Merge remote-tracking branch 'origin/pending-merge/linux'

Makefile

@@ -0,0 +1,38 @@
+# CYCLONEPHYSICS LIB
+CXXFLAGS=-O2 -I./include -fPIC
+CYCLONEOBJS=src/body.o src/collide_coarse.o src/collide_fine.o src/contacts.o src/core.o src/fgen.o src/joints.o src/particle.o src/pcontacts.o src/pfgen.o src/plinks.o src/pworld.o src/random.o src/world.o
+
+
+# DEMO FILES
+SOURCES=body
+LDFLAGS=-lGL -lglut -lGLU -L./Debug
+DEMO_CPP=./src/demos/app.cpp ./src/demos/timing.cpp ./src/demos/main.cpp
+CYCLONELIB=./lib/libcyclone.so
+
+DEMOS=ballistic bigballistic blob bridge explosion fireworks flightsim fracture platform ragdoll sailboat
+
+
+
+all:	libcyclone.so $(DEMOS)
+
+libcyclone.so: $(CYCLONEOBJS)
+	$(CXX) $(CYCLONEOBJS) -shared -dynamiclib -o lib/libcyclone.so
+
+$(DEMOS): 
+	$(CXX) $(CXXFLAGS) $(LDFLAGS) -o ./bin/$@ $(DEMO_CPP) $(CYCLONELIB) ./src/demos/$@/$@.cpp
+
+
+clean:
+	rm -f src/*.o lib/libcyclone.so
+	rm -f 		\
+	./bin/fireworks		\
+	./bin/fracture		\
+	./bin/flightsim		\
+	./bin/bridge		\
+	./bin/sailboat		\
+	./bin/explosion		\
+	./bin/ballistic		\
+	./bin/platform		\
+	./bin/bigballistic	\
+	./bin/blob		\
+	./bin/ragdoll

include/cyclone/collide_fine.h

@@ -44,8 +44,8 @@ namespace cyclone {
          * and intersection routines, so they should have
          * access to its data.
          */
-        friend IntersectionTests;
-        friend CollisionDetector;
+        friend class IntersectionTests;
+        friend class CollisionDetector;
 
         /**
          * The rigid body that is represented by this primitive.
@@ -309,4 +309,4 @@ namespace cyclone {
 
 } // namespace cyclone
 
-#endif // CYCLONE_COLLISION_FINE_H
+#endif // CYCLONE_COLLISION_FINE_H

include/cyclone/contacts.h

@@ -64,7 +64,7 @@ namespace cyclone {
          * The contact resolver object needs access into the contacts to
          * set and effect the contact.
          */
-        friend ContactResolver;
+        friend class ContactResolver;
 
     public:
         /**

include/cyclone/pcontacts.h

@@ -53,7 +53,7 @@ namespace cyclone {
          * The contact resolver object needs access into the contacts to
          * set and effect the contact.
          */
-        friend ParticleContactResolver;
+        friend class ParticleContactResolver;
 
 
     public:
@@ -194,4 +194,4 @@ namespace cyclone {
 
 } // namespace cyclone
 
-#endif // CYCLONE_CONTACTS_H
+#endif // CYCLONE_CONTACTS_H

include/cyclone/random.h

@@ -32,6 +32,15 @@ namespace cyclone {
     class Random
     {
     public:
+    	/**
+    	 * left bitwise rotation
+    	 */
+
+    	unsigned rotl(unsigned n, unsigned r);
+    	/**
+    	 * right bitwise rotation
+    	 */
+    	unsigned rotr(unsigned n, unsigned r);
 
         /**
          * Creates a new random number stream with a seed based on
@@ -122,4 +131,4 @@ namespace cyclone {
 
 } // namespace cyclone
 
-#endif // CYCLONE_BODY_H
+#endif // CYCLONE_BODY_H

include/cyclone/world.h

@@ -116,4 +116,4 @@ namespace cyclone {
 
 } // namespace cyclone
 
-#endif // CYCLONE_PWORLD_H
+#endif // CYCLONE_PWORLD_H

src/collide_fine.cpp

@@ -286,7 +286,7 @@ static inline real penetrationOnAxis(
 static inline bool tryAxis(
     const CollisionBox &one,
     const CollisionBox &two,
-    Vector3& axis,
+    Vector3 axis,
     const Vector3& toCentre,
     unsigned index,
 
