{-# LANGUAGE FlexibleContexts      #-}
{-# LANGUAGE FlexibleInstances     #-}
{-# LANGUAGE MultiParamTypeClasses #-}
{-# LANGUAGE OverloadedStrings     #-}
{-# LANGUAGE QuasiQuotes           #-}
{-# LANGUAGE ScopedTypeVariables   #-}
{-# LANGUAGE Strict                #-}
{-# LANGUAGE TemplateHaskell       #-}
{-# LANGUAGE TypeFamilies          #-}
{-# LANGUAGE UndecidableInstances  #-}
{-# LANGUAGE ViewPatterns          #-}

module Apecs.Physics.Shape where

import           Apecs.Core
import           Control.Monad
import           Control.Monad.IO.Class (liftIO, MonadIO)
import           Data.Bits
import qualified Data.IntMap          as M
import qualified Data.IntSet          as S
import           Data.IORef
import           Data.Monoid          ((<>))
import qualified Data.Vector.Storable as V
import qualified Data.Vector.Unboxed  as U
import           Foreign.ForeignPtr
import           Foreign.Ptr
import qualified Language.C.Inline    as C
import           Linear.V2

import           Apecs.Physics.Space  ()
import           Apecs.Physics.Types

C.context (phycsCtx <> C.vecCtx)
C.include "<chipmunk.h>"

maskAll, maskNone :: Bitmask
maskAll :: Bitmask
maskAll  = forall a. Bits a => a -> a
complement forall a. Bits a => a
zeroBits
maskNone :: Bitmask
maskNone = forall a. Bits a => a
zeroBits
-- | Makes a bitmask from a list of indices
maskList :: [Int] -> Bitmask
maskList :: [Int] -> Bitmask
maskList = forall (t :: * -> *) a b.
Foldable t =>
(a -> b -> b) -> b -> t a -> b
foldr (forall a b c. (a -> b -> c) -> b -> a -> c
flip forall a. Bits a => a -> Int -> a
setBit) Bitmask
maskNone

defaultFilter :: CollisionFilter
defaultFilter :: CollisionFilter
defaultFilter = CollisionGroup -> Bitmask -> Bitmask -> CollisionFilter
CollisionFilter CollisionGroup
0 Bitmask
maskAll Bitmask
maskAll

-- | A box with the given height, width, and center point
boxShape :: Double -> Double -> Vec -> Convex
boxShape :: Double -> Double -> Vec -> Convex
boxShape Double
w Double
h Vec
offset = [Vec] -> Double -> Convex
Convex ((forall a. Num a => a -> a -> a
+Vec
offset) forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> [Vec]
verts) Double
0
  where
    w' :: Double
w' = Double
wforall a. Fractional a => a -> a -> a
/Double
2
    h' :: Double
h' = Double
hforall a. Fractional a => a -> a -> a
/Double
2
    verts :: [Vec]
verts = [ forall a. a -> a -> V2 a
V2 (-Double
w') (-Double
h')
            , forall a. a -> a -> V2 a
V2 (-Double
w') Double
h'
            , forall a. a -> a -> V2 a
V2 Double
w' Double
h'
            , forall a. a -> a -> V2 a
V2 Double
w' (-Double
h') ]

instance Component Shape where
  type Storage Shape = Space Shape

instance (MonadIO m, Has w m Physics) => Has w m Shape where
  getStore :: SystemT w m (Storage Shape)
getStore = (forall a b. Space a -> Space b
cast :: Space Physics -> Space Shape) forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall w (m :: * -> *) c. Has w m c => SystemT w m (Storage c)
getStore

instance MonadIO m => ExplMembers m (Space Shape) where
  explMembers :: Space Shape -> m (Vector Int)
explMembers (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ forall a. Unbox a => [a] -> Vector a
U.fromList forall b c a. (b -> c) -> (a -> b) -> a -> c
. forall a. IntMap a -> [Int]
M.keys forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap

