diff --git a/src/physac.h b/src/physac.h index 977c3c55b..d9b534b5f 100644 --- a/src/physac.h +++ b/src/physac.h @@ -83,6 +83,14 @@ #endif #endif +// Allow custom memory allocators +#ifndef PHYSAC_MALLOC + #define PHYSAC_MALLOC(size) malloc(size) +#endif +#ifndef PHYSAC_FREE + #define PHYSAC_FREE(ptr) free(ptr) +#endif + //---------------------------------------------------------------------------------- // Defines and Macros //---------------------------------------------------------------------------------- @@ -98,9 +106,6 @@ #define PHYSAC_PI 3.14159265358979323846 #define PHYSAC_DEG2RAD (PHYSAC_PI/180.0f) -#define PHYSAC_MALLOC(size) malloc(size) -#define PHYSAC_FREE(ptr) free(ptr) - //---------------------------------------------------------------------------------- // Types and Structures Definition // NOTE: Below types are required for PHYSAC_STANDALONE usage @@ -125,63 +130,6 @@ typedef enum PhysicsShapeType { PHYSICS_CIRCLE, PHYSICS_POLYGON } PhysicsShapeTy // Previously defined to be used in PhysicsShape struct as circular dependencies typedef struct PhysicsBodyData *PhysicsBody; -// Matrix2x2 type (used for polygon shape rotation matrix) -typedef struct Matrix2x2 { - float m00; - float m01; - float m10; - float m11; -} Matrix2x2; - -typedef struct PolygonData { - unsigned int vertexCount; // Current used vertex and normals count - Vector2 positions[PHYSAC_MAX_VERTICES]; // Polygon vertex positions vectors - Vector2 normals[PHYSAC_MAX_VERTICES]; // Polygon vertex normals vectors -} PolygonData; - -typedef struct PhysicsShape { - PhysicsShapeType type; // Physics shape type (circle or polygon) - PhysicsBody body; // Shape physics body reference - float radius; // Circle shape radius (used for circle shapes) - Matrix2x2 transform; // Vertices transform matrix 2x2 - PolygonData vertexData; // Polygon shape vertices position and normals data (just used for polygon shapes) -} PhysicsShape; - -typedef struct PhysicsBodyData { - unsigned int id; // Reference unique identifier - bool enabled; // Enabled dynamics state (collisions are calculated anyway) - Vector2 position; // Physics body shape pivot - Vector2 velocity; // Current linear velocity applied to position - Vector2 force; // Current linear force (reset to 0 every step) - float angularVelocity; // Current angular velocity applied to orient - float torque; // Current angular force (reset to 0 every step) - float orient; // Rotation in radians - float inertia; // Moment of inertia - float inverseInertia; // Inverse value of inertia - float mass; // Physics body mass - float inverseMass; // Inverse value of mass - float staticFriction; // Friction when the body has not movement (0 to 1) - float dynamicFriction; // Friction when the body has movement (0 to 1) - float restitution; // Restitution coefficient of the body (0 to 1) - bool useGravity; // Apply gravity force to dynamics - bool isGrounded; // Physics grounded on other body state - bool freezeOrient; // Physics rotation constraint - PhysicsShape shape; // Physics body shape information (type, radius, vertices, normals) -} PhysicsBodyData; - -typedef struct PhysicsManifoldData { - unsigned int id; // Reference unique identifier - PhysicsBody bodyA; // Manifold first physics body reference - PhysicsBody bodyB; // Manifold second physics body reference - float penetration; // Depth of penetration from collision - Vector2 normal; // Normal direction vector from 'a' to 'b' - Vector2 contacts[2]; // Points of contact during collision - unsigned int contactsCount; // Current collision number of contacts - float restitution; // Mixed restitution during collision - float dynamicFriction; // Mixed dynamic friction during collision - float staticFriction; // Mixed static friction during collision -} PhysicsManifoldData, *PhysicsManifold; - #if defined(__cplusplus) extern "C" { // Prevents name mangling of functions #endif @@ -228,13 +176,20 @@ PHYSACDEF void ClosePhysics(void); #include // Required for: pthread_t, pthread_create() #endif +#if defined(PHYSAC_DEBUG) + +#endif + +// Support TRACELOG macros #if defined(PHYSAC_DEBUG) #include // Required for: printf() + #define TRACELOG(...) printf(__VA_ARGS__) +#else + #define TRACELOG(...) (void)0 #endif #include // Required for: malloc(), free(), srand(), rand() #include // Required