Update Box2D to 2.4.2

Author: tpimh

src/libraries/box2d/b2_body.h

@@ -243,7 +243,7 @@ class B2_API b2Body
 
 	/// Get the mass data of the body.
 	/// @return a struct containing the mass, inertia and center of the body.
-	void GetMassData(b2MassData* data) const;
+	b2MassData GetMassData() const;
 
 	/// Set the mass properties to override the mass properties of the fixtures.
 	/// Note that this changes the center of mass position.
@@ -377,9 +377,7 @@ class B2_API b2Body
 
 	/// Get the user data pointer that was provided in the body definition.
 	b2BodyUserData& GetUserData();
-
-	/// Set the user data. Use this to store your application specific data.
-	void SetUserData(void* data);
+	const b2BodyUserData& GetUserData() const;
 
 	/// Get the parent world of this body.
 	b2World* GetWorld();
@@ -404,7 +402,6 @@ class B2_API b2Body
 	friend class b2PrismaticJoint;
 	friend class b2PulleyJoint;
 	friend class b2RevoluteJoint;
-	friend class b2RopeJoint;
 	friend class b2WeldJoint;
 	friend class b2WheelJoint;
 
@@ -551,11 +548,13 @@ inline float b2Body::GetInertia() const
 	return m_I + m_mass * b2Dot(m_sweep.localCenter, m_sweep.localCenter);
 }
 
-inline void b2Body::GetMassData(b2MassData* data) const
+inline b2MassData b2Body::GetMassData() const
 {
-	data->mass = m_mass;
-	data->I = m_I + m_mass * b2Dot(m_sweep.localCenter, m_sweep.localCenter);
-	data->center = m_sweep.localCenter;
+	b2MassData data;
+	data.mass = m_mass;
+	data.I = m_I + m_mass * b2Dot(m_sweep.localCenter, m_sweep.localCenter);
+	data.center = m_sweep.localCenter;
+	return data;
 }
 
 inline b2Vec2 b2Body::GetWorldPoint(const b2Vec2& localPoint) const
@@ -736,6 +735,11 @@ inline b2BodyUserData& b2Body::GetUserData()
 	return m_userData;
 }
 
+inline const b2BodyUserData& b2Body::GetUserData() const
+{
+	return m_userData;
+}
+
 inline void b2Body::ApplyForce(const b2Vec2& force, const b2Vec2& point, bool wake)
 {
 	if (m_type != b2_dynamicBody)

src/libraries/box2d/b2_collision.h

@@ -244,7 +244,7 @@ B2_API void b2CollideEdgeAndCircle(b2Manifold* manifold,
 /// Compute the collision manifold between an edge and a polygon.
 B2_API void b2CollideEdgeAndPolygon(b2Manifold* manifold,
 							   const b2EdgeShape* edgeA, const b2Transform& xfA,
-							   const b2PolygonShape* circleB, const b2Transform& xfB);
+							   const b2PolygonShape* polygonB, const b2Transform& xfB);
 
 /// Clipping for contact manifolds.
 B2_API int32 b2ClipSegmentToLine(b2ClipVertex vOut[2], const b2ClipVertex vIn[2],
@@ -255,6 +255,29 @@ B2_API bool b2TestOverlap(	const b2Shape* shapeA, int32 indexA,
 					const b2Shape* shapeB, int32 indexB,
 					const b2Transform& xfA, const b2Transform& xfB);
 