instance MonadIO m => ExplDestroy m (Space Shape) where
  explDestroy :: Space Shape -> Int -> m ()
explDestroy (Space IOMap BodyRecord
bMap IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
spc) Int
sEty = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    Maybe (Record Shape)
rd <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
sEty forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
    forall (t :: * -> *) (m :: * -> *) a b.
(Foldable t, Monad m) =>
t a -> (a -> m b) -> m ()
forM_ Maybe (Record Shape)
rd forall a b. (a -> b) -> a -> b
$ \(Record Ptr Shape
sPtr (Shape (Entity Int
bEty) Convex
_)) -> do
      Maybe BodyRecord
rd <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
bEty forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap BodyRecord
bMap
      forall (t :: * -> *) (m :: * -> *) a b.
(Foldable t, Monad m) =>
t a -> (a -> m b) -> m ()
forM_ Maybe BodyRecord
rd forall a b. (a -> b) -> a -> b
$ \BodyRecord
bRec -> forall a. IORef a -> (a -> a) -> IO ()
modifyIORef' (BodyRecord -> IORef IntSet
brShapes BodyRecord
bRec) (Int -> IntSet -> IntSet
S.delete Int
sEty)
      forall a. IORef a -> (a -> a) -> IO ()
modifyIORef' IOMap (Record Shape)
sMap (forall a. Int -> IntMap a -> IntMap a
M.delete Int
sEty)
      SpacePtr -> Ptr Shape -> IO ()
destroyShape SpacePtr
spc Ptr Shape
sPtr

instance MonadIO m => ExplSet m (Space Shape) where
  explSet :: Space Shape -> Int -> Elem (Space Shape) -> m ()
explSet sp :: Space Shape
sp@(Space IOMap BodyRecord
bMap IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
spcPtr) Int
sEty shape :: Elem (Space Shape)
shape@(Shape (Entity Int
bEty) Convex
sh) = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    forall (m :: * -> *) s. ExplDestroy m s => s -> Int -> m ()
explDestroy Space Shape
sp Int
sEty
    Maybe BodyRecord
rd <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
bEty forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap BodyRecord
bMap
    forall (t :: * -> *) (m :: * -> *) a b.
(Foldable t, Monad m) =>
t a -> (a -> m b) -> m ()
forM_ Maybe BodyRecord
rd forall a b. (a -> b) -> a -> b
$ \BodyRecord
bRec -> do
      Ptr Shape
shPtr <- SpacePtr -> Ptr Body -> Convex -> Int -> IO (Ptr Shape)
newShape SpacePtr
spcPtr (BodyRecord -> Ptr Body
brPtr BodyRecord
bRec) Convex
sh Int
sEty
      forall a. IORef a -> (a -> a) -> IO ()
modifyIORef' (BodyRecord -> IORef IntSet
brShapes BodyRecord
bRec) (Int -> IntSet -> IntSet
S.insert Int
sEty)
      forall a. IORef a -> (a -> a) -> IO ()
modifyIORef' IOMap (Record Shape)
sMap (forall a. Int -> a -> IntMap a -> IntMap a
M.insert Int
sEty (forall a. Ptr a -> a -> Record a
Record Ptr Shape
shPtr Elem (Space Shape)
shape))

instance MonadIO m => ExplGet m (Space Shape) where
  explGet :: Space Shape -> Int -> m (Elem (Space Shape))
explGet    (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) Int
ety = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    Just (Record Ptr Shape
_ Shape
s) <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
ety forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
    forall (m :: * -> *) a. Monad m => a -> m a
return Shape
s
  explExists :: Space Shape -> Int -> m Bool
explExists (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) Int
ety = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ forall a. Int -> IntMap a -> Bool
M.member Int
ety forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap

newShape :: SpacePtr -> Ptr Body -> Convex -> Int -> IO (Ptr Shape)
newShape :: SpacePtr -> Ptr Body -> Convex -> Int -> IO (Ptr Shape)
newShape SpacePtr
spacePtr' Ptr Body
bodyPtr Convex
shape (forall a b. (Integral a, Num b) => a -> b
fromIntegral -> CIntPtr
ety) = forall a b. ForeignPtr a -> (Ptr a -> IO b) -> IO b
withForeignPtr SpacePtr
spacePtr' (Convex -> Ptr FrnSpace -> IO (Ptr Shape)
go Convex
shape)
  where

    go :: Convex -> Ptr FrnSpace -> IO (Ptr Shape)
go (Convex [forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
fmap forall a b. (Real a, Fractional b) => a -> b
realToFrac -> V2 CDouble
x CDouble
y] (forall a b. (Real a, Fractional b) => a -> b
realToFrac -> CDouble
radius)) Ptr FrnSpace
spacePtr = [C.block| cpShape* {
      const cpVect vec = { $(double x), $(double y) };
      cpShape* sh = cpCircleShapeNew($(cpBody* bodyPtr), $(double radius), vec);
      cpShapeSetUserData(sh, (void*) $(intptr_t ety));
      return cpSpaceAddShape( $(cpSpace* spacePtr), sh); } |]