for: cosf(), sinf(), fabs(), sqrtf() -#include // Required for: uint64_t #if !defined(PHYSAC_STANDALONE) #include "raymath.h" // Required for: Vector2Add(), Vector2Subtract() @@ -266,6 +221,67 @@ PHYSACDEF void ClosePhysics(void); #define PHYSAC_K 1.0f/3.0f #define PHYSAC_VECTOR_ZERO (Vector2){ 0.0f, 0.0f } +//---------------------------------------------------------------------------------- +// Data Types Structure Definition +//---------------------------------------------------------------------------------- + +// Matrix2x2 type (used for polygon shape rotation matrix) +typedef struct Matrix2x2 { + float m00; + float m01; + float m10; + float m11; +} Matrix2x2; + +typedef struct PolygonData { + unsigned int vertexCount; // Current used vertex and normals count + Vector2 positions[PHYSAC_MAX_VERTICES]; // Polygon vertex positions vectors + Vector2 normals[PHYSAC_MAX_VERTICES]; // Polygon vertex normals vectors +} PolygonData; + +typedef struct PhysicsShape { + PhysicsShapeType type; // Physics shape type (circle or polygon) + PhysicsBody body; // Shape physics body reference + float radius; // Circle shape radius (used for circle shapes) + Matrix2x2 transform; // Vertices transform matrix 2x2 + PolygonData vertexData; // Polygon shape vertices position and normals data (just used for polygon shapes) +} PhysicsShape; + +typedef struct PhysicsBodyData { + unsigned int id; // Reference unique identifier + bool enabled; // Enabled dynamics state (collisions are calculated anyway) + Vector2 position; // Physics body shape pivot + Vector2 velocity; // Current linear velocity applied to position + Vector2 force; // Current linear force (reset to 0 every step) + float angularVelocity; // Current angular velocity applied to orient + float torque; // Current angular force (reset to 0 every step) + float orient; // Rotation in radians + float inertia; // Moment of inertia + float inverseInertia; // Inverse value of inertia + float mass; // Physics body mass + float inverseMass; // Inverse value of mass + float staticFriction; // Friction when the body has not movement (0 to 1) + float dynamicFriction; // Friction when the body has movement (0 to 1) + float restitution; // Restitution coefficient of the body (0 to 1) + bool useGravity; // Apply gravity force to dynamics + bool isGrounded; // Physics grounded on other body state + bool freezeOrient; // Physics rotation constraint + PhysicsShape shape; // Physics body shape information (type, radius, vertices, normals) +} PhysicsBodyData; + +typedef struct PhysicsManifoldData { + unsigned int id; // Reference unique identifier + PhysicsBody bodyA; // Manifold first physics body reference + PhysicsBody bodyB; // Manifold second physics body reference + float penetration; // Depth of penetration from collision + Vector2 normal; // Normal direction vector from 'a' to 'b' + Vector2 contacts[2]; // Points of contact during collision + unsigned int contactsCount; // Current collision number of contacts + float restitution; // Mixed restitution during collision + float dynamicFriction; // Mixed dynamic friction during collision + float staticFriction; // Mixed static friction during collision +} PhysicsManifoldData, *PhysicsManifold; + //---------------------------------------------------------------------------------- // Global Variables Definition //---------------------------------------------------------------------------------- @@ -278,7 +294,7 @@ static double baseTime = 0.0; // Offset time for M static double startTime = 0.0; // Start time in milliseconds static double deltaTime = 1.0/60.0/10.0 * 1000; // Delta time used for physics steps, in milliseconds static double currentTime = 0.0; // Current time in milliseconds -static uint64_t frequency = 0; // Hi-res clock frequency +static unsigned long long int frequency = 0; // Hi-res clock frequency static double accumulator = 0.0; // Physics time step delta time accumulator static unsigned int stepsCount = 0; // Total physics steps processed @@ -316,7 +332,7 @@ static bool BiasGreaterThan(float valueA, float valueB); static Vector2 TriangleBarycenter(Vector2 v1, Vector2 v2, Vector2 v3); // Returns the barycenter of a triangle given by 3 points static void InitTimer(void); // Initializes hi-resolution MONOTONIC timer -static uint64_t GetTimeCount(void); // Get