1 /* Copyright (c) 2013 Scott Lembcke and Howling Moon Software
3 * Permission is hereby granted, free of charge, to any person obtaining a copy
4 * of this software and associated documentation files (the "Software"), to deal
5 * in the Software without restriction, including without limitation the rights
6 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
7 * copies of the Software, and to permit persons to whom the Software is
8 * furnished to do so, subject to the following conditions:
10 * The above copyright notice and this permission notice shall be included in
11 * all copies or substantial portions of the Software.
13 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
14 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
15 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
16 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
17 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
18 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
31 #elif defined(__FreeBSD__)
32 /* already included in <stdlib.h> */
39 #define CP_EXPORT __declspec(dllexport)
48 CP_EXPORT void cpMessage(const char *condition, const char *file, int line, int isError, int isHardError, const char *message, ...);
50 #define cpAssertWarn(__condition__, ...)
51 #define cpAssertSoft(__condition__, ...)
53 #define cpAssertSoft(__condition__, ...) if(!(__condition__)){cpMessage(#__condition__, __FILE__, __LINE__, 1, 0, __VA_ARGS__); abort();}
54 #define cpAssertWarn(__condition__, ...) if(!(__condition__)) cpMessage(#__condition__, __FILE__, __LINE__, 0, 0, __VA_ARGS__)
57 // Hard assertions are used in situations where the program definitely will crash anyway, and the reason is inexpensive to detect.
58 #define cpAssertHard(__condition__, ...) if(!(__condition__)){cpMessage(#__condition__, __FILE__, __LINE__, 1, 1, __VA_ARGS__); abort();}
60 #include "chipmunk_types.h"
62 /// @defgroup misc Misc
65 /// Allocated size for various Chipmunk buffers
66 #ifndef CP_BUFFER_BYTES
67 #define CP_BUFFER_BYTES (32*1024)
71 /// Chipmunk calloc() alias.
72 #define cpcalloc calloc
76 /// Chipmunk realloc() alias.
77 #define cprealloc realloc
81 /// Chipmunk free() alias.
85 typedef struct cpArray cpArray;
86 typedef struct cpHashSet cpHashSet;
88 typedef struct cpBody cpBody;
90 typedef struct cpShape cpShape;
91 typedef struct cpCircleShape cpCircleShape;
92 typedef struct cpSegmentShape cpSegmentShape;
93 typedef struct cpPolyShape cpPolyShape;
95 typedef struct cpConstraint cpConstraint;
96 typedef struct cpPinJoint cpPinJoint;
97 typedef struct cpSlideJoint cpSlideJoint;
98 typedef struct cpPivotJoint cpPivotJoint;
99 typedef struct cpGrooveJoint cpGrooveJoint;
100 typedef struct cpDampedSpring cpDampedSpring;
101 typedef struct cpDampedRotarySpring cpDampedRotarySpring;
102 typedef struct cpRotaryLimitJoint cpRotaryLimitJoint;
103 typedef struct cpRatchetJoint cpRatchetJoint;
104 typedef struct cpGearJoint cpGearJoint;
105 typedef struct cpSimpleMotorJoint cpSimpleMotorJoint;
107 typedef struct cpCollisionHandler cpCollisionHandler;
108 typedef struct cpContactPointSet cpContactPointSet;
109 typedef struct cpArbiter cpArbiter;
111 typedef struct cpSpace cpSpace;
115 #include "cpTransform.h"
116 #include "cpSpatialIndex.h"
118 #include "cpArbiter.h"
122 #include "cpPolyShape.h"
124 #include "cpConstraint.h"
129 #define CP_VERSION_MAJOR 7
130 #define CP_VERSION_MINOR 0
131 #define CP_VERSION_RELEASE 3
134 CP_EXPORT extern const char *cpVersionString;
136 /// Calculate the moment of inertia for a circle.
137 /// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0.
138 CP_EXPORT cpFloat cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset);
140 /// Calculate area of a hollow circle.
141 /// @c r1 and @c r2 are the inner and outer diameters. A solid circle has an inner diameter of 0.
142 CP_EXPORT cpFloat cpAreaForCircle(cpFloat r1, cpFloat r2);
144 /// Calculate the moment of inertia for a line segment.
145 /// Beveling radius is not supported.
146 CP_EXPORT cpFloat cpMomentForSegment(cpFloat m, cpVect a, cpVect b, cpFloat radius);
148 /// Calculate the area of a fattened (capsule shaped) line segment.
149 CP_EXPORT cpFloat cpAreaForSegment(cpVect a, cpVect b, cpFloat radius);
151 /// Calculate the moment of inertia for a solid polygon shape assuming it's center of gravity is at it's centroid. The offset is added to each vertex.
152 CP_EXPORT cpFloat cpMomentForPoly(cpFloat m, int count, const cpVect *verts, cpVect offset, cpFloat radius);
154 /// Calculate the signed area of a polygon. A Clockwise winding gives positive area.
