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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
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Lines changed: 1113 additions & 811 deletions

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‎src/Box2D.NET.Samples/Graphics/Draws.cs‎

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Original file line numberDiff line numberDiff line change
@@ -3,8 +3,6 @@
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// SPDX-License-Identifier: MIT
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using System;
6-
using System.Numerics;
7-
using ImGuiNET;
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using static Box2D.NET.B2MathFunction;
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using static Box2D.NET.Samples.Graphics.Cameras;
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using static Box2D.NET.Samples.Graphics.Backgrounds;

‎src/Box2D.NET.Samples/SampleApp.cs‎

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@@ -64,7 +64,7 @@ public int Run(string[] args)
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SampleFactory.Shared.LoadSamples();
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SampleFactory.Shared.SortSamples();
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var currentCulture = CultureInfo.CurrentCulture;
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string bitness = Environment.Is64BitOperatingSystem ? "64-bit" : "32-bit";
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@@ -98,7 +98,7 @@ public int Run(string[] args)
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_context.glfw.WindowHint(WindowHintInt.ContextVersionMinor, 3);
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_context.glfw.WindowHint(WindowHintBool.OpenGLForwardCompat, true);
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_context.glfw.WindowHint(WindowHintOpenGlProfile.OpenGlProfile, OpenGlProfile.Core);
101-
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// MSAA
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_context.glfw.WindowHint(WindowHintInt.Samples, 4);
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options.Samples = 4;
@@ -176,7 +176,7 @@ private void OnWindowResize(Vector2D<int> resize)
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{
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var width = resize.X;
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var height = resize.Y;
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_context.camera.width = width;
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_context.camera.height = height;
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}
@@ -374,10 +374,10 @@ private void OnWindowRender(double dt)
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ImGui.End();
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s_sample.ResetText();
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377+
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var title = SampleFactory.Shared.GetTitle(_context.sampleIndex);
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s_sample.DrawColoredTextLine(B2HexColor.b2_colorYellow, title);
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string buffer = $"{1000.0f * _frameTime:0.0} ms - step {s_sample.m_stepCount} - " +
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$"camera ({_context.camera.center.X:G}, {_context.camera.center.Y:G}, {_context.camera.zoom:G})";
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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)
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return null;
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}
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425-
private void FreeFcn(byte[] mem)
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private void FreeFcn(byte[] mem, uint size)
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{
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// #if defined( _MSC_VER ) || defined( __MINGW32__ ) || defined( __MINGW64__ )
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// _aligned_free( mem );

‎src/Box2D.NET.Samples/Samples/Benchmarks/BenchmarkBarrel.cs‎

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Original file line numberDiff line numberDiff line change
@@ -61,7 +61,7 @@ public BenchmarkBarrel(SampleContext context) : base(context)
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float gridSize = 1.0f;
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B2BodyDef bodyDef = b2DefaultBodyDef();
64-
B2BodyId groundId = b2CreateBody(m_worldId, ref bodyDef);
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B2BodyId groundId = b2CreateBody(m_worldId, bodyDef);
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B2ShapeDef shapeDef = b2DefaultShapeDef();
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@@ -232,14 +232,14 @@ void CreateScene()
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233233
if (m_shapeType == ShapeType.e_circleShape)
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{
235-
m_bodies[index] = b2CreateBody(m_worldId, ref bodyDef);
235+
m_bodies[index] = b2CreateBody(m_worldId, bodyDef);
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circle.radius = RandomFloatRange(0.25f, 0.75f);
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shapeDef.material.rollingResistance = 0.2f;
238-
b2CreateCircleShape(m_bodies[index], ref shapeDef, ref circle);
238+
b2CreateCircleShape(m_bodies[index], shapeDef, circle);
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}
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else if (m_shapeType == ShapeType.e_capsuleShape)
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{
242-
m_bodies[index] = b2CreateBody(m_worldId, ref bodyDef);
242+
m_bodies[index] = b2CreateBody(m_worldId, bodyDef);
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capsule.radius = RandomFloatRange(0.25f, 0.5f);
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float length = RandomFloatRange(0.25f, 1.0f);
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capsule.center1 = new B2Vec2(0.0f, -0.5f * length);
@@ -249,13 +249,13 @@ void CreateScene()
249249
}
250250
else if (m_shapeType == ShapeType.e_mixShape)
251251
{
252-
m_bodies[index] = b2CreateBody(m_worldId, ref bodyDef);
252+
m_bodies[index] = b2CreateBody(m_worldId, bodyDef);
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254254
int mod = index % 3;
255255
if (mod == 0)
256256
{
257257
circle.radius = RandomFloatRange(0.25f, 0.75f);
258-
b2CreateCircleShape(m_bodies[index], ref shapeDef, ref circle);
258+
b2CreateCircleShape(m_bodies[index], shapeDef, circle);
259259
}
260260
else if (mod == 1)
261261
{
@@ -284,7 +284,7 @@ void CreateScene()
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}
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else if (m_shapeType == ShapeType.e_compoundShape)
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{
287-
m_bodies[index] = b2CreateBody(m_worldId, ref bodyDef);
287+
m_bodies[index] = b2CreateBody(m_worldId, bodyDef);
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b2CreatePolygonShape(m_bodies[index], ref shapeDef, ref left);
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b2CreatePolygonShape(m_bodies[index], ref shapeDef, ref right);

