Examples with Body2D spacegraph.space2d.phys.dynamics.Body2D used on opensource projects

Example 1 with Body2D

use of spacegraph.space2d.phys.dynamics.Body2D in project narchy by automenta.

the class ParticleSystem method solveViscous.

void solveViscous(final TimeStep step) {
    float viscousStrength = m_viscousStrength;
    for (int k = 0; k < m_bodyContactCount; k++) {
        final ParticleBodyContact contact = m_bodyContactBuffer[k];
        int a = contact.index;
        if ((m_flagsBuffer.data[a] & ParticleType.b2_viscousParticle) != 0) {
            Body2D b = contact.body;
            float w = contact.weight;
            float m = contact.mass;
            Tuple2f p = m_positionBuffer.data[a];
            final Tuple2f va = m_velocityBuffer.data[a];
            final float tempX = p.x - b.sweep.c.x;
            final float tempY = p.y - b.sweep.c.y;
            final float vx = -b.velAngular * tempY + b.vel.x - va.x;
            final float vy = b.velAngular * tempX + b.vel.y - va.y;
            final Tuple2f f = tempVec;
            final float pInvMass = getParticleInvMass();
            f.x = viscousStrength * m * w * vx;
            f.y = viscousStrength * m * w * vy;
            va.x += pInvMass * f.x;
            va.y += pInvMass * f.y;
            f.x = -f.x;
            f.y = -f.y;
            b.applyLinearImpulse(f, p, true);
        }
    }
    for (int k = 0; k < m_contactCount; k++) {
        final ParticleContact contact = m_contactBuffer[k];
        if ((contact.flags & ParticleType.b2_viscousParticle) != 0) {
            int a = contact.indexA;
            int b = contact.indexB;
            float w = contact.weight;
            final Tuple2f va = m_velocityBuffer.data[a];
            final Tuple2f vb = m_velocityBuffer.data[b];
            final float vx = vb.x - va.x;
            final float vy = vb.y - va.y;
            final float fx = viscousStrength * w * vx;
            final float fy = viscousStrength * w * vy;
            va.x += fx;
            va.y += fy;
            vb.x -= fx;
            vb.y -= fy;
        }
    }
}

Example 2 with Body2D

use of spacegraph.space2d.phys.dynamics.Body2D 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 Body2D

use of spacegraph.space2d.phys.dynamics.Body2D 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 Body2D

use of spacegraph.space2d.phys.dynamics.Body2D in project narchy by automenta.

the class RevoluteJoint method getJointAngle.

public float getJointAngle() {
    final Body2D b1 = A;
    final Body2D b2 = B;
    return b2.sweep.a - b1.sweep.a - m_referenceAngle;
}

Example 5 with Body2D

use of spacegraph.space2d.phys.dynamics.Body2D in project narchy by automenta.

the class TensorGlow method main.

public static void main(String[] args) {
    PhyWall p = SpaceGraph.wall(1200, 1000);
    p.W.setGravity(new v2(0, -2.8f));
    staticBox(p.W, -5, -8, +5, 2f, false, true, true, true);
    for (int j = 0; j < 3; j++) {
        BodyDef bodyDef2 = new BodyDef();
        bodyDef2.type = BodyType.DYNAMIC;
        // otocenie
        bodyDef2.angle = -0.6f;
        // smer pohybu
        bodyDef2.linearVelocity = new v2(0.0f, 0.0f);
        // rotacia (rychlost rotacie)
        bodyDef2.angularVelocity = 0.0f;
        Body2D newBody = p.W.addBody(bodyDef2);
        PolygonShape shape2 = new PolygonShape();
        shape2.setAsBox(0.25f, 0.25f);
        Fixture f = newBody.addFixture(shape2, 1.0f);
        // trenie
        f.friction = 0.5f;
        // odrazivost
        f.restitution = 0.0f;
        f.material = new Uniform();
        f.material.m_rigidity = 1.0f;
    }
    // //ceiling rack
    // addBox(p.W, -1, +0.4f, 0, +0.65f, false, true, true, true);
    // new Pacman(p.W);
    {
        p.W.setContactListener(new Explosives.ExplosionContacts());
        TheoJansen t = new TheoJansen(p.W, 0.35f);
        PhyWall.PhyWindow pw = p.put(new Gridding(0.5f, new Port((float[] v) -> {
            // System.out.println(v);
            t.motorJoint.setMotorSpeed(v[0] * 2 - v[1] * 2);
            t.motorJoint.setMaxMotorTorque(v[2]);
            t.motorJoint.enableLimit(true);
            t.motorJoint.setLimits((float) (-v[3] * Math.PI), (float) (+v[4] * Math.PI));
            if (v[5] > 0.5f) {
                t.gun.fire();
            }
            t.turretJoint.setLimits((float) (+Math.PI / 2 + v[6] * Math.PI - 0.1f), (float) (+Math.PI / 2 + v[6] * Math.PI + 0.1f));
        })), 0.8f, 0.4f);
        p.W.addJoint(new RevoluteJoint(p.W, new RevoluteJointDef(pw.body, t.chassis)));
    }
    {
        p.W.setParticleRadius(0.05f);
        p.W.setParticleDamping(0.1f);
        CircleShape shape = new CircleShape();
        shape.center.set(0, 10);
        shape.radius = 2f;
        ParticleGroupDef pd = new ParticleGroupDef();
        pd.flags = ParticleType.b2_waterParticle;
        // b2_viscousParticle;
        // b2_elasticParticle;
        // b2_springParticle;
        // b2_powderParticle;
        pd.color = new ParticleColor(0.7f, 0.1f, 0.1f, 0.8f);
        pd.shape = shape;
        p.W.addParticles(pd);
    }
    HaiQae q = new HaiQae(8, 2);
    float[] in = new float[q.ae.inputs()];
    final Tensor randomVector = Tensor.randomVectorGauss(in.length, 0, 1, rng);
    final FloatRange lerpRate = new FloatRange(0.01f, 0, 1f);
    final TensorLERP lerpVector = new TensorLERP(randomVector, lerpRate);
    PhyWall.PhyWindow w = p.put(new Gridding(0.25f, new AutoUpdateMatrixView(lerpVector.data), new LabeledPane("lerp", new XYSlider().on((x, y) -> {
        lerpRate.set(x);
    })), new LabeledPane("out", new Port((x) -> {
    }) {

        @Override
        public void prePaint(int dtMS) {
            super.prePaint(dtMS);
            out(lerpVector.data);
        }
    })), 0.5f, 0.5f);
    p.put(new TogglePort(), 0.25f, 0.25f);
    PhyWall.PhyWindow qw = p.put(new Gridding(new Label("HaiQ"), new AutoSurface<>(q), new LabeledPane("input", new Port((float[] i) -> {
        System.arraycopy(i, 0, in, 0, i.length);
    })), new Gridding(VERTICAL, new AutoUpdateMatrixView(in), new AutoUpdateMatrixView(q.ae.x), new AutoUpdateMatrixView(q.ae.W), new AutoUpdateMatrixView(q.ae.y)), new Gridding(VERTICAL, new AutoUpdateMatrixView(q.q), new AutoUpdateMatrixView(q.et))), 1, 1);
    Loop.of(() -> {
        lerpVector.update();
        q.act((((float) Math.random()) - 0.5f) * 2, in);
    }).runFPS(25);
}