issues #800 #798 #794

include/box2d/box2d.h

@@ -467,6 +467,9 @@ B2_API b2ShapeType b2Shape_GetType( b2ShapeId shapeId );
 /// Get the id of the body that a shape is attached to
 B2_API b2BodyId b2Shape_GetBody( b2ShapeId shapeId );
 
+/// Get the world that owns this shape
+B2_API b2WorldId b2Shape_GetWorld( b2ShapeId shapeId );
+
 /// Returns true If the shape is a sensor
 B2_API bool b2Shape_IsSensor( b2ShapeId shapeId );
 
@@ -600,6 +603,16 @@ B2_API b2ChainId b2CreateChain( b2BodyId bodyId, const b2ChainDef* def );
 /// Destroy a chain shape
 B2_API void b2DestroyChain( b2ChainId chainId );
 
+/// Get the world that owns this chain shape
+B2_API b2WorldId b2Chain_GetWorld( b2ChainId chainId );
+
+/// Get the number of segments on this chain
+B2_API int b2Chain_GetSegmentCount( b2ChainId chainId );
+
+/// Fill a user array with chain segment shape ids up to the specified capacity. Returns
+///	the actual number of segments returned.
+B2_API int b2Chain_GetSegments( b2ChainId chainId, b2ShapeId* segmentArray, int capacity );
+
 /// Set the chain friction
 /// @see b2ChainDef::friction
 B2_API void b2Chain_SetFriction( b2ChainId chainId, float friction );
@@ -634,6 +647,9 @@ B2_API b2BodyId b2Joint_GetBodyA( b2JointId jointId );
 /// Get body B id on a joint
 B2_API b2BodyId b2Joint_GetBodyB( b2JointId jointId );
 
+/// Get the world that owns this joint
+B2_API b2WorldId b2Joint_GetWorld( b2JointId jointId );
+
 /// Get the local anchor on bodyA
 B2_API b2Vec2 b2Joint_GetLocalAnchorA( b2JointId jointId );
 

include/box2d/collision.h

@@ -183,15 +183,25 @@ B2_API b2Polygon b2MakePolygon( const b2Hull* hull, float radius );
 B2_API b2Polygon b2MakeOffsetPolygon( const b2Hull* hull, float radius, b2Transform transform );
 
 /// Make a square polygon, bypassing the need for a convex hull.
+/// @param h the half-width
 B2_API b2Polygon b2MakeSquare( float h );
 
 /// Make a box (rectangle) polygon, bypassing the need for a convex hull.
+/// @param hx the half-width
+/// @param hy the half-height
 B2_API b2Polygon b2MakeBox( float hx, float hy );
 
 /// Make a rounded box, bypassing the need for a convex hull.
+/// @param hx the half-width
+/// @param hy the half-height
+/// @param radius the radius of the rounded extension
 B2_API b2Polygon b2MakeRoundedBox( float hx, float hy, float radius );
 
 /// Make an offset box, bypassing the need for a convex hull.
+/// @param hx the half-width
+/// @param hy the half-height
+/// @param center the local position of the center of the box
+/// @param rotation the local rotation of the box
 B2_API b2Polygon b2MakeOffsetBox( float hx, float hy, b2Vec2 center, b2Rot rotation );
 
 /// Transform a polygon. This is useful for transferring a shape from one body to another.

samples/sample_bodies.cpp

@@ -785,7 +785,7 @@ class BadBody : public Sample
 			b2BodyDef bodyDef = b2DefaultBodyDef();
 			bodyDef.type = b2_dynamicBody;
 			bodyDef.position = { 0.0f, 3.0f };
-			bodyDef.angularVelocity = 0.2f;
+			bodyDef.angularVelocity = 0.5f;
 			bodyDef.rotation = b2MakeRot( 0.25f * b2_pi );
 
 			m_badBodyId = b2CreateBody( m_worldId, &bodyDef );

src/body.c

@@ -744,6 +744,11 @@ void b2Body_SetLinearVelocity( b2BodyId bodyId, b2Vec2 linearVelocity )
 	b2World* world = b2GetWorld( bodyId.world0 );
 	b2Body* body = b2GetBodyFullId( world, bodyId );
 
+	if ( body->type == b2_staticBody )
+	{
+		return;
+	}
+
 	if ( b2LengthSquared( linearVelocity ) > 0.0f )
 	{
 		b2WakeBody( world, body );
@@ -763,6 +768,11 @@ void b2Body_SetAngularVelocity( b2BodyId bodyId, float angularVelocity )
 	b2World* world = b2GetWorld( bodyId.world0 );
 	b2Body* body = b2GetBodyFullId( world, bodyId );
 
+	if (body->type == b2_staticBody || body->fixedRotation)
+	{
+		return;
+	}
+
 	if ( angularVelocity != 0.0f )
 	{
 		b2WakeBody( world, body );

src/broad_phase.c

@@ -1,7 +1,9 @@
 // SPDX-FileCopyrightText: 2023 Erin Catto
 // SPDX-License-Identifier: MIT
 
+#if defined( _MSC_VER ) && !defined( _CRT_SECURE_NO_WARNINGS )
 #define _CRT_SECURE_NO_WARNINGS
+#endif
 
