Breakable()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
// Breakable dynamic body
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 40.0f);
bd.angle = 0.25f * (float)Math.PI;
m_body1 = m_world.CreateBody(bd);
m_shape1.SetAsBox(0.5f, 0.5f, new Vec2(-0.5f, 0.0f), 0.0f);
m_shape1.Density = 1;
m_piece1 = m_body1.CreateFixture(m_shape1);
m_shape2.SetAsBox(0.5f, 0.5f, new Vec2(0.5f, 0.0f), 0.0f);
m_shape2.Density = 1;
m_piece2 = m_body1.CreateFixture(m_shape2);
}
m_break = false;
m_broke = false;
}
public ShapeEditing()
{
{
BodyDef bd1 = new BodyDef();
Body ground = m_world.CreateBody(bd1);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 10.0f);
m_body = m_world.CreateBody(bd);
PolygonShape shape2 = new PolygonShape();
shape2.SetAsBox(4.0f, 4.0f, new Vec2(0.0f, 0.0f), 0.0f);
shape2.Density = 10;
m_fixture1 = m_body.CreateFixture(shape2);
m_fixture2 = null;
m_sensor = false;
}
public SphereStack()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.0f;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 4.0f + 3.0f * i);
m_bodies[i] = m_world.CreateBody(bd);
m_bodies[i].CreateFixture(shape);
m_bodies[i].SetLinearVelocity(new Vec2(0.0f, -50.0f));
}
}
}
public SensorTest()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
{
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
#if ZERO
{
FixtureDef sd;
sd.SetAsBox(10.0f, 2.0f, new Vec2(0.0f, 20.0f), 0.0f);
sd.IsSensor = true;
m_sensor = ground.CreateFixture(sd);
}
#else
{
CircleShape shape = new CircleShape();
shape.m_radius = 5.0f;
shape.m_p.Set(0.0f, 10.0f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.IsSensor = true;
m_sensor = ground.CreateFixture(fd);
}
#endif
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.0f;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f + 3.0f * i, 20.0f);
bd.UserData = m_touching[i];
m_touching[i] = false;
m_bodies[i] = m_world.CreateBody(bd);
m_bodies[i].CreateFixture(shape);
}
}
}
//e_columnCount = 1,
//e_rowCount = 1
public VerticalStack()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
shape.Set(new Vec2(20.0f, 0.0f), new Vec2(20.0f, 20.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
float[] xs = {0.0f, -10.0f, -5.0f, 5.0f, 10.0f};
for (int j = 0; j < e_columnCount; ++j)
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
fd.friction = 0.3f;
for (int i = 0; i < e_rowCount; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
int n = j * e_rowCount + i;
Utilities.Assert(n < e_rowCount * e_columnCount);
m_indices[n] = n;
bd.UserData = m_indices[n];
float x = 0.0f;
//float x = RandomFloat(-0.02f, 0.02f);
//float x = i % 2 == 0 ? -0.025f : 0.025f;
bd.Position.Set(xs[j] + x, 0.752f + 1.54f * i);
Body body = m_world.CreateBody(bd);
m_bodies[n] = body;
body.CreateFixture(fd);
}
}
m_bullet = null;
}
public Confined()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape2 = new EdgeShape();
// Floor
shape2.Set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
shape2.Density = 0;
ground.CreateFixture(shape2);
// Left wall
shape2.Set(new Vec2(-10.0f, 0.0f), new Vec2(-10.0f, 20.0f));
ground.CreateFixture(shape2);
// Right wall
shape2.Set(new Vec2(10.0f, 0.0f), new Vec2(10.0f, 20.0f));
ground.CreateFixture(shape2);
// Roof
shape2.Set(new Vec2(-10.0f, 20.0f), new Vec2(10.0f, 20.0f));
ground.CreateFixture(shape2);
}
float radius = 0.5f;
CircleShape shape = new CircleShape();
shape.m_p.SetZero();
shape.m_radius = radius;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
fd.friction = 0.1f;
for (int j = 0; j < e_columnCount; ++j)
{
for (int i = 0; i < e_rowCount; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f + (2.1f * j + 1.0f + 0.01f * i) * radius, (2.0f * i + 1.0f) * radius);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
m_world.SetGravity(new Vec2(0.0f, 0.0f));
}
public OneSidedPlatform()
{
// Ground
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
// Platform
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 10.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(3.0f, 0.5f);
shape.Density = 0;
m_platform = body.CreateFixture(shape);
m_bottom = 10.0f - 0.5f;
m_top = 10.0f + 0.5f;
}
// Actor
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 12.0f);
Body body = m_world.CreateBody(bd);
m_radius = 0.5f;
CircleShape shape = new CircleShape();
shape.m_radius = m_radius;
shape.Density = 20;
m_character = body.CreateFixture(shape);
body.SetLinearVelocity(new Vec2(0.0f, -50.0f));
m_state = State.e_unknown;
}
}
public Prismatic() {
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.5f);
shape.Density = 5;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f, 10.0f);
