Fixes and improvements (erincatto#151)

fix erincatto#150
fix erincatto#147
fix erincatto#138

.github/workflows/build.yml

@@ -52,7 +52,9 @@ jobs:
     - uses: actions/checkout@v4
 
     - name: Configure CMake
-      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DBOX2D_SAMPLES=OFF -DBOX2D_SANITIZE=ON -DBUILD_SHARED_LIBS=OFF
+      # some problem with simde
+      # run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DBOX2D_SAMPLES=OFF -DBOX2D_SANITIZE=ON -DBUILD_SHARED_LIBS=OFF
+      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DBOX2D_SAMPLES=OFF -DBUILD_SHARED_LIBS=OFF
 
     - name: Build
       run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
@@ -64,10 +66,15 @@ jobs:
   build-windows:
     name: windows
     runs-on: windows-latest
-
     steps:
+
     - uses: actions/checkout@v4
 
+    - name: Setup MSVC dev command prompt
+      uses: TheMrMilchmann/setup-msvc-dev@v3
+      with:
+        arch: x64
+
     - name: Configure CMake
       # enkiTS is failing ASAN on windows
       # run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DBOX2D_SAMPLES=OFF -DBOX2D_SANITIZE=ON -DBUILD_SHARED_LIBS=OFF

CMakeLists.txt

@@ -30,6 +30,7 @@ if (MSVC OR APPLE)
 		if(MSVC)
 			# address sanitizer only in the debug build
 			add_compile_options("$<$<CONFIG:Debug>:/fsanitize=address>")
+			add_link_options("$<$<CONFIG:Debug>:/INCREMENTAL:NO>")
 		elseif(APPLE)
 			# more sanitizers on Apple clang
 			# add_compile_options(-fsanitize=thread -fno-omit-frame-pointer)

benchmark/joint_grid.c

@@ -9,6 +9,9 @@
 
 b2WorldId JointGrid(b2WorldDef* worldDef)
 {
+	// Turning gravity off to isolate joint performance.
+	worldDef->gravity = b2Vec2_zero;
+
 	b2WorldId worldId = b2CreateWorld(worldDef);
 
 #ifdef NDEBUG

benchmark/main.c

@@ -1,6 +1,8 @@
 // SPDX-FileCopyrightText: 2024 Erin Catto
 // SPDX-License-Identifier: MIT
 
+#define _CRT_SECURE_NO_WARNINGS
+
 #include "TaskScheduler_c.h"
 
 #include "box2d/box2d.h"
@@ -194,9 +196,8 @@ int main(int argc, char** argv)
 
 		char fileName[64] = {0};
 		snprintf(fileName, 64, "%s.csv", benchmarks[benchmarkIndex].name);
-		FILE* file = NULL;
-		errno_t status = fopen_s(&file, fileName, "w");
-		if (status != 0 || file == NULL)
+		FILE* file = fopen(fileName, "w");
+		if (file == NULL)
 		{
 			continue;
 		}

include/box2d/box2d.h

@@ -715,6 +715,9 @@ B2_API float b2PrismaticJoint_GetConstraintTorque(b2JointId jointId);
 
 /// Revolute Joint
 
+/// Get the current joint angle in radians relative to the reference angle
+B2_API float b2RevoluteJoint_GetAngle(b2JointId jointId);
+
 /// Enable/disable a revolute joint limit.
 B2_API void b2RevoluteJoint_EnableLimit(b2JointId jointId, bool enableLimit);
 

include/box2d/debug_draw.h

@@ -15,7 +15,7 @@ typedef struct b2DebugDraw
 	void (*DrawSolidPolygon)(const b2Vec2* vertices, int vertexCount, b2Color color, void* context);
 
 	/// Draw a rounded polygon provided in CCW order.
-	void (*DrawRoundedPolygon)(const b2Vec2* vertices, int vertexCount, float radius, b2Color lineColor, b2Color fillColor, void* context);
+	void (*DrawRoundedPolygon)(const b2Vec2* vertices, int vertexCount, float radius, b2Color color, void* context);
 
 	/// Draw a circle.
 	void (*DrawCircle)(b2Vec2 center, float radius, b2Color color, void* context);
@@ -33,8 +33,7 @@ typedef struct b2DebugDraw
 	void (*DrawSegment)(b2Vec2 p1, b2Vec2 p2, b2Color color, void* context);
 
 	/// Draw a transform. Choose your own length scale.
-	/// @param xf a transform.
-	void (*DrawTransform)(b2Transform xf, void* context);
+	void (*DrawTransform)(b2Transform transform, void* context);
 
