fix macOS build (following Projucer changes made in Windows, which removed /Applications/JUCE/modules from its headers). move JUCE headers under source control, so that Windows and macOS can both build against same version of JUCE. remove AUv3 target (I think it's an iOS thing, so it will never work with this macOS fluidsynth dylib).
This commit is contained in:
Alex Birch
476
modules/juce_box2d/box2d/Collision/b2TimeOfImpact.cpp
Normal file
476
modules/juce_box2d/box2d/Collision/b2TimeOfImpact.cpp
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@ -0,0 +1,476 @@
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/*
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* Copyright (c) 2007-2009 Erin Catto http://www.box2d.org
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#include "b2Collision.h"
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#include "b2Distance.h"
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#include "b2TimeOfImpact.h"
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#include "Shapes/b2CircleShape.h"
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#include "Shapes/b2PolygonShape.h"
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#include <cstdio>
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using namespace std;
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int32 b2_toiCalls, b2_toiIters, b2_toiMaxIters;
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int32 b2_toiRootIters, b2_toiMaxRootIters;
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struct b2SeparationFunction
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{
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enum Type
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{
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e_points,
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e_faceA,
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e_faceB
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};
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// TODO_ERIN might not need to return the separation
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float32 Initialize(const b2SimplexCache* cache,
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const b2DistanceProxy* proxyA, const b2Sweep& sweepA,
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const b2DistanceProxy* proxyB, const b2Sweep& sweepB,
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float32 t1)
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{
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m_proxyA = proxyA;
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m_proxyB = proxyB;
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int32 count = cache->count;
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b2Assert(0 < count && count < 3);
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m_sweepA = sweepA;
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m_sweepB = sweepB;
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b2Transform xfA, xfB;
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m_sweepA.GetTransform(&xfA, t1);
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m_sweepB.GetTransform(&xfB, t1);
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if (count == 1)
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{
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m_type = e_points;
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b2Vec2 localPointA = m_proxyA->GetVertex(cache->indexA[0]);
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b2Vec2 localPointB = m_proxyB->GetVertex(cache->indexB[0]);
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b2Vec2 pointA = b2Mul(xfA, localPointA);
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b2Vec2 pointB = b2Mul(xfB, localPointB);
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m_axis = pointB - pointA;
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float32 s = m_axis.Normalize();
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return s;
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}
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else if (cache->indexA[0] == cache->indexA[1])
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{
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// Two points on B and one on A.
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m_type = e_faceB;
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b2Vec2 localPointB1 = proxyB->GetVertex(cache->indexB[0]);
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b2Vec2 localPointB2 = proxyB->GetVertex(cache->indexB[1]);
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m_axis = b2Cross(localPointB2 - localPointB1, 1.0f);
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m_axis.Normalize();
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b2Vec2 normal = b2Mul(xfB.q, m_axis);
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m_localPoint = 0.5f * (localPointB1 + localPointB2);
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b2Vec2 pointB = b2Mul(xfB, m_localPoint);
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b2Vec2 localPointA = proxyA->GetVertex(cache->indexA[0]);
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b2Vec2 pointA = b2Mul(xfA, localPointA);
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float32 s = b2Dot(pointA - pointB, normal);
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if (s < 0.0f)
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{
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m_axis = -m_axis;
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s = -s;
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}
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return s;
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}
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else
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{
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// Two points on A and one or two points on B.
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m_type = e_faceA;
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b2Vec2 localPointA1 = m_proxyA->GetVertex(cache->indexA[0]);
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b2Vec2 localPointA2 = m_proxyA->GetVertex(cache->indexA[1]);
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m_axis = b2Cross(localPointA2 - localPointA1, 1.0f);
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m_axis.Normalize();
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b2Vec2 normal = b2Mul(xfA.q, m_axis);
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m_localPoint = 0.5f * (localPointA1 + localPointA2);
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b2Vec2 pointA = b2Mul(xfA, m_localPoint);
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b2Vec2 localPointB = m_proxyB->GetVertex(cache->indexB[0]);
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b2Vec2 pointB = b2Mul(xfB, localPointB);
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float32 s = b2Dot(pointB - pointA, normal);
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if (s < 0.0f)
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{
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m_axis = -m_axis;
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s = -s;
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}
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return s;
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}
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}
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float32 FindMinSeparation(int32* indexA, int32* indexB, float32 t) const
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{
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b2Transform xfA, xfB;
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m_sweepA.GetTransform(&xfA, t);
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m_sweepB.GetTransform(&xfB, t);
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switch (m_type)
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{
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case e_points:
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{
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b2Vec2 axisA = b2MulT(xfA.q, m_axis);
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b2Vec2 axisB = b2MulT(xfB.q, -m_axis);
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*indexA = m_proxyA->GetSupport(axisA);
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*indexB = m_proxyB->GetSupport(axisB);
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b2Vec2 localPointA = m_proxyA->GetVertex(*indexA);