bd.angle = 0.5f * (float)Math.PI;
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
PrismaticJointDef pjd = new PrismaticJointDef();
// Bouncy limit
Vec2 axis = new Vec2(2.0f, 1.0f);
axis.Normalize();
pjd.Initialize(ground, body, new Vec2(0.0f, 0.0f), axis);
// Non-bouncy limit
//pjd.Initialize(ground, body, new Vec2(-10.0f, 10.0f), new Vec2(1.0f, 0.0f));
pjd.motorSpeed = 10.0f;
pjd.maxMotorForce = 10000.0f;
pjd.enableMotor = true;
pjd.lowerTranslation = 0.0f;
pjd.upperTranslation = 20.0f;
pjd.enableLimit = true;
m_joint = (PrismaticJoint)m_world.CreateJoint(pjd);
}
}
public BulletTest()
{
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 0.0f);
Body body = m_world.CreateBody(bd);
EdgeShape edge = new EdgeShape();
edge.Set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
edge.Density = 0;
body.CreateFixture(edge);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.0f), 0.0f);
shape.Density = 0;
body.CreateFixture(shape);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 4.0f);
PolygonShape box = new PolygonShape();
box.SetAsBox(2.0f, 0.1f);
box.Density = 100;
m_body = m_world.CreateBody(bd);
m_body.CreateFixture(box);
box.SetAsBox(0.25f, 0.25f);
//m_x = RandomFloat(-1.0f, 1.0f);
m_x = 0.20352793f;
bd.Position.Set(m_x, 10.0f);
bd.bullet = true;
m_bullet = m_world.CreateBody(bd);
m_bullet.CreateFixture(box);
m_bullet.SetLinearVelocity(new Vec2(0.0f, -50.0f));
}
}
public Chain()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.6f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
fd.friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
jd.collideConnected = false;
const float y = 25.0f;
Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.5f + i, y);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2((float)(i), y);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
prevBody = body;
}
}
}
public Pyramid()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
float a = 0.5f;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(a, a);
shape.Density = 5;
Vec2 x = new Vec2(-7.0f, 0.75f);
Vec2 y;
Vec2 deltaX = new Vec2(0.5625f, 1.25f);
Vec2 deltaY = new Vec2(1.125f, 0.0f);
for (int i = 0; i < e_count; ++i)
{
y = x;
for (int j = i; j < e_count; ++j)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position = y;
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
y += deltaY;
}
x += deltaX;
}
}
}
public ConveyorBelt()
{
// Ground
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
// Platform
{
BodyDef bd = new BodyDef();
bd.Position.Set(-5.0f, 5.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(10.0f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.8f;
m_platform = body.CreateFixture(fd);
}
// Boxes
for (int i = 0; i < 5; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f + 2.0f * i, 7.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
shape.Density = 20;
body.CreateFixture(shape);
}
}
public MotorJointTest()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.shape = shape;
ground.CreateFixture(fd);
}
// Define motorized body
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 8.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.Density = 2.0f;
body.CreateFixture(fd);
MotorJointDef mjd = new MotorJointDef();
mjd.Initialize(ground, body);
mjd.maxForce = 1000.0f;
mjd.maxTorque = 1000.0f;
m_joint = (MotorJoint)m_world.CreateJoint(mjd);
}
m_go = false;
m_time = 0.0f;
}
public VaryingRestitution()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.0f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
float[] restitution = {0.0f, 0.1f, 0.3f, 0.5f, 0.75f, 0.9f, 1.0f};
for (int i = 0; i < 7; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f + 3.0f * i, 20.0f);
Body body = m_world.CreateBody(bd);
fd.restitution = restitution[i];
body.CreateFixture(fd);
}
}
}
Bridge()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
fd.friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
if (i == (e_count >> 1))
{
m_middle = body;
}
prevBody = body;
}
Vec2 anchor2 = new Vec2(-15.0f + 1.0f * e_count, 5.0f);
jd.Initialize(prevBody, ground, anchor2);
m_world.CreateJoint(jd);
}
for (int i = 0; i < 2; ++i)
{
Vec2[] vertices = new Vec2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
PolygonShape shape = new PolygonShape();
shape.Set(vertices, 3);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-8.0f + 8.0f * i, 12.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 3; ++i)
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-6.0f + 6.0f * i, 10.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
/// Compute the collision manifold between an edge and a circle.
