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Migrate remaining joint types (#84)
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faster prismatic joint
added wheel joint
added motor joint

decided to skip pulley and gear joints for now
the friction joint can be implemented with the motor joint

added several samples, include ragdoll sample
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@erincatto
erincatto authored Dec 23, 2023
1 parent fc6c279 commit 519ded3
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1 change: 1 addition & 0 deletions .clang-format
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@@ -1,5 +1,6 @@
# Reference: https://clang.llvm.org/docs/ClangFormatStyleOptions.html
# /c/Program Files/Microsoft Visual Studio/2022/Community/VC/Tools/Llvm/bin
# https://clang-format-configurator.site/
# default values:
# https://github.com/llvm/llvm-project/blob/main/clang/lib/Format/Format.cpp
---
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214 changes: 131 additions & 83 deletions include/box2d/box2d.h
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Expand Up @@ -18,6 +18,10 @@ typedef struct b2Polygon b2Polygon;
typedef struct b2DebugDraw b2DebugDraw;
typedef struct b2Segment b2Segment;

///////////////////////////////////////////////////////////////////////////////
/// World API
///////////////////////////////////////////////////////////////////////////////

/// Create a world for rigid body simulation. This contains all the bodies, shapes, and constraints.
BOX2D_API b2WorldId b2CreateWorld(const b2WorldDef* def);

Expand All @@ -42,10 +46,87 @@ BOX2D_API b2BodyId b2World_CreateBody(b2WorldId worldId, const b2BodyDef* def);
/// @warning This function is locked during callbacks.
BOX2D_API void b2World_DestroyBody(b2BodyId bodyId);

/// Create a joint
BOX2D_API b2JointId b2World_CreateDistanceJoint(b2WorldId worldId, const b2DistanceJointDef* def);
BOX2D_API b2JointId b2World_CreateMotorJoint(b2WorldId worldId, const b2MotorJointDef* def);
BOX2D_API b2JointId b2World_CreateMouseJoint(b2WorldId worldId, const b2MouseJointDef* def);
BOX2D_API b2JointId b2World_CreatePrismaticJoint(b2WorldId worldId, const b2PrismaticJointDef* def);
BOX2D_API b2JointId b2World_CreateRevoluteJoint(b2WorldId worldId, const b2RevoluteJointDef* def);
BOX2D_API b2JointId b2World_CreateWeldJoint(b2WorldId worldId, const b2WeldJointDef* def);
BOX2D_API b2JointId b2World_CreateWheelJoint(b2WorldId worldId, const b2WheelJointDef* def);

/// Destroy a joint
BOX2D_API void b2World_DestroyJoint(b2JointId jointId);

/// Get sensor events for the current time step. Do not store a reference to this data.
BOX2D_API b2SensorEvents b2World_GetSensorEvents(b2WorldId worldId);
BOX2D_API b2ContactEvents b2World_GetContactEvents(b2WorldId worldId);

/// Query the world for all shapes that potentially overlap the provided AABB.
BOX2D_API void b2World_QueryAABB(b2WorldId worldId, b2QueryResultFcn* fcn, b2AABB aabb, b2QueryFilter filter, void* context);

/// Query the world for all shapes that overlap the provided circle.
BOX2D_API void b2World_OverlapCircle(b2WorldId worldId, b2QueryResultFcn* fcn, const b2Circle* circle, b2Transform transform,
b2QueryFilter filter, void* context);

/// Query the world for all shapes that overlap the provided capsule.
BOX2D_API void b2World_OverlapCapsule(b2WorldId worldId, b2QueryResultFcn* fcn, const b2Capsule* capsule, b2Transform transform,
b2QueryFilter filter, void* context);

/// Query the world for all shapes that overlap the provided polygon.
BOX2D_API void b2World_OverlapPolygon(b2WorldId worldId, b2QueryResultFcn* fcn, const b2Polygon* polygon, b2Transform transform,
b2QueryFilter filter, void* context);

