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Reset velocity and constraint jAcc when body type changes to DYNAMIC #239

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Reset velocity and constraint jAcc when body type changes to DYNAMIC #239

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2 changes: 2 additions & 0 deletions include/chipmunk/chipmunk_structs.h
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Expand Up @@ -239,12 +239,14 @@ typedef void (*cpConstraintPreStepImpl)(cpConstraint *constraint, cpFloat dt);
typedef void (*cpConstraintApplyCachedImpulseImpl)(cpConstraint *constraint, cpFloat dt_coef);
typedef void (*cpConstraintApplyImpulseImpl)(cpConstraint *constraint, cpFloat dt);
typedef cpFloat (*cpConstraintGetImpulseImpl)(cpConstraint *constraint);
typedef void (*cpConstraintResetAccImpl)(cpConstraint *constraint);

typedef struct cpConstraintClass {
cpConstraintPreStepImpl preStep;
cpConstraintApplyCachedImpulseImpl applyCachedImpulse;
cpConstraintApplyImpulseImpl applyImpulse;
cpConstraintGetImpulseImpl getImpulse;
cpConstraintResetAccImpl resetAcc;
} cpConstraintClass;

struct cpConstraint {
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17 changes: 17 additions & 0 deletions src/cpBody.c
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Expand Up @@ -160,6 +160,23 @@ cpBodySetType(cpBody *body, cpBodyType type)
body->m_inv = body->i_inv = INFINITY;

cpBodyAccumulateMassFromShapes(body);

// Check any constraints, and if there are
// constraints with another non-DYNAMIC body:
// Reset any accumulated force in constraints attached to the body.
// Reset velocity of the body. These will be NaN or Inf otherwise.
cpConstraint* constraint = body->constraintList;
while (constraint) {
constraint->klass->resetAcc(constraint);
cpBody* a = cpConstraintGetBodyA(constraint);
a->v = cpvzero;
a->w = 0.0f;
cpBody* b = cpConstraintGetBodyB(constraint);
b->v = cpvzero;
b->w = 0.0f;

constraint = cpConstraintNext(constraint, body);
}
} else {
body->m = body->i = INFINITY;
body->m_inv = body->i_inv = 0.0f;
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7 changes: 7 additions & 0 deletions src/cpDampedRotarySpring.c
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Expand Up @@ -77,11 +77,18 @@ getImpulse(cpDampedRotarySpring *spring)
return spring->jAcc;
}

static void
resetAcc(cpDampedRotarySpring *spring)
{
spring->jAcc = 0.0f;
}

static const cpConstraintClass klass = {
(cpConstraintPreStepImpl)preStep,
(cpConstraintApplyCachedImpulseImpl)applyCachedImpulse,
(cpConstraintApplyImpulseImpl)applyImpulse,
(cpConstraintGetImpulseImpl)getImpulse,
(cpConstraintResetAccImpl)resetAcc,
};

cpDampedRotarySpring *
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7 changes: 7 additions & 0 deletions src/cpDampedSpring.c
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Expand Up @@ -82,11 +82,18 @@ getImpulse(cpDampedSpring *spring)
return spring->jAcc;
}

static void
resetAcc(cpDampedSpring *spring)
{
spring->jAcc = 0.0f;
}

static const cpConstraintClass klass = {
(cpConstraintPreStepImpl)preStep,
(cpConstraintApplyCachedImpulseImpl)applyCachedImpulse,
(cpConstraintApplyImpulseImpl)applyImpulse,
(cpConstraintGetImpulseImpl)getImpulse,
(cpConstraintResetAccImpl)resetAcc,
};

cpDampedSpring *
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7 changes: 7 additions & 0 deletions src/cpGearJoint.c
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Expand Up @@ -74,11 +74,18 @@ getImpulse(cpGearJoint *joint)
return cpfabs(joint->jAcc);
}

static void
resetAcc(cpGearJoint *joint)
{
joint->jAcc = 0.0f;
}

static const cpConstraintClass klass = {
(cpConstraintPreStepImpl)preStep,
(cpConstraintApplyCachedImpulseImpl)applyCachedImpulse,
(cpConstraintApplyImpulseImpl)applyImpulse,
(cpConstraintGetImpulseImpl)getImpulse,
(cpConstraintResetAccImpl)resetAcc,
};

cpGearJoint *
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7 changes: 7 additions & 0 deletions src/cpGrooveJoint.c
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Expand Up @@ -103,11 +103,18 @@ getImpulse(cpGrooveJoint *joint)
return cpvlength(joint->jAcc);
}

