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

Example 1 with Shape

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

the class Fracture method smash.

/**
 * Rozbije objekt. Upravi objekt world tak, ze vymaze triesteny objekt
 * a nahradi ho fragmentami na zaklade nastaveneho materialu a clenskych
 * premennych.
 *
 * @param dt casova dlzka framu
 */
public void smash(Smasher smasher, float dt) {
    Shape s = f1.shape;
    if (s == null)
        return;
    if (contact == null) {
        // riesi sa staticky prvok, ktory ma priliz maly obsah
        b1.setType(BodyType.DYNAMIC);
        return;
    }
    Dynamics2D w = b1.W;
    Polygon p = f1.polygon;
    if (p == null) {
        switch(s.m_type) {
            case POLYGON:
                PolygonShape ps = (PolygonShape) s;
                Tuple2f[] vertices = ps.vertex;
                int n = ps.vertices;
                p = new Polygon(n);
                for (int i = 0; i < n; ++i) {
                    p.add(vertices[n - i - 1]);
                }
                break;
            case CIRCLE:
                CircleShape cs = (CircleShape) s;
                p = new Polygon(CIRCLEVERTICES);
                float radius = cs.radius;
                double u = Math.PI * 2 / CIRCLEVERTICES;
                // upravim radius tak, aby bola zachovana velkost obsahu
                radius = (float) Math.sqrt(u / Math.sin(u)) * radius;
                Tuple2f center = cs.center;
                for (int i = 0; i < CIRCLEVERTICES; ++i) {
                    // uhol
                    double j = u * i;
                    float sin = (float) Math.sin(j);
                    float cos = (float) Math.cos(j);
                    Tuple2f v = new v2(sin, cos).scaled(radius).added(center);
                    p.add(v);
                }
                break;
            default:
                throw new RuntimeException("Dany typ tvaru nepodporuje stiepenie");
        }
    }
    // sila v zavislosti na pevnosti telesa
    float mConst = f1.material.m_rigidity / normalImpulse;
    // true, ak f2 je v objekte contact ako m_fixtureA
    boolean fixA = f1 == contact.aFixture;
    float oldAngularVelocity = fixA ? contact.m_angularVelocity_bodyA : contact.m_angularVelocity_bodyB;
    Tuple2f oldLinearVelocity = fixA ? contact.m_linearVelocity_bodyA : contact.m_linearVelocity_bodyB;
    b1.setAngularVelocity((b1.velAngular - oldAngularVelocity) * mConst + oldAngularVelocity);
    b1.setLinearVelocity(b1.vel.sub(oldLinearVelocity).scaled(mConst).added(oldLinearVelocity));
    if (!w.isFractured(f2) && b2.type == BodyType.DYNAMIC && !b2.m_fractureTransformUpdate) {
        // ak sa druhy objekt nerozbija, tak sa jej nahodia povodne hodnoty (TREBA MODIFIKOVAT POHYB OBJEKTU, KTORY SPOSOBUJE ROZPAD)
        oldAngularVelocity = !fixA ? contact.m_angularVelocity_bodyA : contact.m_angularVelocity_bodyB;
        oldLinearVelocity = !fixA ? contact.m_linearVelocity_bodyA : contact.m_linearVelocity_bodyB;
        b2.setAngularVelocity((b2.velAngular - oldAngularVelocity) * mConst + oldAngularVelocity);
        b2.setLinearVelocity(b2.vel.sub(oldLinearVelocity).scaled(mConst).added(oldLinearVelocity));
        b2.setTransform(b2.transformPrev.pos.add(b2.vel.scale(dt)), b2.transformPrev.angle());
        // osetruje jbox2d od posuvania telesa pri rieseni kolizie
