void
cpSpaceFreeChildren(cpSpace *space)
{
cpSpaceHashEach(space->staticShapes, &shapeFreeWrap, NULL);
cpSpaceHashEach(space->activeShapes, &shapeFreeWrap, NULL);
cpArrayEach(space->bodies, &bodyFreeWrap, NULL);
cpArrayEach(space->joints, &jointFreeWrap, NULL);
}
void
cpSpaceFreeChildren(cpSpace *space)
{
cpSpaceHashEach(space->staticShapes, (cpSpaceHashIterator)&shapeFreeWrap, NULL);
cpSpaceHashEach(space->activeShapes, (cpSpaceHashIterator)&shapeFreeWrap, NULL);
cpArrayEach(space->bodies, (cpArrayIter)&bodyFreeWrap, NULL);
cpArrayEach(space->constraints, (cpArrayIter)&constraintFreeWrap, NULL);
}
void draw_check_objects()
{
cpSpace *space = Space::instance()->get();
cpSpaceHashEach(space->staticShapes, &draw_shape, (void*)space->stamp);
cpSpaceHashEach(space->activeShapes, &draw_shape, (void*)space->stamp);
}
void
cpSpaceFreeChildren(cpSpace *space)
{
cpArray *components = space->sleepingComponents;
while(components->num) cpBodyActivate((cpBody *)components->arr[0]);
cpSpaceHashEach(space->staticShapes, (cpSpaceHashIterator)&shapeFreeWrap, NULL);
cpSpaceHashEach(space->activeShapes, (cpSpaceHashIterator)&shapeFreeWrap, NULL);
cpArrayEach(space->bodies, (cpArrayIter)&bodyFreeWrap, NULL);
cpArrayEach(space->constraints, (cpArrayIter)&constraintFreeWrap, NULL);
}
static void physics_thread()
{
/* Now initialize the physics engine. */
cpInitChipmunk();
space = cpSpaceNew();
do
{
/* But here we do care about the elapsed time. */
synchronize(&oldtime /*,&server_elapsed*/);
simple_lock(&physics_lock);
physics(world, space);
cpSpaceHashEach(space->activeShapes, &draw_player, NULL);
//cpSpaceHashEach(space->staticShapes, &draw_static, NULL);
simple_unlock(&physics_lock);
if(to_remove_array.length > 0)
lDestroy(&to_remove_array, remove_unused);
}
while(!physics_exit_time);
lFree(&to_remove_array);
cpSpaceFreeChildren(space);
cpSpaceFree(space);
}
void
cpSpaceStep(cpSpace *space, cpFloat dt)
{
if(!dt) return; // don't step if the timestep is 0!
cpFloat dt_inv = 1.0f/dt;
cpArray *bodies = space->bodies;
cpArray *constraints = space->constraints;
space->locked = 1;
// Empty the arbiter list.
space->arbiters->num = 0;
// Integrate positions.
for(int i=0; i<bodies->num; i++){
cpBody *body = (cpBody *)bodies->arr[i];
body->position_func(body, dt);
}
// Pre-cache BBoxes and shape data.
cpSpaceHashEach(space->activeShapes, (cpSpaceHashIterator)updateBBCache, NULL);
// Collide!
cpSpacePushNewContactBuffer(space);
cpSpaceHashEach(space->activeShapes, (cpSpaceHashIterator)active2staticIter, space);
cpSpaceHashQueryRehash(space->activeShapes, (cpSpaceHashQueryFunc)queryFunc, space);
// Clear out old cached arbiters and dispatch untouch functions
cpHashSetFilter(space->contactSet, (cpHashSetFilterFunc)contactSetFilter, space);
// Prestep the arbiters.
cpArray *arbiters = space->arbiters;
for(int i=0; i<arbiters->num; i++)
cpArbiterPreStep((cpArbiter *)arbiters->arr[i], dt_inv);
// Prestep the constraints.
for(int i=0; i<constraints->num; i++){
cpConstraint *constraint = (cpConstraint *)constraints->arr[i];
constraint->klass->preStep(constraint, dt, dt_inv);
}
for(int i=0; i<space->elasticIterations; i++){
for(int j=0; j<arbiters->num; j++)
cpArbiterApplyImpulse((cpArbiter *)arbiters->arr[j], 1.0f);
for(int j=0; j<constraints->num; j++){
cpConstraint *constraint = (cpConstraint *)constraints->arr[j];
constraint->klass->applyImpulse(constraint);
}
}
// Integrate velocities.
cpFloat damping = cpfpow(1.0f/space->damping, -dt);
for(int i=0; i<bodies->num; i++){
cpBody *body = (cpBody *)bodies->arr[i];
body->velocity_func(body, space->gravity, damping, dt);
}
for(int i=0; i<arbiters->num; i++)
cpArbiterApplyCachedImpulse((cpArbiter *)arbiters->arr[i]);
// run the old-style elastic solver if elastic iterations are disabled
cpFloat elasticCoef = (space->elasticIterations ? 0.0f : 1.0f);
// Run the impulse solver.
