physics impl part 2

code/foundation/CMakeLists.txt

@@ -45,6 +45,6 @@ add_library(eco2d-foundation STATIC
 
 target_compile_definitions(eco2d-foundation PRIVATE CLIENT)
 include_directories(src ../modules ../../art/gen)
-target_link_libraries(eco2d-foundation raylib raylib_nuklear ferox cwpack flecs-bundle vendors-bundle)
+target_link_libraries(eco2d-foundation raylib raylib_nuklear cwpack flecs-bundle vendors-bundle)
 
 link_system_libs(eco2d-foundation)

code/foundation/src/dev/debug_draw.c

@@ -3,7 +3,7 @@
 
 static debug_draw_queue draw_queue = {0};
 
-#ifndef _DEBUG
+#if !defined(_DEBUG) && 1 
 static bool draw_is_enabled = false;
 #else
 static bool draw_is_enabled = true;

code/foundation/src/dev/debug_ui.c

@@ -256,7 +256,9 @@ static debug_item items[] = {
                 { .kind = DITEM_RAW, .val = PROF_RENDER, .proc = DrawProfilerDelta },
                 { .kind = DITEM_RAW, .val = PROF_UPDATE_SYSTEMS, .proc = DrawProfilerDelta },
                 { .kind = DITEM_RAW, .val = PROF_ENTITY_LERP, .proc = DrawProfilerDelta },
-                { .kind = DITEM_RAW, .val = PROF_INTEGRATE_POS, .proc = DrawProfilerDelta },
+				{ .kind = DITEM_RAW, .val = PROF_INTEGRATE_POS, .proc = DrawProfilerDelta },
+				{ .kind = DITEM_RAW, .val = PROF_PHYS_BLOCK_COLS, .proc = DrawProfilerDelta },
+				{ .kind = DITEM_RAW, .val = PROF_PHYS_BODY_COLS, .proc = DrawProfilerDelta },
                 { .kind = DITEM_RAW, .val = PROF_RENDER_PUSH_AND_SORT_ENTRIES, .proc = DrawProfilerDelta },
                 { .kind = DITEM_END },
             },

code/foundation/src/models/components.h

@@ -36,40 +36,23 @@ typedef struct {
 } Drawable;
 
 typedef Vector2D Position;
-typedef struct {
+typedef Vector2D Velocity;
-	float x;
-	float y;
-	float m;
-} Velocity;
 
 enum {
 	PHYS_CIRCLE,
-	PHYS_RECT
+	PHYS_AABB,
 };
 
-typedef struct { 
+#define INFINITE_MASS -1.0f
+
+typedef struct {
 	uint8_t kind;
 	union {
 		struct {
 			float r;
 		} circle;
-
+ 	};
-		struct {
+	float mass;
-			float w;
-			float h;
-		} rect;
-	};
-
-	float density;
-	float static_friction;
-	float dynamic_friction;
-	
-	// flags
-	uint8_t inf_inertia:4;
-	uint8_t inf_mass:4;
-
-	// internals
-	uintptr_t body_ptr;
 } PhysicsBody;
 
 typedef struct {

code/foundation/src/models/entity.c

@@ -19,7 +19,7 @@ uint64_t entity_spawn(uint16_t class_id) {
 
     if (class_id != EKIND_SERVER) {
         librg_entity_track(world_tracker(), e);
-        ecs_set(world_ecs(), e, Velocity, {.x = 0, .y = 0, .m = 500.0f});
+		ecs_set(world_ecs(), e, Velocity, { 0 });
         entity_set_position(e, (float)(rand() % world_dim()), (float)(rand() % world_dim()));
 
         librg_entity_owner_set(world_tracker(), e, (int64_t)e);

code/foundation/src/models/prefabs/player.c

@@ -16,21 +16,13 @@ uint64_t player_spawn(char *name) {
     }
 
     ecs_set_name(world_ecs(), e, name);
-	ecs_set(world_ecs(), e, PhysicsBody, {
-		.kind = PHYS_CIRCLE,
-		.circle.r = 1.5f,
-		.density = 0.5f,
-		.static_friction = 0.35f,
-		.dynamic_friction = 0.15f,
-		.inf_inertia = 1,
-	});
     ecs_set(world_ecs(), e, ClientInfo, {0});
     ecs_set(world_ecs(), e, Input, {0});
     ecs_set(world_ecs(), e, Inventory, {0});
 	ecs_set(world_ecs(), e, Health, {.hp = PLAYER_MAX_HP, .max_hp = PLAYER_MAX_HP});
 	ecs_set(world_ecs(), e, HealthRegen, {.amt = 15.0f});
-	Velocity *v = ecs_get_mut(world_ecs(), e, Velocity);
+	ecs_set(world_ecs(), e, Velocity, { 0 });
-	*v = (Velocity) { 0, 0, 0.0f };
+	ecs_set(world_ecs(), e, PhysicsBody, { .kind = PHYS_AABB, .mass = INFINITE_MASS }); 
 
     librg_entity_owner_set(world_tracker(), e, (int64_t)e);
 

code/foundation/src/models/prefabs/prefabs_list.c

@@ -125,13 +125,7 @@ uint64_t mob_spawn(void) {
 	hp->max_hp = hp->hp = 100.0f;
 
 	ecs_add(world_ecs(), e, Mob);
-	ecs_set(world_ecs(), e, PhysicsBody, {
+	ecs_set(world_ecs(), e, PhysicsBody, { .kind = PHYS_AABB, .mass = 1.0f });
-	        .kind = PHYS_CIRCLE,
-	        .circle.r = 1.5f,
-	        .density = 0.25f,
-	        .static_friction = 0.35f,
-	        .dynamic_friction = 0.15f
-	});
 
 	return (uint64_t)e;
 }

code/foundation/src/platform/arch.h

@@ -71,7 +71,7 @@ void platform_create_window(const char *title) {
     InitWindow(screenWidth, screenHeight, title);
     uint32_t flags = /*FLAG_WINDOW_UNDECORATED|*/FLAG_WINDOW_MAXIMIZED|FLAG_WINDOW_RESIZABLE|FLAG_MSAA_4X_HINT;
 #if !defined(PLATFORM_WEB)
-    // flags |= FLAG_VSYNC_HINT;
+    flags |= FLAG_VSYNC_HINT;
 #endif
     SetWindowState(flags);
     

code/foundation/src/platform/profiler.c

@@ -14,7 +14,9 @@ static profiler profilers[] = {
     { .id = PROF_RENDER, .name = "render" },
     { .id = PROF_UPDATE_SYSTEMS, .name = "update systems" },
     { .id = PROF_ENTITY_LERP, .name = "entity lerp" },
-    { .id = PROF_INTEGRATE_POS, .name = "entity movement" },
+	{ .id = PROF_INTEGRATE_POS, .name = "entity movement" },
+	{ .id = PROF_PHYS_BLOCK_COLS, .name = "block collisions" },
+	{ .id = PROF_PHYS_BODY_COLS, .name = "body collisions" },
     { .id = PROF_RENDER_PUSH_AND_SORT_ENTRIES, .name = "push&sort entries" },
 };
 

code/foundation/src/platform/profiler.h

@@ -9,7 +9,9 @@ typedef enum {
     PROF_RENDER,
     PROF_UPDATE_SYSTEMS,
     PROF_ENTITY_LERP,
-    PROF_INTEGRATE_POS,
+	PROF_INTEGRATE_POS,
+	PROF_PHYS_BLOCK_COLS,
+	PROF_PHYS_BODY_COLS,
     PROF_RENDER_PUSH_AND_SORT_ENTRIES,
 
     MAX_PROF,

code/foundation/src/systems/systems.c

@@ -7,14 +7,20 @@
 #include "dev/debug_draw.h"
 #include "core/game.h"
 #include "core/rules.h"
-#include "ferox.h"
 
-extern frWorld *phys_world;
+ZPL_DIAGNOSTIC_PUSH_WARNLEVEL(0)
+#define CUTE_C2_IMPLEMENTATION
+#include "tinyc2.h"
+ZPL_DIAGNOSTIC_POP
 
 #define PHY_BLOCK_COLLISION 1
 #define PHY_WALK_DRAG 4.23f
 #define PHY_LOOKAHEAD(x) (zpl_sign(x)*16.0f)
 
+ecs_query_t *ecs_rigidbodies;
+
+#define ECO2D_TICK_RATE (1.0f/20.f)
+
 #include "modules/system_onfoot.c"
 #include "modules/system_demo.c"
 #include "modules/system_vehicle.c"
@@ -33,6 +39,177 @@ static inline bool physics_check_aabb(float a1x, float a2x, float a1y, float a2y
     return (a1x < b2x && a2x > b1x && a1y < b2y && a2y > b1y);
 }
 
+
+void BlockCollisions(ecs_iter_t *it) {
+	profile(PROF_PHYS_BLOCK_COLS) {
+		Position *p = ecs_field(it, Position, 1);
+		Velocity *v = ecs_field(it, Velocity, 2);
+        
+		for (int i = 0; i < it->count; i++) {
+			if (ecs_get(it->world, it->entities[i], IsInVehicle)) {
+				continue;
+			}
+
+			//if (zpl_abs(v[i].x) >= 0.0001f || zpl_abs(v[i].y) >= 0.0001f)
+			{
+				// NOTE(zaklaus): world bounds
+				{
+					float w = (float)world_dim();
+					p[i].x = zpl_clamp(p[i].x, 0, w-1);
+					p[i].y = zpl_clamp(p[i].y, 0, w-1);
+				}
+                
+#if PHY_BLOCK_COLLISION==1
+				// NOTE(zaklaus): X axis
+				{
+					world_block_lookup lookup = world_block_from_realpos(p[i].x+PHY_LOOKAHEAD(v[i].x), p[i].y);
+					uint32_t flags = blocks_get_flags(lookup.bid);
+					float bounce = blocks_get_bounce(lookup.bid);
+					if (flags & BLOCK_FLAG_COLLISION && physics_check_aabb(p[i].x-WORLD_BLOCK_SIZE/4, p[i].x+WORLD_BLOCK_SIZE/4, p[i].y-0.5f, p[i].y+0.5f, lookup.aox-WORLD_BLOCK_SIZE/2, lookup.aox+WORLD_BLOCK_SIZE/2, lookup.aoy-WORLD_BLOCK_SIZE/2, lookup.aoy+WORLD_BLOCK_SIZE/2)) {
+#if 1
+						{
+							debug_v2 a = {p[i].x-WORLD_BLOCK_SIZE/4 + PHY_LOOKAHEAD(v[i].x), p[i].y-0.5f};
+							debug_v2 b = {p[i].x+WORLD_BLOCK_SIZE/4 + PHY_LOOKAHEAD(v[i].x), p[i].y+0.5f};
+							debug_push_rect(a, b, 0xFF0000FF);
+						}
+#endif
+						v[i].x = physics_correction(lookup.ox, v[i].x, bounce, WORLD_BLOCK_SIZE/2);
+					}
+				}
+                
+				// NOTE(zaklaus): Y axis
+				{
+					world_block_lookup lookup = world_block_from_realpos(p[i].x, p[i].y+PHY_LOOKAHEAD(v[i].y));
+					uint32_t flags = blocks_get_flags(lookup.bid);
+					float bounce = blocks_get_bounce(lookup.bid);
+#if 0
+					{
+						debug_v2 a = {lookup.aox-WORLD_BLOCK_SIZE/2, lookup.aoy-WORLD_BLOCK_SIZE/2};
+						debug_v2 b = {lookup.aox+WORLD_BLOCK_SIZE/2, lookup.aoy+WORLD_BLOCK_SIZE/2};
+						debug_push_rect(a, b, 0xFFFFFFFF);
+					}
+#endif
+					if (flags & BLOCK_FLAG_COLLISION && physics_check_aabb(p[i].x-WORLD_BLOCK_SIZE/4, p[i].x+WORLD_BLOCK_SIZE/4, p[i].y-0.5f, p[i].y+0.5f, lookup.aox-WORLD_BLOCK_SIZE/2, lookup.aox+WORLD_BLOCK_SIZE/2, lookup.aoy-WORLD_BLOCK_SIZE/2, lookup.aoy+WORLD_BLOCK_SIZE/2)) {
+#if 1
+						{
+							debug_v2 a = {p[i].x-WORLD_BLOCK_SIZE/4, p[i].y-0.5f + PHY_LOOKAHEAD(v[i].y)};
+							debug_v2 b = {p[i].x+WORLD_BLOCK_SIZE/4, p[i].y+0.5f + PHY_LOOKAHEAD(v[i].y)};
+							debug_push_rect(a, b, 0xFF0000FF);
+						}
+#endif
+						v[i].y = physics_correction(lookup.oy, v[i].y, bounce, WORLD_BLOCK_SIZE/4);
+					}
+				}
+#endif
+			}
+		}
+	}
+}
+
+void BodyCollisions(ecs_iter_t *it) {
+	Position *p = ecs_field(it, Position, 1);
+	Velocity *v = ecs_field(it, Velocity, 2);
+	PhysicsBody *b = ecs_field(it, PhysicsBody, 3);
+
+	profile(PROF_PHYS_BODY_COLS) {
+		for (int i = 0; i < it->count; i++) {
+			if (ecs_get(it->world, it->entities[i], IsInVehicle)) {
+				continue;
+			}
+
+#if 0
+			{
+				debug_v2 a = {p[i].x - WORLD_BLOCK_SIZE/2, p[i].y - WORLD_BLOCK_SIZE/2};
+				debug_v2 b = {p[i].x + WORLD_BLOCK_SIZE/2, p[i].y + WORLD_BLOCK_SIZE/2};
+				debug_push_rect(a, b, 0xFFFFFFFF);
+			}
+#endif
+
+			ecs_iter_t it2 = ecs_query_iter(it->world, ecs_rigidbodies);
+
+			while (ecs_query_next(&it2)) {
+				for (int j = 0; j < it2.count; j++) {
+					if (it->entities[i] == it2.entities[j]) continue;
+
+					Position *p2 = ecs_field(&it2, Position, 1);
+					Velocity *v2 = ecs_field(&it2, Velocity, 2);
+					PhysicsBody *b2 = ecs_field(&it2, PhysicsBody, 3);
+
+					float p_x = p[i].x;
+					float p_y = p[i].y;
+					float p2_x = p2[j].x /*+ v2[j].x*/;
+					float p2_y = p2[j].y /*+ v2[j].y*/;
+	
+					c2AABB box_a = {
+						.min = { p_x - WORLD_BLOCK_SIZE / 2, p_y - WORLD_BLOCK_SIZE / 2 },
+						.max = { p_x + WORLD_BLOCK_SIZE / 2, p_y + WORLD_BLOCK_SIZE / 2 },
+					};
+	
+					c2AABB box_b = {
+						.min = { p2_x - WORLD_BLOCK_SIZE / 2, p2_y - WORLD_BLOCK_SIZE / 2 },
+						.max = { p2_x + WORLD_BLOCK_SIZE / 2, p2_y + WORLD_BLOCK_SIZE / 2 },
+					};
+
+					// do a basic sweep first
+					{
+						float r1x = (box_a.max.x-box_a.min.x);
+						float r1y = (box_a.max.y-box_a.min.y);
+						float r1 = (r1x*r1x + r1y*r1y)*.5f;
+
+						float r2x = (box_b.max.x-box_b.min.x);
+						float r2y = (box_b.max.y-box_b.min.y);
+						float r2 = (r2x*r2x + r2y*r2y)*.5f;
+
+						float dx = (p2_x-p_x);
+						float dy = (p2_y-p_y);
+						float d = (dx*dx + dy*dy);
+
+						if (d > r1 && d > r2)
+							continue;
+					}
+
+					c2Circle circle_a = { 
+						.p = { p_x, p_y },
+						.r = b[i].circle.r,
+					};
+
+					c2Circle circle_b = {
+						.p = { p2_x, p2_y },
+						.r = b2[j].circle.r,
+					};
+
+					const void *shapes_a[] = { &circle_a, &box_a };
+					const void *shapes_b[] = { &circle_b, &box_b };
+					
+					c2Manifold m = { 0 };
+					c2Collide(shapes_a[b[i].kind], 0, b[i].kind, shapes_b[b2[j].kind], 0, b2[j].kind, &m);
+
+					c2v n = m.n;
+	
+					for (int k = 0; k < m.count; k++) {
+						float d = m.depths[k];
+#if 0
+						{
+							c2v pos = m.contact_points[k];
+							debug_v2 a = { pos.x, pos.y };
+							debug_v2 b = { pos.x + n.x*d, pos.y + n.y*d };
+							debug_push_line(a, b, 0xF77FFFFF);
+						}
+#endif
+						
+						float m1 = b2[j].mass == INFINITE_MASS ? b[i].mass : b2[j].mass;
+						float m2 = b[i].mass == INFINITE_MASS ? (ZPL_F32_MAX-1.0f) : b[i].mass;
+						float mass_ratio = m1 / m2;
+
+						v[i].x -= n.x*d*mass_ratio;
+						v[i].y -= n.y*d*mass_ratio;
+					}
+				}
+			}
+		}
+	}
+}
+
 void IntegratePositions(ecs_iter_t *it) {
     profile(PROF_INTEGRATE_POS) {
         Position *p = ecs_field(it, Position, 1);
@@ -43,60 +220,7 @@ void IntegratePositions(ecs_iter_t *it) {
                 continue;
             }
 
-            //if (zpl_abs(v[i].x) >= 0.0001f || zpl_abs(v[i].y) >= 0.0001f)
+			entity_set_position(it->entities[i], p[i].x+v[i].x*safe_dt(it), p[i].y+v[i].y*safe_dt(it));
-            {
-                // NOTE(zaklaus): world bounds
-                {
-                    float w = (float)world_dim();
-                    p[i].x = zpl_clamp(p[i].x, 0, w-1);
-                    p[i].y = zpl_clamp(p[i].y, 0, w-1);
-                }
-                
-#if PHY_BLOCK_COLLISION==1
-                // NOTE(zaklaus): X axis
-                {
-                    world_block_lookup lookup = world_block_from_realpos(p[i].x+PHY_LOOKAHEAD(v[i].x), p[i].y);
-                    uint32_t flags = blocks_get_flags(lookup.bid);
-                    float bounce = blocks_get_bounce(lookup.bid);
-                    if (flags & BLOCK_FLAG_COLLISION && physics_check_aabb(p[i].x-WORLD_BLOCK_SIZE/4, p[i].x+WORLD_BLOCK_SIZE/4, p[i].y-0.5f, p[i].y+0.5f, lookup.aox-WORLD_BLOCK_SIZE/2, lookup.aox+WORLD_BLOCK_SIZE/2, lookup.aoy-WORLD_BLOCK_SIZE/2, lookup.aoy+WORLD_BLOCK_SIZE/2)) {
-#if 1
-                        {
-                            debug_v2 a = {p[i].x-WORLD_BLOCK_SIZE/4 + PHY_LOOKAHEAD(v[i].x), p[i].y-0.5f};
-                            debug_v2 b = {p[i].x+WORLD_BLOCK_SIZE/4 + PHY_LOOKAHEAD(v[i].x), p[i].y+0.5f};
-                            debug_push_rect(a, b, 0xFF0000FF);
-                        }
-#endif
-                        v[i].x = physics_correction(lookup.ox, v[i].x, bounce, WORLD_BLOCK_SIZE/2);
-                    }
-                }
-                
-                // NOTE(zaklaus): Y axis
-                {
-                    world_block_lookup lookup = world_block_from_realpos(p[i].x, p[i].y+PHY_LOOKAHEAD(v[i].y));
-                    uint32_t flags = blocks_get_flags(lookup.bid);
-                    float bounce = blocks_get_bounce(lookup.bid);
-#if 0
-                    {
-                        debug_v2 a = {lookup.aox-WORLD_BLOCK_SIZE/2, lookup.aoy-WORLD_BLOCK_SIZE/2};
-                        debug_v2 b = {lookup.aox+WORLD_BLOCK_SIZE/2, lookup.aoy+WORLD_BLOCK_SIZE/2};
-                        debug_push_rect(a, b, 0xFFFFFFFF);
-                    }
-#endif
-                    if (flags & BLOCK_FLAG_COLLISION && physics_check_aabb(p[i].x-WORLD_BLOCK_SIZE/4, p[i].x+WORLD_BLOCK_SIZE/4, p[i].y-0.5f, p[i].y+0.5f, lookup.aox-WORLD_BLOCK_SIZE/2, lookup.aox+WORLD_BLOCK_SIZE/2, lookup.aoy-WORLD_BLOCK_SIZE/2, lookup.aoy+WORLD_BLOCK_SIZE/2)) {
-#if 1
-                        {
-                            debug_v2 a = {p[i].x-WORLD_BLOCK_SIZE/4, p[i].y-0.5f + PHY_LOOKAHEAD(v[i].y)};
-                            debug_v2 b = {p[i].x+WORLD_BLOCK_SIZE/4, p[i].y+0.5f + PHY_LOOKAHEAD(v[i].y)};
-                            debug_push_rect(a, b, 0xFF0000FF);
-                        }
-#endif
-                        v[i].y = physics_correction(lookup.oy, v[i].y, bounce, WORLD_BLOCK_SIZE/4);
-                    }
-                }
-#endif
-                
-                entity_set_position(it->entities[i], p[i].x+v[i].x*safe_dt(it), p[i].y+v[i].y*safe_dt(it));
-            }
             
             {
                 debug_v2 a = {p[i].x, p[i].y};
@@ -232,86 +356,6 @@ void PlayerClosestInteractable(ecs_iter_t *it){
     }
 }
 
