linux fixes, bugfixes, comments

2016-12-21 19:15:43 -02:00
parent 1672673839
commit 81f744b805
149 changed files with 2371 additions and 3413 deletions
--- a/include/bounce/common/draw.h
+++ b/include/bounce/common/draw.h
@@ -19,10 +19,10 @@
 #ifndef B3_DRAW_H
 #define B3_DRAW_H

-#include <bounce\common\math\math.h>
-#include <bounce\collision\shapes\aabb3.h>
+#include <bounce/common/math/math.h>
+#include <bounce/collision/shapes/aabb3.h>

-// Color channels used by the debug b3Draw interface.
+// Color channels used by the debug draw interface.
 struct b3Color 
 {
 	b3Color() { }
@@ -32,11 +32,11 @@ struct b3Color
 	float32 r, g, b, a;
 };

-// Implement this interface and set to a world so it can b3Draw the physics entities.
+// Implement this interface and set to a world so it can draw the physics entities.
 class b3Draw 
 {
 public :
-	// Bit flags to tell the world what needs to be b3Draw.
+	// Bit flags to tell the world what needs to be draw.
 	enum b3Flags
 	{
 		e_shapesFlag = 0x0001,
@@ -88,10 +88,10 @@ public :
 	// Draw a AABB.
 	virtual void DrawAABB(const b3AABB3& aabb, const b3Color& color) = 0;

-	// Draw a b3Transform.
+	// Draw a transform.
 	virtual void DrawTransform(const b3Transform& xf) = 0;

-	// Debug b3Draw flags.
+	// Debug draw flags.
 	u32 m_flags;
 };

--- a/include/bounce/common/geometry.h
+++ b/include/bounce/common/geometry.h
@@ -19,8 +19,8 @@
 #ifndef B3_GEOMETRY_H
 #define B3_GEOMETRY_H

-#include <bounce\common\math\math.h>
-#include <bounce\common\math\transform.h>
+#include <bounce/common/math/math.h>
+#include <bounce/common/math/transform.h>

 // A triangle in indexed form.
 struct b3Triangle
@@ -106,13 +106,13 @@ inline b3Plane b3Mul(const b3Transform& T, const b3Plane& plane)
 	return b3Plane(normal, plane.offset + b3Dot(normal, T.position));
 }

+// Compute the distance between a point and a plane.
 inline float32 b3Distance(const b3Vec3& P, const b3Plane& plane)
 {
 	return b3Dot(plane.normal, P) - plane.offset;
 }

-// Project a point onto a plane.
-// The plane must be normalized.
+// Project a point onto a normal plane.
 inline b3Vec3 b3Project(const b3Vec3& P, const b3Plane& plane)
 {
 	float32 fraction = b3Distance(P, plane);
--- a/include/bounce/common/math/mat.h
+++ b/include/bounce/common/math/mat.h
@@ -19,7 +19,7 @@
 #ifndef B3_MAT_H
 #define B3_MAT_H

-#include <bounce\common\math\math.h>
+#include <bounce/common/math/math.h>

 // A vector stored in column-major order.
 template<u32 n>
@@ -79,7 +79,10 @@ struct b3Mat
 };

 // Solve Ax = b.
-// Warning: Make sure to pass a copy of A to the function. It will be invalidated.
+// It doesn't compute the inverse. 
+// Therefore, is more efficient.
+// Returns false if the matrix is singular.
+// Warning: Make sure to pass a copy of the original matrix to the function. A will be invalidated.
 bool b3Solve(float32* b, float32* A, u32 n);

-#endif
+#endif
--- a/include/bounce/common/math/mat22.h
+++ b/include/bounce/common/math/mat22.h
@@ -19,7 +19,7 @@
 #ifndef B3_MAT_22_H
 #define B3_MAT_22_H

-#include <bounce\common\math\vec2.h>
+#include <bounce/common/math/vec2.h>

 // A 2-by-2 matrix stored in column-major order.
 struct b3Mat22
@@ -27,7 +27,7 @@ struct b3Mat22
 	// Does nothing for performance.
 	b3Mat22() { }

