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This commit is contained in:
BLUELOVETH 2023-08-04 19:19:18 +08:00
parent 536a51b817
commit f9d4269caf
6 changed files with 200 additions and 155 deletions
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4
3rd/box2d/CMakeLists.txt
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@ -12,6 +12,8 @@ aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/src/common BOX2D_SRC_1)
aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/src/dynamics BOX2D_SRC_2)
aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/src/rope BOX2D_SRC_3)
aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/src BOX2D_BINDINGS_SRC)
set(CMAKE_CXX_FLAGS_RELEASE "-O2")
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
@ -20,5 +22,5 @@ add_library(
box2d
STATIC
${BOX2D_SRC_0} ${BOX2D_SRC_1} ${BOX2D_SRC_2} ${BOX2D_SRC_3}
${CMAKE_CURRENT_LIST_DIR}/src/box2d_bindings.cpp
${BOX2D_BINDINGS_SRC}
)

7
3rd/box2d/include/box2d_bindings.hpp
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@ -1,5 +1,6 @@
#pragma once
#include "box2d/b2_world.h"
#include "box2d/box2d.h"
#include "pocketpy/pocketpy.h"
#include <cstdlib>
@ -24,6 +25,7 @@ inline PyObject* py_var(VM* vm, b2Vec2 v){
namespace imbox2d{
struct Body final{
b2Body* body;
b2Fixture* fixture;
@ -133,12 +135,7 @@ struct PyBody: OpaquePointer<Body>{
static void _register(VM* vm, PyObject* mod, PyObject* type);
};
struct PyWorld: OpaquePointer<b2World>{
PY_CLASS(PyWorld, box2d, World)
using OpaquePointer<b2World>::OpaquePointer;
static void _register(VM* vm, PyObject* mod, PyObject* type);
};
} // namespace imbox2d

0
3rd/box2d/src/box2d_Body.cpp Normal file
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194
3rd/box2d/src/box2d_World.cpp Normal file
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@ -0,0 +1,194 @@
#include "box2d/b2_world.h"
#include "box2d/b2_world_callbacks.h"
#include "box2d_bindings.hpp"
namespace pkpy{
namespace imbox2d{
// This class captures the closest hit shape.
class MyRayCastCallback : public b2RayCastCallback
{
VM* vm;
public:
List result;
MyRayCastCallback(VM* vm): vm(vm) {}
float ReportFixture(b2Fixture* fixture, const b2Vec2& point,
const b2Vec2& normal, float fraction)
{
auto userdata = fixture->GetBody()->GetUserData().pointer;
Body* body = reinterpret_cast<Body*>(userdata);
result.push_back(VAR_T(PyBody, body));
// if(only_one) return 0;
return fraction;
}
};
class MyBoxCastCallback: public b2QueryCallback{
VM* vm;
public:
List result;
MyBoxCastCallback(VM* vm): vm(vm) {}
bool ReportFixture(b2Fixture* fixture) override{
auto userdata = fixture->GetBody()->GetUserData().pointer;
Body* body = reinterpret_cast<Body*>(userdata);
result.push_back(VAR_T(PyBody, body));
return true;
}
};
// maybe we will use this class later
class PyDebugDraw: public b2Draw{
VM* vm;
public:
PyDebugDraw(VM* vm): vm(vm){}
void DrawPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color) override{
}
void DrawSolidPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color) override{
}
void DrawCircle(const b2Vec2& center, float radius, const b2Color& color) override{
}
void DrawSolidCircle(const b2Vec2& center, float radius, const b2Vec2& axis, const b2Color& color) override{
}
void DrawSegment(const b2Vec2& p1, const b2Vec2& p2, const b2Color& color) override{
}
void DrawTransform(const b2Transform& xf) override{
}
void DrawPoint(const b2Vec2& p, float size, const b2Color& color) override{
}
};
class PyContactListener : public b2ContactListener{
VM* vm;
public:
PyContactListener(VM* vm): vm(vm){}
void _contact_f(b2Contact* contact, StrName name){
auto a = contact->GetFixtureA()->GetBody()->GetUserData().pointer;
auto b = contact->GetFixtureB()->GetBody()->GetUserData().pointer;
Body* bodyA = reinterpret_cast<Body*>(a);
Body* bodyB = reinterpret_cast<Body*>(b);
PyObject* self;
PyObject* f;
f = vm->get_unbound_method(bodyA->obj, name, &self, false);
if(f != nullptr) vm->call_method(self, f, VAR_T(PyBody, bodyB));
f = vm->get_unbound_method(bodyB->obj, name, &self, false);
if(f != nullptr) vm->call_method(self, f, VAR_T(PyBody, bodyA));
}
void BeginContact(b2Contact* contact) override {
DEF_SNAME(on_contact_begin);
_contact_f(contact, on_contact_begin);
}
void EndContact(b2Contact* contact) override {
DEF_SNAME(on_contact_end);
_contact_f(contact, on_contact_end);
}
};
// implement placement VAR_T...!!!!
