joint hot-cold split

body disable wip
erincatto · Apr 14, 2024 · ef39d4c · ef39d4c
1 parent d976ef4
commit ef39d4c
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Showing 24 changed files with 522 additions and 479 deletions.
diff --git a/samples/sample_joints.cpp b/samples/sample_joints.cpp
@@ -987,7 +987,7 @@ class Cantilever : public Sample
 		e_count = 8
 	};
 
-	Cantilever(Settings& settings)
+	explicit Cantilever(Settings& settings)
 		: Sample(settings)
 	{
 		if (settings.restart == false)
@@ -1017,11 +1017,13 @@ class Cantilever : public Sample
 
 			b2WeldJointDef jointDef = b2DefaultWeldJointDef();
 
+			b2BodyDef bodyDef = b2DefaultBodyDef();
+			bodyDef.type = b2_dynamicBody;
+			bodyDef.isAwake = false;
+
 			b2BodyId prevBodyId = groundId;
 			for (int32_t i = 0; i < e_count; ++i)
 			{
-				b2BodyDef bodyDef = b2DefaultBodyDef();
-				bodyDef.type = b2_dynamicBody;
 				bodyDef.position = {(1.0f + 2.0f * i) * hx, 0.0f};
 				m_bodyIds[i] = b2CreateBody(m_worldId, &bodyDef);
 				b2CreateCapsuleShape(m_bodyIds[i], &shapeDef, &capsule);
@@ -1138,7 +1140,7 @@ class FixedRotation : public Sample
 		e_count = 6
 	};
 
-	FixedRotation(Settings& settings)
+	explicit FixedRotation(Settings& settings)
 		: Sample(settings)
 	{
 		if (settings.restart == false)
@@ -1180,7 +1182,6 @@ class FixedRotation : public Sample
 		b2Vec2 position = {-12.5f, 10.0f};
 		b2BodyDef bodyDef = b2DefaultBodyDef();
 		bodyDef.type = b2_dynamicBody;
-		bodyDef.enableSleep = false;
 		bodyDef.fixedRotation = m_fixedRotation;
 
 		b2Polygon box = b2MakeBox(1.0f, 1.0f);
@@ -1221,13 +1222,12 @@ class FixedRotation : public Sample
 			b2ShapeDef shapeDef = b2DefaultShapeDef();
 			b2CreatePolygonShape(m_bodyIds[index], &shapeDef, &box);
 
-			b2Vec2 pivot = {position.x - 1.0f, position.y};
 			b2MotorJointDef jointDef = b2DefaultMotorJointDef();
 			jointDef.bodyIdA = m_groundId;
 			jointDef.bodyIdB = m_bodyIds[index];
 			jointDef.linearOffset = position;
 			jointDef.maxForce = 200.0f;
-			jointDef.maxTorque = 200.0f;
+			jointDef.maxTorque = 20.0f;
 			m_jointIds[index] = b2CreateMotorJoint(m_worldId, &jointDef);
 		}
 

diff --git a/src/block_array.c b/src/block_array.c
@@ -1,11 +1,12 @@
 // SPDX-FileCopyrightText: 2023 Erin Catto
 // SPDX-License-Identifier: MIT
 
-#include "block_allocator.h"
 #include "block_array.h"
 
+#include "block_allocator.h"
 #include "body.h"
 #include "contact.h"
+#include "core.h"
 #include "island.h"
 #include "joint.h"
 

diff --git a/src/block_array.h b/src/block_array.h
@@ -66,6 +66,7 @@ b2IslandSim* b2AddIsland(b2BlockAllocator* allocator, b2IslandArray* array);
 b2Joint* b2AddJoint(b2BlockAllocator* allocator, b2JointArray* array);
 
 // Returns the index of the element moved into the empty slot (or B2_NULL_INDEX)
+// todo have these return the id directly?
 int b2RemoveBodySim(b2BodySimArray* array, int index);
 int b2RemoveBodyState(b2BodyStateArray* array, int index);
 int b2RemoveContact(b2ContactArray* array, int index);