[upstream] Update documentation for 3.1 release (box2d #898)

enable more warnings
release notes
improve character sample onGround logic

Author: ikpil

src/Box2D.NET.Samples/SampleApp.cs

@@ -219,18 +219,19 @@ private void OnWindowLoad()
             return;
         }
 
-        Span<float> temp1 = stackalloc float[2];
-        _ctx.gl.GetFloat( GLEnum.AliasedLineWidthRange, temp1 );
-
-        Span<float> temp2 = stackalloc float[2];
-        _ctx.gl.GetFloat( GLEnum.SmoothLineWidthRange, temp2 );
+        {
+            Span<float> temp1 = stackalloc float[2];
+            _ctx.gl.GetFloat(GLEnum.AliasedLineWidthRange, temp1);
 
-        var glVersion = _ctx.gl.GetStringS(StringName.Version);
-        Logger.Information($"GL {glVersion}");
-        Logger.Information($"OpenGL {_ctx.gl.GetStringS(GLEnum.Version)}, GLSL {_ctx.gl.GetStringS(GLEnum.ShadingLanguageVersion)}");
-        Logger.Information($"OpenGL aliased line width range : [{temp1[0]}, {temp1[1]}]");
-        Logger.Information($"OpenGL smooth line width range : [{temp2[0]}, {temp2[1]}]");
+            Span<float> temp2 = stackalloc float[2];
+            _ctx.gl.GetFloat(GLEnum.SmoothLineWidthRange, temp2);
 
+            string glVersionString = _ctx.gl.GetStringS(GLEnum.Version);
+            string glslVersionString = _ctx.gl.GetStringS(GLEnum.ShadingLanguageVersion);
+            Logger.Information($"OpenGL {glVersionString}, GLSL {glslVersionString}");
+            Logger.Information($"OpenGL aliased line width range : [{temp1[0]}, {temp1[1]}]");
+            Logger.Information($"OpenGL smooth line width range : [{temp2[0]}, {temp2[1]}]");
+        }
 
         unsafe
         {

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

@@ -15,6 +15,7 @@
 using static Box2D.NET.B2Worlds;
 using static Box2D.NET.Shared.RandomSupports;
 using static Box2D.NET.B2Timers;
+using static Box2D.NET.B2Distances;
 
 namespace Box2D.NET.Samples.Samples.Benchmarks;
 
@@ -242,11 +243,12 @@ public override void Step(Settings settings)
 
             for (int i = 0; i < sampleCount; ++i)
             {
-                B2Circle circle = new B2Circle(m_origins[i], m_radius);
+                B2ShapeProxy proxy = b2MakeProxy( m_origins[i], 1, m_radius );
+
                 B2Vec2 translation = m_translations[i];
 
                 CastResult result = new CastResult();
-                B2TreeStats traversalResult = b2World_CastCircle(m_worldId, ref circle, translation, filter, CastCallback, result);
+                B2TreeStats traversalResult = b2World_CastShape(m_worldId, ref proxy, translation, filter, CastCallback, result);
 
                 if (i == m_drawIndex)
                 {

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

@@ -51,16 +51,9 @@ public Kinematic(SampleAppContext ctx, Settings settings) : base(ctx, settings)
     public override void Step(Settings settings)
     {
         m_timeStep = settings.hertz > 0.0f ? 1.0f / settings.hertz : 0.0f;
-        if (settings.pause)
+        if (settings.pause && settings.singleStep == false)
         {
-            if (settings.singleStep)
-            {
-                settings.singleStep = false;
-            }
-            else
-            {
-                m_timeStep = 0.0f;
-            }
+            m_timeStep = 0.0f;
         }
 
 
@@ -84,7 +77,7 @@ public override void Draw(Settings settings)
             m_context.draw.DrawSegment(point - 0.5f * axis, point + 0.5f * axis, B2HexColor.b2_colorPlum);
             m_context.draw.DrawPoint(point, 10.0f, B2HexColor.b2_colorPlum);
 
-            b2Body_SetKinematicTarget(m_bodyId, new B2Transform(point, rotation), m_timeStep);
+            b2Body_SetTargetTransform(m_bodyId, new B2Transform(point, rotation), m_timeStep);
         }
     }
 }