struct PyWorld {
PY_CLASS(PyWorld, box2d, World)
// this object is too large, so we use unique_ptr
std::unique_ptr<b2World> world;
std::unique_ptr<PyContactListener> _contact_listener;
std::unique_ptr<PyDebugDraw> _debug_draw;
PyWorld(VM* vm):
world(new b2World(b2Vec2(0, 0))),
_contact_listener(new PyContactListener(vm)),
_debug_draw(new PyDebugDraw(vm)){
world->SetAllowSleeping(true);
world->SetAutoClearForces(true);
world->SetContactListener(_contact_listener.get());
world->SetDebugDraw(_debug_draw.get());
}
PyWorld(const PyWorld&) = delete;
PyWorld& operator=(const PyWorld&) = delete;
static void _register(VM* vm, PyObject* mod, PyObject* type){
vm->bind(type, "__new__(cls)", [](VM* vm, ArgsView args){
return VAR_T(PyWorld, PyWorld(vm));
});
// gravity
vm->bind_property(type, "gravity", "vec2", [](VM* vm, ArgsView args){
PyWorld& self = _CAST(PyWorld&, args[0]);
return VAR(self.world->GetGravity());
}, [](VM* vm, ArgsView args){
PyWorld& self = _CAST(PyWorld&, args[0]);
self.world->SetGravity(CAST(b2Vec2, args[1]));
return vm->None;
});
vm->bind(type, "get_bodies(self) -> list[Body]", [](VM* vm, ArgsView args){
PyWorld& self = _CAST(PyWorld&, args[0]);
List list;
b2Body* p = self.world->GetBodyList();
while(p != nullptr){
Body* body = (Body*)p->GetUserData().pointer;
list.push_back(VAR_T(PyBody, body));
p = p->GetNext();
}
return VAR(std::move(list));
});
vm->bind(type, "ray_cast(self, start: vec2, end: vec2) -> list[Body]", [](VM* vm, ArgsView args){
auto _lock = vm->heap.gc_scope_lock();
PyWorld& self = _CAST(PyWorld&, args[0]);
b2Vec2 start = CAST(b2Vec2, args[1]);
b2Vec2 end = CAST(b2Vec2, args[2]);
MyRayCastCallback callback(vm);
self.world->RayCast(&callback, start, end);
return VAR(std::move(callback.result));
});
vm->bind(type, "box_cast(self, lower: vec2, upper: vec2) -> list[Body]", [](VM* vm, ArgsView args){
auto _lock = vm->heap.gc_scope_lock();
PyWorld& self = _CAST(PyWorld&, args[0]);
b2AABB aabb;
aabb.lowerBound = CAST(b2Vec2, args[1]);
aabb.upperBound = CAST(b2Vec2, args[2]);
MyBoxCastCallback callback(vm);
self.world->QueryAABB(&callback, aabb);
return VAR(std::move(callback.result));
});
vm->bind(type, "step(self, dt: float, velocity_iterations: int, position_iterations: int)",
[](VM* vm, ArgsView args){
PyWorld& self = _CAST(PyWorld&, args[0]);
float dt = CAST(float, args[1]);
int velocity_iterations = CAST(int, args[2]);
int position_iterations = CAST(int, args[3]);
auto f = [](VM* vm, b2Body* p, StrName name){
while(p != nullptr){
Body* body = (Body*)p->GetUserData().pointer;
vm->call_method(body->obj, name);
p = p->GetNext();
}
};
DEF_SNAME(on_box2d_pre_step);
DEF_SNAME(on_box2d_post_step);
f(vm, self.world->GetBodyList(), on_box2d_pre_step);
self.world->Step(dt, velocity_iterations, position_iterations);
f(vm, self.world->GetBodyList(), on_box2d_post_step);
return vm->None;
});
}
};
} // namespace imbox2d
} // namespace pkpy

145
3rd/box2d/src/box2d_bindings.cpp
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@ -10,62 +10,7 @@ void add_module_box2d(VM *vm){
namespace imbox2d{
// maybe we will use this class later
class PyDebugDraw: public b2Draw{
VM* vm;
public:
PyDebugDraw(VM* vm): vm(vm){}
void DrawPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color) override{
}
void DrawSolidPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color) override{
}
void DrawCircle(const b2Vec2& center, float radius, const b2Color& color) override{
}
void DrawSolidCircle(const b2Vec2& center, float radius, const b2Vec2& axis, const b2Color& color) override{
}
void DrawSegment(const b2Vec2& p1, const b2Vec2& p2, const b2Color& color) override{
}
void DrawTransform(const b2Transform& xf) override{
}
void DrawPoint(const b2Vec2& p, float size, const b2Color& color) override{
}
};
class PyContactListener : public b2ContactListener{
VM* vm;
public:
PyContactListener(VM* vm): vm(vm){}
void _contact_f(b2Contact* contact, StrName name){
auto a = contact->GetFixtureA()->GetBody()->GetUserData().pointer;
auto b = contact->GetFixtureB()->GetBody()->GetUserData().pointer;
Body* bodyA = reinterpret_cast<Body*>(a);
Body* bodyB = reinterpret_cast<Body*>(b);
PyObject* self;
PyObject* f;
f = vm->get_unbound_method(bodyA->obj, name, &self, false);
if(f != nullptr) vm->call_method(self, f, VAR_T(PyBody, bodyB));
f = vm->get_unbound_method(bodyB->obj, name, &self, false);
if(f != nullptr) vm->call_method(self, f, VAR_T(PyBody, bodyA));
}
void BeginContact(b2Contact* contact) override {
DEF_SNAME(on_contact_begin);
_contact_f(contact, on_contact_begin);
}
void EndContact(b2Contact* contact) override {
DEF_SNAME(on_contact_end);
_contact_f(contact, on_contact_end);
}
};
void PyBody::_register(VM* vm, PyObject* mod, PyObject* type){
vm->bind_notimplemented_constructor<PyBody>(type);
@ -221,100 +166,10 @@ public:
});
}
// This class captures the closest hit shape.
