Examples with PolygonShape spacegraph.space2d.phys.collision.shapes.PolygonShape used on opensource projects

Example 11 with PolygonShape

use of spacegraph.space2d.phys.collision.shapes.PolygonShape in project narchy by automenta.

the class EnvironmentScriptingAccessor method physics2dCreateBodyWithShape.

public Physics2dBody physics2dCreateBodyWithShape(boolean fixed, ArrayRealVector position, List verticesPoints, float linearDamping, float angularDamping, float mass, float restitution, float friction) {
    PolygonShape shape = new PolygonShape();
    Vec2[] vertices = convertVerticesFromArrayRealVectorGenericList(verticesPoints);
    shape.set(vertices, vertices.length);
    // shape.m_centroid.set(bodyDef.position);
    BodyDef bodyDefinition = new BodyDef();
    bodyDefinition.linearDamping = linearDamping;
    bodyDefinition.angularDamping = angularDamping;
    if (fixed) {
        bodyDefinition.type = BodyType.STATIC;
    } else {
        bodyDefinition.type = BodyType.DYNAMIC;
    }
    bodyDefinition.position.set((float) position.getDataRef()[0], (float) position.getDataRef()[1]);
    Body body = environment.physicsWorld2d.createBody(bodyDefinition);
    Fixture fixture = body.createFixture(shape, mass);
    fixture.setRestitution(restitution);
    fixture.setFriction(friction);
    return new Physics2dBody(body);
}

Example 12 with PolygonShape

use of spacegraph.space2d.phys.collision.shapes.PolygonShape in project narchy by automenta.

the class EnvironmentScriptingAccessor method physics2dCreateBody.

public Physics2dBody physics2dCreateBody(boolean fixed, String shapeType, ArrayRealVector position, ArrayRealVector size, float radius, float density, float friction) {
    BodyDef bodyDefinition = new BodyDef();
    bodyDefinition.position.set(new Vec2((float) position.getDataRef()[0], (float) position.getDataRef()[1]));
    if (fixed) {
        bodyDefinition.type = BodyType.STATIC;
    } else {
        bodyDefinition.type = BodyType.DYNAMIC;
    }
    Body body = environment.physicsWorld2d.createBody(bodyDefinition);
    PolygonShape polygonShape = new PolygonShape();
    if (shapeType.equals("BOX")) {
        polygonShape.setAsBox((float) size.getDataRef()[0] * 0.5f, (float) size.getDataRef()[1] * 0.5f);
    } else {
        throw new InternalError();
    }
    if (fixed) {
        body.createFixture(polygonShape, 0.0f);
    } else {
        FixtureDef fixture = new FixtureDef();
        fixture.shape = polygonShape;
        fixture.density = density;
        fixture.friction = friction;
        body.createFixture(fixture);
    }
    return new Physics2dBody(body);
}

Example 13 with PolygonShape

use of spacegraph.space2d.phys.collision.shapes.PolygonShape in project narchy by automenta.

the class TheoJansen method createLeg.