-	// Set this matrix from two vector elements.
+	// Set this matrix from two vectors.
 	b3Mat22(const b3Vec2& _x, const b3Vec2& _y) : x(_x), y(_y) { }

 	// Solve Ax = b. 
--- a/include/bounce/common/math/mat33.h
+++ b/include/bounce/common/math/mat33.h
@@ -19,7 +19,7 @@
 #ifndef B3_MAT_33_H
 #define B3_MAT_33_H

-#include <bounce\common\math\vec3.h>
+#include <bounce/common/math/vec3.h>

 // A 3-by-3 matrix stored in column-major order.
 struct b3Mat33 
@@ -27,7 +27,7 @@ struct b3Mat33
 	// Does nothing for performance.
 	b3Mat33() { }

-	// Set this matrix from three elements.
+	// Set this matrix from three column vectors.
 	b3Mat33(const b3Vec3& _x, const b3Vec3& _y, const b3Vec3& _z) :	x(_x), y(_y), z(_z) { }

 	// Read an indexed column vector from this matrix.
@@ -42,6 +42,12 @@ struct b3Mat33
 		return (&x)[i];
 	}

+	// Read an indexed element from this matrix.
+	float32 operator()(u32 i, u32 j) const
+	{
+		return (&x.x)[i + 3 * j];
+	}
+
 	// Add a matrix to this matrix.
 	void operator+=(const b3Mat33& B)
 	{
@@ -72,11 +78,6 @@ struct b3Mat33
 	// Returns the zero vector if the matrix is singular.
 	b3Vec3 Solve(const b3Vec3& b) const;

-	float32 operator()(u32 i, u32 j) const
-	{
-		return (&x.x)[i + 3 * j];
-	}
-
 	b3Vec3 x, y, z;
 };

@@ -134,7 +135,7 @@ inline b3Mat33 b3Mul(const b3Mat33& A, const b3Mat33& B)

 // Multiply the transpose of a matrix times a vector. If 
 // the matrix represents a rotation frame this transforms the 
-// vector from one frame to another (inverse b3Transform).
+// vector from one frame to another (inverse transform).
 inline b3Vec3 b3MulT(const b3Mat33& A, const b3Vec3& v) 
 {
 	return b3Vec3(b3Dot(A.x, v), b3Dot(A.y, v), b3Dot(A.z, v));
--- a/include/bounce/common/math/math.h
+++ b/include/bounce/common/math/math.h
@@ -20,7 +20,7 @@
 #define B3_MATH_H

 #include <cmath>
-#include <bounce\common\settings.h>
+#include <bounce/common/settings.h>

 inline bool b3IsValid(float32 fx)
 {
@@ -30,13 +30,13 @@ inline bool b3IsValid(float32 fx)

 inline float32 b3Sqrt(float32 x) 
 {
-	return sqrtf(x);
+	return std::sqrt(x);
 }

 template <class T>
 inline T b3Abs(T x) 
 {
-	return abs(x);
+	return std::abs(x);
 }

 template <class T>
--- a/include/bounce/common/math/quat.h
+++ b/include/bounce/common/math/quat.h
@@ -19,10 +19,10 @@
 #ifndef B3_QUAT_H
 #define B3_QUAT_H

-#include <bounce\common\math\math.h>
-#include <bounce\common\math\mat33.h>
+#include <bounce/common/math/math.h>
+#include <bounce/common/math/mat33.h>

-// A quaternion represents an orientation with 4 real numbers.
+// A quaternion can represent an orientation with 4 scalars.
 struct b3Quat 
 {
 	// Default constructor does nothing for performance.
@@ -157,13 +157,13 @@ inline b3Quat b3Normalize(const b3Quat& q)
 	return b3Quat(0.0f, 0.0f, 0.0f, 1.0f);
 }