class MyRayCastCallback : public b2RayCastCallback
{
VM* vm;
public:
List result;
MyRayCastCallback(VM* vm): vm(vm) {}
float ReportFixture(b2Fixture* fixture, const b2Vec2& point,
const b2Vec2& normal, float fraction)
{
auto userdata = fixture->GetBody()->GetUserData().pointer;
Body* body = reinterpret_cast<Body*>(userdata);
result.push_back(VAR_T(PyBody, body));
// if(only_one) return 0;
return fraction;
}
};
void PyWorld::_register(VM* vm, PyObject* mod, PyObject* type){
vm->bind(type, "__new__(cls)", [](VM* vm, ArgsView args){
b2World* w = new b2World(b2Vec2(0, 0));
w->SetAllowSleeping(true);
w->SetAutoClearForces(true);
// the contact listener will leak memory after the world is destroyed
// but it's not a big deal since the world is only destroyed when the game exits
w->SetContactListener(new PyContactListener(vm));
w->SetDebugDraw(new PyDebugDraw(vm));
return VAR_T(PyWorld, w);
});
// gravity
vm->bind_property(type, "gravity", "vec2", [](VM* vm, ArgsView args){
PyWorld& self = _CAST(PyWorld&, args[0]);
return VAR(self->GetGravity());
}, [](VM* vm, ArgsView args){
PyWorld& self = _CAST(PyWorld&, args[0]);
self->SetGravity(CAST(b2Vec2, args[1]));
return vm->None;
});
// body
vm->bind(type, "create_body(self, obj) -> Body", [](VM* vm, ArgsView args){
PyWorld& self = _CAST(PyWorld&, args[0]);
return VAR_T(PyBody, new Body(self.ptr, args[1]));
});
vm->bind(type, "get_bodies(self) -> list[Body]", [](VM* vm, ArgsView args){
PyWorld& self = _CAST(PyWorld&, args[0]);
List list;
b2Body* p = self->GetBodyList();
while(p != nullptr){
Body* body = (Body*)p->GetUserData().pointer;
list.push_back(VAR_T(PyBody, body));
p = p->GetNext();
}
return VAR(std::move(list));
});
// step
vm->bind(type, "step(self, dt: float, velocity_iterations: int, position_iterations: int)",
[](VM* vm, ArgsView args){
PyWorld& self = _CAST(PyWorld&, args[0]);
float dt = CAST(float, args[1]);
int velocity_iterations = CAST(int, args[2]);
int position_iterations = CAST(int, args[3]);
auto f = [](VM* vm, b2Body* p, StrName name){
while(p != nullptr){
Body* body = (Body*)p->GetUserData().pointer;
vm->call_method(body->obj, name);
p = p->GetNext();
}
};
DEF_SNAME(on_box2d_pre_step);
DEF_SNAME(on_box2d_post_step);
f(vm, self->GetBodyList(), on_box2d_pre_step);
self->Step(dt, velocity_iterations, position_iterations);
f(vm, self->GetBodyList(), on_box2d_post_step);
return vm->None;
});
// raycast
vm->bind(type, "raycast(self, start: vec2, end: vec2) -> list[Body]", [](VM* vm, ArgsView args){
auto _lock = vm->heap.gc_scope_lock();
PyWorld& self = _CAST(PyWorld&, args[0]);
b2Vec2 start = CAST(b2Vec2, args[1]);
b2Vec2 end = CAST(b2Vec2, args[2]);
MyRayCastCallback callback(vm);
self->RayCast(&callback, start, end);
return VAR(std::move(callback.result));
});
}
}

5
docs/modules/box2d.md
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@ -68,15 +68,12 @@ class World:
def ray_cast(self, start: vec2, end: vec2) -> list['Body']:
"""raycast from start to end"""
def box_cast(self, p0: vec2, p1: vec2) -> list['Body']:
def box_cast(self, lower: vec2, upper: vec2) -> list['Body']:
"""query bodies in the AABB region."""
def step(self, dt: float, velocity_iterations: int, position_iterations: int) -> None:
"""step the simulation, e.g. world.step(1/60, 8, 3)"""
def destroy(self):
"""destroy this world."""
# enum
# {
# e_shapeBit = 0x0001, ///< draw shapes