    go (Convex [ forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
fmap forall a b. (Real a, Fractional b) => a -> b
realToFrac -> V2 CDouble
xa CDouble
ya
               , forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
fmap forall a b. (Real a, Fractional b) => a -> b
realToFrac -> V2 CDouble
xb CDouble
yb ]
                (forall a b. (Real a, Fractional b) => a -> b
realToFrac -> CDouble
radius)
       ) Ptr FrnSpace
spacePtr = [C.block| cpShape* {
       const cpVect va = { $(double xa), $(double ya) };
       const cpVect vb = { $(double xb), $(double yb) };
       cpShape* sh = cpSegmentShapeNew($(cpBody* bodyPtr), va, vb, $(double radius));
       cpShapeSetUserData(sh, (void*) $(intptr_t ety));
       return cpSpaceAddShape( $(cpSpace* spacePtr), sh); } |]

    go (Convex ((forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
fmapforall b c a. (b -> c) -> (a -> b) -> a -> c
.forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
fmap) forall a b. (Real a, Fractional b) => a -> b
realToFrac -> [V2 CDouble]
verts)
               (forall a b. (Real a, Fractional b) => a -> b
realToFrac -> CDouble
radius)
       ) Ptr FrnSpace
spacePtr = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
         MVector RealWorld (V2 CDouble)
vec <- forall a (m :: * -> *).
(Storable a, PrimMonad m) =>
Vector a -> m (MVector (PrimState m) a)
V.thaw (forall a. Storable a => [a] -> Vector a
V.fromList [V2 CDouble]
verts)
         [C.block| cpShape* {
           cpTransform trans = cpTransformIdentity;
           cpShape* sh = cpPolyShapeNew($(cpBody* bodyPtr), $vec-len:vec, $vec-ptr:(cpVect *vec), trans, $(double radius));
           cpShapeSetUserData(sh, (void*) $(intptr_t ety));
           return cpSpaceAddShape( $(cpSpace* spacePtr), sh); } |]

destroyShape :: SpacePtr -> Ptr Shape -> IO ()
destroyShape :: SpacePtr -> Ptr Shape -> IO ()
destroyShape SpacePtr
spacePtr Ptr Shape
shapePtr = forall a b. ForeignPtr a -> (Ptr a -> IO b) -> IO b
withForeignPtr SpacePtr
spacePtr forall a b. (a -> b) -> a -> b
$ \Ptr FrnSpace
space -> [C.block| void {
  cpShape *shape = $(cpShape* shapePtr);
  cpSpaceRemoveShape($(cpSpace* space), shape);
  cpShapeFree (shape); }|]

-- Sensor
getSensor :: Ptr Shape -> IO Bool
getSensor :: Ptr Shape -> IO Bool
getSensor Ptr Shape
shape = forall a. Enum a => Int -> a
toEnum forall b c a. (b -> c) -> (a -> b) -> a -> c
. forall a b. (Integral a, Num b) => a -> b
fromIntegral forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> [C.exp| int {
  cpShapeGetSensor($(cpShape* shape)) }|]

setSensor :: Ptr Shape -> Bool -> IO ()
setSensor :: Ptr Shape -> Bool -> IO ()
setSensor Ptr Shape
shape (forall a b. (Integral a, Num b) => a -> b
fromIntegral forall b c a. (b -> c) -> (a -> b) -> a -> c
. forall a. Enum a => a -> Int
fromEnum -> CInt
isSensor) = [C.exp| void {
  cpShapeSetSensor($(cpShape* shape), $(int isSensor)) }|]

instance Component Sensor where
  type Storage Sensor = Space Sensor
instance (MonadIO m, Has w m Physics) => Has w m Sensor where
  getStore :: SystemT w m (Storage Sensor)
getStore = (forall a b. Space a -> Space b
cast :: Space Physics -> Space Sensor) forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall w (m :: * -> *) c. Has w m c => SystemT w m (Storage c)
getStore

instance MonadIO m => ExplMembers m (Space Sensor) where
  explMembers :: Space Sensor -> m (Vector Int)
explMembers Space Sensor
s = forall (m :: * -> *) s. ExplMembers m s => s -> m (Vector Int)
explMembers (forall a b. Space a -> Space b
cast Space Sensor
s :: Space Shape)