hi-res MONOTONIC time measure in mseconds +static unsigned long long int GetTimeCount(void); // Get hi-res MONOTONIC time measure in mseconds static double GetCurrentTime(void); // Get current time measure in milliseconds // Math functions @@ -352,7 +368,7 @@ PHYSACDEF void InitPhysics(void) InitTimer(); #if defined(PHYSAC_DEBUG) - printf("[PHYSAC] physics module initialized successfully\n"); + TRACELOG("[PHYSAC] physics module initialized successfully\n"); #endif accumulator = 0.0; @@ -455,11 +471,11 @@ PHYSACDEF PhysicsBody CreatePhysicsBodyRectangle(Vector2 pos, float width, float physicsBodiesCount++; #if defined(PHYSAC_DEBUG) - printf("[PHYSAC] created polygon physics body id %i\n", newBody->id); + TRACELOG("[PHYSAC] created polygon physics body id %i\n", newBody->id); #endif } #if defined(PHYSAC_DEBUG) - else printf("[PHYSAC] new physics body creation failed because there is any available id to use\n"); + else TRACELOG("[PHYSAC] new physics body creation failed because there is any available id to use\n"); #endif return newBody; @@ -541,11 +557,11 @@ PHYSACDEF PhysicsBody CreatePhysicsBodyPolygon(Vector2 pos, float radius, int si physicsBodiesCount++; #if defined(PHYSAC_DEBUG) - printf("[PHYSAC] created polygon physics body id %i\n", newBody->id); + TRACELOG("[PHYSAC] created polygon physics body id %i\n", newBody->id); #endif } #if defined(PHYSAC_DEBUG) - else printf("[PHYSAC] new physics body creation failed because there is any available id to use\n"); + else TRACELOG("[PHYSAC] new physics body creation failed because there is any available id to use\n"); #endif return newBody; @@ -600,7 +616,7 @@ PHYSACDEF void PhysicsShatter(PhysicsBody body, Vector2 position, float force) { int count = vertexData.vertexCount; Vector2 bodyPos = body->position; - Vector2 *vertices = (Vector2*)malloc(sizeof(Vector2) * count); + Vector2 *vertices = (Vector2 *)PHYSAC_MALLOC(sizeof(Vector2)*count); Matrix2x2 trans = body->shape.transform; for (int i = 0; i < count; i++) vertices[i] = vertexData.positions[i]; @@ -693,12 +709,12 @@ PHYSACDEF void PhysicsShatter(PhysicsBody body, Vector2 position, float force) PhysicsAddForce(newBody, forceDirection); } - free(vertices); + PHYSAC_FREE(vertices); } } } #if defined(PHYSAC_DEBUG) - else printf("[PHYSAC] error when trying to shatter a null reference physics body"); + else TRACELOG("[PHYSAC] error when trying to shatter a null reference physics body"); #endif } @@ -720,12 +736,12 @@ PHYSACDEF PhysicsBody GetPhysicsBody(int index) if (body == NULL) { #if defined(PHYSAC_DEBUG) - printf("[PHYSAC] error when trying to get a null reference physics body"); + TRACELOG("[PHYSAC] error when trying to get a null reference physics body"); #endif } } #if defined(PHYSAC_DEBUG) - else printf("[PHYSAC] physics body index is out of bounds"); + else TRACELOG("[PHYSAC] physics body index is out of bounds"); #endif return body; @@ -742,11 +758,11 @@ PHYSACDEF int GetPhysicsShapeType(int index) if (body != NULL) result = body->shape.type; #if defined(PHYSAC_DEBUG) - else printf("[PHYSAC] error when trying to get a null reference physics body"); + else TRACELOG("[PHYSAC] error when trying to get a null reference physics body"); #endif } #if defined(PHYSAC_DEBUG) - else printf("[PHYSAC] physics body index is out of bounds"); + else TRACELOG("[PHYSAC] physics body index is out of bounds"); #endif return result; @@ -771,11 +787,11 @@ PHYSACDEF int GetPhysicsShapeVerticesCount(int index) } } #if defined(PHYSAC_DEBUG) - else printf("[PHYSAC] error when trying to get a null reference physics body"); + else TRACELOG("[PHYSAC] error when trying to get a null reference physics body"); #endif } #if defined(PHYSAC_DEBUG) - else printf("[PHYSAC] physics body index is out of bounds"); + else TRACELOG("[PHYSAC] physics body index is out of bounds"); #endif return result; @@ -804,7 +820,7 @@ PHYSACDEF Vector2 GetPhysicsShapeVertex(PhysicsBody body, int vertex) } } #if defined(PHYSAC_DEBUG) - else printf("[PHYSAC] error when trying to get a null reference physics body"); + else TRACELOG("[PHYSAC] error when trying to get a null reference physics body"); #endif return position; @@ -841,7 +857,7 @@ PHYSACDEF void DestroyPhysicsBody(PhysicsBody body) if (index == -1) { #if defined(PHYSAC_DEBUG) - printf("[PHYSAC] Not possible to find