Examples with ContactPoint nars.rover.physics.ContactPoint used on opensource projects

Example 1 with ContactPoint

use of nars.rover.physics.ContactPoint in project narchy by automenta.

the class DrawerRunnable method run.

@Override
public void run() {
    // TODO< need to be set from outside >
    float timeStep = 0.0f;
    if (!panel.render()) {
        return;
    }
    if (mouseTracing && mouseJoint == null) {
        final float delay = 0.1f;
        acceleration.x = 2 / delay * (1 / delay * (mouseWorld.x - mouseTracerPosition.x) - mouseTracerVelocity.x);
        acceleration.y = 2 / delay * (1 / delay * (mouseWorld.y - mouseTracerPosition.y) - mouseTracerVelocity.y);
        mouseTracerVelocity.x += timeStep * acceleration.x;
        mouseTracerVelocity.y += timeStep * acceleration.y;
        mouseTracerPosition.x += timeStep * mouseTracerVelocity.x;
        mouseTracerPosition.y += timeStep * mouseTracerVelocity.y;
        pshape.m_p.set(mouseTracerPosition);
        pshape.m_radius = 2;
        pshape.computeAABB(paabb, identity, 0);
    }
    if (mouseJoint != null) {
        mouseJoint.getAnchorB(p1);
        Vec2 p2 = mouseJoint.getTarget();
        draw.drawSegment(p1, p2, mouseColor);
    }
    if (false) /*settings.getSetting(TestbedSettings.DrawContactPoints).enabled*/
    {
        final float k_impulseScale = 0.1f;
        final float axisScale = 0.3f;
        // TODO< need to be get from DrawingContactListener >
        int pointCount = 0;
        for (int i = 0; i < pointCount; i++) {
            ContactPoint point = points[i];
            if (point.state == Collision.PointState.ADD_STATE) {
                draw.drawPoint(point.position, 10f, color1);
            } else if (point.state == Collision.PointState.PERSIST_STATE) {
                draw.drawPoint(point.position, 5f, color2);
            }
            if (settings.getSetting(TestbedSettings.DrawContactNormals).enabled) {
                p1.set(point.position);
                p2.set(point.normal).mulLocal(axisScale).addLocal(p1);
                draw.drawSegment(p1, p2, color3);
            } else if (settings.getSetting(TestbedSettings.DrawContactImpulses).enabled) {
                p1.set(point.position);
                p2.set(point.normal).mulLocal(k_impulseScale).mulLocal(point.normalImpulse).addLocal(p1);
                draw.drawSegment(p1, p2, color5);
            }
            if (settings.getSetting(TestbedSettings.DrawFrictionImpulses).enabled) {
                Vec2.crossToOutUnsafe(point.normal, 1, tangent);
                p1.set(point.position);
                p2.set(tangent).mulLocal(k_impulseScale).mulLocal(point.tangentImpulse).addLocal(p1);
                draw.drawSegment(p1, p2, color5);
            }
        }
    }
    panel.paintScreen();
    drawingQueued.set(false);
}