instance MonadIO m => ExplSet m (Space Sensor) where
  explSet :: Space Sensor -> Int -> Elem (Space Sensor) -> m ()
explSet (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) Int
ety (Sensor Bool
isSensor) = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    Maybe (Record Shape)
rd <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
ety forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
    forall (t :: * -> *) (m :: * -> *) a b.
(Foldable t, Monad m) =>
t a -> (a -> m b) -> m ()
forM_ Maybe (Record Shape)
rdforall a b. (a -> b) -> a -> b
$ \(Record Ptr Shape
s Shape
_) -> Ptr Shape -> Bool -> IO ()
setSensor Ptr Shape
s Bool
isSensor

instance MonadIO m => ExplGet m (Space Sensor) where
  explExists :: Space Sensor -> Int -> m Bool
explExists Space Sensor
s Int
ety = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ forall (m :: * -> *) s. ExplGet m s => s -> Int -> m Bool
explExists (forall a b. Space a -> Space b
cast Space Sensor
s :: Space Shape) Int
ety
  explGet :: Space Sensor -> Int -> m (Elem (Space Sensor))
explGet (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) Int
ety = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    Just (Record Ptr Shape
s Shape
_) <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
ety forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
    Bool -> Sensor
Sensor forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> Ptr Shape -> IO Bool
getSensor Ptr Shape
s

-- Elasticity
getElasticity :: Ptr Shape -> IO Double
getElasticity :: Ptr Shape -> IO Double
getElasticity Ptr Shape
shape = forall a b. (Real a, Fractional b) => a -> b
realToFrac forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> [C.exp| double {
  cpShapeGetElasticity($(cpShape* shape)) }|]

setElasticity :: Ptr Shape -> Double -> IO ()
setElasticity :: Ptr Shape -> Double -> IO ()
setElasticity Ptr Shape
shape (forall a b. (Real a, Fractional b) => a -> b
realToFrac -> CDouble
elasticity) = [C.exp| void {
  cpShapeSetElasticity($(cpShape* shape), $(double elasticity)) }|]

instance Component Elasticity where
  type Storage Elasticity = Space Elasticity
instance (MonadIO m, Has w m Physics) => Has w m Elasticity where
  getStore :: SystemT w m (Storage Elasticity)
getStore = (forall a b. Space a -> Space b
cast :: Space Physics -> Space Elasticity) forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall w (m :: * -> *) c. Has w m c => SystemT w m (Storage c)
getStore

instance MonadIO m => ExplMembers m (Space Elasticity) where
  explMembers :: Space Elasticity -> m (Vector Int)
explMembers Space Elasticity
s = forall (m :: * -> *) s. ExplMembers m s => s -> m (Vector Int)
explMembers (forall a b. Space a -> Space b
cast Space Elasticity
s :: Space Shape)

instance MonadIO m => ExplSet m (Space Elasticity) where
  explSet :: Space Elasticity -> Int -> Elem (Space Elasticity) -> m ()
explSet (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) Int
ety (Elasticity Double
elasticity) = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    Maybe (Record Shape)
rd <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
ety forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
    forall (t :: * -> *) (m :: * -> *) a b.
(Foldable t, Monad m) =>
t a -> (a -> m b) -> m ()
forM_ Maybe (Record Shape)
rdforall a b. (a -> b) -> a -> b
$ \(Record Ptr Shape
s Shape
_) -> Ptr Shape -> Double -> IO ()
setElasticity Ptr Shape
s Double
elasticity

instance MonadIO m => ExplGet m (Space Elasticity) where
  explExists :: Space Elasticity -> Int -> m Bool
explExists Space Elasticity
s Int
ety = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ forall (m :: * -> *) s. ExplGet m s => s -> Int -> m Bool
explExists (forall a b. Space a -> Space b
cast Space Elasticity
s :: Space Shape) Int
ety
  explGet :: Space Elasticity -> Int -> m (Elem (Space Elasticity))
explGet (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) Int
ety = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    Just (Record Ptr Shape
s Shape
_) <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
ety forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
    Double -> Elasticity
Elasticity forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> Ptr Shape -> IO Double
getElasticity Ptr Shape
s