public static void CollideEdgeAndPolygon(out Manifold manifold,
EdgeShape edgeA, Transform xfA,
PolygonShape polygonB, Transform xfB) {
EPCollider collider = new EPCollider();
collider.Collide(out manifold, edgeA, xfA, polygonB, xfB);
}
/// Compute the collision manifold between an edge and a circle.
public static void CollideEdgeAndCircle(out Manifold manifold,
EdgeShape edgeA, Transform xfA,
CircleShape circleB, Transform xfB){
manifold = new Manifold();
// Compute circle in frame of edge
Vec2 Q = Utilities.MulT(xfA, Utilities.Mul(xfB, circleB.m_p));
Vec2 A = edgeA.m_vertex1, B = edgeA.m_vertex2;
Vec2 e = B - A;
// Barycentric coordinates
float u = Utilities.Dot(e, B - Q);
float v = Utilities.Dot(e, Q - A);
float radius = edgeA.m_radius + circleB.m_radius;
ContactFeature cf;
cf.indexB = 0;
cf.typeB = ContactFeature.FeatureType.e_vertex;
// Region A
if (v <= 0.0f)
{
Vec2 P = A;
Vec2 d = Q - P;
float dd = Utilities.Dot(d, d);
if (dd > radius * radius)
{
return;
}
// Is there an edge connected to A?
if (edgeA.m_hasVertex0)
{
Vec2 A1 = edgeA.m_vertex0;
Vec2 B1 = A;
Vec2 e1 = B1 - A1;
float u1 = Utilities.Dot(e1, B1 - Q);
// Is the circle in Region AB of the previous edge?
if (u1 > 0.0f)
{
return;
}
}
cf.indexA = 0;
cf.typeA = ContactFeature.FeatureType.e_vertex;
manifold.points.Clear();
manifold.points.Add(new ManifoldPoint());
manifold.type = Manifold.ManifoldType.e_circles;
manifold.localNormal.SetZero();
manifold.localPoint = P;
manifold.points[0].id.key = 0;
manifold.points[0].id.cf = cf;
manifold.points[0].localPoint = circleB.m_p;
return;
}
// Region B
if (u <= 0.0f)
{
Vec2 P = B;
Vec2 d = Q - P;
float dd = Utilities.Dot(d, d);
if (dd > radius * radius)
{
return;
}
// Is there an edge connected to B?
if (edgeA.m_hasVertex3)
{
Vec2 B2 = edgeA.m_vertex3;
Vec2 A2 = B;
Vec2 e2 = B2 - A2;
float v2 = Utilities.Dot(e2, Q - A2);
// Is the circle in Region AB of the next edge?
if (v2 > 0.0f)
{
return;
}
}
cf.indexA = 1;
cf.typeA = ContactFeature.FeatureType.e_vertex;
manifold.points.Clear();
manifold.points.Add(new ManifoldPoint());
manifold.type = Manifold.ManifoldType.e_circles;
manifold.localNormal.SetZero();
manifold.localPoint = P;
manifold.points[0].id.key = 0;
manifold.points[0].id.cf = cf;
manifold.points[0].localPoint = circleB.m_p;
return;
}
// Region AB
float den = Utilities.Dot(e, e);
Utilities.Assert(den > 0.0f);
Vec2 Pb = (1.0f / den) * (u * A + v * B);
Vec2 db = Q - Pb;
float ddb = Utilities.Dot(db, db);
if (ddb > radius * radius)
{
return;
}
Vec2 n = new Vec2(-e.Y, e.X);
if (Utilities.Dot(n, Q - A) < 0.0f)
{
n.Set(-n.X, -n.Y);
}
n.Normalize();
cf.indexA = 0;
cf.typeA = ContactFeature.FeatureType.e_face;
manifold.points.Clear();
manifold.points.Add(new ManifoldPoint());
manifold.type = Manifold.ManifoldType.e_faceA;
manifold.localNormal = n;
manifold.localPoint = A;
manifold.points[0].id.key = 0;
manifold.points[0].id.cf = cf;
manifold.points[0].localPoint = circleB.m_p;
}
public Revolute()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.shape = shape;
//fd.Filter.CategoryBits = 2;
ground.CreateFixture(fd);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
shape.Density = 5;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
RevoluteJointDef rjd = new RevoluteJointDef();
bd.Position.Set(-10.0f, 20.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