/// Ray-cast the world for all shapes in the path of the ray. Your callback
/// controls whether you get the closest point, any point, or n-points.
/// The ray-cast ignores shapes that contain the starting point.
/// @param callback a user implemented callback class.
/// @param point1 the ray starting point
/// @param point2 the ray ending point
BOX2D_API void b2World_RayCast(b2WorldId worldId, b2Vec2 origin, b2Vec2 translation, b2QueryFilter filter, b2RayResultFcn* fcn,
void* context);

// Ray-cast closest hit. Convenience function. This is less general than b2World_RayCast and does not allow for custom filtering.
BOX2D_API b2RayResult b2World_RayCastClosest(b2WorldId worldId, b2Vec2 origin, b2Vec2 translation, b2QueryFilter filter);

BOX2D_API void b2World_CircleCast(b2WorldId worldId, const b2Circle* circle, b2Transform originTransform, b2Vec2 translation,
b2QueryFilter filter, b2RayResultFcn* fcn, void* context);

BOX2D_API void b2World_CapsuleCast(b2WorldId worldId, const b2Capsule* capsule, b2Transform originTransform, b2Vec2 translation,
b2QueryFilter filter, b2RayResultFcn* fcn, void* context);

BOX2D_API void b2World_PolygonCast(b2WorldId worldId, const b2Polygon* polygon, b2Transform originTransform, b2Vec2 translation,
b2QueryFilter filter, b2RayResultFcn* fcn, void* context);

/// Enable/disable sleep. Advanced feature for testing.
BOX2D_API void b2World_EnableSleeping(b2WorldId worldId, bool flag);

/// Enable/disable constraint warm starting. Advanced feature for testing.
BOX2D_API void b2World_EnableWarmStarting(b2WorldId worldId, bool flag);

/// Enable/disable continuous collision. Advanced feature for testing.
BOX2D_API void b2World_EnableContinuous(b2WorldId worldId, bool flag);

/// Adjust the restitution threshold. Advanced feature for testing.
BOX2D_API void b2World_SetRestitutionThreshold(b2WorldId worldId, float value);

/// Adjust contact tuning parameters:
/// - hertz is the contact stiffness (cycles per second)
/// - damping ratio is the contact bounciness with 1 being critical damping (non-dimensional)
/// - push velocity is the maximum contact constraint push out velocity (meters per second)
/// Advanced feature
BOX2D_API void b2World_SetContactTuning(b2WorldId worldId, float hertz, float dampingRatio, float pushVelocity);

/// Get the current profile
BOX2D_API struct b2Profile b2World_GetProfile(b2WorldId worldId);

/// Get counters and sizes
BOX2D_API struct b2Statistics b2World_GetStatistics(b2WorldId worldId);

///////////////////////////////////////////////////////////////////////////////
/// Body API
///////////////////////////////////////////////////////////////////////////////

BOX2D_API b2BodyType b2Body_GetType(b2BodyId bodyId);
BOX2D_API void b2Body_SetType(b2BodyId bodyId, b2BodyType type);

Expand Down Expand Up @@ -137,8 +218,10 @@ BOX2D_API void b2Body_Disable(b2BodyId bodyId);
/// Enable a body by adding it to the simulation
BOX2D_API void b2Body_Enable(b2BodyId bodyId);

/// Create a shape and attach it to a body. Contacts are not created until the next time step.
/// Create a shape and attach it to a body. The shape defintion and geometry are fully cloned.
/// Contacts are not created until the next time step.
/// @warning This function is locked during callbacks.
/// @return the shape id for accessing the shape
BOX2D_API b2ShapeId b2Body_CreateCircle(b2BodyId bodyId, const b2ShapeDef* def, const b2Circle* circle);
BOX2D_API b2ShapeId b2Body_CreateSegment(b2BodyId bodyId, const b2ShapeDef* def, const b2Segment* segment);
BOX2D_API b2ShapeId b2Body_CreateCapsule(b2BodyId bodyId, const b2ShapeDef* def, const b2Capsule* capsule);
Expand All @@ -152,6 +235,16 @@ BOX2D_API void b2Body_DestroyChain(b2ChainId chainId);
BOX2D_API b2ShapeId b2Body_GetFirstShape(b2BodyId bodyId);
BOX2D_API b2ShapeId b2Body_GetNextShape(b2ShapeId shapeId);

