[upstream] Bug fixes (box2d #956)

src/Box2D.NET.Samples/Draw.cs

@@ -59,7 +59,6 @@ public Draw()
         m_debugDraw.DrawStringFcn = DrawStringFcn;
         m_debugDraw.drawingBounds = bounds;
 
-        m_debugDraw.useDrawingBounds = false;
         m_debugDraw.drawShapes = true;
         m_debugDraw.drawJoints = true;
         m_debugDraw.drawJointExtras = false;

src/Box2D.NET.Samples/SampleApp.cs

@@ -294,7 +294,6 @@ private void OnWindowUpdate(double dt)
             // #todo restore all drawing settings that may have been overridden by a sample
             _context.settings.subStepCount = 4;
             _context.settings.drawJoints = true;
-            _context.settings.useCameraBounds = true;
 
             s_sample?.Dispose();
             s_sample = null;

src/Box2D.NET.Samples/Samples/Bodies/BodyType.cs

@@ -47,6 +47,7 @@ public BodyType(SampleContext context) : base(context)
         B2BodyId groundId = b2_nullBodyId;
         {
             B2BodyDef bodyDef = b2DefaultBodyDef();
+            bodyDef.name = "ground";
             groundId = b2CreateBody(m_worldId, ref bodyDef);
 
             B2Segment segment = new B2Segment(new B2Vec2(-20.0f, 0.0f), new B2Vec2(20.0f, 0.0f));
@@ -59,6 +60,7 @@ public BodyType(SampleContext context) : base(context)
             B2BodyDef bodyDef = b2DefaultBodyDef();
             bodyDef.type = B2BodyType.b2_dynamicBody;
             bodyDef.position = new B2Vec2(-2.0f, 3.0f);
+            bodyDef.name = "attach1";
             m_attachmentId = b2CreateBody(m_worldId, ref bodyDef);
 
             B2Polygon box = b2MakeBox(0.5f, 2.0f);
@@ -73,6 +75,7 @@ public BodyType(SampleContext context) : base(context)
             bodyDef.type = m_type;
             bodyDef.isEnabled = m_isEnabled;
             bodyDef.position = new B2Vec2(3.0f, 3.0f);
+            bodyDef.name = "attach2";
             m_secondAttachmentId = b2CreateBody(m_worldId, ref bodyDef);
 
             B2Polygon box = b2MakeBox(0.5f, 2.0f);
@@ -87,6 +90,7 @@ public BodyType(SampleContext context) : base(context)
             bodyDef.type = m_type;
             bodyDef.isEnabled = m_isEnabled;
             bodyDef.position = new B2Vec2(-4.0f, 5.0f);
+            bodyDef.name = "platform";
             m_platformId = b2CreateBody(m_worldId, ref bodyDef);
 
             B2Polygon box = b2MakeOffsetBox(0.5f, 4.0f, new B2Vec2(4.0f, 0.0f), b2MakeRot(0.5f * B2_PI));
@@ -137,6 +141,7 @@ public BodyType(SampleContext context) : base(context)
             B2BodyDef bodyDef = b2DefaultBodyDef();
             bodyDef.type = B2BodyType.b2_dynamicBody;
             bodyDef.position = new B2Vec2(-3.0f, 8.0f);
+            bodyDef.name = "crate1";
             B2BodyId bodyId = b2CreateBody(m_worldId, ref bodyDef);
 
             B2Polygon box = b2MakeBox(0.75f, 0.75f);
@@ -153,6 +158,7 @@ public BodyType(SampleContext context) : base(context)
             bodyDef.type = m_type;
             bodyDef.isEnabled = m_isEnabled;
             bodyDef.position = new B2Vec2(2.0f, 8.0f);
+            bodyDef.name = "crate2";
             m_secondPayloadId = b2CreateBody(m_worldId, ref bodyDef);
 
