{-# 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
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
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); }|]
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
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
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
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
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
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
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
<$> forall a. IORef a -> IO a
readIORef IOMap (Record Shape)
sMap
Ptr Shape -> IO CollisionFilter
getFilter Ptr Shape
s
getCollisionType :: Ptr Shape -> IO C.CUIntPtr
getCollisionType :: Ptr Shape -> IO CUIntPtr
getCollisionType Ptr Shape
shape = [C.exp| uintptr_t {
cpShapeGetCollisionType($(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