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

@@ -20,11 +20,11 @@ public class Sleep : Sample
     private static readonly int SampleSleep = SampleFactory.Shared.RegisterSample("Bodies", "Sleep", Create);
 
     private B2BodyId m_pendulumId;
+    private B2BodyId m_staticBodyId;
     private B2ShapeId m_groundShapeId;
     private B2ShapeId[] m_sensorIds = new B2ShapeId[2];
     private bool[] m_sensorTouching = new bool[2];
 
-
     private static Sample Create(SampleAppContext ctx, Settings settings)
     {
         return new Sleep(ctx, settings);
@@ -43,7 +43,7 @@ public Sleep(SampleAppContext ctx, Settings settings) : base(ctx, settings)
             B2BodyDef bodyDef = b2DefaultBodyDef();
             groundId = b2CreateBody(m_worldId, ref bodyDef);
 
-            B2Segment segment = new B2Segment(new B2Vec2(-20.0f, 0.0f), new B2Vec2(20.0f, 0.0f));
+            B2Segment segment = new B2Segment(new B2Vec2(-40.0f, 0.0f), new B2Vec2(40.0f, 0.0f));
             B2ShapeDef shapeDef = b2DefaultShapeDef();
             shapeDef.enableSensorEvents = true;
             m_groundShapeId = b2CreateSegmentShape(groundId, ref shapeDef, ref segment);
@@ -133,12 +133,48 @@ public Sleep(SampleAppContext ctx, Settings settings) : base(ctx, settings)
             jointDef.localAnchorB = b2Body_GetLocalPoint(jointDef.bodyIdB, pivot);
             b2CreateRevoluteJoint(m_worldId, ref jointDef);
         }
+
+        // A sleeping body to test waking on contact destroyed
+        {
+            B2BodyDef bodyDef = b2DefaultBodyDef();
+            bodyDef.type = B2BodyType.b2_dynamicBody;
+            bodyDef.position = new B2Vec2(-10.0f, 1.0f);
+            bodyDef.isAwake = false;
+            bodyDef.enableSleep = true;
+            B2BodyId bodyId = b2CreateBody(m_worldId, ref bodyDef);
+
+            B2Polygon box = b2MakeSquare(1.0f);
+            B2ShapeDef shapeDef = b2DefaultShapeDef();
+            b2CreatePolygonShape(bodyId, ref shapeDef, ref box);
+        }
+
+        m_staticBodyId = b2_nullBodyId;
+    }
+
+    void ToggleInvoker()
+    {
+        if (B2_IS_NULL(m_staticBodyId))
+        {
+            B2BodyDef bodyDef = b2DefaultBodyDef();
+            bodyDef.position = new B2Vec2(-10.5f, 3.0f);
+            m_staticBodyId = b2CreateBody(m_worldId, ref bodyDef);
+
+            B2Polygon box = b2MakeOffsetBox(2.0f, 0.1f, new B2Vec2(0.0f, 0.0f), b2MakeRot(0.25f * B2_PI));
+            B2ShapeDef shapeDef = b2DefaultShapeDef();
+            shapeDef.invokeContactCreation = true;
+            b2CreatePolygonShape(m_staticBodyId, ref shapeDef, ref box);
+        }
+        else
+        {
+            b2DestroyBody(m_staticBodyId);
+            m_staticBodyId = b2_nullBodyId;
+        }
     }
 
     public override void UpdateGui()
     {
         base.UpdateGui();
-        float height = 100.0f;
+        float height = 160.0f;
         ImGui.SetNextWindowPos(new Vector2(10.0f, m_context.camera.m_height - height - 50.0f), ImGuiCond.Once);
         ImGui.SetNextWindowSize(new Vector2(240.0f, height));
         ImGui.Begin("Sleep", ImGuiWindowFlags.NoMove | ImGuiWindowFlags.NoResize);
@@ -162,6 +198,23 @@ public override void UpdateGui()
 
         ImGui.PopItemWidth();
 
+        ImGui.Separator();
+
+        if (B2_IS_NULL(m_staticBodyId))
+        {
+            if (ImGui.Button("Create"))
+            {
+                ToggleInvoker();
+            }
+        }
+        else
+        {
+            if (ImGui.Button("Destroy"))
+            {
+                ToggleInvoker();
+            }
+        }
+
         ImGui.End();
     }
 
@@ -208,7 +261,7 @@ public override void Step(Settings settings)
     public override void Draw(Settings settings)
     {
         base.Draw(settings);
-        
+
         for (int i = 0; i < 2; ++i)
         {
             m_context.draw.DrawString(5, m_textLine, $"sensor touch {i} = {m_sensorTouching[i]}");