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b2Vec2 localPointB = m_proxyB->GetVertex(*indexB);
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b2Vec2 pointA = b2Mul(xfA, localPointA);
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b2Vec2 pointB = b2Mul(xfB, localPointB);
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float32 separation = b2Dot(pointB - pointA, m_axis);
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return separation;
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}
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case e_faceA:
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{
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b2Vec2 normal = b2Mul(xfA.q, m_axis);
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b2Vec2 pointA = b2Mul(xfA, m_localPoint);
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b2Vec2 axisB = b2MulT(xfB.q, -normal);
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*indexA = -1;
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*indexB = m_proxyB->GetSupport(axisB);
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b2Vec2 localPointB = m_proxyB->GetVertex(*indexB);
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b2Vec2 pointB = b2Mul(xfB, localPointB);
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float32 separation = b2Dot(pointB - pointA, normal);
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return separation;
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}
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case e_faceB:
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{
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b2Vec2 normal = b2Mul(xfB.q, m_axis);
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b2Vec2 pointB = b2Mul(xfB, m_localPoint);
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b2Vec2 axisA = b2MulT(xfA.q, -normal);
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*indexB = -1;
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*indexA = m_proxyA->GetSupport(axisA);
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b2Vec2 localPointA = m_proxyA->GetVertex(*indexA);
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b2Vec2 pointA = b2Mul(xfA, localPointA);
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float32 separation = b2Dot(pointA - pointB, normal);
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return separation;
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}
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default:
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b2Assert(false);
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*indexA = -1;
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*indexB = -1;
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return 0.0f;
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}
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}
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float32 Evaluate(int32 indexA, int32 indexB, float32 t) const
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{
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b2Transform xfA, xfB;
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m_sweepA.GetTransform(&xfA, t);
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m_sweepB.GetTransform(&xfB, t);
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switch (m_type)
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{
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case e_points:
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{
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b2Vec2 localPointA = m_proxyA->GetVertex(indexA);
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b2Vec2 localPointB = m_proxyB->GetVertex(indexB);
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b2Vec2 pointA = b2Mul(xfA, localPointA);
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b2Vec2 pointB = b2Mul(xfB, localPointB);
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float32 separation = b2Dot(pointB - pointA, m_axis);
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return separation;
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}
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case e_faceA:
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{
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b2Vec2 normal = b2Mul(xfA.q, m_axis);
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b2Vec2 pointA = b2Mul(xfA, m_localPoint);
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b2Vec2 localPointB = m_proxyB->GetVertex(indexB);
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b2Vec2 pointB = b2Mul(xfB, localPointB);
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float32 separation = b2Dot(pointB - pointA, normal);
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return separation;
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}
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case e_faceB:
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{
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b2Vec2 normal = b2Mul(xfB.q, m_axis);
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b2Vec2 pointB = b2Mul(xfB, m_localPoint);
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b2Vec2 localPointA = m_proxyA->GetVertex(indexA);
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b2Vec2 pointA = b2Mul(xfA, localPointA);
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float32 separation = b2Dot(pointA - pointB, normal);
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return separation;
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}
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default:
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b2Assert(false);
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return 0.0f;
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}
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}
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const b2DistanceProxy* m_proxyA;
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const b2DistanceProxy* m_proxyB;
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b2Sweep m_sweepA, m_sweepB;
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Type m_type;
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b2Vec2 m_localPoint;
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b2Vec2 m_axis;
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};
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// CCD via the local separating axis method. This seeks progression
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// by computing the largest time at which separation is maintained.
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void b2TimeOfImpact(b2TOIOutput* output, const b2TOIInput* input)
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{
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++b2_toiCalls;
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output->state = b2TOIOutput::e_unknown;
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output->t = input->tMax;
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const b2DistanceProxy* proxyA = &input->proxyA;
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const b2DistanceProxy* proxyB = &input->proxyB;
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b2Sweep sweepA = input->sweepA;
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b2Sweep sweepB = input->sweepB;
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// Large rotations can make the root finder fail, so we normalize the
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// sweep angles.
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sweepA.Normalize();
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sweepB.Normalize();
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float32 tMax = input->tMax;
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float32 totalRadius = proxyA->m_radius + proxyB->m_radius;
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float32 target = b2Max(b2_linearSlop, totalRadius - 3.0f * b2_linearSlop);
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float32 tolerance = 0.25f * b2_linearSlop;
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b2Assert(target > tolerance);
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float32 t1 = 0.0f;
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const int32 k_maxIterations = 20; // TODO_ERIN b2Settings
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int32 iter = 0;
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// Prepare input for distance query.
