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Use full package names for underlying libraries
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@borodust
borodust committed Jun 13, 2021
1 parent bb09727 commit 337840c
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Showing 7 changed files with 69 additions and 69 deletions.
8 changes: 4 additions & 4 deletions cl-bodge.asd
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Expand Up @@ -17,7 +17,7 @@
:mailto "dev@borodust.org"
:license "MIT"
:depends-on (:cl-bodge/utils :bodge-memory :bodge-math :bodge-concurrency
:bodge-blobs-support :claw :claw-utils :log4cl :cl-fad
:bodge-blobs-support :log4cl :cl-fad
:local-time :cffi :cl-flow :uiop :simple-flow-dispatcher
:cl-muth :float-features :bodge-libc-essentials)
:pathname "engine/"
Expand Down Expand Up @@ -203,7 +203,7 @@
:mailto "dev@borodust.org"
:license "MIT"
:depends-on (cl-bodge/utils cl-bodge/engine cl-bodge/physics/backend
ode-blob bodge-ode log4cl claw local-time)
ode-blob bodge-ode log4cl local-time)
:pathname "physics/3d/"
:serial t
:components ((:file "packages")
Expand All @@ -230,7 +230,7 @@
:mailto "dev@borodust.org"
:license "MIT"
:depends-on (cl-bodge/utils cl-bodge/engine cl-bodge/physics/backend
chipmunk-blob bodge-chipmunk log4cl claw
chipmunk-blob bodge-chipmunk log4cl
trivial-garbage cffi)
:pathname "physics/2d/"
:serial t
Expand Down Expand Up @@ -289,7 +289,7 @@
:mailto "dev@borodust.org"
:license "MIT"
:depends-on (cl-bodge/engine cl-bodge/utils bodge-ui cl-bodge/graphics cl-bodge/canvas
cl-bodge/host claw)
cl-bodge/host)
:pathname "ui/"
:serial t
:components ((:file "packages")
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46 changes: 23 additions & 23 deletions physics/2d/body.lisp
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Expand Up @@ -13,30 +13,30 @@
(let ((cp-mass (cp-float mass)))
(with-cp-vect (vect offset)
(make-mass :value cp-mass
:inertia (%cp:moment-for-circle cp-mass (cp-float 0) (cp-float radius) vect)))))
:inertia (%chipmunk:moment-for-circle cp-mass (cp-float 0) (cp-float radius) vect)))))


(defmethod simulation-engine-make-mass-for-box ((engine chipmunk-engine) (mass number)
(width number) (height number) &key (offset (vec2)))
(let ((cp-mass (cp-float mass))
(w/2 (/ width 2))
(h/2 (/ height 2)))
(c-with ((verts %cp:vect :count 5))
(c-with ((verts %chipmunk:vect :count 5))
(init-cp-vect (verts 0) (vec2 (- w/2) (- h/2)))
(init-cp-vect (verts 1) (vec2 (- w/2) h/2))
(init-cp-vect (verts 2) (vec2 w/2 h/2))
(init-cp-vect (verts 3) (vec2 w/2 (- h/2)))
(init-cp-vect (verts 4) offset)
(make-mass :value cp-mass
:inertia (%cp:moment-for-poly cp-mass 4 (verts &) (verts 4 &) (cp-float 0))))))
:inertia (%chipmunk:moment-for-poly cp-mass 4 (verts &) (verts 4 &) (cp-float 0))))))



;;;
;;; RIGID BODY
;;;
(defhandle rigid-body-handle
:closeform (%cp:body-free *handle-value*))
:closeform (%chipmunk:body-free *handle-value*))

(defclass rigid-body (disposable)
((universe :initarg :universe :initform (error ":universe missing"))
Expand All @@ -53,8 +53,8 @@
(if kinematic
(progn
(when mass (error "Kinematic bodies cannot have mass"))
(%cp:body-new-kinematic))
(%cp:body-new (mass-value mass) (mass-inertia mass))))
(%chipmunk:body-new-kinematic))
(%chipmunk:body-new (mass-value mass) (mass-inertia mass))))
args))


