[upstream] Cast initial overlap (box2d #933)

final

Author: ikpil

src/Box2D.NET.Samples/Samples/Collisions/SmoothManifold.cs

@@ -256,8 +256,10 @@ void DrawManifold(ref B2Manifold manifold)
         }
     }
 
-    public override void Step()
+    public override void Draw(Settings settings)
     {
+        base.Draw(settings);
+        
         B2HexColor color1 = B2HexColor.b2_colorYellow;
         B2HexColor color2 = B2HexColor.b2_colorMagenta;
 

src/Box2D.NET.Samples/Samples/Joints/RevoluteJoint.cs

@@ -27,7 +27,6 @@ public class RevoluteJoint : Sample
     private float m_hertz;
     private float m_dampingRatio;
     private float m_targetDegrees;
-    private float m_targetAngle;
     private bool m_enableSpring;
     private bool m_enableMotor;
     private bool m_enableLimit;
@@ -62,7 +61,7 @@ public RevoluteJoint(SampleContext context) : base(context)
         m_enableMotor = false;
         m_hertz = 2.0f;
         m_dampingRatio = 0.5f;
-        m_targetAngle = 45.0f;
+        m_targetDegrees = 45.0f;
         m_motorSpeed = 1.0f;
         m_motorTorque = 1000.0f;
 
@@ -198,12 +197,12 @@ public override void UpdateGui()
                 b2RevoluteJoint_SetSpringDampingRatio(m_jointId1, m_dampingRatio);
                 b2Joint_WakeBodies(m_jointId1);
             }
-            
-            
-            if ( ImGui.SliderFloat( "Degrees", ref m_targetDegrees, -180.0f, 180.0f, "%.0f" ) )
+
+
+            if (ImGui.SliderFloat("Degrees", ref m_targetDegrees, -180.0f, 180.0f, "%.0f"))
             {
-                b2RevoluteJoint_SetTargetAngle( m_jointId1, B2_PI * m_targetDegrees / 180.0f );
-                b2Joint_WakeBodies( m_jointId1 );
+                b2RevoluteJoint_SetTargetAngle(m_jointId1, B2_PI * m_targetDegrees / 180.0f);
+                b2Joint_WakeBodies(m_jointId1);
             }
         }
 
@@ -213,17 +212,16 @@ public override void UpdateGui()
     public override void Draw(Settings settings)
     {
         base.Draw(settings);
-        
+
         float angle1 = b2RevoluteJoint_GetAngle(m_jointId1);
         DrawTextLine($"Angle (Deg) 1 = {angle1:F1}");
-        
+
 
         float torque1 = b2RevoluteJoint_GetMotorTorque(m_jointId1);
         DrawTextLine($"Motor Torque 1 = {torque1:F1}");
-        
+
 
         float torque2 = b2RevoluteJoint_GetMotorTorque(m_jointId2);
         DrawTextLine($"Motor Torque 2 = {torque2:F1}");
-        
     }
 }

src/Box2D.NET.Shared/Human.cs

@@ -25,6 +25,8 @@ public void Clear()
 
             scale = 0.0f;
             isSpawned = false;
+            frictionTorque = 0.0f;
+            originalScale = 0.0f;
         }
     }
 }

src/Box2D.NET/B2Distances.cs

@@ -734,7 +734,6 @@ public static B2CastOutput b2ShapeCast(ref B2ShapeCastPairInput input)
                 if (denominator >= 0.0f)
                 {
                     // Miss
-                    output.fraction = 1.0f;
                     return output;
                 }
 

src/Box2D.NET/B2Shapes.cs

@@ -24,6 +24,7 @@ namespace Box2D.NET
 {
     public static class B2Shapes
     {
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static float b2GetShapeRadius(B2Shape shape)
         {
             switch (shape.type)

test/Box2D.NET.Test/B2MathTest.cs

@@ -29,7 +29,6 @@ public void MathTest()
             Assert.That(r.s - s, Is.LessThan(0.002f));
 
             float xn = b2UnwindAngle(angle);
-
             Assert.That(-B2_PI <= xn && xn <= B2_PI, Is.True);
 
             float a = b2Atan2(s, c);