-// Compute the dot poduct of two quaternions.
+// Perform the dot poduct of two quaternions.
 inline float b3Dot(const b3Quat& a, const b3Quat& b)
 {
 	return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
 }

-// Compute the conjugate of a quaternion.
+// Conjugate of a quaternion.
 inline b3Quat b3Conjugate(const b3Quat& q)
 {
 	return b3Quat(-q.x, -q.y, -q.z, q.w);
@@ -230,7 +230,6 @@ inline b3Quat b3Slerp(const b3Quat& a, const b3Quat& b, float32 fraction)
 	b3Quat q1 = sin(w1 * angle) * a;
 	b3Quat q2 = sin(w2 * angle) * b2;
 	float32 invSin = 1.0f / sine;
-
 	return invSin * (q1 + q2);
 }

--- a/include/bounce/common/math/transform.h
+++ b/include/bounce/common/math/transform.h
@@ -19,10 +19,10 @@
 #ifndef B3_TRANSFORM_H
 #define B3_TRANSFORM_H

-#include <bounce\common\math\mat33.h>
-#include <bounce\common\math\quat.h>
+#include <bounce/common/math/mat33.h>
+#include <bounce/common/math/quat.h>

-// A b3Transform represents a rigid frame. 
+// A transform represents a rigid frame. 
 // It has a translation representing a position
 // and a rotation representing an orientation.
 struct b3Transform 
@@ -30,7 +30,7 @@ struct b3Transform
 	// Default ctor does nothing for performance.
 	b3Transform() { }
 	
-	// Set this b3Transform from a translation vector and an orientation 
+	// Set this transform from a translation vector and an orientation 
 	// quaternion.
 	b3Transform(const b3Vec3& p, const b3Quat& q)
 	{
@@ -38,7 +38,7 @@ struct b3Transform
 		rotation = b3ConvertQuatToRot(q);
 	}
 	
-	// Set this b3Transform to the identity.
+	// Set this transform to the identity.
 	void SetIdentity() 
 	{
 		position.SetZero();
@@ -61,7 +61,7 @@ struct b3Sweep
 	b3Vec3 worldCenter; // world center
 	b3Quat orientation; // world orientation

-	// Get this sweep b3Transform at a given time between [0, 1]
+	// Get this sweep transform at a given time between [0, 1]
 	b3Transform GetTransform(float32 t) const;

 	// Advance to a new initial state.
@@ -90,7 +90,7 @@ inline void b3Sweep::Advance(float32 t)
 	t0 = t;
 }

-// Multiply a b3Transform times a vector. If the b3Transform 
+// Multiply a transform times a vector. If the transform 
 // represents a frame this returns the vector in terms 
 // of the frame.
 inline b3Vec3 operator*(const b3Transform& T, const b3Vec3& v)
@@ -98,7 +98,7 @@ inline b3Vec3 operator*(const b3Transform& T, const b3Vec3& v)
 	return b3Mul(T.rotation, v) + T.position;
 }

-// Multiply a b3Transform times another b3Transform (composed b3Transform).
+// Multiply a transform times another transform (composed transform).
 // [A y][B x] = [AB Ax+y]
 // [0 1][0 1]   [0  1   ]
 inline b3Transform operator*(const b3Transform& A, const b3Transform& B)
@@ -109,13 +109,13 @@ inline b3Transform operator*(const b3Transform& A, const b3Transform& B)
 	return C;
 }

-// Multiply a b3Transform times a vector.
+// Multiply a transform times a vector.
 inline b3Vec3 b3Mul(const b3Transform& T, const b3Vec3& v)
 {
 	return b3Mul(T.rotation, v) + T.position;
 }

-// Multiply a b3Transform times another b3Transform.
+// Multiply a transform times another transform.
 // [A y][B x] = [AB Ax+y]
 // [0 1][0 1]   [0  1   ]
 inline b3Transform b3Mul(const b3Transform& A, const b3Transform& B)
@@ -126,8 +126,8 @@ inline b3Transform b3Mul(const b3Transform& A, const b3Transform& B)
 	return C;
 }