-void PhysOnCreateBody(ecs_iter_t *it) {
-	PhysicsBody *pb = ecs_field(it, PhysicsBody, 1);
-	Position *p = ecs_field(it, Position, 2);
-
-	for (int i = 0; i < it->count; i++) {
-		const frMaterial mat = {
-			.density = pb[i].density,
-			.staticFriction = pb[i].static_friction,
-			.dynamicFriction = pb[i].dynamic_friction,
-		};
-
-		frShape *shape = 0;
-		if (pb[i].kind == PHYS_CIRCLE) {
-			shape = frCreateCircle(mat, pb[i].circle.r);
-		} else {
-			shape = frCreateRectangle(mat, pb[i].rect.w, pb[i].rect.h);
-		}
-
-		frBodyFlags flags = 0x0;
-		if (pb[i].inf_inertia) flags |= FR_FLAG_INFINITE_INERTIA;
-		if (pb[i].inf_mass) flags |= FR_FLAG_INFINITE_MASS;
-		frBody *body = frCreateBodyFromShape(FR_BODY_DYNAMIC, flags, frVec2PixelsToMeters((Vector2){p[i].x, p[i].y}), shape);
-		frAddToWorld(phys_world, body);
-		pb[i].body_ptr = (uintptr_t)body;
-	}
-}
-
-void PhysOnRemoveBody(ecs_iter_t *it) {
-	PhysicsBody *pb = ecs_field(it, PhysicsBody, 1);
-
-	for (int i = 0; i < it->count; i++) {
-		frBody *body = (frBody*)pb[i].body_ptr;
-		frRemoveFromWorld(phys_world, body);
-		frShape *shape = frGetBodyShape(body);
-		frReleaseBody(body);
-		frReleaseShape(shape);
-	}
-}
-
-void PhysSetVelocity(ecs_iter_t *it) {
-	PhysicsBody *pb = ecs_field(it, PhysicsBody, 1);
-	Velocity *v = ecs_field(it, Velocity, 2);
-
-	for (int i = 0; i < it->count; i++) {
-		frBody *body = (frBody*)pb[i].body_ptr;
-		frSetBodyVelocity(body, (Vector2) { v[i].x, v[i].y });
-	}
-}
-
-void PhysUpdatePosition(ecs_iter_t *it) {
-	PhysicsBody *pb = ecs_field(it, PhysicsBody, 1);
-	Position *p = ecs_field(it, Position, 2);
-	Velocity *v = ecs_field(it, Velocity, 3);
-
-	for (int i = 0; i < it->count; i++) {
-		frBody *body = (frBody*)pb[i].body_ptr;
-		Vector2 pos = frVec2MetersToPixels(frGetBodyPosition(body));
-		p[i].x = pos.x;
-		p[i].y = pos.y;
-		Vector2 vel = frVec2MetersToPixels(frGetBodyVelocity(body));
-		v[i].x = vel.x;
-		v[i].y = vel.y;
-	}
-}
-
-void PhysResetPosition(ecs_iter_t *it) {
-	Position *p = ecs_field(it, Position, 1);
-
-	for (int i = 0; i < it->count; i++) {
-		const PhysicsBody *pb = ecs_get(it->world, it->entities[i], PhysicsBody);
-		if (!pb) continue; 
-		frBody *body = (frBody*)pb->body_ptr;
-		frSetBodyPosition(body, (Vector2){p[i].x, p[i].y});
-	}
-}
-
-void PhysSimulateWorld(ecs_iter_t *it) {
-	frSimulateWorld(phys_world, it->delta_time);
-}
-
 void EnableWorldEdit(ecs_iter_t *it) {
     world_set_stage(it->world);
 }
@@ -321,8 +365,6 @@ void DisableWorldEdit(ecs_iter_t *it) {
     world_set_stage(NULL);
 }
 
-#define ECO2D_TICK_RATE (1.0f/20.f)
-
 #define ECS_SYSTEM_TICKED(world, id, stage, ...)\
 ECS_SYSTEM(world, id, stage, __VA_ARGS__);\
 ecs_set_tick_source(world, id, timer);
@@ -337,6 +379,8 @@ void SystemsImport(ecs_world_t *ecs) {
     
     ecs_entity_t timer = ecs_set_interval(ecs, 0, ECO2D_TICK_RATE);
 
+	ecs_rigidbodies = ecs_query_new(ecs, "components.Position, components.Velocity, components.PhysicsBody");
+
 	ECS_SYSTEM(ecs, EnableWorldEdit, EcsOnLoad);
     ECS_SYSTEM(ecs, MovementImpulse, EcsOnLoad, components.Input, components.Velocity, components.Position, !components.IsInVehicle);
     ECS_SYSTEM(ecs, DemoNPCMoveAround, EcsOnLoad, components.Velocity, components.DemoNPC);
@@ -349,10 +393,9 @@ void SystemsImport(ecs_world_t *ecs) {
 
 	ECS_OBSERVER(ecs, OnHealthChangePutDelay, EcsOnAdd, components.HealthDecreased);
     
-	ECS_SYSTEM(ecs, PhysSetVelocity, EcsOnValidate, components.PhysicsBody, components.Velocity);
+	ECS_SYSTEM(ecs, BodyCollisions, EcsOnUpdate, components.Position, components.Velocity, components.PhysicsBody);
-	ECS_SYSTEM(ecs, PhysSimulateWorld, EcsOnValidate);
+	ECS_SYSTEM(ecs, BlockCollisions, EcsOnValidate, components.Position, components.Velocity);
-	ECS_SYSTEM(ecs, PhysUpdatePosition, EcsOnValidate, components.PhysicsBody, components.Position, components.Velocity);
+	ECS_SYSTEM(ecs, IntegratePositions, EcsOnValidate, components.Position, components.Velocity);
-	ECS_SYSTEM(ecs, IntegratePositions, EcsOnValidate, components.Position, components.Velocity, !components.PhysicsBody);
     
     ECS_SYSTEM(ecs, EnterVehicle, EcsPostUpdate, components.Input, components.Position, !components.IsInVehicle);
     ECS_SYSTEM(ecs, LeaveVehicle, EcsPostUpdate, components.Input, components.IsInVehicle, components.Velocity);
@@ -384,12 +427,7 @@ void SystemsImport(ecs_world_t *ecs) {
     
     ECS_SYSTEM(ecs, ClearVehicle, EcsUnSet, components.Vehicle);
     ECS_SYSTEM(ecs, ThrowItemsOut, EcsUnSet, components.ItemContainer, components.Position);
-
+	
-	// Physics hooks
-	ECS_OBSERVER(ecs, PhysOnCreateBody, EcsOnSet, components.PhysicsBody, components.Position);
-	ECS_OBSERVER(ecs, PhysOnRemoveBody, EcsUnSet, components.PhysicsBody);
-	ECS_OBSERVER(ecs, PhysResetPosition, EcsOnSet, components.Position);
-    
     ECS_SYSTEM(ecs, DisableWorldEdit, EcsPostUpdate);
     
 }

code/foundation/src/world/world.c

@@ -12,7 +12,6 @@
 #include "core/game.h"
 #include "models/entity.h"
 #include "models/crafting.h"
-#include "ferox.h"
 
 #include "packets/pkt_send_librg_update.h"
 
@@ -25,7 +24,6 @@ ZPL_TABLE(static, world_component_cache, world_component_cache_, zpl_uintptr); /
 static world_data world = {0};
 static world_snapshot streamer_snapshot;
 static world_component_cache component_cache;
-frWorld *phys_world = 0;
 
 entity_view *world_build_entity_view(int64_t e) {
     entity_view *cached_ev = world_snapshot_get(&streamer_snapshot, e);
@@ -296,18 +294,6 @@ void world_free_worldgen_data(void) {
     world.outer_data = NULL;
 }
 
-static inline
-void world_init_physics(void) {
-	const Rectangle bounds = {
-		.x = -0.05f * frNumberPixelsToMeters(world_dim()),
-		.y = -0.05f * frNumberPixelsToMeters(world_dim()),
-		.width = 1.1f * frNumberPixelsToMeters(world_dim()),
-		.height = 1.1f * frNumberPixelsToMeters(world_dim())
-	};
-
-	phys_world = frCreateWorld((Vector2) { 0.0f, 0.0f }, bounds);
-}
-
 int32_t world_init(int32_t seed, uint16_t chunk_size, uint16_t chunk_amount) {
     world.is_paused = false;
     world.seed = seed;
@@ -324,7 +310,6 @@ int32_t world_init(int32_t seed, uint16_t chunk_size, uint16_t chunk_amount) {
     world_init_mapping();
     world_chunk_setup_grid();
     world_free_worldgen_data();
-	world_init_physics();
     
     zpl_printf("[INFO] Created a new server world\n");
     
@@ -345,9 +330,7 @@ int32_t world_destroy(void) {
     world_component_cache_destroy(&component_cache);
     zpl_memset(&world, 0, sizeof(world));
 
-	frReleaseWorld(phys_world);
+     zpl_printf("[INFO] World was destroyed.\n");
-
-    zpl_printf("[INFO] World was destroyed.\n");
     return WORLD_ERROR_NONE;
 }
 

code/games/survival/src/renderer.c

@@ -1,6 +1,5 @@
 static Camera2D render_camera;
 static float zoom_overlay_tran = 0.0f;
-#include "ferox.h"
 
 #define CAM_OVERLAY_ZOOM_LEVEL 0.15f
 #define ALPHA(x) ColorAlpha(x, data->tran_time)
@@ -132,16 +131,7 @@ void renderer_draw(void) {
     BeginMode2D(render_camera);
 
     game_world_view_render_world();
-
 	
-#if 0
-	if (game_get_kind() == GAMEKIND_SINGLE) {
-		extern frWorld *phys_world;
-		frDrawSpatialHash(frGetWorldSpatialHash(phys_world), 0.75f, GRAY);
-	}
-#endif
-
-
     EndMode2D();
 }
 

code/vendors/CMakeLists.txt

@@ -1,7 +1,6 @@
 add_subdirectory(flecs)
 add_subdirectory(cwpack)
 add_subdirectory(raylib-nuklear)
-add_subdirectory(ferox)
 
 add_library(vendors-bundle STATIC
 	sfd.c

code/vendors/ferox/CMakeLists.txt

@@ -1,15 +0,0 @@
-add_library(ferox STATIC
-	src/broadphase.c
-	src/collision.c
-	src/debug.c
-	src/dynamics.c
-	src/geometry.c
-	src/timer.c
-	src/utils.c
-	src/world.c
-)
-
-target_include_directories(ferox PUBLIC include)
-target_include_directories(ferox PRIVATE src/external)
-
-target_link_libraries(ferox PRIVATE raylib)

