662 lines
18 KiB
C
662 lines
18 KiB
C
#include "2dphysics.h"
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#include "debug.h"
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#include "gameobject.h"
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#include <string.h>
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#include "debugdraw.h"
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#include "stb_ds.h"
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#include <assert.h>
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#include <chipmunk/chipmunk_unsafe.h>
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#include <math.h>
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#include "2dphysics.h"
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#include "jsffi.h"
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#include "script.h"
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#include "log.h"
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cpSpace *space = NULL;
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struct rgba color_white = {255,255,255,255};
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struct rgba color_black = {0,0,0,255};
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struct rgba disabled_color = {148,148,148,255};
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struct rgba sleep_color = {255,140,228,255};
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struct rgba dynamic_color = {255,70,46,255};
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struct rgba kinematic_color = {255, 194, 64, 255};
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struct rgba static_color = {73,209,80,255};
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static const unsigned char col_alpha = 40;
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static const float sensor_seg = 10;
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unsigned int category_masks[32];
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void set_cat_mask(int cat, unsigned int mask) { category_masks[cat] = mask; }
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cpTransform m3_to_cpt(HMM_Mat3 m)
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{
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cpTransform t;
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t.a = m.Columns[0].x;
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t.b = m.Columns[0].y;
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t.tx = m.Columns[2].x;
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t.c = m.Columns[1].x;
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t.d = m.Columns[1].y;
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t.ty = m.Columns[2].y;
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return t;
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}
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cpShape *phys2d_query_pos(cpVect pos) {
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cpShapeFilter filter;
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filter.group = CP_NO_GROUP;
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filter.mask = CP_ALL_CATEGORIES;
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filter.categories = CP_ALL_CATEGORIES;
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cpShape *find = cpSpacePointQueryNearest(space, pos, 0.f, filter, NULL);
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return find;
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}
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int p_compare(void *a, void *b)
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{
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if (a > b) return 1;
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if (a < b) return -1;
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if (a == b) return 0;
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}
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gameobject **clean_ids(gameobject **ids)
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{
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qsort(ids, arrlen(ids), sizeof(*ids), p_compare);
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gameobject *curid = NULL;
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for (int i = arrlen(ids)-1; i >= 0; i--)
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if (ids[i] == curid)
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arrdelswap(ids, i);
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else
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curid = ids[i];
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return ids;
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}
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void querylist(cpShape *shape, cpContactPointSet *points, gameobject **ids) { arrput(ids,shape2go(shape)); }
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typedef struct querybox {
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cpBB bb;
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gameobject **ids;
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} querybox;
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void querylistbodies(cpBody *body, querybox *qb) {
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if (cpBBContainsVect(qb->bb, cpBodyGetPosition(body)))
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arrput(qb->ids,body2go(body));
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}
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/* Return all points from a list of points in the given boundingbox */
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int *phys2d_query_box_points(HMM_Vec2 pos, HMM_Vec2 wh, HMM_Vec2 *points, int n) {
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cpBB bbox;
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bbox = cpBBExpand(bbox, cpvadd(pos.cp, cpvmult(wh.cp,0.5)));
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bbox = cpBBExpand(bbox, cpvsub(pos.cp, cpvmult(wh.cp,0.5)));
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int *hits = NULL;
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for (int i = 0; i < n; i++)
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if (cpBBContainsVect(bbox, points[i].cp))
