@@ -1,18 +1,18 @@ -Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com - -This software is provided 'as-is', without any express or implied -warranty. In no event will the authors be held liable for any damages -arising from the use of this software. - -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it -freely, subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not -claim that you wrote the original software. If you use this software -in a product, an acknowledgment in the product documentation would be -appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be -misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. - +Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. + +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not +claim that you wrote the original software. If you use this software +in a product, an acknowledgment in the product documentation would be +appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be +misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. + License.txt @@ -1,15 +1,15 @@ -ScalaBox2D version 2.0.1 - -ScalaBox2D is a 2D physics engine for games. -It is a Scala port of JBox2D, which is a Java port of Box2D. - -Copyright (c) 2009, Erkki Lindpere -All rights reserved. - -This software is distributed under the zlib license. See the file License.txt for the full text. - -JBox2D is a port of Box2D -http://www.jbox2d.org/ - -Box2D is a 2D physics engine for games created by Erin Catto -http://www.box2d.org +ScalaBox2D version 2.0.1 + +ScalaBox2D is a 2D physics engine for games. +It is a Scala port of JBox2D, which is a Java port of Box2D. + +Copyright (c) 2009, Erkki Lindpere +All rights reserved. + +This software is distributed under the zlib license. See the file License.txt for the full text. + +JBox2D is a port of Box2D +http://www.jbox2d.org/ + +Box2D is a 2D physics engine for games created by Erin Catto +http://www.box2d.org Readme.txt @@ -92,7 +92,8 @@ class BroadPhase(val worldAABB: AABB, callback: PairListener) { } def testOverlap(p1: Proxy, p2: Proxy): Boolean = { - for (axis <- 0 to 1) { + var axis = 0 + while (axis <= 1) { val bounds = m_bounds(axis) assert(p1.lowerBounds(axis) < 2 * proxyCount) @@ -105,13 +106,15 @@ class BroadPhase(val worldAABB: AABB, callback: PairListener) { if (bounds(p1.upperBounds(axis)).value < bounds(p2.lowerBounds(axis)).value) return false + axis += 1 } return true } def testOverlap(b: BoundValues, p: Proxy): Boolean = { - for (axis <- 0 to 1) { + var axis = 0 + while (axis <= 1) { val bounds = m_bounds(axis) assert(p.lowerBounds(axis) < 2 * proxyCount) @@ -122,6 +125,7 @@ class BroadPhase(val worldAABB: AABB, callback: PairListener) { if (b.upperValues(axis) < bounds(p.lowerBounds(axis)).value) return false + axis += 1 } return true @@ -178,8 +182,10 @@ class BroadPhase(val worldAABB: AABB, callback: PairListener) { System.arraycopy(m_bounds(axis), upperIndex, m_bounds(axis), upperIndex + 2, boundCount - upperIndex) - for (i <- 0 until boundCount - upperIndex) { + var i = 0 + while (i < boundCount - upperIndex) { m_bounds(axis)(upperIndex + 2 + i) = new Bound(m_bounds(axis)(upperIndex + 2 + i)) + i += 1 } // memmove(bounds[lowerIndex + 1], bounds[lowerIndex], @@ -187,9 +193,11 @@ class BroadPhase(val worldAABB: AABB, callback: PairListener) { // System.out.println(lowerIndex+" "+upperIndex); System.arraycopy(m_bounds(axis), lowerIndex, m_bounds(axis), lowerIndex + 1, upperIndex - lowerIndex); - for (i <- 0 until upperIndex - lowerIndex) { + i = 0 + while (i < upperIndex - lowerIndex) { m_bounds(axis)(lowerIndex + 1 + i) = new Bound( m_bounds(axis)(lowerIndex + 1 + i)) + i += 1 } // The upper index has increased because of the lower bound @@ -216,12 +224,15 @@ class BroadPhase(val worldAABB: AABB, callback: PairListener) { // \n",lowerValues[axis],proxyId,upperValues[axis],proxyId); // Adjust the stabbing count between the new bounds. - for (index <- lowerIndex until upperIndex) { + var index = lowerIndex + while (index < upperIndex) { bounds(index).stabbingCount += 1 + index += 1 } // Adjust the all the affected bound indices. - for (index <- lowerIndex until boundCount + 2) { + index = lowerIndex + while (index < boundCount + 2) { val proxyn = proxyPool(bounds(index).proxyId) if (bounds(index).isLower) { proxyn.lowerBounds(axis) = index @@ -229,6 +240,7 @@ class BroadPhase(val worldAABB: AABB, callback: PairListener) { else { proxyn.upperBounds(axis) = index } + index += 1 } } @@ -236,11 +248,13 @@ class BroadPhase(val worldAABB: AABB, callback: PairListener) { assert(queryResultCount < Settings.maxProxies) // Create pairs if the AABB is in range. - for (i <- 0 until queryResultCount) { + var i = 0 + while (i < queryResultCount) { assert(queryResults(i) < Settings.maxProxies) assert(proxyPool(queryResults(i)).isValid) pairManager.addBufferedPair(proxyId, queryResults(i)) + i += 1 } pairManager.commit() @@ -285,12 +299,15 @@ class BroadPhase(val worldAABB: AABB, callback: PairListener) { // (edgeCount - upperIndex - 1) * sizeof(b2Bound)); System.arraycopy(m_bounds(axis), upperIndex + 1, m_bounds(axis), upperIndex - 1, boundCount - upperIndex - 1); - for (i <- 0 until boundCount - upperIndex - 1) { + var i = 0 + while (i < boundCount - upperIndex - 1) { bounds(upperIndex - 1 + i) = new Bound(bounds(upperIndex - 1 + i)); + i += 1 } // Fix bound indices. - for (index <- lowerIndex until boundCount - 2) { + var index = lowerIndex + while (index < boundCount - 2) { val proxyn = proxyPool(bounds(index).proxyId) if (bounds(index).isLower) { proxyn.lowerBounds(axis) = index @@ -298,11 +315,14 @@ class BroadPhase(val worldAABB: AABB, callback: PairListener) { else { proxyn.upperBounds(axis) = index } + index += 1 } // Fix stabbing count. - for (index <- lowerIndex until upperIndex - 1) { + index = lowerIndex + while (index < upperIndex - 1) { bounds(index).stabbingCount -= 1 + index += 1 } // Query for pairs to be removed. lowerIndex and upperIndex are not @@ -313,9 +333,11 @@ class BroadPhase(val worldAABB: AABB, callback: PairListener) { assert (queryResultCount < Settings.maxProxies) - for (i <- 0 until queryResultCount) { + var i = 0 + while (i < queryResultCount) { assert(proxyPool(queryResults(i)).isValid) pairManager.removeBufferedPair(proxyId, queryResults(i)) + i += 1 } pairManager.commit() @@ -608,7 +630,8 @@ class BroadPhase(val worldAABB: AABB, callback: PairListener) { val boundCount = 2 * proxyCount var stabbingCount = 0 - for (i <- 0 until boundCount) { + var i = 0 + while (i < boundCount) { val bound = bounds(i) assert(i == 0 || bounds(i-1).value <= bound.value) assert(bound.proxyId != PairManager.NullProxy) @@ -626,6 +649,7 @@ class BroadPhase(val worldAABB: AABB, callback: PairListener) { } assert (bound.stabbingCount == stabbingCount); + i += 1 } } src/main/scala/org/villane/box2d/collision/BroadPhase.scala @@ -119,13 +119,15 @@ object Distance { def inPoints(w: Vector2f, points: Array[Vector2f], pointCount: Int): Boolean = { val k_tolerance = 100.0f * ε - for (i <- 0 until pointCount) { + var i = 0 + while (i < pointCount) { val d = (w - points(i)).abs val m = Vector2f.max(w.abs, points(i).abs) if (d.x < k_tolerance * (m.x + 1.0f) && d.y < k_tolerance * (m.y + 1.0f)) { return true } + i += 1 } return false @@ -155,7 +157,8 @@ object Distance { val vSqr = 0.0f val maxIterations = 20 - for (iter <- 0 until maxIterations) { + var iter = 0 + while (iter < maxIterations) { var v = x2 - x1 val w1 = shape1.support(xf1, v) val w2 = shape2.support(xf2, -v) @@ -206,8 +209,10 @@ object Distance { } var maxSqr = -Float.MaxValue - for (i <- 0 until pointCount) { + var i = 0 + while (i < pointCount) { maxSqr = MathUtil.max(maxSqr, points(i) ∙ points(i)) + i += 1 } if (pointCount == 3 || vSqr <= 100.0f * ε * maxSqr) { @@ -217,6 +222,7 @@ object Distance { return (MathUtil.sqrt(vSqr), x1, x2) } + iter += 1 } g_GJK_Iterations = maxIterations; src/main/scala/org/villane/box2d/collision/Distance.scala @@ -1,12 +1,12 @@ -<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd"> -<html> -<head> -<meta http-equiv="Content-Type" content="text/html; charset=UTF-8"> -<title>Insert title here</title> -</head> -<body> -This package contains broad and narrow phase collision detection. - -In the Java version, this also contained shapes, which are now in a separate package. -</body> +<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd"> +<html> +<head> +<meta http-equiv="Content-Type" content="text/html; charset=UTF-8"> +<title>Insert title here</title> +</head> +<body> +This package contains broad and narrow phase collision detection. + +In the Java version, this also contained shapes, which are now in a separate package. +</body> </html> \ No newline at end of file src/main/scala/org/villane/box2d/collision/package.html @@ -333,7 +333,7 @@ class Body(bd: BodyDef, val world: World) { } /** For internal use only. */ - def synchronizeTransform() { + @inline def synchronizeTransform() { val rot = sweep.a val vx = sweep.c.x - rot * sweep.localCenter.x val vy = sweep.c.y - rot * sweep.localCenter.y src/main/scala/org/villane/box2d/dynamics/Body.scala @@ -107,7 +107,11 @@ class ContactManager extends PairListener { def collide() { // Update awake contacts. - for (c <- world.contactList) { + var iC = 0 + while (iC < world.contactList.length) { + val c = world.contactList(iC) + iC += 1 + val body1 = c.shape1.body val body2 = c.shape2.body if (!body1.isSleeping || !body2.isSleeping) { src/main/scala/org/villane/box2d/dynamics/ContactManager.scala @@ -83,10 +83,17 @@ class Island(val bodyCapacity: Int, } // Solve velocity constraints. - for (i <- 0 until step.maxIterations) { + var i = 0 + while (i < step.maxIterations) { + i += 1 + contactSolver.solveVelocityConstraints() - for (joint <- joints) { + var j = 0 + while (j < joints.length) { + val joint = joints(j) + j += 1 + joint.solveVelocityConstraints(step) } } src/main/scala/org/villane/box2d/dynamics/Island.scala @@ -267,7 +267,11 @@ class World(val aabb: AABB, var gravity: Vector2f, doSleep: Boolean) { val futures = new ArrayList[Future[Int]] */ - for (seed <- bodyList) { + var iBody = 0 + while (iBody < bodyList.length) { + val seed = bodyList(iBody) + iBody += 1 + if (((seed.flags & (BodyFlags.island | BodyFlags.sleep | BodyFlags.frozen)) == 0) && !seed.isStatic) { // Reset island and stack. @@ -291,7 +295,11 @@ class World(val aabb: AABB, var gravity: Vector2f, doSleep: Boolean) { // propagate islands across static bodies. if (!b.isStatic) { // Search all contacts connected to this body. - for (cn <- b.contactList) { + var iCN = 0 + while (iCN < b.contactList.length) { + val cn = b.contactList(iCN) + iCN += 1 + // Has this contact already been added to an island? if ((cn.contact.flags & (ContactFlags.island | ContactFlags.nonSolid)) == 0 && // Is this contact touching? @@ -312,7 +320,11 @@ class World(val aabb: AABB, var gravity: Vector2f, doSleep: Boolean) { } // Search all joints connect to this body. - for (jn <- b.jointList) { + var iJN = 0 + while (iJN < b.jointList.length) { + val jn = b.jointList(iJN) + iJN += 1 + if (!jn.joint.islandFlag) { island.add(jn.joint) jn.joint.islandFlag = true src/main/scala/org/villane/box2d/dynamics/World.scala @@ -9,10 +9,14 @@ import vecmath.Preamble._ class ContactSolver(contacts: Seq[Contact]) { val constraints = initConstraints(contacts) - def initConstraints(contacts: Seq[Contact]) = { + @inline def initConstraints(contacts: Seq[Contact]) = { val tmpConstraints = new collection.mutable.ArrayBuffer[ContactConstraint] - for (contact <- contacts) { + var iContact = 0 + while (iContact < contacts.length) { + val contact = contacts(iContact) + iContact += 1 + assert(contact.solid) val b1 = contact.shape1.body val b2 = contact.shape2.body @@ -25,7 +29,11 @@ class ContactSolver(contacts: Seq[Contact]) { val w1 = b1.angularVelocity val w2 = b2.angularVelocity - for (manifold <- manifolds) { + var iMF = 0 + while (iMF < manifolds.length) { + val manifold = manifolds(iMF) + iMF += 1 + assert (manifold.points.length > 0, "Manifold has length 0") val normal = manifold.normal @@ -38,11 +46,14 @@ class ContactSolver(contacts: Seq[Contact]) { c.friction = friction c.restitution = restitution - for (k <- 0 until c.points.length) { + var k = 0 + while (k < c.points.length) { val cp = manifold.points(k) val ccp = new ContactConstraintPoint c.points(k) = ccp + k += 1 + ccp.normalImpulse = cp.normalImpulse ccp.tangentImpulse = cp.tangentImpulse ccp.separation = cp.separation @@ -104,11 +115,15 @@ class ContactSolver(contacts: Seq[Contact]) { tmpConstraints.toArray } - def initVelocityConstraints(step: TimeStep) { + @inline def initVelocityConstraints(step: TimeStep) { // Zero temp objects created - ewjordan // Warm start. - for (c <- constraints) { + var iConstraints = 0 + while (iConstraints < constraints.length) { + val c = constraints(iConstraints) + iConstraints += 1 + val b1 = c.body1 val b2 = c.body2 val invMass1 = b1.invMass @@ -119,7 +134,11 @@ class ContactSolver(contacts: Seq[Contact]) { val tangent = normal.tangent if (step.warmStarting) { - for (ccp <- c.points) { + var iCCP = 0 + while (iCCP < c.points.length) { + val ccp = c.points(iCCP) + iCCP += 1 + //Inlined all vector ops here ccp.normalImpulse *= step.dtRatio ccp.tangentImpulse *= step.dtRatio @@ -132,7 +151,11 @@ class ContactSolver(contacts: Seq[Contact]) { b2.linearVelocity += p * invMass2 } } else { - for (ccp <- c.points) { + var iCCP = 0 + while (iCCP < c.points.length) { + val ccp = c.points(iCCP) + iCCP += 1 + ccp.normalImpulse = 0f ccp.tangentImpulse = 0f } @@ -140,15 +163,21 @@ class ContactSolver(contacts: Seq[Contact]) { } } - def solveVelocityConstraints() { + @inline def solveVelocityConstraints() { // (4*constraints + 6*points) temp Vec2s - BOTTLENECK! - for (c <- constraints) { + var iConstraints = 0 + while (iConstraints < constraints.length) { + val c = constraints(iConstraints) + iConstraints += 1 + val b1 = c.body1 val b2 = c.body2 var w1 = b1.angularVelocity var w2 = b2.angularVelocity - var v1 = b1.linearVelocity - var v2 = b2.linearVelocity + var v1x = b1.linearVelocity.x + var v1y = b1.linearVelocity.y + var v2x = b2.linearVelocity.x + var v2y = b2.linearVelocity.y val invMass1 = b1.invMass val invI1 = b1.invI val invMass2 = b2.invMass @@ -166,14 +195,18 @@ class ContactSolver(contacts: Seq[Contact]) { //} // Solver normal constraints - for (ccp <- c.points) { + var iCCP = 0 + while (iCCP < c.points.length) { + val ccp = c.points(iCCP) + iCCP += 1 + // Relative velocity at contact //Vec2 dv = v2.add((w2 × ccp.r2)); //dv.subLocal(v1); //Vec2 a = ccp.r1; //dv.subLocal(new Vec2(-w1 * a.y, w1 * a.x)); - val dvx = v2.x - w2 * ccp.r2.y - v1.x + w1*ccp.r1.y - val dvy = v2.y + w2 * ccp.r2.x - v1.y - w1*ccp.r1.x + val dvx = v2x - w2 * ccp.r2.y - v1x + w1*ccp.r1.y + val dvy = v2y + w2 * ccp.r2.x - v1y - w1*ccp.r1.x // Compute normal impulse val vn = dvx*normal.x + dvy*normal.y;//(dv ∙ normal) @@ -184,12 +217,16 @@ class ContactSolver(contacts: Seq[Contact]) { λ = newImpulse - ccp.normalImpulse // Apply contact impulse - val P = normal * λ - v1 -= P * invMass1 - w1 -= invI1 * (ccp.r1.x * P.y - ccp.r1.y * P.x) //(ccp.r1 × P); + //val P = normal * λ + val Px = normal.x * λ + val Py = normal.y * λ + v1x -= Px * invMass1 + v1y -= Py * invMass1 + w1 -= invI1 * (ccp.r1.x * Py - ccp.r1.y * Px) //(ccp.r1 × P); - v2 += P * invMass2 - w2 += invI2 * (ccp.r2.x * P.y - ccp.r2.y * P.x) //(ccp.r2 × P); + v2x += Px * invMass2 + v2y += Py * invMass2 + w2 += invI2 * (ccp.r2.x * Py - ccp.r2.y * Px) //(ccp.r2 × P); ccp.normalImpulse = newImpulse; } @@ -202,13 +239,17 @@ class ContactSolver(contacts: Seq[Contact]) { // // #endif // Solver tangent constraints - for (ccp <- c.points) { + iCCP = 0 + while (iCCP < c.points.length) { + val ccp = c.points(iCCP) + iCCP += 1 + // Relative velocity at contact //Vec2 dv = v2.add((w2 × ccp.r2)); //dv.subLocal(v1); //dv.subLocal((w1 × ccp.r1)); - val dvx = v2.x - w2 * ccp.r2.y - v1.x + w1*ccp.r1.y - val dvy = v2.y + w2 * ccp.r2.x - v1.y - w1*ccp.r1.x + val dvx = v2x - w2 * ccp.r2.y - v1x + w1*ccp.r1.y + val dvy = v2y + w2 * ccp.r2.x - v1y - w1*ccp.r1.x // Compute tangent force val vt = dvx * tangent.x + dvy * tangent.y @@ -220,40 +261,54 @@ class ContactSolver(contacts: Seq[Contact]) { λ = newImpulse - ccp.tangentImpulse // Apply contact impulse - val P = tangent * λ + //val P = tangent * λ + val Px = tangent.x * λ + val Py = tangent.y * λ // b1.m_linearVelocity.subLocal(P.mul(invMass1)); - v1 -= P * invMass1 + v1x -= Px * invMass1 + v1y -= Py * invMass1 // b1.m_angularVelocity -= invI1 * (r1 × P); - w1 -= invI1 * (ccp.r1.x * P.y - ccp.r1.y * P.x) + w1 -= invI1 * (ccp.r1.x * Py - ccp.r1.y * Px) // b2.m_linearVelocity.addLocal(P.mul(invMass2)); - v2 += P * invMass2 + v2x += Px * invMass2 + v2y += Py * invMass2 // b2.m_angularVelocity += invI2 * (r2 × P); - w2 += invI2 * (ccp.r2.x * P.y - ccp.r2.y * P.x) + w2 += invI2 * (ccp.r2.x * Py - ccp.r2.y * Px) ccp.tangentImpulse = newImpulse } - b1.linearVelocity = v1 + b1.linearVelocity = (v1x,v1y) b1.angularVelocity = w1 - b2.linearVelocity = v2 + b2.linearVelocity = (v2x,v2y) b2.angularVelocity = w2 } } - def finalizeVelocityConstraints() { - for (c <- constraints) { + @inline def finalizeVelocityConstraints() { + var i = 0 + while (i < constraints.length) { + val c = constraints(i) + i += 1 + val m = c.manifold - for (j <- 0 until c.points.length) { + var j = 0 + while (j < c.points.length) { m.points(j).normalImpulse = c.points(j).normalImpulse m.points(j).tangentImpulse = c.points(j).tangentImpulse + j += 1 } } } - def solvePositionConstraints(baumgarte: Float): Boolean = { + @inline def solvePositionConstraints(baumgarte: Float): Boolean = { var minSeparation = 0f - for (c <- constraints) { + var iConstraints = 0 + while (iConstraints < constraints.length) { + val c = constraints(iConstraints) + iConstraints += 1 + val b1 = c.body1 val b2 = c.body2 val invMass1 = b1.mass * b1.invMass @@ -264,7 +319,11 @@ class ContactSolver(contacts: Seq[Contact]) { val normal = c.normal // Solver normal constraints - for (ccp <- c.points) { + var iCCP = 0 + while (iCCP < c.points.length) { + val ccp = c.points(iCCP) + iCCP += 1 + val r1 = b1.transform.rot * (ccp.localAnchor1 - b1.localCenter) val r2 = b2.transform.rot * (ccp.localAnchor2 - b2.localCenter) src/main/scala/org/villane/box2d/dynamics/contacts/ContactSolver.scala @@ -1,12 +1,12 @@ -<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Strict//EN" "http://www.w3.org/TR/html4/strict.dtd"> -<html> -<head> -<meta http-equiv="Content-Type" content="text/html; charset=UTF-8"> -<title>Insert title here</title> -</head> -<body> -This package performs contact handling, and is essentially internal to JBox2d. - -The only reason you would ever need to dip into the package is to add additional shapes or object types to JBox2d. -</body> +<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Strict//EN" "http://www.w3.org/TR/html4/strict.dtd"> +<html> +<head> +<meta http-equiv="Content-Type" content="text/html; charset=UTF-8"> +<title>Insert title here</title> +</head> +<body> +This package performs contact handling, and is essentially internal to JBox2d. + +The only reason you would ever need to dip into the package is to add additional shapes or object types to JBox2d. +</body> </html> \ No newline at end of file src/main/scala/org/villane/box2d/dynamics/contacts/package.html 43cbfe3a994ffa7f902fee4c56731137a83702b7 Erkki Lindpere villane@gmail.com http://github.com/Villane/scalabox2d/commit/bf00478cee64f47206852ab76ca92c16e1ffab43 bf00478cee64f47206852ab76ca92c16e1ffab43 2009-05-16T10:18:05-07:00 2009-05-16T10:18:05-07:00 optimizations 6d99cd2b8bc9d718421608f2fdacb04ca1cead20 Erkki Lindpere villane@gmail.com