code/vendors/ferox/include/ferox.h

@@ -1,746 +0,0 @@
-/*
-    Copyright (c) 2021-2022 jdeokkim
-
-    Permission is hereby granted, free of charge, to any person obtaining a copy
-    of this software and associated documentation files (the "Software"), to deal
-    in the Software without restriction, including without limitation the rights
-    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-    copies of the Software, and to permit persons to whom the Software is
-    furnished to do so, subject to the following conditions:
-
-    The above copyright notice and this permission notice shall be included in all
-    copies or substantial portions of the Software.
-
-    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-    SOFTWARE.
-*/
-
-#ifndef FEROX_H
-#define FEROX_H
-
-#include <float.h>
-#include <math.h>
-#include <stdbool.h>
-#include <stdint.h>
-#include <stdlib.h>
-
-#ifndef FEROX_STANDALONE
-    #include "raylib.h"
-#else
-    #ifndef PI
-        #define PI 3.14159265358979323846f
-    #endif
-
-    #define DEG2RAD (PI / 180.0f)
-    #define RAD2DEG (180.0f / PI)
-
-    /* A struct that represents a two-dimensional vector. */
-    typedef struct Vector2 {
-        float x;
-        float y;
-    } Vector2;
-
-    /* A struct that represents a rectangle. */
-    typedef struct Rectangle {
-        float x;
-        float y;
-        float width;
-        float height;
-    } Rectangle;
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-    /* Returns `true` if `rec1` collides with `rec2`. */
-    bool CheckCollisionRecs(Rectangle rec1, Rectangle rec2) {
-        return ((rec1.x + rec1.width) - rec2.x) >= 0 && ((rec2.x + rec2.width) - rec1.x) >= 0
-            && ((rec1.y + rec1.height) - rec2.y) >= 0 && ((rec2.y + rec2.height) - rec1.y) >= 0;
-    }
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
-/* | Macro Definitions (Global) | */
-
-#ifdef _MSC_VER
-    #define FR_API_INLINE __forceinline
-#elif defined(__GNUC__)
-    #if defined(__STRICT_ANSI__)
-        #define FR_API_INLINE __inline__ __attribute__((always_inline))
-    #else
-        #define FR_API_INLINE inline __attribute__((always_inline))
-    #endif
-#else
-    #define FR_API_INLINE inline
-#endif
-
-#define FR_STRUCT_ZERO(T)                         ((T) { 0 })
-
-/* | Macro Definitions (Configuration) | */
-
-#define FR_BROADPHASE_CELL_SIZE                   3.2f
-#define FR_BROADPHASE_INVERSE_CELL_SIZE           (1.0f / (FR_BROADPHASE_CELL_SIZE))
-
-#define FR_DEBUG_CIRCLE_SEGMENT_COUNT             32
-
-#define FR_DYNAMICS_CORRECTION_DEPTH_SCALE        0.24f
-#define FR_DYNAMICS_CORRECTION_DEPTH_THRESHOLD    0.02f
-#define FR_DYNAMICS_DYNAMIC_FRICTION_MULTIPLIER   0.85f
-
-#define FR_GEOMETRY_MAX_VERTEX_COUNT              8
-
-#define FR_GLOBAL_PIXELS_PER_METER                16.0f
-
-#define FR_WORLD_ACCUMULATOR_LIMIT                200.0
-#define FR_WORLD_DEFAULT_GRAVITY                  ((Vector2) { .y = 9.8f })
-#define FR_WORLD_MAX_BODY_COUNT                   288
-#define FR_WORLD_MAX_ITERATIONS                   12
-
-/* | Data Type Definitions | */
-
-/* A struct that represents the type of a rigid body. */
-typedef enum frBodyType {
-    FR_BODY_UNKNOWN = -1,
-    FR_BODY_STATIC,
-    FR_BODY_KINEMATIC,
-    FR_BODY_DYNAMIC
-} frBodyType;
-
-/* An enum that represents the property flag of a rigid body. */
-typedef enum frBodyFlag {
-    FR_FLAG_NONE = 0x00,
-    FR_FLAG_INFINITE_MASS = 0x01,
-    FR_FLAG_INFINITE_INERTIA = 0x02
-} frBodyFlag;
-
-/* A data type that represents the property flags of a rigid body. */
-typedef uint8_t frBodyFlags;
-
-/* A struct that represents the type of a collision shape. */
-typedef enum frShapeType {
-    FR_SHAPE_UNKNOWN,
-    FR_SHAPE_CIRCLE,
-    FR_SHAPE_POLYGON
-} frShapeType;
-
-/* A struct that represents the material of a collision shape. */
-typedef struct frMaterial {
-    float density;
-    float restitution;
-    float staticFriction;
-    float dynamicFriction;
-} frMaterial;
-
-/* 
-    A struct that represents the position (in meters) 
-    and rotation (in radians) of an object. 
-*/
-typedef struct frTransform {
-    Vector2 position;
-    float rotation;
-    struct {
-        bool valid;
-        float sinA;
-        float cosA;
-    } cache;
-} frTransform;
-
-/* A struct that represents the vertices of a polygon. */
-typedef struct frVertices {
-    Vector2 data[FR_GEOMETRY_MAX_VERTEX_COUNT];
-    int count;
-} frVertices;
-
-/* A struct that represents a collision shape. */
-typedef struct frShape frShape;
-
-/* A struct that represents a rigid body. */
-typedef struct frBody frBody;
-
-/* A struct that represents information for a set of two rigid bodies. */
-typedef struct frSolverCache {
-    frBody *bodies[2];
-    /* TODO: ... */
-} frSolverCache;
-
-/* A struct that represents the details of a collision. */
-typedef struct frCollision {
-    bool check;           // Returns `true` if two collision shapes collide with each other.
-    frSolverCache cache;  // The struct that contains rigid bodies that collided with each other.
-    Vector2 direction;    // The direction of the collision in a unit vector form.
-    Vector2 points[2];    // The points of the collision between two collision shapes.
-    float depths[2];      // The penetration depths of the collision.
-    int count;            // The number of points for this collision.
-} frCollision;
-
-/* A callback which will be executed when a collision event occurs. */
-typedef void (*frCollisionCallback)(frCollision *collision);
-
-/* A struct that represents the collision event handler of a world. */
-typedef struct frCollisionHandler {
-    frCollisionCallback preSolve;
-    frCollisionCallback postSolve;
-} frCollisionHandler;
-
-/* A struct that represents a ray. */
-typedef struct frRay {
-    Vector2 origin;
-    Vector2 direction;
-    float maxDistance;
-    bool closest;
-} frRay;
-
-/* A struct that represents the details of a raycast hit. */
-typedef struct frRaycastHit {
-    bool check;          // Returns `true` if the ray collides with `shape` or `body`.
-    union {
-        frShape *shape; 
-        frBody *body;
-    };                   // The collision shape or the body that was hit by the raycast.
-    Vector2 point;       // The point at which the raycast hit `shape` or `body`.
-    Vector2 normal;      // The normal vector of the raycast hit.
-    float distance;      // The distance from the ray's starting point to `shape` or `body`.
-    bool inside;         // Returns `true` if the ray's starting point is inside `shape` or `body`.
-} frRaycastHit;
-
-/* A struct that represents a spatial hash. */
-typedef struct frSpatialHash frSpatialHash;
-
-/* A struct that represents the world that holds rigid bodies. */
-typedef struct frWorld frWorld;
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* | Module Functions (`broadphase`) | */
-
-/* Creates a new spatial hash from the given bounds and the size of each cell. */
-frSpatialHash *frCreateSpatialHash(Rectangle bounds, float cellSize);
-
-/* Releases the memory allocated for `hash`. */
-void frReleaseSpatialHash(frSpatialHash *hash);
-
-/* Generates a new key from `rec` and inserts the key-`value` pair to `hash`. */
-void frAddToSpatialHash(frSpatialHash *hash, Rectangle rec, int value);
-
-/* Removes all key-value pairs from `hash`. */
-void frClearSpatialHash(frSpatialHash *hash);
-
-/* Removes a `key`-value pair from `hash`. */
-void frRemoveFromSpatialHash(frSpatialHash *hash, int key);
-
-/* Returns the values of all pairs that collides with `rec` in `hash`. */
-void frQuerySpatialHash(frSpatialHash *hash, Rectangle rec, int **result);
-
-/* Returns the bounds of `hash`. */
-Rectangle frGetSpatialHashBounds(frSpatialHash *hash);
-
-/* Returns the size of each cell of `hash`. */
-float frGetSpatialHashCellSize(frSpatialHash *hash);
-
-/* Sets the bounds of `hash` to `bounds`. */
-void frSetSpatialHashBounds(frSpatialHash *hash, Rectangle bounds);
-
-/* Sets the size of each cell of `hash` to `cellSize`. */
-void frSetSpatialHashCellSize(frSpatialHash *hash, float cellSize);
-
-/* | Module Functions (`collision`) | */
-
-/* 
-    Computes the collision between `s1` with position and rotation from `tx1` and `s2` 
-    with position and rotation from `tx2`.
-*/
-frCollision frComputeShapeCollision(frShape *s1, frTransform tx1, frShape *s2, frTransform tx2);
-
-/* Computes the collision between `b1` and `b2`. */
-frCollision frComputeBodyCollision(frBody *b1, frBody *b2);
-
-/* Casts a `ray` to the collision shape `s`. */
-frRaycastHit frComputeShapeRaycast(frShape *s, frTransform tx, frRay ray);
-
-/* Casts a `ray` to the rigid body `b`. */
-frRaycastHit frComputeBodyRaycast(frBody *b, frRay ray);
-
-/* | Module Functions (`debug`) | */
-
-#ifndef FEROX_STANDALONE
-    /* Draws an arrow that points from `p1` to `p2`. */
-    void frDrawArrow(Vector2 p1, Vector2 p2, float thick, Color color);
-
-    /* Draws the collision shape of `b`. */
-    void frDrawBody(frBody *b, Color color);
-
-    /* Draws the border of the collision shape of `b`. */
-    void frDrawBodyLines(frBody *b, float thick, Color color);
-
-    /* Draws the AABB and the center of mass of `b`. */
-    void frDrawBodyAABB(frBody *b, float thick, Color color);
-
-    /* Draws the properties of `b`. */
-    void frDrawBodyProperties(frBody *b, Color color);
-
-    /* Draws the border of `hm`. */
-    void frDrawSpatialHash(frSpatialHash *hm, float thick, Color color);
-#endif
-
-/* | Module Functions (`dynamics`) | */
-
-/* Creates a new rigid body from the given type, flags, and position (in meters). */
-frBody *frCreateBody(frBodyType type, frBodyFlags flags, Vector2 p);
-
-/* 
-    Creates a new rigid body from the given type, flags, position (in meters), 
-    and a collision shape.
-*/
-frBody *frCreateBodyFromShape(frBodyType type, frBodyFlags flags, Vector2 p, frShape *s);
-
-/* Releases the memory allocated for `b`. */
-void frReleaseBody(frBody *b);
-
-/* Attaches the collision shape `s` to `b`. */
-void frAttachShapeToBody(frBody *b, frShape *s);
-
-/* Detaches the collision shape `s` from `b`. */
-void frDetachShapeFromBody(frBody *b);
-
-/* Returns the size of the struct `frBody`. */
-size_t frGetBodyStructSize(void);
-
-/* Returns the type of `b`. */
-frBodyType frGetBodyType(frBody *b);
-
-/* Returns the property flags of `b`. */
-frBodyFlags frGetBodyFlags(frBody *b);
-
-/* Returns the material of `b`. */
-frMaterial frGetBodyMaterial(frBody *b);
-
-/* Returns the mass of `b`. */
-float frGetBodyMass(frBody *b);
-
-/* Returns the inverse mass of `b`. */
-float frGetBodyInverseMass(frBody *b);
-
-/* Returns the moment of inertia for `b`. */
-float frGetBodyInertia(frBody *b);
-
-/* Returns the inverse moment of inertia for `b`. */
-float frGetBodyInverseInertia(frBody *b);
-
-/* Returns the velocity of `b`. */
-Vector2 frGetBodyVelocity(frBody *b);
-
-/* Returns the angular velocity of `b`. */
-float frGetBodyAngularVelocity(frBody *b);
-
-/* Returns the gravity scale of `b`. */
-float frGetBodyGravityScale(frBody *b);
-
-/* Returns the position (in meters) and rotation (in radians) of `b`. */
-frTransform frGetBodyTransform(frBody *b);
-
-/* Returns the position (in meters) of `b`. */
-Vector2 frGetBodyPosition(frBody *b);
-
-/* Returns the rotation (in radians) of `b`. */
-float frGetBodyRotation(frBody *b);
-
-/* Returns the collision shape of `b`. */
-frShape *frGetBodyShape(frBody *b);
-
-/* Returns the AABB (Axis-Aligned Bounding Box) of `b`. */
-Rectangle frGetBodyAABB(frBody *b);
-
-/* Returns the user data of `b`. */
-void *frGetBodyUserData(frBody *b);
-
-/* Converts the world coordinates `p` to a position relative to `b`'s transform value. */
-Vector2 frGetLocalPoint(frBody *b, Vector2 p);
-
-/* Converts the position relative to `b`'s transform value `p` to world coordinates. */
-Vector2 frGetWorldPoint(frBody *b, Vector2 p);
-
-/* Sets the type of `b` to `type`. */
-void frSetBodyType(frBody *b, frBodyType type);
-
-/* Sets the property flags of `b` to `flags`. */
-void frSetBodyFlags(frBody *b, frBodyFlags flags);
-
-/* Sets the velocity of `b` to `v`. */
-void frSetBodyVelocity(frBody *b, Vector2 v);
-
-/* Sets the angular velocity of `b` to `a`. */
-void frSetBodyAngularVelocity(frBody *b, double a);
-
-/* Sets the gravity scale value of `b` to `scale`. */
-void frSetBodyGravityScale(frBody *b, float scale);
-
-/* Sets the transform value of `b` to `tx`. */ 
-void frSetBodyTransform(frBody *b, frTransform tx);
-
-/* Sets the position of `b` to `p`. */
-void frSetBodyPosition(frBody *b, Vector2 p);
-
-/* Sets the rotation of `b` to `rotation`. */
-void frSetBodyRotation(frBody *b, float rotation);
-
-/* Sets the user data of `b` to `data`. */
-void frSetBodyUserData(frBody *b, void *data);
-
-/* Clears all forces that are applied to `b`. */
-void frClearBodyForces(frBody *b);
-
-/* Applies a `gravity` vector to `b`. */
-void frApplyGravity(frBody *b, Vector2 gravity);
-
-/* Applies an `impulse` to `b`. */
-void frApplyImpulse(frBody *b, Vector2 impulse);
-
-/* Applies a torque `impulse` to `b`. */
-void frApplyTorqueImpulse(frBody *b, Vector2 p, Vector2 impulse);
-
-/* Integrates the position of `b` with `dt`. */
-void frIntegrateForBodyPosition(frBody *b, double dt);
-
-/* Integrates the velocities of `b` with `dt`. */
-void frIntegrateForBodyVelocities(frBody *b, double dt);
-
-/* Resolves the collision between two rigid bodies. */
-void frResolveCollision(frCollision *collision);
-
-/* Corrects the positions of two rigid bodies. */
-void frCorrectBodyPositions(frCollision *collision, float inverseDt);
-
-/* | Module Functions (`geometry`) | */
-
-/* 
-    Creates a new circle-shaped collision shape 
-    from the given material and radius (in meters).
-*/
-frShape *frCreateCircle(frMaterial material, float radius);
-
-/* 
-    Creates a new rectangle-shaped collision shape 
-    from the given material, width and height (in meters). 
-*/
-frShape *frCreateRectangle(frMaterial material, float width, float height);
-
-/* 
-    Creates a new polygon-shaped collision shape 
-    from the given material and vertices (in meters).
-*/
-frShape *frCreatePolygon(frMaterial material, frVertices vertices);
-
-/* Creates an empty shape. */
-frShape *frCreateShape(void);
-
-/* Returns a clone of `s`. */
-frShape *frCloneShape(frShape *s);
-
-/* Releases the memory allocated for `s`. */
-void frReleaseShape(frShape *s);
-
-/* Returns the size of the struct `frShape`. */
-size_t frGetShapeStructSize(void);
-
-/* Returns the type of `s`. */
-frShapeType frGetShapeType(frShape *s);
-
-/* Returns the material of `s`. */
-frMaterial frGetShapeMaterial(frShape *s);
-
-/* Returns the area of `s`. */
-float frGetShapeArea(frShape *s);
-
-/* Returns the mass of `s`. */
-float frGetShapeMass(frShape *s);
-
-/* Returns the moment of inertia for `s`. */
-float frGetShapeInertia(frShape *s);
-
-/* Returns the AABB (Axis-Aligned Bounding Box) of `s`. */
-Rectangle frGetShapeAABB(frShape *s, frTransform tx);
-
-/* Returns the radius of the `s`. */
-float frGetCircleRadius(frShape *s);
-
-/* Returns the width and height of `s`. */
-Vector2 frGetRectangleDimensions(frShape *s);
-
-/* Returns the `i + 1`th vertex of `s`. */
-Vector2 frGetPolygonVertex(frShape *s, int i);
-
-/* Returns the `i + 1`th normal of `s`. */
-Vector2 frGetPolygonNormal(frShape *s, int i);
-
-/* Returns the vertices of `s`. */
-frVertices frGetPolygonVertices(frShape *s);
-
-/* Returns the normals of `s`. */
-frVertices frGetPolygonNormals(frShape *s);
-
-/* Returns `true` if `s` is a rectangular collision shape. */
-bool frIsShapeRectangle(frShape *s);
-
-/* Sets the radius of `s` to `radius`. */
-void frSetCircleRadius(frShape *s, float radius);
-
-/* Sets the dimensions (width and height) for `s` to `v`. */
-void frSetRectangleDimensions(frShape *s, Vector2 v);
-
-/* Sets the vertices of `s` to `vertices`. */
-void frSetPolygonVertices(frShape *s, frVertices vertices);
-
-/* Sets the material of `s` to `material`. */
-void frSetShapeMaterial(frShape *s, frMaterial material);
-
-/* Sets the type of `s` to `type`. */
-void frSetShapeType(frShape *s, frShapeType type);
-
-/* Returns `true` if `s` contains the point `p`. */
-bool frShapeContainsPoint(frShape *s, frTransform tx, Vector2 p);
-
-/* | Module Functions (`timer`) | */
-
-/* Initializes a monotonic clock. */
-void frInitClock(void);
-
-/* Returns the current time (in milliseconds) of the monotonic clock. */
-double frGetCurrentTime(void);
-
-/* Returns the difference between `newTime` and `oldTime`. */
-double frGetTimeDifference(double newTime, double oldTime);
-
-/* Returns the difference between the current time and `oldTime`. */
-double frGetTimeSince(double oldTime);
-
-/* | Module Functions (`utils`) | */
-
-/* Normalizes `angle` (in radians) to range `[center - π/2, center + π/2]`. */
-float frNormalizeAngle(float angle, float center);
-
-/* Returns `true` if `f1` and `f2` are approximately equal. */
-bool frNumberApproxEquals(float f1, float f2);
-
-/* | Module Functions (`world`) | */
-
-/* Creates a new world from the given `gravity` vector and world `bounds` in meters. */
-frWorld *frCreateWorld(Vector2 gravity, Rectangle bounds);
-
-/* Removes all rigid bodies from `world`, then releases the memory allocated for `world`. */
-void frReleaseWorld(frWorld *world);
-
-/* Adds `b` to `world`. */
-bool frAddToWorld(frWorld *world, frBody *b);
-
-/* Removes all rigid bodies from `world`. */
-void frClearWorld(frWorld *world);
-
-/* Removes `b` from `world`. */
-bool frRemoveFromWorld(frWorld *world, frBody *b);
-
-/* Returns the size of the struct `frWorld`. */
-size_t frGetWorldStructSize(void);
-
-/* Returns the rigid body at the `index` in `world`'s array of rigid bodies. */
-frBody *frGetWorldBody(frWorld *world, int index);
-
-/* Returns the collision event handler for `world`. */
-frCollisionHandler frGetWorldCollisionHandler(frWorld *world);
-
-/* Returns the length of `world`'s array of rigid bodies. */
-int frGetWorldBodyCount(frWorld *world);
-
-/* Returns the bounds of `world`. */
-Rectangle frGetWorldBounds(frWorld *world);
-
-/* Returns the spatial hash of `world`. */
-frSpatialHash *frGetWorldSpatialHash(frWorld *world);
-
-/* Returns the gravity vector of `world`. */
-Vector2 frGetWorldGravity(frWorld *world);
-
-/* Returns `true` if `b` collides with the bounds of `world`. */
-bool frIsInWorldBounds(frWorld *world, frBody *b);
-
-/* Sets the world bounds of `world` to `bounds`. */
-void frSetWorldBounds(frWorld *world, Rectangle bounds);
-
-/* Sets the collision event handler for `world` to `handler`. */
-void frSetWorldCollisionHandler(frWorld *world, frCollisionHandler handler);
-
-/* Sets the gravity vector of `world` to `gravity`. */
-void frSetWorldGravity(frWorld *world, Vector2 gravity);
-
-/* Simulates the `world` for the time step `dt` (in milliseconds). */
-void frSimulateWorld(frWorld *world, double dt);
-
-/* Query the `world` for rigid bodies that collides with `rec`. */
-int frQueryWorldSpatialHash(frWorld *world, Rectangle rec, frBody **bodies);
-
-/* Casts a `ray` to all rigid bodies in `world`. */
-int frComputeWorldRaycast(frWorld *world, frRay ray, frRaycastHit *hits);
-
-/* | Inline Functions | */
-
-/* Converts `value` (in pixels) to meters. */
-FR_API_INLINE float frNumberPixelsToMeters(float value) {
-    return (FR_GLOBAL_PIXELS_PER_METER > 0.0f)
-        ? (value / FR_GLOBAL_PIXELS_PER_METER)
-        : 0.0f;
-}
-
-/* Converts `value` (in meters) to pixels. */
-FR_API_INLINE float frNumberMetersToPixels(float value) {
-    return (FR_GLOBAL_PIXELS_PER_METER > 0.0f)
-        ? (value * FR_GLOBAL_PIXELS_PER_METER)
-        : 0.0f;
-}
-
-/* Converts the components of `rec` (in pixels) to meters. */
-FR_API_INLINE Rectangle frRecPixelsToMeters(Rectangle rec) {
-    return (Rectangle) {
-        .x = frNumberPixelsToMeters(rec.x),
-        .y = frNumberPixelsToMeters(rec.y),
-        .width = frNumberPixelsToMeters(rec.width),
-        .height = frNumberPixelsToMeters(rec.height)
-    };
-}
-
-/* Converts the components of `rec` (in meters) to pixels. */
-FR_API_INLINE Rectangle frRecMetersToPixels(Rectangle rec) {
-    return (Rectangle) {
-        .x = frNumberMetersToPixels(rec.x),
-        .y = frNumberMetersToPixels(rec.y),
-        .width = frNumberMetersToPixels(rec.width),
-        .height = frNumberMetersToPixels(rec.height)
-    };
-}
-
-/* Adds `v1` and `v2`. */
-FR_API_INLINE Vector2 frVec2Add(Vector2 v1, Vector2 v2) {
-    return (Vector2) { v1.x + v2.x, v1.y + v2.y };
-}
-
-/* Subtracts `v2` from `v1`. */
-FR_API_INLINE Vector2 frVec2Subtract(Vector2 v1, Vector2 v2) {
-    return (Vector2) { v1.x - v2.x, v1.y - v2.y };
-}
-
-/* Multiplies `v` by `value`. */
-FR_API_INLINE Vector2 frVec2ScalarMultiply(Vector2 v, float value) {
-    return (Vector2) { v.x * value, v.y * value };
-}
-
-/* Returns the cross product of `v1` and `v2`. */
-FR_API_INLINE float frVec2CrossProduct(Vector2 v1, Vector2 v2) {
-    // 평면 벡터의 외적은 스칼라 값이다.
-    return (v1.x * v2.y) - (v1.y * v2.x);
-}
-
-/* Returns the dot product of `v1` and `v2`. */
-FR_API_INLINE float frVec2DotProduct(Vector2 v1, Vector2 v2) {
-    return (v1.x * v2.x) + (v1.y * v2.y);
-}
-
-/* Returns the squared magnitude of `v`. */
-FR_API_INLINE float frVec2MagnitudeSqr(Vector2 v) {
-    return frVec2DotProduct(v, v);
-}
-
-/* Returns the magnitude of `v`. */
-FR_API_INLINE float frVec2Magnitude(Vector2 v) {
-    return sqrtf(frVec2MagnitudeSqr(v));
-}
-
-/* Returns the negated vector of `v`. */
-FR_API_INLINE Vector2 frVec2Negate(Vector2 v) {
-    return (Vector2) { -v.x, -v.y };
-}
-
-/* Converts `v` to a unit vector. */
-FR_API_INLINE Vector2 frVec2Normalize(Vector2 v) {
-    const float magnitude = frVec2Magnitude(v);
-    
-    return (magnitude > 0.0f)
-        ? frVec2ScalarMultiply(v, 1.0f / magnitude)
-        : FR_STRUCT_ZERO(Vector2);
-}
-
-/* Returns the angle (in radians) between `v1` and `v2`. */
-FR_API_INLINE float frVec2Angle(Vector2 v1, Vector2 v2) {
-    return atan2f(v2.y, v2.x) - atan2f(v1.y, v1.x);
-}
-
-/* Returns `true` if `v1` and `v2` are approximately equal. */
-FR_API_INLINE bool frVec2ApproxEquals(Vector2 v1, Vector2 v2) {
-    return frNumberApproxEquals(v1.x, v2.x) && frNumberApproxEquals(v1.y, v2.y);
-}
-
-/* Returns the left normal of `v`. */
-FR_API_INLINE Vector2 frVec2LeftNormal(Vector2 v) {
-    return frVec2Normalize((Vector2) { -v.y, v.x });
-}
-
-/* Returns the right normal of `v`. */
-FR_API_INLINE Vector2 frVec2RightNormal(Vector2 v) {
-    return frVec2Normalize((Vector2) { v.y, -v.x });
-}
-
-/* Rotates `v` around the origin. */
-FR_API_INLINE Vector2 frVec2Rotate(Vector2 v, float angle) {
-    const float sinA = sinf(angle);
-    const float cosA = cosf(angle);
-    
-    return (Vector2) { (v.x * cosA - v.y * sinA), (v.x * sinA + v.y * cosA) };
-}
-
-/* Rotates `v` with the properties of `tx`. */
-FR_API_INLINE Vector2 frVec2RotateTx(Vector2 v, frTransform tx) {
-    Vector2 result = {
-        (v.x * tx.cache.cosA - v.y * tx.cache.sinA),
-        (v.x * tx.cache.sinA + v.y * tx.cache.cosA)
-    };
-
-    if (!tx.cache.valid) result = frVec2Rotate(v, tx.rotation);
-
-    return result;
-}
-
-/* Transforms `v` with the properties of `tx`. */
-FR_API_INLINE Vector2 frVec2Transform(Vector2 v, frTransform tx) {
-    return frVec2Add(tx.position, frVec2RotateTx(v, tx));
-}
-
-/* Returns `true` if `v1`, `v2` and `v3` are ordered counter-clockwise. */
-FR_API_INLINE bool frVec2CCW(Vector2 v1, Vector2 v2, Vector2 v3) {
-    return (v3.y - v1.y) * (v2.x - v1.x) < (v2.y - v1.y) * (v3.x - v1.x);
-}
-
-/* Converts the components of `v` (in pixels) to meters. */
-FR_API_INLINE Vector2 frVec2PixelsToMeters(Vector2 v) {
-    return (FR_GLOBAL_PIXELS_PER_METER > 0.0f)
-        ? frVec2ScalarMultiply(v, 1.0f / FR_GLOBAL_PIXELS_PER_METER)
-        : FR_STRUCT_ZERO(Vector2);
-}
-
-/* Converts the components of `v` (in meters) to pixels. */
-FR_API_INLINE Vector2 frVec2MetersToPixels(Vector2 v) {
-    return (FR_GLOBAL_PIXELS_PER_METER > 0.0f)
-        ? frVec2ScalarMultiply(v, FR_GLOBAL_PIXELS_PER_METER)
-        : FR_STRUCT_ZERO(Vector2);
-}
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif

code/vendors/ferox/src/broadphase.c

@@ -1,201 +0,0 @@
-/*
-    Copyright (c) 2021-2022 jdeokkim
-
-    Permission is hereby granted, free of charge, to any person obtaining a copy
-    of this software and associated documentation files (the "Software"), to deal
-    in the Software without restriction, including without limitation the rights
-    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-    copies of the Software, and to permit persons to whom the Software is
-    furnished to do so, subject to the following conditions:
-
-    The above copyright notice and this permission notice shall be included in all
-    copies or substantial portions of the Software.
-
-    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-    SOFTWARE.
-*/
-
-#include "ferox.h"
-#include "stb_ds.h"
-
-/* | `broadphase` 모듈 자료형 정의... | */
-
-/* 공간 해시맵의 키와 값을 나타내는 구조체. */
-typedef struct frSpatialEntry {
-    int key;
-    int *values;
-} frSpatialEntry;
-
-/* 공간 해시맵을 나타내는 구조체. */
-typedef struct frSpatialHash {
-    Rectangle bounds;
-    float cellSize;
-    float inverseCellSize;
-    frSpatialEntry *entries;
-    int *queryCache;
-} frSpatialHash;
-
-/* | `broadphase` 모듈 함수... | */
-
-/* 공간 해시맵 `hash`에서 벡터 `v`와 대응하는 키를 반환한다. */
-static FR_API_INLINE int frComputeSpatialHashKey(frSpatialHash *hash, Vector2 v);
-
-/* C 표준 라이브러리의 `qsort()` 함수 호출에 사용되는 비교 함수이다. */
-static int frQuickSortCallback(const void *x, const void *y);
-
-/* 경계 범위가 `bounds`이고 각 셀의 크기가 `cellSize`인 공간 해시맵의 메모리 주소를 반환한다. */
-frSpatialHash *frCreateSpatialHash(Rectangle bounds, float cellSize) {
-    if (cellSize <= 0.0f) return NULL;
-    
-    frSpatialHash *result = calloc(1, sizeof(*result));
-    
-    result->bounds = bounds;
-    result->cellSize = cellSize;
-    result->inverseCellSize = 1.0f / cellSize;
-    
-    return result;
-}
-
-/* 공간 해시맵 `hash`에 할당된 메모리를 해제한다. */
-void frReleaseSpatialHash(frSpatialHash *hash) {
-    if (hash == NULL) return; 
-    
-    for (int i = 0; i < hmlen(hash->entries); i++)
-        arrfree(hash->entries[i].values);
-    
-    hmfree(hash->entries);
-
-    free(hash);
-}
-
-/* 공간 해시맵 `hash`에 직사각형 `rec`로 생성한 키와 `value`를 추가한다. */
-void frAddToSpatialHash(frSpatialHash *hash, Rectangle rec, int value) {
-    if (hash == NULL || !CheckCollisionRecs(hash->bounds, rec)) return;
-    
-    int x0 = frComputeSpatialHashKey(hash, (Vector2) { .x = rec.x }); 
-    int x1 = frComputeSpatialHashKey(hash, (Vector2) { .x = rec.x + rec.width });
-    
-    int y0 = frComputeSpatialHashKey(hash, (Vector2) { .y = rec.y });
-    int y1 = frComputeSpatialHashKey(hash, (Vector2) { .y = rec.y + rec.height });
-    
-    for (int y = y0; y <= y1; y += hash->bounds.width) {
-        for (int x = x0; x <= x1; x++) {
-            const int key = x + y;
-
-            frSpatialEntry *entry = hmgetp_null(hash->entries, key);
-            
-            if (entry != NULL) {
-                arrput(entry->values, value);
-            } else {
-                frSpatialEntry newEntry = { .key = key };
-
-                arrput(newEntry.values, value);
-                hmputs(hash->entries, newEntry);
-            }
-        }
-    }
-}
-
-/* 공간 해시맵 `hash`의 모든 키와 값을 제거한다. */
-void frClearSpatialHash(frSpatialHash *hash) {
-    if (hash == NULL) return;
-    
-    for (int i = 0; i < hmlen(hash->entries); i++)
-        arrsetlen(hash->entries[i].values, 0);
-}
-
-/* 공간 해시맵 `hash`에서 키가 `key`인 값을 제거한다. */
-void frRemoveFromSpatialHash(frSpatialHash *hash, int key) {
-    if (hash == NULL) return;
-    
-    frSpatialEntry entry = hmgets(hash->entries, key);
-    arrfree(entry.values);
-    
-    hmdel(hash->entries, key);
-}
-
-/* 공간 해시맵 `hash`에서 직사각형 `rec`와 경계 범위가 겹치는 모든 강체의 인덱스를 반환한다. */
-void frQuerySpatialHash(frSpatialHash *hash, Rectangle rec, int **result) {
-    if (hash == NULL || result == NULL || !CheckCollisionRecs(hash->bounds, rec)) return;
-    
-    int x0 = frComputeSpatialHashKey(hash, (Vector2) { .x = rec.x });
-    int x1 = frComputeSpatialHashKey(hash, (Vector2) { .x = rec.x + rec.width });
-    
-    int y0 = frComputeSpatialHashKey(hash, (Vector2) { .y = rec.y });
-    int y1 = frComputeSpatialHashKey(hash, (Vector2) { .y = rec.y + rec.height });
-
-    const int yOffset = (int) hash->bounds.width;
-
-    for (int y = y0; y <= y1; y += yOffset) {
-        for (int x = x0; x <= x1; x++) {
-            const int key = x + y;
-
-            // 주어진 셀과 만나는 모든 강체의 인덱스를 구한다.
-            frSpatialEntry *entry = hmgetp_null(hash->entries, key);
-
-            if (entry != NULL) {
-                for (int j = 0; j < arrlen(entry->values); j++)
-                    arrput(*result, entry->values[j]);
-            }
-        }
-    }
-
-    const size_t oldLength = arrlen(*result);
-
-    if (oldLength <= 1) return;
-    
-    // 결과 배열을 먼저 퀵-정렬한다.
-    qsort(*result, oldLength, sizeof(**result), frQuickSortCallback);
-
-    size_t newLength = 0;
-    
-    // 결과 배열에서 중복 값을 제거한다.
-    for (int i = 0; i < oldLength; i++)
-        if ((*result)[i] != (*result)[i + 1])
-            (*result)[newLength++] = (*result)[i];
-    
-    // 결과 배열의 길이를 다시 설정한다.
-    arrsetlen(*result, newLength);
-}
-
-/* 공간 해시맵 `hash`의 경계 범위를 반환한다. */
-Rectangle frGetSpatialHashBounds(frSpatialHash *hash) {
-    return (hash != NULL) ? hash->bounds : FR_STRUCT_ZERO(Rectangle);
-}
-
-/* 공간 해시맵 `hash`의 각 셀의 크기를 반환한다. */
-float frGetSpatialHashCellSize(frSpatialHash *hash) {
-    return (hash != NULL) ? hash->cellSize : 0.0f;
-}
-
-/* 공간 해시맵 `hash`의 경계 범위를 `bounds`로 설정한다. */
-void frSetSpatialHashBounds(frSpatialHash *hash, Rectangle bounds) {
-    if (hash != NULL) hash->bounds = bounds;
-}
-
-/* 공간 해시맵 `hash`의 각 셀의 크기를 `cellSize`로 설정한다. */
-void frSetSpatialHashCellSize(frSpatialHash *hash, float cellSize) {
-    if (hash != NULL) hash->cellSize = cellSize;
-}
-
-/* 공간 해시맵 `hash`에서 벡터 `v`와 대응하는 키를 반환한다. */
-static FR_API_INLINE int frComputeSpatialHashKey(frSpatialHash *hash, Vector2 v) {
-    if (hash == NULL) return -1;
-
-    const int xIndex = v.x * hash->inverseCellSize;
-    const int yIndex = v.y * hash->inverseCellSize;
-
-    return yIndex * (int) hash->bounds.width + xIndex;
-}
-
-/* C 표준 라이브러리의 `qsort()` 함수 호출에 사용되는 비교 함수이다. */
-static int frQuickSortCallback(const void *x, const void *y) {
-    int nx = *(const int *) x, ny = *(const int *) y;
-    
-    return (nx > ny) - (nx < ny);
-}