body id %i in pointers array\n", id); + TRACELOG("[PHYSAC] Not possible to find body id %i in pointers array\n", id); #endif return; // Prevent access to index -1 } @@ -861,11 +877,11 @@ PHYSACDEF void DestroyPhysicsBody(PhysicsBody body) physicsBodiesCount--; #if defined(PHYSAC_DEBUG) - printf("[PHYSAC] destroyed physics body id %i\n", id); + TRACELOG("[PHYSAC] destroyed physics body id %i\n", id); #endif } #if defined(PHYSAC_DEBUG) - else printf("[PHYSAC] error trying to destroy a null referenced body\n"); + else TRACELOG("[PHYSAC] error trying to destroy a null referenced body\n"); #endif } @@ -903,7 +919,7 @@ PHYSACDEF void ResetPhysics(void) physicsManifoldsCount = 0; #if defined(PHYSAC_DEBUG) - printf("[PHYSAC] physics module reset successfully\n"); + TRACELOG("[PHYSAC] physics module reset successfully\n"); #endif } @@ -924,9 +940,9 @@ PHYSACDEF void ClosePhysics(void) for (int i = physicsBodiesCount - 1; i >= 0; i--) DestroyPhysicsBody(bodies[i]); #if defined(PHYSAC_DEBUG) - if (physicsBodiesCount > 0 || usedMemory != 0) printf("[PHYSAC] physics module closed with %i still allocated bodies [MEMORY: %i bytes]\n", physicsBodiesCount, usedMemory); - else if (physicsManifoldsCount > 0 || usedMemory != 0) printf("[PHYSAC] physics module closed with %i still allocated manifolds [MEMORY: %i bytes]\n", physicsManifoldsCount, usedMemory); - else printf("[PHYSAC] physics module closed successfully\n"); + if (physicsBodiesCount > 0 || usedMemory != 0) TRACELOG("[PHYSAC] physics module closed with %i still allocated bodies [MEMORY: %i bytes]\n", physicsBodiesCount, usedMemory); + else if (physicsManifoldsCount > 0 || usedMemory != 0) TRACELOG("[PHYSAC] physics module closed with %i still allocated manifolds [MEMORY: %i bytes]\n", physicsManifoldsCount, usedMemory); + else TRACELOG("[PHYSAC] physics module closed successfully\n"); #endif } @@ -1018,7 +1034,7 @@ static void *PhysicsLoop(void *arg) { #if !defined(PHYSAC_NO_THREADS) #if defined(PHYSAC_DEBUG) - printf("[PHYSAC] physics thread created successfully\n"); + TRACELOG("[PHYSAC] physics thread created successfully\n"); #endif // Initialize physics loop thread values @@ -1156,7 +1172,7 @@ PHYSACDEF void RunPhysicsStep(void) while (accumulator >= deltaTime) { #ifdef PHYSAC_DEBUG - //printf("currentTime %f, startTime %f, accumulator-pre %f, accumulator-post %f, delta %f, deltaTime %f\n", + //TRACELOG("currentTime %f, startTime %f, accumulator-pre %f, accumulator-post %f, delta %f, deltaTime %f\n", // currentTime, startTime, accumulator, accumulator-deltaTime, delta, deltaTime); #endif PhysicsStep(); @@ -1228,7 +1244,7 @@ static PhysicsManifold CreatePhysicsManifold(PhysicsBody a, PhysicsBody b) physicsManifoldsCount++; } #if defined(PHYSAC_DEBUG) - else printf("[PHYSAC] new physics manifold creation failed because there is any available id to use\n"); + else TRACELOG("[PHYSAC] new physics manifold creation failed because there is any available id to use\n"); #endif return newManifold; @@ -1254,7 +1270,7 @@ static void DestroyPhysicsManifold(PhysicsManifold manifold) if (index == -1) { #if defined(PHYSAC_DEBUG) - printf("[PHYSAC] Not possible to manifold id %i in pointers array\n", id); + TRACELOG("[PHYSAC] Not possible to manifold id %i in pointers array\n", id); #endif return; // Prevent access to index -1 } @@ -1274,7 +1290,7 @@ static void DestroyPhysicsManifold(PhysicsManifold manifold) physicsManifoldsCount--; } #if defined(PHYSAC_DEBUG) - else printf("[PHYSAC] error trying to destroy a null referenced manifold\n"); + else TRACELOG("[PHYSAC] error trying to destroy a null referenced manifold\n"); #endif } @@ -1923,9 +1939,9 @@ static void InitTimer(void) } // Get hi-res MONOTONIC time measure in seconds -static uint64_t GetTimeCount(void) +static unsigned long long int GetTimeCount(void) { - uint64_t value = 0; + unsigned long long int value = 0; #if defined(_WIN32) QueryPerformanceCounter((unsigned long long int *) &value); @@ -1934,7 +1950,7 @@ static uint64_t GetTimeCount(void) #if defined(__linux__) struct timespec now; clock_gettime(CLOCK_MONOTONIC, &now); - value = (uint64_t)now.tv_sec*(uint64_t)1000000000 + (uint64_t)now.tv_nsec; + value = (unsigned long long int)now.tv_sec*(unsigned long long int)1000000000 + (unsigned long long int)now.tv_nsec; #endif #if defined(__APPLE__)