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arrpush(hits, i);
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return hits;
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}
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/* Return all gameobjects within the given box */
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gameobject *phys2d_query_box(HMM_Vec2 pos, HMM_Vec2 wh) {
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cpShape *box = cpBoxShapeNew(NULL, wh.x, wh.y, 0.f);
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cpTransform T = {0};
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T.a = 1;
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T.d = 1;
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T.tx = pos.x;
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T.ty = pos.y;
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cpShapeUpdate(box, T);
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cpBB bbox = cpShapeGetBB(box);
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querybox qb;
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qb.bb = bbox;
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qb.ids = NULL;
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cpSpaceShapeQuery(space, box, querylist, qb.ids);
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cpSpaceEachBody(space, querylistbodies, &qb);
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cpShapeFree(box);
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return clean_ids(qb.ids);
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}
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gameobject *phys2d_query_shape(struct phys2d_shape *shape)
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{
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gameobject **ids = NULL;
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cpSpaceShapeQuery(space, shape->shape, querylist, ids);
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return clean_ids(ids);
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}
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int cpshape_enabled(cpShape *c) {
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cpShapeFilter filter = cpShapeGetFilter(c);
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if (filter.categories == ~CP_ALL_CATEGORIES && filter.mask == ~CP_ALL_CATEGORIES)
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return 0;
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return 1;
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}
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struct rgba shape_color(cpShape *shape) {
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if (!cpshape_enabled(shape)) return disabled_color;
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switch (cpBodyGetType(cpShapeGetBody(shape))) {
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case CP_BODY_TYPE_DYNAMIC:
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// cpBodySleep(cpShapeGetBody(shape));
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if (cpBodyIsSleeping(cpShapeGetBody(shape)))
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return sleep_color;
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return dynamic_color;
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case CP_BODY_TYPE_KINEMATIC:
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return kinematic_color;
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case CP_BODY_TYPE_STATIC:
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return static_color;
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}
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return static_color;
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}
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void phys2d_init()
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{
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space = cpSpaceNew();
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cpSpaceSetSleepTimeThreshold(space, 1);
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cpSpaceSetCollisionSlop(space, 0.01);
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cpSpaceSetCollisionBias(space, cpfpow(1.0-0.5, 165.f));
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}
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void phys2d_set_gravity(cpVect v) {
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cpSpaceSetGravity(space, v);
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}
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void phys2d_update(float deltaT) {
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cpSpaceStep(space, deltaT);
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flush_collide_cbs();
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}
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void init_phys2dshape(struct phys2d_shape *shape, gameobject *go, void *data) {
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shape->go = go;
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shape->data = data;
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shape->t.scale = (HMM_Vec2){1.0,1.0};
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go_shape_apply(go->body, shape->shape, go);
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cpShapeSetCollisionType(shape->shape, (int)go);
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cpShapeSetUserData(shape->shape, shape);
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}
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void phys2d_shape_del(struct phys2d_shape *shape) {
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if (!shape->shape) return;
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cpSpaceRemoveShape(space, shape->shape);
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cpShapeFree(shape->shape);
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}
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/***************** CIRCLE2D *****************/
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struct phys2d_circle *Make2DCircle(gameobject *go) {
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struct phys2d_circle *new = malloc(sizeof(struct phys2d_circle));
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new->radius = 10.f;