code/vendors/ferox/src/collision.c

@@ -1,661 +0,0 @@
-/*
-    Copyright (c) 2021-2022 jdeokkim
-
-    Permission is hereby granted, free of charge, to any person obtaining a copy
-    of this software and associated documentation files (the "Software"), to deal
-    in the Software without restriction, including without limitation the rights
-    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-    copies of the Software, and to permit persons to whom the Software is
-    furnished to do so, subject to the following conditions:
-
-    The above copyright notice and this permission notice shall be included in all
-    copies or substantial portions of the Software.
-
-    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-    SOFTWARE.
-*/
-
-#include "ferox.h"
-
-/* | `collision` 모듈 함수... | */
-
-/* 도형 `s1`의 AABB가 `s2`의 AABB와 충돌하는지 확인한다. */
-static bool frCheckCollisionAABB(frShape *s1, frTransform tx1, frShape *s2, frTransform tx2);
-
-/* 다각형 `s`에서 벡터 `v`와의 내적이 가장 큰 꼭짓점의 인덱스를 반환한다. */
-static int frGetPolygonFurthestIndex(frShape *s, frTransform tx, Vector2 v);
-
-/* 도형 `s`에서 벡터 `v`와 가장 수직에 가까운 변을 반환한다. */
-static frVertices frGetShapeSignificantEdge(frShape *s, frTransform tx, Vector2 v);
-
-/* 다각형 `s1`에서 `s2`로의 충돌 방향과 깊이를 계산한다. */
-static int frGetSeparatingAxisIndex(
-    frShape *s1, frTransform tx1, 
-    frShape *s2, frTransform tx2, 
-    float *depth
-);
-
-/* 최적화된 분리 축 정리를 이용하여, 원 `s1`에서 `s2`로의 충돌을 계산한다. */
-static frCollision frComputeCollisionCirclesSAT(
-    frShape *s1, frTransform tx1, 
-    frShape *s2, frTransform tx2
-);
-
-/* 최적화된 분리 축 정리를 이용하여, 원 `s1`에서 다각형 `s2`로의 충돌을 계산한다. */
-static frCollision frComputeCollisionCirclePolySAT(
-    frShape *s1, frTransform tx1, 
-    frShape *s2, frTransform tx2
-);
-
-/* 최적화된 분리 축 정리를 이용하여, 다각형 `s1`에서 `s2`로의 충돌을 계산한다. */
-static frCollision frComputeCollisionPolysSAT(
-    frShape *s1, frTransform tx1, 
-    frShape *s2, frTransform tx2
-);
-
-/* 최적화된 분리 축 정리를 이용하여, 도형 `s1`에서 `s2`로의 충돌을 계산한다. */
-static frCollision frComputeCollisionSAT(
-    frShape *s1, frTransform tx1, 
-    frShape *s2, frTransform tx2
-);
-
-/* 선분 `e`에서 벡터 `v`와의 내적이 `minDot`보다 작은 부분을 모두 잘라낸다. */
-static frVertices frClipEdgeWithAxis(frVertices e, Vector2 v, float minDot);
-
-/* `o1`에서 `v1` 방향으로 진행하는 광선이 `o2`에서 `v2` 방향으로 진행하는 광선과 만나는지 계산한다. */
-static bool frComputeIntersectionRays(
-    Vector2 o1, Vector2 v1, 
-    Vector2 o2, Vector2 v2, 
-    float *distance
-);
-
-/* `o`에서 `v` 방향으로 진행하는 광선이 중심점이 `c`이고 반지름이 `r`인 원과 만나는지 계산한다. */
-static bool frComputeIntersectionRayCircle(
-    Vector2 o, Vector2 v, 
-    Vector2 c, float r, 
-    float *distance
-);
-
-/* 도형 `s1`에서 `s2`로의 충돌을 계산한다. */
-frCollision frComputeShapeCollision(frShape *s1, frTransform tx1, frShape *s2, frTransform tx2) {
-    return frCheckCollisionAABB(s1, tx1, s2, tx2)
-        ? frComputeCollisionSAT(s1, tx1, s2, tx2)
-        : FR_STRUCT_ZERO(frCollision);
-}
-
-/* 강체 `b1`에서 `b2`로의 충돌을 계산한다. */
-frCollision frComputeBodyCollision(frBody *b1, frBody *b2) {
-    if (b1 == NULL || b2 == NULL) return FR_STRUCT_ZERO(frCollision);
-    
-    return frComputeShapeCollision(
-        frGetBodyShape(b1),
-        frGetBodyTransform(b1),
-        frGetBodyShape(b2),
-        frGetBodyTransform(b2)
-    );
-}
-
-/* 도형 `s`에 광선을 투사한다. */
-frRaycastHit frComputeShapeRaycast(frShape *s, frTransform tx, frRay ray) {
-    if (s == NULL || frGetShapeType(s) == FR_SHAPE_UNKNOWN) return FR_STRUCT_ZERO(frRaycastHit);
-
-    frRaycastHit result = { .shape = s, .distance = FLT_MAX };
-
-    ray.direction = frVec2Normalize(ray.direction);
-
-    float distance = FLT_MAX;
-    
-    if (frGetShapeType(s) == FR_SHAPE_CIRCLE) {
-        bool intersects = frComputeIntersectionRayCircle(
-            ray.origin, ray.direction,
-            tx.position, frGetCircleRadius(s),
-            &distance
-        );
-        
-        result.check = (distance >= 0.0f) && (distance <= ray.maxDistance);
-        result.inside = (distance < 0.0f);
-        
-        if (result.check) {
-            result.distance = distance;
-            
-            result.point = frVec2Add(
-                ray.origin, 
-                frVec2ScalarMultiply(ray.direction, result.distance)
-            );
-
-            result.normal = frVec2LeftNormal(frVec2Subtract(ray.origin, result.point));
-        }
-        
-        return result;
-    } else if (frGetShapeType(s) == FR_SHAPE_POLYGON) {
-        int intersectionCount = 0;
-        
-        frVertices vertices = frGetPolygonVertices(s);
-        
-        // 다각형의 변 중에 광선과 교차하는 변이 존재하는지 확인한다.
-        for (int j = vertices.count - 1, i = 0; i < vertices.count; j = i, i++) {
-            Vector2 v1 = frVec2Transform(vertices.data[i], tx);
-            Vector2 v2 = frVec2Transform(vertices.data[j], tx);
-
-            Vector2 diff = frVec2Subtract(v1, v2);
-            
-            bool intersects = frComputeIntersectionRays(
-                ray.origin, ray.direction, 
-                v2, diff, 
-                &distance
-            );
-            
-            if (intersects && distance <= ray.maxDistance) {
-                if (result.distance > distance) {
-                    result.distance = distance;
-                    
-                    result.point = frVec2Add(
-                        ray.origin, 
-                        frVec2ScalarMultiply(ray.direction, result.distance)
-                    );
-
-                    result.normal = frVec2LeftNormal(diff);
-                }
-                
-                intersectionCount++;
-            }
-        }
-        
-        result.inside = (intersectionCount & 1);
-        result.check = (!result.inside) && (intersectionCount > 0);
-        
-        return result;
-    }
-}
-
-/* 강체 `b`에 광선을 투사한다. */
-frRaycastHit frComputeBodyRaycast(frBody *b, frRay ray) {
-    if (b == NULL || frGetBodyShape(b) == NULL) return FR_STRUCT_ZERO(frRaycastHit);
-    
-    frRaycastHit result = frComputeShapeRaycast(
-        frGetBodyShape(b), frGetBodyTransform(b), 
-        ray
-    );
-
-    result.body = b;
-
-    return result;
-}
-
-/* 도형 `s1`의 AABB가 `s2`의 AABB와 충돌하는지 확인한다. */
-static bool frCheckCollisionAABB(frShape *s1, frTransform tx1, frShape *s2, frTransform tx2) {
-    return CheckCollisionRecs(frGetShapeAABB(s1, tx1), frGetShapeAABB(s2, tx2));
-}
-
-/* 다각형 `s`에서 벡터 `v`와의 내적이 가장 큰 꼭짓점의 인덱스를 반환한다. */
-static int frGetPolygonFurthestIndex(frShape *s, frTransform tx, Vector2 v) {
-    if (frGetShapeType(s) != FR_SHAPE_POLYGON) return -1;
-    
-    frVertices vertices = frGetPolygonVertices(s);
-    
-    float maxDot = -FLT_MAX;
-    int result = 0;
-
-    v = frVec2Rotate(v, -tx.rotation);
-    
-    for (int i = 0; i < vertices.count; i++) {
-        float dot = frVec2DotProduct(vertices.data[i], v);
-        
-        if (maxDot < dot) {
-            maxDot = dot;
-            result = i;
-        }
-    }
-    
-    return result;
-}
-
-/* 도형 `s`에서 벡터 `v`와 가장 수직에 가까운 변을 반환한다. */
-static frVertices frGetShapeSignificantEdge(frShape *s, frTransform tx, Vector2 v) {
-    if (s == NULL || frGetShapeType(s) == FR_SHAPE_UNKNOWN) return FR_STRUCT_ZERO(frVertices);
-
-    frVertices result = FR_STRUCT_ZERO(frVertices);
-    
-    if (frGetShapeType(s) == FR_SHAPE_CIRCLE) {
-        result.data[0] = frVec2Transform(frVec2ScalarMultiply(v, frGetCircleRadius(s)), tx);
-        result.count = 1;
-        
-        return result;
-    } else if (frGetShapeType(s) == FR_SHAPE_POLYGON) {
-        int furthestIndex = frGetPolygonFurthestIndex(s, tx, v);
-        
-        frVertices vertices = frGetPolygonVertices(s);
-
-        int prevIndex = (furthestIndex == 0) ? vertices.count - 1 : furthestIndex - 1;
-        int nextIndex = (furthestIndex == vertices.count - 1) ? 0 : furthestIndex + 1;
-
-        Vector2 furthestVertex = frVec2Transform(vertices.data[furthestIndex], tx);
-
-        Vector2 prevVertex = frVec2Transform(vertices.data[prevIndex], tx);
-        Vector2 nextVertex = frVec2Transform(vertices.data[nextIndex], tx);
-
-        Vector2 leftV = frVec2Normalize(frVec2Subtract(furthestVertex, prevVertex));
-        Vector2 rightV = frVec2Normalize(frVec2Subtract(furthestVertex, nextVertex));
-
-        if (frVec2DotProduct(leftV, v) < frVec2DotProduct(rightV, v)) {
-            result.data[0] = prevVertex;
-            result.data[1] = furthestVertex;
-        } else {
-            result.data[0] = furthestVertex;
-            result.data[1] = nextVertex;
-        }
-        
-        result.count = 2;
-
-        return result;
-    }
-}
-
-/* 다각형 `s1`에서 `s2`로의 충돌 방향과 깊이를 계산한다. */
-static int frGetSeparatingAxisIndex(
-    frShape *s1, frTransform tx1, 
-    frShape *s2, frTransform tx2, 
-    float *depth
-) {
-    if (frGetShapeType(s1) != FR_SHAPE_POLYGON || frGetShapeType(s2) != FR_SHAPE_POLYGON)
-        return -1;
-
-    int result = -1;
-    
-    frVertices normals = frGetPolygonNormals(s1);
-    
-    float maxDistance = -FLT_MAX;
-    
-    for (int i = 0; i < normals.count; i++) {
-        Vector2 vertex = frVec2Transform(frGetPolygonVertex(s1, i), tx1);
-        Vector2 normal = frVec2RotateTx(normals.data[i], tx1);
-        
-        int furthestIndex = frGetPolygonFurthestIndex(s2, tx2, frVec2Negate(normal));
-        Vector2 furthestVertex = frVec2Transform(frGetPolygonVertex(s2, furthestIndex), tx2);
-        
-        float distance = frVec2DotProduct(normal, frVec2Subtract(furthestVertex, vertex));
-        
-        if (maxDistance < distance) {
-            maxDistance = distance;
-            result = i;
-        }
-    }
-    
-    if (depth != NULL) *depth = maxDistance;
-    
-    return result;
-}
-
-/* 최적화된 분리 축 정리를 이용하여, 원 `s1`에서 `s2`로의 충돌을 계산한다. */
-static frCollision frComputeCollisionCirclesSAT(
-    frShape *s1, frTransform tx1, 
-    frShape *s2, frTransform tx2
-) {
-    if (frGetShapeType(s1) != FR_SHAPE_CIRCLE || frGetShapeType(s2) != FR_SHAPE_CIRCLE)
-        return FR_STRUCT_ZERO(frCollision);
-
-    frCollision result = FR_STRUCT_ZERO(frCollision);
-
-    Vector2 diff = frVec2Subtract(tx2.position, tx1.position);
-
-    float radiusSum = frGetCircleRadius(s1) + frGetCircleRadius(s2);
-    float magnitudeSqr = frVec2MagnitudeSqr(diff);
-    
-    if (radiusSum * radiusSum < magnitudeSqr) return result;
-
-    float diffMagnitude = sqrtf(magnitudeSqr);
-
-    result.check = true;
-
-    if (diffMagnitude > 0.0f) {
-        result.direction = frVec2ScalarMultiply(diff, 1.0f / diffMagnitude);
-        
-        frVertices e = frGetShapeSignificantEdge(s1, tx1, result.direction);
-        
-        result.points[0] = result.points[1] = e.data[0];
-        result.depths[0] = result.depths[1] = radiusSum - diffMagnitude;
-    } else {
-        result.direction = (Vector2) { .x = 1.0f };
-        
-        frVertices e = frGetShapeSignificantEdge(s1, tx1, result.direction);
-        
-        result.points[0] = result.points[1] = e.data[0];
-        result.depths[0] = result.depths[1] = frGetCircleRadius(s1);
-    }
-
-    result.count = 1;
-    
-    return result;
-}
-
-/* 최적화된 분리 축 정리를 이용하여, 원 `s1`에서 다각형 `s2`로의 충돌을 계산한다. */
-static frCollision frComputeCollisionCirclePolySAT(
-    frShape *s1, frTransform tx1, 
-    frShape *s2, frTransform tx2
-) {
-    if (frGetShapeType(s1) == FR_SHAPE_UNKNOWN || frGetShapeType(s2) == FR_SHAPE_UNKNOWN 
-        || frGetShapeType(s1) == frGetShapeType(s2))
-        return FR_STRUCT_ZERO(frCollision);
-
-    frCollision result = FR_STRUCT_ZERO(frCollision);
-        
-    frShape *circle = s1, *polygon = s2;
-    frTransform circleTx = tx1, polygonTx = tx2;
-    
-    if (frGetShapeType(s1) == FR_SHAPE_POLYGON && frGetShapeType(s2) == FR_SHAPE_CIRCLE) {
-        circle = s2, polygon = s1;
-        circleTx = tx2, polygonTx = tx1;
-    }
-
-    frVertices vertices = frGetPolygonVertices(polygon);
-    frVertices normals = frGetPolygonNormals(polygon);
-
-    // 다각형의 꼭짓점과 법선 벡터를 변환하는 대신, 원의 중심을 다각형을 기준으로 변환한다.
-    Vector2 center = frVec2Rotate(
-        frVec2Subtract(circleTx.position, polygonTx.position), 
-        -polygonTx.rotation
-    );
-
-    float radius = frGetCircleRadius(circle), maxDistance = -FLT_MAX;
-    int normalIndex = -1;
-
-    // 다각형에서 원의 중심과 거리가 가장 가까운 변을 찾는다.
-    for (int i = 0; i < vertices.count; i++) {
-        float distance = frVec2DotProduct(
-            normals.data[i], 
-            frVec2Subtract(center, vertices.data[i])
-        );
-        
-        // 꼭짓점 하나라도 원의 바깥쪽에 있다면, 계산을 종료한다.
-        if (distance > radius) return result;
-        
-        if (maxDistance < distance) {
-            maxDistance = distance;
-            normalIndex = i;
-        }
-    }
-
-    // 다각형이 원의 중심을 포함하고 있다면, 계산을 종료한다.
-    if (maxDistance < 0.0f) {
-        result.check = true;
-
-        result.direction = frVec2Negate(frVec2RotateTx(normals.data[normalIndex], polygonTx));
-
-        if (frVec2DotProduct(frVec2Subtract(tx2.position, tx1.position), result.direction) < 0.0f)
-            result.direction = frVec2Negate(result.direction);
-
-        result.points[0] = result.points[1] = frVec2Add(
-            circleTx.position,
-            frVec2ScalarMultiply(result.direction, -radius)
-        );
-
-        result.depths[0] = result.depths[1] = radius - maxDistance;
-
-        result.count = 1;
-    } else {
-        Vector2 v1 = (normalIndex > 0)
-            ? vertices.data[normalIndex - 1]
-            : vertices.data[vertices.count - 1];
-        Vector2 v2 = vertices.data[normalIndex];
-
-        /*
-            1. 원이 `v1`을 포함하는 선분과 만나는가?
-            2. 원이 `v2`를 포함하는 선분과 만나는가?
-            3. 원이 `v1`과 `v2` 사이의 선분과 만나는가?
-
-            => 벡터의 내적을 통해 확인할 수 있다.
-        */
-        Vector2 diff1 = frVec2Subtract(center, v1), diff2 = frVec2Subtract(center, v2);
-
-        float v1Dot = frVec2DotProduct(diff1, frVec2Subtract(v2, v1));
-        float v2Dot = frVec2DotProduct(diff2, frVec2Subtract(v1, v2));
-
-        if (v1Dot <= 0.0f) {
-            float magnitudeSqr = frVec2MagnitudeSqr(diff1);
-
-            if (magnitudeSqr > radius * radius) return result;
-
-            result.direction = frVec2Normalize(frVec2RotateTx(frVec2Negate(diff1), polygonTx));
-
-            if (frVec2DotProduct(frVec2Subtract(tx2.position, tx1.position), result.direction) < 0.0f)
-                result.direction = frVec2Negate(result.direction);
-            
-            result.points[0] = result.points[1] = frVec2Transform(v1, polygonTx);
-            result.depths[0] = result.depths[1] = radius - sqrtf(magnitudeSqr);
-        } else if (v2Dot <= 0.0f) {
-            float magnitudeSqr = frVec2MagnitudeSqr(diff2);
-
-            if (magnitudeSqr > radius * radius) return result;
-            
-            result.direction = frVec2Normalize(frVec2RotateTx(frVec2Negate(diff2), polygonTx));
-
-            if (frVec2DotProduct(frVec2Subtract(tx2.position, tx1.position), result.direction) < 0.0f)
-                result.direction = frVec2Negate(result.direction);
-
-            result.points[0] = result.points[1] = frVec2Transform(v2, polygonTx);
-            result.depths[0] = result.depths[1] = radius - sqrtf(magnitudeSqr);
-        } else {
-            Vector2 normal = normals.data[normalIndex];
-
-            if (frVec2DotProduct(diff1, normal) > radius) return result;
-
-            result.direction = frVec2Negate(frVec2RotateTx(normal, polygonTx));
-
-            if (frVec2DotProduct(frVec2Subtract(tx2.position, tx1.position), result.direction) < 0.0f)
-                result.direction = frVec2Negate(result.direction);
-
-            result.points[0] = result.points[1] = frVec2Add(
-                circleTx.position,
-                frVec2ScalarMultiply(result.direction, -radius)
-            );
-
-            result.depths[0] = result.depths[1] = radius - maxDistance;
-        }
-
-        result.check = true;
-
-        result.count = 1;
-    }
-
-    return result;
-}
-
-/* 최적화된 분리 축 정리를 이용하여, 다각형 `s1`에서 `s2`로의 충돌을 계산한다. */
-static frCollision frComputeCollisionPolysSAT(
-    frShape *s1, frTransform tx1, 
-    frShape *s2, frTransform tx2
-) {
-    if (frGetShapeType(s1) != FR_SHAPE_POLYGON || frGetShapeType(s2) != FR_SHAPE_POLYGON)
-        return FR_STRUCT_ZERO(frCollision);
-
-    frCollision result = FR_STRUCT_ZERO(frCollision);
-    
-    float depth1 = FLT_MAX, depth2 = FLT_MAX;
-    
-    int index1 = frGetSeparatingAxisIndex(s1, tx1, s2, tx2, &depth1);
-    if (depth1 >= 0.0f) return result;
-    
-    int index2 = frGetSeparatingAxisIndex(s2, tx2, s1, tx1, &depth2);
-    if (depth2 >= 0.0f) return result;
-    
-    Vector2 direction = (depth1 > depth2) 
-        ? frVec2RotateTx(frGetPolygonNormal(s1, index1), tx1)
-        : frVec2RotateTx(frGetPolygonNormal(s2, index2), tx2);
-    
-    if (frVec2DotProduct(frVec2Subtract(tx2.position, tx1.position), direction) < 0.0f) 
-        direction = frVec2Negate(direction);
-        
-    result.check = true;
-    
-    // 회전 변환이 적용된 벡터는 회전 변환을 적용하기 전의 벡터와 크기가 같다.
-    result.direction = direction;
-    
-    frVertices e1 = frGetShapeSignificantEdge(s1, tx1, direction);
-    frVertices e2 = frGetShapeSignificantEdge(s2, tx2, frVec2Negate(direction));
-    
-    frVertices refEdge = e1, incEdge = e2;
-    frTransform refTx = tx1, incTx = tx2;
-
-    float dot1 = frVec2DotProduct(frVec2Subtract(e1.data[1], e1.data[0]), direction);
-    float dot2 = frVec2DotProduct(frVec2Subtract(e2.data[1], e2.data[0]), direction);
-
-    if (fabsf(dot1) > fabsf(dot2)) {
-        refEdge = e2;
-        incEdge = e1;
-
-        refTx = tx2;
-        incTx = tx1;
-    }
-
-    Vector2 refV = frVec2Normalize(frVec2Subtract(refEdge.data[1], refEdge.data[0]));
-
-    float refDot1 = frVec2DotProduct(refEdge.data[0], refV);
-    float refDot2 = frVec2DotProduct(refEdge.data[1], refV);
-
-    incEdge = frClipEdgeWithAxis(incEdge, refV, refDot1);
-    incEdge = frClipEdgeWithAxis(incEdge, frVec2Negate(refV), -refDot2);
-
-    Vector2 refNormal = frVec2RightNormal(refV);
-
-    float max_depth = frVec2DotProduct(refEdge.data[0], refNormal);
-
-    result.points[0] = incEdge.data[0], result.points[1] = incEdge.data[1];
-
-    result.depths[0] = frVec2DotProduct(result.points[0], refNormal) - max_depth;
-    result.depths[1] = frVec2DotProduct(result.points[1], refNormal) - max_depth;
-
-    result.count = 2;
-
-    if (result.depths[0] < 0.0f) {
-        result.points[0] = result.points[1];
-        result.depths[0] = result.depths[1];
-
-        result.count = 1;
-    } else if (result.depths[1] < 0.0f) {
-        result.points[1] = result.points[0];
-        result.depths[1] = result.depths[0];
-
-        result.count = 1;
-    }
-
-    return result;
-}
-
-/* 최적화된 분리 축 정리를 이용하여, 도형 `s1`에서 `s2`로의 충돌을 계산한다. */
-static frCollision frComputeCollisionSAT(
-    frShape *s1, frTransform tx1, 
-    frShape *s2, frTransform tx2
-) {
-    frShapeType type1 = frGetShapeType(s1);
-    frShapeType type2 = frGetShapeType(s2);
-    
-    if (type1 == FR_SHAPE_UNKNOWN || type2 == FR_SHAPE_UNKNOWN)
-        return FR_STRUCT_ZERO(frCollision);
-    else if (type1 == FR_SHAPE_CIRCLE && type2 == FR_SHAPE_CIRCLE)
-        return frComputeCollisionCirclesSAT(s1, tx1, s2, tx2);
-    else if (type1 == FR_SHAPE_CIRCLE && type2 == FR_SHAPE_POLYGON
-        || type1 == FR_SHAPE_POLYGON && type2 == FR_SHAPE_CIRCLE)
-        return frComputeCollisionCirclePolySAT(s1, tx1, s2, tx2);
-    else if (type1 == FR_SHAPE_POLYGON && type2 == FR_SHAPE_POLYGON)
-        return frComputeCollisionPolysSAT(s1, tx1, s2, tx2);
-}
-
-/* 선분 `e`에서 벡터 `v`와의 내적이 `minDot`보다 작은 부분을 모두 잘라낸다. */
-static frVertices frClipEdgeWithAxis(frVertices e, Vector2 v, float minDot) {
-    frVertices result = FR_STRUCT_ZERO(frVertices);
-    
-    float p1Dot = frVec2DotProduct(e.data[0], v) - minDot;
-    float p2Dot = frVec2DotProduct(e.data[1], v) - minDot;
-    
-    bool insideP1 = (p1Dot >= 0.0f), insideP2 = (p2Dot >= 0.0f);
-    
-    if (insideP1 && insideP2) {
-        result.data[0] = e.data[0];
-        result.data[1] = e.data[1];
-        
-        result.count = 2;
-    } else {
-        Vector2 edgeV = frVec2Subtract(e.data[1], e.data[0]);
-        
-        const float distance = p1Dot / (p1Dot - p2Dot);
-        
-        Vector2 midpoint = frVec2Add(
-            e.data[0], 
-            frVec2ScalarMultiply(edgeV, distance)
-        );
-        
-        if (insideP1 && !insideP2) {
-            result.data[0] = e.data[0];
-            result.data[1] = midpoint;
-
-            result.count = 2;
-        } else if (!insideP1 && insideP2) {
-            result.data[0] = e.data[1];
-            result.data[1] = midpoint;
-
-            result.count = 2;
-        }
-    }
-    
-    return result;
-}
-
-/* `o1`에서 `v1` 방향으로 진행하는 광선이 `o2`에서 `v2` 방향으로 진행하는 광선과 만나는지 계산한다. */
-static bool frComputeIntersectionRays(
-    Vector2 o1, Vector2 v1, 
-    Vector2 o2, Vector2 v2, 
-    float *distance
-) {
-    bool result = true;
-    
-    float cross = frVec2CrossProduct(v1, v2);
-    
-    // 두 광선은 평행하거나 일직선 상에 있다.
-    if (frNumberApproxEquals(cross, 0.0f)) {
-        *distance = 0.0f;
-        
-        return false;
-    }
-    
-    Vector2 diff = frVec2Subtract(o2, o1);
-
-    float inverseCross = 1.0f / cross;
-
-    float t = frVec2CrossProduct(diff, v2) * inverseCross;
-    float u = frVec2CrossProduct(diff, v1) * inverseCross;
-
-    // 두 광선은 평행하지 않으면서 서로 만나지 않는다.
-    if (t < 0.0f || u < 0.0f || u > 1.0f) result = false;
-
-    *distance = t;
-
-    return result;
-}
-
-/* `o`에서 `v` 방향으로 진행하는 광선이 중심점이 `c`이고 반지름이 `r`인 원과 만나는지 계산한다. */
-static bool frComputeIntersectionRayCircle(
-    Vector2 o, Vector2 v, 
-    Vector2 c, float r, 
-    float *distance
-) {
-    bool result = true;
-    
-    Vector2 diff = frVec2Subtract(c, o);
-    
-    float dot = frVec2DotProduct(diff, v);
-    
-    float heightSqr = frVec2MagnitudeSqr(diff) - (dot * dot);
-    float baseSqr = (r * r) - heightSqr;
-    
-    // 광선과 원은 서로 만나지 않는다.
-    if (dot < 0.0f || baseSqr < 0.0f) result = false;
-    
-    *distance = dot - sqrtf(baseSqr);
-    
-    return result;
-}