/// Get the maximum capacity required for retrieving all the touching contacts on a body
BOX2D_API int32_t b2Body_GetContactCapacity(b2BodyId bodyId);

/// Get the touching contact data for a body
BOX2D_API int32_t b2Body_GetContactData(b2BodyId bodyId, b2ContactData* contactData, int32_t capacity);

///////////////////////////////////////////////////////////////////////////////
/// Shape API
///////////////////////////////////////////////////////////////////////////////

BOX2D_API b2BodyId b2Shape_GetBody(b2ShapeId shapeId);
BOX2D_API void* b2Shape_GetUserData(b2ShapeId shapeId);
BOX2D_API bool b2Shape_TestPoint(b2ShapeId shapeId, b2Vec2 point);
Expand All @@ -168,30 +261,17 @@ BOX2D_API const b2Polygon* b2Shape_GetPolygon(b2ShapeId shapeId);
BOX2D_API void b2Chain_SetFriction(b2ChainId chainId, float friction);
BOX2D_API void b2Chain_SetRestitution(b2ChainId chainId, float restitution);

/// Contacts

/// Get the number of touching contacts on a body
BOX2D_API int32_t b2Body_GetContactCount(b2BodyId bodyId);

/// Get the touching contact data for a body
BOX2D_API int32_t b2Body_GetContactData(b2BodyId bodyId, b2ContactData* contactData, int32_t capacity);

/// Get the number of touching contacts on a shape. For efficiency, this may be larger than the actual number.
BOX2D_API int32_t b2Shape_GetContactCount(b2ShapeId shapeId);
/// Get the maximum capacity required for retrieving all the touching contacts on a shape
BOX2D_API int32_t b2Shape_GetContactCapacity(b2ShapeId shapeId);

/// Get the touching contact data for a shape. The provided shapeId will be either shapeIdA or shapeIdB on the contact data.
BOX2D_API int32_t b2Shape_GetContactData(b2ShapeId shapeId, b2ContactData* contactData, int32_t capacity);

/// Create a joint
BOX2D_API b2JointId b2World_CreateDistanceJoint(b2WorldId worldId, const b2DistanceJointDef* def);
BOX2D_API b2JointId b2World_CreateMouseJoint(b2WorldId worldId, const b2MouseJointDef* def);
BOX2D_API b2JointId b2World_CreatePrismaticJoint(b2WorldId worldId, const b2PrismaticJointDef* def);
BOX2D_API b2JointId b2World_CreateRevoluteJoint(b2WorldId worldId, const b2RevoluteJointDef* def);
BOX2D_API b2JointId b2World_CreateWeldJoint(b2WorldId worldId, const b2WeldJointDef* def);

/// Destroy a joint
BOX2D_API void b2World_DestroyJoint(b2JointId jointId);
///////////////////////////////////////////////////////////////////////////////
/// Joint API
///////////////////////////////////////////////////////////////////////////////

/// Generic joint access
BOX2D_API b2BodyId b2Joint_GetBodyA(b2JointId jointId);
BOX2D_API b2BodyId b2Joint_GetBodyB(b2JointId jointId);

Expand All @@ -201,75 +281,43 @@ BOX2D_API void b2DistanceJoint_SetLength(b2JointId jointId, float length, float
BOX2D_API float b2DistanceJoint_GetCurrentLength(b2JointId jointId);
BOX2D_API void b2DistanceJoint_SetTuning(b2JointId jointId, float hertz, float dampingRatio);