 #include "broad_phase.h"
 

src/distance_joint.c

@@ -1,7 +1,9 @@
 // SPDX-FileCopyrightText: 2023 Erin Catto
 // SPDX-License-Identifier: MIT
 
+#if defined( _MSC_VER ) && !defined( _CRT_SECURE_NO_WARNINGS )
 #define _CRT_SECURE_NO_WARNINGS
+#endif
 
 #include "body.h"
 #include "core.h"

src/joint.c

@@ -789,6 +789,12 @@ b2BodyId b2Joint_GetBodyB( b2JointId jointId )
 	return b2MakeBodyId( world, joint->edges[1].bodyId );
 }
 
+b2WorldId b2Joint_GetWorld( b2JointId jointId )
+{
+	b2World* world = b2GetWorld( jointId.world0 );
+	return ( b2WorldId ){ jointId.world0 + 1, world->revision };
+}
+
 b2Vec2 b2Joint_GetLocalAnchorA( b2JointId jointId )
 {
 	b2World* world = b2GetWorld( jointId.world0 );

src/revolute_joint.c

@@ -1,7 +1,9 @@
 // SPDX-FileCopyrightText: 2023 Erin Catto
 // SPDX-License-Identifier: MIT
 
+#if defined( _MSC_VER ) && !defined( _CRT_SECURE_NO_WARNINGS )
 #define _CRT_SECURE_NO_WARNINGS
+#endif
 
 #include "body.h"
 #include "core.h"

src/shape.c

@@ -440,6 +440,35 @@ void b2DestroyChain( b2ChainId chainId )
 	b2ValidateSolverSets( world );
 }
 
+b2WorldId b2Chain_GetWorld(b2ChainId chainId)
+{
+	b2World* world = b2GetWorld( chainId.world0 );
+	return ( b2WorldId ){ chainId.world0 + 1, world->revision };
+}
+
+int b2Chain_GetSegmentCount(b2ChainId chainId)
+{
+	b2World* world = b2GetWorldLocked( chainId.world0 );
+	b2ChainShape* chain = b2GetChainShape( world, chainId );
+	return chain->count;
+}
+
+int b2Chain_GetSegments(b2ChainId chainId, b2ShapeId* segmentArray, int capacity)
+{
+	b2World* world = b2GetWorldLocked( chainId.world0 );
+	b2ChainShape* chain = b2GetChainShape( world, chainId );
+
+	int count = b2MinInt(chain->count, capacity);
+	for ( int i = 0; i < count; ++i )
+	{
+		int shapeId = chain->shapeIndices[i];
+		b2Shape* shape = b2ShapeArray_Get( &world->shapes, shapeId );
+		segmentArray[i] = ( b2ShapeId ){ shapeId + 1, chainId.world0, shape->revision };
+	}
+
+	return count;
+}
+
 b2AABB b2ComputeShapeAABB( const b2Shape* shape, b2Transform xf )
 {
 	switch ( shape->type )
@@ -726,6 +755,12 @@ b2BodyId b2Shape_GetBody( b2ShapeId shapeId )
 	return b2MakeBodyId( world, shape->bodyId );
 }
 
+b2WorldId b2Shape_GetWorld(b2ShapeId shapeId)
+{
+	b2World* world = b2GetWorld( shapeId.world0 );
+	return ( b2WorldId ){ shapeId.world0 + 1, world->revision };
+}
+
 void b2Shape_SetUserData( b2ShapeId shapeId, void* userData )
 {
 	b2World* world = b2GetWorld( shapeId.world0 );

src/solver.c

@@ -22,21 +22,30 @@
 #include <stdbool.h>
 #include <stddef.h>
 
-#if defined( B2_CPU_ARM )
+#if ( defined( __GNUC__ ) || defined( __clang__ ) ) && ( defined( __i386__ ) || defined( __x86_64__ ) )
 static inline void b2Pause( void )
 {
-	__asm__ __volatile__( "isb\n" );
+	__asm__ __volatile__( "pause\n" );
 }
-#elif defined( B2_CPU_X86_X64 )
-#include <immintrin.h>
+#elif ( defined( __arm__ ) && defined( __ARM_ARCH ) && __ARM_ARCH >= 7 ) || defined( __aarch64__ )
+static inline void b2Pause( void )
+{
+	__asm__ __volatile__( "yield" ::: "memory" );
+}
+#elif defined( _MSC_VER ) && ( defined( _M_IX86 ) || defined( _M_X64 ) )
+//#include <immintrin.h>
 static inline void b2Pause( void )
 {
 	_mm_pause();
 }
+#elif defined( _MSC_VER ) && ( defined( _M_ARM ) || defined( _M_ARM64 ) )
+static inline void b2Pause( void )
+{
+	__yield();
+}
 #else
 static inline void b2Pause( void )
 {
-	// no threading will likely be used in web assembly
 }
 #endif
 

src/world.c

@@ -1,7 +1,9 @@
 // SPDX-FileCopyrightText: 2023 Erin Catto
 // SPDX-License-Identifier: MIT
 
+#if defined( _MSC_VER ) && !defined( _CRT_SECURE_NO_WARNINGS )
 #define _CRT_SECURE_NO_WARNINGS
+#endif
 
 #include "world.h"