-- Mass
getMass :: Ptr Shape -> IO Double
getMass :: Ptr Shape -> IO Double
getMass Ptr Shape
shape = forall a b. (Real a, Fractional b) => a -> b
realToFrac forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> [C.exp| double {
  cpShapeGetMass($(cpShape* shape)) }|]

setMass :: Ptr Shape -> Double -> IO ()
setMass :: Ptr Shape -> Double -> IO ()
setMass Ptr Shape
shape (forall a b. (Real a, Fractional b) => a -> b
realToFrac -> CDouble
mass) = [C.exp| void {
  cpShapeSetMass($(cpShape* shape), $(double mass)) }|]

instance Component Mass where
  type Storage Mass = Space Mass
instance (MonadIO m, Has w m Physics) => Has w m Mass where
  getStore :: SystemT w m (Storage Mass)
getStore = (forall a b. Space a -> Space b
cast :: Space Physics -> Space Mass) forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall w (m :: * -> *) c. Has w m c => SystemT w m (Storage c)
getStore

instance MonadIO m => ExplMembers m (Space Mass) where
  explMembers :: Space Mass -> m (Vector Int)
explMembers Space Mass
s = forall (m :: * -> *) s. ExplMembers m s => s -> m (Vector Int)
explMembers (forall a b. Space a -> Space b
cast Space Mass
s :: Space Shape)

instance MonadIO m => ExplSet m (Space Mass) where
  explSet :: Space Mass -> Int -> Elem (Space Mass) -> m ()
explSet (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) Int
ety (Mass Double
mass) = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    Maybe (Record Shape)
rd <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
ety forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
    forall (t :: * -> *) (m :: * -> *) a b.
(Foldable t, Monad m) =>
t a -> (a -> m b) -> m ()
forM_ Maybe (Record Shape)
rdforall a b. (a -> b) -> a -> b
$ \(Record Ptr Shape
s Shape
_) -> Ptr Shape -> Double -> IO ()
setMass Ptr Shape
s Double
mass

instance MonadIO m => ExplGet m (Space Mass) where
  explExists :: Space Mass -> Int -> m Bool
explExists Space Mass
s Int
ety = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ forall (m :: * -> *) s. ExplGet m s => s -> Int -> m Bool
explExists (forall a b. Space a -> Space b
cast Space Mass
s :: Space Shape) Int
ety
  explGet :: Space Mass -> Int -> m (Elem (Space Mass))
explGet (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) Int
ety = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    Just (Record Ptr Shape
s Shape
_) <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
ety forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
    Double -> Mass
Mass forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> Ptr Shape -> IO Double
getMass Ptr Shape
s

-- Density
getDensity :: Ptr Shape -> IO Double
getDensity :: Ptr Shape -> IO Double
getDensity Ptr Shape
shape = forall a b. (Real a, Fractional b) => a -> b
realToFrac forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> [C.exp| double {
  cpShapeGetDensity($(cpShape* shape)) }|]

setDensity :: Ptr Shape -> Double -> IO ()
setDensity :: Ptr Shape -> Double -> IO ()
setDensity Ptr Shape
shape (forall a b. (Real a, Fractional b) => a -> b
realToFrac -> CDouble
density) = [C.exp| void {
  cpShapeSetDensity($(cpShape* shape), $(double density)) }|]

instance Component Density where
  type Storage Density = Space Density
instance (MonadIO m, Has w m Physics) => Has w m Density where
  getStore :: SystemT w m (Storage Density)
getStore = (forall a b. Space a -> Space b
cast :: Space Physics -> Space Density) forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall w (m :: * -> *) c. Has w m c => SystemT w m (Storage c)
getStore

instance MonadIO m => ExplMembers m (Space Density) where
  explMembers :: Space Density -> m (Vector Int)
explMembers Space Density
s = forall (m :: * -> *) s. ExplMembers m s => s -> m (Vector Int)
explMembers (forall a b. Space a -> Space b
cast Space Density
s :: Space Shape)

instance MonadIO m => ExplSet m (Space Density) where
  explSet :: Space Density -> Int -> Elem (Space Density) -> m ()
explSet (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) Int
ety (Density Double
density) = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    Maybe (Record Shape)
rd <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
ety forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
    forall (t :: * -> *) (m :: * -> *) a b.
(Foldable t, Monad m) =>
t a -> (a -> m b) -> m ()
forM_ Maybe (Record Shape)
rdforall a b. (a -> b) -> a -> b
$ \(Record Ptr Shape
s Shape
_) -> Ptr Shape -> Double -> IO ()
setDensity Ptr Shape
s Double
density

instance MonadIO m => ExplGet m (Space Density) where
  explExists :: Space Density -> Int -> m Bool
explExists Space Density
s Int
ety = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ forall (m :: * -> *) s. ExplGet m s => s -> Int -> m Bool
explExists (forall a b. Space a -> Space b
cast Space Density
s :: Space Shape) Int
ety
  explGet :: Space Density -> Int -> m (Elem (Space Density))
explGet (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) Int
ety = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    Just (Record Ptr Shape
s Shape
_) <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
ety forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
    Double -> Density
Density forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> Ptr Shape -> IO Double
getDensity Ptr Shape
s

