A first attempt at overhauling collision. New everything.

--HG--
branch : box2d-update

src/modules/physics/box2d/Contact.cpp

@@ -28,54 +28,82 @@ namespace physics
 {
 namespace box2d
 {
-	Contact::Contact(World * world, b2Contact * contact)
-		: contact(contact), world(world)
+	Contact::Contact(b2Contact * contact)
+		: contact(contact)
 	{
-		world->retain();
 	}
 
 	Contact::~Contact()
 	{
-		world->release();
 	}
 
-	int Contact::getPosition(lua_State * L)
+	int Contact::getPositions(lua_State * L)
 	{
 		love::luax_assert_argc(L, 1, 1);
-		lua_pushnumber(L, Physics::scaleUp(point.position.x));
-		lua_pushnumber(L, Physics::scaleUp(point.position.y));
-		return 2;
+		b2WorldManifold manifold;
+		contact->GetWorldManifold(&manifold);
+		int points = contact->GetManifold()->pointCount;
+		for (int i = 0; i < points; i++) {
+			b2Vec2 position = Physics::scaleUp(manifold.points[i]);
+			lua_pushnumber(L, position.x);
+			lua_pushnumber(L, position.y);
+		}
+		return points*2;
 	}
 
-	int Contact::getVelocity(lua_State * L)
+	int Contact::getNormal(lua_State * L)
 	{
 		love::luax_assert_argc(L, 1, 1);
-		lua_pushnumber(L, Physics::scaleUp(point.velocity.x));
-		lua_pushnumber(L, Physics::scaleUp(point.velocity.y));
+		b2WorldManifold manifold;
+		contact->GetWorldManifold(&manifold);
+		lua_pushnumber(L, Physics::scaleUp(manifold.normal.x));
+		lua_pushnumber(L, Physics::scaleUp(manifold.normal.y));
 		return 2;
 	}
 
-	int Contact::getNormal(lua_State * L)
+	float Contact::getFriction() const
 	{
-		love::luax_assert_argc(L, 1, 1);
-		lua_pushnumber(L, Physics::scaleUp(point.normal.x));
-		lua_pushnumber(L, Physics::scaleUp(point.normal.y));
-		return 2;
+		return contact->GetFriction();
 	}
 
-	float Contact::getSeparation() const
+	float Contact::getRestitution() const
 	{
-		return Physics::scaleUp(point.separation);
+		return contact->GetRestitution();
 	}
-
-	float Contact::getFriction() const
+	
+	bool Contact::isEnabled() const
 	{
-		return point.friction;
+		return contact->IsEnabled();
 	}
-
-	float Contact::getRestitution() const
+	
+	bool Contact::isTouching() const
+	{
+		return contact->IsTouching();
+	}
+	
+	void Contact::setFriction(float friction)
+	{
+		contact->SetFriction(friction);
+	}
+	
+	void Contact::setRestitution(float restitution)
+	{
+		contact->SetRestitution(restitution);
+	}
+	
+	void Contact::setEnabled(bool enabled)
+	{
+		contact->SetEnabled(enabled);
+	}
+	
+	void Contact::resetFriction()
+	{
+		contact->ResetFriction();
+	}
+	
+	void Contact::resetRestitution()
 	{
-		return point.restitution;
+		contact->ResetRestitution();
 	}
 
 } // box2d

src/modules/physics/box2d/Contact.h

@@ -51,10 +51,7 @@ namespace box2d
 
 		// The Box2D contact.
 		b2Contact* contact;
-
-		// The parent world. Needed for scaling.
-		World * world;
-
+		
 	public:
 
 		/**
@@ -63,23 +60,16 @@ namespace box2d
 		* data pointed to.
 		* @param point Pointer to the Box2D contact.
 		**/
-		Contact(World * world, const b2Contact * contact);
+		Contact(b2Contact * contact);
 
 		virtual ~Contact();
 
 		/**
-		* Gets the position of the Contact.
+		* Gets the position of each point of contact.
 		* @return The position along the x-axis.
 		* @return The position along the y-axis.
 		**/
-		int getPosition(lua_State * L);
-
-		/**
-		* Gets the linear impact velocity.
-		* @return The velocity along the x-axis.
-		* @return The velocity along the y-axis.
-		**/
-		int getVelocity(lua_State * L);
+		int getPositions(lua_State * L);
 
 		/**
 		* Gets the collision normal.
@@ -89,22 +79,55 @@ namespace box2d
 		int getNormal(lua_State * L);
 
 		/**
-		* How far apart the shapes are. If they are intersecting
-		* this value is negative.
-		**/
-		float getSeparation() const;
-
-		/**
-		* The mixed friction between the two shapes at
+		* The mixed friction between the two fixtures at
 		* the point of impact.
 		**/
 		float getFriction() const;
 
