Bounding box performance experiments (erincatto#829)

- adjusted AABB margin based on performance testing
- compute rotation between vectors
- added macOS samples to GitHub actions

erincatto#833, erincatto#835

.github/workflows/build.yml

@@ -86,7 +86,7 @@ jobs:
       run: ./bin/${{env.BUILD_TYPE}}/test
 
   samples-windows:
-    name: windows
+    name: samples-windows
     runs-on: windows-latest
     steps:
 
@@ -102,4 +102,16 @@ jobs:
 
     - name: Build
       run: cmake --build ${{github.workspace}}/build --config Release
-
+
+  samples-macos:
+    name: samples-macos
+    runs-on: macos-latest
+
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Configure CMake
+      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=Release -DBOX2D_SAMPLES=ON -DBUILD_SHARED_LIBS=OFF -DBOX2D_UNIT_TESTS=OFF
+
+    - name: Build
+      run: cmake --build ${{github.workspace}}/build --config Release

docs/FAQ.md

@@ -94,7 +94,7 @@ Box2D also does not have exact collision. There is no continuous collision betwe
 Making a worms clone requires arbitrarily destructible terrain. This is beyond the scope of Box2D, so you will have to figure out how to do this on your own.
 
 ### Tile Based Environment
-Using many boxes for your terrain may not work well because box-like characters can get snagged on internal corners. Box2D proves chain shapes for smooth collision, see `b2ChainDef`. In general you should avoid using a rectangular character because collision tolerances will still lead to undesirable snagging. Box2D provides capsules and rounded polygons that may work better for characters.
+Using many boxes for your terrain may not work well because box-like characters can get snagged on internal corners. Box2D provides chain shapes for smooth collision, see `b2ChainDef`. In general you should avoid using a rectangular character because collision tolerances will still lead to undesirable snagging. Box2D provides capsules and rounded polygons that may work better for characters.
 
 ### Asteroid Type Coordinate Systems
 Box2D does not have any support for coordinate frame wrapping. You would likely need to customize Box2D for this purpose. You may need to use a different broad-phase for this to work.

include/box2d/collision.h

@@ -249,17 +249,17 @@ B2_API bool b2PointInCapsule( b2Vec2 point, const b2Capsule* shape );
 /// Test a point for overlap with a convex polygon in local space
 B2_API bool b2PointInPolygon( b2Vec2 point, const b2Polygon* shape );
 
-/// Ray cast versus circle in shape local space. Initial overlap is treated as a miss.
+/// Ray cast versus circle shape in local space. Initial overlap is treated as a miss.
 B2_API b2CastOutput b2RayCastCircle( const b2RayCastInput* input, const b2Circle* shape );
 
-/// Ray cast versus capsule in shape local space. Initial overlap is treated as a miss.
+/// Ray cast versus capsule shape in local space. Initial overlap is treated as a miss.
 B2_API b2CastOutput b2RayCastCapsule( const b2RayCastInput* input, const b2Capsule* shape );
 
-/// Ray cast versus segment in shape local space. Optionally treat the segment as one-sided with hits from
+/// Ray cast versus segment shape in local space. Optionally treat the segment as one-sided with hits from
 /// the left side being treated as a miss.
 B2_API b2CastOutput b2RayCastSegment( const b2RayCastInput* input, const b2Segment* shape, bool oneSided );
 
-/// Ray cast versus polygon in shape local space. Initial overlap is treated as a miss.
+/// Ray cast versus polygon shape in local space. Initial overlap is treated as a miss.
 B2_API b2CastOutput b2RayCastPolygon( const b2RayCastInput* input, const b2Polygon* shape );
 
 /// Shape cast versus a circle. Initial overlap is treated as a miss.
@@ -348,8 +348,10 @@ typedef struct b2DistanceProxy
 	float radius;
 } b2DistanceProxy;
 
-/// Used to warm start b2Distance. Set count to zero on first call or
-/// use zero initialization.
+/// Used to warm start the GJK simplex. If you call this function multiple times with nearby
+/// transforms this might improve performance. Otherwise you can zero initialize this.
+/// The distance cache must be initialized to zero on the first call.
+/// Users should generally just zero initialize this structure for each call.
 typedef struct b2DistanceCache
 {
 	/// The number of stored simplex points

include/box2d/math_functions.h

@@ -342,6 +342,9 @@ B2_INLINE b2Rot b2MakeRot( float angle )
 	return B2_LITERAL( b2Rot ){ cs.cosine, cs.sine };
 }
 
