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

Example 6 with Fixture

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

the class Rover method newTorso.

@Override
protected Body newTorso() {
    PolygonShape shape = new PolygonShape();
    Vec2[] vertices = { new Vec2(3.0f, 0.0f), new Vec2(-1.0f, +2.0f), new Vec2(-1.0f, -2.0f) };
    shape.set(vertices, vertices.length);
    // shape.m_centroid.set(bodyDef.position);
    BodyDef bd = new BodyDef();
    bd.linearDamping = (linearDamping);
    bd.angularDamping = (angularDamping);
    bd.type = BodyType.DYNAMIC;
    bd.position.set(0, 0);
    Body torso = getWorld().createBody(bd);
    Fixture f = torso.createFixture(shape, mass);
    f.setRestitution(restitution);
    f.setFriction(friction);
    // for (int i = -pixels / 2; i <= pixels / 2; i++) {
    for (int i = 0; i < retinaPixels; i++) {
        final int ii = i;
        final float angle = /*MathUtils.PI / 2f*/
        aStep * i;
        final boolean eats = ((angle < mouthArc / 2f) || (angle > (Math.PI * 2f) - mouthArc / 2f));
        // System.out.println(i + " " + angle + " " + eats);
        VisionRay v = new VisionRay(this, torso, /*eats ?*/
        mouthPoint, /*: new Vec2(0,0)*/
        angle, aStep, retinaRaysPerPixel, L, distanceResolution) {

            @Override
            public void onTouch(Body touched, float di) {
                if (touched == null)
                    return;
                if (touched.getUserData() instanceof Sim.Edible) {
                    if (eats) {
                        if (di <= biteDistanceThreshold)
                            eat(touched);
                    /*} else if (di <= tasteDistanceThreshold) {
                                //taste(touched, di );
                            }*/
                    }
                }
            }
        };
        v.sparkColor = new Color3f(0.5f, 0.4f, 0.4f);
        v.normalColor = new Color3f(0.4f, 0.4f, 0.4f);
        ((JoglAbstractDraw) draw).addLayer(v);
        senses.add(v);
    }
    return torso;
}

Example 7 with Fixture

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

the class RoverWorld method addBlock.

public Body addBlock(float x, float y, float w, float h, float a, float mass) {
    PolygonShape shape = new PolygonShape();
    shape.setAsBox(w, h);
    BodyDef bd = new BodyDef();
    if (mass != 0) {
        bd.linearDamping = (0.95f);
        bd.angularDamping = (0.8f);
        bd.type = BodyType.DYNAMIC;
    } else {
        bd.type = BodyType.STATIC;
    }
    bd.position.set(x, y);
    Body body = p.getWorld().createBody(bd);
    Fixture fd = body.createFixture(shape, mass);
    fd.setRestitution(1f);
    return body;
}

Example 8 with Fixture

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

the class PositionSolverManifold method init.

public final void init(ContactSolverDef def) {
    // System.out.println("Initializing contact solver");
    m_step = def.step;
    m_count = def.count;
    if (m_positionConstraints.length < m_count) {
        ContactPositionConstraint[] old = m_positionConstraints;
        m_positionConstraints = new ContactPositionConstraint[MathUtils.max(old.length * 2, m_count)];
        System.arraycopy(old, 0, m_positionConstraints, 0, old.length);
        for (int i = old.length; i < m_positionConstraints.length; i++) {
            m_positionConstraints[i] = new ContactPositionConstraint();
        }
    }
    if (m_velocityConstraints.length < m_count) {
        ContactVelocityConstraint[] old = m_velocityConstraints;
        m_velocityConstraints = new ContactVelocityConstraint[MathUtils.max(old.length * 2, m_count)];
        System.arraycopy(old, 0, m_velocityConstraints, 0, old.length);
        for (int i = old.length; i < m_velocityConstraints.length; i++) {
            m_velocityConstraints[i] = new ContactVelocityConstraint();
        }
    }
    m_positions = def.positions;
    m_velocities = def.velocities;
    m_contacts = def.contacts;
    for (int i = 0; i < m_count; ++i) {
        // System.out.println("contacts: " + m_count);
        final Contact contact = m_contacts[i];
        final Fixture fixtureA = contact.aFixture;
        final Fixture fixtureB = contact.bFixture;
        final Shape shapeA = fixtureA.shape();
        final Shape shapeB = fixtureB.shape();
        final float radiusA = shapeA.radius;
        final float radiusB = shapeB.radius;
        final Body2D bodyA = fixtureA.getBody();
        final Body2D bodyB = fixtureB.getBody();
        final Manifold manifold = contact.getManifold();
        int pointCount = manifold.pointCount;
        assert (pointCount > 0);
        ContactVelocityConstraint vc = m_velocityConstraints[i];
        vc.friction = contact.m_friction;
        vc.restitution = contact.m_restitution;
        vc.tangentSpeed = contact.m_tangentSpeed;
        vc.indexA = bodyA.island;
        vc.indexB = bodyB.island;
        vc.invMassA = bodyA.m_invMass;
        vc.invMassB = bodyB.m_invMass;
        vc.invIA = bodyA.m_invI;
        vc.invIB = bodyB.m_invI;
        vc.contactIndex = i;
        vc.pointCount = pointCount;
        vc.K.setZero();
        vc.normalMass.setZero();
        ContactPositionConstraint pc = m_positionConstraints[i];
        pc.indexA = bodyA.island;
        pc.indexB = bodyB.island;
        pc.invMassA = bodyA.m_invMass;
        pc.invMassB = bodyB.m_invMass;
        pc.localCenterA.set(bodyA.sweep.localCenter);
        pc.localCenterB.set(bodyB.sweep.localCenter);
        pc.invIA = bodyA.m_invI;
        pc.invIB = bodyB.m_invI;
        pc.localNormal.set(manifold.localNormal);
        pc.localPoint.set(manifold.localPoint);
        pc.pointCount = pointCount;
        pc.radiusA = radiusA;
        pc.radiusB = radiusB;
        pc.type = manifold.type;
        // System.out.println("contact point count: " + pointCount);
        for (int j = 0; j < pointCount; j++) {
            ManifoldPoint cp = manifold.points[j];
            VelocityConstraintPoint vcp = vc.points[j];
            if (m_step.warmStarting) {
                // assert(cp.normalImpulse == 0);
                // System.out.println("contact normal impulse: " + cp.normalImpulse);
                vcp.normalImpulse = m_step.dtRatio * cp.normalImpulse;
                vcp.tangentImpulse = m_step.dtRatio * cp.tangentImpulse;
            } else {
                vcp.normalImpulse = 0;
                vcp.tangentImpulse = 0;
            }
            vcp.rA.setZero();
            vcp.rB.setZero();
            vcp.normalMass = 0;
            vcp.tangentMass = 0;
            vcp.velocityBias = 0;
            pc.localPoints[j].x = cp.localPoint.x;
            pc.localPoints[j].y = cp.localPoint.y;
        }
    }
}