             B2Polygon box = b2MakeBox(0.75f, 0.75f);
@@ -169,6 +175,7 @@ public BodyType(SampleContext context) : base(context)
             bodyDef.type = m_type;
             bodyDef.isEnabled = m_isEnabled;
             bodyDef.position = new B2Vec2(8.0f, 0.2f);
+            bodyDef.name = "debris";
             m_touchingBodyId = b2CreateBody(m_worldId, ref bodyDef);
 
             B2Capsule capsule = new B2Capsule(new B2Vec2(0.0f, 0.0f), new B2Vec2(1.0f, 0.0f), 0.25f);
@@ -186,6 +193,7 @@ public BodyType(SampleContext context) : base(context)
             bodyDef.isEnabled = m_isEnabled;
             bodyDef.position = new B2Vec2(-8.0f, 12.0f);
             bodyDef.gravityScale = 0.0f;
+            bodyDef.name = "floater";
             m_floatingBodyId = b2CreateBody(m_worldId, ref bodyDef);
 
             B2Circle circle = new B2Circle(new B2Vec2(0.0f, 0.5f), 0.25f);
@@ -221,6 +229,9 @@ public override void UpdateGui()
         {
             m_type = B2BodyType.b2_kinematicBody;
             b2Body_SetType(m_platformId, B2BodyType.b2_kinematicBody);
+            b2Body_SetLinearVelocity(m_secondAttachmentId, b2Vec2_zero);
+            b2Body_SetAngularVelocity(m_secondAttachmentId, 0.0f);
+
             b2Body_SetLinearVelocity(m_platformId, new B2Vec2(-m_speed, 0.0f));
             b2Body_SetAngularVelocity(m_platformId, 0.0f);
             b2Body_SetType(m_secondAttachmentId, B2BodyType.b2_kinematicBody);
@@ -243,24 +254,14 @@ public override void UpdateGui()
         {
             if (m_isEnabled)
             {
-                b2Body_Enable(m_platformId);
-                b2Body_Enable(m_secondAttachmentId);
+                b2Body_Enable(m_attachmentId);
                 b2Body_Enable(m_secondPayloadId);
-                b2Body_Enable(m_touchingBodyId);
                 b2Body_Enable(m_floatingBodyId);
-
-                if (m_type == B2BodyType.b2_kinematicBody)
-                {
-                    b2Body_SetLinearVelocity(m_platformId, new B2Vec2(-m_speed, 0.0f));
-                    b2Body_SetAngularVelocity(m_platformId, 0.0f);
-                }
             }
             else
             {
-                b2Body_Disable(m_platformId);
-                b2Body_Disable(m_secondAttachmentId);
+                b2Body_Disable(m_attachmentId);
                 b2Body_Disable(m_secondPayloadId);
-                b2Body_Disable(m_touchingBodyId);
                 b2Body_Disable(m_floatingBodyId);
             }
         }

src/Box2D.NET.Samples/Samples/Continuous/BounceHouse.cs

@@ -68,7 +68,7 @@ public BounceHouse(SampleContext context) : base(context)
             b2CreateSegmentShape(groundId, ref shapeDef, ref segment);
         }
 
-        m_shapeType = ShapeType.e_boxShape;
+        m_shapeType = ShapeType.e_circleShape;
         m_bodyId = b2_nullBodyId;
         m_enableHitEvents = true;
 
@@ -93,6 +93,7 @@ void Launch()
         bodyDef.linearVelocity = new B2Vec2(10.0f, 20.0f);
         bodyDef.position = new B2Vec2(0.0f, 0.0f);
         bodyDef.gravityScale = 0.0f;
+        bodyDef.isBullet = true;
 
         // Circle shapes centered on the body can spin fast without risk of tunnelling.
         bodyDef.allowFastRotation = m_shapeType == ShapeType.e_circleShape;
@@ -101,8 +102,8 @@ void Launch()
 