‎src/Box2D.NET.Samples/Samples/Benchmarks/BenchmarkBarrel24.cs‎

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@@ -32,21 +32,21 @@ public BenchmarkBarrel24(SampleContext context) : base(context)
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{
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B2BodyDef bodyDef = b2DefaultBodyDef();
35-
B2BodyId groundId = b2CreateBody(m_worldId, ref bodyDef);
35+
B2BodyId groundId = b2CreateBody(m_worldId, bodyDef);
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B2Polygon box = b2MakeBox(groundSize, 1.2f);
3838
B2ShapeDef shapeDef = b2DefaultShapeDef();
3939
b2CreatePolygonShape(groundId, ref shapeDef, ref box);
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4141
bodyDef.rotation = b2MakeRot(0.5f * B2_PI);
4242
bodyDef.position = new B2Vec2(groundSize, 2.0f * groundSize);
43-
groundId = b2CreateBody(m_worldId, ref bodyDef);
43+
groundId = b2CreateBody(m_worldId, bodyDef);
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4545
box = b2MakeBox(2.0f * groundSize, 1.2f);
4646
b2CreatePolygonShape(groundId, ref shapeDef, ref box);
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bodyDef.position = new B2Vec2(-groundSize, 2.0f * groundSize);
49-
groundId = b2CreateBody(m_worldId, ref bodyDef);
49+
groundId = b2CreateBody(m_worldId, bodyDef);
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b2CreatePolygonShape(groundId, ref shapeDef, ref box);
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}
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@@ -86,7 +86,7 @@ public BenchmarkBarrel24(SampleContext context) : base(context)
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bodyDef.position = new B2Vec2(x, y);
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89-
B2BodyId bodyId = b2CreateBody(m_worldId, ref bodyDef);
89+
B2BodyId bodyId = b2CreateBody(m_worldId, bodyDef);
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b2CreatePolygonShape(bodyId, ref shapeDef, ref cuboid);
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}
9292
}

‎src/Box2D.NET.Samples/Samples/Benchmarks/BenchmarkCapacity.cs‎

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@@ -39,7 +39,7 @@ public BenchmarkCapacity(SampleContext context) : base(context)
3939
{
4040
B2BodyDef bodyDef = b2DefaultBodyDef();
4141
bodyDef.position.Y = -5.0f;
42-
B2BodyId groundId = b2CreateBody(m_worldId, ref bodyDef);
42+
B2BodyId groundId = b2CreateBody(m_worldId, bodyDef);
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4444
B2Polygon box = b2MakeBox(800.0f, 5.0f);
4545
B2ShapeDef shapeDef = b2DefaultShapeDef();
@@ -95,7 +95,7 @@ public override void Step()
9595
bodyDef.position.X = x;
9696
bodyDef.position.Y += 0.5f;
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98-
B2BodyId bodyId = b2CreateBody(m_worldId, ref bodyDef);
98+
B2BodyId bodyId = b2CreateBody(m_worldId, bodyDef);
9999
b2CreatePolygonShape(bodyId, ref shapeDef, ref m_square);
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101101
x += 2.0f;

‎src/Box2D.NET.Samples/Samples/Benchmarks/BenchmarkCast.cs‎

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@@ -115,7 +115,7 @@ void BuildScene()
115115
if (fillTest <= m_fill)
116116
{
117117
bodyDef.position = new B2Vec2(x, y);
118-
B2BodyId bodyId = b2CreateBody(m_worldId, ref bodyDef);
118+
B2BodyId bodyId = b2CreateBody(m_worldId, bodyDef);
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120120
float ratio = RandomFloatRange(1.0f, m_ratio);
121121
float halfWidth = RandomFloatRange(0.05f, 0.25f);

