Merge pull request #394 from louis-langholtz/updates-20210414

Updates 20210414

Author: louis-langholtz

PlayRho/Common/IndexingNamedType.hpp

@@ -139,19 +139,52 @@ static_assert(std::is_nothrow_move_constructible<IndexingNamedType<int, struct T
 
 /// @brief Gets the underlying value.
 template <typename T, typename Tag>
+[[deprecated("Use to_underlying instead")]]
 constexpr T& UnderlyingValue(IndexingNamedType<T, Tag>& o) noexcept
 {
     return static_cast<T&>(o);
 }
 
 /// @brief Gets the underlying value.
 template <typename T, typename Tag>
+[[deprecated("Use to_underlying instead")]]
 constexpr const T& UnderlyingValue(const IndexingNamedType<T, Tag>& o) noexcept
 {
     return static_cast<const T&>(o);
 }
 
 } // namespace detail
+
+/// Underlying-type template class.
+template <class T, class Enable = void>
+struct underlying_type {};
+
+/// Underlying-type class specialization for enum types.
+template <class T>
+struct underlying_type<T, std::enable_if_t<std::is_enum_v<T>>>
+{
+    using type = std::underlying_type_t<T>;
+};
+
+/// Underlying-type template class for <code>detail::IndexingNamedType</code> types.
+template <class T, class Tag>
+struct underlying_type<detail::IndexingNamedType<T, Tag>>
+{
+    using type = T;
+};
+
+/// Underlying-type convenience alias.
+template <class T>
+using underlying_type_t = typename underlying_type<T>::type;
+
+/// Converts the given value to the value as the underlying type.
+/// @note This is like <code>std::to_underlying</code> slated for C++23.
+template <typename T>
+constexpr auto to_underlying(T value) noexcept -> underlying_type_t<T>
+{
+    return static_cast<underlying_type_t<T>>(value);
+}
+
 } // namespace playrho
 
 namespace std {

PlayRho/Common/TypeInfo.hpp

@@ -125,7 +125,7 @@ constexpr TypeID GetTypeID(T)
 /// @brief Gets the name associated with the given type ID.
 constexpr const char* GetName(TypeID id) noexcept
 {
-    return *id.get();
+    return *to_underlying(id);
 }
 
 /// @brief Gets the name associated with the given template parameter type.

PlayRho/Dynamics/BodyConf.hpp

@@ -147,7 +147,7 @@ struct BodyConf {
     /// this increases CPU usage.
     bool allowSleep = true;
 
-    /// Is this body initially awake or sleeping?
+    /// Is the body awake or sleeping?
     bool awake = true;
 
     /// Should this body be prevented from rotating? Useful for characters.
@@ -159,7 +159,7 @@ struct BodyConf {
     /// @note Use this flag sparingly since it increases processing time.
     bool bullet = false;
 
-    /// Does this body start out enabled?
+    /// Whether or not the body is enabled.
     bool enabled = true;
 };
 

PlayRho/Dynamics/Contacts/ContactSolver.cpp

@@ -69,8 +69,8 @@ VelocityPair GetVelocityDelta(const VelocityConstraint& vc, const Momentum2 impu
 {
     assert(IsValid(impulses));
 
-    const auto bodyA = &bodies[vc.GetBodyA().get()];
-    const auto bodyB = &bodies[vc.GetBodyB().get()];
+    const auto bodyA = &bodies[to_underlying(vc.GetBodyA())];
+    const auto bodyB = &bodies[to_underlying(vc.GetBodyB())];
     const auto normal = vc.GetNormal();
 
     const auto invRotInertiaA = bodyA->GetInvRotInertia();
@@ -99,8 +99,8 @@ Momentum BlockSolveUpdate(VelocityConstraint& vc, const Momentum2 newImpulses,
                           std::vector<BodyConstraint>& bodies)
 {
     const auto delta_v = GetVelocityDelta(vc, newImpulses - GetNormalImpulses(vc), bodies);
-    const auto bodyA = &bodies[vc.GetBodyA().get()];
-    const auto bodyB = &bodies[vc.GetBodyB().get()];
+    const auto bodyA = &bodies[to_underlying(vc.GetBodyA())];
+    const auto bodyB = &bodies[to_underlying(vc.GetBodyB())];
     bodyA->SetVelocity(bodyA->GetVelocity() + std::get<0>(delta_v));
     bodyB->SetVelocity(bodyB->GetVelocity() + std::get<1>(delta_v));
     SetNormalImpulses(vc, newImpulses);
@@ -280,8 +280,8 @@ inline Momentum BlockSolveNormalConstraint(VelocityConstraint& vc,
     const auto b_prime = [&bodies,&vc]() {
         const auto normal = vc.GetNormal();
 