         B2ShapeDef shapeDef = b2DefaultShapeDef();
         shapeDef.density = 1.0f;
-        shapeDef.material.restitution = 1.2f;
-        shapeDef.material.friction = 0.3f;
+        shapeDef.material.restitution = 1.0f;
+        shapeDef.material.friction = 0.0f;
         shapeDef.enableHitEvents = m_enableHitEvents;
 
         if (m_shapeType == ShapeType.e_circleShape)

src/Box2D.NET.Samples/Samples/Issues/Crash01.cs

@@ -0,0 +1,150 @@
+// SPDX-FileCopyrightText: 2025 Erin Catto
+// SPDX-FileCopyrightText: 2025 Ikpil Choi(ikpil@naver.com)
+// SPDX-License-Identifier: MIT
+
+using System.Numerics;
+using ImGuiNET;
+using static Box2D.NET.B2Joints;
+using static Box2D.NET.B2Geometries;
+using static Box2D.NET.B2Types;
+using static Box2D.NET.B2MathFunction;
+using static Box2D.NET.B2Bodies;
+using static Box2D.NET.B2Shapes;
+using static Box2D.NET.B2Ids;
+
+namespace Box2D.NET.Samples.Samples.Issues;
+
+public class Crash01 : Sample
+{
+    private static readonly int SampleBodyType = SampleFactory.Shared.RegisterSample("Issues", "Crash01", Create);
+
+    private B2BodyId m_attachmentId;
+    private B2BodyId m_platformId;
+    private B2BodyType m_type;
+    private bool m_isEnabled;
+
+    private static Sample Create(SampleContext context)
+    {
+        return new Crash01(context);
+    }
+
+    public Crash01(SampleContext context) : base(context)
+    {
+        if (m_context.settings.restart == false)
+        {
+            m_context.camera.m_center = new B2Vec2(0.8f, 6.4f);
+            m_context.camera.m_zoom = 25.0f * 0.4f;
+        }
+
+        m_type = B2BodyType.b2_dynamicBody;
+        m_isEnabled = true;
+
+        B2BodyId groundId = b2_nullBodyId;
+        {
+            B2BodyDef bodyDef = b2DefaultBodyDef();
+            bodyDef.name = "ground";
+            groundId = b2CreateBody(m_worldId, ref bodyDef);
+
+            B2Segment segment = new B2Segment(new B2Vec2(-20.0f, 0.0f), new B2Vec2(20.0f, 0.0f));
+            B2ShapeDef shapeDef = b2DefaultShapeDef();
+            b2CreateSegmentShape(groundId, ref shapeDef, ref segment);
+        }
+
+        // Define attachment
+        {
+            B2BodyDef bodyDef = b2DefaultBodyDef();
+            bodyDef.type = B2BodyType.b2_dynamicBody;
+            bodyDef.position = new B2Vec2(-2.0f, 3.0f);
+            bodyDef.name = "attach1";
+            m_attachmentId = b2CreateBody(m_worldId, ref bodyDef);
+
+            B2Polygon box = b2MakeBox(0.5f, 2.0f);
+            B2ShapeDef shapeDef = b2DefaultShapeDef();
+            shapeDef.density = 1.0f;
+            b2CreatePolygonShape(m_attachmentId, ref shapeDef, ref box);
+        }
+
+        // Define platform
+        {
+            B2BodyDef bodyDef = b2DefaultBodyDef();
+            bodyDef.type = m_type;
+            bodyDef.isEnabled = m_isEnabled;
+            bodyDef.position = new B2Vec2(-4.0f, 5.0f);
+            bodyDef.name = "platform";
+            m_platformId = b2CreateBody(m_worldId, ref bodyDef);
+
+            B2Polygon box = b2MakeOffsetBox(0.5f, 4.0f, new B2Vec2(4.0f, 0.0f), b2MakeRot(0.5f * B2_PI));