        b2.m_fractureTransformUpdate = true;
    }
    Tuple2f localPoint = Transform.mulTrans(b1, point);
    Tuple2f b1Vec = b1.getLinearVelocityFromWorldPoint(point);
    Tuple2f b2Vec = b2.getLinearVelocityFromWorldPoint(point);
    Tuple2f localVelocity = b2Vec.subbed(b1Vec);
    localVelocity.scaled(dt);
    // rodeli to
    Polygon[] fragment = m.split(smasher, p, localPoint, localVelocity, normalImpulse);
    if (fragment.length <= 1) {
        // nerozbilo to na ziadne fragmenty
        return;
    }
    // definuje tela fragmentov - tie maju vsetky rovnaku definiciu (preberaju parametre z povodneho objektu)
    BodyDef bodyDef = new BodyDef();
    // pozicia
    bodyDef.position.set(b1.pos);
    // otocenie
    bodyDef.angle = b1.angle();
    bodyDef.fixedRotation = b1.isFixedRotation();
    bodyDef.angularDamping = b1.m_angularDamping;
    bodyDef.allowSleep = b1.isSleepingAllowed();
    FixtureDef fd = new FixtureDef();
    // trenie
    fd.friction = f1.friction;
    // odrazivost
    fd.restitution = f1.restitution;
    fd.isSensor = f1.isSensor;
    fd.density = f1.density;
    // odstrani fragmentacne predmety/cele teleso
    List<Fixture> fixtures = new FasterList<>();
    if (f1.polygon != null) {
        for (Fixture f = b1.fixtures; f != null; f = f.next) {
            if (f.polygon == f1.polygon) {
                fixtures.add(f);
            }
        }
    } else {
        fixtures.add(f1);
    }
    for (Fixture f : fixtures) {
        b1.removeFixture(f);
    }
    if (b1.fixtureCount == 0) {
        w.removeBody(b1);
    }
    // prida fragmenty do simulacie
    MyList<Body2D> newbodies = new MyList<>();
    for (Polygon pg : fragment) {
        // vytvori tela, prida fixtury, poriesi konvexnu dekompoziciu
        if (pg.isCorrect()) {
            if (pg instanceof Fragment) {
                Polygon[] convex = pg.convexDecomposition();
                bodyDef.type = BodyType.DYNAMIC;
                for (Polygon pgx : convex) {
                    Body2D f_body = w.addBody(bodyDef);
                    pgx.flip();
                    PolygonShape ps = new PolygonShape();
                    ps.set(pgx.getArray(), pgx.size());
                    fd.shape = ps;
                    fd.polygon = null;
                    fd.material = f1.material;
                    // .m_fragments; //rekurzivne stiepenie
                    f_body.addFixture(fd);
                    f_body.setAngularVelocity(b1.velAngular);
                    f_body.setLinearVelocity(b1.getLinearVelocityFromLocalPoint(f_body.getLocalCenter()));
                    newbodies.add(f_body);
                }
            } else {
                fd.material = // .m_fragments; //rekurzivne stiepenie
                f1.material;
                bodyDef.type = b1.getType();
                Body2D f_body = w.addBody(bodyDef);
                PolygonFixture pf = new PolygonFixture(pg);
                f_body.addFixture(pf, fd);
                f_body.setLinearVelocity(b1.getLinearVelocityFromLocalPoint(f_body.getLocalCenter()));
                f_body.setAngularVelocity(b1.velAngular);
                newbodies.add(f_body);
            }
        }
    }
    // zavola sa funkcia z fraction listeneru (pokial je nadefinovany)
    FractureListener fl = w.getContactManager().m_fractureListener;
    if (fl != null) {
        fl.action(m, normalImpulse, newbodies);
    }
}