-// Multiply the transpose of one b3Transform (inverse 
-// b3Transform) times another b3Transform (composed b3Transform).
+// Multiply the transpose of one transform (inverse 
+// transform) times another transform (composed transform).
 //[A^-1  -A^-1*y][B x] = [A^-1*B A^-1(x-y)]
 //[0      1     ][0 1]   [0      1        ]
 inline b3Transform b3MulT(const b3Transform& A, const b3Transform& B) 
@@ -138,9 +138,9 @@ inline b3Transform b3MulT(const b3Transform& A, const b3Transform& B)
 	return C;
 }

-// Multiply the transpose of a b3Transform times a vector.
-// If the b3Transform represents a frame then this transforms
-// the vector from one frame to another (inverse b3Transform).
+// Multiply the transpose of a transform times a vector.
+// If the transform represents a frame then this transforms
+// the vector from one frame to another (inverse transform).
 //[A^-1  -A^-1*y][x] = A^-1*x - A^-1*y = A^-1 * (x - y)
 //[0     1      ][1]   
 inline b3Vec3 b3MulT(const b3Transform& A, const b3Vec3& v)
@@ -148,7 +148,7 @@ inline b3Vec3 b3MulT(const b3Transform& A, const b3Vec3& v)
 	return b3MulT(A.rotation, v - A.position);
 }

-// Inverse b3Transform.
+// Inverse transform.
 inline b3Transform b3Inverse(const b3Transform& T)
 {
 	b3Transform B;
--- a/include/bounce/common/math/vec2.h
+++ b/include/bounce/common/math/vec2.h
@@ -19,7 +19,7 @@
 #ifndef B3_VEC2_H
 #define B3_VEC2_H

-#include <bounce\common\math\math.h>
+#include <bounce/common/math/math.h>

 // A 2D column vector.
 struct b3Vec2
--- a/include/bounce/common/math/vec3.h
+++ b/include/bounce/common/math/vec3.h
@@ -19,7 +19,7 @@
 #ifndef B3_VEC_3_H
 #define B3_VEC_3_H

-#include <bounce\common\math\math.h>
+#include <bounce/common/math/math.h>

 // A 3D column vector.
 struct b3Vec3 
--- a/include/bounce/common/memory/block_pool.h
+++ b/include/bounce/common/memory/block_pool.h
@@ -19,7 +19,7 @@
 #ifndef B3_BLOCK_POOL_H
 #define B3_BLOCK_POOL_H

-#include <bounce\common\settings.h>
+#include <bounce/common/settings.h>

 // Number of blocks per chunk.
 const u32 b3_blockCount = 32;
--- a/include/bounce/common/memory/stack_allocator.h
+++ b/include/bounce/common/memory/stack_allocator.h
@@ -19,13 +19,13 @@
 #ifndef B3_STACK_ALLOCATOR_H
 #define B3_STACK_ALLOCATOR_H

-#include <bounce\common\settings.h>
+#include <bounce/common/settings.h>

 // Allocate 10 MiB from the stack. 
 // Increase as you want.
 const u32 b3_maxStackSize = B3_MiB(10);

-// An stack allocator.
+// A stack allocator.
 class b3StackAllocator 
 {
 public :
--- a/include/bounce/common/settings.h
+++ b/include/bounce/common/settings.h
@@ -60,7 +60,7 @@ typedef float float32;
 #define B3_AABB_MULTIPLIER (2.0f)

 // Collision and constraint tolerance.
-#define B3_LINEAR_SLOP (0.005f)
+#define B3_LINEAR_SLOP (0.01f)

 // Collision and constraint tolerance.
 #define B3_ANGULAR_SLOP (2.0f / 180.0f * B3_PI)
--- a/include/bounce/common/template/array.h
+++ b/include/bounce/common/template/array.h
@@ -19,7 +19,7 @@
 #ifndef B3_ARRAY_POD_H
 #define B3_ARRAY_POD_H