code/vendors/ferox/src/debug.c

@@ -1,195 +0,0 @@
-/*
-    Copyright (c) 2021-2022 jdeokkim
-
-    Permission is hereby granted, free of charge, to any person obtaining a copy
-    of this software and associated documentation files (the "Software"), to deal
-    in the Software without restriction, including without limitation the rights
-    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-    copies of the Software, and to permit persons to whom the Software is
-    furnished to do so, subject to the following conditions:
-
-    The above copyright notice and this permission notice shall be included in all
-    copies or substantial portions of the Software.
-
-    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-    SOFTWARE.
-*/
-
-#include "ferox.h"
-
-/* | `debug` 모듈 변수... | */
-
-static const float ARROW_HEAD_LENGTH = 16.0f;
-
-/* | `debug` 모듈 함수... | */
-
-#ifndef FEROX_STANDALONE
-    /* 강체 `b`의 다각형 꼭짓점 배열을 세계 기준의 픽셀 좌표 배열로 변환한다. */
-    static frVertices frGetWorldVerticesInPixels(frBody *b);
-
-    /* 게임 화면에 점 `p1`에서 `p2`로 향하는 화살표를 그린다. */
-    void frDrawArrow(Vector2 p1, Vector2 p2, float thick, Color color) {
-        if (thick <= 0.0f) return;
-        
-        p1 = frVec2MetersToPixels(p1);
-        p2 = frVec2MetersToPixels(p2);
-
-        Vector2 diff = frVec2Normalize(frVec2Subtract(p1, p2));
-
-        Vector2 normal1 = frVec2LeftNormal(diff);
-        Vector2 normal2 = frVec2RightNormal(diff);
-
-        Vector2 h1 = frVec2Add(
-            p2, 
-            frVec2ScalarMultiply(
-                frVec2Normalize(frVec2Add(diff, normal1)), 
-                ARROW_HEAD_LENGTH
-            )
-        );
-
-        Vector2 h2 = frVec2Add(
-            p2, 
-            frVec2ScalarMultiply(
-                frVec2Normalize(frVec2Add(diff, normal2)), 
-                ARROW_HEAD_LENGTH
-            )
-        );
-        
-        DrawLineEx(p1, p2, thick, color);
-        DrawLineEx(p2, h1, thick, color);
-        DrawLineEx(p2, h2, thick, color);
-    }
-
-    /* 게임 화면에 강체 `b`의 도형을 그린다. */
-    void frDrawBody(frBody *b, Color color) {
-        if (b == NULL) return;
-        
-        frShape *s = frGetBodyShape(b);
-        
-        if (frGetShapeType(s) == FR_SHAPE_CIRCLE) {
-            DrawCircleV(
-                frVec2MetersToPixels(frGetBodyPosition(b)), 
-                frNumberMetersToPixels(frGetCircleRadius(s)), 
-                color
-            );
-        } else if (frGetShapeType(s) == FR_SHAPE_POLYGON) {
-            frVertices worldVertices = frGetWorldVerticesInPixels(b);
-            
-            DrawTriangleFan(worldVertices.data, worldVertices.count, color);
-        }
-    }
-
-    /* 게임 화면에 강체 `b`의 도형 테두리를 그린다. */
-    void frDrawBodyLines(frBody *b, float thick, Color color) {
-        if (b == NULL || thick <= 0.0f) return;
-        
-        frShape *s = frGetBodyShape(b);
-        
-        if (frGetShapeType(s) == FR_SHAPE_CIRCLE) {
-            Vector2 p = frGetBodyPosition(b);
-            
-            DrawRing(
-                frVec2MetersToPixels(p),
-                frNumberMetersToPixels(frGetCircleRadius(s)) - thick,
-                frNumberMetersToPixels(frGetCircleRadius(s)),
-                0.0f,
-                360.0f,
-                FR_DEBUG_CIRCLE_SEGMENT_COUNT,
-                color
-            );
-        } else if (frGetShapeType(s) == FR_SHAPE_POLYGON) {
-            frVertices worldVertices = frGetWorldVerticesInPixels(b);
-                
-            for (int j = worldVertices.count - 1, i = 0; i < worldVertices.count; j = i, i++)
-                DrawLineEx(worldVertices.data[j], worldVertices.data[i], thick, color);
-        }
-    }
-
-    /* 게임 화면에 강체 `b`의 AABB와 질량 중심을 그린다. */
-    void frDrawBodyAABB(frBody *b, float thick, Color color) {
-        if (b == NULL || thick <= 0.0f) return;
-        
-        Rectangle aabb = frGetBodyAABB(b);
-        
-        DrawRectangleLinesEx(
-            (Rectangle) { 
-                frNumberMetersToPixels(aabb.x), 
-                frNumberMetersToPixels(aabb.y),
-                frNumberMetersToPixels(aabb.width),
-                frNumberMetersToPixels(aabb.height)
-            }, 
-            thick, 
-            color
-        );
-        
-        DrawCircleV(frVec2MetersToPixels(frGetBodyPosition(b)), 2.0f, color);
-    }
-
-    /* 게임 화면에 강체 `b`의 물리량 정보를 그린다. */
-    void frDrawBodyProperties(frBody *b, Color color) {
-        Vector2 velocity = frGetBodyVelocity(b);
-        
-        frTransform tx = frGetBodyTransform(b);
-        
-        DrawTextEx(
-            GetFontDefault(),
-            TextFormat(
-                "m: %fkg, I: %fkg*m²\n"
-                "(x, y) [theta]: (%f, %f) [%f rad.]\n"
-                "v [omega]: (%f, %f) [%f rad.]\n",
-                frGetBodyMass(b), frGetBodyInertia(b),
-                tx.position.x, tx.position.y, tx.rotation,
-                velocity.x, velocity.y, frGetBodyAngularVelocity(b)
-            ), 
-            frVec2MetersToPixels(frVec2Add(tx.position, (Vector2) { 1.0f, 1.0f })),
-            10.0f, 
-            1.0f, 
-            color
-        );
-    }
-
-    /* 게임 화면에 공간 해시맵 `hm`을 그린다. */
-    void frDrawSpatialHash(frSpatialHash *hm, float thick, Color color) {
-        if (hm == NULL || thick <= 0.0f) return;
-
-        Rectangle bounds = frGetSpatialHashBounds(hm);
-
-        const int vCount = bounds.width * FR_BROADPHASE_INVERSE_CELL_SIZE;
-        const int hCount = bounds.height * FR_BROADPHASE_INVERSE_CELL_SIZE;
-        
-        for (int i = 0; i <= vCount; i++)
-            DrawLineEx(
-                frVec2MetersToPixels((Vector2) { FR_BROADPHASE_CELL_SIZE * i, 0.0f }),
-                frVec2MetersToPixels((Vector2) { FR_BROADPHASE_CELL_SIZE * i, bounds.height }),
-                thick,
-                color
-            );
-    
-        for (int i = 0; i <= hCount; i++)
-            DrawLineEx(
-                frVec2MetersToPixels((Vector2) { 0.0f, FR_BROADPHASE_CELL_SIZE * i }), 
-                frVec2MetersToPixels((Vector2) { bounds.width, FR_BROADPHASE_CELL_SIZE * i }),
-                thick,
-                color
-            );
-
-        DrawRectangleLinesEx(frRecMetersToPixels(bounds), thick, color);
-    }
-
-    /* 강체 `b`의 다각형 꼭짓점 배열을 세계 기준의 픽셀 좌표 배열로 변환한다. */
-    static frVertices frGetWorldVerticesInPixels(frBody *b) {
-        if (b == NULL) return FR_STRUCT_ZERO(frVertices);
-
-        frVertices vertices = frGetPolygonVertices(frGetBodyShape(b));
-        
-        for (int i = 0; i < vertices.count; i++)
-            vertices.data[i] = frVec2MetersToPixels(frGetWorldPoint(b, vertices.data[i]));
-        
-        return vertices;
-    }
-#endif