@@ -695,10 +695,10 @@ unsigned CollisionDetector::boxAndHalfSpace(
             // Move onto the next contact
             contact++;
             contactsUsed++;
-            if (contactsUsed == data->contactsLeft) return contactsUsed;
+            if (contactsUsed == (unsigned)data->contactsLeft) return contactsUsed;
         }
     }
 
     data->addContacts(contactsUsed);
     return contactsUsed;
-}
+}

src/demos/app.cpp

@@ -166,7 +166,7 @@ void MassAggregateApplication::display()
         p++)
     {
         cyclone::Particle *particle = *p;
-        cyclone::Vector3 &pos = particle->getPosition();
+        const cyclone::Vector3 &pos = particle->getPosition();
         glPushMatrix();
         glTranslatef(pos.x, pos.y, pos.z);
         glutSolidSphere(0.1f, 20, 10);
@@ -324,4 +324,4 @@ void RigidBodyApplication::key(unsigned char key)
     }
 
     Application::key(key);
-}
+}

src/demos/fireworks/fireworks.cpp

@@ -17,7 +17,7 @@
 
 #include <stdio.h>
 
-static cyclone::Random random;
+static cyclone::Random crandom;
 
 /**
  * Fireworks are particles, with additional data for rendering and
@@ -143,7 +143,7 @@ struct FireworkRule
     void create(Firework *firework, const Firework *parent = NULL) const
     {
         firework->type = type;
-        firework->age = random.randomReal(minAge, maxAge);
+        firework->age = crandom.randomReal(minAge, maxAge);
 
         cyclone::Vector3 vel;
         if (parent) {
@@ -154,12 +154,12 @@ struct FireworkRule
         else
         {
             cyclone::Vector3 start;
-            int x = (int)random.randomInt(3) - 1;
+            int x = (int)crandom.randomInt(3) - 1;
             start.x = 5.0f * cyclone::real(x);
             firework->setPosition(start);
         }
 
-        vel += random.randomVector(minVelocity, maxVelocity);
+        vel += crandom.randomVector(minVelocity, maxVelocity);
         firework->setVelocity(vel);
 
         // We use a mass of one in all cases (no point having fireworks
@@ -442,7 +442,7 @@ void FireworksDemo::display()
             case 9: glColor3f(1,0.5f,0.5f); break;
             };
 
-            cyclone::Vector3 &pos = firework->getPosition();
+            const cyclone::Vector3 &pos = firework->getPosition();
             glVertex3f(pos.x-size, pos.y-size, pos.z);
             glVertex3f(pos.x+size, pos.y-size, pos.z);
             glVertex3f(pos.x+size, pos.y+size, pos.z);
@@ -481,4 +481,4 @@ void FireworksDemo::key(unsigned char key)
 Application* getApplication()
 {
     return new FireworksDemo();
-}
+}

src/demos/main.cpp

@@ -100,7 +100,7 @@ void motion(int x, int y)
 /**
  * The main entry point. We pass arguments onto GLUT.
  */
-void main(int argc, char** argv)
+int main(int argc, char** argv)
 {
     // Set up GLUT and the timers
     glutInit(&argc, argv);
@@ -126,4 +126,4 @@ void main(int argc, char** argv)
     app->deinit();
     delete app;
     TimingData::deinit();
-}
+}

src/demos/timing.cpp

@@ -12,17 +12,41 @@
 
 #include "timing.h"
 
-// Import the high performance timer (c. 4ms).
-#include <windows.h>
-#include <mmsystem.h>
 
 // Hold internal timing data for the performance counter.
 static bool qpcFlag;
-static double qpcFrequency;
+
+#if (__APPLE__ || __unix)
+	#define TIMING_UNIX	1
+
+	#include <stdlib.h>
+	#include <sys/time.h>
+
+	// assume unix based OS
+	typedef unsigned long long	LONGLONG;
+#else
+	#define TIMING_WINDOWS	1
+	// assume windows
+
+	// Import the high performance timer (c. 4ms).
+	#include <windows.h>
+	#include <mmsystem.h>
+
+	static double qpcFrequency;
+#endif
+
+
 
