Graph coloring

.clang-format

@@ -11,14 +11,15 @@ BreakBeforeBraces: Custom
 BraceWrapping:
   AfterCaseLabel: true
   AfterUnion: true
+  BeforeWhile: true
 
 ColumnLimit: 140
 PointerAlignment: Left
 UseTab: Always
 BreakConstructorInitializers: BeforeComma
 
 # when VS updates clang-format to v16
-# InsertNewlineAtEOF: true
+InsertNewlineAtEOF: true
 
 IncludeBlocks: Regroup
 

include/box2d/aabb.h

@@ -107,6 +107,13 @@ static inline bool b2AABB_Contains(b2AABB a, b2AABB b)
 	return s;
 }
 
+static inline bool b2AABB_ContainsWithMargin(b2AABB a, b2AABB b, float margin)
+{
+	bool s = (a.lowerBound.x <= b.lowerBound.x - margin) & (a.lowerBound.y <= b.lowerBound.y - margin) &
+			 (b.upperBound.x + margin <= a.upperBound.x) & (b.upperBound.y + margin <= a.upperBound.y);
+	return s;
+}
+
 /// Do a and b overlap
 static inline bool b2AABB_Overlaps(b2AABB a, b2AABB b)
 {

include/box2d/api.h

@@ -3,6 +3,8 @@
 
 #pragma once
 
+#include <stdint.h>
+
 #ifdef __cplusplus
 #define BOX2D_CPP extern "C"
 #else
@@ -22,7 +24,7 @@
 #define BOX2D_API BOX2D_CPP
 #endif
 
-typedef void* b2AllocFcn(int size);
+typedef void* b2AllocFcn(uint32_t size);
 typedef void b2FreeFcn(void* mem);
 
 // Return 0 to
@@ -37,7 +39,7 @@ extern "C"
 void b2SetAllocator(b2AllocFcn* allocFcn, b2FreeFcn* freeFcn);
 
 /// Total bytes allocated by Box2D
-int b2GetByteCount(void);
+uint32_t b2GetByteCount(void);
 
 extern b2AssertFcn* Box2DAssertCallback;
 

include/box2d/box2d.h

@@ -31,17 +31,6 @@ BOX2D_API void b2World_Step(b2WorldId worldId, float timeStep, int32_t velocityI
 /// Call this to draw shapes and other debug draw data. This is intentionally non-const.
 BOX2D_API void b2World_Draw(b2WorldId worldId, b2DebugDraw* debugDraw);
 
-/// Enable/disable sleep.
-BOX2D_API void b2World_EnableSleeping(b2WorldId worldId, bool flag);
-
-/// Enable/disable continuous collision.
-BOX2D_API void b2World_EnableContinuous(b2WorldId worldId, bool flag);
-
-/// Get the current profile.
-BOX2D_API struct b2Profile b2World_GetProfile(b2WorldId worldId);
-
-BOX2D_API struct b2Statistics b2World_GetStatistics(b2WorldId worldId);
-
 /// Create a rigid body given a definition. No reference to the definition is retained.
 /// @warning This function is locked during callbacks.
 BOX2D_API b2BodyId b2World_CreateBody(b2WorldId worldId, const b2BodyDef* def);
@@ -74,20 +63,53 @@ BOX2D_API bool b2Shape_TestPoint(b2ShapeId shapeId, b2Vec2 point);
 
 BOX2D_API b2JointId b2World_CreateMouseJoint(b2WorldId worldId, const b2MouseJointDef* def);
 BOX2D_API b2JointId b2World_CreateRevoluteJoint(b2WorldId worldId, const b2RevoluteJointDef* def);
+BOX2D_API b2JointId b2World_CreateWeldJoint(b2WorldId worldId, const b2WeldJointDef* def);
 BOX2D_API void b2World_DestroyJoint(b2JointId jointId);
 
+BOX2D_API b2BodyId b2Joint_GetBodyA(b2JointId jointId);
+BOX2D_API b2BodyId b2Joint_GetBodyB(b2JointId jointId);
+
 BOX2D_API void b2MouseJoint_SetTarget(b2JointId jointId, b2Vec2 target);
 
 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);
 
-/// This function receives shapes found in the AABB query.
+	/// This function receives shapes found in the AABB query.
 /// @return true if the query should continue
 typedef bool b2QueryCallbackFcn(b2ShapeId shapeId, void* context);
 
 /// Query the world for all shapse that potentially overlap the provided AABB.
 /// @param callback a user implemented callback function.
 /// @param aabb the query box.
 BOX2D_API void b2World_QueryAABB(b2WorldId worldId, b2AABB aabb, b2QueryCallbackFcn* 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 the maximum contact constraint push out velocity
+BOX2D_API void b2World_SetMaximumPushoutVelocity(b2WorldId worldId, float value);
+
+/// Adjust the contact stiffness in cycles per second.
+BOX2D_API void b2World_SetContactHertz(b2WorldId worldId, float value);
+
+/// Get the current profile
+BOX2D_API struct b2Profile b2World_GetProfile(b2WorldId worldId);
+
+/// Get counters and sizes
+BOX2D_API struct b2Statistics b2World_GetStatistics(b2WorldId worldId);

include/box2d/callbacks.h

@@ -48,7 +48,7 @@ typedef void b2EndContactFcn(b2ShapeId shapeIdA, b2ShapeId shapeIdB, void* conte
 /// get an EndContact callback. However, you may get a BeginContact callback
 /// the next step.
 /// - the supplied manifold has impulse values from the previous frame
-typedef bool b2PreSolveFcn(b2ShapeId shapeIdA, b2ShapeId shapeIdB, b2Manifold* manifold, void* context);
+typedef bool b2PreSolveFcn(b2ShapeId shapeIdA, b2ShapeId shapeIdB, b2Manifold* manifold, int32_t color, void* context);
 BOX2D_API void b2World_SetPreSolveCallback(b2WorldId worldId, b2PreSolveFcn* fcn, void* context);
 
 /// This lets you inspect a contact after the solver is finished. This is useful