/// Motor joint access
BOX2D_API void b2MotorJoint_SetLinearOffset(b2JointId jointId, b2Vec2 linearOffset);
BOX2D_API void b2MotorJoint_SetAngularOffset(b2JointId jointId, float angularOffset);
BOX2D_API void b2MotorJoint_SetMaxForce(b2JointId jointId, float maxForce);
BOX2D_API void b2MotorJoint_SetMaxTorque(b2JointId jointId, float maxTorque);
BOX2D_API void b2MotorJoint_SetCorrectionFactor(b2JointId jointId, float correctionFactor);
BOX2D_API b2Vec2 b2MotorJoint_GetConstraintForce(b2JointId jointId, float inverseTimeStep);
BOX2D_API float b2MotorJoint_GetConstraintTorque(b2JointId jointId, float inverseTimeStep);

/// Mouse joint access
BOX2D_API void b2MouseJoint_SetTarget(b2JointId jointId, b2Vec2 target);

// Prismatic joint access
BOX2D_API void b2PrismaticJoint_EnableLimit(b2JointId jointId, bool enableLimit);
BOX2D_API void b2PrismaticJoint_EnableMotor(b2JointId jointId, bool enableMotor);
BOX2D_API void b2PrismaticJoint_SetMotorSpeed(b2JointId jointId, float motorSpeed);
BOX2D_API float b2PrismaticJoint_GetMotorForce(b2JointId jointId, float inverseTimeStep);
BOX2D_API void b2PrismaticJoint_SetMaxMotorForce(b2JointId jointId, float force);
BOX2D_API b2Vec2 b2PrismaticJoint_GetConstraintForce(b2JointId jointId, float inverseTimeStep);
BOX2D_API float b2PrismaticJoint_GetConstraintTorque(b2JointId jointId, float inverseTimeStep);

// Revolute joint access
BOX2D_API void b2RevoluteJoint_EnableLimit(b2JointId jointId, bool enableLimit);
BOX2D_API void b2RevoluteJoint_EnableMotor(b2JointId jointId, bool enableMotor);
BOX2D_API void b2RevoluteJoint_SetMotorSpeed(b2JointId jointId, float motorSpeed);
BOX2D_API float b2RevoluteJoint_GetMotorTorque(b2JointId jointId, float inverseTimeStep);
BOX2D_API void b2RevoluteJoint_SetMaxMotorTorque(b2JointId jointId, float torque);
BOX2D_API b2Vec2 b2RevoluteJoint_GetConstraintForce(b2JointId jointId);

/// Query the world for all shapes that potentially overlap the provided AABB.
BOX2D_API void b2World_QueryAABB(b2WorldId worldId, b2QueryResultFcn* fcn, b2AABB aabb, b2QueryFilter filter, void* context);

/// Query the world for all shapes that overlap the provided circle.
BOX2D_API void b2World_OverlapCircle(b2WorldId worldId, b2QueryResultFcn* fcn, const b2Circle* circle, b2Transform transform,
b2QueryFilter filter, void* context);

/// Query the world for all shapes that overlap the provided capsule.
BOX2D_API void b2World_OverlapCapsule(b2WorldId worldId, b2QueryResultFcn* fcn, const b2Capsule* capsule, b2Transform transform,
b2QueryFilter filter, void* context);

/// Query the world for all shapes that overlap the provided polygon.
BOX2D_API void b2World_OverlapPolygon(b2WorldId worldId, b2QueryResultFcn* fcn, const b2Polygon* polygon, b2Transform transform,
b2QueryFilter filter, void* context);

/// Ray-cast the world for all shapes in the path of the ray. Your callback
/// controls whether you get the closest point, any point, or n-points.
/// The ray-cast ignores shapes that contain the starting point.
/// @param callback a user implemented callback class.
/// @param point1 the ray starting point
/// @param point2 the ray ending point
BOX2D_API void b2World_RayCast(b2WorldId worldId, b2Vec2 origin, b2Vec2 translation, b2QueryFilter filter,
b2RayResultFcn* fcn, void* context);

// Ray-cast closest hit. Convenience function. This is less general than b2World_RayCast and does not allow for custom filtering.
BOX2D_API b2RayResult b2World_RayCastClosest(b2WorldId worldId, b2Vec2 origin, b2Vec2 translation, b2QueryFilter filter);