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new->offset = v2zero;
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new->shape.shape = cpSpaceAddShape(space, cpCircleShapeNew(go->body, new->radius, cpvzero));
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new->shape.debugdraw = phys2d_dbgdrawcircle;
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new->shape.moi = phys2d_circle_moi;
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new->shape.apply = phys2d_applycircle;
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init_phys2dshape(&new->shape, go, new);
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phys2d_applycircle(new);
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return new;
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}
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float phys2d_circle_moi(struct phys2d_circle *c, float m) {
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return 1;
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//TODO: Calculate correctly
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//return cpMomentForCircle(m, 0, c->radius, c->offset);
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}
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void phys2d_circledel(struct phys2d_circle *c) {
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phys2d_shape_del(&c->shape);
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}
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void phys2d_dbgdrawcpcirc(cpCircleShape *c) {
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HMM_Vec2 pos = mat_t_pos(t_go2world(shape2go(c)), (HMM_Vec2)cpCircleShapeGetOffset(c));
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float radius = cpCircleShapeGetRadius(c);
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struct rgba color = shape_color(c);
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float seglen = cpShapeGetSensor(c) ? 5 : -1;
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draw_circle(pos, radius, 1, color, seglen);
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color.a = col_alpha;
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draw_circle(pos,radius,radius,color,-1);
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}
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void phys2d_dbgdrawcircle(struct phys2d_circle *circle) {
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phys2d_dbgdrawcpcirc((cpCircleShape *)circle->shape.shape);
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}
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void phys2d_applycircle(struct phys2d_circle *circle) {
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gameobject *go = circle->shape.go;
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float radius = circle->radius * HMM_MAX(HMM_ABS(go->scale.X), HMM_ABS(go->scale.Y));
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cpCircleShapeSetRadius(circle->shape.shape, radius);
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cpCircleShapeSetOffset(circle->shape.shape, HMM_MulV2(go->scale.XY, circle->offset).cp);
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}
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/************* BOX2D ************/
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struct phys2d_box *Make2DBox(gameobject *go) {
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struct phys2d_box *new = malloc(sizeof(struct phys2d_box));
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new->t = (transform2d){
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.pos = {0,0},
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.angle = 0,
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.scale = {0,0}
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};
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new->r = 0.f;
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new->shape.go = go;
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new->shape.apply = phys2d_applybox;
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phys2d_applybox(new);
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new->shape.debugdraw = phys2d_dbgdrawbox;
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new->shape.moi = phys2d_box_moi;
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return new;
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}
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float phys2d_box_moi(struct phys2d_box *box, float m) {
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return cpMomentForBox(m, box->t.scale.x, box->t.scale.y);
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}
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void phys2d_boxdel(struct phys2d_box *box) {
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phys2d_shape_del(&box->shape);
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}
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void phys2d_applybox(struct phys2d_box *box) {
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phys2d_boxdel(box);
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struct gameobject *go = box->shape.go;
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cpTransform T = m3_to_cpt(transform2d2mat(box->t));
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cpVect verts[4] = {{-0.5, -0.5}, {0.5, -0.5}, {0.5, 0.5}, {-0.5, 0.5}};
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box->shape.shape = cpSpaceAddShape(space, cpPolyShapeNew(go->body, 4, verts, T, box->r));
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init_phys2dshape(&box->shape, box->shape.go, box);
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}
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void phys2d_dbgdrawbox(struct phys2d_box *box) {
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int n = cpPolyShapeGetCount(box->shape.shape);
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HMM_Vec2 points[n+1];
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struct gameobject *go = shape2go(box->shape.shape);
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for (int i = 0; i < n; i++) {
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HMM_Vec2 p;
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p.cp = cpPolyShapeGetVert(box->shape.shape, i);
