Fix total normal impulse (erincatto/box2d#1022)

Improved usefulness of total normal impulse on contact points
Distance joint now solves motor before limit
Code clean up and minor fixes
Logging
Update clang format
Dynamic tree unit test
b2FreeFcn now receives the allocation size
Added check for a missed call to b2Body_ApplyMassFromShapes
Calling b2CreateCapsuleShape with a very short capsule now returns
b2_nullShapeId
Calling b2Shape_SetCapsule with a very short capsule now returns with no
change.
Added b2ContactId to hit events.
b2Body_SetTargetTransform now has a wake option.

erincatto/box2d#1019
erincatto/box2d#1015
erincatto/box2d#1014
erincatto/box2d#1010
erincatto/box2d#1009
erincatto/box2d#1005

Author: ikpil

src/Box2D.NET.Samples/SampleApp.cs

@@ -64,7 +64,7 @@ public int Run(string[] args)
 
         SampleFactory.Shared.LoadSamples();
         SampleFactory.Shared.SortSamples();
-        
+
         var currentCulture = CultureInfo.CurrentCulture;
         string bitness = Environment.Is64BitOperatingSystem ? "64-bit" : "32-bit";
 
@@ -98,7 +98,7 @@ public int Run(string[] args)
         _context.glfw.WindowHint(WindowHintInt.ContextVersionMinor, 3);
         _context.glfw.WindowHint(WindowHintBool.OpenGLForwardCompat, true);
         _context.glfw.WindowHint(WindowHintOpenGlProfile.OpenGlProfile, OpenGlProfile.Core);
-        
+
         // MSAA
         _context.glfw.WindowHint(WindowHintInt.Samples, 4);
         options.Samples = 4;
@@ -176,7 +176,7 @@ private void OnWindowResize(Vector2D<int> resize)
     {
         var width = resize.X;
         var height = resize.Y;
-        
+
         _context.camera.width = width;
         _context.camera.height = height;
     }
@@ -374,10 +374,10 @@ private void OnWindowRender(double dt)
         ImGui.End();
 
         s_sample.ResetText();
-        
+
         var title = SampleFactory.Shared.GetTitle(_context.sampleIndex);
         s_sample.DrawColoredTextLine(B2HexColor.b2_colorYellow, title);
-        
+
         string buffer = $"{1000.0f * _frameTime:0.0} ms - step {s_sample.m_stepCount} - " +
                         $"camera ({_context.camera.center.X:G}, {_context.camera.center.Y:G}, {_context.camera.zoom:G})";
         DrawScreenString(_context.draw, 5.0f, _context.camera.height - 18.0f, B2HexColor.b2_colorSeaGreen, buffer);
@@ -422,7 +422,7 @@ public byte[] AllocFcn(uint size, int alignment)
         return null;
     }
 
-    private void FreeFcn(byte[] mem)
+    private void FreeFcn(byte[] mem, uint size)
     {
 // #if defined( _MSC_VER ) || defined( __MINGW32__ ) || defined( __MINGW64__ )
 //         _aligned_free( mem );

src/Box2D.NET.Samples/Samples/Bodies/BodyType.cs

@@ -186,6 +186,21 @@ public BodyType(SampleContext context) : base(context)
             b2CreateCapsuleShape(m_touchingBodyId, ref shapeDef, ref capsule);
         }
 
+        // Create a separate body on the ground
+        {
+            B2BodyDef bodyDef = b2DefaultBodyDef();
+            bodyDef.type = B2BodyType.b2_staticBody;
+            bodyDef.isEnabled = m_isEnabled;
+            bodyDef.position = new B2Vec2(8.5f, 0.2f);
+            bodyDef.name = "debris";
+            B2BodyId bodyId = b2CreateBody(m_worldId, bodyDef);
+
+            B2Capsule capsule = new B2Capsule(new B2Vec2(0.0f, 0.0f), new B2Vec2(1.0f, 0.0f), 0.5f);
+
+            B2ShapeDef shapeDef = b2DefaultShapeDef();
+            b2CreateCapsuleShape(bodyId, shapeDef, capsule);
+        }
+
         // Create a separate floating body
         {
             B2BodyDef bodyDef = b2DefaultBodyDef();

src/Box2D.NET.Samples/Samples/Bodies/Kinematic.cs

@@ -82,7 +82,8 @@ public override void Draw()
             DrawLine(m_draw, point - 0.5f * axis, point + 0.5f * axis, B2HexColor.b2_colorPlum);
             DrawPoint(m_draw, point, 10.0f, B2HexColor.b2_colorPlum);
 