BOX2D_API void b2World_CircleCast(b2WorldId worldId, const b2Circle* circle, b2Transform originTransform, b2Vec2 translation,
b2QueryFilter filter, b2RayResultFcn* fcn, void* context);

BOX2D_API void b2World_CapsuleCast(b2WorldId worldId, const b2Capsule* capsule, b2Transform originTransform, b2Vec2 translation,
b2QueryFilter filter, b2RayResultFcn* fcn, void* context);

BOX2D_API void b2World_PolygonCast(b2WorldId worldId, const b2Polygon* polygon, b2Transform originTransform, b2Vec2 translation,
b2QueryFilter filter, b2RayResultFcn* fcn, void* context);

/// Advanced API for testing and special cases

/// Enable/disable sleep.
BOX2D_API void b2World_EnableSleeping(b2WorldId worldId, bool flag);

/// Enable/disable contact warm starting. Improves stacking stability.
BOX2D_API void b2World_EnableWarmStarting(b2WorldId worldId, bool flag);

/// Enable/disable continuous collision.
BOX2D_API void b2World_EnableContinuous(b2WorldId worldId, bool flag);

/// Adjust the restitution threshold
BOX2D_API void b2World_SetRestitutionThreshold(b2WorldId worldId, float value);

/// Adjust contact tuning parameters:
/// - hertz is the contact stiffness (cycles per second)
/// - damping ratio is the contact bounciness with 1 being critical damping (non-dimensional)
/// - push velocity is the maximum contact constraint push out velocity (meters per second)
BOX2D_API void b2World_SetContactTuning(b2WorldId worldId, float hertz, float dampingRatio, float pushVelocity);

/// Get the current profile
BOX2D_API struct b2Profile b2World_GetProfile(b2WorldId worldId);

/// Get counters and sizes
BOX2D_API struct b2Statistics b2World_GetStatistics(b2WorldId worldId);
BOX2D_API b2Vec2 b2RevoluteJoint_GetConstraintForce(b2JointId jointId, float inverseTimeStep);
BOX2D_API float b2RevoluteJoint_GetConstraintTorque(b2JointId jointId, float inverseTimeStep);

// Wheel joint access
BOX2D_API void b2WheelJoint_SetStiffness(b2JointId jointId, float stiffness);
BOX2D_API void b2WheelJoint_SetDamping(b2JointId jointId, float damping);
BOX2D_API void b2WheelJoint_EnableLimit(b2JointId jointId, bool enableLimit);
BOX2D_API void b2WheelJoint_EnableMotor(b2JointId jointId, bool enableMotor);
BOX2D_API void b2WheelJoint_SetMotorSpeed(b2JointId jointId, float motorSpeed);
BOX2D_API float b2WheelJoint_GetMotorTorque(b2JointId jointId, float inverseTimeStep);
BOX2D_API void b2WheelJoint_SetMaxMotorTorque(b2JointId jointId, float torque);
BOX2D_API b2Vec2 b2WheelJoint_GetConstraintForce(b2JointId jointId, float inverseTimeStep);
BOX2D_API float b2WheelJoint_GetConstraintTorque(b2JointId jointId, float inverseTimeStep);
6 changes: 4 additions & 2 deletions include/box2d/event_types.h
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Expand Up @@ -35,7 +35,8 @@ typedef struct b2SensorEvents
int endCount;
} b2SensorEvents;

/// A begin touch event is generated when two shapes begin touching.
/// A begin touch event is generated when two shapes begin touching. By convention the manifold
/// normal points from shape A to shape B.
typedef struct b2ContactBeginTouchEvent
{
b2ShapeId shapeIdA;
Expand All @@ -61,7 +62,8 @@ typedef struct b2ContactEvents
int endCount;
} b2ContactEvents;

/// This is the data you can access using a b2ContactId.
/// The contact data for two shapes. By convention the manifold normal points
/// from shape A to shape B.
typedef struct b2ContactData
{
b2ShapeId shapeIdA;
Expand Down
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