 		/**
-		* The mixed restitution of the two shapes
+		* The mixed restitution of the two fixtures
 		* at the point of impact.
 		**/
 		float getRestitution() const;
+		
+		/**
+		* Check if the contact is enabled.
+		**/
+		bool isEnabled() const;
+		
+		/**
+		* Check if the contact is touching.
+		**/
+		bool isTouching() const;
+		
+		// Only call the setters in PreSolve
+		
+		/**
+		* Override the default friction mixture.
+		**/
+		void setFriction(float friction);
+		
+		/**
+		* Override the default restitution mixture.
+		**/
+		void setRestitution(float restitution);
+		
+		/**
+		* Enable/disable this contact.
+		**/
+		void setEnabled(bool enabled);
+		
+		/**
+		* Reset the friction mixture to the default
+		* value.
+		**/
+		void resetFriction();
+		
+		/**
+		* Reset the restitution mixture to the default
+		* value.
+		**/
+		void resetRestitution();
 
 	};
 

src/modules/physics/box2d/World.cpp

@@ -44,7 +44,7 @@ namespace box2d
 			delete ref;
 	}
 
-	void World::ContactCallback::add(World * world, const b2Contact* contact)
+	void World::ContactCallback::add(b2Contact* contact)
 	{
 		/**
 		* We must copy contacts, since we're not allowed to process
@@ -53,7 +53,15 @@ namespace box2d
 		**/
 
 		if(ref != 0)
-			contacts.push_back(new Contact(world, contact));
+			contacts.push_back(new Contact(contact));
+	}
+	
+	void World::ContactCallback::add(b2Contact* contact, const b2ContactImpulse* impulse)
+	{
+		if(ref != 0) {
+			contacts.push_back(new Contact(contact));
+			impulses.push_back(impulse);
+		}
 	}
 
 	void World::ContactCallback::process()
@@ -86,13 +94,25 @@ namespace box2d
 				}
 
 				luax_newtype(L, "Contact", (PHYSICS_CONTACT_T), (void*)contacts[i], false);
-				lua_call(L, 3, 0);
+				
+				int args = 3;
+				if ((int)impulses.size() > i) {
+					const b2ContactImpulse * impulse = impulses[i];
+					for (int c = 0; c < impulse->count; c++) {
+						lua_pushnumber(L, Physics::scaleUp(impulse->normalImpulses[c]));
+						lua_pushnumber(L, Physics::scaleUp(impulse->tangentImpulses[c]));
+						args += 2;
+					}
+				}
+				lua_call(L, args, 0);
 			}
 
 			// Clear contacts.
 			for(int i = 0;i<(int)contacts.size();i++)
 				delete contacts[i];
 			contacts.clear();
+			// Clear impulses.
+			impulses.clear();
 		}
 
 	}
@@ -134,22 +154,22 @@ namespace box2d
 
 	void World::BeginContact(b2Contact* contact)
 	{
-		begin.add(this, contact);
+		begin.add(contact);
 	}
 
 	void World::EndContact(b2Contact* contact)
 	{
-		end.add(this, contact);
+		end.add(contact);
 	}
 
-	void World::PreSolve(b2Contact* contact, const b2Manifold* oldManifold)
+	void World::PreSolve(b2Contact* contact)
 	{
-		presolve.add(this, contact);
+		presolve.add(contact);
 	}
 
 	void World::PostSolve(b2Contact* contact, const b2ContactImpulse* impulse)
 	{
-		postsolve.add(this, contact);
+		postsolve.add(contact, impulse);
 	}
 
 	int World::setCallbacks(lua_State * L)

src/modules/physics/box2d/World.h

@@ -67,9 +67,13 @@ namespace box2d
 		public:
 			Reference * ref;
 			std::vector<Contact *> contacts;
+			std::vector<const b2ContactImpulse *> impulses;
+			b2Manifold* oldManifold;
+			b2ContactImpulse* impulse;
 			ContactCallback();
 			~ContactCallback();
-			void add(World * world, const b2Contact* contact);
+			void add(b2Contact* contact);
+			void add(b2Contact* contact, const b2ContactImpulse* impulse);
 			void process();
 		};
 
@@ -113,7 +117,7 @@ namespace box2d
 		// From b2ContactListener
 		void BeginContact(b2Contact* contact);
 		void EndContact(b2Contact* contact);
-		void PreSolve(b2Contact* contact, const b2Manifold* oldManifold);
+		void PreSolve(b2Contact* contact);
 		void PostSolve(b2Contact* contact, const b2ContactImpulse* impulse);
 
 		/**

src/modules/physics/box2d/wrap_Contact.cpp

@@ -32,54 +32,98 @@ namespace box2d
 		return luax_checktype<Contact>(L, idx, "Contact", PHYSICS_CONTACT_T);
 	}
 