-#include <bounce\common\settings.h>
+#include <bounce/common/settings.h>

 // An array for bytes (POD).
 template <typename T>
--- a/include/bounce/common/template/list.h
+++ b/include/bounce/common/template/list.h
@@ -19,7 +19,7 @@
 #ifndef B3_LIST_H
 #define B3_LIST_H

-#include <bounce\common\settings.h>
+#include <bounce/common/settings.h>

 // A singly-linked list.
 template<class T>
@@ -28,7 +28,7 @@ class b3List1
 public:
 	b3List1()
 	{
-		m_head = nullptr;
+		m_head = NULL;
 		m_count = 0;
 	}
 	
@@ -58,7 +58,7 @@ class b3List2
 public:
 	b3List2()
 	{
-		m_head = nullptr;
+		m_head = NULL;
 		m_count = 0;
 	}

@@ -66,7 +66,7 @@ public:
 	
 	void PushFront(T* link)
 	{
-		link->m_prev = nullptr;
+		link->m_prev = NULL;
 		link->m_next = m_head;
 		if (m_head)
 		{
--- a/include/bounce/common/template/object_array.h
+++ b/include/bounce/common/template/object_array.h
@@ -19,7 +19,7 @@
 #ifndef B3_OBJECT_ARRAY_H
 #define B3_OBJECT_ARRAY_H

-#include <bounce\common\settings.h>
+#include <bounce/common/settings.h>

 // An array for objects.
 template <typename T>
--- a/include/bounce/common/template/stack.h
+++ b/include/bounce/common/template/stack.h
@@ -19,7 +19,7 @@
 #ifndef B3_STACK_H
 #define B3_STACK_H

-#include <bounce\common\settings.h>
+#include <bounce/common/settings.h>

 // A growable stack for plain-old-data (POD).
 template <typename T, u32 N>
@@ -39,7 +39,7 @@ public:
 		{
 			b3Free(m_elements);
 		}
-		m_elements = nullptr;
+		m_elements = NULL;
 	}

 	const T& Top() const
--- a/include/bounce/common/time.h
+++ b/include/bounce/common/time.h
@@ -19,45 +19,195 @@
 #ifndef B3_TIME_H
 #define B3_TIME_H

-#include <bounce\common\settings.h>
+#include <bounce/common/settings.h>
+
+#define B3_WINDOWS 1
+#define B3_MAC 2
+#define B3_UNIX 3
+
+#if defined (_WIN32)
+#define B3_PLATFORM B3_WINDOWS
+#elif defined( __APPLE__ )
+#define B3_PLATFORM B3_MAC
+#else
+#define B3_PLATFORM B3_UNIX
+#endif
+
+#if B3_PLATFORM == B3_WINDOWS
+
+#include <Windows.h>

 // A timer class that accumulates time.
-// Usefull for measuring elapsed times of 
-// sections of code.
+// Usefull for measuring elapsed times between code sections.
 class b3Time 
 {
-public :
-	b3Time();
+public:
+	b3Time()
+	{
+		LARGE_INTEGER c;
+		QueryPerformanceCounter(&c);
+		m_c0 = c.QuadPart;
+		m_t0 = 0.0;
+		m_t = 0.0;
+	}
 	
-	// Get the accumulated time in miliseconds
-	// from this timer.
-	float64 GetCurMilis() const;
+	// Get the accumulated time in miliseconds from this timer.
+	float64 GetCurrentMilis() const
+	{
+		return m_t;
+	}

 	// Get the elapsed time since this timer was updated.
-	float64 GetElapsedMilis() const;
+	float64 GetElapsedMilis() const
+	{	
+		return m_t - m_t0;
+	}