 	/// Draw a point.
 	void (*DrawPoint)(b2Vec2 p, float size, b2Color color, void* context);
@@ -44,6 +43,7 @@ typedef struct b2DebugDraw
 
 	bool drawShapes;
 	bool drawJoints;
+	bool drawJointExtras;
 	bool drawAABBs;
 	bool drawMass;
 	bool drawContacts;

include/box2d/math_functions.h

@@ -4,6 +4,7 @@
 #pragma once
 
 #include "api.h"
+#include "constants.h"
 #include "math_types.h"
 
 #include <math.h>
@@ -307,6 +308,20 @@ B2_INLINE float b2RelativeAngle(b2Rot b, b2Rot a)
 	return atan2f(s, c);
 }
 
+B2_INLINE float b2UnwindAngle(float angle)
+{
+	if (angle < -b2_pi)
+	{
+		return angle + 2.0f * b2_pi;
+	}
+	else if (angle > b2_pi)
+	{
+		return angle - 2.0f * b2_pi;
+	}
+
+	return angle;
+}
+
 /// Rotate a vector
 B2_INLINE b2Vec2 b2RotateVector(b2Rot q, b2Vec2 v)
 {

samples/draw.cpp

@@ -824,10 +824,10 @@ void DrawSolidPolygonFcn(const b2Vec2* vertices, int vertexCount, b2Color color,
 	static_cast<Draw*>(context)->DrawSolidPolygon(vertices, vertexCount, color);
 }
 
-void DrawRoundedPolygonFcn(const b2Vec2* vertices, int32_t vertexCount, float radius, b2Color fillColor, b2Color lineColor,
+void DrawRoundedPolygonFcn(const b2Vec2* vertices, int32_t vertexCount, float radius, b2Color color,
 						   void* context)
 {
-	static_cast<Draw*>(context)->DrawRoundedPolygon(vertices, vertexCount, radius, fillColor, lineColor);
+	static_cast<Draw*>(context)->DrawRoundedPolygon(vertices, vertexCount, radius, color);
 }
 
 void DrawCircleFcn(b2Vec2 center, float radius, b2Color color, void* context)
@@ -911,6 +911,7 @@ void Draw::Create()
 					DrawStringFcn,
 					true, // shapes
 					true, // joints
+					false, // joint extras
 					false, // aabbs
 					false, // mass
 					false, // contacts
@@ -978,28 +979,29 @@ void Draw::DrawSolidPolygon(const b2Vec2* vertices, int32_t vertexCount, b2Color
 // Outline needs 4*count triangles.
 #define MAX_POLY_INDEXES (3 * (5 * MAX_POLY_VERTEXES - 2))
 
-void Draw::DrawRoundedPolygon(const b2Vec2* vertices, int32_t count, float radius, b2Color fillColor, b2Color outlineColor)
+void Draw::DrawRoundedPolygon(const b2Vec2* vertices, int32_t vertexCount, float radius, b2Color color)
 {
-	assert(count <= MAX_POLY_VERTEXES);
+	assert(vertexCount <= MAX_POLY_VERTEXES);
+	b2Color fillColor = {0.5f * color.r, 0.5f * color.g, 0.5f * color.b, 0.5f};
 
 	RGBA8 fill = MakeRGBA8(fillColor);
-	RGBA8 outline = MakeRGBA8(outlineColor);
+	RGBA8 outline = MakeRGBA8(color);
 
 	uint16_t indices[MAX_POLY_INDEXES];
 
 	// Polygon fill triangles.
-	for (int i = 0; i < count - 2; ++i)
+	for (int i = 0; i < vertexCount - 2; ++i)
 	{
 		indices[3 * i + 0] = 0;
 		indices[3 * i + 1] = 4 * (i + 1);
 		indices[3 * i + 2] = 4 * (i + 2);
 	}
 
 	// Polygon outline triangles.
-	uint16_t* outlineIndices = indices + 3 * (count - 2);
-	for (int i0 = 0; i0 < count; ++i0)
+	uint16_t* outlineIndices = indices + 3 * (vertexCount - 2);
+	for (int i0 = 0; i0 < vertexCount; ++i0)
 	{
-		int i1 = (i0 + 1) % count;
+		int i1 = (i0 + 1) % vertexCount;
 		outlineIndices[12 * i0 + 0] = 4 * i0 + 0;
 		outlineIndices[12 * i0 + 1] = 4 * i0 + 1;
 		outlineIndices[12 * i0 + 2] = 4 * i0 + 2;
@@ -1029,12 +1031,12 @@ void Draw::DrawRoundedPolygon(const b2Vec2* vertices, int32_t count, float radiu
 	// float outset = radius + lineScale;
 	// float r = outset - inset;
 