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b2SimplexCache cache;
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cache.count = 0;
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b2DistanceInput distanceInput;
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distanceInput.proxyA = input->proxyA;
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distanceInput.proxyB = input->proxyB;
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distanceInput.useRadii = false;
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// The outer loop progressively attempts to compute new separating axes.
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// This loop terminates when an axis is repeated (no progress is made).
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for(;;)
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{
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b2Transform xfA, xfB;
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sweepA.GetTransform(&xfA, t1);
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sweepB.GetTransform(&xfB, t1);
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// Get the distance between shapes. We can also use the results
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// to get a separating axis.
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distanceInput.transformA = xfA;
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distanceInput.transformB = xfB;
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b2DistanceOutput distanceOutput;
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b2Distance(&distanceOutput, &cache, &distanceInput);
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// If the shapes are overlapped, we give up on continuous collision.
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if (distanceOutput.distance <= 0.0f)
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{
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// Failure!
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output->state = b2TOIOutput::e_overlapped;
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output->t = 0.0f;
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break;
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}
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if (distanceOutput.distance < target + tolerance)
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{
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// Victory!
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output->state = b2TOIOutput::e_touching;
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output->t = t1;
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break;
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}
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// Initialize the separating axis.
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b2SeparationFunction fcn;
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fcn.Initialize(&cache, proxyA, sweepA, proxyB, sweepB, t1);
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#if 0
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// Dump the curve seen by the root finder
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{
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const int32 N = 100;
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float32 dx = 1.0f / N;
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float32 xs[N+1];
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float32 fs[N+1];
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float32 x = 0.0f;
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for (int32 i = 0; i <= N; ++i)
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{
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sweepA.GetTransform(&xfA, x);
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sweepB.GetTransform(&xfB, x);
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float32 f = fcn.Evaluate(xfA, xfB) - target;
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printf("%g %g\n", x, f);
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xs[i] = x;
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fs[i] = f;
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x += dx;
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}
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}
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#endif
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// Compute the TOI on the separating axis. We do this by successively
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// resolving the deepest point. This loop is bounded by the number of vertices.
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bool done = false;
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float32 t2 = tMax;
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int32 pushBackIter = 0;
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for (;;)
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{
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// Find the deepest point at t2. Store the witness point indices.
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int32 indexA, indexB;
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float32 s2 = fcn.FindMinSeparation(&indexA, &indexB, t2);
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// Is the final configuration separated?
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if (s2 > target + tolerance)
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{
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// Victory!
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output->state = b2TOIOutput::e_separated;
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output->t = tMax;
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done = true;
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break;
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}
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// Has the separation reached tolerance?
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if (s2 > target - tolerance)
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{
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// Advance the sweeps
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t1 = t2;
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break;
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}
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// Compute the initial separation of the witness points.
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float32 s1 = fcn.Evaluate(indexA, indexB, t1);
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// Check for initial overlap. This might happen if the root finder
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// runs out of iterations.
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if (s1 < target - tolerance)
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{
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output->state = b2TOIOutput::e_failed;
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output->t = t1;
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done = true;
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break;
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}
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// Check for touching
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if (s1 <= target + tolerance)
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{
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// Victory! t1 should hold the TOI (could be 0.0).
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output->state = b2TOIOutput::e_touching;
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output->t = t1;
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done = true;
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break;
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}
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// Compute 1D root of: f(x) - target = 0
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int32 rootIterCount = 0;
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float32 a1 = t1, a2 = t2;
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for (;;)
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{
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// Use a mix of the secant rule and bisection.
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float32 t;
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if (rootIterCount & 1)
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{
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// Secant rule to improve convergence.
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t = a1 + (target - s1) * (a2 - a1) / (s2 - s1);
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}
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else
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{
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// Bisection to guarantee progress.
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t = 0.5f * (a1 + a2);
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}
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float32 s = fcn.Evaluate(indexA, indexB, t);
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if (b2Abs(s - target) < tolerance)
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{
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// t2 holds a tentative value for t1
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t2 = t;
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break;
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}
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// Ensure we continue to bracket the root.
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if (s > target)
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{
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a1 = t;
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s1 = s;
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}
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else
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{
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a2 = t;
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s2 = s;
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}
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++rootIterCount;
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++b2_toiRootIters;
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if (rootIterCount == 50)
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{
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break;
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}
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}
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b2_toiMaxRootIters = b2Max(b2_toiMaxRootIters, rootIterCount);
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++pushBackIter;
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if (pushBackIter == b2_maxPolygonVertices)
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{
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break;
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}
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}
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++iter;
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++b2_toiIters;
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if (done)
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{
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break;
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}
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if (iter == k_maxIterations)
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{
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// Root finder got stuck. Semi-victory.
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output->state = b2TOIOutput::e_failed;
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output->t = t1;
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break;
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}
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}
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b2_toiMaxIters = b2Max(b2_toiMaxIters, iter);
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}
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Reference in New Issue
Block a user