-	// Add the elapsed time since this function
-	// was called to this timer.
-	void Update();
+	// Add the elapsed time since this function was called to this timer.
+	void Update()
+	{
+		static float64 inv_frequency = 0.0;
+		if (inv_frequency == 0.0)
+		{
+			LARGE_INTEGER c;
+			QueryPerformanceFrequency(&c);
+			
+			float64 cycles_per_s = float64(c.QuadPart);
+			float64 s_per_cycle = 1.0 / cycles_per_s;
+			float64 ms_per_cycle = 1000.0 * s_per_cycle;
+			inv_frequency = ms_per_cycle;
+		}
+
+		LARGE_INTEGER c;
+		QueryPerformanceCounter(&c);
+
+		float64 dt = inv_frequency * float64(c.QuadPart - m_c0);
+		m_c0 = c.QuadPart;
+		Add(dt);
+	}
+
+	// Add time to this timer.
+	void Add(float64 dt)	
+	{
+		m_t0 = m_t;
+		m_t += dt;
+	}

-	// Add a given ammout of time to this timer.
-	void UpdateBy(float64 dt);
 private:
-	static float64 m_invFrequency;
-	
-	u64 m_lastRealTime;
-	float64 m_lastTime;
-	float64 m_curTime;
+	u64 m_c0;
+	float64 m_t0;
+	float64 m_t;
 };

-inline float64 b3Time::GetCurMilis() const 
-{ 
-	return m_curTime;
-}
+#elif B3_PLATFORM == B3_MAC

-inline float64 b3Time::GetElapsedMilis() const 
-{ 
-	return m_curTime - m_lastTime;
-}
+#include <mach/mach_time.h>
+
+// A timer class that accumulates time.
+// Usefull for measuring elapsed times between code sections.
+class b3Time 
+{
+public:
+	b3Time()
+	{
+		m_c0 = mach_absolute_time();
+		m_t0 = 0.0;
+		m_t = 0.0;
+	}
+	
+	// Get the accumulated time in miliseconds from this timer.
+	double GetCurrentMilis() const
+	{
+		return m_t;
+	}
+
+	// Get the elapsed time since this timer was updated.
+	double GetElapsedMilis() const
+	{	
+		return m_t - m_t0;
+	}
+
+	// Add the elapsed time since this function was called to this timer.
+	void Update()
+	{
+		static double inv_frequency = 0.0;
+		if (inv_frequency == 0.0)
+		{
+			mach_timebase_info_data_t info;
+			mach_timebase_info(&info);
+			inv_frequency = double(info.numer) / (double(info.denom) * 1.0e6);
+		}
+		
+		uint64_t c = mach_absolute_time();
+		double dt = inv_frequency * (double)(c - m_c0);
+		m_c0 = c;
+		Add(dt);
+	}
+
+	// Add time to this timer.
+	void Add(double dt)	
+	{
+		m_t0 = m_t;
+		m_t += dt;
+	}
+
+private:
+	uint64_t m_c0;
+	double m_t0;
+	double m_t;
+};
+
+#else
+
+#include <time.h>
+
+// A timer class that accumulates time.
+// Usefull for measuring elapsed times between code sections.
+class b3Time 
+{
+public:
+	b3Time()
+	{
+		clock_gettime(CLOCK_MONOTONIC, &m_c0);
+		m_t0 = 0.0;
+		m_t = 0.0;
+	}
+	
+	// Get the accumulated time in miliseconds from this timer.
+	double GetCurrentMilis() const
+	{
+		return m_t;
+	}
+
+	// Get the elapsed time since this timer was updated.
+	double GetElapsedMilis() const
+	{	
+		return m_t - m_t0;
+	}
+
+	// Add the elapsed time since this function was called to this timer.
+	void Update()
+	{		
+		struct timespec c;
+		clock_gettime(CLOCK_MONOTONIC, &c);
+		double dt = (double)(c.tv_nsec - m_c0.tv_nsec) * 1.0e-6;
+		m_c0 = c;
+		Add(dt);
+	}
+
+	// Add time to this timer.
+	void Add(double dt)	
+	{
+		m_t0 = m_t;
+		m_t += dt;
+	}
+
+private:
+	struct timespec m_c0;
+	double m_t0;
+	double m_t;
+};
+
+#endif // B3_PLATFORM

 #endif