float w = 100.0f;
body.SetAngularVelocity(w);
body.SetLinearVelocity(new Vec2(-8.0f * w, 0.0f));
rjd.Initialize(ground, body, new Vec2(-10.0f, 12.0f));
rjd.motorSpeed = 1.0f * (float)Math.PI;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = false;
rjd.lowerAngle = -0.25f * (float)Math.PI;
rjd.upperAngle = 0.5f * (float)Math.PI;
rjd.enableLimit = true;
rjd.collideConnected = true;
m_joint = (RevoluteJoint)m_world.CreateJoint(rjd);
}
{
CircleShape circle_shape = new CircleShape();
circle_shape.m_radius = 3.0f;
BodyDef circle_bd = new BodyDef();
circle_bd.type = BodyType._dynamicBody;
circle_bd.Position.Set(5.0f, 30.0f);
FixtureDef fd = new FixtureDef();
fd.Density = 5.0f;
fd.Filter.MaskBits = 1;
fd.shape = circle_shape;
m_ball = m_world.CreateBody(circle_bd);
m_ball.CreateFixture(fd);
PolygonShape polygon_shape = new PolygonShape();
polygon_shape.SetAsBox(10.0f, 0.2f, new Vec2(-10.0f, 0.0f), 0.0f);
polygon_shape.Density = 2;
BodyDef polygon_bd = new BodyDef();
polygon_bd.Position.Set(20.0f, 10.0f);
polygon_bd.type = BodyType._dynamicBody;
polygon_bd.bullet = true;
Body polygon_body = m_world.CreateBody(polygon_bd);
polygon_body.CreateFixture(polygon_shape);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(ground, polygon_body, new Vec2(20.0f, 10.0f));
rjd.lowerAngle = -0.25f * (float)Math.PI;
rjd.upperAngle = 0.0f * (float)Math.PI;
rjd.enableLimit = true;
m_world.CreateJoint(rjd);
}
// Tests mass computation of a small object far from the origin
{
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType._dynamicBody;
Body body = m_world.CreateBody(bodyDef);
PolygonShape polyShape = new PolygonShape();
Vec2[] verts = new Vec2[3];
verts[0].Set( 17.63f, 36.31f );
verts[1].Set( 17.52f, 36.69f );
verts[2].Set( 17.19f, 36.36f );
polyShape.Set(verts, 3);
FixtureDef polyFixtureDef = new FixtureDef();
polyFixtureDef.shape = polyShape;
polyFixtureDef.Density = 1;
body.CreateFixture(polyFixtureDef); //assertion hits inside here
}
}
public EdgeShapes()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
float x1 = -20.0f;
float y1 = 2.0f * (float)Math.Cos(x1 / 10.0f * (float)Math.PI);
for (int i = 0; i < 80; ++i)
{
float x2 = x1 + 0.5f;
float y2 = 2.0f * (float)Math.Cos(x2 / 10.0f * (float)Math.PI);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(x1, y1), new Vec2(x2, y2));
shape.Density = 0;
ground.CreateFixture(shape);
x1 = x2;
y1 = y2;
}
}
{
Vec2[] vertices = new Vec2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
m_polygons[0].Set(vertices, 3);
}
{
Vec2[] vertices = new Vec2[3];
vertices[0].Set(-0.1f, 0.0f);
vertices[1].Set(0.1f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
m_polygons[1].Set(vertices, 3);
}
{
float w = 1.0f;
float b = w / (2.0f + (float)Math.Sqrt(2.0f));
float s = (float)Math.Sqrt(2.0f) * b;
Vec2[] vertices = new Vec2[8];
vertices[0].Set(0.5f * s, 0.0f);
vertices[1].Set(0.5f * w, b);
vertices[2].Set(0.5f * w, b + s);
vertices[3].Set(0.5f * s, w);
vertices[4].Set(-0.5f * s, w);
vertices[5].Set(-0.5f * w, b + s);
vertices[6].Set(-0.5f * w, b);
vertices[7].Set(-0.5f * s, 0.0f);
m_polygons[2].Set(vertices, 8);
}
{
m_polygons[3].SetAsBox(0.5f, 0.5f);
}
{
m_circle.m_radius = 0.5f;
}
m_bodyIndex = 0;
Array.Clear(m_bodies, 0, m_bodies.Length);
m_angle = 0.0f;
}
public CompoundShapes()