+/// Convex hull used for polygon collision
+struct b2Hull
+{
+	b2Vec2 points[b2_maxPolygonVertices];
+	int32 count;
+};
+
+/// Compute the convex hull of a set of points. Returns an empty hull if it fails.
+/// Some failure cases:
+/// - all points very close together
+/// - all points on a line
+/// - less than 3 points
+/// - more than b2_maxPolygonVertices points
+/// This welds close points and removes collinear points.
+b2Hull b2ComputeHull(const b2Vec2* points, int32 count);
+
+/// This determines if a hull is valid. Checks for:
+/// - convexity
+/// - collinear points
+/// This is expensive and should not be called at runtime.
+bool b2ValidateHull(const b2Hull& hull);
+
+
 // ---------------- Inline Functions ------------------------------------------
 
 inline bool b2AABB::IsValid() const

src/libraries/box2d/b2_fixture.h

@@ -157,6 +157,7 @@ class B2_API b2Fixture
 	/// Get the user data that was assigned in the fixture definition. Use this to
 	/// store your application specific data.
 	b2FixtureUserData& GetUserData();
+	const b2FixtureUserData& GetUserData() const;
 
 	/// Test a point for containment in this fixture.
 	/// @param p a point in world coordinates.
@@ -280,6 +281,11 @@ inline b2FixtureUserData& b2Fixture::GetUserData()
 	return m_userData;
 }
 
+inline const b2FixtureUserData& b2Fixture::GetUserData() const
+{
+	return m_userData;
+}
+
 inline b2Body* b2Fixture::GetBody()
 {
 	return m_body;

src/libraries/box2d/b2_gear_joint.h

@@ -114,6 +114,7 @@ class B2_API b2GearJoint : public b2Joint
 
 	float m_constant;
 	float m_ratio;
+	float m_tolerance;
 
 	float m_impulse;
 

src/libraries/box2d/b2_joint.h

@@ -44,7 +44,6 @@ enum b2JointType
 	e_wheelJoint,
     e_weldJoint,
 	e_frictionJoint,
-	e_ropeJoint,
 	e_motorJoint
 };
 
@@ -138,6 +137,7 @@ class B2_API b2Joint
 
 	/// Get the user data pointer.
 	b2JointUserData& GetUserData();
+	const b2JointUserData& GetUserData() const;
 
 	/// Short-cut function to determine if either body is enabled.
 	bool IsEnabled() const;
@@ -220,6 +220,11 @@ inline b2JointUserData& b2Joint::GetUserData()
 	return m_userData;
 }
 
+inline const b2JointUserData& b2Joint::GetUserData() const
+{
+	return m_userData;
+}
+
 inline bool b2Joint::GetCollideConnected() const
 {
 	return m_collideConnected;

src/libraries/box2d/b2_math.h

@@ -42,7 +42,7 @@ inline bool b2IsValid(float x)
 struct B2_API b2Vec2
 {
 	/// Default constructor does nothing (for performance).
-	b2Vec2() {}
+	b2Vec2() = default;
 
 	/// Construct using coordinates.
 	b2Vec2(float xIn, float yIn) : x(xIn), y(yIn) {}
@@ -133,7 +133,7 @@ struct B2_API b2Vec2
 struct B2_API b2Vec3
 {
 	/// Default constructor does nothing (for performance).
-	b2Vec3() {}
+	b2Vec3() = default;
 
 	/// Construct using coordinates.
 	b2Vec3(float xIn, float yIn, float zIn) : x(xIn), y(yIn), z(zIn) {}
@@ -172,7 +172,7 @@ struct B2_API b2Vec3
 struct B2_API b2Mat22
 {
 	/// The default constructor does nothing (for performance).
-	b2Mat22() {}
+	b2Mat22() = default;
 
 	/// Construct this matrix using columns.
 	b2Mat22(const b2Vec2& c1, const b2Vec2& c2)
@@ -246,7 +246,7 @@ struct B2_API b2Mat22
 struct B2_API b2Mat33
 {
 	/// The default constructor does nothing (for performance).
-	b2Mat33() {}
+	b2Mat33() = default;
 
 	/// Construct this matrix using columns.
 	b2Mat33(const b2Vec3& c1, const b2Vec3& c2, const b2Vec3& c3)
@@ -287,7 +287,7 @@ struct B2_API b2Mat33
 /// Rotation
 struct B2_API b2Rot
 {
-	b2Rot() {}
+	b2Rot() = default;
 