+
+            B2ShapeDef shapeDef = b2DefaultShapeDef();
+            shapeDef.density = 2.0f;
+            b2CreatePolygonShape(m_platformId, ref shapeDef, ref box);
+
+            B2RevoluteJointDef revoluteDef = b2DefaultRevoluteJointDef();
+            B2Vec2 pivot = new B2Vec2(-2.0f, 5.0f);
+            revoluteDef.@base.bodyIdA = m_attachmentId;
+            revoluteDef.@base.bodyIdB = m_platformId;
+            revoluteDef.@base.localFrameA.p = b2Body_GetLocalPoint(m_attachmentId, pivot);
+            revoluteDef.@base.localFrameB.p = b2Body_GetLocalPoint(m_platformId, pivot);
+            revoluteDef.maxMotorTorque = 50.0f;
+            revoluteDef.enableMotor = true;
+            b2CreateRevoluteJoint(m_worldId, ref revoluteDef);
+
+            B2PrismaticJointDef prismaticDef = b2DefaultPrismaticJointDef();
+            B2Vec2 anchor = new B2Vec2(0.0f, 5.0f);
+            prismaticDef.@base.bodyIdA = groundId;
+            prismaticDef.@base.bodyIdB = m_platformId;
+            prismaticDef.@base.localFrameA.p = b2Body_GetLocalPoint(groundId, anchor);
+            prismaticDef.@base.localFrameB.p = b2Body_GetLocalPoint(m_platformId, anchor);
+            prismaticDef.maxMotorForce = 1000.0f;
+            prismaticDef.motorSpeed = 0.0f;
+            prismaticDef.enableMotor = true;
+            prismaticDef.lowerTranslation = -10.0f;
+            prismaticDef.upperTranslation = 10.0f;
+            prismaticDef.enableLimit = true;
+
+            b2CreatePrismaticJoint(m_worldId, ref prismaticDef);
+        }
+    }
+
+    public override void UpdateGui()
+    {
+        float fontSize = ImGui.GetFontSize();
+        float height = 11.0f * fontSize;
+        ImGui.SetNextWindowPos(new Vector2(0.5f * fontSize, m_camera.m_height - height - 2.0f * fontSize), ImGuiCond.Once);
+        ImGui.SetNextWindowSize(new Vector2(9.0f * fontSize, height));
+        ImGui.Begin("Crash 01", ImGuiWindowFlags.NoMove | ImGuiWindowFlags.NoResize);
+
+        if (ImGui.RadioButton("Static", m_type == B2BodyType.b2_staticBody))
+        {
+            m_type = B2BodyType.b2_staticBody;
+            b2Body_SetType(m_platformId, B2BodyType.b2_staticBody);
+        }
+
+        if (ImGui.RadioButton("Kinematic", m_type == B2BodyType.b2_kinematicBody))
+        {
+            m_type = B2BodyType.b2_kinematicBody;
+            b2Body_SetType(m_platformId, B2BodyType.b2_kinematicBody);
+            b2Body_SetLinearVelocity(m_platformId, new B2Vec2(-0.1f, 0.0f));
+        }
+
+        if (ImGui.RadioButton("Dynamic", m_type == B2BodyType.b2_dynamicBody))
+        {
+            m_type = B2BodyType.b2_dynamicBody;
+            b2Body_SetType(m_platformId, B2BodyType.b2_dynamicBody);
+        }
+
+        if (ImGui.Checkbox("Enable", ref m_isEnabled))
+        {
+            if (m_isEnabled)
+            {
+                b2Body_Enable(m_attachmentId);
+            }
+            else
+            {
+                b2Body_Disable(m_attachmentId);
+            }
+        }
+
+        ImGui.End();
+    }
+}