static void
resetAcc(cpGrooveJoint *joint)
{
joint->jAcc = cpvzero;
}

static const cpConstraintClass klass = {
(cpConstraintPreStepImpl)preStep,
(cpConstraintApplyCachedImpulseImpl)applyCachedImpulse,
(cpConstraintApplyImpulseImpl)applyImpulse,
(cpConstraintGetImpulseImpl)getImpulse,
(cpConstraintResetAccImpl)resetAcc,
};

cpGrooveJoint *
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8 changes: 7 additions & 1 deletion src/cpPinJoint.c
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Expand Up @@ -80,14 +80,20 @@ getImpulse(cpPinJoint *joint)
return cpfabs(joint->jnAcc);
}

static void
resetAcc(cpPinJoint *joint)
{
joint->jnAcc = 0.0f;
}

static const cpConstraintClass klass = {
(cpConstraintPreStepImpl)preStep,
(cpConstraintApplyCachedImpulseImpl)applyCachedImpulse,
(cpConstraintApplyImpulseImpl)applyImpulse,
(cpConstraintGetImpulseImpl)getImpulse,
(cpConstraintResetAccImpl)resetAcc,
};


cpPinJoint *
cpPinJointAlloc(void)
{
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11 changes: 9 additions & 2 deletions src/cpPivotJoint.c
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Expand Up @@ -70,16 +70,23 @@ applyImpulse(cpPivotJoint *joint, cpFloat dt)
}

static cpFloat
getImpulse(cpConstraint *joint)
getImpulse(cpPivotJoint *joint)
{
return cpvlength(((cpPivotJoint *)joint)->jAcc);
return cpvlength(joint->jAcc);
}

static void
resetAcc(cpPivotJoint *joint)
{
joint->jAcc = cpvzero;
}

static const cpConstraintClass klass = {
(cpConstraintPreStepImpl)preStep,
(cpConstraintApplyCachedImpulseImpl)applyCachedImpulse,
(cpConstraintApplyImpulseImpl)applyImpulse,
(cpConstraintGetImpulseImpl)getImpulse,
(cpConstraintResetAccImpl)resetAcc,
};

cpPivotJoint *
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7 changes: 7 additions & 0 deletions src/cpRatchetJoint.c
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Expand Up @@ -94,11 +94,18 @@ getImpulse(cpRatchetJoint *joint)
return cpfabs(joint->jAcc);
}

static void
resetAcc(cpRatchetJoint *joint)
{
joint->jAcc = 0.0f;
}

static const cpConstraintClass klass = {
(cpConstraintPreStepImpl)preStep,
(cpConstraintApplyCachedImpulseImpl)applyCachedImpulse,
(cpConstraintApplyImpulseImpl)applyImpulse,
(cpConstraintGetImpulseImpl)getImpulse,
(cpConstraintResetAccImpl)resetAcc,
};

cpRatchetJoint *
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7 changes: 7 additions & 0 deletions src/cpRotaryLimitJoint.c
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Expand Up @@ -91,11 +91,18 @@ getImpulse(cpRotaryLimitJoint *joint)
return cpfabs(joint->jAcc);
}

static void
resetAcc(cpRotaryLimitJoint *joint)
{
joint->jAcc = 0.0f;
}

static const cpConstraintClass klass = {
(cpConstraintPreStepImpl)preStep,
(cpConstraintApplyCachedImpulseImpl)applyCachedImpulse,
(cpConstraintApplyImpulseImpl)applyImpulse,
(cpConstraintGetImpulseImpl)getImpulse,
(cpConstraintResetAccImpl)resetAcc,
};

cpRotaryLimitJoint *
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7 changes: 7 additions & 0 deletions src/cpSimpleMotor.c
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Expand Up @@ -70,11 +70,18 @@ getImpulse(cpSimpleMotor *joint)
return cpfabs(joint->jAcc);
}

static void
resetAcc(cpSimpleMotor *joint)
{
joint->jAcc = 0.0f;
}

static const cpConstraintClass klass = {
(cpConstraintPreStepImpl)preStep,
(cpConstraintApplyCachedImpulseImpl)applyCachedImpulse,
(cpConstraintApplyImpulseImpl)applyImpulse,
(cpConstraintGetImpulseImpl)getImpulse,
(cpConstraintResetAccImpl)resetAcc,
};

cpSimpleMotor *
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10 changes: 8 additions & 2 deletions src/cpSlideJoint.c
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Expand Up @@ -89,9 +89,15 @@ applyImpulse(cpSlideJoint *joint, cpFloat dt)
}

static cpFloat
getImpulse(cpConstraint *joint)
getImpulse(cpSlideJoint *joint)
{
return cpfabs(((cpSlideJoint *)joint)->jnAcc);
return cpfabs(joint->jnAcc);
}

static void
resetAcc(cpSlideJoint *joint)
{
joint->jnAcc = 0.0f;
}

static const cpConstraintClass klass = {
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