 	/// Initialize from an angle in radians
 	explicit b2Rot(float angle)
@@ -339,7 +339,7 @@ struct B2_API b2Rot
 struct B2_API b2Transform
 {
 	/// The default constructor does nothing.
-	b2Transform() {}
+	b2Transform() = default;
 
 	/// Initialize using a position vector and a rotation.
 	b2Transform(const b2Vec2& position, const b2Rot& rotation) : p(position), q(rotation) {}
@@ -368,6 +368,8 @@ struct B2_API b2Transform
 /// we must interpolate the center of mass position.
 struct B2_API b2Sweep
 {
+	b2Sweep() = default;
+
 	/// Get the interpolated transform at a specific time.
 	/// @param transform the output transform
 	/// @param beta is a factor in [0,1], where 0 indicates alpha0.

src/libraries/box2d/b2_polygon_shape.h

@@ -25,6 +25,8 @@
 #include "b2_api.h"
 #include "b2_shape.h"
 
+struct b2Hull;
+
 /// A solid convex polygon. It is assumed that the interior of the polygon is to
 /// the left of each edge.
 /// Polygons have a maximum number of vertices equal to b2_maxPolygonVertices.
@@ -43,9 +45,13 @@ class B2_API b2PolygonShape : public b2Shape
 	/// Create a convex hull from the given array of local points.
 	/// The count must be in the range [3, b2_maxPolygonVertices].
 	/// @warning the points may be re-ordered, even if they form a convex polygon
-	/// @warning collinear points are handled but not removed. Collinear points
-	/// may lead to poor stacking behavior.
-	void Set(const b2Vec2* points, int32 count);
+	/// @warning if this fails then the polygon is invalid
+	/// @returns true if valid
+	bool Set(const b2Vec2* points, int32 count);
+
+	/// Create a polygon from a given convex hull (see b2ComputeHull).
+	/// @warning the hull must be valid or this will crash or have unexpected behavior
+	void Set(const b2Hull& hull);
 
 	/// Build vertices to represent an axis-aligned box centered on the local origin.
 	/// @param hx the half-width.
@@ -84,12 +90,4 @@ class B2_API b2PolygonShape : public b2Shape
 	int32 m_count;
 };
 
-inline b2PolygonShape::b2PolygonShape()
-{
-	m_type = e_polygon;
-	m_radius = b2_polygonRadius;
-	m_count = 0;
-	m_centroid.SetZero();
-}
-
 #endif

src/libraries/box2d/b2_rope.h

@@ -55,6 +55,8 @@ struct B2_API b2RopeTuning
 		bendingModel = b2_pbdAngleBendingModel;
 		damping = 0.0f;
 		stretchStiffness = 1.0f;
+		stretchHertz = 1.0f;
+		stretchDamping = 0.0f;
 		bendStiffness = 0.5f;
 		bendHertz = 1.0f;
 		bendDamping = 0.0f;

src/libraries/box2d/b2_weld_joint.h

@@ -85,7 +85,7 @@ class B2_API b2WeldJoint : public b2Joint
 	float GetReferenceAngle() const { return m_referenceAngle; }
 
 	/// Set/get stiffness in N*m
-	void SetStiffness(float hz) { m_stiffness = hz; }
+	void SetStiffness(float stiffness) { m_stiffness = stiffness; }
 	float GetStiffness() const { return m_stiffness; }
 
 	/// Set/get damping in N*m*s

src/libraries/box2d/b2_world.h

@@ -221,6 +221,9 @@ class B2_API b2World
 	friend class b2ContactManager;
 	friend class b2Controller;
 
+	b2World(const b2World&) = delete;
+	void operator=(const b2World&) = delete;
+
 	void Solve(const b2TimeStep& step);
 	void SolveTOI(const b2TimeStep& step);