for(int i=0; i<space->iterations; i++){
for(int j=0; j<arbiters->num; j++)
cpArbiterApplyImpulse((cpArbiter *)arbiters->arr[j], elasticCoef);
for(int j=0; j<constraints->num; j++){
cpConstraint *constraint = (cpConstraint *)constraints->arr[j];
constraint->klass->applyImpulse(constraint);
}
}
space->locked = 0;
// run the post solve callbacks
for(int i=0; i<arbiters->num; i++){
cpArbiter *arb = (cpArbiter *) arbiters->arr[i];
cpCollisionHandler *handler = arb->handler;
handler->postSolve(arb, space, handler->data);
arb->state = cpArbiterStateNormal;
}
// Run the post step callbacks
while(space->postStepCallbacks->entries){
cpHashSet *callbacks = space->postStepCallbacks;
space->postStepCallbacks = cpHashSetNew(0, (cpHashSetEqlFunc)postStepFuncSetEql, (cpHashSetTransFunc)postStepFuncSetTrans);
cpHashSetEach(callbacks, (cpHashSetIterFunc)postStepCallbackSetIter, space);
}
// cpFloat dvsq = cpvdot(space->gravity, space->gravity);
// dvsq *= dt*dt * space->damping*space->damping;
// for(int i=0; i<bodies->num; i++)
// cpBodyMarkLowEnergy(bodies->arr[i], dvsq, space->sleepTicks);
// Increment the stamp.
space->stamp++;
}
void
cpSpaceRehashStatic(cpSpace *space)
{
cpSpaceHashEach(space->staticShapes, (cpSpaceHashIterator)&updateBBCache, NULL);
cpSpaceHashRehash(space->staticShapes);
}
void
cpSpaceStep(cpSpace *space, cpFloat dt)
{
if(!dt) return; // don't step if the timestep is 0!
cpFloat dt_inv = 1.0f/dt;
cpArray *bodies = space->bodies;
cpArray *constraints = space->constraints;
// Empty the arbiter list.
space->arbiters->num = 0;
//i51AdeOsLog ( i51_LOG_DC , "for" ) ;
// Integrate positions.
for(int i=0; i<bodies->num; i++){
cpBody *body = (cpBody *)bodies->arr[i];
body->position_func(body, dt);
}
// Pre-cache BBoxes and shape data.
//i51AdeOsLog ( i51_LOG_DC , "cpSpaceHashEach" ) ;
cpSpaceHashEach(space->activeShapes, (cpSpaceHashIterator)updateBBCache, NULL);
cpSpaceLock(space);
// Collide!
//i51AdeOsLog ( i51_LOG_DC , "cpSpacePushFreshContactBuffer" ) ;
cpSpacePushFreshContactBuffer(space);
if(space->staticShapes->handleSet->entries)
cpSpaceHashEach(space->activeShapes, (cpSpaceHashIterator)active2staticIter, space);
cpSpaceHashQueryRehash(space->activeShapes, (cpSpaceHashQueryFunc)queryFunc, space);
cpSpaceUnlock(space);
//i51AdeOsLog ( i51_LOG_DC , "sleepTimeThreshold" ) ;
// If body sleeping is enabled, do that now.
if(space->sleepTimeThreshold != INFINITY){
cpSpaceProcessComponents(space, dt);
bodies = space->bodies; // rebuilt by processContactComponents()
}/**/
// Clear out old cached arbiters and dispatch untouch functions
//i51AdeOsLog ( i51_LOG_DC , "cpHashSetFilter" ) ;
cpHashSetFilter(space->contactSet, (cpHashSetFilterFunc)contactSetFilter, space);
// Prestep the arbiters.
//i51AdeOsLog ( i51_LOG_DC , "space->arbiters" ) ;
cpArray *arbiters = space->arbiters;
for(int i=0; i<arbiters->num; i++)
cpArbiterPreStep((cpArbiter *)arbiters->arr[i], dt_inv);
// Prestep the constraints.
//i51AdeOsLog ( i51_LOG_DC , "constraints->num=%d",constraints->num ) ;
for(int i=0; i<constraints->num; i++){
cpConstraint *constraint = (cpConstraint *)constraints->arr[i];
//i51AdeOsLog ( i51_LOG_DC , "i=%d,preStep=%X",i,constraint->klass->preStep) ;
constraint->klass->preStep(constraint, dt, dt_inv);
}
//i51AdeOsLog ( i51_LOG_DC , "space->elasticIterations=%d",space->elasticIterations ) ;
for(int i=0; i<space->elasticIterations; i++){
for(int j=0; j<arbiters->num; j++)
cpArbiterApplyImpulse((cpArbiter *)arbiters->arr[j], 1.0f);
for(int j=0; j<constraints->num; j++){
cpConstraint *constraint = (cpConstraint *)constraints->arr[j];
constraint->klass->applyImpulse(constraint);
}
}
// Integrate velocities.