+/// Compute the rotation between two unit vectors
+B2_API b2Rot b2ComputeRotationBetweenUnitVectors( b2Vec2 v1, b2Vec2 v2 );
+
 /// Is this rotation normalized?
 B2_INLINE bool b2IsNormalized( b2Rot q )
 {
@@ -352,6 +355,7 @@ B2_INLINE bool b2IsNormalized( b2Rot q )
 
 /// Normalized linear interpolation
 /// https://fgiesen.wordpress.com/2012/08/15/linear-interpolation-past-present-and-future/
+///	https://web.archive.org/web/20170825184056/http://number-none.com/product/Understanding%20Slerp,%20Then%20Not%20Using%20It/
 B2_INLINE b2Rot b2NLerp( b2Rot q1, b2Rot q2, float t )
 {
 	float omt = 1.0f - t;
@@ -499,6 +503,9 @@ B2_INLINE b2Vec2 b2InvTransformPoint( b2Transform t, const b2Vec2 p )
 	return B2_LITERAL( b2Vec2 ){ t.q.c * vx + t.q.s * vy, -t.q.s * vx + t.q.c * vy };
 }
 
+/// Multiply two transforms. If the result is applied to a point p local to frame B,
+/// the transform would first convert p to a point local to frame A, then into a point
+/// in the world frame.
 /// v2 = A.q.Rot(B.q.Rot(v1) + B.p) + A.p
 ///    = (A.q * B.q).Rot(v1) + A.q.Rot(B.p) + A.p
 B2_INLINE b2Transform b2MulTransforms( b2Transform A, b2Transform B )
@@ -509,6 +516,7 @@ B2_INLINE b2Transform b2MulTransforms( b2Transform A, b2Transform B )
 	return C;
 }
 
+/// Creates a transform that converts a local point in frame B to a local point in frame A.
 /// v2 = A.q' * (B.q * v1 + B.p - A.p)
 ///    = A.q' * B.q * v1 + A.q' * (B.p - A.p)
 B2_INLINE b2Transform b2InvMulTransforms( b2Transform A, b2Transform B )

include/box2d/types.h

@@ -1005,6 +1005,9 @@ typedef struct b2SensorBeginTouchEvent
 } b2SensorBeginTouchEvent;
 
 /// An end touch event is generated when a shape stops overlapping a sensor shape.
+///	You will not get an end event if you do anything that destroys contacts outside
+///	of the world step. These include things like setting the transform, destroying a body
+///	or shape, or changing a filter or body type.
 typedef struct b2SensorEndTouchEvent
 {
 	/// The id of the sensor shape
@@ -1046,6 +1049,9 @@ typedef struct b2ContactBeginTouchEvent
 } b2ContactBeginTouchEvent;
 
 /// An end touch event is generated when two shapes stop touching.
+///	You will not get an end event if you do anything that destroys contacts outside
+///	of the world step. These include things like setting the transform, destroying a body
+///	or shape, or changing a filter or body type.
 typedef struct b2ContactEndTouchEvent
 {
 	/// Id of the first shape

samples/draw.cpp

@@ -633,11 +633,6 @@ struct GLTriangles
 	GLint m_projectionUniform;
 };
 
-struct Transform
-{
-	float x, y, c, s;
-};
-
 struct CircleData
 {
 	b2Vec2 position;
@@ -781,7 +776,7 @@ struct GLCircles
 
 struct SolidCircleData
 {
-	Transform transform;
+	b2Transform transform;
 	float radius;
 	RGBA8 rgba;
 };
@@ -926,7 +921,7 @@ struct GLSolidCircles
 
 struct CapsuleData
 {
-	Transform transform;
+	b2Transform transform;
 	float radius;
 	float length;
 	RGBA8 rgba;

samples/main.cpp

@@ -111,7 +111,7 @@ static inline int CompareSamples( const void* a, const void* b )
 	return result;
 }
 
-static void SortTests()
+static void SortSamples()
 {
 	qsort( g_sampleEntries, g_sampleCount, sizeof( SampleEntry ), CompareSamples );
 }
@@ -462,7 +462,7 @@ static void UpdateUI()
 
 			ImGuiTreeNodeFlags nodeFlags = ImGuiTreeNodeFlags_OpenOnArrow | ImGuiTreeNodeFlags_OpenOnDoubleClick;
 
-			if ( ImGui::BeginTabItem( "Tests" ) )
+			if ( ImGui::BeginTabItem( "Samples" ) )
 			{
 				int categoryIndex = 0;
 				const char* category = g_sampleEntries[categoryIndex].category;
@@ -538,7 +538,7 @@ int main( int, char** )
 
 	s_settings.Load();
 	s_settings.workerCount = b2MinInt( 8, (int)enki::GetNumHardwareThreads() / 2 );
-	SortTests();
+	SortSamples();
 
 	glfwSetErrorCallback( glfwErrorCallback );