-	int w_Contact_getPosition(lua_State * L)
+	int w_Contact_getPositions(lua_State * L)
 	{
 		Contact * t = luax_checkcontact(L, 1);
-		return t->getPosition(L);
+		return t->getPositions(L);
 	}
-
-	int w_Contact_getVelocity(lua_State * L)
+	
+	int w_Contact_getNormal(lua_State * L)
 	{
 		Contact * t = luax_checkcontact(L, 1);
-		return t->getVelocity(L);
+		return t->getNormal(L);
 	}
 
-	int w_Contact_getNormal(lua_State * L)
+	int w_Contact_getFriction(lua_State * L)
 	{
 		Contact * t = luax_checkcontact(L, 1);
-		return t->getNormal(L);
+		lua_pushnumber(L, t->getFriction());
+		return 1;
 	}
 
-	int w_Contact_getSeparation(lua_State * L)
+	int w_Contact_getRestitution(lua_State * L)
 	{
 		Contact * t = luax_checkcontact(L, 1);
-		lua_pushnumber(L, t->getSeparation());
+		lua_pushnumber(L, t->getRestitution());
 		return 1;
 	}
-
-	int w_Contact_getFriction(lua_State * L)
+	
+	int w_Contact_isEnabled(lua_State * L)
 	{
 		Contact * t = luax_checkcontact(L, 1);
-		lua_pushnumber(L, t->getFriction());
+		lua_pushboolean(L, t->isEnabled());
 		return 1;
 	}
-
-	int w_Contact_getRestitution(lua_State * L)
+	
+	int w_Contact_isTouching(lua_State * L)
 	{
 		Contact * t = luax_checkcontact(L, 1);
-		lua_pushnumber(L, t->getRestitution());
+		lua_pushboolean(L, t->isTouching());
 		return 1;
 	}
+	
+	int w_Contact_setFriction(lua_State * L)
+	{
+		Contact * t = luax_checkcontact(L, 1);
+		float f = (float)luaL_checknumber(L, 2);
+		t->setFriction(f);
+		return 0;
+	}
+	
+	int w_Contact_setRestitution(lua_State * L)
+	{
+		Contact * t = luax_checkcontact(L, 1);
+		float r = (float)luaL_checknumber(L, 2);
+		t->setRestitution(r);
+		return 0;
+	}
+	
+	int w_Contact_setEnabled(lua_State * L)
+	{
+		Contact * t = luax_checkcontact(L, 1);
+		bool e = luax_toboolean(L, 2);
+		t->setEnabled(e);
+		return 0;
+	}
+	
+	int w_Contact_resetFriction(lua_State * L)
+	{
+		Contact * t = luax_checkcontact(L, 1);
+		t->resetFriction();
+		return 0;
+	}
+	
+	int w_Contact_resetRestitution(lua_State * L)
+	{
+		Contact * t = luax_checkcontact(L, 1);
+		t->resetRestitution();
+		return 0;
+	}
 
 	int luaopen_contact(lua_State * L)
 	{
 		static const luaL_Reg functions[] = {
-			{ "getPosition", w_Contact_getPosition },
-			{ "getVelocity", w_Contact_getVelocity },
+			{ "getPositions", w_Contact_getPositions },
 			{ "getNormal", w_Contact_getNormal },
-			{ "getSeparation", w_Contact_getSeparation },
 			{ "getFriction", w_Contact_getFriction },
 			{ "getRestitution", w_Contact_getRestitution },
+			{ "isEnabled", w_Contact_isEnabled },
+			{ "isTouching", w_Contact_isTouching },
+			{ "setFriction", w_Contact_setFriction },
+			{ "setRestitution", w_Contact_setRestitution },
+			{ "setEnabled", w_Contact_setEnabled },
+			{ "resetFriction", w_Contact_resetFriction },
+			{ "resetRestitution", w_Contact_resetRestitution },
 			{ 0, 0 }
 		};
 

src/modules/physics/box2d/wrap_Contact.h

@@ -32,12 +32,17 @@ namespace physics
 namespace box2d
 {
 	Contact * luax_checkcontact(lua_State * L, int idx);
-	int w_Contact_getPosition(lua_State * L);
-	int w_Contact_getVelocity(lua_State * L);
+	int w_Contact_getPositions(lua_State * L);
 	int w_Contact_getNormal(lua_State * L);
-	int w_Contact_getSeparation(lua_State * L);
 	int w_Contact_getFriction(lua_State * L);
 	int w_Contact_getRestitution(lua_State * L);
+	int w_Contact_isEnabled(lua_State * L);
+	int w_Contact_isTouching(lua_State * L);
+	int w_Contact_setFriction(lua_State * L);
+	int w_Contact_setRestitution(lua_State * L);
+	int w_Contact_setEnabled(lua_State * L);
+	int w_Contact_resetFriction(lua_State * L);
+	int w_Contact_resetRestitution(lua_State * L);
 	int luaopen_contact(lua_State * L);
 
 } // box2d