code/vendors/ferox/src/dynamics.c

@@ -1,529 +0,0 @@
-/*
-    Copyright (c) 2021-2022 jdeokkim
-
-    Permission is hereby granted, free of charge, to any person obtaining a copy
-    of this software and associated documentation files (the "Software"), to deal
-    in the Software without restriction, including without limitation the rights
-    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-    copies of the Software, and to permit persons to whom the Software is
-    furnished to do so, subject to the following conditions:
-
-    The above copyright notice and this permission notice shall be included in all
-    copies or substantial portions of the Software.
-
-    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-    SOFTWARE.
-*/
-
-#include "ferox.h"
-
-/* | `dynamics` 모듈 자료형 정의... | */
-
-/* 강체의 물리량을 나타내는 구조체. */
-typedef struct frMotionData {
-    float mass;
-    float inverseMass;
-    float inertia;
-    float inverseInertia;
-    Vector2 velocity;
-    float angularVelocity;
-    float gravityScale;
-    Vector2 force;
-    float torque;
-} frMotionData;
-
-/* 강체를 나타내는 구조체. */
-typedef struct frBody {
-    frBodyType type;
-    frBodyFlags flags;
-    frMaterial material;
-    frMotionData motion;
-    frTransform tx;
-    frShape *shape;
-    Rectangle aabb;
-    void *data;
-} frBody;
-
-/* | `dynamics` 모듈 함수... | */
-
-/* 강체 `b`의 질량을 다시 계산한다. */
-static void frResetBodyMass(frBody *b);
-
-/* 종류가 `type`이고 위치가 `p`인 강체를 생성한다. */
-frBody *frCreateBody(frBodyType type, frBodyFlags flags, Vector2 p) {
-    if (type == FR_BODY_UNKNOWN) return NULL;
-    
-    frBody *result = calloc(1, sizeof(*result));
-    
-    result->material = FR_STRUCT_ZERO(frMaterial);
-    
-    frSetBodyType(result, type);
-    frSetBodyFlags(result, flags);
-    frSetBodyGravityScale(result, 1.0f);
-    frSetBodyPosition(result, p);
-    
-    return result;
-}
-
-/* 종류가 `type`이고 위치가 `p`이며 충돌 처리용 도형이 `s`인 강체를 생성한다. */
-frBody *frCreateBodyFromShape(frBodyType type, frBodyFlags flags, Vector2 p, frShape *s) {
-    if (type == FR_BODY_UNKNOWN) return NULL;
-    
-    frBody *result = frCreateBody(type, flags, p);
-    frAttachShapeToBody(result, s);
-    
-    return result;
-}
-
-/* 강체 `b`에 할당된 메모리를 해제한다. */
-void frReleaseBody(frBody *b) {
-    if (b != NULL && b->shape != NULL) 
-        frDetachShapeFromBody(b);
-    
-    free(b);
-}
-
-/* 강체 `b에 충돌 처리용 도형 `s`를 추가한다. */
-void frAttachShapeToBody(frBody *b, frShape *s) {
-    if (b == NULL || s == NULL) return;
-    
-    b->shape = s;
-    b->material = frGetShapeMaterial(s);
-    b->aabb = frGetShapeAABB(b->shape, b->tx);
-    
-    frResetBodyMass(b);
-}
-
-/* 강체 `b`에서 충돌 처리용 도형을 제거한다. */ 
-void frDetachShapeFromBody(frBody *b) {
-    if (b == NULL) return;
-    
-    b->shape = NULL;
-    b->material = FR_STRUCT_ZERO(frMaterial);
-    b->aabb = FR_STRUCT_ZERO(Rectangle);
-    
-    frResetBodyMass(b);
-}
-
-/* 구조체 `frBody`의 크기를 반환한다. */
-size_t frGetBodyStructSize(void) {
-    return sizeof(frBody);
-}
-
-/* 강체 `b`의 종류를 반환한다. */
-frBodyType frGetBodyType(frBody *b) {
-    return (b != NULL) ? b->type : FR_BODY_UNKNOWN;
-}
-
-/* 강체 `b`의 비트 플래그 조합을 반환한다. */
-frBodyFlags frGetBodyFlags(frBody *b) {
-    return (b != NULL) ? b->flags : 0;
-}
-
-/* 강체 `b`의 재질을 반환한다. */
-frMaterial frGetBodyMaterial(frBody *b) {
-    return (b != NULL) ? b->material : FR_STRUCT_ZERO(frMaterial);
-}
-
-/* 강체 `b`의 질량을 반환한다. */
-float frGetBodyMass(frBody *b) {
-    return (b != NULL) ? b->motion.mass : 0.0f;
-}
-
-/* 강체 `b`의 질량의 역수를 반환한다. */
-float frGetBodyInverseMass(frBody *b) {
-    return (b != NULL) ? b->motion.inverseMass : 0.0f;
-}
-
-/* 강체 `b`의 관성 모멘트를 반환한다. */
-float frGetBodyInertia(frBody *b) {
-    return (b != NULL) ? b->motion.inertia : 0.0f;
-}
-
-/* 강체 `b`의 관성 모멘트의 역수를 반환한다. */
-float frGetBodyInverseInertia(frBody *b) {
-    return (b != NULL) ? b->motion.inverseInertia : 0.0f;
-}
-
-/* 강체 `b`의 속도를 반환한다. */
-Vector2 frGetBodyVelocity(frBody *b) {
-    return (b != NULL) ? b->motion.velocity : FR_STRUCT_ZERO(Vector2);
-}
-
-/* 강체 `b`의 각속도를 반환한다. */
-float frGetBodyAngularVelocity(frBody *b) {
-    return (b != NULL) ? b->motion.angularVelocity : 0.0f;
-}
-
-/* 강체 `b`의 중력 가속률을 반환한다. */
-float frGetBodyGravityScale(frBody *b) {
-    return (b != NULL) ? b->motion.gravityScale : 0.0f;
-}
-
-/* 강체 `b`의 위치와 회전 각도 (단위: rad.)를 반환한다. */
-frTransform frGetBodyTransform(frBody *b) {
-    return (b != NULL) ? b->tx : FR_STRUCT_ZERO(frTransform);
-}
-
-/* 강체 `b`의 위치를 반환한다. */
-Vector2 frGetBodyPosition(frBody *b) {
-    return (b != NULL) ? b->tx.position : FR_STRUCT_ZERO(Vector2);
-}
-
-/* 강체 `b`의 회전 각도 (단위: rad.)를 반환한다. */
-float frGetBodyRotation(frBody *b) {
-    return (b != NULL) ? b->tx.rotation : 0.0f;
-}
-
-/* 강체 `b`의 충돌 처리용 도형을 반환한다. */
-frShape *frGetBodyShape(frBody *b) {
-    return (b != NULL) ? b->shape : NULL;
-}
-
-/* 강체 `b`의 AABB를 반환한다. */
-Rectangle frGetBodyAABB(frBody *b) {
-    return (b != NULL && b->shape != NULL) ? b->aabb : FR_STRUCT_ZERO(Rectangle);
-}
-
-/* 강체 `b`의 사용자 데이터를 반환한다. */
-void *frGetBodyUserData(frBody *b) {
-    return (b != NULL) ? b->data : NULL;
-}
-
-/* 세계 기준 좌표 `p`를 강체 `b`를 기준으로 한 좌표로 변환한다. */
-Vector2 frGetLocalPoint(frBody *b, Vector2 p) {
-    return frVec2Transform(p, (frTransform) { frVec2Negate(b->tx.position), -(b->tx.rotation)});
-}
-
-/* 강체 `b`를 기준으로 한 좌표 `p`를 세계 기준 좌표로 변환한다. */
-Vector2 frGetWorldPoint(frBody *b, Vector2 p) {
-    return frVec2Transform(p, b->tx);
-}
-
-/* 강체 `b`의 종류를 `type`으로 설정한다. */
-void frSetBodyType(frBody *b, frBodyType type) {
-    if (b == NULL || b->type == FR_BODY_UNKNOWN || b->type == type) 
-        return;
-    
-    b->type = type;
-    
-    frResetBodyMass(b);
-}
-
-/* 강체 `b`의 비트 플래그 조합을 `flags`으로 설정한다. */
-void frSetBodyFlags(frBody *b, frBodyFlags flags) {
-    if (b == NULL || b->flags == flags) return;
-
-    b->flags = flags;
-
-    frResetBodyMass(b);
-}
-
-/* 강체 `b`의 속도를 `v`로 설정한다. */
-void frSetBodyVelocity(frBody *b, Vector2 v) {
-    if (b != NULL) b->motion.velocity = v;
-}
-
-/* 강체 `b`의 각속도를 `a`로 설정한다. */
-void frSetBodyAngularVelocity(frBody *b, double a) {
-    if (b != NULL) b->motion.angularVelocity = a;
-}
-
-/* 강체 `b`의 중력 가속률을 `scale`로 설정한다. */
-void frSetBodyGravityScale(frBody *b, float scale) {
-    if (b == NULL || b->type != FR_BODY_DYNAMIC) return;
-    
-    b->motion.gravityScale = scale;
-}
-
-/* 강체 `b`의 위치와 회전 각도를 `tx`의 값으로 설정한다. */ 
-void frSetBodyTransform(frBody *b, frTransform tx) {
-    if (b == NULL) return;
-    
-    b->tx.position = tx.position;
-    b->tx.rotation = frNormalizeAngle(tx.rotation, PI);
-
-    b->tx.cache.valid = true;
-    b->tx.cache.sinA = sinf(b->tx.rotation);
-    b->tx.cache.cosA = cosf(b->tx.rotation);
-    
-    b->aabb = frGetShapeAABB(b->shape, b->tx);
-}
-
-/* 강체 `b`의 위치를 `p`로 설정한다. */
-void frSetBodyPosition(frBody *b, Vector2 p) {
-    if (b == NULL) return;
-    
-    b->tx.position = p;
-
-    b->aabb = frGetShapeAABB(b->shape, b->tx);
-}
-
-/* 강체 `b`의 회전 각도 (단위: rad.)를 `rotation`으로 설정한다. */
-void frSetBodyRotation(frBody *b, float rotation) {
-    if (b == NULL) return;
-    
-    b->tx.rotation = frNormalizeAngle(rotation, PI);
-
-    b->tx.cache.valid = true;
-    b->tx.cache.sinA = sinf(b->tx.rotation);
-    b->tx.cache.cosA = cosf(b->tx.rotation);
-
-    b->aabb = frGetShapeAABB(b->shape, b->tx);
-}
-
-/* 강체 `b`의 사용자 데이터를 `data`로 설정한다. */
-void frSetBodyUserData(frBody *b, void *data) {
-    if (b != NULL) b->data = data;
-}
-
-/* 강체 `b`에 중력 가속도 `gravity`를 적용한다. */
-void frApplyGravity(frBody *b, Vector2 gravity) {
-    if (b == NULL || b->motion.inverseMass <= 0.0f) return;
-    
-    b->motion.force = frVec2Add(
-        b->motion.force,
-        frVec2ScalarMultiply(
-            gravity,
-            b->motion.gravityScale * b->motion.mass
-        )
-    );
-}
-
-/* 강체 `b`에 충격량 `impulse`를 적용한다. */
-void frApplyImpulse(frBody *b, Vector2 impulse) {
-    if (b == NULL || b->motion.inverseMass <= 0.0f) return;
-    
-    b->motion.velocity = frVec2Add(
-        b->motion.velocity,
-        frVec2ScalarMultiply(
-            impulse,
-            b->motion.inverseMass
-        )
-    );
-}
-
-/* 강체 `b` 위의 점 `p`에 각운동량 `impulse`를 적용한다. */
-void frApplyTorqueImpulse(frBody *b, Vector2 p, Vector2 impulse) {
-    if (b == NULL || b->motion.inverseInertia <= 0.0f) return;
-    
-    b->motion.angularVelocity += b->motion.inverseInertia 
-        * frVec2CrossProduct(p, impulse);
-}
-
-/* 강체 `b`에 작용하는 모든 힘을 제거한다. */
-void frClearBodyForces(frBody *b) {
-    if (b == NULL) return;
-    
-    b->motion.force = FR_STRUCT_ZERO(Vector2);
-    b->motion.torque = 0.0f;
-}
-
-/* 단위 시간 `dt` 이후의 강체 `b`의 위치를 계산한다. */
-void frIntegrateForBodyPosition(frBody *b, double dt) {
-    if (b == NULL || b->type == FR_BODY_STATIC) return;
-    
-    frSetBodyPosition(b, frVec2Add(b->tx.position, frVec2ScalarMultiply(b->motion.velocity, dt)));
-    frSetBodyRotation(b, b->tx.rotation + (b->motion.angularVelocity * dt));
-}
-
-/* 단위 시간 `dt` 이후의 강체 `b`의 속도와 각속도를 계산한다. */
-void frIntegrateForBodyVelocities(frBody *b, double dt) {
-    if (b == NULL || b->motion.inverseMass <= 0.0f) return;
-    
-    b->motion.velocity = frVec2Add(
-        b->motion.velocity,
-        frVec2ScalarMultiply(
-            b->motion.force, 
-            b->motion.inverseMass * dt
-        )
-    );
-    
-    b->motion.angularVelocity += (b->motion.torque * b->motion.inverseInertia) * dt;
-}
-
-/* 강체 `b1`과 `b2` 사이의 충돌을 해결한다. */
-void frResolveCollision(frCollision *collision) {
-    if (collision == NULL || !collision->check) return;
-
-    frBody *b1 = collision->cache.bodies[0];
-    frBody *b2 = collision->cache.bodies[1];
-
-    if (b1 == NULL || b2 == NULL) return;
-
-    if (b1->motion.inverseMass + b2->motion.inverseMass <= 0.0f) {
-        if (frGetBodyType(b1) == FR_BODY_STATIC) b1->motion.velocity = FR_STRUCT_ZERO(Vector2);
-        if (frGetBodyType(b2) == FR_BODY_STATIC) b2->motion.velocity = FR_STRUCT_ZERO(Vector2);
-        
-        return;
-    }
-    
-    float epsilon = fmaxf(0.0f, fminf(b1->material.restitution, b2->material.restitution));
-    
-    float staticMu = b1->material.staticFriction * b2->material.staticFriction;
-    float dynamicMu = b1->material.dynamicFriction * b2->material.dynamicFriction;
-
-    // 대체로 운동 마찰 계수는 정지 마찰 계수보다 작은 값을 가진다.
-    if (staticMu < dynamicMu) dynamicMu = FR_DYNAMICS_DYNAMIC_FRICTION_MULTIPLIER * staticMu;
-    
-    for (int i = 0; i < collision->count; i++) {
-        Vector2 r1 = frVec2Subtract(collision->points[i], frGetBodyPosition(b1));
-        Vector2 r2 = frVec2Subtract(collision->points[i], frGetBodyPosition(b2));
-        
-        Vector2 r1Normal = frVec2LeftNormal(r1);
-        Vector2 r2Normal = frVec2LeftNormal(r2);
-        
-        // `b1`이 측정한 `b2`의 속도 (`b1`에 대한 `b2`의 상대 속도)를 계산한다.
-        Vector2 relativeVelocity = frVec2Subtract(
-            frVec2Add(
-                b2->motion.velocity,
-                frVec2ScalarMultiply(r2Normal, b2->motion.angularVelocity)
-            ),
-            frVec2Add(
-                b1->motion.velocity, 
-                frVec2ScalarMultiply(r1Normal, b1->motion.angularVelocity)
-            )
-        );
-        
-        float relativeVelocityDot = frVec2DotProduct(relativeVelocity, collision->direction);
-        
-        // 두 강체가 서로 충돌하는 방향으로 진행하고 있지 않으면 계산을 종료한다.
-        if (relativeVelocityDot > 0.0f) return;
-        
-        float r1NormalDot = frVec2DotProduct(r1Normal, collision->direction);
-        float r2NormalDot = frVec2DotProduct(r2Normal, collision->direction);
-        
-        float inverseMassSum = (b1->motion.inverseMass + b2->motion.inverseMass)
-            + b1->motion.inverseInertia * (r1NormalDot * r1NormalDot)
-            + b2->motion.inverseInertia * (r2NormalDot * r2NormalDot);
-
-        float impulseParam = (-(1.0f + epsilon) * relativeVelocityDot)
-            / (collision->count * inverseMassSum);
-
-        Vector2 impulse = frVec2ScalarMultiply(collision->direction, impulseParam);
-
-        frApplyImpulse(b1, frVec2Negate(impulse));
-        frApplyTorqueImpulse(b1, r1, frVec2Negate(impulse));
-        
-        frApplyImpulse(b2, impulse);
-        frApplyTorqueImpulse(b2, r2, impulse);
-        
-        // 마찰력 적용을 위해 상대 속도를 다시 계산한다.
-        relativeVelocity = frVec2Subtract(
-            frVec2Add(
-                b2->motion.velocity,
-                frVec2ScalarMultiply(r2Normal, b2->motion.angularVelocity)
-            ),
-            frVec2Add(
-                b1->motion.velocity, 
-                frVec2ScalarMultiply(r1Normal, b1->motion.angularVelocity)
-            )
-        );
-
-        relativeVelocityDot = frVec2DotProduct(relativeVelocity, collision->direction);
-        
-        Vector2 tangent = frVec2Normalize(
-            frVec2Subtract(
-                relativeVelocity,
-                frVec2ScalarMultiply(collision->direction, relativeVelocityDot)
-            )
-        );
-
-        r1NormalDot = frVec2DotProduct(r1Normal, tangent);
-        r2NormalDot = frVec2DotProduct(r2Normal, tangent);
-
-        inverseMassSum = (b1->motion.inverseMass + b2->motion.inverseMass)
-            + b1->motion.inverseInertia * (r1NormalDot * r1NormalDot)
-            + b2->motion.inverseInertia * (r2NormalDot * r2NormalDot);
-
-        float frictionParam = -frVec2DotProduct(relativeVelocity, tangent)
-            / (collision->count * inverseMassSum);
-        
-        Vector2 friction = (fabsf(frictionParam) < impulseParam * staticMu)
-            ? frVec2ScalarMultiply(tangent, frictionParam)
-            : frVec2ScalarMultiply(tangent, -impulseParam * dynamicMu);
-        
-        frApplyImpulse(b1, frVec2Negate(friction));
-        frApplyTorqueImpulse(b1, r1, frVec2Negate(friction));
-        
-        frApplyImpulse(b2, friction);
-        frApplyTorqueImpulse(b2, r2, friction);
-    }
-}
-
-/* 강체 `b1`과 `b2`의 위치를 적절하게 보정한다. */
-void frCorrectBodyPositions(frCollision *collision, float inverseDt) {
-    if (collision == NULL || !collision->check) return;
-
-    frBody *b1 = collision->cache.bodies[0];
-    frBody *b2 = collision->cache.bodies[1];
-
-    if (b1 == NULL || b2 == NULL) return;
-    
-    if (b1->motion.inverseMass + b2->motion.inverseMass <= 0.0f) {
-        if (frGetBodyType(b1) == FR_BODY_STATIC) b1->motion.velocity = FR_STRUCT_ZERO(Vector2);
-        if (frGetBodyType(b2) == FR_BODY_STATIC) b2->motion.velocity = FR_STRUCT_ZERO(Vector2);
-        
-        return;
-    }
-    
-    float maxDepth = fmaxf(collision->depths[0], collision->depths[1]);
-
-    if (maxDepth <= FR_DYNAMICS_CORRECTION_DEPTH_THRESHOLD) return;
-    
-    // 충돌 방향은 무조건 `b1`에서 `b2`로 향한다.
-    Vector2 correction = frVec2ScalarMultiply(
-        collision->direction,
-        FR_DYNAMICS_CORRECTION_DEPTH_SCALE * (
-            (inverseDt * (maxDepth - FR_DYNAMICS_CORRECTION_DEPTH_THRESHOLD)) 
-            / (b1->motion.inverseMass + b2->motion.inverseMass)
-        )
-    );
-    
-    frSetBodyPosition(
-        b1, 
-        frVec2Subtract(
-            b1->tx.position, 
-            frVec2ScalarMultiply(correction, b1->motion.inverseMass)
-        )
-    );
-    frSetBodyPosition(
-        b2, 
-        frVec2Add(
-            b2->tx.position, 
-            frVec2ScalarMultiply(correction, b2->motion.inverseMass)
-        )
-    );
-}
-
-/* 강체 `b`의 질량을 다시 계산한다. */
-static void frResetBodyMass(frBody *b) {
-    if (b == NULL) return;
-    
-    b->motion.mass = 0.0f;
-    b->motion.inertia = 0.0f;
-    
-    if (b->type == FR_BODY_STATIC) {
-        b->motion.velocity = FR_STRUCT_ZERO(Vector2);
-        b->motion.angularVelocity = 0.0f;
-    } else if (b->type == FR_BODY_DYNAMIC) {
-        if (b->shape != NULL) {
-            if (!(b->flags & FR_FLAG_INFINITE_MASS))
-                b->motion.mass = frGetShapeMass(b->shape);
-            
-            if (!(b->flags & FR_FLAG_INFINITE_INERTIA))
-                b->motion.inertia = frGetShapeInertia(b->shape);
-        }
-    }
-    
-    if (b->motion.mass == 0.0f) b->motion.inverseMass = 0.0f;
-    else b->motion.inverseMass = 1.0f / b->motion.mass;
-    
-    if (b->motion.inertia == 0.0f) b->motion.inverseInertia = 0.0f;
-    else b->motion.inverseInertia = 1.0f / b->motion.inertia;
-}