void createLeg(float s, v2 wheelAnchor) {
    v2 p1 = new v2(5.4f * s, -6.1f * abs(s));
    v2 p2 = new v2(7.2f * s, -1.2f * abs(s));
    v2 p3 = new v2(4.3f * s, -1.9f * abs(s));
    v2 p4 = new v2(3.1f * s, 0.8f * abs(s));
    v2 p5 = new v2(6.0f * s, 1.5f * abs(s));
    v2 p6 = new v2(2.5f * s, 3.7f * abs(s));
    FixtureDef fd1 = new FixtureDef();
    FixtureDef fd2 = new FixtureDef();
    fd1.filter.groupIndex = -1;
    fd2.filter.groupIndex = -1;
    fd1.density = 1.0f;
    fd2.density = 1.0f;
    PolygonShape poly1 = new PolygonShape();
    PolygonShape poly2 = new PolygonShape();
    if (s > 0.0f) {
        v2[] vertices = new v2[3];
        vertices[0] = p1;
        vertices[1] = p2;
        vertices[2] = p3;
        poly1.set(vertices, 3);
        vertices[0] = new v2();
        vertices[1] = p5.sub(p4);
        vertices[2] = p6.sub(p4);
        poly2.set(vertices, 3);
    } else {
        v2[] vertices = new v2[3];
        vertices[0] = p1;
        vertices[1] = p3;
        vertices[2] = p2;
        poly1.set(vertices, 3);
        vertices[0] = new v2();
        vertices[1] = p6.sub(p4);
        vertices[2] = p5.sub(p4);
        poly2.set(vertices, 3);
    }
    fd1.shape = poly1;
    fd2.shape = poly2;
    BodyDef bd1 = new BodyDef(), bd2 = new BodyDef();
    bd1.type = BodyType.DYNAMIC;
    bd2.type = BodyType.DYNAMIC;
    bd1.position = center;
    bd2.position = p4.add(center);
    bd1.angularDamping = 10.0f;
    bd2.angularDamping = 10.0f;
    Body2D body1 = world.addBody(bd1);
    Body2D body2 = world.addBody(bd2);
    body1.addFixture(fd1);
    body2.addFixture(fd2);
    DistanceJointDef djd = new DistanceJointDef();
    // Using a soft distance constraint can reduce some jitter.
    // It also makes the structure seem a bit more fluid by
    // acting like a suspension system.
    djd.dampingRatio = 0.5f;
    djd.frequencyHz = 10.0f;
    djd.initialize(body1, body2, p2.add(center), p5.add(center));
    world.addJoint(djd);
    djd.initialize(body1, body2, p3.add(center), p4.add(center));
    world.addJoint(djd);
    djd.initialize(body1, wheel, p3.add(center), wheelAnchor.add(center));
    world.addJoint(djd);
    djd.initialize(body2, wheel, p6.add(center), wheelAnchor.add(center));
    world.addJoint(djd);
    RevoluteJointDef rjd = new RevoluteJointDef();
    rjd.initialize(body2, chassis, p4.add(center));
    world.addJoint(rjd);
}

Example 14 with PolygonShape

use of spacegraph.space2d.phys.collision.shapes.PolygonShape in project narchy by automenta.

the class TheoJansenTest method init.

// @Override
// public Long getTag(Body2D argBody) {
// if (argBody2D == m_chassis) {
// return CHASSIS_TAG;
// } else if (argBody2D == m_wheel) {
// return WHEEL_TAG;
// }
// return null;
// }
// 
// @Override
// public Long getTag(Joint argJoint) {
// if (argJoint == m_motorJoint) {
// return MOTOR_TAG;
// }
// return null;
// }
// @Override
// public void processBody(Body2D argBody, Long argTag) {
// if (argTag == CHASSIS_TAG) {
// m_chassis = argBody;
// } else if (argTag == WHEEL_TAG) {
// m_wheel = argBody;
// }
// }
// 
// @Override
// public void processJoint(Joint argJoint, Long argTag) {
// if (argTag == MOTOR_TAG) {
// m_motorJoint = (RevoluteJoint) argJoint;
// m_motorOn = m_motorJoint.isMotorEnabled();
// }
// }
@Override
public void init(Dynamics2D w) {
    this.w = w;
    m_offset.set(0.0f, 8.0f);
    m_motorSpeed = 2.0f;
    m_motorOn = true;
    v2 pivot = new v2(0.0f, 0.8f);
    // Ground
    {
        BodyDef bd = new BodyDef();
        Body2D ground = w.addBody(bd);
        EdgeShape shape = new EdgeShape();
        shape.set(new v2(-50.0f, 0.0f), new v2(50.0f, 0.0f));
        ground.addFixture(shape, 0.0f);
        shape.set(new v2(-50.0f, 0.0f), new v2(-50.0f, 10.0f));
        ground.addFixture(shape, 0.0f);
        shape.set(new v2(50.0f, 0.0f), new v2(50.0f, 10.0f));
        ground.addFixture(shape, 0.0f);
    }
    // Balls
    for (int i = 0; i < 40; ++i) {
        CircleShape shape = new CircleShape();
        shape.radius = 0.25f;
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        bd.position.set(-40.0f + 2.0f * i, 0.5f);
        Body2D body = w.addBody(bd);
        body.addFixture(shape, 1.0f);
    }
    // Chassis
    {
        PolygonShape shape = new PolygonShape();
        shape.setAsBox(2.5f, 1.0f);
        FixtureDef sd = new FixtureDef();
        sd.density = 1.0f;
        sd.shape = shape;
        sd.filter.groupIndex = -1;
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        bd.position.set(pivot).added(m_offset);
        m_chassis = w.addBody(bd);
        m_chassis.addFixture(sd);
    }
    {
        CircleShape shape = new CircleShape();
        shape.radius = 1.6f;
        FixtureDef sd = new FixtureDef();
        sd.density = 1.0f;
        sd.shape = shape;
        sd.filter.groupIndex = -1;
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        bd.position.set(pivot).added(m_offset);
        m_wheel = w.addBody(bd);
        m_wheel.addFixture(sd);
    }
    {
        RevoluteJointDef jd = new RevoluteJointDef();
        jd.initialize(m_wheel, m_chassis, pivot.add(m_offset));
        jd.collideConnected = false;
        jd.motorSpeed = m_motorSpeed;
        jd.maxMotorTorque = 400.0f;
        jd.enableMotor = m_motorOn;
        m_motorJoint = (RevoluteJoint) w.addJoint(jd);
    }
    v2 wheelAnchor;
    wheelAnchor = pivot.add(new v2(0.0f, -0.8f));
    createLeg(-1.0f, wheelAnchor);
    createLeg(1.0f, wheelAnchor);
    m_wheel.setTransform(m_wheel.getPosition(), 120.0f * MathUtils.PI / 180.0f);
    createLeg(-1.0f, wheelAnchor);
    createLeg(1.0f, wheelAnchor);
    m_wheel.setTransform(m_wheel.getPosition(), -120.0f * MathUtils.PI / 180.0f);
    createLeg(-1.0f, wheelAnchor);
    createLeg(1.0f, wheelAnchor);
}