Example 2 with Shape

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

the class Contact method getWorldManifold.

/**
 * Get the world manifold.
 */
public void getWorldManifold(WorldManifold worldManifold) {
    final Body2D bodyA = aFixture.getBody();
    final Body2D bodyB = bFixture.getBody();
    final Shape shapeA = aFixture.shape();
    final Shape shapeB = bFixture.shape();
    worldManifold.initialize(m_manifold, bodyA, shapeA.radius, bodyB, shapeB.radius);
}

Example 3 with Shape

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

the class Contact method update.

public void update(ContactListener listener) {
    oldManifold.set(m_manifold);
    // Re-enable this contact.
    m_flags |= ENABLED_FLAG;
    boolean touching = false;
    boolean wasTouching = (m_flags & TOUCHING_FLAG) == TOUCHING_FLAG;
    boolean sensorA = aFixture.isSensor();
    boolean sensorB = bFixture.isSensor();
    boolean sensor = sensorA || sensorB;
    Body2D bodyA = aFixture.getBody();
    Body2D bodyB = bFixture.getBody();
    Transform xfA = bodyA;
    Transform xfB = bodyB;
    if (sensor) {
        Shape shapeA = aFixture.shape();
        Shape shapeB = bFixture.shape();
        touching = pool.getCollision().testOverlap(shapeA, aIndex, shapeB, bIndex, xfA, xfB);
        // Sensors don't generate manifolds.
        m_manifold.pointCount = 0;
    } else {
        evaluate(m_manifold, xfA, xfB);
        touching = m_manifold.pointCount > 0;
        // stored impulses to warm start the solver.
        for (int i = 0; i < m_manifold.pointCount; ++i) {
            ManifoldPoint mp2 = m_manifold.points[i];
            mp2.normalImpulse = 0.0f;
            mp2.tangentImpulse = 0.0f;
            ContactID id2 = mp2.id;
            for (int j = 0; j < oldManifold.pointCount; ++j) {
                ManifoldPoint mp1 = oldManifold.points[j];
                if (mp1.id.isEqual(id2)) {
                    mp2.normalImpulse = mp1.normalImpulse;
                    mp2.tangentImpulse = mp1.tangentImpulse;
                    break;
                }
            }
        }
        if (touching != wasTouching) {
            bodyA.setAwake(true);
            bodyB.setAwake(true);
        }
    }
    if (touching) {
        m_flags |= TOUCHING_FLAG;
    } else {
        m_flags &= ~TOUCHING_FLAG;
    }
    if (!sensor && touching) {
        m_angularVelocity_bodyA = aFixture.body.velAngular;
        m_linearVelocity_bodyA.set(aFixture.body.vel);
        m_angularVelocity_bodyB = bFixture.body.velAngular;
        m_linearVelocity_bodyB.set(bFixture.body.vel);
    }
    if (listener == null) {
        return;
    }
    if (!wasTouching && touching) {
        if (!listener.beginContact(this))
            touching = false;
    }
    if (wasTouching && !touching) {
        listener.endContact(this);
    }
    if (!sensor && touching) {
        listener.preSolve(this, oldManifold);
    }
}

Example 4 with Shape

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

the class PhyWall method drawBody.

private void drawBody(Body2D body, GL2 gl) {
    if (body.data() instanceof PhyWindow.WallBody) {
        // its rendered already via its Surface
        return;
    }
    if (body instanceof Consumer) {
        // HACK make better custom enderer interface
        ((Consumer) body).accept(gl);
        return;
    }
    // boolean active = body.isActive();
    boolean awake = body.isAwake();
    gl.glColor4f(0.5f, 0.5f, 0.5f, awake ? 0.75f : 0.65f);
    // List<PolygonFixture> generalPolygons = new FasterList<>();
    for (Fixture f = body.fixtures; f != null; f = f.next) {
        PolygonFixture pg = f.polygon;
        if (pg != null) {
        // generalPolygons.add(pg);
        } else {
            Shape shape = f.shape();
            switch(shape.m_type) {
                case POLYGON:
                    Draw.poly(body, gl, (PolygonShape) shape);
                    break;
                case CIRCLE:
                    CircleShape circle = (CircleShape) shape;
                    float r = circle.radius;
                    v2 v = new v2();
                    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);
                    Draw.circle(gl, v, true, r, 9);
                    break;
                case EDGE:
                    EdgeShape edge = (EdgeShape) shape;
                    Tuple2f p1 = edge.m_vertex1;
                    Tuple2f p2 = edge.m_vertex2;
                    gl.glLineWidth(4f);
                    Draw.line(gl, 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);
// }
}

Example 5 with Shape

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

the class Bodies method create.

public Body create(Vec2 position, Shape[] shapes, BodyType bodytype, BodyDefCallback body_instruction, FixtureDefCallback fixture_instruction, CollisionManager colm) {
    Body groundbody = world.createBody(setupBody(position, bodytype, body_instruction));
    FixtureDef temp;
    for (Shape s : shapes) {
        temp = createFix(s, fixture_instruction);
        if (colm != null)
            temp.userData = new FixtureData(colm);
        groundbody.createFixture(temp);
    }
    return groundbody;
}