code/vendors/ferox/src/external/sokol_time.h

@@ -1,319 +0,0 @@
-#if defined(SOKOL_IMPL) && !defined(SOKOL_TIME_IMPL)
-#define SOKOL_TIME_IMPL
-#endif
-#ifndef SOKOL_TIME_INCLUDED
-/*
-    sokol_time.h    -- simple cross-platform time measurement
-
-    Project URL: https://github.com/floooh/sokol
-
-    Do this:
-        #define SOKOL_IMPL or
-        #define SOKOL_TIME_IMPL
-    before you include this file in *one* C or C++ file to create the
-    implementation.
-
-    Optionally provide the following defines with your own implementations:
-    SOKOL_ASSERT(c)     - your own assert macro (default: assert(c))
-    SOKOL_TIME_API_DECL - public function declaration prefix (default: extern)
-    SOKOL_API_DECL      - same as SOKOL_TIME_API_DECL
-    SOKOL_API_IMPL      - public function implementation prefix (default: -)
-
-    If sokol_time.h is compiled as a DLL, define the following before
-    including the declaration or implementation:
-
-    SOKOL_DLL
-
-    On Windows, SOKOL_DLL will define SOKOL_TIME_API_DECL as __declspec(dllexport)
-    or __declspec(dllimport) as needed.
-
-    void stm_setup();
-        Call once before any other functions to initialize sokol_time
-        (this calls for instance QueryPerformanceFrequency on Windows)
-
-    uint64_t stm_now();
-        Get current point in time in unspecified 'ticks'. The value that
-        is returned has no relation to the 'wall-clock' time and is
-        not in a specific time unit, it is only useful to compute
-        time differences.
-
-    uint64_t stm_diff(uint64_t new, uint64_t old);
-        Computes the time difference between new and old. This will always
-        return a positive, non-zero value.
-
-    uint64_t stm_since(uint64_t start);
-        Takes the current time, and returns the elapsed time since start
-        (this is a shortcut for "stm_diff(stm_now(), start)")
-
-    uint64_t stm_laptime(uint64_t* last_time);
-        This is useful for measuring frame time and other recurring
-        events. It takes the current time, returns the time difference
-        to the value in last_time, and stores the current time in
-        last_time for the next call. If the value in last_time is 0,
-        the return value will be zero (this usually happens on the
-        very first call).
-
-    uint64_t stm_round_to_common_refresh_rate(uint64_t duration)
-        This oddly named function takes a measured frame time and
-        returns the closest "nearby" common display refresh rate frame duration
-        in ticks. If the input duration isn't close to any common display
-        refresh rate, the input duration will be returned unchanged as a fallback.
-        The main purpose of this function is to remove jitter/inaccuracies from
-        measured frame times, and instead use the display refresh rate as
-        frame duration.
-        NOTE: for more robust frame timing, consider using the
-        sokol_app.h function sapp_frame_duration()
-
-    Use the following functions to convert a duration in ticks into
-    useful time units:
-
-    double stm_sec(uint64_t ticks);
-    double stm_ms(uint64_t ticks);
-    double stm_us(uint64_t ticks);
-    double stm_ns(uint64_t ticks);
-        Converts a tick value into seconds, milliseconds, microseconds
-        or nanoseconds. Note that not all platforms will have nanosecond
-        or even microsecond precision.
-
-    Uses the following time measurement functions under the hood:
-
-    Windows:        QueryPerformanceFrequency() / QueryPerformanceCounter()
-    MacOS/iOS:      mach_absolute_time()
-    emscripten:     emscripten_get_now()
-    Linux+others:   clock_gettime(CLOCK_MONOTONIC)
-
-    zlib/libpng license
-
-    Copyright (c) 2018 Andre Weissflog
-
-    This software is provided 'as-is', without any express or implied warranty.
-    In no event will the authors be held liable for any damages arising from the
-    use of this software.
-
-    Permission is granted to anyone to use this software for any purpose,
-    including commercial applications, and to alter it and redistribute it
-    freely, subject to the following restrictions:
-
-        1. The origin of this software must not be misrepresented; you must not
-        claim that you wrote the original software. If you use this software in a
-        product, an acknowledgment in the product documentation would be
-        appreciated but is not required.
-
-        2. Altered source versions must be plainly marked as such, and must not
-        be misrepresented as being the original software.
-
-        3. This notice may not be removed or altered from any source
-        distribution.
-*/
-#define SOKOL_TIME_INCLUDED (1)
-#include <stdint.h>
-
-#if defined(SOKOL_API_DECL) && !defined(SOKOL_TIME_API_DECL)
-#define SOKOL_TIME_API_DECL SOKOL_API_DECL
-#endif
-#ifndef SOKOL_TIME_API_DECL
-#if defined(_WIN32) && defined(SOKOL_DLL) && defined(SOKOL_TIME_IMPL)
-#define SOKOL_TIME_API_DECL __declspec(dllexport)
-#elif defined(_WIN32) && defined(SOKOL_DLL)
-#define SOKOL_TIME_API_DECL __declspec(dllimport)
-#else
-#define SOKOL_TIME_API_DECL extern
-#endif
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-SOKOL_TIME_API_DECL void stm_setup(void);
-SOKOL_TIME_API_DECL uint64_t stm_now(void);
-SOKOL_TIME_API_DECL uint64_t stm_diff(uint64_t new_ticks, uint64_t old_ticks);
-SOKOL_TIME_API_DECL uint64_t stm_since(uint64_t start_ticks);
-SOKOL_TIME_API_DECL uint64_t stm_laptime(uint64_t* last_time);
-SOKOL_TIME_API_DECL uint64_t stm_round_to_common_refresh_rate(uint64_t frame_ticks);
-SOKOL_TIME_API_DECL double stm_sec(uint64_t ticks);
-SOKOL_TIME_API_DECL double stm_ms(uint64_t ticks);
-SOKOL_TIME_API_DECL double stm_us(uint64_t ticks);
-SOKOL_TIME_API_DECL double stm_ns(uint64_t ticks);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-#endif // SOKOL_TIME_INCLUDED
-
-/*-- IMPLEMENTATION ----------------------------------------------------------*/
-#ifdef SOKOL_TIME_IMPL
-#define SOKOL_TIME_IMPL_INCLUDED (1)
-#include <string.h> /* memset */
-
-#ifndef SOKOL_API_IMPL
-    #define SOKOL_API_IMPL
-#endif
-#ifndef SOKOL_ASSERT
-    #include <assert.h>
-    #define SOKOL_ASSERT(c) assert(c)
-#endif
-#ifndef _SOKOL_PRIVATE
-    #if defined(__GNUC__) || defined(__clang__)
-        #define _SOKOL_PRIVATE __attribute__((unused)) static
-    #else
-        #define _SOKOL_PRIVATE static
-    #endif
-#endif
-
-#if defined(_WIN32)
-#ifndef WIN32_LEAN_AND_MEAN
-#define WIN32_LEAN_AND_MEAN
-#endif
-#include <windows.h>
-typedef struct {
-    uint32_t initialized;
-    LARGE_INTEGER freq;
-    LARGE_INTEGER start;
-} _stm_state_t;
-#elif defined(__APPLE__) && defined(__MACH__)
-#include <mach/mach_time.h>
-typedef struct {
-    uint32_t initialized;
-    mach_timebase_info_data_t timebase;
-    uint64_t start;
-} _stm_state_t;
-#elif defined(__EMSCRIPTEN__)
-#include <emscripten/emscripten.h>
-typedef struct {
-    uint32_t initialized;
-    double start;
-} _stm_state_t;
-#else /* anything else, this will need more care for non-Linux platforms */
-#ifdef ESP8266
-// On the ESP8266, clock_gettime ignores the first argument and CLOCK_MONOTONIC isn't defined
-#define CLOCK_MONOTONIC 0
-#endif
-#include <time.h>
-typedef struct {
-    uint32_t initialized;
-    uint64_t start;
-} _stm_state_t;
-#endif
-static _stm_state_t _stm;
-
-/* prevent 64-bit overflow when computing relative timestamp
-    see https://gist.github.com/jspohr/3dc4f00033d79ec5bdaf67bc46c813e3
-*/
-#if defined(_WIN32) || (defined(__APPLE__) && defined(__MACH__))
-_SOKOL_PRIVATE int64_t _stm_int64_muldiv(int64_t value, int64_t numer, int64_t denom) {
-    int64_t q = value / denom;
-    int64_t r = value % denom;
-    return q * numer + r * numer / denom;
-}
-#endif
-
-SOKOL_API_IMPL void stm_setup(void) {
-    memset(&_stm, 0, sizeof(_stm));
-    _stm.initialized = 0xABCDABCD;
-    #if defined(_WIN32)
-        QueryPerformanceFrequency(&_stm.freq);
-        QueryPerformanceCounter(&_stm.start);
-    #elif defined(__APPLE__) && defined(__MACH__)
-        mach_timebase_info(&_stm.timebase);
-        _stm.start = mach_absolute_time();
-    #elif defined(__EMSCRIPTEN__)
-        _stm.start = emscripten_get_now();
-    #else
-        struct timespec ts;
-        clock_gettime(CLOCK_MONOTONIC, &ts);
-        _stm.start = (uint64_t)ts.tv_sec*1000000000 + (uint64_t)ts.tv_nsec;
-    #endif
-}
-
-SOKOL_API_IMPL uint64_t stm_now(void) {
-    SOKOL_ASSERT(_stm.initialized == 0xABCDABCD);
-    uint64_t now;
-    #if defined(_WIN32)
-        LARGE_INTEGER qpc_t;
-        QueryPerformanceCounter(&qpc_t);
-        now = (uint64_t) _stm_int64_muldiv(qpc_t.QuadPart - _stm.start.QuadPart, 1000000000, _stm.freq.QuadPart);
-    #elif defined(__APPLE__) && defined(__MACH__)
-        const uint64_t mach_now = mach_absolute_time() - _stm.start;
-        now = (uint64_t) _stm_int64_muldiv((int64_t)mach_now, (int64_t)_stm.timebase.numer, (int64_t)_stm.timebase.denom);
-    #elif defined(__EMSCRIPTEN__)
-        double js_now = emscripten_get_now() - _stm.start;
-        now = (uint64_t) (js_now * 1000000.0);
-    #else
-        struct timespec ts;
-        clock_gettime(CLOCK_MONOTONIC, &ts);
-        now = ((uint64_t)ts.tv_sec*1000000000 + (uint64_t)ts.tv_nsec) - _stm.start;
-    #endif
-    return now;
-}
-
-SOKOL_API_IMPL uint64_t stm_diff(uint64_t new_ticks, uint64_t old_ticks) {
-    if (new_ticks > old_ticks) {
-        return new_ticks - old_ticks;
-    }
-    else {
-        return 1;
-    }
-}
-
-SOKOL_API_IMPL uint64_t stm_since(uint64_t start_ticks) {
-    return stm_diff(stm_now(), start_ticks);
-}
-
-SOKOL_API_IMPL uint64_t stm_laptime(uint64_t* last_time) {
-    SOKOL_ASSERT(last_time);
-    uint64_t dt = 0;
-    uint64_t now = stm_now();
-    if (0 != *last_time) {
-        dt = stm_diff(now, *last_time);
-    }
-    *last_time = now;
-    return dt;
-}
-
-// first number is frame duration in ns, second number is tolerance in ns,
-// the resulting min/max values must not overlap!
-static const uint64_t _stm_refresh_rates[][2] = {
-    { 16666667, 1000000 },  //  60 Hz: 16.6667 +- 1ms
-    { 13888889,  250000 },  //  72 Hz: 13.8889 +- 0.25ms
-    { 13333333,  250000 },  //  75 Hz: 13.3333 +- 0.25ms
-    { 11764706,  250000 },  //  85 Hz: 11.7647 +- 0.25
-    { 11111111,  250000 },  //  90 Hz: 11.1111 +- 0.25ms
-    { 10000000,  500000 },  // 100 Hz: 10.0000 +- 0.5ms
-    {  8333333,  500000 },  // 120 Hz:  8.3333 +- 0.5ms
-    {  6944445,  500000 },  // 144 Hz:  6.9445 +- 0.5ms
-    {  4166667, 1000000 },  // 240 Hz:  4.1666 +- 1ms
-    {        0,       0 },  // keep the last element always at zero
-};
-
-SOKOL_API_IMPL uint64_t stm_round_to_common_refresh_rate(uint64_t ticks) {
-    uint64_t ns;
-    int i = 0;
-    while (0 != (ns = _stm_refresh_rates[i][0])) {
-        uint64_t tol = _stm_refresh_rates[i][1];
-        if ((ticks > (ns - tol)) && (ticks < (ns + tol))) {
-            return ns;
-        }
-        i++;
-    }
-    // fallthough: didn't fit into any buckets
-    return ticks;
-}
-
-SOKOL_API_IMPL double stm_sec(uint64_t ticks) {
-    return (double)ticks / 1000000000.0;
-}
-
-SOKOL_API_IMPL double stm_ms(uint64_t ticks) {
-    return (double)ticks / 1000000.0;
-}
-
-SOKOL_API_IMPL double stm_us(uint64_t ticks) {
-    return (double)ticks / 1000.0;
-}
-
-SOKOL_API_IMPL double stm_ns(uint64_t ticks) {
-    return (double)ticks;
-}
-#endif /* SOKOL_TIME_IMPL */
-

code/vendors/ferox/src/geometry.c

@@ -1,474 +0,0 @@
-/*
-    Copyright (c) 2021-2022 jdeokkim
-
-    Permission is hereby granted, free of charge, to any person obtaining a copy
-    of this software and associated documentation files (the "Software"), to deal
-    in the Software without restriction, including without limitation the rights
-    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-    copies of the Software, and to permit persons to whom the Software is
-    furnished to do so, subject to the following conditions:
-
-    The above copyright notice and this permission notice shall be included in all
-    copies or substantial portions of the Software.
-
-    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-    SOFTWARE.
-*/
-
-#include "ferox.h"
-
-/* | `geometry` 모듈 자료형 정의... | */
-
-/* 충돌 감지용 도형을 나타내는 구조체. */
-typedef struct frShape {
-    frShapeType type;
-    frMaterial material;
-    bool isRect;
-    float area;
-    union {
-        struct {
-            float radius;
-        } circle;
-        struct {
-            frVertices vertices;
-            frVertices normals;
-        } polygon;
-    };
-} frShape;
-
-/* | `geometry` 모듈 상수... | */
-
-static const float INVERSE_TWELVE = (1.0f / 12.0f);
-
-/* | `geometry` 모듈 함수... | */
-
-/* 도형 `s`의 넓이를 계산한다. */
-static void frComputeArea(frShape *s);
-
-/* 다각형 `s`를 볼록 다각형으로 변형한다. */
-static void frComputeConvex(frShape *s);
-
-/* 꼭짓점 배열 `vertices`로 만들 수 있는 가장 큰 볼록 다각형의 꼭짓점 배열을 반환한다. */
-static frVertices frJarvisMarch(frVertices *vertices);
-
-/* 반지름이 `radius`인 원을 나타내는 도형을 생성한다. */
-frShape *frCreateCircle(frMaterial material, float radius) {
-    frShape *result = frCreateShape();
-    
-    result->type = FR_SHAPE_CIRCLE;
-    result->material = material;
-    
-    frSetCircleRadius(result, radius);
-    
-    return result;
-}
-
-/* 가로 길이가 `width`이고 세로 길이가 `height`인 직사각형을 나타내는 도형을 생성한다. */
-frShape *frCreateRectangle(frMaterial material, float width, float height) {
-    frShape *result = frCreateShape();
-
-    const float halfWidth = 0.5f * width, halfHeight = 0.5f * height;
-
-    frVertices vertices = {
-        .data = {
-            (Vector2) { -halfWidth, -halfHeight },
-            (Vector2) { -halfWidth, halfHeight },
-            (Vector2) { halfWidth, halfHeight },
-            (Vector2) { halfWidth, -halfHeight }
-        },
-        .count = 4
-    };
-
-    result->type = FR_SHAPE_POLYGON;
-    result->material = material;
-    result->isRect = true;
-    
-    frSetPolygonVertices(result, vertices);
-    
-    return result;
-}
-
-/* 꼭짓점 배열이 `vertices`인 다각형을 나타내는 도형을 생성한다. */
-frShape *frCreatePolygon(frMaterial material, frVertices vertices) {
-    frShape *result = frCreateShape();
-
-    if (vertices.count > FR_GEOMETRY_MAX_VERTEX_COUNT)
-        vertices.count = FR_GEOMETRY_MAX_VERTEX_COUNT;
-    
-    result->type = FR_SHAPE_POLYGON;
-    result->material = material;
-    
-    frSetPolygonVertices(result, vertices);
-    
-    return result;
-}
-
-/* 형태가 정해지지 않은 도형을 생성한다. */
-frShape *frCreateShape(void) {
-    frShape *result = calloc(1, sizeof(*result));
-    
-    result->type = FR_SHAPE_UNKNOWN;
-    
-    return result;
-}
-
-/* 도형 `s`와 형태가 같은 새로운 도형을 반환한다. */
-frShape *frCloneShape(frShape *s) {
-    if (s == NULL || s->type == FR_SHAPE_UNKNOWN) return NULL;
-    
-    frShape *result = frCreateShape();
-    
-    result->type = s->type;
-    result->material = s->material;
-    result->isRect = s->isRect;
-    result->area = s->area;
-    
-    if (result->type == FR_SHAPE_CIRCLE)
-        result->circle.radius = s->circle.radius;
-    else if (result->type == FR_SHAPE_POLYGON) {
-        result->polygon.vertices.count = s->polygon.vertices.count;
-        result->polygon.normals.count = s->polygon.normals.count;
-        
-        for (int i = 0; i < s->polygon.vertices.count; i++)
-            result->polygon.vertices.data[i] = s->polygon.vertices.data[i];
-        
-        for (int i = 0; i < s->polygon.normals.count; i++)
-            result->polygon.normals.data[i] = s->polygon.normals.data[i];
-    }
-    
-    return result;
-}
-
-/* 도형 `s`에 할당된 메모리를 해제한다. */
-void frReleaseShape(frShape *s) {
-    free(s);
-}
-
-/* 구조체 `frShape`의 크기를 반환한다. */
-size_t frGetShapeStructSize(void) {
-    return sizeof(frShape);
-}
-
-/* 도형 `s`의 종류를 반환한다. */
-frShapeType frGetShapeType(frShape *s) {
-    return (s != NULL) ? s->type : FR_SHAPE_UNKNOWN;
-}
-
-/* 도형 `s`의 재질을 반환한다. */
-frMaterial frGetShapeMaterial(frShape *s) {
-    return (s != NULL) ? s->material : FR_STRUCT_ZERO(frMaterial);
-}
-
-/* 도형 `s`의 넓이를 반환한다. */
-float frGetShapeArea(frShape *s) {
-    return (s != NULL && s->area >= 0.0f) ? s->area : 0.0f;
-}
-
-/* 도형 `s`의 질량을 반환한다. */
-float frGetShapeMass(frShape *s) {
-    return (s != NULL) ? s->material.density * frGetShapeArea(s) : 0.0f;
-}
-
-/* 도형 `s`의 관성 모멘트를 반환한다. */
-float frGetShapeInertia(frShape *s) {
-    if (s == NULL || s->type == FR_SHAPE_UNKNOWN) return 0.0f;
-    
-    float result = 0.0f;
-    
-    if (s->type == FR_SHAPE_CIRCLE) {
-        result = 0.5f * frGetShapeMass(s) * (s->circle.radius * s->circle.radius);
-    } else if (s->type == FR_SHAPE_POLYGON) {
-        float xInertia = 0.0f, yInertia = 0.0f;
-        
-        // https://en.wikipedia.org/wiki/Second_moment_of_area#Any_polygon
-        for (int j = s->polygon.vertices.count - 1, i = 0; i < s->polygon.vertices.count; j = i, i++) {
-            Vector2 v1 = s->polygon.vertices.data[j];
-            Vector2 v2 = s->polygon.vertices.data[i];
-            
-            const float cross = frVec2CrossProduct(v1, v2);
-            
-            xInertia += cross * ((v1.y * v1.y) + (v1.y * v2.y) + (v2.y * v2.y));
-            yInertia += cross * ((v1.x * v1.x) + (v1.x * v2.x) + (v2.x * v2.x));
-        }
-        
-        result = fabsf((xInertia + yInertia) * INVERSE_TWELVE);
-    }
-    
-    return s->material.density * result;
-}
-
-/* 도형 `s`의 AABB를 반환한다. */
-Rectangle frGetShapeAABB(frShape *s, frTransform tx) {
-    Rectangle result = FR_STRUCT_ZERO(Rectangle);
-    
-    if (s == NULL || s->type == FR_SHAPE_UNKNOWN) return result;
-    
-    if (s->type == FR_SHAPE_CIRCLE) {
-        result.x = tx.position.x - s->circle.radius;
-        result.y = tx.position.y - s->circle.radius;
-        
-        result.width = result.height = 2.0f * s->circle.radius;
-        
-        return result;
-    } else if (s->type == FR_SHAPE_POLYGON) {
-        Vector2 minVertex = { FLT_MAX, FLT_MAX };
-        Vector2 maxVertex = { -FLT_MAX, -FLT_MAX };
-        
-        // AABB의 X좌표와 Y좌표의 최솟값과 최댓값을 구한다.
-        for (int i = 0; i < s->polygon.vertices.count; i++) {
-            Vector2 vertex = frVec2Transform(s->polygon.vertices.data[i], tx);
-            
-            if (minVertex.x > vertex.x) minVertex.x = vertex.x;
-            if (minVertex.y > vertex.y) minVertex.y = vertex.y;
-                
-            if (maxVertex.x < vertex.x) maxVertex.x = vertex.x;
-            if (maxVertex.y < vertex.y) maxVertex.y = vertex.y;
-        }
-        
-        float deltaX = maxVertex.x - minVertex.x;
-        float deltaY = maxVertex.y - minVertex.y;
-        
-        result.x = minVertex.x;
-        result.y = minVertex.y;
-        
-        result.width = deltaX;
-        result.height = deltaY;
-        
-        return result;
-    }
-}
-
-/* 원 `s`의 반지름을 반환한다. */
-float frGetCircleRadius(frShape *s) {
-    return (s != NULL && s->type == FR_SHAPE_CIRCLE) ? s->circle.radius : 0.0f;
-}
-
-/* 직사각형 `s`의 가로 및 세로 길이를 반환한다. */
-Vector2 frGetRectangleDimensions(frShape *s) {
-    if (!frIsShapeRectangle(s)) return FR_STRUCT_ZERO(Vector2);
-
-    return (Vector2) { 
-        s->polygon.vertices.data[2].x - s->polygon.vertices.data[1].x,
-        s->polygon.vertices.data[1].y - s->polygon.vertices.data[0].y
-    };
-}
-
-/* 다각형 `s`의 `i + 1`번째 꼭짓점을 반환한다. */
-Vector2 frGetPolygonVertex(frShape *s, int i) {
-    return (s != NULL && i >= 0 && i < s->polygon.vertices.count)
-        ? s->polygon.vertices.data[i]
-        : FR_STRUCT_ZERO(Vector2);
-}
-
-/* 다각형 `s`의 `i + 1`번째 법선 벡터를 반환한다. */
-Vector2 frGetPolygonNormal(frShape *s, int i) {
-    return (s != NULL && i >= 0 && i < s->polygon.normals.count)
-        ? s->polygon.normals.data[i]
-        : FR_STRUCT_ZERO(Vector2);
-}
-
-/* 다각형 `s`의 꼭짓점 배열을 반환한다. */
-frVertices frGetPolygonVertices(frShape *s) {
-    return (s != NULL) ? s->polygon.vertices : FR_STRUCT_ZERO(frVertices);
-}
-
-/* 다각형 `s`의 법선 벡터 배열을 반환한다. */
-frVertices frGetPolygonNormals(frShape *s) {
-    return (s != NULL) ? s->polygon.normals : FR_STRUCT_ZERO(frVertices);
-}
-
-/* 다각형 `s`가 직사각형인지 확인한다. */
-bool frIsShapeRectangle(frShape *s) {
-    return (s != NULL) && (s->type == FR_SHAPE_POLYGON) && s->isRect;
-}
-
-/* 원 `s`의 반지름을 `radius`로 변경한다. */
-void frSetCircleRadius(frShape *s, float radius) {
-    if (s == NULL || s->type != FR_SHAPE_CIRCLE) return; 
-    
-    s->circle.radius = radius;
-    
-    frComputeArea(s);
-}
-
-/* 직사각형 `s`의 가로 및 세로 길이를 `v`의 X값과 Y값으로 설정한다. */
-void frSetRectangleDimensions(frShape *s, Vector2 v) {
-    if (!frIsShapeRectangle(s) || v.x <= 0.0f || v.y <= 0.0f) return;
-
-    v = frVec2ScalarMultiply(v, 0.5f);
-
-    frVertices vertices = {
-        .data = {
-            (Vector2) { -v.x, -v.y },
-            (Vector2) { -v.x, v.y },
-            (Vector2) { v.x, v.y },
-            (Vector2) { v.x, -v.y }
-        },
-        .count = 4
-    };
-
-    frSetPolygonVertices(s, vertices);
-}
-
-/* 다각형 `s`의 꼭짓점 배열을 `vertices`로 변경한다. */
-void frSetPolygonVertices(frShape *s, frVertices vertices) {
-    if (s == NULL || s->type != FR_SHAPE_POLYGON) return;
-    
-    s->polygon.vertices.count = vertices.count;
-    s->polygon.normals.count = vertices.count;
-
-    for (int i = 0; i < vertices.count; i++)
-        s->polygon.vertices.data[i] = vertices.data[i];
-    
-    // 직사각형은 이미 볼록 다각형이므로 변형하지 않는다.
-    if (!s->isRect) frComputeConvex(s);
-
-    frComputeArea(s);
-
-    for (int j = vertices.count - 1, i = 0; i < vertices.count; j = i, i++)
-        s->polygon.normals.data[i] = frVec2LeftNormal(
-            frVec2Subtract(
-                s->polygon.vertices.data[i], 
-                s->polygon.vertices.data[j]
-            )
-        );
-}
-
-/* 도형 `s`의 재질을 `material`로 설정한다. */
-void frSetShapeMaterial(frShape *s, frMaterial material) {
-    if (s != NULL) s->material = material;
-}
-
-/* 도형 `s`의 종류를 `type`으로 변경한다. */
-void frSetShapeType(frShape *s, frShapeType type) {
-    if (s != NULL && s->type != type) s->type = type;
-}
-
-/* 점 `p`가 도형 `s`의 내부에 있는지 확인한다. */
-bool frShapeContainsPoint(frShape *s, frTransform tx, Vector2 p) {
-    if (s == NULL || s->type == FR_SHAPE_UNKNOWN) return false;
-    
-    Rectangle aabb = frGetShapeAABB(s, tx);
-    
-    // `p`가 `s`의 AABB 내부에 있는지 먼저 확인한다.
-    if (p.x < aabb.x || p.x > aabb.x + aabb.width
-        || p.y < aabb.y || p.y > aabb.y + aabb.height)
-        return false;
-    
-    if (s->type == FR_SHAPE_CIRCLE) {
-        float deltaX = p.x - tx.position.x;
-        float deltaY = p.y - tx.position.y;
-        
-        float radius = frGetCircleRadius(s);
-        
-        return (deltaX * deltaX) + (deltaY * deltaY) <= radius * radius;
-    } else if (s->type == FR_SHAPE_POLYGON) {
-        frRay ray = { p, (Vector2) { .x = 1.0f }, FLT_MAX };
-
-        frRaycastHit raycast = frComputeShapeRaycast(s, tx, ray);
-        
-        return raycast.inside;
-    }
-}
-
-/* 도형 `s`의 넓이를 계산한다. */
-static void frComputeArea(frShape *s) {
-    if (s == NULL || s->type == FR_SHAPE_UNKNOWN)
-        s->area = 0.0f;
-    else if (s->type == FR_SHAPE_CIRCLE)
-        s->area = PI * (s->circle.radius * s->circle.radius);
-    else if (s->type == FR_SHAPE_POLYGON) {
-        if (s->isRect) {
-            frVertices *vertices = &(s->polygon.vertices);
-
-            float width = vertices->data[2].x - vertices->data[1].x;
-            float height = vertices->data[1].y - vertices->data[0].y;
-
-            s->area = width * height;
-
-            return;
-        }
-
-        float twiceAreaSum = 0.0f;
-
-        for (int i = 0; i < s->polygon.vertices.count - 1; i++) {
-            float twiceArea = frVec2CrossProduct(
-                frVec2Subtract(s->polygon.vertices.data[i], s->polygon.vertices.data[0]),
-                frVec2Subtract(s->polygon.vertices.data[i + 1], s->polygon.vertices.data[0])
-            );
-
-            twiceAreaSum += twiceArea;
-        }
-
-        s->area = fabsf(0.5f * twiceAreaSum);
-    }
-}
-
-/* 다각형 `s`를 볼록 다각형으로 변형한다. */
-static void frComputeConvex(frShape *s) {
-    if (s == NULL || s->type != FR_SHAPE_POLYGON) return;
-    
-    frVertices result = frJarvisMarch(&(s->polygon.vertices));
-    
-    for (int i = 0; i < result.count; i++)
-        s->polygon.vertices.data[i] = result.data[i];
-    
-    s->polygon.vertices.count = result.count;
-}
-
-/* 꼭짓점 배열 `vertices`로 만들 수 있는 가장 큰 볼록 다각형의 꼭짓점 배열을 반환한다. */
-static frVertices frJarvisMarch(frVertices *vertices) {
-    if (vertices == NULL || vertices->count == 0) return FR_STRUCT_ZERO(frVertices);
-
-    frVertices result = FR_STRUCT_ZERO(frVertices);
-
-    int leftmostIndex = 0, pivotIndex = 0, nextIndex = 0, vertexCount = 0;
-    
-    // 주어진 꼭짓점 배열에서 X좌표 값이 가장 작은 꼭짓점 L을 찾는다.
-    for (int i = 1; i < vertices->count; i++)
-        if (vertices->data[leftmostIndex].x > vertices->data[i].x)
-            leftmostIndex = i;
-    
-    result.data[vertexCount++] = vertices->data[leftmostIndex];
-    
-    // 기준점 P를 방금 찾은 꼭짓점 L로 설정한다.
-    pivotIndex = leftmostIndex;
-    
-    while (1) {
-        // 기준점 P의 바로 다음에 오는 꼭짓점 Q를 찾는다.
-        for (int i = 0; i < vertices->count; i++) {
-            if (i == pivotIndex) continue;
-            
-            nextIndex = i;
-            
-            break;
-        }
-        
-        // 기준점 P와 꼭짓점 Q 사이에 오는 꼭짓점 R을 찾는다.
-        for (int i = 0; i < vertices->count; i++) {
-            if (i == pivotIndex || i == nextIndex)
-                continue;
-            
-            // 기준점 P, 꼭짓점 R과 꼭짓점 Q가 반시계 방향으로 정렬되어 있는지 확인한다.
-            if (frVec2CCW(vertices->data[pivotIndex], vertices->data[i], vertices->data[nextIndex]))
-                nextIndex = i;
-        }
-        
-        // 꼭짓점 Q가 시작점인 꼭짓점 L이 되면 탐색을 종료한다.
-        if (nextIndex == leftmostIndex) break;
-        
-        pivotIndex = nextIndex;
-        
-        // 새로 찾은 꼭짓점을 배열에 저장한다.
-        result.data[vertexCount++] = vertices->data[nextIndex];
-    }
-    
-    result.count = vertexCount;
-    
-    return result;
-}