-        const auto velA = bodies[vc.GetBodyA().get()].GetVelocity();
-        const auto velB = bodies[vc.GetBodyB().get()].GetVelocity();
+        const auto velA = bodies[to_underlying(vc.GetBodyA())].GetVelocity();
+        const auto velB = bodies[to_underlying(vc.GetBodyB())].GetVelocity();
         const auto ra0 = vc.GetPointRelPosA(0);
         const auto rb0 = vc.GetPointRelPosB(0);
         const auto ra1 = vc.GetPointRelPosA(1);
@@ -338,8 +338,8 @@ inline Momentum SeqSolveNormalConstraint(VelocityConstraint& vc,
 
     const auto direction = vc.GetNormal();
     const auto count = vc.GetPointCount();
-    const auto bodyA = &bodies[vc.GetBodyA().get()];
-    const auto bodyB = &bodies[vc.GetBodyB().get()];
+    const auto bodyA = &bodies[to_underlying(vc.GetBodyA())];
+    const auto bodyB = &bodies[to_underlying(vc.GetBodyB())];
 
     const auto invRotInertiaA = bodyA->GetInvRotInertia();
     const auto invMassA = bodyA->GetInvMass();
@@ -398,8 +398,8 @@ inline Momentum SolveTangentConstraint(VelocityConstraint& vc,
     const auto friction = vc.GetFriction();
     const auto tangentSpeed = vc.GetTangentSpeed();
     const auto count = vc.GetPointCount();
-    const auto bodyA = &bodies[vc.GetBodyA().get()];
-    const auto bodyB = &bodies[vc.GetBodyB().get()];
+    const auto bodyA = &bodies[to_underlying(vc.GetBodyA())];
+    const auto bodyB = &bodies[to_underlying(vc.GetBodyB())];
 
     const auto invRotInertiaA = bodyA->GetInvRotInertia();
     const auto invMassA = bodyA->GetInvMass();
@@ -498,8 +498,8 @@ d2::PositionSolution SolvePositionConstraint(const d2::PositionConstraint& pc,
     assert(IsValid(conf.linearSlop));
     assert(IsValid(conf.maxLinearCorrection));
 
-    const auto bodyA = &bodies[pc.GetBodyA().get()];
-    const auto bodyB = &bodies[pc.GetBodyB().get()];
+    const auto bodyA = &bodies[to_underlying(pc.GetBodyA())];
+    const auto bodyB = &bodies[to_underlying(pc.GetBodyB())];
 
     const auto invMassA = moveA? bodyA->GetInvMass(): InvMass{0};
     const auto invRotInertiaA = moveA? bodyA->GetInvRotInertia(): InvRotInertia{0};

PlayRho/Dynamics/Contacts/VelocityConstraint.cpp

@@ -34,8 +34,8 @@ inline InvMass3 ComputeK(const VelocityConstraint& vc, const std::vector<BodyCon
     assert(vc.GetPointCount() == 2);
 
     const auto normal = vc.GetNormal();
-    const auto bodyA = &bodies[vc.GetBodyA().get()];
-    const auto bodyB = &bodies[vc.GetBodyB().get()];
+    const auto bodyA = &bodies[to_underlying(vc.GetBodyA())];
+    const auto bodyB = &bodies[to_underlying(vc.GetBodyB())];
 
     const auto relA0 = vc.GetPointRelPosA(0);
     const auto relB0 = vc.GetPointRelPosB(0);
@@ -94,8 +94,8 @@ VelocityConstraint::VelocityConstraint(Real friction, Real restitution,
     {
         const auto ci = worldManifold.GetImpulses(j);
         const auto worldPoint = worldManifold.GetPoint(j);
-        const auto relA = worldPoint - bodies[bA.get()].GetPosition().linear;
-        const auto relB = worldPoint - bodies[bB.get()].GetPosition().linear;
+        const auto relA = worldPoint - bodies[to_underlying(bA)].GetPosition().linear;
+        const auto relB = worldPoint - bodies[to_underlying(bB)].GetPosition().linear;
         AddPoint(get<0>(ci), get<1>(ci), relA, relB, bodies, conf);
     }
 
@@ -136,8 +136,8 @@ VelocityConstraint::GetPoint(Momentum normalImpulse, Momentum tangentImpulse,
     assert(IsValid(relA));
     assert(IsValid(relB));
 
-    const auto bodyA = &bodies[GetBodyA().get()];
-    const auto bodyB = &bodies[GetBodyB().get()];
+    const auto bodyA = &bodies[to_underlying(GetBodyA())];
+    const auto bodyB = &bodies[to_underlying(GetBodyB())];
 
     const auto invRotInertiaA = bodyA->GetInvRotInertia();
     const auto invMassA = bodyA->GetInvMass();

PlayRho/Dynamics/Joints/Joint.cpp

@@ -56,7 +56,7 @@ static_assert(std::is_nothrow_destructible<Joint>::value, "Joint must be nothrow
 
 BodyConstraint& At(std::vector<BodyConstraint>& container, BodyID key)
 {
-    return container.at(UnderlyingValue(key));
+    return container.at(to_underlying(key));
 }
 
 Length2 GetLocalAnchorA(const Joint& object)