Expand All @@ -64,90 +64,90 @@
:universe universe
:kinematic kinematic)))
(flet ((%space-add-body ()
(%cp:space-add-body (handle-value-of universe) (handle-value-of body))))
(%chipmunk:space-add-body (handle-value-of universe) (handle-value-of body))))
(invoke-between-observations #'%space-add-body))
body))


(defmethod simulation-engine-apply-force ((engine chipmunk-engine) (body rigid-body) (force vec2))
(with-cp-vect (current-force)
(%cp:body-get-force current-force (handle-value-of body))
(%chipmunk:body-get-force current-force (handle-value-of body))
(incf (current-force :x) (cp-float (x force)))
(incf (current-force :y) (cp-float (y force)))
(%cp:body-set-force (handle-value-of body) current-force))
(%chipmunk:body-set-force (handle-value-of body) current-force))
force)


(defmethod simulation-engine-apply-torque ((engine chipmunk-engine) (body rigid-body) (torque number))
(let* ((current-torque (%cp:body-get-torque (handle-value-of body))))
(%cp:body-set-torque (handle-value-of body) (cp-float (+ current-torque torque))))
(let* ((current-torque (%chipmunk:body-get-torque (handle-value-of body))))
(%chipmunk:body-set-torque (handle-value-of body) (cp-float (+ current-torque torque))))
torque)


(defmethod simulation-engine-body-mass ((engine chipmunk-engine) (body rigid-body))
(let ((handle (handle-value-of body)))
(make-mass :value (%cp:body-get-mass handle)
:inertia (%cp:body-get-moment handle))))
(make-mass :value (%chipmunk:body-get-mass handle)
:inertia (%chipmunk:body-get-moment handle))))


(defmethod (setf simulation-engine-body-mass) ((value mass) (engine chipmunk-engine)
(body rigid-body))
(between-observations
(let ((handle (handle-value-of body)))
(%cp:body-set-mass handle (cp-float (mass-value value)))
(%cp:body-set-moment handle (cp-float (mass-inertia value)))))
(%chipmunk:body-set-mass handle (cp-float (mass-value value)))
(%chipmunk:body-set-moment handle (cp-float (mass-inertia value)))))
value)


(defmethod simulation-engine-body-position ((engine chipmunk-engine) (body rigid-body))
(with-cp-vect (vect)
(%cp:body-get-position vect (handle-value-of body))
(%chipmunk:body-get-position vect (handle-value-of body))
(init-bodge-vec (vec2) vect)))


(defmethod (setf simulation-engine-body-position) ((value vec2) (engine chipmunk-engine)
(body rigid-body))
(between-observations
(with-cp-vect (vect value)
(%cp:body-set-position (handle-value-of body) vect)))
(%chipmunk:body-set-position (handle-value-of body) vect)))
value)


(defmethod simulation-engine-body-linear-velocity ((engine chipmunk-engine) (body rigid-body))
(with-cp-vect (vect)
(%cp:body-get-velocity vect (handle-value-of body))
(%chipmunk:body-get-velocity vect (handle-value-of body))
(init-bodge-vec (vec2) vect)))


(defmethod (setf simulation-engine-body-linear-velocity) ((value vec2) (engine chipmunk-engine)
(body rigid-body))
(between-observations
(with-cp-vect (vect value)
(%cp:body-set-velocity (handle-value-of body) vect)))
(%chipmunk:body-set-velocity (handle-value-of body) vect)))
value)


(defmethod simulation-engine-body-rotation ((engine chipmunk-engine) (body rigid-body))
(euler-angle->mat2 (%cp:body-get-angle (handle-value-of body))))
(euler-angle->mat2 (%chipmunk:body-get-angle (handle-value-of body))))


(defmethod (setf simulation-engine-body-rotation) ((value mat2)
(engine chipmunk-engine)
(body rigid-body))
(between-observations
(%cp:body-set-angle (handle-value-of body) (cp-float (atan (mref value 1 0)
(%chipmunk:body-set-angle (handle-value-of body) (cp-float (atan (mref value 1 0)
(mref value 0 0)))))
value)