code/vendors/ferox/src/timer.c

@@ -1,65 +0,0 @@
-/*
-    Copyright (c) 2021-2022 jdeokkim
-
-    Permission is hereby granted, free of charge, to any person obtaining a copy
-    of this software and associated documentation files (the "Software"), to deal
-    in the Software without restriction, including without limitation the rights
-    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-    copies of the Software, and to permit persons to whom the Software is
-    furnished to do so, subject to the following conditions:
-
-    The above copyright notice and this permission notice shall be included in all
-    copies or substantial portions of the Software.
-
-    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-    SOFTWARE.
-*/
-
-#include "ferox.h"
-
-/* | `timer` 모듈 매크로 정의... | */
-
-#if defined(_WIN32)
-    #define NOGDI
-    #define NOUSER
-#endif
-
-#define SOKOL_TIME_IMPL
-#include "sokol_time.h"
-
-/* | `timer` 모듈 변수... | */
-
-/* 단조 시계의 초기화 여부를 나타내는 변수. */
-static bool initialized = false;
-
-/* | `timer` 모듈 함수... | */
-
-/* 단조 시계를 초기화한다. */
-void frInitClock(void) {
-    if (!initialized) {
-        initialized = true;
-        stm_setup();
-    }
-} 
-
-/* 단조 시계의 현재 시각 (단위: ms)을 반환한다. */
-double frGetCurrentTime(void) {
-    if (!initialized) frInitClock();
-    
-    return stm_ms(stm_now());
-}
-
-/* 단조 시계의 시각 `newTime`과 `oldTime`의 차이를 반환한다. */
-double frGetTimeDifference(double newTime, double oldTime) {
-    return newTime - oldTime;
-}
-
-/* 단조 시계의 현재 시각과 `old_time`과의 차이를 반환한다. */
-double frGetTimeSince(double oldTime) {
-    return frGetTimeDifference(frGetCurrentTime(), oldTime);
-}

code/vendors/ferox/src/utils.c

@@ -1,48 +0,0 @@
-/*
-    Copyright (c) 2021-2022 jdeokkim
-
-    Permission is hereby granted, free of charge, to any person obtaining a copy
-    of this software and associated documentation files (the "Software"), to deal
-    in the Software without restriction, including without limitation the rights
-    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-    copies of the Software, and to permit persons to whom the Software is
-    furnished to do so, subject to the following conditions:
-
-    The above copyright notice and this permission notice shall be included in all
-    copies or substantial portions of the Software.
-
-    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-    SOFTWARE.
-*/
-
-#include "ferox.h"
-
-#define STB_DS_IMPLEMENTATION
-#include "stb_ds.h"
-
-/* | `utils` 모듈 매크로 정의... | */
-
-#define TWO_PI (2.0f * PI)
-
-/* | `utils` 모듈 상수... | */
-
-static const float INVERSE_TWO_PI = (1.0f / TWO_PI);
-
-/* | `utils` 모듈 함수... | */
-
-/* 각도 `angle` (단위: rad.)을 정규화하여, 구간 `[center - π, center + π]`에 포함되도록 한다. */
-float frNormalizeAngle(float angle, float center) {
-    if (angle > center - PI && angle < center + PI) return angle;
-
-    return angle - (TWO_PI * floorf((angle + PI - center) * INVERSE_TWO_PI));
-}
-
-/* 부동 소수점 값 `f1`이 `f2`와 근접한 값인지 확인한다. */
-bool frNumberApproxEquals(float f1, float f2) {
-    return fabsf(f1 - f2) <= fmaxf(1.0f, fmaxf(f1, f2)) * FLT_EPSILON;
-}

code/vendors/ferox/src/world.c

@@ -1,377 +0,0 @@
-/*
-    Copyright (c) 2021-2022 jdeokkim
-
-    Permission is hereby granted, free of charge, to any person obtaining a copy
-    of this software and associated documentation files (the "Software"), to deal
-    in the Software without restriction, including without limitation the rights
-    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-    copies of the Software, and to permit persons to whom the Software is
-    furnished to do so, subject to the following conditions:
-
-    The above copyright notice and this permission notice shall be included in all
-    copies or substantial portions of the Software.
-
-    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-    SOFTWARE.
-*/
-
-#include "ferox.h"
-#include "stb_ds.h"
-
-/* | `world` 모듈 자료형 정의... | */
-
-/* 물리 법칙이 존재하는 세계를 나타내는 구조체. */
-typedef struct frWorld {
-    Vector2 gravity;
-    frBody **bodies;
-    frSpatialHash *hash;
-    frCollision *collisions;
-    frCollisionHandler handler;
-    double accumulator;
-    double timestamp;
-    int *queries;
-} frWorld;
-
-/* | `world` 모듈 함수... | */
-
-/* 세계 `world`의 업데이트 이전 작업을 실행한다. */
-static void frPreUpdateWorld(frWorld *world);
-
-/* 세계 `world`의 업데이트 이후 작업을 실행한다. */
-static void frPostUpdateWorld(frWorld *world);
-
-/* 세계 `world`를 시간 `dt` (단위: ms)만큼 업데이트한다. */
-static void frUpdateWorld(frWorld *world, double dt);
-
-/* 중력 가속도가 `gravity`이고 경계 범위가 `bounds`인 세계를 생성한다. */ 
-frWorld *frCreateWorld(Vector2 gravity, Rectangle bounds) {
-    frWorld *result = calloc(1, sizeof(*result));
-    
-    result->gravity = gravity;
-    result->hash = frCreateSpatialHash(bounds, FR_BROADPHASE_CELL_SIZE);
-    result->timestamp = frGetCurrentTime();
-    
-    arrsetcap(result->bodies, FR_WORLD_MAX_BODY_COUNT);
-    arrsetcap(result->collisions, FR_WORLD_MAX_BODY_COUNT * FR_WORLD_MAX_BODY_COUNT);
-    arrsetcap(result->queries, FR_WORLD_MAX_BODY_COUNT);
-    
-    return result;
-}
-
-/* 세계 `world`에 할당된 메모리를 해제한다. */
-void frReleaseWorld(frWorld *world) {
-    if (world == NULL) return;
-    
-    for (int i = 0; i < arrlen(world->bodies); i++) {
-        frBody *b = world->bodies[i];
-        frShape *s = frGetBodyShape(b);
-
-        frReleaseShape(s);
-        frReleaseBody(b);
-    }
-    
-    frReleaseSpatialHash(world->hash);
-    
-    arrfree(world->bodies);
-    arrfree(world->collisions);
-    arrfree(world->queries);
-    
-    free(world);
-}
-
-/* 세계 `world`에 강체 `b`를 추가한다. */
-bool frAddToWorld(frWorld *world, frBody *b) {
-    if (world == NULL || b == NULL || arrlen(world->bodies) >= FR_WORLD_MAX_BODY_COUNT)
-        return false;
-    
-    arrput(world->bodies, b);
-    
-    return true;
-}
-
-/* 세계 `world`의 모든 강체를 제거한다. */
-void frClearWorld(frWorld *world) {
-    if (world == NULL) return;
-    
-    frClearSpatialHash(world->hash);
-    
-    arrsetlen(world->bodies, 0);
-    arrsetlen(world->collisions, 0);
-}
-
-/* 세계 `world`에서 강체 `b`를 제거한다. */
-bool frRemoveFromWorld(frWorld *world, frBody *b) {
-    if (world == NULL || b == NULL) return false;
-    
-    for (int i = 0; i < arrlen(world->bodies); i++) {
-        if (world->bodies[i] == b) {
-            arrdeln(world->bodies, i, 1);
-
-            return true;
-        }
-    }
-    
-    return false;
-}
-
-/* 구조체 `frWorld`의 크기를 반환한다. */
-size_t frGetWorldStructSize(void) {
-    return sizeof(frWorld);
-}
-
-/* 세계 `world`에서 인덱스가 `index`인 강체의 메모리 주소를 반환한다. */
-frBody *frGetWorldBody(frWorld *world, int index) {
-    return (world != NULL && index >= 0 && index < arrlen(world->bodies)) 
-        ? world->bodies[index]
-        : NULL;
-}
-
-/* 세계 `world`의 충돌 핸들러를 반환한다. */
-frCollisionHandler frGetWorldCollisionHandler(frWorld *world) {
-    return (world != NULL) ? world->handler : FR_STRUCT_ZERO(frCollisionHandler);
-}
-
-/* 세계 `world`의 강체 배열의 크기를 반환한다. */
-int frGetWorldBodyCount(frWorld *world) {
-    return (world != NULL) ? arrlen(world->bodies) : 0;
-}
-
-/* 세계 `world`의 경계 범위를 반환한다. */
-Rectangle frGetWorldBounds(frWorld *world) {
-    return (world != NULL) 
-        ? frGetSpatialHashBounds(world->hash) 
-        : FR_STRUCT_ZERO(Rectangle);
-}
-
-/* 세계 `world`의 공간 해시맵을 반환한다. */
-frSpatialHash *frGetWorldSpatialHash(frWorld *world){
-    return (world != NULL) ? world->hash : NULL;
-}
-
-/* 세계 `world`의 중력 가속도를 반환한다. */
-Vector2 frGetWorldGravity(frWorld *world) {
-    return (world != NULL) ? world->gravity : FR_STRUCT_ZERO(Vector2);
-}
-
-/* 강체 `b`가 세계 `world`의 경계 범위 안에 있는지 확인한다. */
-bool frIsInWorldBounds(frWorld *world, frBody *b) {
-    if (world == NULL || b == NULL) return false;
-
-    return CheckCollisionRecs(frGetBodyAABB(b), frGetWorldBounds(world));
-}
-
-/* 세계 `world`의 경계 범위를 `bounds`로 설정한다. */
-void frSetWorldBounds(frWorld *world, Rectangle bounds) {
-    if (world != NULL) frSetSpatialHashBounds(world->hash, bounds);
-}
-
-/* 세계 `world`의 충돌 핸들러를 `handler`로 설정한다. */
-void frSetWorldCollisionHandler(frWorld *world, frCollisionHandler handler) {
-    if (world != NULL) world->handler = handler;
-}
-
-/* 세계 `world`의 중력 가속도를 `gravity`로 설정한다. */
-void frSetWorldGravity(frWorld *world, Vector2 gravity) {
-    if (world != NULL) world->gravity = gravity;
-}
-
-/* 세계 `world`의 시간을 `dt` (단위: ms)만큼 흐르게 한다. */
-void frSimulateWorld(frWorld *world, double dt) {
-    if (world == NULL || dt == 0.0f) return;
-    
-    double currentTime = frGetCurrentTime();
-    double elapsedTime = frGetTimeDifference(currentTime, world->timestamp);
-
-    world->accumulator += elapsedTime;
-    world->timestamp = currentTime;
-    
-    if (world->accumulator > FR_WORLD_ACCUMULATOR_LIMIT)
-        world->accumulator = FR_WORLD_ACCUMULATOR_LIMIT;
-    
-    for (; world->accumulator >= dt; world->accumulator -= dt)
-        frUpdateWorld(world, dt);
-}
-
-/* 세계 `world`에서 직사각형 `rec`와 경계 범위가 겹치는 모든 강체를 반환한다. */
-int frQueryWorldSpatialHash(frWorld *world, Rectangle rec, frBody **bodies) {
-    if (world == NULL || bodies == NULL) return 0;
-
-    arrsetlen(world->queries, 0);
-
-    for (int i = 0; i < arrlen(world->bodies); i++) 
-        frAddToSpatialHash(world->hash, frGetBodyAABB(world->bodies[i]), i);
-
-    frQuerySpatialHash(world->hash, rec, &world->queries);
-
-    int result = arrlen(world->queries);
-
-    for (int i = 0; i < result; i++)
-        bodies[i] = world->bodies[world->queries[i]];
-
-    frClearSpatialHash(world->hash);
-
-    return result;
-}
-
-/* 세계 `world`의 모든 강체에 광선을 투사한다. */
-int frComputeWorldRaycast(frWorld *world, frRay ray, frRaycastHit *hits) {
-    if (world == NULL || hits == NULL) return 0;
-
-    arrsetlen(world->queries, 0);
-
-    for (int i = 0; i < arrlen(world->bodies); i++) 
-        frAddToSpatialHash(world->hash, frGetBodyAABB(world->bodies[i]), i);
-
-    Vector2 p1 = ray.origin, p2 = frVec2Add(
-        ray.origin, 
-        frVec2ScalarMultiply(
-            frVec2Normalize(ray.direction), 
-            ray.maxDistance
-        )
-    );
-
-    Rectangle rec = (Rectangle) {
-        .x = fminf(p1.x, p2.x),
-        .y = fminf(p1.y, p2.y),
-        .width = fabsf(p2.x - p1.x),
-        .height = fabsf(p2.y - p1.y)
-    };
-
-    frQuerySpatialHash(world->hash, rec, &world->queries);
-
-    if (arrlen(world->queries) <= 0) return 0;
-
-    if (ray.closest) {
-        float minDistance = FLT_MAX;
-
-        for (int i = 0; i < arrlen(world->queries); i++) {
-            frBody *body = world->bodies[world->queries[i]];
-
-            frRaycastHit raycast = frComputeBodyRaycast(body, ray);
-            
-            if (!raycast.check) continue;
-
-            if (minDistance > raycast.distance) {
-                minDistance = raycast.distance;
-                hits[0] = raycast;
-            }
-        }
-
-        frClearSpatialHash(world->hash);
-
-        return 1;
-    } else {
-        int count = 0;
-
-        for (int i = 0; i < arrlen(world->queries); i++) {
-            frBody *body = world->bodies[world->queries[i]];
-
-            frRaycastHit raycast = frComputeBodyRaycast(body, ray);
-
-            if (!raycast.check) continue;
-
-            hits[count++] = raycast;
-        }
-
-        frClearSpatialHash(world->hash);
-
-        return count;
-    }
-}
-
-/* 세계 `world`의 업데이트 이전 작업을 실행한다. */
-static void frPreUpdateWorld(frWorld *world) {
-    if (world == NULL || world->hash == NULL) return;
-
-    for (int i = 0; i < arrlen(world->bodies); i++)
-        frAddToSpatialHash(world->hash, frGetBodyAABB(world->bodies[i]), i);
-    
-    for (int i = 0; i < arrlen(world->bodies); i++) {
-        frQuerySpatialHash(
-            world->hash, 
-            frGetBodyAABB(world->bodies[i]), 
-            &world->queries
-        );
-        
-        for (int k = 0; k < arrlen(world->queries); k++) {
-            int j = world->queries[k];
-            
-            if (j <= i) continue;
-            
-            frBody *b1 = world->bodies[i];
-            frBody *b2 = world->bodies[j];
-            
-            frCollision collision = frComputeBodyCollision(b1, b2);
-            
-            if (collision.check) {
-                collision.cache.bodies[0] = b1;
-                collision.cache.bodies[1] = b2;
-
-                arrput(world->collisions, collision);
-            }
-        }
-        
-        arrsetlen(world->queries, 0);
-    }
-}
-
-/* 세계 `world`의 업데이트 이후 작업을 실행한다. */
-static void frPostUpdateWorld(frWorld *world) {
-    if (world == NULL || world->hash == NULL) return;
-
-    for (int i = 0; i < arrlen(world->bodies); i++)
-        frClearBodyForces(world->bodies[i]);
-    
-    arrsetlen(world->collisions, 0);
-    
-    frClearSpatialHash(world->hash);
-}
-
-/* 세계 `world`를 시간 `dt` (단위: ms)만큼 업데이트한다. */
-static void frUpdateWorld(frWorld *world, double dt) {
-    if (world == NULL || world->bodies == NULL || world->collisions == NULL) return;
-
-    frPreUpdateWorld(world);
-    
-    // 강체 사이의 충돌 해결 직전에 사전 정의된 함수를 호출한다. 
-    for (int i = 0; i < arrlen(world->collisions); i++) {
-        frCollisionCallback preSolveCallback = world->handler.preSolve;
-        
-        if (preSolveCallback != NULL) preSolveCallback(&world->collisions[i]);
-    }
-    
-    // 강체에 중력을 적용하고, 강체의 속도와 각속도를 계산한다.
-    for (int i = 0; i < arrlen(world->bodies); i++) {
-        frApplyGravity(world->bodies[i], world->gravity);
-        frIntegrateForBodyVelocities(world->bodies[i], dt);
-    }
-    
-    // 순차적으로 충격량을 반복 적용하여, 두 강체 사이의 충돌을 해결한다.
-    for (int i = 0; i < FR_WORLD_MAX_ITERATIONS; i++)
-        for (int j = 0; j < arrlen(world->collisions); j++)
-            frResolveCollision(&world->collisions[j]);
-    
-    // 강체의 현재 위치를 계산한다.
-    for (int i = 0; i < arrlen(world->bodies); i++)
-        frIntegrateForBodyPosition(world->bodies[i], dt);
-    
-    float inverseDt = (dt != 0.0f) ? (1.0f / dt) : 0.0f;
-    
-    // 강체의 위치를 적절하게 보정한다.
-    for (int i = 0; i < arrlen(world->collisions); i++)
-        frCorrectBodyPositions(&world->collisions[i], inverseDt);
-    
-    // 강체 사이의 충돌 해결 직후에 사전 정의된 함수를 호출한다. 
-    for (int i = 0; i < arrlen(world->collisions); i++) {
-        frCollisionCallback postSolveCallback = world->handler.postSolve;
-        
-        if (postSolveCallback != NULL) postSolveCallback(&world->collisions[i]);
-    }
-    
-    frPostUpdateWorld(world);
-}

eco2d.10x

@@ -40,6 +40,8 @@
 			<Define>_WIN64</Define>
 			<Define>RAYLIB_NUKLEAR_IMPLEMENTATION</Define>
 			<Define>NK_IMPLEMENTATION</Define>
+			<Define>TINYC2_IMPL</Define>
+			<Define>CUTE_C2_IMPLEMENTATION</Define>
 		</Defines>
 		<ConfigProperties>
 			<ConfigAndPlatform>