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ikpilikpil
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1 parent 5b338d3 commit 4b7712f

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Lines changed: 252 additions & 69 deletions

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‎src/Box2D.NET.Shared/Benchmarks.cs‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -326,25 +326,25 @@ public static SpinnerData CreateSpinner(B2WorldId worldId)
326326
groundId = b2CreateBody(worldId, ref bodyDef);
327327

328328
B2Vec2[] points = new B2Vec2[SPINNER_POINT_COUNT];
329-
329+
330330
B2Rot q = b2MakeRot(-2.0f * B2_PI / SPINNER_POINT_COUNT);
331331
B2Vec2 p = new B2Vec2(40.0f, 0.0f);
332332
for (int i = 0; i < SPINNER_POINT_COUNT; ++i)
333333
{
334334
points[i] = new B2Vec2(p.X, p.Y + 32.0f);
335335
p = b2RotateVector(q, p);
336336
}
337-
337+
338338
B2SurfaceMaterial material = new B2SurfaceMaterial();
339339
material.friction = 0.1f;
340-
340+
341341
B2ChainDef chainDef = b2DefaultChainDef();
342342
chainDef.points = points;
343343
chainDef.count = SPINNER_POINT_COUNT;
344344
chainDef.isLoop = true;
345345
chainDef.materials = new[] { material };
346346
chainDef.materialCount = 1;
347-
347+
348348
b2CreateChain(groundId, ref chainDef);
349349
}
350350

@@ -358,7 +358,7 @@ public static SpinnerData CreateSpinner(B2WorldId worldId)
358358

359359
B2Polygon box = b2MakeRoundedBox(0.4f, 20.0f, 0.2f);
360360
B2ShapeDef shapeDef = b2DefaultShapeDef();
361-
shapeDef.friction = 0.0f;
361+
shapeDef.material.friction = 0.0f;
362362
b2CreatePolygonShape(spinnerId, ref shapeDef, ref box);
363363

364364
float motorSpeed = 5.0f;
@@ -382,8 +382,8 @@ public static SpinnerData CreateSpinner(B2WorldId worldId)
382382
B2BodyDef bodyDef = b2DefaultBodyDef();
383383
bodyDef.type = B2BodyType.b2_dynamicBody;
384384
B2ShapeDef shapeDef = b2DefaultShapeDef();
385-
shapeDef.friction = 0.1f;
386-
shapeDef.restitution = 0.1f;
385+
shapeDef.material.friction = 0.1f;
386+
shapeDef.material.restitution = 0.1f;
387387
shapeDef.density = 0.25f;
388388

389389
int bodyCount = BENCHMARK_DEBUG ? 499 : 3038;

‎src/Box2D.NET.Shared/BoneId.cs‎

Lines changed: 12 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -6,17 +6,17 @@ namespace Box2D.NET.Shared
66
{
77
public enum BoneId
88
{
9-
boneId_hip = 0,
10-
boneId_torso = 1,
11-
boneId_head = 2,
12-
boneId_upperLeftLeg = 3,
13-
boneId_lowerLeftLeg = 4,
14-
boneId_upperRightLeg = 5,
15-
boneId_lowerRightLeg = 6,
16-
boneId_upperLeftArm = 7,
17-
boneId_lowerLeftArm = 8,
18-
boneId_upperRightArm = 9,
19-
boneId_lowerRightArm = 10,
20-
boneId_count = 11,
9+
bone_hip = 0,
10+
bone_torso = 1,
11+
bone_head = 2,
12+
bone_upperLeftLeg = 3,
13+
bone_lowerLeftLeg = 4,
14+
bone_upperRightLeg = 5,
15+
bone_lowerRightLeg = 6,
16+
bone_upperLeftArm = 7,
17+
bone_lowerLeftArm = 8,
18+
bone_upperRightArm = 9,
19+
bone_lowerRightArm = 10,
20+
bone_count = 11,
2121
}
2222
}

