320 lines
17 KiB
C
320 lines
17 KiB
C
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/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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/// @defgroup cpSpace cpSpace
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/// @{
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//MARK: Definitions
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/// Collision begin event function callback type.
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/// Returning false from a begin callback causes the collision to be ignored until
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/// the the separate callback is called when the objects stop colliding.
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typedef cpBool (*cpCollisionBeginFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData);
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/// Collision pre-solve event function callback type.
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/// Returning false from a pre-step callback causes the collision to be ignored until the next step.
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typedef cpBool (*cpCollisionPreSolveFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData);
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/// Collision post-solve event function callback type.
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typedef void (*cpCollisionPostSolveFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData);
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/// Collision separate event function callback type.
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typedef void (*cpCollisionSeparateFunc)(cpArbiter *arb, cpSpace *space, cpDataPointer userData);
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/// Struct that holds function callback pointers to configure custom collision handling.
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/// Collision handlers have a pair of types; when a collision occurs between two shapes that have these types, the collision handler functions are triggered.
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struct cpCollisionHandler {
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/// Collision type identifier of the first shape that this handler recognizes.
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/// In the collision handler callback, the shape with this type will be the first argument. Read only.
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const cpCollisionType typeA;
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/// Collision type identifier of the second shape that this handler recognizes.
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/// In the collision handler callback, the shape with this type will be the second argument. Read only.
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const cpCollisionType typeB;
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/// This function is called when two shapes with types that match this collision handler begin colliding.
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cpCollisionBeginFunc beginFunc;
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/// This function is called each step when two shapes with types that match this collision handler are colliding.
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/// It's called before the collision solver runs so that you can affect a collision's outcome.
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cpCollisionPreSolveFunc preSolveFunc;
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/// This function is called each step when two shapes with types that match this collision handler are colliding.
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/// It's called after the collision solver runs so that you can read back information about the collision to trigger events in your game.
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cpCollisionPostSolveFunc postSolveFunc;
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/// This function is called when two shapes with types that match this collision handler stop colliding.
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cpCollisionSeparateFunc separateFunc;
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/// This is a user definable context pointer that is passed to all of the collision handler functions.
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cpDataPointer userData;
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};
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// TODO: Make timestep a parameter?
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//MARK: Memory and Initialization
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/// Allocate a cpSpace.
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CP_EXPORT cpSpace* cpSpaceAlloc(void);
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/// Initialize a cpSpace.
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CP_EXPORT cpSpace* cpSpaceInit(cpSpace *space);
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/// Allocate and initialize a cpSpace.
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CP_EXPORT cpSpace* cpSpaceNew(void);
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/// Destroy a cpSpace.
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CP_EXPORT void cpSpaceDestroy(cpSpace *space);
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/// Destroy and free a cpSpace.
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CP_EXPORT void cpSpaceFree(cpSpace *space);
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//MARK: Properties
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/// Number of iterations to use in the impulse solver to solve contacts and other constraints.
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CP_EXPORT int cpSpaceGetIterations(const cpSpace *space);
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CP_EXPORT void cpSpaceSetIterations(cpSpace *space, int iterations);
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/// Gravity to pass to rigid bodies when integrating velocity.
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CP_EXPORT cpVect cpSpaceGetGravity(const cpSpace *space);
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CP_EXPORT void cpSpaceSetGravity(cpSpace *space, cpVect gravity);
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/// Damping rate expressed as the fraction of velocity bodies retain each second.
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/// A value of 0.9 would mean that each body's velocity will drop 10% per second.
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/// The default value is 1.0, meaning no damping is applied.
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/// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring.
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CP_EXPORT cpFloat cpSpaceGetDamping(const cpSpace *space);
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CP_EXPORT void cpSpaceSetDamping(cpSpace *space, cpFloat damping);
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/// Speed threshold for a body to be considered idle.
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/// The default value of 0 means to let the space guess a good threshold based on gravity.
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CP_EXPORT cpFloat cpSpaceGetIdleSpeedThreshold(const cpSpace *space);
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CP_EXPORT void cpSpaceSetIdleSpeedThreshold(cpSpace *space, cpFloat idleSpeedThreshold);
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/// Time a group of bodies must remain idle in order to fall asleep.
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/// Enabling sleeping also implicitly enables the the contact graph.
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/// The default value of INFINITY disables the sleeping algorithm.
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CP_EXPORT cpFloat cpSpaceGetSleepTimeThreshold(const cpSpace *space);
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CP_EXPORT void cpSpaceSetSleepTimeThreshold(cpSpace *space, cpFloat sleepTimeThreshold);
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/// Amount of encouraged penetration between colliding shapes.
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/// Used to reduce oscillating contacts and keep the collision cache warm.
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/// Defaults to 0.1. If you have poor simulation quality,
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/// increase this number as much as possible without allowing visible amounts of overlap.
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CP_EXPORT cpFloat cpSpaceGetCollisionSlop(const cpSpace *space);
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CP_EXPORT void cpSpaceSetCollisionSlop(cpSpace *space, cpFloat collisionSlop);
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/// Determines how fast overlapping shapes are pushed apart.
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/// Expressed as a fraction of the error remaining after each second.
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/// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz.
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CP_EXPORT cpFloat cpSpaceGetCollisionBias(const cpSpace *space);
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CP_EXPORT void cpSpaceSetCollisionBias(cpSpace *space, cpFloat collisionBias);
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/// Number of frames that contact information should persist.
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/// Defaults to 3. There is probably never a reason to change this value.
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CP_EXPORT cpTimestamp cpSpaceGetCollisionPersistence(const cpSpace *space);
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CP_EXPORT void cpSpaceSetCollisionPersistence(cpSpace *space, cpTimestamp collisionPersistence);
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/// User definable data pointer.
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/// Generally this points to your game's controller or game state
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/// class so you can access it when given a cpSpace reference in a callback.
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CP_EXPORT cpDataPointer cpSpaceGetUserData(const cpSpace *space);
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CP_EXPORT void cpSpaceSetUserData(cpSpace *space, cpDataPointer userData);
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/// The Space provided static body for a given cpSpace.
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/// This is merely provided for convenience and you are not required to use it.
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CP_EXPORT cpBody* cpSpaceGetStaticBody(const cpSpace *space);
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/// Returns the current (or most recent) time step used with the given space.
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/// Useful from callbacks if your time step is not a compile-time global.
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CP_EXPORT cpFloat cpSpaceGetCurrentTimeStep(const cpSpace *space);
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/// returns true from inside a callback when objects cannot be added/removed.
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CP_EXPORT cpBool cpSpaceIsLocked(cpSpace *space);
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//MARK: Collision Handlers
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/// Create or return the existing collision handler that is called for all collisions that are not handled by a more specific collision handler.
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CP_EXPORT cpCollisionHandler *cpSpaceAddDefaultCollisionHandler(cpSpace *space);
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/// Create or return the existing collision handler for the specified pair of collision types.
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/// If wildcard handlers are used with either of the collision types, it's the responibility of the custom handler to invoke the wildcard handlers.
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CP_EXPORT cpCollisionHandler *cpSpaceAddCollisionHandler(cpSpace *space, cpCollisionType a, cpCollisionType b);
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/// Create or return the existing wildcard collision handler for the specified type.
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CP_EXPORT cpCollisionHandler *cpSpaceAddWildcardHandler(cpSpace *space, cpCollisionType type);
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//MARK: Add/Remove objects
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/// Add a collision shape to the simulation.
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/// If the shape is attached to a static body, it will be added as a static shape.
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CP_EXPORT cpShape* cpSpaceAddShape(cpSpace *space, cpShape *shape);
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/// Add a rigid body to the simulation.
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CP_EXPORT cpBody* cpSpaceAddBody(cpSpace *space, cpBody *body);
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/// Add a constraint to the simulation.
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CP_EXPORT cpConstraint* cpSpaceAddConstraint(cpSpace *space, cpConstraint *constraint);
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/// Remove a collision shape from the simulation.
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CP_EXPORT void cpSpaceRemoveShape(cpSpace *space, cpShape *shape);
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/// Remove a rigid body from the simulation.
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CP_EXPORT void cpSpaceRemoveBody(cpSpace *space, cpBody *body);
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/// Remove a constraint from the simulation.
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CP_EXPORT void cpSpaceRemoveConstraint(cpSpace *space, cpConstraint *constraint);
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/// Test if a collision shape has been added to the space.
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CP_EXPORT cpBool cpSpaceContainsShape(cpSpace *space, cpShape *shape);
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/// Test if a rigid body has been added to the space.
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CP_EXPORT cpBool cpSpaceContainsBody(cpSpace *space, cpBody *body);
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/// Test if a constraint has been added to the space.
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CP_EXPORT cpBool cpSpaceContainsConstraint(cpSpace *space, cpConstraint *constraint);
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//MARK: Post-Step Callbacks
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/// Post Step callback function type.
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typedef void (*cpPostStepFunc)(cpSpace *space, void *key, void *data);
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/// Schedule a post-step callback to be called when cpSpaceStep() finishes.
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/// You can only register one callback per unique value for @c key.
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/// Returns true only if @c key has never been scheduled before.
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/// It's possible to pass @c NULL for @c func if you only want to mark @c key as being used.
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CP_EXPORT cpBool cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *key, void *data);
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//MARK: Queries
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// TODO: Queries and iterators should take a cpSpace parametery.
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// TODO: They should also be abortable.
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/// Nearest point query callback function type.
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typedef void (*cpSpacePointQueryFunc)(cpShape *shape, cpVect point, cpFloat distance, cpVect gradient, void *data);
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/// Query the space at a point and call @c func for each shape found.
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CP_EXPORT void cpSpacePointQuery(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpSpacePointQueryFunc func, void *data);
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/// Query the space at a point and return the nearest shape found. Returns NULL if no shapes were found.
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CP_EXPORT cpShape *cpSpacePointQueryNearest(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpPointQueryInfo *out);
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/// Segment query callback function type.
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typedef void (*cpSpaceSegmentQueryFunc)(cpShape *shape, cpVect point, cpVect normal, cpFloat alpha, void *data);
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/// Perform a directed line segment query (like a raycast) against the space calling @c func for each shape intersected.
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CP_EXPORT void cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSpaceSegmentQueryFunc func, void *data);
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/// Perform a directed line segment query (like a raycast) against the space and return the first shape hit. Returns NULL if no shapes were hit.
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CP_EXPORT cpShape *cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSegmentQueryInfo *out);
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/// Rectangle Query callback function type.
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typedef void (*cpSpaceBBQueryFunc)(cpShape *shape, void *data);
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/// Perform a fast rectangle query on the space calling @c func for each shape found.
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/// Only the shape's bounding boxes are checked for overlap, not their full shape.
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CP_EXPORT void cpSpaceBBQuery(cpSpace *space, cpBB bb, cpShapeFilter filter, cpSpaceBBQueryFunc func, void *data);
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/// Shape query callback function type.
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typedef void (*cpSpaceShapeQueryFunc)(cpShape *shape, cpContactPointSet *points, void *data);
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/// Query a space for any shapes overlapping the given shape and call @c func for each shape found.
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CP_EXPORT cpBool cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data);
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//MARK: Iteration
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/// Space/body iterator callback function type.
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typedef void (*cpSpaceBodyIteratorFunc)(cpBody *body, void *data);
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/// Call @c func for each body in the space.
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CP_EXPORT void cpSpaceEachBody(cpSpace *space, cpSpaceBodyIteratorFunc func, void *data);
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/// Space/body iterator callback function type.
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typedef void (*cpSpaceShapeIteratorFunc)(cpShape *shape, void *data);
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/// Call @c func for each shape in the space.
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CP_EXPORT void cpSpaceEachShape(cpSpace *space, cpSpaceShapeIteratorFunc func, void *data);
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/// Space/constraint iterator callback function type.
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typedef void (*cpSpaceConstraintIteratorFunc)(cpConstraint *constraint, void *data);
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/// Call @c func for each shape in the space.
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CP_EXPORT void cpSpaceEachConstraint(cpSpace *space, cpSpaceConstraintIteratorFunc func, void *data);
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//MARK: Indexing
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/// Update the collision detection info for the static shapes in the space.
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CP_EXPORT void cpSpaceReindexStatic(cpSpace *space);
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/// Update the collision detection data for a specific shape in the space.