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points[i] = go2world(go, p);
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}
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points[n] = points[0];
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struct rgba c = shape_color(box->shape.shape);
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struct rgba cl = c;
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cl.a = col_alpha;
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float seglen = cpShapeGetSensor(box->shape.shape) ? sensor_seg : 0;
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draw_line(points, n, cl,seglen, 0);
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draw_poly(points, n, c);
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}
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/************** POLYGON ************/
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struct phys2d_poly *Make2DPoly(gameobject *go) {
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struct phys2d_poly *new = malloc(sizeof(struct phys2d_poly));
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new->points = NULL;
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arrsetlen(new->points, 0);
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new->radius = 0.f;
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new->shape.shape = cpSpaceAddShape(space, cpPolyShapeNewRaw(go->body, 0, new->points, new->radius));
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new->shape.debugdraw = phys2d_dbgdrawpoly;
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new->shape.moi = phys2d_poly_moi;
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new->shape.apply = phys2d_applypoly;
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init_phys2dshape(&new->shape, go, new);
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return new;
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}
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float phys2d_poly_moi(struct phys2d_poly *poly, float m) {
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float moi = cpMomentForPoly(m, arrlen(poly->points), poly->points, cpvzero, poly->radius);
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if (isnan(moi)) {
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// YughError("Polygon MOI returned an error. Returning 0.");
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return 0;
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}
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return moi;
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}
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void phys2d_polydel(struct phys2d_poly *poly) {
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arrfree(poly->points);
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phys2d_shape_del(&poly->shape);
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}
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void phys2d_polyaddvert(struct phys2d_poly *poly) {
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arrput(poly->points, v2zero);
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}
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void phys2d_poly_setverts(struct phys2d_poly *poly, cpVect *verts) {
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if (!verts) return;
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if (poly->points)
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arrfree(poly->points);
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arrsetlen(poly->points, arrlen(verts));
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for (int i = 0; i < arrlen(verts); i++) {
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poly->points[i].X = verts[i].x;
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poly->points[i].Y = verts[i].y;
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}
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phys2d_applypoly(poly);
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}
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void phys2d_applypoly(struct phys2d_poly *poly) {
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if (arrlen(poly->points) <= 0) return;
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assert(sizeof(poly->points[0]) == sizeof(cpVect));
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struct gameobject *go = poly->shape.go;
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// cpTransform T = m3_to_cpt(transform2d2mat(poly->t));
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cpPolyShapeSetVerts(poly->shape.shape, arrlen(poly->points), poly->points, cpTransformIdentity);
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cpPolyShapeSetRadius(poly->shape.shape, poly->radius);
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cpSpaceReindexShapesForBody(space, cpShapeGetBody(poly->shape.shape));
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}
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void phys2d_dbgdrawpoly(struct phys2d_poly *poly) {
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struct rgba color = shape_color(poly->shape.shape);
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struct rgba line_color = color;
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color.a = col_alpha;
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if (arrlen(poly->points) >= 3) {
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int n = cpPolyShapeGetCount(poly->shape.shape);
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HMM_Vec2 points[n+1];
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HMM_Mat3 rt = t_go2world(shape2go(poly->shape.shape));
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for (int i = 0; i < n; i++)
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points[i] = mat_t_pos(rt, (HMM_Vec2)cpPolyShapeGetVert(poly->shape.shape, i));
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points[n] = points[0];
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draw_poly(points, n, color);
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float seglen = cpShapeGetSensor(poly->shape.shape) ? sensor_seg : 0;
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draw_line(points, n, line_color, seglen, 0);