{
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 0.0f);
Body body = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
shape.Density = 0;
body.CreateFixture(shape);
}
{
CircleShape circle1 = new CircleShape();
circle1.m_radius = 0.5f;
circle1.m_p.Set(-0.5f, 0.5f);
circle1.Density = 2;
CircleShape circle2 = new CircleShape();
circle2.m_radius = 0.5f;
circle2.m_p.Set(0.5f, 0.5f);
circle2.Density = 0;
for (int i = 0; i < 10; ++i)
{
float x = RandomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(x + 5.0f, 1.05f + 2.5f * i);
bd.angle = RandomFloat(-(float)Math.PI, (float)Math.PI);
Body body = m_world.CreateBody(bd);
body.CreateFixture(circle1);
body.CreateFixture(circle2);
}
}
{
PolygonShape polygon1 = new PolygonShape();
polygon1.SetAsBox(0.25f, 0.5f);
polygon1.Density = 2;
PolygonShape polygon2 = new PolygonShape();
polygon2.SetAsBox(0.25f, 0.5f, new Vec2(0.0f, -0.5f), 0.5f * (float)Math.PI);
polygon2.Density = 2;
for (int i = 0; i < 10; ++i)
{
float x = RandomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(x - 5.0f, 1.05f + 2.5f * i);
bd.angle = RandomFloat(-(float)Math.PI, (float)Math.PI);
Body body = m_world.CreateBody(bd);
body.CreateFixture(polygon1);
body.CreateFixture(polygon2);
}
}
{
Transform xf1 = new Transform();
xf1.q.Set(0.3524f * (float)Math.PI);
xf1.p = xf1.q.GetXAxis();
Vec2[] vertices = new Vec2[3];
PolygonShape triangle1 = new PolygonShape();
vertices[0] = Utilities.Mul(xf1, new Vec2(-1.0f, 0.0f));
vertices[1] = Utilities.Mul(xf1, new Vec2(1.0f, 0.0f));
vertices[2] = Utilities.Mul(xf1, new Vec2(0.0f, 0.5f));
triangle1.Set(vertices, 3);
Transform xf2 = new Transform();
xf2.q.Set(-0.3524f * (float)Math.PI);
xf2.p = -xf2.q.GetXAxis();
PolygonShape triangle2 = new PolygonShape();
vertices[0] = Utilities.Mul(xf2, new Vec2(-1.0f, 0.0f));
vertices[1] = Utilities.Mul(xf2, new Vec2(1.0f, 0.0f));
vertices[2] = Utilities.Mul(xf2, new Vec2(0.0f, 0.5f));
triangle2.Set(vertices, 3);
for (int i = 0; i < 10; ++i)
{
float x = RandomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(x, 2.05f + 2.5f * i);
bd.angle = 0.0f;
Body body = m_world.CreateBody(bd);
triangle1.Density = 2;
triangle2.Density = 2;
body.CreateFixture(triangle1);
body.CreateFixture(triangle2);
}
}
{
PolygonShape bottom = new PolygonShape();
bottom.SetAsBox( 1.5f, 0.15f );
PolygonShape left = new PolygonShape();
left.SetAsBox(0.15f, 2.7f, new Vec2(-1.45f, 2.35f), 0.2f);
PolygonShape right = new PolygonShape();
right.SetAsBox(0.15f, 2.7f, new Vec2(1.45f, 2.35f), -0.2f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set( 0.0f, 2.0f );
Body body = m_world.CreateBody(bd);
bottom.Density = 4;
left.Density = 4;
right.Density = 4;
body.CreateFixture(bottom);
body.CreateFixture(left);
body.CreateFixture(right);
}
}
public CharacterCollision()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
// Collinear edges with no adjacency information.
// This shows the problematic case where a box shape can hit
// an internal vertex.
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Density = 0;
shape.Set(new Vec2(-8.0f, 1.0f), new Vec2(-6.0f, 1.0f));
ground.CreateFixture(shape);
shape.Set(new Vec2(-6.0f, 1.0f), new Vec2(-4.0f, 1.0f));
ground.CreateFixture(shape);
shape.Set(new Vec2(-4.0f, 1.0f), new Vec2(-2.0f, 1.0f));
ground.CreateFixture(shape);
}
// