-
Notifications
You must be signed in to change notification settings - Fork 1
/
chipmunk.nim
1551 lines (1406 loc) · 68.4 KB
/
chipmunk.nim
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
# Copyright (c) 2007 Scott Lembcke
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
#
when defined(Linux):
const Lib = "libchipmunk.so.6.(1|2).(0|1|2|3|4|5)"
elif defined(Mac):
const Lib = "libchipmunk.6.(1|2).(0|1|2|3|4|5).dylib"
elif defined(Windows):
const Lib = "chipmunk.6.(1|2).(0|1|2|3|4|5).dll"
else:
{.error: "Platform unsupported".}
when defined(MoreNim):
{.hint: "MoreNim defined; some Chipmunk functions replaced in Nim".}
{.deadCodeElim: on.}
from math import sqrt, sin, cos, arctan2
when defined(CpUseFloat):
{.hint: "CpUseFloat defined; using float32 as float".}
type CpFloat* = cfloat
else:
type CpFloat* = cdouble
const
CP_BUFFER_BYTES* = (32 * 1024)
CP_MAX_CONTACTS_PER_ARBITER* = 4
CpInfinity*: CpFloat = 1.0/0
import basic2d
when CpFloat is float:
type Vector* = Vector2d
else:
type Vector* = object
x*,y*: cpFloat
const VectorIsVector2d* = Vector is Vector2d
{.pragma: pf, pure, final.}
type
Bool32* = cint #replace one day with cint-compatible bool
CpDataPointer* = pointer
Timestamp* = cuint
BodyVelocityFunc* = proc(body: BodyPtr, gravity: Vector,
damping: CpFloat; dt: CpFloat){.cdecl.}
BodyPositionFunc* = proc(body: BodyPtr; dt: CpFloat){.cdecl.}
ComponentNode*{.pf.} = object
root*: BodyPtr
next*: BodyPtr
idleTime*: CpFloat
HashValue = cuint # uintptr_t
CollisionType* = cuint #uintptr_t
Group * = cuint #uintptr_t
Layers* = cuint
ArrayPtr = ptr Array
Array{.pure,final.} = object
HashSetPtr = ptr HashSet
HashSet{.pf.} = object
ContactPtr* = ptr Contact
Contact*{.pure,final.} = object
ArbiterPtr* = ptr Arbiter
Arbiter*{.pf.} = object
e*: CpFloat
u*: CpFloat
surface_vr*: Vector
data*: pointer
a*: ShapePtr
b*: ShapePtr
body_a*: BodyPtr
body_b*: BodyPtr
thread_a*: ArbiterThread
thread_b*: ArbiterThread
numContacts*: cint
contacts*: ContactPtr
stamp*: Timestamp
handler*: CollisionHandlerPtr
swappedColl*: Bool32
state*: ArbiterState
CollisionHandlerPtr* = ptr CollisionHandler
CollisionHandler*{.pf.} = object
a*: CollisionType
b*: CollisionType
begin*: CollisionBeginFunc
preSolve*: CollisionPreSolveFunc
postSolve*: CollisionPostSolveFunc
separate*: CollisionSeparateFunc
data*: pointer
ArbiterState*{.size: sizeof(cint).} = enum
ArbiterStateFirstColl, # Arbiter is active and its not the first collision.
ArbiterStateNormal, # Collision has been explicitly ignored.
# Either by returning false from a begin collision handler or calling cArbiterPtrIgnore().
ArbiterStateIgnore, # Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps.
ArbiterStateCached
ArbiterThread*{.pf.} = object
next*: ArbiterPtr # Links to next and previous arbiters in the contact graph.
prev*: ArbiterPtr
ContactPoint*{.pf.} = object
point*: Vector #/ The position of the contact point.
normal*: Vector #/ The normal of the contact point.
dist*: CpFloat #/ The depth of the contact point.
#/ A struct that wraps up the important collision data for an arbiter.
ContactPtrPointSet* = ptr ContactPointSet
ContactPointSet*{.pf.} = object
count*: cint #/ The number of contact points in the set.
points*: array[0..CP_MAX_CONTACTS_PER_ARBITER - 1, ContactPoint] #/ The array of contact points.
#/ Collision begin event function callback type.
#/ Returning false from a begin callback causes the collision to be ignored until
#/ the the separate callback is called when the objects stop colliding.
CollisionBeginFunc* = proc (arb: ArbiterPtr; space: SpacePtr; data: pointer): bool{.
cdecl.}
#/ Collision pre-solve event function callback type.
#/ Returning false from a pre-step callback causes the collision to be ignored until the next step.
CollisionPreSolveFunc* = proc (arb: ArbiterPtr; space: SpacePtr;
data: pointer): bool {.cdecl.}
#/ Collision post-solve event function callback type.
CollisionPostSolveFunc* = proc (arb: ArbiterPtr; space: SpacePtr;
data: pointer){.cdecl.}
#/ Collision separate event function callback type.
CollisionSeparateFunc* = proc (arb: ArbiterPtr; space: SpacePtr;
data: pointer){.cdecl.}
#/ Chipmunk's axis-aligned 2D bounding box type. (left, bottom, right, top)
BBPtr* = ptr BB
BB* {.pf.} = object
l*, b*, r*, t*: CpFloat
#/ Spatial index bounding box callback function type.
#/ The spatial index calls this function and passes you a pointer to an object you added
#/ when it needs to get the bounding box associated with that object.
SpatialIndexBBFunc* = proc (obj: pointer): BB{.cdecl.}
#/ Spatial index/object iterator callback function type.
SpatialIndexIteratorFunc* = proc (obj: pointer; data: pointer){.cdecl.}
#/ Spatial query callback function type.
SpatialIndexQueryFunc* = proc (obj1: pointer; obj2: pointer; data: pointer){.
cdecl.}
#/ Spatial segment query callback function type.
SpatialIndexSegmentQueryFunc* = proc (obj1: pointer; obj2: pointer;
data: pointer): CpFloat {.cdecl.}
#/ private
SpatialIndexPtr = ptr SpatialIndex
SpatialIndex{.pf.} = object
klass: SpatialIndexPtrClass
bbfunc: SpatialIndexBBFunc
staticIndex: SpatialIndexPtr
dynamicIndex: SpatialIndexPtr
SpatialIndexDestroyImpl* = proc (index: SpatialIndexPtr){.cdecl.}
SpatialIndexCountImpl* = proc (index: SpatialIndexPtr): cint{.cdecl.}
SpatialIndexEachImpl* = proc (index: SpatialIndexPtr;
fun: SpatialIndexIteratorFunc; data: pointer){.
cdecl.}
SpatialIndexContainsImpl* = proc (index: SpatialIndexPtr; obj: pointer;
hashid: HashValue): Bool32 {.cdecl.}
SpatialIndexInsertImpl* = proc (index: SpatialIndexPtr; obj: pointer;
hashid: HashValue){.cdecl.}
SpatialIndexRemoveImpl* = proc (index: SpatialIndexPtr; obj: pointer;
hashid: HashValue){.cdecl.}
SpatialIndexReindexImpl* = proc (index: SpatialIndexPtr){.cdecl.}
SpatialIndexReindexObjectImpl* = proc (index: SpatialIndexPtr;
obj: pointer; hashid: HashValue){.cdecl.}
SpatialIndexReindexQueryImpl* = proc (index: SpatialIndexPtr;
fun: SpatialIndexQueryFunc; data: pointer){.cdecl.}
SpatialIndexPointQueryImpl* = proc (index: SpatialIndexPtr; point: Vector;
fun: SpatialIndexQueryFunc;
data: pointer){.cdecl.}
SpatialIndexSegmentQueryImpl* = proc (index: SpatialIndexPtr; obj: pointer;
a: Vector; b: Vector; t_exit: CpFloat; fun: SpatialIndexSegmentQueryFunc;
data: pointer){.cdecl.}
SpatialIndexQueryImpl* = proc (index: SpatialIndexPtr; obj: pointer;
bb: BB; fun: SpatialIndexQueryFunc;
data: pointer){.cdecl.}
SpatialIndexPtrClass* = ptr SpatialIndexClass
SpatialIndexClass*{.pf.} = object
destroy*: SpatialIndexDestroyImpl
count*: SpatialIndexCountImpl
each*: SpatialIndexEachImpl
contains*: SpatialIndexContainsImpl
insert*: SpatialIndexInsertImpl
remove*: SpatialIndexRemoveImpl
reindex*: SpatialIndexReindexImpl
reindexObject*: SpatialIndexReindexObjectImpl
reindexQuery*: SpatialIndexReindexQueryImpl
pointQuery*: SpatialIndexPointQueryImpl
segmentQuery*: SpatialIndexSegmentQueryImpl
query*: SpatialIndexQueryImpl
SpaceHashPtr* = ptr SpaceHash
SpaceHash* {.pf.} = object
BBTreePtr* = ptr BBTree
BBTree* {.pf.} = object
Sweep1DPtr* = ptr Sweep1D
Sweep1D* {.pf.} = object
#/ Bounding box tree velocity callback function.
#/ This function should return an estimate for the object's velocity.
BBTreeVelocityFunc* = proc (obj: pointer): Vector {.cdecl.}
ContactBufferHeaderPtr* = ptr ContentBufferHeader
ContentBufferHeader* {.pf.} = object
SpaceArbiterApplyImpulseFunc* = proc (arb: ArbiterPtr){.cdecl.}
SpacePtr* = ptr Space
Space* {.pf.} = object
iterations*: cint
gravity*: Vector
damping*: CpFloat
idleSpeedThreshold*: CpFloat
sleepTimeThreshold*: CpFloat
collisionSlop*: CpFloat
collisionBias*: CpFloat
collisionPersistence*: Timestamp
enableContactGraph*: cint ##BOOL
data*: pointer
staticBody*: BodyPtr
stamp: Timestamp
currDT: CpFloat
bodies: ArrayPtr
rousedBodies: ArrayPtr
sleepingComponents: ArrayPtr
staticShapes: SpatialIndexPtr
activeShapes: SpatialIndexPtr
arbiters: ArrayPtr
contactBuffersHead: ContactBufferHeaderPtr
cachedArbiters: HashSetPtr
pooledArbiters: ArrayPtr
constraints: ArrayPtr
allocatedBuffers: ArrayPtr
locked: cint
collisionHandlers: HashSetPtr
defaultHandler: CollisionHandler
postStepCallbacks: HashSetPtr
arbiterApplyImpulse: SpaceArbiterApplyImpulseFunc
staticBody2: Body #_staticBody
BodyPtr* = ptr Body
Body*{.pf.} = object
velocityFunc*: BodyVelocityFunc
positionFunc*: BodyPositionFunc
m*: CpFloat
mInv*: CpFloat
i*: CpFloat
iInv*: CpFloat
p*: Vector
v*: Vector
f*: Vector
a*: CpFloat
w*: CpFloat
t*: CpFloat
rot*: Vector
data*: pointer
vLimit*: CpFloat
wLimit*: CpFloat
vBias*: Vector
wBias*: CpFloat
space*: SpacePtr
shapeList*: ShapePtr
arbiterList*: ArbiterPtr
constraintList*: ConstraintPtr
node*: ComponentNode
#/ Body/shape iterator callback function type.
BodyShapeIteratorFunc* = proc (body: BodyPtr; shape: ShapePtr;
data: pointer) {.cdecl.}
#/ Body/constraint iterator callback function type.
BodyConstraintIteratorFunc* = proc (body: BodyPtr;
constraint: ConstraintPtr;
data: pointer) {.cdecl.}
#/ Body/arbiter iterator callback function type.
BodyArbiterIteratorFunc* = proc (body: BodyPtr; arbiter: ArbiterPtr;
data: pointer) {.cdecl.}
NearestPointQueryInfoPtr* = ptr NearestPointQueryInfo
#/ Nearest point query info struct.
NearestPointQueryInfo*{.pf.} = object
shape: ShapePtr #/ The nearest shape, NULL if no shape was within range.
p: Vector #/ The closest point on the shape's surface. (in world space coordinates)
d: CpFloat #/ The distance to the point. The distance is negative if the point is inside the shape.
SegmentQueryInfoPtr* = ptr SegmentQueryInfo
#/ Segment query info struct.
SegmentQueryInfo*{.pf.} = object
shape*: ShapePtr #/ The shape that was hit, NULL if no collision occured.
t*: CpFloat #/ The normalized distance along the query segment in the range [0, 1].
n*: Vector #/ The normal of the surface hit.
ShapeType*{.size: sizeof(cint).} = enum
CP_CIRCLE_SHAPE, CP_SEGMENT_SHAPE, CP_POLY_SHAPE, CP_NUM_SHAPES
ShapeCacheDataImpl* = proc (shape: ShapePtr; p: Vector; rot: Vector): BB{.cdecl.}
ShapeDestroyImpl* = proc (shape: ShapePtr){.cdecl.}
ShapePointQueryImpl* = proc (shape: ShapePtr; p: Vector): Bool32 {.cdecl.}
ShapeSegmentQueryImpl* = proc (shape: ShapePtr; a: Vector; b: Vector;
info: SegmentQueryInfoPtr){.cdecl.}
ShapeClassPtr* = ptr ShapeClass
ShapeClass*{.pf.} = object
kind*: ShapeType
cacheData*: ShapeCacheDataImpl
destroy*: ShapeDestroyImpl
pointQuery*: ShapePointQueryImpl
segmentQuery*: ShapeSegmentQueryImpl
ShapePtr* = ptr Shape
Shape*{.pf.} = object
klass*: ShapeClassPtr #/ PRIVATE
body*: BodyPtr #/ The rigid body this collision shape is attached to.
bb*: BB #/ The current bounding box of the shape.
sensor*: Bool32 #/ Sensor flag.
#/ Sensor shapes call collision callbacks but don't produce collisions.
e*: CpFloat #/ Coefficient of restitution. (elasticity)
u*: CpFloat #/ Coefficient of friction.
surface_v*: Vector #/ Surface velocity used when solving for friction.
data*: pointer #/ User definable data pointer. Generally this points to your the game object class so you can access it when given a cpShape reference in a callback.
collision_type*: CollisionType #/ Collision type of this shape used when picking collision handlers.
group*: Group #/ Group of this shape. Shapes in the same group don't collide.
layers*: Layers #/ Layer bitmask for this shape. Shapes only collide if the bitwise and of their layers is non-zero.
space: SpacePtr #PRIVATE
next: ShapePtr #PRIVATE
prev: ShapePtr #PRIVATE
hashid: HashValue #PRIVATE
CircleShapePtr* = ptr CircleShape
CircleShape*{.pf.} = object
shape: ShapePtr
c, tc: Vector
r: CpFloat
PolyShapePtr* = ptr PolyShape
PolyShape*{.pf.} = object
shape: ShapePtr
numVerts: cint
verts, tVerts: Vector
planes, tPlanes: SplittingPlanePtr
SegmentShapePtr* = ptr SegmentShape
SegmentShape*{.pf.} = object
shape: ShapePtr
a, b, n: Vector
ta, tb, tn: Vector
r: CpFloat
aTangent, bTangent: Vector
SplittingPlanePtr* = ptr SplittingPlane
SplittingPlane*{.pf.} = object
n: Vector
d: CpFloat
#/ Post Step callback function type.
PostStepFunc* = proc (space: SpacePtr; obj: pointer; data: pointer){.cdecl.}
#/ Point query callback function type.
SpacePointQueryFunc* = proc (shape: ShapePtr; data: pointer){.cdecl.}
#/ Segment query callback function type.
SpaceSegmentQueryFunc* = proc (shape: ShapePtr; t: CpFloat; n: Vector;
data: pointer){.cdecl.}
#/ Rectangle Query callback function type.
SpaceBBQueryFunc* = proc (shape: ShapePtr; data: pointer){.cdecl.}
#/ Shape query callback function type.
SpaceShapeQueryFunc* = proc (shape: ShapePtr; points: ContactPtrPointSet;
data: pointer){.cdecl.}
#/ Space/body iterator callback function type.
SpaceBodyIteratorFunc* = proc (body: BodyPtr; data: pointer){.cdecl.}
#/ Space/body iterator callback function type.
SpaceShapeIteratorFunc* = proc (shape: ShapePtr; data: pointer){.cdecl.}
#/ Space/constraint iterator callback function type.
SpaceConstraintIteratorFunc* = proc (constraint: ConstraintPtr;
data: pointer){.cdecl.}
#/ Opaque cpConstraint struct.
ConstraintPtr* = ptr Constraint
Constraint*{.pf.} = object
klass: ConstraintPtrClass #/PRIVATE
a*: BodyPtr #/ The first body connected to this constraint.
b*: BodyPtr #/ The second body connected to this constraint.
space: SpacePtr #/PRIVATE
next_a: ConstraintPtr #/PRIVATE
next_b: ConstraintPtr #/PRIVATE
maxForce*: CpFloat #/ The maximum force that this constraint is allowed to use. Defaults to infinity.
errorBias*: CpFloat #/ The rate at which joint error is corrected. Defaults to pow(1.0 - 0.1, 60.0) meaning that it will correct 10% of the error every 1/60th of a second.
maxBias*: CpFloat #/ The maximum rate at which joint error is corrected. Defaults to infinity.
preSolve*: ConstraintPreSolveFunc #/ Function called before the solver runs. Animate your joint anchors, update your motor torque, etc.
postSolve*: ConstraintPostSolveFunc #/ Function called after the solver runs. Use the applied impulse to perform effects like breakable joints.
data*: CpDataPointer # User definable data pointer. Generally this points to your the game object class so you can access it when given a cpConstraint reference in a callback.
ConstraintPreStepImpl = proc (constraint: ConstraintPtr; dt: CpFloat){.cdecl.}
ConstraintApplyCachedImpulseImpl = proc (constraint: ConstraintPtr; dt_coef: CpFloat){.cdecl.}
ConstraintApplyImpulseImpl = proc (constraint: ConstraintPtr){.cdecl.}
ConstraintGetImpulseImpl = proc (constraint: ConstraintPtr): CpFloat{.cdecl.}
ConstraintPtrClass = ptr ConstraintClass
ConstraintClass{.pf.} = object
preStep*: ConstraintPreStepImpl
applyCachedImpulse*: ConstraintApplyCachedImpulseImpl
applyImpulse*: ConstraintApplyImpulseImpl
getImpulse*: ConstraintGetImpulseImpl
#/ Callback function type that gets called before solving a joint.
ConstraintPreSolveFunc* = proc (constraint: ConstraintPtr; space: SpacePtr){.
cdecl.}
#/ Callback function type that gets called after solving a joint.
ConstraintPostSolveFunc* = proc (constraint: ConstraintPtr; space: SpacePtr){.
cdecl.}
##cp property emulators
template defGetter(otype: typedesc, memberType: typedesc, memberName: expr, procName: expr): stmt {.immediate.} =
proc `get procName`*(obj: otype): memberType {.cdecl.} =
return obj.memberName
template defSetter(otype: typedesc, memberType: typedesc, memberName: expr, procName: expr): stmt {.immediate.} =
proc `set procName`*(obj: otype, value: memberType) {.cdecl.} =
obj.memberName = value
template defProp(otype: typedesc, memberType: typedesc, memberName: expr, procName: expr): stmt {.immediate.} =
defGetter(otype, memberType, memberName, procName)
defSetter(otype, memberType, memberName, procName)
##cpspace.h
proc allocSpace*(): SpacePtr {.
importc: "cpSpaceAlloc", dynlib: Lib.}
proc Init*(space: SpacePtr): SpacePtr {.
importc: "cpSpaceInit", dynlib: Lib.}
proc newSpace*(): SpacePtr {.
importc: "cpSpaceNew", dynlib: Lib.}
proc destroy*(space: SpacePtr) {.
importc: "cpSpaceDestroy", dynlib: Lib.}
proc free*(space: SpacePtr) {.
importc: "cpSpaceFree", dynlib: Lib.}
defProp(SpacePtr, cint, iterations, Iterations)
defProp(SpacePtr, Vector, gravity, Gravity)
defProp(SpacePtr, CpFloat, damping, Damping)
defProp(SpacePtr, CpFloat, idleSpeedThreshold, IdleSpeedThreshold)
defProp(SpacePtr, CpFloat, sleepTimeThreshold, SleepTimeThreshold)
defProp(SpacePtr, CpFloat, collisionSlop, CollisionSlop)
defProp(SpacePtr, CpFloat, collisionBias, CollisionBias)
defProp(SpacePtr, Timestamp, collisionPersistence, CollisionPersistence)
defProp(SpacePtr, Bool32, enableContactGraph, EnableContactGraph)
defProp(SpacePtr, pointer, data, UserData)
defGetter(SpacePtr, BodyPtr, staticBody, StaticBody)
defGetter(SpacePtr, CpFloat, currDt, CurrentTimeStep)
#/ returns true from inside a callback and objects cannot be added/removed.
proc isLocked*(space: SpacePtr): bool{.inline.} =
result = space.locked.bool
#/ Set a default collision handler for this space.
#/ The default collision handler is invoked for each colliding pair of shapes
#/ that isn't explicitly handled by a specific collision handler.
#/ You can pass NULL for any function you don't want to implement.
proc setDefaulCollisionHandler*(space: SpacePtr; begin: CollisionBeginFunc;
preSolve: CollisionPreSolveFunc;
postSolve: CollisionPostSolveFunc;
separate: CollisionSeparateFunc;
data: pointer){.
cdecl, importc: "cpSpaceSetDefaulCollisionHandler", dynlib: Lib.}
#/ Set a collision handler to be used whenever the two shapes with the given collision types collide.
#/ You can pass NULL for any function you don't want to implement.
proc addCollisionHandler*(space: SpacePtr; a, b: CollisionType;
begin: CollisionBeginFunc = nil;
preSolve: CollisionPreSolveFunc = nil;
postSolve: CollisionPostSolveFunc = nil;
separate: CollisionSeparateFunc = nil;
data: pointer = nil){.
cdecl, importc: "cpSpaceAddCollisionHandler", dynlib: Lib.}
#/ Unset a collision handler.
proc removeCollisionHandler*(space: SpacePtr; a: CollisionType;
b: CollisionType){.
cdecl, importc: "cpSpaceRemoveCollisionHandler", dynlib: Lib.}
#/ Add a collision shape to the simulation.
#/ If the shape is attached to a static body, it will be added as a static shape.
proc addShape*(space: SpacePtr; shape: ShapePtr): ShapePtr{.
cdecl, importc: "cpSpaceAddShape", dynlib: Lib.}
#/ Explicity add a shape as a static shape to the simulation.
proc addStaticShape*(space: SpacePtr; shape: ShapePtr): ShapePtr{.
cdecl, importc: "cpSpaceAddStaticShape", dynlib: Lib.}
#/ Add a rigid body to the simulation.
proc addBody*(space: SpacePtr; body: BodyPtr): BodyPtr{.
cdecl, importc: "cpSpaceAddBody", dynlib: Lib.}
#/ Add a constraint to the simulation.
proc addConstraint*(space: SpacePtr; constraint: ConstraintPtr): ConstraintPtr{.
cdecl, importc: "cpSpaceAddConstraint", dynlib: Lib.}
#/ Remove a collision shape from the simulation.
proc removeShape*(space: SpacePtr; shape: ShapePtr){.
cdecl, importc: "cpSpaceRemoveShape", dynlib: Lib.}
#/ Remove a collision shape added using cpSpaceAddStaticShape() from the simulation.
proc removeStaticShape*(space: SpacePtr; shape: ShapePtr){.
cdecl, importc: "cpSpaceRemoveStaticShape", dynlib: Lib.}
#/ Remove a rigid body from the simulation.
proc removeBody*(space: SpacePtr; body: BodyPtr){.
cdecl, importc: "cpSpaceRemoveBody", dynlib: Lib.}
#/ Remove a constraint from the simulation.
proc RemoveConstraint*(space: SpacePtr; constraint: ConstraintPtr){.
cdecl, importc: "cpSpaceRemoveConstraint", dynlib: Lib.}
#/ Test if a collision shape has been added to the space.
proc containsShape*(space: SpacePtr; shape: ShapePtr): bool{.
cdecl, importc: "cpSpaceContainsShape", dynlib: Lib.}
#/ Test if a rigid body has been added to the space.
proc containsBody*(space: SpacePtr; body: BodyPtr): bool{.
cdecl, importc: "cpSpaceContainsBody", dynlib: Lib.}
#/ Test if a constraint has been added to the space.
proc containsConstraint*(space: SpacePtr; constraint: ConstraintPtr): bool{.
cdecl, importc: "cpSpaceContainsConstraint", dynlib: Lib.}
#/ Schedule a post-step callback to be called when cpSpaceStep() finishes.
#/ @c obj is used a key, you can only register one callback per unique value for @c obj
proc addPostStepCallback*(space: SpacePtr; fun: PostStepFunc;
obj: pointer; data: pointer){.
cdecl, importc: "cpSpaceAddPostStepCallback", dynlib: Lib.}
#/ Query the space at a point and call @c func for each shape found.
proc pointQuery*(space: SpacePtr; point: Vector; layers: Layers;
group: Group; fun: SpacePointQueryFunc; data: pointer){.
cdecl, importc: "cpSpacePointQuery", dynlib: Lib.}
#/ Query the space at a point and return the first shape found. Returns NULL if no shapes were found.
proc pointQueryFirst*(space: SpacePtr; point: Vector; layers: Layers;
group: Group): ShapePtr{.
cdecl, importc: "cpSpacePointQueryFirst", dynlib: Lib.}
#/ Perform a directed line segment query (like a raycast) against the space calling @c func for each shape intersected.
proc segmentQuery*(space: SpacePtr; start: Vector; to: Vector;
layers: Layers; group: Group;
fun: SpaceSegmentQueryFunc; data: pointer){.
cdecl, importc: "cpSpaceSegmentQuery", dynlib: Lib.}
#/ Perform a directed line segment query (like a raycast) against the space and return the first shape hit. Returns NULL if no shapes were hit.
proc segmentQueryFirst*(space: SpacePtr; start: Vector; to: Vector;
layers: Layers; group: Group;
res: SegmentQueryInfoPtr): ShapePtr{.
cdecl, importc: "cpSpaceSegmentQueryFirst", dynlib: Lib.}
#/ Perform a fast rectangle query on the space calling @c func for each shape found.
#/ Only the shape's bounding boxes are checked for overlap, not their full shape.
proc BBQuery*(space: SpacePtr; bb: BB; layers: Layers; group: Group;
fun: SpaceBBQueryFunc; data: pointer){.
cdecl, importc: "cpSpaceBBQuery", dynlib: Lib.}
#/ Query a space for any shapes overlapping the given shape and call @c func for each shape found.
proc shapeQuery*(space: SpacePtr; shape: ShapePtr; fun: SpaceShapeQueryFunc; data: pointer): bool {.
cdecl, importc: "cpSpaceShapeQuery", dynlib: Lib.}
#/ Call cpBodyActivate() for any shape that is overlaps the given shape.
proc activateShapesTouchingShape*(space: SpacePtr; shape: ShapePtr){.
cdecl, importc: "cpSpaceActivateShapesTouchingShape", dynlib: Lib.}
#/ Call @c func for each body in the space.
proc eachBody*(space: SpacePtr; fun: SpaceBodyIteratorFunc; data: pointer){.
cdecl, importc: "cpSpaceEachBody", dynlib: Lib.}
#/ Call @c func for each shape in the space.
proc eachShape*(space: SpacePtr; fun: SpaceShapeIteratorFunc;
data: pointer){.cdecl, importc: "cpSpaceEachShape", dynlib: Lib.}
#/ Call @c func for each shape in the space.
proc eachConstraint*(space: SpacePtr; fun: SpaceConstraintIteratorFunc;
data: pointer){.
cdecl, importc: "cpSpaceEachConstraint", dynlib: Lib.}
#/ Update the collision detection info for the static shapes in the space.
proc reindexStatic*(space: SpacePtr){.
cdecl, importc: "cpSpaceReindexStatic", dynlib: Lib.}
#/ Update the collision detection data for a specific shape in the space.
proc reindexShape*(space: SpacePtr; shape: ShapePtr){.
cdecl, importc: "cpSpaceReindexShape", dynlib: Lib.}
#/ Update the collision detection data for all shapes attached to a body.
proc reindexShapesForBody*(space: SpacePtr; body: BodyPtr){.
cdecl, importc: "cpSpaceReindexShapesForBody", dynlib: Lib.}
#/ Switch the space to use a spatial has as it's spatial index.
proc SpaceUseSpatialHash*(space: SpacePtr; dim: CpFloat; count: cint){.
cdecl, importc: "cpSpaceUseSpatialHash", dynlib: Lib.}
#/ Step the space forward in time by @c dt.
proc step*(space: SpacePtr; dt: CpFloat) {.
cdecl, importc: "cpSpaceStep", dynlib: Lib.}
#/ Convenience constructor for cpVect structs.
proc vector*(x, y: CpFloat): Vector {.inline.} =
result.x = x
result.y = y
proc newVector*(x, y: CpFloat): Vector {.inline.} =
return vector(x, y)
#let VectorZero* = newVector(0.0, 0.0)
var VectorZero* = newVector(0.0, 0.0)
#/ Vector dot product.
proc dot*(v1, v2: Vector): CpFloat {.inline.} =
result = v1.x * v2.x + v1.y * v2.y
#/ Returns the length of v.
#proc len*(v: Vector): CpFloat {.
# cdecl, importc: "cpvlength", dynlib: Lib.}
proc len*(v: Vector): CpFloat {.inline.} =
result = v.dot(v).sqrt
#/ Spherical linearly interpolate between v1 and v2.
proc slerp*(v1, v2: Vector; t: CpFloat): Vector {.
cdecl, importc: "cpvslerp", dynlib: Lib.}
#/ Spherical linearly interpolate between v1 towards v2 by no more than angle a radians
proc slerpconst*(v1, v2: Vector; a: CpFloat): Vector {.
cdecl, importc: "cpvslerpconst", dynlib: Lib.}
#/ Returns the unit length vector for the given angle (in radians).
#proc vectorForAngle*(a: CpFloat): Vector {.
# cdecl, importc: "cpvforangle", dynlib: Lib.}
proc vector*(a: CpFloat): Vector =
result = newVector(math.cos(a), math.sin(a))
template vectorForAngle*(rads: CpFloat): Vector = vector(rads)
#/ Returns the angular direction v is pointing in (in radians).
proc toAngle*(v: Vector): CpFloat {.inline.} =
result = math.arctan2(v.y, v.x)
#/ Returns a string representation of v. Intended mostly for debugging purposes and not production use.
#/ @attention The string points to a static local and is reset every time the function is called.
#/ If you want to print more than one vector you will have to split up your printing onto separate lines.
#proc `$`*(v: Vector): cstring {.cdecl, importc: "cpvstr", dynlib: Lib.}
#/ Check if two vectors are equal. (Be careful when comparing floating point numbers!)
#proc `==`*(v1, v2: Vector): bool {.inline.} =
# result = v1.x == v2.x and v1.y == v2.y
when not VectorIsVector2d:
#/ Add two vectors
proc `+`*(v1, v2: Vector): Vector {.inline.} =
result = newVector(v1.x + v2.x, v1.y + v2.y)
proc `+=`*(v1: var Vector; v2: Vector) =
v1.x = v1.x + v2.x
v1.y = v1.y + v2.y
#/ Subtract two vectors.
proc `-`*(v1, v2: Vector): Vector {.inline.} =
result = newVector(v1.x - v2.x, v1.y - v2.y)
proc `-=`*(v1: var Vector; v2: Vector) =
v1.x = v1.x - v2.x
v1.y = v1.y - v2.y
#/ Negate a vector.
proc `-`*(v: Vector): Vector {.inline.} =
result = newVector(- v.x, - v.y)
#/ Scalar multiplication.
proc `*`*(v: Vector, s: CpFloat): Vector {.inline.} =
result.x = v.x * s
result.y = v.y * s
proc `*=`*(v: var Vector; s: CpFloat) =
v.x = v.x * s
v.y = v.y * s
proc normalize*(v: var Vector) {.inline.} =
#/ Normalizes vector v
result *= (1.0 / result.len).CPfloat
#/ 2D vector cross product analog.
#/ The cross product of 2D vectors results in a 3D vector with only a z component.
#/ This function returns the magnitude of the z value.
proc cross*(v1, v2: Vector): CpFloat {.inline.} =
result = v1.x * v2.y - v1.y * v2.x
#/ Returns a perpendicular vector. (90 degree rotation)
proc perp*(v: Vector): Vector {.inline.} =
result = newVector(- v.y, v.x)
#/ Returns a perpendicular vector. (-90 degree rotation)
proc rperp*(v: Vector): Vector {.inline.} =
result = newVector(v.y, - v.x)
#/ Returns the vector projection of v1 onto v2.
proc project*(v1,v2: Vector): Vector {.inline.} =
result = v2 * (v1.dot(v2) / v2.dot(v2))
#/ Uses complex number multiplication to rotate v1 by v2. Scaling will occur if v1 is not a unit vector.
proc rotate*(v1, v2: Vector): Vector {.inline.} =
result = newVector(v1.x * v2.x - v1.y * v2.y, v1.x * v2.y + v1.y * v2.x)
#/ Inverse of cpvrotate().
proc unrotate*(v1, v2: Vector): Vector {.inline.} =
result = newVector(v1.x * v2.x + v1.y * v2.y, v1.y * v2.x - v1.x * v2.y)
#/ Returns the squared length of v. Faster than cpvlength() when you only need to compare lengths.
proc lenSq*(v: Vector): CpFloat {.inline.} =
result = v.dot(v)
#/ Linearly interpolate between v1 and v2.
proc lerp*(v1, v2: Vector; t: CpFloat): Vector {.inline.} =
result = (v1 * (1.0 - t)) + (v2 * t)
#/ Returns a normalized copy of v or cpvzero if v was already cpvzero. Protects against divide by zero errors.
proc normalizeSafe*(v: Vector): Vector {.inline.} =
if v.x == 0.0 and v.y == 0.0:
result = VectorZero
else:
result = v
result.normalize
#/ Clamp v to length len.
proc clamp*(v: Vector; len: CpFloat): Vector {.inline.} =
result = if v.dot(v) > len * len: v.normalizeSafe * len else: v
#/ Linearly interpolate between v1 towards v2 by distance d.
proc lerpconst*(v1, v2: Vector; d: CpFloat): Vector {.inline.} =
result = v1 + clamp(v2 - v1, d) #vadd(v1 + vclamp(vsub(v2, v1), d))
#/ Returns the distance between v1 and v2.
proc dist*(v1, v2: Vector): CpFloat {.inline.} =
result = (v1 - v2).len #vlength(vsub(v1, v2))
#/ Returns the squared distance between v1 and v2. Faster than cpvdist() when you only need to compare distances.
proc distsq*(v1, v2: Vector): CpFloat {.inline.} =
result = (v1 - v2).lenSq #vlengthsq(vsub(v1, v2))
#/ Returns true if the distance between v1 and v2 is less than dist.
proc near*(v1, v2: Vector; dist: CpFloat): bool{.inline.} =
result = v1.distSq(v2) < dist * dist
##cpBody.h
proc allocBody*(): BodyPtr {.importc: "cpBodyAlloc", dynlib: Lib.}
proc init*(body: BodyPtr; m: CpFloat; i: CpFloat): BodyPtr {.
importc: "cpBodyInit", dynlib: Lib.}
proc newBody*(m: CpFloat; i: CpFloat): BodyPtr {.
importc: "cpBodyNew", dynlib: Lib.}
proc initStaticBody*(body: BodyPtr): BodyPtr{.
importc: "cpBodyInitStatic", dynlib: Lib.}
#/ Allocate and initialize a static cpBody.
proc newStatic*(): BodyPtr{.importc: "cpBodyNewStatic", dynlib: Lib.}
#/ Destroy a cpBody.
proc destroy*(body: BodyPtr){.importc: "cpBodyDestroy", dynlib: Lib.}
#/ Destroy and free a cpBody.
proc free*(body: BodyPtr){.importc: "cpBodyFree", dynlib: Lib.}
#/ Wake up a sleeping or idle body.
proc activate*(body: BodyPtr){.importc: "cpBodyActivate", dynlib: Lib.}
#/ Wake up any sleeping or idle bodies touching a static body.
proc activateStatic*(body: BodyPtr; filter: ShapePtr){.
importc: "cpBodyActivateStatic", dynlib: Lib.}
#/ Force a body to fall asleep immediately.
proc Sleep*(body: BodyPtr){.importc: "cpBodySleep", dynlib: Lib.}
#/ Force a body to fall asleep immediately along with other bodies in a group.
proc SleepWithGroup*(body: BodyPtr; group: BodyPtr){.
importc: "cpBodySleepWithGroup", dynlib: Lib.}
#/ Returns true if the body is sleeping.
proc isSleeping*(body: BodyPtr): bool {.inline.} =
return body.node.root != nil
#/ Returns true if the body is static.
proc isStatic*(body: BodyPtr): bool {.inline.} =
return body.node.idleTime == CpInfinity
#/ Returns true if the body has not been added to a space.
proc isRogue*(body: BodyPtr): bool {.inline.} =
return body.space == nil
# #define CP_DefineBodyStructGetter(type, member, name) \
# static inline type cpBodyGet##name(const cpBody *body){return body->member;}
# #define CP_DefineBodyStructSetter(type, member, name) \
# static inline void cpBodySet##name(cpBody *body, const type value){ \
# cpBodyActivate(body); \
# cpBodyAssertSane(body); \
# body->member = value; \
# }
template defBodySetter(fieldType: typedesc;
fieldName, procName: expr): stmt {.immediate.} =
proc `set procName`*(body: BodyPtr; value: fieldType) =
body.activate()
##assertsane(body) ##<-- implement this, one day..
body.fieldName = value
# #define CP_DefineBodyStructProperty(type, member, name) \
# CP_DefineBodyStructGetter(type, member, name) \
# CP_DefineBodyStructSetter(type, member, name)
template defBodyProp(fieldType: typedesc;
fieldName, procName: expr): stmt {.immediate.} =
defBodySetter(fieldType, fieldName, procName)
defGetter(BodyPtr, fieldType, fieldName, procName)
defGetter(BodyPtr, CpFloat, m, Mass)
#/ Set the mass of a body.
when defined(MoreNim):
defBodySetter(CpFloat, m, Mass)
else:
proc setMass*(body: BodyPtr; m: CpFloat){.
cdecl, importc: "cpBodySetMass", dynlib: Lib.}
#/ Get the moment of a body.
defGetter(BodyPtr, CpFloat, i, Moment)
#/ Set the moment of a body.
when defined(MoreNim):
defBodySetter(CpFloat, i, Moment)
else:
proc SetMoment*(body: BodyPtr; i: CpFloat) {.
cdecl, importc: "cpBodySetMoment", dynlib: Lib.}
#/ Get the position of a body.
defGetter(BodyPtr, Vector, p, Pos)
#/ Set the position of a body.
when defined(MoreNim):
defBodySetter(Vector, p, Pos)
else:
proc setPos*(body: BodyPtr; pos: Vector) {.
cdecl, importc: "cpBodySetPos", dynlib: Lib.}
defBodyProp(Vector, v, Vel)
defBodyProp(Vector, f, Force)
#/ Get the angle of a body.
defGetter(BodyPtr, CpFloat, a, Angle)
#/ Set the angle of a body.
proc setAngle*(body: BodyPtr; a: CpFloat){.
cdecl, importc: "cpBodySetAngle", dynlib: Lib.}
defBodyProp(CpFloat, w, AngVel)
defBodyProp(CpFloat, t, Torque)
defGetter(BodyPtr, Vector, rot, Rot)
defBodyProp(CpFloat, v_limit, VelLimit)
defBodyProp(CpFloat, w_limit, AngVelLimit)
defBodyProp(pointer, data, UserData)
#/ Default Integration functions.
proc UpdateVelocity*(body: BodyPtr; gravity: Vector; damping: CpFloat; dt: CpFloat){.
cdecl, importc: "cpBodyUpdateVelocity", dynlib: Lib.}
proc UpdatePosition*(body: BodyPtr; dt: CpFloat){.
cdecl, importc: "cpBodyUpdatePosition", dynlib: Lib.}
#/ Convert body relative/local coordinates to absolute/world coordinates.
proc Local2World*(body: BodyPtr; v: Vector): Vector{.inline.} =
result = body.p + v.rotate(body.rot) ##return cpvadd(body.p, cpvrotate(v, body.rot))
#/ Convert body absolute/world coordinates to relative/local coordinates.
proc world2Local*(body: BodyPtr; v: Vector): Vector{.inline.} =
result = (v - body.p).unrotate(body.rot)
#/ Set the forces and torque or a body to zero.
proc resetForces*(body: BodyPtr){.
cdecl, importc: "cpBodyResetForces", dynlib: Lib.}
#/ Apply an force (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates).
proc applyForce*(body: BodyPtr; f, r: Vector){.
cdecl, importc: "cpBodyApplyForce", dynlib: Lib.}
#/ Apply an impulse (in world coordinates) to the body at a point relative to the center of gravity (also in world coordinates).
proc applyImpulse*(body: BodyPtr; j, r: Vector){.
cdecl, importc: "cpBodyApplyImpulse", dynlib: Lib.}
#/ Get the velocity on a body (in world units) at a point on the body in world coordinates.
proc getVelAtWorldPoint*(body: BodyPtr; point: Vector): Vector{.
cdecl, importc: "cpBodyGetVelAtWorldPoint", dynlib: Lib.}
#/ Get the velocity on a body (in world units) at a point on the body in local coordinates.
proc getVelAtLocalPoint*(body: BodyPtr; point: Vector): Vector{.
cdecl, importc: "cpBodyGetVelAtLocalPoint", dynlib: Lib.}
#/ Get the kinetic energy of a body.
# static inline CpFloat cpBodyKineticEnergy(const cpBody *body)
# {
# // Need to do some fudging to avoid NaNs
# cpFloat vsq = cpvdot(body->v, body->v);
# cpFloat wsq = body->w*body->w;
# return (vsq ? vsq*body->m : 0.0f) + (wsq ? wsq*body->i : 0.0f);
# }
proc kineticEnergy*(body: BodyPtr): CpFloat =
result = (body.v.dot(body.v) * body.m) + (body.w * body.w * body.i)
#/ Call @c func once for each shape attached to @c body and added to the space.
proc eachShape*(body: BodyPtr; fun: BodyShapeIteratorFunc;
data: pointer){.
cdecl, importc: "cpBodyEachShape", dynlib: Lib.}
#/ Call @c func once for each constraint attached to @c body and added to the space.
proc eachConstraint*(body: BodyPtr; fun: BodyConstraintIteratorFunc;
data: pointer) {.
cdecl, importc: "cpBodyEachConstraint", dynlib: Lib.}
#/ Call @c func once for each arbiter that is currently active on the body.
proc eachArbiter*(body: BodyPtr; fun: BodyArbiterIteratorFunc;
data: pointer){.
cdecl, importc: "cpBodyEachArbiter", dynlib: Lib.}
#/ Allocate a spatial hash.
proc SpaceHashAlloc*(): SpaceHashPtr{.
cdecl, importc: "cSpaceHashPtrAlloc", dynlib: Lib.}
#/ Initialize a spatial hash.
proc SpaceHashInit*(hash: SpaceHashPtr; celldim: CpFloat; numcells: cint;
bbfunc: SpatialIndexBBFunc; staticIndex: SpatialIndexPtr): SpatialIndexPtr{.
cdecl, importc: "cSpaceHashPtrInit", dynlib: Lib.}
#/ Allocate and initialize a spatial hash.
proc SpaceHashNew*(celldim: CpFloat; cells: cint; bbfunc: SpatialIndexBBFunc;
staticIndex: SpatialIndexPtr): SpatialIndexPtr{.
cdecl, importc: "cSpaceHashPtrNew", dynlib: Lib.}
#/ Change the cell dimensions and table size of the spatial hash to tune it.
#/ The cell dimensions should roughly match the average size of your objects
#/ and the table size should be ~10 larger than the number of objects inserted.
#/ Some trial and error is required to find the optimum numbers for efficiency.
proc SpaceHashResize*(hash: SpaceHashPtr; celldim: CpFloat; numcells: cint){.
cdecl, importc: "cSpaceHashPtrResize", dynlib: Lib.}
#MARK: AABB Tree
#/ Allocate a bounding box tree.
proc BBTreeAlloc*(): BBTreePtr{.cdecl, importc: "cBBTreePtrAlloc", dynlib: Lib.}
#/ Initialize a bounding box tree.
proc BBTreeInit*(tree: BBTreePtr; bbfunc: SpatialIndexBBFunc;
staticIndex: ptr SpatialIndex): ptr SpatialIndex{.cdecl,
importc: "cBBTreePtrInit", dynlib: Lib.}
#/ Allocate and initialize a bounding box tree.
proc BBTreeNew*(bbfunc: SpatialIndexBBFunc; staticIndex: SpatialIndexPtr): SpatialIndexPtr{.
cdecl, importc: "cBBTreePtrNew", dynlib: Lib.}
#/ Perform a static top down optimization of the tree.
proc BBTreeOptimize*(index: SpatialIndexPtr){.
cdecl, importc: "cBBTreePtrOptimize", dynlib: Lib.}
#/ Set the velocity function for the bounding box tree to enable temporal coherence.
proc BBTreeSetVelocityFunc*(index: SpatialIndexPtr; fun: BBTreeVelocityFunc){.
cdecl, importc: "cBBTreePtrSetVelocityFunc", dynlib: Lib.}
#MARK: Single Axis Sweep
#/ Allocate a 1D sort and sweep broadphase.
proc Sweep1DAlloc*(): ptr Sweep1D{.cdecl, importc: "cSweep1DPtrAlloc",
dynlib: Lib.}
#/ Initialize a 1D sort and sweep broadphase.
proc Sweep1DInit*(sweep: ptr Sweep1D; bbfunc: SpatialIndexBBFunc;
staticIndex: ptr SpatialIndex): ptr SpatialIndex{.cdecl,
importc: "cSweep1DPtrInit", dynlib: Lib.}
#/ Allocate and initialize a 1D sort and sweep broadphase.
proc Sweep1DNew*(bbfunc: SpatialIndexBBFunc; staticIndex: ptr SpatialIndex): ptr SpatialIndex{.
cdecl, importc: "cSweep1DPtrNew", dynlib: Lib.}
defProp(ArbiterPtr, CpFloat, e, Elasticity)
defProp(ArbiterPtr, CpFloat, u, Friction)
defProp(ArbiterPtr, Vector, surface_vr, SurfaceVelocity)
#/ Calculate the total impulse that was applied by this
#/ This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback.
proc totalImpulse*(obj: ArbiterPtr): Vector {.cdecl, importc: "cArbiterPtrTotalImpulse", dynlib: Lib.}
#/ Calculate the total impulse including the friction that was applied by this arbiter.
#/ This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback.
proc totalImpulseWithFriction*(obj: ArbiterPtr): Vector {.cdecl, importc: "cArbiterPtrTotalImpulseWithFriction", dynlib: Lib.}
#/ Calculate the amount of energy lost in a collision including static, but not dynamic friction.
#/ This function should only be called from a post-solve, post-step or cpBodyEachArbiter callback.
proc totalKE*(obj: ArbiterPtr): CpFloat {.cdecl, importc: "cArbiterPtrTotalKE", dynlib: Lib.}
#/ Causes a collision pair to be ignored as if you returned false from a begin callback.
#/ If called from a pre-step callback, you will still need to return false
#/ if you want it to be ignored in the current step.
proc ignore*(arb: ArbiterPtr) {.cdecl, importc: "cArbiterPtrIgnore", dynlib: Lib.}
#/ Return the colliding shapes involved for this arbiter.
#/ The order of their cpSpace.collision_type values will match
#/ the order set when the collision handler was registered.
proc getShapes*(arb: ArbiterPtr, a, b: var ShapePtr) {.inline.} =
if arb.swappedColl.bool:
a = arb.b
b = arb.a
else:
a = arb.a
b = arb.b
#/ A macro shortcut for defining and retrieving the shapes from an arbiter.
#define CP_ARBITER_GET_SHAPES(arb, a, b) cpShape *a, *b; cArbiterPtrGetShapes(arb, &a, &b);
template getShapes*(arb: ArbiterPtr, name1, name2: expr): stmt {.immediate.} =
var name1, name2: ShapePtr
getShapes(arb, name1, name2)
#/ Return the colliding bodies involved for this arbiter.
#/ The order of the cpSpace.collision_type the bodies are associated with values will match
#/ the order set when the collision handler was registered.
#proc getBodies*(arb: ArbiterPtr, a, b: var BodyPtr) {.inline.} =
# getShapes(arb, shape1, shape2)
# a = shape1.body
# b = shape2.body
#/ A macro shortcut for defining and retrieving the bodies from an arbiter.
#define CP_ARBITER_GET_BODIES(arb, a, b) cpBody *a, *b; cArbiterPtrGetBodies(arb, &a, &b);
template getBodies*(arb: ArbiterPtr, name1, name2: expr): stmt {.immediate.} =
var name1, name2: PBOdy
getBodies(arb, name1, name2)
proc isFirsContact*(arb: ArbiterPtr): bool {.inline.} =
result = arb.state == ArbiterStateFirstColl
proc getCount*(arb: ArbiterPtr): cint {.inline.} =
result = arb.numContacts
#/ Return a contact set from an arbiter.
proc geContactPointSet*(arb: ArbiterPtr): ContactPointSet {.
cdecl, importc: "cArbiterPtrGeContactPointSet", dynlib: Lib.}
#/ Get the normal of the @c ith contact point.
proc getNormal*(arb: ArbiterPtr; i: cint): Vector {.
cdecl, importc: "cArbiterPtrGetNormal", dynlib: Lib.}
#/ Get the position of the @c ith contact point.
proc getPoint*(arb: ArbiterPtr; i: cint): Vector {.
cdecl, importc: "cArbiterPtrGetPoint", dynlib: Lib.}
#/ Get the depth of the @c ith contact point.
proc getDepth*(arb: ArbiterPtr; i: cint): CpFloat {.
cdecl, importc: "cArbiterPtrGetDepth", dynlib: Lib.}
##Shapes
template defShapeSetter(memberType: typedesc, memberName: expr, procName: expr, activates: bool): stmt {.immediate.} =
proc `set procName`*(obj: ShapePtr, value: memberType) {.cdecl.} =
if activates and obj.body != nil: obj.body.activate()
obj.memberName = value
template defShapeProp(memberType: typedesc, memberName: expr, procName: expr, activates: bool): stmt {.immediate.} =
defGetter(ShapePtr, memberType, memberName, procName)
defShapeSetter(memberType, memberName, procName, activates)
#/ Destroy a shape.
proc destroy*(shape: ShapePtr) {.
cdecl, importc: "cpShapeDestroy", dynlib: Lib.}
#/ Destroy and Free a shape.
proc free*(shape: ShapePtr){.
cdecl, importc: "cpShapeFree", dynlib: Lib.}
#/ Update, cache and return the bounding box of a shape based on the body it's attached to.
proc cacheBB*(shape: ShapePtr): BB{.
cdecl, importc: "cpShapeCacheBB", dynlib: Lib.}
#/ Update, cache and return the bounding box of a shape with an explicit transformation.