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}
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}
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/****************** EDGE 2D**************/
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struct phys2d_edge *Make2DEdge(gameobject *go) {
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struct phys2d_edge *new = malloc(sizeof(struct phys2d_edge));
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new->points = NULL;
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arrsetlen(new->points, 0);
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new->thickness = 0.f;
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new->shapes = NULL;
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arrsetlen(new->shapes, 0);
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new->shape.go = go;
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new->shape.data = new;
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new->shape.debugdraw = phys2d_dbgdrawedge;
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new->shape.moi = phys2d_edge_moi;
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new->shape.shape = NULL;
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new->shape.apply = NULL;
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new->draws = 0;
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phys2d_applyedge(new);
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return new;
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}
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float phys2d_edge_moi(struct phys2d_edge *edge, float m) {
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float moi = 0;
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for (int i = 0; i < arrlen(edge->points) - 1; i++)
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moi += cpMomentForSegment(m, edge->points[i].cp, edge->points[i + 1].cp, edge->thickness);
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return moi;
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}
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void phys2d_edgedel(struct phys2d_edge *edge) { phys2d_shape_del(&edge->shape); }
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void phys2d_edgeaddvert(struct phys2d_edge *edge, HMM_Vec2 v) {
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arrput(edge->points, v);
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if (arrlen(edge->points) > 1)
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arrput(edge->shapes, cpSpaceAddShape(space, cpSegmentShapeNew(edge->shape.go->body, cpvzero, cpvzero, edge->thickness)));
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}
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void phys2d_edge_rmvert(struct phys2d_edge *edge, int index) {
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if (index>arrlen(edge->points) || index < 0) return;
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arrdel(edge->points, index);
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if (arrlen(edge->points) == 0) return;
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if (index == 0) {
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cpSpaceRemoveShape(space, edge->shapes[index]);
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cpShapeFree(edge->shapes[index]);
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arrdel(edge->shapes, index);
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return;
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}
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if (index != arrlen(edge->points))
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cpSegmentShapeSetEndpoints(edge->shapes[index - 1], edge->points[index - 1].cp, edge->points[index].cp);
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cpSpaceRemoveShape(space, edge->shapes[index - 1]);
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cpShapeFree(edge->shapes[index - 1]);
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arrdel(edge->shapes, index - 1);
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}
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void phys2d_edge_setvert(struct phys2d_edge *edge, int index, cpVect val) {
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assert(arrlen(edge->points) > index && index >= 0);
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edge->points[index].cp = val;
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}
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void phys2d_edge_update_verts(struct phys2d_edge *edge, HMM_Vec2 *verts)
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{
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if (arrlen(edge->points) == arrlen(verts)) {
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for (int i = 0; i < arrlen(verts); i++)
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phys2d_edge_setvert(edge,i,verts[i].cp);
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} else {
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int vertchange = arrlen(verts)-arrlen(edge->points);
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phys2d_edge_clearverts(edge);
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phys2d_edge_addverts(edge,verts);
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}
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phys2d_applyedge(edge);
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}
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void phys2d_edge_clearverts(struct phys2d_edge *edge) {
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for (int i = arrlen(edge->points) - 1; i >= 0; i--)
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phys2d_edge_rmvert(edge, i);
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}
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void phys2d_edge_addverts(struct phys2d_edge *edge, HMM_Vec2 *verts) {
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for (int i = 0; i < arrlen(verts); i++)
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phys2d_edgeaddvert(edge, verts[i]);
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}
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/* Calculates all true positions of verts, links them up, and so on */
