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fix large rotation and also do rotation in smallest direction #71

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merged 4 commits into from
Nov 19, 2023
Merged

fix large rotation and also do rotation in smallest direction #71

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9759ad5
fix large rotation and also do rotation in smallest direction
Ughuuu Nov 19, 2023
5c39fe4
lint
Ughuuu Nov 19, 2023
d565343
fix capsule shape
Ughuuu Nov 19, 2023
c8f6e36
lint
Ughuuu Nov 19, 2023
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23 changes: 16 additions & 7 deletions src/box2d-wrapper/box2d_wrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -404,9 +404,15 @@ void box2d::body_set_transform(b2World *world_handle,
b2Vec2 new_pos = (pos - body_handle->GetPosition());
new_pos.x /= step;
new_pos.y /= step;
if (body_handle->GetType() == b2BodyType::b2_kinematicBody && b2Dot(new_pos, new_pos) < b2_maxTranslationSquared) {
real_t new_rot1 = (rot - body_handle->GetAngle()) / step;
real_t new_rot2 = (b2_pi + rot + body_handle->GetAngle()) / step;
real_t new_rot = new_rot1;
if (ABS(new_rot2) < ABS(new_rot1)) {
new_rot = new_rot2;
}
if (body_handle->GetType() == b2BodyType::b2_kinematicBody && b2Dot(new_pos, new_pos) < b2_maxTranslationSquared && (new_rot * new_rot < 180.0 * 180.0 * 0.5 * 0.5)) {
body_handle->SetLinearVelocity(new_pos);
body_handle->SetAngularVelocity((rot - body_handle->GetAngle()) / step);
body_handle->SetAngularVelocity(new_rot);
body_handle->SetAwake(true);
} else {
body_handle->SetTransform(pos, rot);
Expand Down Expand Up @@ -858,7 +864,6 @@ b2Joint *box2d::joint_create_revolute(b2World *world_handle,
joint_def.upperAngle = angular_limit_upper;
joint_def.motorSpeed = motor_target_velocity;
joint_def.maxMotorTorque = 100000.0;
joint_def.collideConnected = true;
joint_def.collideConnected = !disable_collision;
return world_handle->CreateJoint(&joint_def);
}
Expand Down Expand Up @@ -1020,12 +1025,16 @@ ShapeHandle box2d::shape_create_box(const b2Vec2 size) {
ShapeHandle box2d::shape_create_capsule(real_t half_height, real_t radius) {
ERR_FAIL_COND_V(radius < CMP_EPSILON, invalid_shape_handle());
ERR_FAIL_COND_V(half_height < CMP_EPSILON, invalid_shape_handle());
ERR_FAIL_COND_V(half_height < radius + CMP_EPSILON, invalid_shape_handle());
ShapeHandle top_circle = shape_create_circle(radius, { 0.0, -half_height * real_t(0.5) });
ERR_FAIL_COND_V(half_height < radius, invalid_shape_handle());
real_t half_height_circle = half_height - radius;
ShapeHandle top_circle = shape_create_circle(radius, { 0.0, -half_height_circle });
ERR_FAIL_COND_V(!is_handle_valid(top_circle), invalid_shape_handle());
ShapeHandle bottom_circle = shape_create_circle(radius, { 0.0, half_height * real_t(0.5) });
if (half_height - radius == 0.0) {
return top_circle;
}
ShapeHandle bottom_circle = shape_create_circle(radius, { 0.0, half_height_circle });
ERR_FAIL_COND_V(!is_handle_valid(bottom_circle), invalid_shape_handle());
ShapeHandle square = shape_create_box({ radius, half_height - radius });
ShapeHandle square = shape_create_box({ radius * 2, half_height * 2 - radius * 2 });
ERR_FAIL_COND_V(!is_handle_valid(square), invalid_shape_handle());
b2Shape **shapes = (b2Shape **)memalloc((3) * sizeof(b2Shape *));
// TODO fix this leak.
Expand Down
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