(defmethod simulation-engine-body-angular-velocity ((engine chipmunk-engine) (body rigid-body))
(%cp:body-get-angular-velocity (handle-value-of body)))
(%chipmunk:body-get-angular-velocity (handle-value-of body)))


(defmethod (setf simulation-engine-body-angular-velocity) ((value number) (engine chipmunk-engine)
(body rigid-body))
(between-observations
(%cp:body-set-angular-velocity (handle-value-of body) (cp-float value))))
(%chipmunk:body-set-angular-velocity (handle-value-of body) (cp-float value))))


(defmethod simulation-engine-destroy-rigid-body ((engine chipmunk-engine) (body rigid-body))
Expand Down
8 changes: 4 additions & 4 deletions physics/2d/contact.lisp
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Expand Up @@ -3,22 +3,22 @@
(declaim (special *arbiter*))

(defmethod (setf simulation-engine-collision-friction) ((value number) (engine chipmunk-engine))
(%cp:arbiter-set-friction *arbiter* (cp-float value))
(%chipmunk:arbiter-set-friction *arbiter* (cp-float value))
value)

(defmethod (setf simulation-engine-collision-elasticity) ((value number) (engine chipmunk-engine))
(%cp:arbiter-set-restitution *arbiter* (cp-float value))
(%chipmunk:arbiter-set-restitution *arbiter* (cp-float value))
value)

(defmethod (setf simulation-engine-collision-surface-velocity) ((value ge.ng:vec2)
(engine chipmunk-engine))
(with-cp-vect (vec value)
(%cp:arbiter-set-surface-velocity *arbiter* vec))
(%chipmunk:arbiter-set-surface-velocity *arbiter* vec))
value)

(defmethod simulation-engine-collision-surface-velocity ((engine chipmunk-engine))
(with-cp-vect (vec)
(%cp:arbiter-get-surface-velocity vec *arbiter*)
(%chipmunk:arbiter-get-surface-velocity vec *arbiter*)
(init-bodge-vec (vec2) vec)))

(defmethod simulation-engine-contact-normal ((engine chipmunk-engine))
Expand Down
16 changes: 8 additions & 8 deletions physics/2d/joint.lisp
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Expand Up @@ -2,7 +2,7 @@


(defhandle constraint-handle
:closeform (%cp:constraint-free *handle-value*))
:closeform (%chipmunk:constraint-free *handle-value*))


(defclass chipmunk-constraint (disposable)
Expand Down Expand Up @@ -32,13 +32,13 @@
(let ((constraint (make-instance 'chipmunk-constraint
:universe universe
:handle (make-constraint-handle
(%cp:damped-spring-new (handle-value-of this-body)
(%chipmunk:damped-spring-new (handle-value-of this-body)
(handle-value-of that-body)
anchor-a anchor-b
(cp-float rest-length)
(cp-float stiffness)
(cp-float damping))))))
(%cp:space-add-constraint (handle-value-of universe) (handle-value-of constraint))
(%chipmunk:space-add-constraint (handle-value-of universe) (handle-value-of constraint))
constraint)))


Expand All @@ -55,12 +55,12 @@
(let ((constraint (make-instance 'chipmunk-constraint
:universe universe
:handle (make-constraint-handle
(%cp:slide-joint-new (handle-value-of this-body)
(%chipmunk:slide-joint-new (handle-value-of this-body)
(handle-value-of that-body)
anchor-a anchor-b
(cp-float min)
(cp-float max))))))
(%cp:space-add-constraint (handle-value-of universe) (handle-value-of constraint))
(%chipmunk:space-add-constraint (handle-value-of universe) (handle-value-of constraint))
constraint)))