-	Vertex* vertexes = m_roundedTriangles->AllocVertices(4 * count, indices, 3 * (5 * count - 2));
-	for (int i = 0; i < count; ++i)
+	Vertex* vertexes = m_roundedTriangles->AllocVertices(4 * vertexCount, indices, 3 * (5 * vertexCount - 2));
+	for (int i = 0; i < vertexCount; ++i)
 	{
-		b2Vec2 v_prev = vertices[(i + (count - 1)) % count];
+		b2Vec2 v_prev = vertices[(i + (vertexCount - 1)) % vertexCount];
 		b2Vec2 v0 = vertices[i];
-		b2Vec2 v_next = vertices[(i + (count + 1)) % count];
+		b2Vec2 v_next = vertices[(i + (vertexCount + 1)) % vertexCount];
 
 		b2Vec2 n1 = b2Normalize(b2CrossVS(b2Sub(v0, v_prev), 1.0f));
 		b2Vec2 n2 = b2Normalize(b2CrossVS(b2Sub(v_next, v0), 1.0f));

samples/draw.h

@@ -36,7 +36,7 @@ class Draw
 
 	void DrawSolidPolygon(const b2Vec2* vertices, int32_t vertexCount, b2Color color);
 
-	void DrawRoundedPolygon(const b2Vec2* vertices, int32_t vertexCount, float radius, b2Color fillColor, b2Color outlineColor);
+	void DrawRoundedPolygon(const b2Vec2* vertices, int32_t vertexCount, float radius, b2Color color);
 
 	void DrawCircle(b2Vec2 center, float radius, b2Color color);
 

samples/main.cpp

@@ -433,6 +433,7 @@ static void UpdateUI()
 
 				ImGui::Checkbox("Shapes", &s_settings.drawShapes);
 				ImGui::Checkbox("Joints", &s_settings.drawJoints);
+				ImGui::Checkbox("Joint Extras", &s_settings.drawJointExtras);
 				ImGui::Checkbox("AABBs", &s_settings.drawAABBs);
 				ImGui::Checkbox("Contact Points", &s_settings.drawContactPoints);
 				ImGui::Checkbox("Contact Normals", &s_settings.drawContactNormals);

samples/sample.cpp

@@ -249,6 +249,7 @@ void Sample::Step(Settings& settings)
 
 	g_draw.m_debugDraw.drawShapes = settings.drawShapes;
 	g_draw.m_debugDraw.drawJoints = settings.drawJoints;
+	g_draw.m_debugDraw.drawJointExtras = settings.drawJointExtras;
 	g_draw.m_debugDraw.drawAABBs = settings.drawAABBs;
 	g_draw.m_debugDraw.drawMass = settings.drawMass;
 	g_draw.m_debugDraw.drawContacts = settings.drawContactPoints;

samples/sample_benchmark.cpp

@@ -1142,12 +1142,31 @@ class BenchmarkJointGrid : public Sample
 		}
 
 		free(bodies);
+
+		m_gravity = 10.0f;
+	}
+
+	void UpdateUI() override
+	{
+		ImGui::SetNextWindowPos(ImVec2(10.0f, 500.0f), ImGuiCond_Once);
+		ImGui::SetNextWindowSize(ImVec2(240.0f, 100.0f));
+		ImGui::Begin("Joint Grid", nullptr, ImGuiWindowFlags_NoResize);
+
+		if (ImGui::SliderFloat("gravity", &m_gravity, 0.0f, 20.0f, "%.1f"))
+		{
+			b2World_SetGravity(m_worldId, {0.0f, -m_gravity});
+		}
+
+		ImGui::End();
 	}
 
+
 	static Sample* Create(Settings& settings)
 	{
 		return new BenchmarkJointGrid(settings);
 	}
+
+	float m_gravity;
 };
 
 static int benchmarkJointGridIndex = RegisterSample("Benchmark", "Joint Grid", BenchmarkJointGrid::Create);

samples/sample_collision.cpp

@@ -1807,7 +1807,7 @@ class RayCastWorld : public Sample
 						}
 						else
 						{
-							g_draw.DrawRoundedPolygon(points, box.count, box.radius, yellow, yellow);
+							g_draw.DrawRoundedPolygon(points, box.count, box.radius, yellow);
 						}
 					}
 				}
@@ -1840,7 +1840,7 @@ class RayCastWorld : public Sample
 					}
 					else
 					{
-						g_draw.DrawRoundedPolygon(points, box.count, box.radius, yellow, yellow);
+						g_draw.DrawRoundedPolygon(points, box.count, box.radius, yellow);
 					}
 				}
 			}
@@ -2434,8 +2434,8 @@ class Manifold : public Sample
 
 		b2Color color1 = {0.3f, 0.8f, 0.6f, 1.0f};
 		b2Color color2 = {0.8f, 0.6f, 0.3f, 1.0f};
-		b2Color fillColor1 = {0.5f * color1.r, 0.5f * color1.g, 0.5f * color1.b, 0.5f};
-		b2Color fillColor2 = {0.5f * color2.r, 0.5f * color2.g, 0.5f * color2.b, 0.5f};
+		//b2Color fillColor1 = {0.5f * color1.r, 0.5f * color1.g, 0.5f * color1.b, 0.5f};
+		//b2Color fillColor2 = {0.5f * color2.r, 0.5f * color2.g, 0.5f * color2.b, 0.5f};
 
 		b2Color dim1 = {0.5f * color1.r, 0.5f * color1.g, 0.5f * color1.b, 1.0f};
 
@@ -2546,7 +2546,7 @@ class Manifold : public Sample
 			{
 				vertices[i] = b2TransformPoint(xf1, box.vertices[i]);
 			}
-			g_draw.DrawRoundedPolygon(vertices, box.count, m_round, fillColor1, color1);
+			g_draw.DrawRoundedPolygon(vertices, box.count, m_round, color1);
 
 			b2Vec2 c2 = b2TransformPoint(xf2, circle.center);
 			b2Vec2 axis2 = b2RotateVector(xf2.q, {1.0f, 0.0f});
@@ -2687,7 +2687,7 @@ class Manifold : public Sample
 			{
 				vertices[i] = b2TransformPoint(xf2, rox.vertices[i]);
 			}
-			g_draw.DrawRoundedPolygon(vertices, rox.count, rox.radius, fillColor2, color2);
+			g_draw.DrawRoundedPolygon(vertices, rox.count, rox.radius, color2);
 
 			DrawManifold(&m);
 
@@ -2711,13 +2711,13 @@ class Manifold : public Sample
 			{
 				vertices[i] = b2TransformPoint(xf1, rox.vertices[i]);
 			}
-			g_draw.DrawRoundedPolygon(vertices, rox.count, rox.radius, fillColor1, color1);
+			g_draw.DrawRoundedPolygon(vertices, rox.count, rox.radius, color1);
 
 			for (int i = 0; i < rox.count; ++i)
 			{
 				vertices[i] = b2TransformPoint(xf2, rox.vertices[i]);
 			}
-			g_draw.DrawRoundedPolygon(vertices, rox.count, rox.radius, fillColor2, color2);
+			g_draw.DrawRoundedPolygon(vertices, rox.count, rox.radius, color2);
 
 			DrawManifold(&m);
 
@@ -2748,7 +2748,7 @@ class Manifold : public Sample
 
 			if (m_round > 0.0f)
 			{
-				g_draw.DrawRoundedPolygon(vertices, rox.count, rox.radius, fillColor2, color2);
+				g_draw.DrawRoundedPolygon(vertices, rox.count, rox.radius, color2);
 			}
 			else
 			{
@@ -2775,13 +2775,13 @@ class Manifold : public Sample
 			{
 				vertices[i] = b2TransformPoint(xf1, wox.vertices[i]);
 			}
-			g_draw.DrawRoundedPolygon(vertices, wox.count, wox.radius, fillColor1, color1);
+			g_draw.DrawRoundedPolygon(vertices, wox.count, wox.radius, color1);
 
 			for (int i = 0; i < wox.count; ++i)
 			{
 				vertices[i] = b2TransformPoint(xf2, wox.vertices[i]);
 			}
-			g_draw.DrawRoundedPolygon(vertices, wox.count, wox.radius, fillColor2, color2);
+			g_draw.DrawRoundedPolygon(vertices, wox.count, wox.radius, color2);
 
 			DrawManifold(&m);
 
@@ -2866,7 +2866,7 @@ class Manifold : public Sample
 
 			if (m_round > 0.0f)
 			{
-				g_draw.DrawRoundedPolygon(vertices, rox.count, rox.radius, fillColor2, color2);
+				g_draw.DrawRoundedPolygon(vertices, rox.count, rox.radius, color2);
 				g_draw.DrawPolygon(vertices, rox.count, color2);
 			}
 			else
@@ -3218,7 +3218,7 @@ class SmoothManifold : public Sample
 
 			if (m_round > 0.0f)
 			{
-				g_draw.DrawRoundedPolygon(vertices, rox.count, rox.radius, fillColor2, color2);
+				g_draw.DrawRoundedPolygon(vertices, rox.count, rox.radius, color2);
 			}
 			else
 			{