-- Friction
getFriction :: Ptr Shape -> IO Double
getFriction :: Ptr Shape -> IO Double
getFriction Ptr Shape
shape = forall a b. (Real a, Fractional b) => a -> b
realToFrac forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> [C.exp| double {
  cpShapeGetFriction($(cpShape* shape)) }|]

setFriction :: Ptr Shape -> Double -> IO ()
setFriction :: Ptr Shape -> Double -> IO ()
setFriction Ptr Shape
shape (forall a b. (Real a, Fractional b) => a -> b
realToFrac -> CDouble
friction) = [C.exp| void {
  cpShapeSetFriction($(cpShape* shape), $(double friction)) }|]

instance Component Friction where
  type Storage Friction = Space Friction
instance (MonadIO m, Has w m Physics) => Has w m Friction where
  getStore :: SystemT w m (Storage Friction)
getStore = (forall a b. Space a -> Space b
cast :: Space Physics -> Space Friction) forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall w (m :: * -> *) c. Has w m c => SystemT w m (Storage c)
getStore

instance MonadIO m => ExplMembers m (Space Friction) where
  explMembers :: Space Friction -> m (Vector Int)
explMembers Space Friction
s = forall (m :: * -> *) s. ExplMembers m s => s -> m (Vector Int)
explMembers (forall a b. Space a -> Space b
cast Space Friction
s :: Space Shape)

instance MonadIO m => ExplSet m (Space Friction) where
  explSet :: Space Friction -> Int -> Elem (Space Friction) -> m ()
explSet (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) Int
ety (Friction Double
friction) = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    Maybe (Record Shape)
rd <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
ety forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
    forall (t :: * -> *) (m :: * -> *) a b.
(Foldable t, Monad m) =>
t a -> (a -> m b) -> m ()
forM_ Maybe (Record Shape)
rdforall a b. (a -> b) -> a -> b
$ \(Record Ptr Shape
s Shape
_) -> Ptr Shape -> Double -> IO ()
setFriction Ptr Shape
s Double
friction

instance MonadIO m => ExplGet m (Space Friction) where
  explExists :: Space Friction -> Int -> m Bool
explExists Space Friction
s Int
ety = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ forall (m :: * -> *) s. ExplGet m s => s -> Int -> m Bool
explExists (forall a b. Space a -> Space b
cast Space Friction
s :: Space Shape) Int
ety
  explGet :: Space Friction -> Int -> m (Elem (Space Friction))
explGet (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) Int
ety = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    Just (Record Ptr Shape
s Shape
_) <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
ety forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
    Double -> Friction
Friction forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> Ptr Shape -> IO Double
getFriction Ptr Shape
s

-- SurfaceVelocity
getSurfaceVelocity :: Ptr Shape -> IO Vec
getSurfaceVelocity :: Ptr Shape -> IO Vec
getSurfaceVelocity Ptr Shape
shape = do
 CDouble
x <- [C.exp| double { cpShapeGetSurfaceVelocity($(cpShape* shape)).x }|]
 CDouble
y <- [C.exp| double { cpShapeGetSurfaceVelocity($(cpShape* shape)).y }|]
 forall (m :: * -> *) a. Monad m => a -> m a
return (forall a. a -> a -> V2 a
V2 (forall a b. (Real a, Fractional b) => a -> b
realToFrac CDouble
x) (forall a b. (Real a, Fractional b) => a -> b
realToFrac CDouble
y))

setSurfaceVelocity :: Ptr Shape -> Vec -> IO ()
setSurfaceVelocity :: Ptr Shape -> Vec -> IO ()
setSurfaceVelocity Ptr Shape
shape (V2 (forall a b. (Real a, Fractional b) => a -> b
realToFrac -> CDouble
x) (forall a b. (Real a, Fractional b) => a -> b
realToFrac -> CDouble
y)) = [C.block| void {
  const cpVect vec = { $(double x), $(double y) };
  cpShapeSetSurfaceVelocity($(cpShape* shape), vec);
  }|]

instance Component SurfaceVelocity where
  type Storage SurfaceVelocity = Space SurfaceVelocity
instance (MonadIO m, Has w m Physics) => Has w m SurfaceVelocity where
  getStore :: SystemT w m (Storage SurfaceVelocity)
getStore = (forall a b. Space a -> Space b
cast :: Space Physics -> Space SurfaceVelocity) forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall w (m :: * -> *) c. Has w m c => SystemT w m (Storage c)
getStore