Expand All @@ -75,9 +75,9 @@
(let ((constraint (make-instance 'chipmunk-constraint
:universe universe
:handle (make-constraint-handle
(%cp:pin-joint-new (handle-value-of this-body)
(%chipmunk:pin-joint-new (handle-value-of this-body)
(or (and that-body (handle-value-of that-body))
(%cp:space-get-static-body (handle-value-of universe)))
(%chipmunk:space-get-static-body (handle-value-of universe)))
anchor-a anchor-b)))))
(%cp:space-add-constraint (handle-value-of universe) (handle-value-of constraint))
(%chipmunk:space-add-constraint (handle-value-of universe) (handle-value-of constraint))
constraint)))
22 changes: 11 additions & 11 deletions physics/2d/shape.lisp
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Expand Up @@ -5,7 +5,7 @@
;;; SHAPE
;;;
(defhandle shape-handle
:closeform (%cp:shape-free *handle-value*))
:closeform (%chipmunk:shape-free *handle-value*))


(defclass chipmunk-shape (disposable)
Expand Down Expand Up @@ -45,7 +45,7 @@

(defun add-space-shape (universe shape)
(flet ((%add ()
(%cp:space-add-shape (handle-value-of universe) (handle-value-of shape))))
(%chipmunk:space-add-shape (handle-value-of universe) (handle-value-of shape))))
(invoke-between-observations #'%add)))


Expand All @@ -57,13 +57,13 @@

(defmethod initialize-instance ((this segment-shape) &rest args
&key start end body universe)
(c-with ((a %cp:vect)
(b %cp:vect))
(c-with ((a %chipmunk:vect)
(b %chipmunk:vect))
(init-cp-vect (a &) start)
(init-cp-vect (b &) end)
(apply #'call-next-method this
:handle (make-shape-handle
(%cp:segment-shape-new (body-handle-or-static universe body) a b (cp-float 0.0)))
(%chipmunk:segment-shape-new (body-handle-or-static universe body) a b (cp-float 0.0)))
args)))


Expand Down Expand Up @@ -97,7 +97,7 @@
(let ((shape (simulation-engine-make-segment-shape engine universe origin end
:body body
:substance substance)))
(%cp:segment-shape-set-neighbors (handle-value-of shape)
(%chipmunk:segment-shape-set-neighbors (handle-value-of shape)
(init-cp-vect cp-vect-prev (or prev origin))
(init-cp-vect cp-vect-next (or next end)))
shape))))
Expand Down Expand Up @@ -142,7 +142,7 @@
(setf (zero-vect :x) (cp-float (if offset (x offset) 0))
(zero-vect :y) (cp-float (if offset (y offset) 0)))
(apply #'call-next-method this
:handle (make-shape-handle (%cp:circle-shape-new (body-handle-or-static universe body)
:handle (make-shape-handle (%chipmunk:circle-shape-new (body-handle-or-static universe body)
(cp-float radius) zero-vect))
args)))

Expand All @@ -168,8 +168,8 @@
(defmethod initialize-instance ((this polygon-shape) &rest args
&key points body universe radius)
(let ((point-count (length points)))
(c-with ((f-points %cp:vect :count point-count)
(f-transform %cp:transform))
(c-with ((f-points %chipmunk:vect :count point-count)
(f-transform %chipmunk:transform))
(setf (f-transform :a) (cp-float 1)
(f-transform :b) (cp-float 0)
(f-transform :c) (cp-float 0)
Expand All @@ -182,7 +182,7 @@
(f-points i :y) (cp-float (y point))))
(apply #'call-next-method this
:handle (make-shape-handle (float-features:with-float-traps-masked t
(%cp:poly-shape-new (body-handle-or-static universe body)
(%chipmunk:poly-shape-new (body-handle-or-static universe body)
point-count
(f-points &)
(f-transform &)
Expand Down Expand Up @@ -210,7 +210,7 @@
(defmethod initialize-instance ((this box-shape) &rest args
&key width height body universe radius &allow-other-keys)
(apply #'call-next-method this
:handle (make-shape-handle (%cp:box-shape-new (body-handle-or-static universe body)
:handle (make-shape-handle (%chipmunk:box-shape-new (body-handle-or-static universe body)
(cp-float width)
(cp-float height)
(cp-float (or radius 0))))
Expand Down
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