 // Internal time and clock access functions
 unsigned systemTime()
 {
+#if TIMING_UNIX
+	struct timeval tv;
+	gettimeofday(&tv, 0);
+
+	return tv.tv_sec * 1000 + tv.tv_usec/1000;
+
+#else
     if(qpcFlag)
     {
         static LONGLONG qpcMillisPerTick;
@@ -33,35 +57,51 @@ unsigned systemTime()
     {
         return unsigned(timeGetTime());
     }
+#endif
+
 }
 
 unsigned TimingData::getTime()
 {
     return systemTime();
 }
 
+#if TIMING_WINDOWS
 unsigned long systemClock()
 {
     __asm {
-        rdtsc;
+    	rdtsc;
     }
 }
+#endif
 
 unsigned long TimingData::getClock()
 {
+
+#if TIMING_UNIX
+	struct timeval tv;
+	gettimeofday(&tv, 0);
+
+	return tv.tv_sec * 1000 + tv.tv_usec/1000;
+#else
     return systemClock();
+#endif
 }
 
 // Sets up the timing system and registers the performance timer.
 void initTime()
 {
+#if TIMING_UNIX
+    qpcFlag = false;
+#else
     LONGLONG time;
 
     qpcFlag = (QueryPerformanceFrequency((LARGE_INTEGER*)&time) > 0);
 
     // Check if we have access to the performance counter at this
     // resolution.
     if (qpcFlag) qpcFrequency = 1000.0 / time;
+#endif
 }
 
 
@@ -92,7 +132,7 @@ void TimingData::update()
     timingData->lastFrameTimestamp = thisTime;
 
     // Update the tick information.
-    unsigned long thisClock = systemClock();
+    unsigned long thisClock = getClock();
     timingData->lastFrameClockTicks =
     thisClock - timingData->lastFrameClockstamp;
     timingData->lastFrameClockstamp = thisClock;
@@ -132,7 +172,7 @@ void TimingData::init()
     timingData->lastFrameTimestamp = systemTime();
     timingData->lastFrameDuration = 0;
 
-    timingData->lastFrameClockstamp = systemClock();
+    timingData->lastFrameClockstamp = getClock();
     timingData->lastFrameClockTicks = 0;
 
     timingData->isPaused = false;
@@ -145,4 +185,4 @@ void TimingData::deinit()
 {
         delete timingData;
         timingData = NULL;
-}
+}

src/random.cpp

@@ -44,12 +44,24 @@ void Random::seed(unsigned s)
     p1 = 0;  p2 = 10;
 }
 
+unsigned Random::rotl(unsigned n, unsigned r)
+{
+	  return	(n << r) |
+			  (n >> (32 - r));
+}
+
+unsigned Random::rotr(unsigned n, unsigned r)
+{
+	  return	(n >> r) |
+				(n << (32 - r));
+}
+
 unsigned Random::randomBits()
 {
     unsigned result;
 
     // Rotate the buffer and store it back to itself
-    result = buffer[p1] = _lrotl(buffer[p2], 13) + _lrotl(buffer[p1], 9);
+    result = buffer[p1] = rotl(buffer[p2], 13) + rotl(buffer[p1], 9);
 
     // Rotate pointers
     if (--p1 < 0) p1 = 16;
@@ -169,4 +181,4 @@ Vector3 Random::randomVector(const Vector3 &min, const Vector3 &max)
         randomReal(min.y, max.y),
         randomReal(min.z, max.z)
         );
-}
+}

src/world.cpp

@@ -18,8 +18,8 @@ using namespace cyclone;
 World::World(unsigned maxContacts, unsigned iterations)
 :
 firstBody(NULL),
-firstContactGen(NULL),
 resolver(iterations),
+firstContactGen(NULL),
 maxContacts(maxContacts)
 {
     contacts = new Contact[maxContacts];
@@ -90,4 +90,4 @@ void World::runPhysics(real duration)
     // And process them
     if (calculateIterations) resolver.setIterations(usedContacts * 4);
     resolver.resolveContacts(contacts, usedContacts, duration);
-}
+}