 +5,7 @@
namespace Phy2D
{
#if NUMBER_ALIAS == NUMBER_FPM
-#define CONSTANT(name, value) static fixed name = fixed::from_raw_value(value)
+#define CONSTANT(name, value) static constexpr fixed name = fixed::from_raw_value(value)
CONSTANT(_1, 65536);
CONSTANT(_n1, -65536);
@@ -16,5 +16,27 @@ namespace Phy2D
CONSTANT(_0_95, 62259);
CONSTANT(_12, 786432);
+#elif NUMBER_ALIAS == NUMBER_FLOAT
+
+ static const float _1 = 1;
+ static const float _n1 = -1;
+ static const float _0 = 0;
+ static const float _0_01 = 0.01;
+ static const float _0_2 = 0.2;
+ static const float _0_5 = 0.5;
+ static const float _0_95 = 0.95;
+ static const float _12 = 12;
+
+#elif NUMBER_ALIAS == NUMBER_FIX32
+
+ static const float _1 = 1;
+ static const float _n1 = -1;
+ static const float _0 = 0;
+ static const float _0_01 = 0.01;
+ static const float _0_2 = 0.2;
+ static const float _0_5 = 0.5;
+ static const float _0_95 = 0.95;
+ static const float _12 = 12;
+
#endif
} \ No newline at end of file
diff --git a/Client/Source/Phy2DLite/Settings.h b/Client/Source/Phy2DLite/Settings.h
index 9345b32..6454943 100644
--- a/Client/Source/Phy2DLite/Settings.h
+++ b/Client/Source/Phy2DLite/Settings.h
@@ -1,16 +1,19 @@
#pragma once
-#define NUMBER_FLOAT 1
-#define NUMBER_LIBFIX 2
-#define NUMBER_FPM 3
+#define NUMBER_FLOAT 1
+#define NUMBER_LIBFIX 2
+#define NUMBER_FPM 3
+#define NUMBER_FIX32 4
-#define NUMBER_ALIAS NUMBER_FPM
+#define NUMBER_ALIAS NUMBER_FIX32
#if NUMBER_ALIAS == NUMBER_LIBFIX
#include "libfixmath/libfixmath/fixmath.h"
#elif NUMBER_ALIAS == NUMBER_FPM
#include "fpm/include/fpm/fixed.hpp"
#include "fpm/include/fpm/math.hpp"
+#elif NUMBER_ALIAS == NUMBER_FIX32
+#include "fix32/fix32.hpp"
#endif
namespace Phy2D
@@ -24,10 +27,10 @@ typedef float fixed;
#define SQRT(a) (sqrt((a)))
#define SIN(a) (sin((a)))
#define COS(a) (cos((a)))
+#define PI (3.1415925f)
#elif NUMBER_ALIAS == NUMBER_LIBFIX
-// 同时一定要开启内联函数扩展，否则执行效率会非常低
typedef Fix16 fixed;
#define NUMBER_MAX (fix16_maximum)
#define NUMBER_MIN (fix16_minimum)
@@ -91,6 +94,16 @@ typedef fpm::fixed_16_16 fixed;
#define COS(a) (fpm::cos((a)))
#define PI (fixed::pi())
+#elif NUMBER_ALIAS == NUMBER_FIX32
+
+ typedef Fix32 fixed;
+#define NUMBER_MAX (CONST_MAX)
+#define NUMBER_MIN (CONST_MIN)
+#define SQRT(a) ((a).sqrt())
+#define SIN(a) ((a).sin())
+#define COS(a) ((a).cos())
+#define PI (CONST_PI)
+
#endif
} \ No newline at end of file
diff --git a/Client/Source/Phy2DLite/World.cpp b/Client/Source/Phy2DLite/World.cpp
index f20be5f..76e57ea 100644
--- a/Client/Source/Phy2DLite/World.cpp
+++ b/Client/Source/Phy2DLite/World.cpp
@@ -73,7 +73,7 @@ void World::BroadPhase()
void World::Step(fixed dt)
{
- fixed inv_dt = dt > _0 ? _1 / dt : _0;
+ fixed inv_dt = dt > _0 ? (fixed)_1 / dt : (fixed)_0;
// Determine overlapping bodies and update contact points.
BroadPhase();
generated by cgit v1.1-26-g67d0 at 2025-05-18 20:40:54 +0000