src/Box2D.NET.Samples/Samples/Issues/DisableCrash.cs

@@ -0,0 +1,100 @@
+// SPDX-FileCopyrightText: 2025 Erin Catto
+// SPDX-FileCopyrightText: 2025 Ikpil Choi(ikpil@naver.com)
+// SPDX-License-Identifier: MIT
+
+using System.Numerics;
+using ImGuiNET;
+using static Box2D.NET.B2Joints;
+using static Box2D.NET.B2Geometries;
+using static Box2D.NET.B2Types;
+using static Box2D.NET.B2MathFunction;
+using static Box2D.NET.B2Bodies;
+using static Box2D.NET.B2Shapes;
+
+namespace Box2D.NET.Samples.Samples.Issues;
+
+public class DisableCrash : Sample
+{
+    private static readonly int SampleDisableCrash = SampleFactory.Shared.RegisterSample("Issues", "Disable", Create);
+
+    private B2BodyId m_attachmentId;
+    private B2BodyId m_platformId;
+    bool m_isEnabled;
+
+    private static Sample Create(SampleContext context)
+    {
+        return new DisableCrash(context);
+    }
+
+    public DisableCrash(SampleContext context)
+        : base(context)
+    {
+        if (m_context.settings.restart == false)
+        {
+            m_context.camera.m_center = new B2Vec2(0.8f, 6.4f);
+            m_context.camera.m_zoom = 25.0f * 0.4f;
+        }
+
+        m_isEnabled = true;
+
+        // Define attachment
+        {
+            B2BodyDef bodyDef = b2DefaultBodyDef();
+            bodyDef.type = B2BodyType.b2_dynamicBody;
+            bodyDef.position = new B2Vec2(-2.0f, 3.0f);
+            bodyDef.isEnabled = m_isEnabled;
+            m_attachmentId = b2CreateBody(m_worldId, ref bodyDef);
+
+            B2Polygon box = b2MakeBox(0.5f, 2.0f);
+            B2ShapeDef shapeDef = b2DefaultShapeDef();
+            b2CreatePolygonShape(m_attachmentId, ref shapeDef, ref box);
+        }
+
+        // Define platform
+        {
+            B2BodyDef bodyDef = b2DefaultBodyDef();
+            bodyDef.position = new B2Vec2(-4.0f, 5.0f);
+            m_platformId = b2CreateBody(m_worldId, ref bodyDef);
+
+            B2Polygon box = b2MakeOffsetBox(0.5f, 4.0f, new B2Vec2(4.0f, 0.0f), b2MakeRot(0.5f * B2_PI));
+
+            B2ShapeDef shapeDef = b2DefaultShapeDef();
+            b2CreatePolygonShape(m_platformId, ref shapeDef, ref box);
+
+            B2RevoluteJointDef revoluteDef = b2DefaultRevoluteJointDef();
+            B2Vec2 pivot = new B2Vec2(-2.0f, 5.0f);
+            revoluteDef.@base.bodyIdA = m_attachmentId;
+            revoluteDef.@base.bodyIdB = m_platformId;
+            revoluteDef.@base.localFrameA.p = b2Body_GetLocalPoint(m_attachmentId, pivot);
+            revoluteDef.@base.localFrameB.p = b2Body_GetLocalPoint(m_platformId, pivot);
+            revoluteDef.maxMotorTorque = 50.0f;
+            revoluteDef.enableMotor = true;
+            b2CreateRevoluteJoint(m_worldId, ref revoluteDef);
+        }
+    }
+
+    public override void UpdateGui()
+    {
+        float fontSize = ImGui.GetFontSize();
+        float height = 11.0f * fontSize;
+        float winX = 0.5f * fontSize;
+        float winY = m_camera.m_height - height - 2.0f * fontSize;
+        ImGui.SetNextWindowPos(new Vector2(winX, winY), ImGuiCond.Once);
+        ImGui.SetNextWindowSize(new Vector2(9.0f * fontSize, height));
+        ImGui.Begin("Disable Crash", ImGuiWindowFlags.NoMove | ImGuiWindowFlags.NoResize);
+
+        if (ImGui.Checkbox("Enable", ref m_isEnabled))
+        {
+            if (m_isEnabled)
+            {
+                b2Body_Enable(m_attachmentId);
+            }
+            else
+            {
+                b2Body_Disable(m_attachmentId);
+            }
+        }
+
+        ImGui.End();
+    }
+}