Example 15 with PolygonShape

use of spacegraph.space2d.phys.collision.shapes.PolygonShape in project narchy by automenta.

the class Box2DTests method drawBody.

private void drawBody(Body2D body) {
    if (body.getType() == BodyType.DYNAMIC) {
        g.setColor(Color.LIGHT_GRAY);
    } else {
        g.setColor(Color.GRAY);
    }
    Tuple2f v = new Vec2();
    MyList<PolygonFixture> generalPolygons = new MyList<>();
    for (Fixture f = body.fixtures; f != null; f = f.next) {
        PolygonFixture pg = f.polygon;
        if (pg != null) {
            if (!generalPolygons.contains(pg)) {
                generalPolygons.add(pg);
            }
        } else {
            Shape shape = f.shape();
            switch(shape.m_type) {
                case POLYGON:
                    PolygonShape poly = (PolygonShape) shape;
                    for (int i = 0; i < poly.vertices; ++i) {
                        body.getWorldPointToOut(poly.vertex[i], v);
                        Point p = getPoint(v);
                        x[i] = p.x;
                        y[i] = p.y;
                    }
                    g.fillPolygon(x, y, poly.vertices);
                    break;
                case CIRCLE:
                    CircleShape circle = (CircleShape) shape;
                    float r = circle.radius;
                    body.getWorldPointToOut(circle.center, v);
                    Point p = getPoint(v);
                    int wr = (int) (r * zoom);
                    g.fillOval(p.x - wr, p.y - wr, wr * 2, wr * 2);
                    break;
                case EDGE:
                    EdgeShape edge = (EdgeShape) shape;
                    Tuple2f v1 = edge.m_vertex1;
                    Tuple2f v2 = edge.m_vertex2;
                    Point p1 = getPoint(v1);
                    Point p2 = getPoint(v2);
                    g.drawLine(p1.x, p1.y, p2.x, p2.y);
                    break;
            }
        }
    }
    if (generalPolygons.size() != 0) {
        PolygonFixture[] polygonArray = generalPolygons.toArray(new PolygonFixture[generalPolygons.size()]);
        for (PolygonFixture poly : polygonArray) {
            int n = poly.size();
            int[] x = new int[n];
            int[] y = new int[n];
            for (int i = 0; i < n; ++i) {
                body.getWorldPointToOut(poly.get(i), v);
                Point p = getPoint(v);
                x[i] = p.x;
                y[i] = p.y;
            }
            g.fillPolygon(x, y, n);
        }
    }
}