//i51AdeOsLog ( i51_LOG_DC , "space->damping=%d",space->damping ) ;
cpFloat damping = cpfpow(1.0f/space->damping, -dt);
for(int i=0; i<bodies->num; i++){
cpBody *body = (cpBody *)bodies->arr[i];
body->velocity_func(body, space->gravity, damping, dt);
}
//i51AdeOsLog ( i51_LOG_DC , "arbiters->num=%d",arbiters->num) ;
for(int i=0; i<arbiters->num; i++)
cpArbiterApplyCachedImpulse((cpArbiter *)arbiters->arr[i]);
// run the old-style elastic solver if elastic iterations are disabled
cpFloat elasticCoef = (space->elasticIterations ? 0.0f : 1.0f);
// Run the impulse solver.
//i51AdeOsLog ( i51_LOG_DC , "space->iterations=%d",space->iterations) ;
for(int i=0; i<space->iterations; i++){
for(int j=0; j<arbiters->num; j++)
cpArbiterApplyImpulse((cpArbiter *)arbiters->arr[j], elasticCoef);
for(int j=0; j<constraints->num; j++){
cpConstraint *constraint = (cpConstraint *)constraints->arr[j];
constraint->klass->applyImpulse(constraint);
}
}
cpSpaceLock(space);
// run the post solve callbacks
//i51AdeOsLog ( i51_LOG_DC , "run the post solve callbacks") ;
for(int i=0; i<arbiters->num; i++){
cpArbiter *arb = (cpArbiter *) arbiters->arr[i];
cpCollisionHandler *handler = arb->handler;
handler->postSolve(arb, space, handler->data);
arb->state = cpArbiterStateNormal;
}
cpSpaceUnlock(space);
// Run the post step callbacks
// Loop because post step callbacks may create more post step callbacks
//i51AdeOsLog ( i51_LOG_DC , "space->postStepCallbacks") ;
while(space->postStepCallbacks){
cpHashSet *callbacks = space->postStepCallbacks;
space->postStepCallbacks = NULL;
cpHashSetEach(callbacks, (cpHashSetIterFunc)postStepCallbackSetIter, space);
cpHashSetFree(callbacks);
}
// Increment the stamp.
space->stamp++;
//i51AdeOsLog ( i51_LOG_DC , "_____________OK_______________") ;
}
void
cpSpaceStep(cpSpace *space, cpFloat dt)
{
if(!dt) return; // prevents div by zero.
cpFloat dt_inv = 1.0f/dt;
cpArray *bodies = space->bodies;
cpArray *arbiters = space->arbiters;
cpArray *joints = space->joints;
// Empty the arbiter list.
cpHashSetReject(space->contactSet, &contactSetReject, space);
space->arbiters->num = 0;
// Integrate velocities.
cpFloat damping = pow(1.0f/space->damping, -dt);
for(int i=0; i<bodies->num; i++){
cpBody *body = (cpBody *)bodies->arr[i];
body->velocity_func(body, space->gravity, damping, dt);
}
// Pre-cache BBoxes and shape data.
cpSpaceHashEach(space->activeShapes, &updateBBCache, NULL);
// Collide!
cpSpaceHashEach(space->activeShapes, &active2staticIter, space);
cpSpaceHashQueryRehash(space->activeShapes, &queryFunc, space);
// Prestep the arbiters.
for(int i=0; i<arbiters->num; i++)
cpArbiterPreStep((cpArbiter *)arbiters->arr[i], dt_inv);
// Prestep the joints.
for(int i=0; i<joints->num; i++){
cpJoint *joint = (cpJoint *)joints->arr[i];
joint->preStep(joint, dt_inv);
}
// Run the impulse solver.
for(int i=0; i<space->iterations; i++){
for(int j=0; j<arbiters->num; j++)
cpArbiterApplyImpulse((cpArbiter *)arbiters->arr[j]);
for(int j=0; j<joints->num; j++){
cpJoint *joint = (cpJoint *)joints->arr[j];
joint->applyImpulse(joint);
}
}
// cpFloat dvsq = cpvdot(space->gravity, space->gravity);
// dvsq *= dt*dt * space->damping*space->damping;
// for(int i=0; i<bodies->num; i++)
// cpBodyMarkLowEnergy(bodies->arr[i], dvsq, space->sleepTicks);
// Integrate positions.
for(int i=0; i<bodies->num; i++){
cpBody *body = (cpBody *)bodies->arr[i];
body->position_func(body, dt);
}
// Increment the stamp.
space->stamp++;
}