155 /// This is probably backwards from what you expect, but matches Chipmunk's the winding for poly shapes.
156 CP_EXPORT cpFloat cpAreaForPoly(const int count, const cpVect *verts, cpFloat radius);
158 /// Calculate the natural centroid of a polygon.
159 CP_EXPORT cpVect cpCentroidForPoly(const int count, const cpVect *verts);
161 /// Calculate the moment of inertia for a solid box.
162 CP_EXPORT cpFloat cpMomentForBox(cpFloat m, cpFloat width, cpFloat height);
164 /// Calculate the moment of inertia for a solid box.
165 CP_EXPORT cpFloat cpMomentForBox2(cpFloat m, cpBB box);
167 /// Calculate the convex hull of a given set of points. Returns the count of points in the hull.
168 /// @c result must be a pointer to a @c cpVect array with at least @c count elements. If @c verts == @c result, then @c verts will be reduced inplace.
169 /// @c first is an optional pointer to an integer to store where the first vertex in the hull came from (i.e. verts[first] == result[0])
170 /// @c tol is the allowed amount to shrink the hull when simplifying it. A tolerance of 0.0 creates an exact hull.
171 CP_EXPORT int cpConvexHull(int count, const cpVect *verts, cpVect *result, int *first, cpFloat tol);
173 /// Convenience macro to work with cpConvexHull.
174 /// @c count and @c verts is the input array passed to cpConvexHull().
175 /// @c count_var and @c verts_var are the names of the variables the macro creates to store the result.
176 /// The output vertex array is allocated on the stack using alloca() so it will be freed automatically, but cannot be returned from the current scope.
177 #define CP_CONVEX_HULL(__count__, __verts__, __count_var__, __verts_var__) \
178 cpVect *__verts_var__ = (cpVect *)alloca(__count__*sizeof(cpVect)); \
179 int __count_var__ = cpConvexHull(__count__, __verts__, __verts_var__, NULL, 0.0); \
181 /// Returns the closest point on the line segment ab, to the point p.
183 cpClosetPointOnSegment(const cpVect p, const cpVect a, const cpVect b)
185 cpVect delta = cpvsub(a, b);
186 cpFloat t = cpfclamp01(cpvdot(delta, cpvsub(p, b))/cpvlengthsq(delta));
187 return cpvadd(b, cpvmult(delta, t));
190 #if defined(__has_extension)
191 #if __has_extension(blocks)
192 // Define alternate block based alternatives for a few of the callback heavy functions.
193 // Collision handlers are post-step callbacks are not included to avoid memory management issues.
194 // If you want to use blocks for those and are aware of how to correctly manage the memory, the implementation is trivial.
196 void cpSpaceEachBody_b(cpSpace *space, void (^block)(cpBody *body));
197 void cpSpaceEachShape_b(cpSpace *space, void (^block)(cpShape *shape));
198 void cpSpaceEachConstraint_b(cpSpace *space, void (^block)(cpConstraint *constraint));
200 void cpBodyEachShape_b(cpBody *body, void (^block)(cpShape *shape));
201 void cpBodyEachConstraint_b(cpBody *body, void (^block)(cpConstraint *constraint));
202 void cpBodyEachArbiter_b(cpBody *body, void (^block)(cpArbiter *arbiter));
204 typedef void (^cpSpacePointQueryBlock)(cpShape *shape, cpVect point, cpFloat distance, cpVect gradient);
205 void cpSpacePointQuery_b(cpSpace *space, cpVect point, cpFloat maxDistance, cpShapeFilter filter, cpSpacePointQueryBlock block);
207 typedef void (^cpSpaceSegmentQueryBlock)(cpShape *shape, cpVect point, cpVect normal, cpFloat alpha);
208 void cpSpaceSegmentQuery_b(cpSpace *space, cpVect start, cpVect end, cpFloat radius, cpShapeFilter filter, cpSpaceSegmentQueryBlock block);
210 typedef void (^cpSpaceBBQueryBlock)(cpShape *shape);
211 void cpSpaceBBQuery_b(cpSpace *space, cpBB bb, cpShapeFilter filter, cpSpaceBBQueryBlock block);
213 typedef void (^cpSpaceShapeQueryBlock)(cpShape *shape, cpContactPointSet *points);
214 cpBool cpSpaceShapeQuery_b(cpSpace *space, cpShape *shape, cpSpaceShapeQueryBlock block);
225 static inline cpVect operator *(const cpVect v, const cpFloat s){return cpvmult(v, s);}
226 static inline cpVect operator +(const cpVect v1, const cpVect v2){return cpvadd(v1, v2);}
227 static inline cpVect operator -(const cpVect v1, const cpVect v2){return cpvsub(v1, v2);}
228 static inline cpBool operator ==(const cpVect v1, const cpVect v2){return cpveql(v1, v2);}
229 static inline cpVect operator -(const cpVect v){return cpvneg(v);}