instance MonadIO m => ExplMembers m (Space SurfaceVelocity) where
  explMembers :: Space SurfaceVelocity -> m (Vector Int)
explMembers Space SurfaceVelocity
s = forall (m :: * -> *) s. ExplMembers m s => s -> m (Vector Int)
explMembers (forall a b. Space a -> Space b
cast Space SurfaceVelocity
s :: Space Shape)

instance MonadIO m => ExplSet m (Space SurfaceVelocity) where
  explSet :: Space SurfaceVelocity
-> Int -> Elem (Space SurfaceVelocity) -> m ()
explSet (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) Int
ety (SurfaceVelocity Vec
svel) = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    Maybe (Record Shape)
rd <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
ety forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
    forall (t :: * -> *) (m :: * -> *) a b.
(Foldable t, Monad m) =>
t a -> (a -> m b) -> m ()
forM_ Maybe (Record Shape)
rdforall a b. (a -> b) -> a -> b
$ \(Record Ptr Shape
s Shape
_) -> Ptr Shape -> Vec -> IO ()
setSurfaceVelocity Ptr Shape
s Vec
svel

instance MonadIO m => ExplGet m (Space SurfaceVelocity) where
  explExists :: Space SurfaceVelocity -> Int -> m Bool
explExists Space SurfaceVelocity
s Int
ety = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ forall (m :: * -> *) s. ExplGet m s => s -> Int -> m Bool
explExists (forall a b. Space a -> Space b
cast Space SurfaceVelocity
s :: Space Shape) Int
ety
  explGet :: Space SurfaceVelocity -> Int -> m (Elem (Space SurfaceVelocity))
explGet (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) Int
ety = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    Just (Record Ptr Shape
s Shape
_) <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
ety forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
    Vec -> SurfaceVelocity
SurfaceVelocity forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> Ptr Shape -> IO Vec
getSurfaceVelocity Ptr Shape
s

-- CollisionFilter
getFilter :: Ptr Shape -> IO CollisionFilter
getFilter :: Ptr Shape -> IO CollisionFilter
getFilter Ptr Shape
shape = do
 CollisionGroup
group <- [C.exp| unsigned int { cpShapeGetFilter($(cpShape* shape)).group }|]
 CollisionGroup
cats  <- [C.exp| unsigned int { cpShapeGetFilter($(cpShape* shape)).categories }|]
 CollisionGroup
mask  <- [C.exp| unsigned int { cpShapeGetFilter($(cpShape* shape)).mask }|]
 forall (m :: * -> *) a. Monad m => a -> m a
returnforall a b. (a -> b) -> a -> b
$ CollisionGroup -> Bitmask -> Bitmask -> CollisionFilter
CollisionFilter CollisionGroup
group (CollisionGroup -> Bitmask
Bitmask CollisionGroup
cats) (CollisionGroup -> Bitmask
Bitmask CollisionGroup
mask)

setFilter :: Ptr Shape -> CollisionFilter -> IO ()
setFilter :: Ptr Shape -> CollisionFilter -> IO ()
setFilter Ptr Shape
shape (CollisionFilter CollisionGroup
group (Bitmask CollisionGroup
cats) (Bitmask CollisionGroup
mask)) =
  [C.block| void {
    const cpShapeFilter filter = { $(unsigned int group)
                                 , $(unsigned int cats)
                                 , $(unsigned int mask) };
    cpShapeSetFilter($(cpShape* shape), filter);
  }|]

instance Component CollisionFilter where
  type Storage CollisionFilter = Space CollisionFilter
instance (MonadIO m, Has w m Physics) => Has w m CollisionFilter where
  getStore :: SystemT w m (Storage CollisionFilter)
getStore = (forall a b. Space a -> Space b
cast :: Space Physics -> Space CollisionFilter) forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall w (m :: * -> *) c. Has w m c => SystemT w m (Storage c)
getStore

instance MonadIO m => ExplMembers m (Space CollisionFilter) where
  explMembers :: Space CollisionFilter -> m (Vector Int)
explMembers Space CollisionFilter
s = forall (m :: * -> *) s. ExplMembers m s => s -> m (Vector Int)
explMembers (forall a b. Space a -> Space b
cast Space CollisionFilter
s :: Space Shape)