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CP_EXPORT void cpSpaceReindexShape(cpSpace *space, cpShape *shape);
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/// Update the collision detection data for all shapes attached to a body.
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CP_EXPORT void cpSpaceReindexShapesForBody(cpSpace *space, cpBody *body);
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/// Switch the space to use a spatial has as it's spatial index.
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CP_EXPORT void cpSpaceUseSpatialHash(cpSpace *space, cpFloat dim, int count);
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//MARK: Time Stepping
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/// Step the space forward in time by @c dt.
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CP_EXPORT void cpSpaceStep(cpSpace *space, cpFloat dt);
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//MARK: Debug API
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#ifndef CP_SPACE_DISABLE_DEBUG_API
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/// Color type to use with the space debug drawing API.
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typedef struct cpSpaceDebugColor {
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float r, g, b, a;
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} cpSpaceDebugColor;
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/// Callback type for a function that draws a filled, stroked circle.
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typedef void (*cpSpaceDebugDrawCircleImpl)(cpVect pos, cpFloat angle, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data);
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/// Callback type for a function that draws a line segment.
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typedef void (*cpSpaceDebugDrawSegmentImpl)(cpVect a, cpVect b, cpSpaceDebugColor color, cpDataPointer data);
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/// Callback type for a function that draws a thick line segment.
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typedef void (*cpSpaceDebugDrawFatSegmentImpl)(cpVect a, cpVect b, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data);
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/// Callback type for a function that draws a convex polygon.
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typedef void (*cpSpaceDebugDrawPolygonImpl)(int count, const cpVect *verts, cpFloat radius, cpSpaceDebugColor outlineColor, cpSpaceDebugColor fillColor, cpDataPointer data);
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/// Callback type for a function that draws a dot.
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typedef void (*cpSpaceDebugDrawDotImpl)(cpFloat size, cpVect pos, cpSpaceDebugColor color, cpDataPointer data);
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/// Callback type for a function that returns a color for a given shape. This gives you an opportunity to color shapes based on how they are used in your engine.
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typedef cpSpaceDebugColor (*cpSpaceDebugDrawColorForShapeImpl)(cpShape *shape, cpDataPointer data);
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typedef enum cpSpaceDebugDrawFlags {
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CP_SPACE_DEBUG_DRAW_SHAPES = 1<<0,
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CP_SPACE_DEBUG_DRAW_CONSTRAINTS = 1<<1,
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CP_SPACE_DEBUG_DRAW_COLLISION_POINTS = 1<<2,
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} cpSpaceDebugDrawFlags;
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/// Struct used with cpSpaceDebugDraw() containing drawing callbacks and other drawing settings.
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typedef struct cpSpaceDebugDrawOptions {
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/// Function that will be invoked to draw circles.
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cpSpaceDebugDrawCircleImpl drawCircle;
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/// Function that will be invoked to draw line segments.
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cpSpaceDebugDrawSegmentImpl drawSegment;
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/// Function that will be invoked to draw thick line segments.
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cpSpaceDebugDrawFatSegmentImpl drawFatSegment;
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/// Function that will be invoked to draw convex polygons.
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cpSpaceDebugDrawPolygonImpl drawPolygon;
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/// Function that will be invoked to draw dots.
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cpSpaceDebugDrawDotImpl drawDot;
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/// Flags that request which things to draw (collision shapes, constraints, contact points).
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cpSpaceDebugDrawFlags flags;
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/// Outline color passed to the drawing function.
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cpSpaceDebugColor shapeOutlineColor;
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/// Function that decides what fill color to draw shapes using.
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cpSpaceDebugDrawColorForShapeImpl colorForShape;
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/// Color passed to drawing functions for constraints.
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cpSpaceDebugColor constraintColor;
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/// Color passed to drawing functions for collision points.
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cpSpaceDebugColor collisionPointColor;
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/// User defined context pointer passed to all of the callback functions as the 'data' argument.
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cpDataPointer data;
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} cpSpaceDebugDrawOptions;
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/// Debug draw the current state of the space using the supplied drawing options.
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CP_EXPORT void cpSpaceDebugDraw(cpSpace *space, cpSpaceDebugDrawOptions *options);
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#endif
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/// @}
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