-            b2Body_SetTargetTransform(m_bodyId, new B2Transform(point, rotation), m_timeStep);
+            bool wake = true;
+            b2Body_SetTargetTransform(m_bodyId, new B2Transform(point, rotation), m_timeStep, wake);
         }
     }
-}
+}

src/Box2D.NET.Samples/Samples/Characters/Mover.cs

@@ -577,7 +577,8 @@ public override void Step()
             point.X = m_elevatorBase.X;
             point.Y = m_elevatorAmplitude * MathF.Cos(1.0f * m_time + B2_PI) + m_elevatorBase.Y;
 
-            b2Body_SetTargetTransform(m_elevatorId, new B2Transform(point, b2Rot_identity), timeStep);
+            bool wake = true;
+            b2Body_SetTargetTransform(m_elevatorId, new B2Transform(point, b2Rot_identity), timeStep, true);
         }
 
         m_time += timeStep;

src/Box2D.NET.Samples/Samples/Collisions/ShapeCast.cs

@@ -92,7 +92,15 @@ public ShapeCast(SampleContext context) : base(context)
             points[2].y = 0.350000024;
             points[3].x = -0.599999964;
             points[3].y = 0.350000024;
-            b2Hull hull = b2ComputeHull( points, 4 );
+
+			points[0] = { 3.0, -0.5 };
+			points[1] = { 3.0, 0.5 };
+			points[2] = { -3.0, 0.5 };
+			points[3] = { -3.0, -0.5 };
+			b2Hull hull = b2ComputeHull( points, 4 );
+			bool isValid = b2ValidateHull( &hull );
+			assert( isValid );
+
             m_triangle = b2MakePolygon( &hull, 0.0f );
         }
 #endif

src/Box2D.NET.Samples/Samples/Collisions/ShapeDistance.cs

@@ -101,6 +101,7 @@ public ShapeDistance(SampleContext context) : base(context)
 
         m_cache = b2_emptySimplexCache;
         m_simplexCount = 0;
+        m_simplexIndex = 0;
         m_startPoint = new B2Vec2(0.0f, 0.0f);
         m_basePosition = new B2Vec2(0.0f, 0.0f);
         m_baseAngle = 0.0f;
@@ -269,7 +270,7 @@ public override void UpdateGui()
             m_simplexIndex = 0;
         }
 
-        if (m_drawSimplex)
+        if (m_drawSimplex && m_simplexCount > 0)
         {
             ImGui.SliderInt("index", ref m_simplexIndex, 0, m_simplexCount - 1);
             m_simplexIndex = b2ClampInt(m_simplexIndex, 0, m_simplexCount - 1);
@@ -366,7 +367,7 @@ public override void Step()
         input.proxyB = m_proxyB;
         input.transformA = b2Transform_identity;
         input.transformB = m_transform;
-        input.useRadii = true || m_radiusA > 0.0f || m_radiusB > 0.0f;
+        input.useRadii = m_radiusA > 0.0f || m_radiusB > 0.0f;
 
         if (m_useCache == false)
         {

src/Box2D.NET.Samples/Samples/Events/BodyMove.cs

@@ -138,8 +138,16 @@ public override void Step()
         B2BodyEvents events = b2World_GetBodyEvents(m_worldId);
         for (int i = 0; i < events.moveCount; ++i)
         {
+            ref readonly B2BodyMoveEvent @event = ref events.moveEvents[i];
+            
+            
+            if (@event.userData == null)
+            {
+                // The mouse joint body has no user data
+                continue;
+            }
+
             // draw the transform of every body that moved (not sleeping)
-            ref B2BodyMoveEvent @event = ref events.moveEvents[i];
             DrawTransform(m_draw, @event.transform, 1.0f);
 
             B2Transform transform = b2Body_GetTransform(@event.bodyId);

src/Box2D.NET.Samples/Samples/Joints/MotorJoint.cs

@@ -180,7 +180,8 @@ public override void Step()
             float angularOffset = 2.0f * m_time;
             m_transform = new B2Transform(linearOffset, b2MakeRot(angularOffset));
 
-            b2Body_SetTargetTransform(m_targetId, m_transform, timeStep);
+            bool wake = true;
+            b2Body_SetTargetTransform(m_targetId, m_transform, timeStep, true);
         }
 
         DrawTransform(m_draw, m_transform, 1.0f);

src/Box2D.NET.Samples/Samples/Sample.cs

@@ -416,7 +416,8 @@ public virtual void Step()
 
         if (B2_IS_NON_NULL(m_mouseBodyId) && timeStep > 0.0f)
         {
-            b2Body_SetTargetTransform(m_mouseBodyId, new B2Transform(m_mousePoint, b2Rot_identity), timeStep);
+            bool wake = true;
+            b2Body_SetTargetTransform(m_mouseBodyId, new B2Transform(m_mousePoint, b2Rot_identity), timeStep, wake);
         }
 
         b2World_EnableSleeping(m_worldId, m_context.enableSleep);