instance MonadIO m => ExplSet m (Space CollisionFilter) where
  explSet :: Space CollisionFilter
-> Int -> Elem (Space CollisionFilter) -> m ()
explSet (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) Int
ety Elem (Space CollisionFilter)
cfilter = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    Maybe (Record Shape)
rd <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
ety forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
    forall (t :: * -> *) (m :: * -> *) a b.
(Foldable t, Monad m) =>
t a -> (a -> m b) -> m ()
forM_ Maybe (Record Shape)
rdforall a b. (a -> b) -> a -> b
$ \(Record Ptr Shape
s Shape
_) -> Ptr Shape -> CollisionFilter -> IO ()
setFilter Ptr Shape
s Elem (Space CollisionFilter)
cfilter

instance MonadIO m => ExplGet m (Space CollisionFilter) where
  explExists :: Space CollisionFilter -> Int -> m Bool
explExists Space CollisionFilter
s Int
ety = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ forall (m :: * -> *) s. ExplGet m s => s -> Int -> m Bool
explExists (forall a b. Space a -> Space b
cast Space CollisionFilter
s :: Space Shape) Int
ety
  explGet :: Space CollisionFilter -> Int -> m (Elem (Space CollisionFilter))
explGet (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) Int
ety = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    Just (Record Ptr Shape
s Shape
_) <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
ety forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
    Ptr Shape -> IO CollisionFilter
getFilter Ptr Shape
s

-- CollisionType
getCollisionType :: Ptr Shape -> IO C.CUIntPtr
getCollisionType :: Ptr Shape -> IO CUIntPtr
getCollisionType Ptr Shape
shape = [C.exp| uintptr_t {
  cpShapeGetCollisionType($(cpShape* shape)) }|]

setCollisionType :: Ptr Shape -> C.CUIntPtr -> IO ()
setCollisionType :: Ptr Shape -> CUIntPtr -> IO ()
setCollisionType Ptr Shape
shape CUIntPtr
ctype = [C.exp| void {
  cpShapeSetCollisionType($(cpShape* shape), $(uintptr_t ctype)) }|]

instance Component CollisionType where
  type Storage CollisionType = Space CollisionType
instance (MonadIO m, Has w m Physics) => Has w m CollisionType where
  getStore :: SystemT w m (Storage CollisionType)
getStore = (forall a b. Space a -> Space b
cast :: Space Physics -> Space CollisionType) forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall w (m :: * -> *) c. Has w m c => SystemT w m (Storage c)
getStore

instance MonadIO m => ExplMembers m (Space CollisionType) where
  explMembers :: Space CollisionType -> m (Vector Int)
explMembers Space CollisionType
s = forall (m :: * -> *) s. ExplMembers m s => s -> m (Vector Int)
explMembers (forall a b. Space a -> Space b
cast Space CollisionType
s :: Space Shape)

instance MonadIO m => ExplSet m (Space CollisionType) where
  explSet :: Space CollisionType -> Int -> Elem (Space CollisionType) -> m ()
explSet (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) Int
ety (CollisionType CUIntPtr
ctype) = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    Maybe (Record Shape)
rd <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
ety forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
    forall (t :: * -> *) (m :: * -> *) a b.
(Foldable t, Monad m) =>
t a -> (a -> m b) -> m ()
forM_ Maybe (Record Shape)
rdforall a b. (a -> b) -> a -> b
$ \(Record Ptr Shape
s Shape
_) -> Ptr Shape -> CUIntPtr -> IO ()
setCollisionType Ptr Shape
s CUIntPtr
ctype

instance MonadIO m => ExplGet m (Space CollisionType) where
  explExists :: Space CollisionType -> Int -> m Bool
explExists Space CollisionType
s Int
ety = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ forall (m :: * -> *) s. ExplGet m s => s -> Int -> m Bool
explExists (forall a b. Space a -> Space b
cast Space CollisionType
s :: Space Shape) Int
ety
  explGet :: Space CollisionType -> Int -> m (Elem (Space CollisionType))
explGet (Space IOMap BodyRecord
_ IOMap (Record Shape)
sMap IOMap (Record Constraint)
_ IOMap (Record CollisionHandler)
_ SpacePtr
_) Int
ety = forall (m :: * -> *) a. MonadIO m => IO a -> m a
liftIO forall a b. (a -> b) -> a -> b
$ do
    Just (Record Ptr Shape
s Shape
_) <- forall a. Int -> IntMap a -> Maybe a
M.lookup Int
ety forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
    CUIntPtr -> CollisionType
CollisionType forall (f :: * -> *) a b. Functor f => (a -> b) -> f a -> f b
<$> Ptr Shape -> IO CUIntPtr
getCollisionType Ptr Shape
s