‎src/Box2D.NET.Samples/Samples/Benchmarks/BenchmarkCompound.cs‎

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Original file line numberDiff line numberDiff line change
@@ -37,7 +37,7 @@ public BenchmarkCompound(SampleContext context) : base(context)
3737
#endif
3838
{
3939
B2BodyDef bodyDef = b2DefaultBodyDef();
40-
B2BodyId groundId = b2CreateBody(m_worldId, ref bodyDef);
40+
B2BodyId groundId = b2CreateBody(m_worldId, bodyDef);
4141
B2ShapeDef shapeDef = b2DefaultShapeDef();
4242

4343
for (int i = 0; i < height; ++i)
@@ -86,7 +86,7 @@ public BenchmarkCompound(SampleContext context) : base(context)
8686
{
8787
float xbody = -0.5f * grid * count * span + n * span * grid;
8888
bodyDef.position = new B2Vec2(xbody, ybody);
89-
B2BodyId bodyId = b2CreateBody(m_worldId, ref bodyDef);
89+
B2BodyId bodyId = b2CreateBody(m_worldId, bodyDef);
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9191
for (int i = 0; i < span; ++i)
9292
{

‎src/Box2D.NET.Samples/Samples/Benchmarks/BenchmarkCreateDestroy.cs‎

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@@ -44,7 +44,7 @@ public BenchmarkCreateDestroy(SampleContext context) : base(context)
4444
float groundSize = 100.0f;
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4646
B2BodyDef bodyDef = b2DefaultBodyDef();
47-
B2BodyId groundId = b2CreateBody(m_worldId, ref bodyDef);
47+
B2BodyId groundId = b2CreateBody(m_worldId, bodyDef);
4848

4949
B2Polygon box = b2MakeBox(groundSize, 1.0f);
5050
B2ShapeDef shapeDef = b2DefaultShapeDef();
@@ -106,7 +106,7 @@ void CreateScene()
106106
bodyDef.position = new B2Vec2(x, y);
107107

108108
B2_ASSERT(index < e_maxBodyCount);
109-
m_bodies[index] = b2CreateBody(m_worldId, ref bodyDef);
109+
m_bodies[index] = b2CreateBody(m_worldId, bodyDef);
110110
b2CreatePolygonShape(m_bodies[index], ref shapeDef, ref box);
111111

112112
index += 1;

‎src/Box2D.NET.Samples/Samples/Benchmarks/BenchmarkKinematic.cs‎

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Original file line numberDiff line numberDiff line change
@@ -46,7 +46,7 @@ public BenchmarkKinematic(SampleContext context) : base(context)
4646
// defer mass properties to avoid n-squared mass computations
4747
shapeDef.updateBodyMass = false;
4848

49-
B2BodyId bodyId = b2CreateBody(m_worldId, ref bodyDef);
49+
B2BodyId bodyId = b2CreateBody(m_worldId, bodyDef);
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5151
for (int i = -span; i < span; ++i)
5252
{

‎src/Box2D.NET.Samples/Samples/Benchmarks/BenchmarkManyTumblers.cs‎

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Original file line numberDiff line numberDiff line change
@@ -49,7 +49,7 @@ public BenchmarkManyTumblers(SampleContext context) : base(context)
4949
}
5050

5151
B2BodyDef bodyDef = b2DefaultBodyDef();
52-
m_groundId = b2CreateBody(m_worldId, ref bodyDef);
52+
m_groundId = b2CreateBody(m_worldId, bodyDef);
5353

5454
m_rowCount = m_isDebug ? 2 : 19;
5555
m_columnCount = m_isDebug ? 2 : 19;
@@ -73,7 +73,7 @@ void CreateTumbler(B2Vec2 position, int index)
7373
bodyDef.type = B2BodyType.b2_kinematicBody;
7474
bodyDef.position = new B2Vec2(position.X, position.Y);
7575
bodyDef.angularVelocity = (B2_PI / 180.0f) * m_angularSpeed;
76-
B2BodyId bodyId = b2CreateBody(m_worldId, ref bodyDef);
76+
B2BodyId bodyId = b2CreateBody(m_worldId, bodyDef);
7777
m_tumblerIds[index] = bodyId;
7878

7979
B2ShapeDef shapeDef = b2DefaultShapeDef();
@@ -188,7 +188,7 @@ public override void Step()
188188
B2BodyDef bodyDef = b2DefaultBodyDef();
189189
bodyDef.type = B2BodyType.b2_dynamicBody;
190190
bodyDef.position = m_positions[i];
191-
m_bodyIds[m_bodyIndex] = b2CreateBody(m_worldId, ref bodyDef);
191+
m_bodyIds[m_bodyIndex] = b2CreateBody(m_worldId, bodyDef);
192192
b2CreateCapsuleShape(m_bodyIds[m_bodyIndex], ref shapeDef, ref capsule);
193193

194194
m_bodyIndex += 1;

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