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void phys2d_applyedge(struct phys2d_edge *edge) {
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struct gameobject *go = edge->shape.go;
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for (int i = 0; i < arrlen(edge->shapes); i++) {
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/* Points must be scaled with gameobject, */
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HMM_Vec2 a = HMM_MulV2(go->scale.xy, edge->points[i]);
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HMM_Vec2 b = HMM_MulV2(go->scale.xy, edge->points[i+1]);
|
|
cpSegmentShapeSetEndpoints(edge->shapes[i], a.cp, b.cp);
|
|
cpSegmentShapeSetRadius(edge->shapes[i], edge->thickness);
|
|
if (i > 0 && i < arrlen(edge->shapes) - 1)
|
|
cpSegmentShapeSetNeighbors(edge->shapes[i], HMM_MulV2(go->scale.xy,edge->points[i-1]).cp, HMM_MulV2(go->scale.xy,edge->points[i+2]).cp);
|
|
go_shape_apply(NULL, edge->shapes[i], go);
|
|
cpShapeSetUserData(edge->shapes[i], &edge->shape);
|
|
}
|
|
|
|
cpSpaceReindexShapesForBody(space, edge->shape.go->body);
|
|
}
|
|
|
|
void phys2d_dbgdrawedge(struct phys2d_edge *edge) {
|
|
edge->draws++;
|
|
if (edge->draws > 1) {
|
|
if (edge->draws >= arrlen(edge->shapes))
|
|
edge->draws = 0;
|
|
|
|
return;
|
|
}
|
|
|
|
if (arrlen(edge->shapes) < 1) return;
|
|
|
|
HMM_Vec2 drawpoints[arrlen(edge->points)];
|
|
struct gameobject *go = edge->shape.go;
|
|
|
|
HMM_Mat3 g2w = t_go2world(go);
|
|
for (int i = 0; i < arrlen(edge->points); i++)
|
|
drawpoints[i] = mat_t_pos(g2w, edge->points[i]);
|
|
|
|
float seglen = cpShapeGetSensor(edge->shapes[0]) ? sensor_seg : 0;
|
|
struct rgba color = shape_color(edge->shapes[0]);
|
|
struct rgba line_color = color;
|
|
color.a = col_alpha;
|
|
draw_edge(drawpoints, arrlen(edge->points), color, edge->thickness * 2, 0, line_color, seglen);
|
|
draw_points(drawpoints, arrlen(edge->points), 2, kinematic_color);
|
|
}
|
|
|
|
/************ COLLIDER ****************/
|
|
void shape_enabled(struct phys2d_shape *shape, int enabled) {
|
|
if (enabled)
|
|
cpShapeSetFilter(shape->shape, CP_SHAPE_FILTER_ALL);
|
|
else
|
|
cpShapeSetFilter(shape->shape, CP_SHAPE_FILTER_NONE);
|
|
}
|
|
|
|
int shape_is_enabled(struct phys2d_shape *shape) {
|
|
if (cpshape_enabled(shape->shape))
|
|
return 1;
|
|
|
|
return 0;
|
|
}
|
|
|
|
void shape_set_sensor(struct phys2d_shape *shape, int sensor) {
|
|
if (!shape->shape) {
|
|
struct phys2d_edge *edge = shape->data;
|
|
|
|
for (int i = 0; i < arrlen(edge->shapes); i++)
|
|
cpShapeSetSensor(edge->shapes[i], sensor);
|
|
} else
|
|
cpShapeSetSensor(shape->shape, sensor);
|
|
}
|
|
|
|
int shape_get_sensor(struct phys2d_shape *shape) {
|
|
if (!shape->shape) {
|
|
struct phys2d_edge *edge = shape->data;
|
|
if (arrlen(edge->shapes) > 0) return cpShapeGetSensor(edge->shapes[0]);
|
|
YughInfo("Attempted to get the sensor of an edge with no shapes. It has %d points.", arrlen(edge->points));
|
|
return 0;
|
|
}
|
|
|
|
return cpShapeGetSensor(shape->shape);
|
|
}
|
|
|
|
void phys2d_reindex_body(cpBody *body) { cpSpaceReindexShapesForBody(space, body); }
|
|
|
|
struct postphys_cb {
|
|
struct callee c;
|
|
JSValue send;
|
|
};
|
|
|
|
static struct postphys_cb *begins = NULL;
|
|
|
|
void flush_collide_cbs() {
|
|
for (int i = 0; i < arrlen(begins); i++) {
|
|
script_callee(begins[i].c, 1, &begins[i].send);
|
|
JS_FreeValue(js, begins[i].send);
|
|
}
|
|
|
|
arrsetlen(begins,0);
|
|
}
|
|
|
|
void duk_call_phys_cb(HMM_Vec2 norm, struct callee c, gameobject *hit, cpArbiter *arb) {
|
|
cpShape *shape1;
|
|
cpShape *shape2;
|
|
cpArbiterGetShapes(arb, &shape1, &shape2);
|
|
|
|
JSValue obj = JS_NewObject(js);
|
|
JS_SetPropertyStr(js, obj, "normal", vec2js(norm));
|
|
JS_SetPropertyStr(js, obj, "obj", hit->ref);
|
|
JS_SetPropertyStr(js, obj, "sensor", JS_NewBool(js, cpShapeGetSensor(shape2)));
|
|
HMM_Vec2 srfv;
|
|
srfv.cp = cpArbiterGetSurfaceVelocity(arb);
|
|
JS_SetPropertyStr(js, obj, "velocity", vec2js(srfv));
|
|
// srfv.cp = cpArbiterGetPointA(arb,0);
|
|
// JS_SetPropertyStr(js, obj, "pos", vec2js(srfv));
|
|
// JS_SetPropertyStr(js,obj,"depth", num2js(cpArbiterGetDepth(arb,0)));
|
|
|
|
struct postphys_cb cb;
|
|
cb.c = c;
|
|
cb.send = obj;
|
|
arrput(begins, cb);
|
|
}
|
|
|
|
#define CTYPE_BEGIN 0
|
|
#define CTYPE_SEP 1
|
|
|
|
static cpBool handle_collision(cpArbiter *arb, int type) {
|
|
cpBody *body1;
|
|
cpBody *body2;
|
|
cpArbiterGetBodies(arb, &body1, &body2);
|
|
gameobject *go = cpBodyGetUserData(body1);
|
|
gameobject *go2 = cpBodyGetUserData(body2);
|
|
cpShape *shape1;
|
|
cpShape *shape2;
|
|
cpArbiterGetShapes(arb, &shape1, &shape2);
|
|
struct phys2d_shape *pshape1 = cpShapeGetUserData(shape1);
|
|
struct phys2d_shape *pshape2 = cpShapeGetUserData(shape2);
|
|
|
|
HMM_Vec2 norm1;
|
|
norm1.cp = cpArbiterGetNormal(arb);
|
|
|
|
switch (type) {
|
|
case CTYPE_BEGIN:
|
|
for (int i = 0; i < arrlen(go->shape_cbs); i++)
|
|
if (go->shape_cbs[i].shape == pshape1)
|
|
duk_call_phys_cb(norm1, go->shape_cbs[i].cbs.begin, go2, arb);
|
|
|
|
if (JS_IsObject(go->cbs.begin.obj))
|
|
duk_call_phys_cb(norm1, go->cbs.begin, go2, arb);
|
|
|
|
break;
|
|
|
|
case CTYPE_SEP:
|
|
if (JS_IsObject(go->cbs.separate.obj))
|
|
duk_call_phys_cb(norm1, go->cbs.separate, go2, arb);
|
|
|
|
break;
|
|
}
|
|
|
|
return 1;
|
|
}
|
|
|
|
static cpBool script_phys_cb_begin(cpArbiter *arb, cpSpace *space, void *data) {
|
|
return handle_collision(arb, CTYPE_BEGIN);
|
|
}
|
|
|
|
static cpBool script_phys_cb_separate(cpArbiter *arb, cpSpace *space, void *data) {
|
|
return handle_collision(arb, CTYPE_SEP);
|
|
}
|
|
|
|
void phys2d_rm_go_handlers(gameobject *go) {
|
|
cpCollisionHandler *handler = cpSpaceAddWildcardHandler(space, (int)go);
|
|
handler->userData = NULL;
|
|
handler->beginFunc = NULL;
|
|
handler->separateFunc = NULL;
|
|
}
|
|
|
|
void phys2d_setup_handlers(gameobject *go) {
|
|
cpCollisionHandler *handler = cpSpaceAddWildcardHandler(space, (int)go);
|
|
handler->userData = go;
|
|
handler->beginFunc = script_phys_cb_begin;
|
|
handler->separateFunc = script_phys_cb_separate;
|
|
}
|
|
|
|
static int airborne = 0;
|
|
|
|
void inair(cpBody *body, cpArbiter *arbiter, void *data) {
|
|
airborne = 0;
|
|
}
|
|
|
|
int phys2d_in_air(cpBody *body) {
|
|
airborne = 1;
|
|
cpBodyEachArbiter(body, inair, NULL);
|
|
|
|
return airborne;
|
|
}
|