‎src/Box2D.NET.Shared/Determinism.cs‎

Lines changed: 152 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,152 @@
1+
// SPDX-FileCopyrightText: 2022 Erin Catto
2+
// SPDX-FileCopyrightText: 2025 Ikpil Choi([email protected])
3+
// SPDX-License-Identifier: MIT
4+
5+
using System;
6+
using System.Diagnostics;
7+
using static Box2D.NET.B2Ids;
8+
using static Box2D.NET.B2Geometries;
9+
using static Box2D.NET.B2Types;
10+
using static Box2D.NET.B2MathFunction;
11+
using static Box2D.NET.B2Bodies;
12+
using static Box2D.NET.B2Shapes;
13+
using static Box2D.NET.B2Joints;
14+
using static Box2D.NET.B2Constants;
15+
using static Box2D.NET.B2Worlds;
16+
using static Box2D.NET.B2Timers;
17+
18+
namespace Box2D.NET.Shared
19+
{
20+
public static class Determinism
21+
{
22+
public static FallingHingeData CreateFallingHinges(B2WorldId worldId)
23+
{
24+
{
25+
B2BodyDef bodyDef = b2DefaultBodyDef();
26+
bodyDef.position = new B2Vec2(0.0f, -1.0f);
27+
B2BodyId groundId = b2CreateBody(worldId, ref bodyDef);
28+
29+
B2Polygon box = b2MakeBox(20.0f, 1.0f);
30+
B2ShapeDef shapeDef = b2DefaultShapeDef();
31+
b2CreatePolygonShape(groundId, ref shapeDef, ref box);
32+
}
33+
34+
int columnCount = 4;
35+
int rowCount = 30;
36+
int bodyCount = rowCount * columnCount;
37+
38+
B2BodyId[] bodyIds = new B2BodyId[bodyCount];
39+
40+
{
41+
float h = 0.25f;
42+
float r = 0.1f * h;
43+
B2Polygon box = b2MakeRoundedBox(h - r, h - r, r);
44+
45+
B2ShapeDef shapeDef = b2DefaultShapeDef();
46+
shapeDef.material.friction = 0.3f;
47+
48+
float offset = 0.4f * h;
49+
float dx = 10.0f * h;
50+
float xroot = -0.5f * dx * (columnCount - 1.0f);
51+
52+
B2RevoluteJointDef jointDef = b2DefaultRevoluteJointDef();
53+
jointDef.enableLimit = true;
54+
jointDef.lowerAngle = -0.1f * B2_PI;
55+
jointDef.upperAngle = 0.2f * B2_PI;
56+
jointDef.enableSpring = true;
57+
jointDef.hertz = 0.5f;
58+
jointDef.dampingRatio = 0.5f;
59+
jointDef.localAnchorA = new B2Vec2(h, h);
60+
jointDef.localAnchorB = new B2Vec2(offset, -h);
61+
jointDef.drawSize = 0.1f;
62+
63+
int bodyIndex = 0;
64+
65+
for (int j = 0; j < columnCount; ++j)
66+
{
67+
float x = xroot + j * dx;
68+
69+
B2BodyId prevBodyId = b2_nullBodyId;
70+
71+
for (int i = 0; i < rowCount; ++i)
72+
{
73+
B2BodyDef bodyDef = b2DefaultBodyDef();
74+
bodyDef.type = B2BodyType.b2_dynamicBody;
75+
76+
bodyDef.position.X = x + offset * i;
77+
bodyDef.position.Y = h + 2.0f * h * i;
78+
79+
// this tests the deterministic cosine and sine functions
80+
bodyDef.rotation = b2MakeRot(0.1f * i - 1.0f);
81+
82+
B2BodyId bodyId = b2CreateBody(worldId, ref bodyDef);
83+
84+
if ((i & 1) == 0)
85+
{
86+
prevBodyId = bodyId;
87+
}
88+
else
89+
{
90+
jointDef.bodyIdA = prevBodyId;
91+
jointDef.bodyIdB = bodyId;
92+
b2CreateRevoluteJoint(worldId, ref jointDef);
93+
prevBodyId = b2_nullBodyId;
94+
}
95+
96+
b2CreatePolygonShape(bodyId, ref shapeDef, ref box);
97+
98+
Debug.Assert(bodyIndex < bodyCount);
99+
bodyIds[bodyIndex] = bodyId;
100+
101+
bodyIndex += 1;
102+
}
103+
}
104+
105+
Debug.Assert(bodyIndex == bodyCount);
106+
}
107+
108+
FallingHingeData data = new FallingHingeData();
109+
data.bodyIds = bodyIds;
110+
data.bodyCount = bodyCount;
111+
data.stepCount = 0;
112+
data.sleepStep = -1;
113+
data.hash = 0;
114+
return data;
115+
}
116+
117+
public static bool UpdateFallingHinges(B2WorldId worldId, ref FallingHingeData data)
118+
{
119+
if (data.hash == 0)
120+
{
121+
B2BodyEvents bodyEvents = b2World_GetBodyEvents(worldId);
122+
123+
if (bodyEvents.moveCount == 0)
124+
{
125+
int awakeCount = b2World_GetAwakeBodyCount(worldId);
126+
Debug.Assert(awakeCount == 0);
127+
128+
data.hash = B2_HASH_INIT;
129+
Span<byte> bxf = stackalloc byte[sizeof(float) * 4];
130+
for (int i = 0; i < data.bodyCount; ++i)
131+
{
132+
B2Transform xf = b2Body_GetTransform(data.bodyIds[i]);
133+
xf.TryWriteBytes(bxf);
134+
data.hash = b2Hash(data.hash, bxf, bxf.Length);
135+
}
136+
137+
data.sleepStep = data.stepCount;
138+
}
139+
}
140+
141+
data.stepCount += 1;
142+
143+
return data.hash != 0;
144+
}
145+
146+
public static void DestroyFallingHinges(ref FallingHingeData data)
147+
{
148+
//free( data.bodyIds );
149+
data.bodyIds = null;
150+
}
151+
}
152+
}

‎src/Box2D.NET.Shared/FallingHingeData.cs‎

Lines changed: 11 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,11 @@
1+
namespace Box2D.NET.Shared
2+
{
3+
public struct FallingHingeData
4+
{
5+
public B2BodyId[] bodyIds;
6+
public int bodyCount;
7+
public int stepCount;
8+
public int sleepStep;
9+
public uint hash;
10+
}
11+
}

‎src/Box2D.NET.Shared/Human.cs‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -14,7 +14,7 @@ public struct Human
1414

1515
public void Clear()
1616
{
17-
Debug.Assert((int)BoneId.boneId_count == B2FixedArray11<Bone>.Size);
17+
Debug.Assert((int)BoneId.bone_count == B2FixedArray11<Bone>.Size);
1818

1919
for (int i = 0; i < bones.Length; ++i)
2020
{

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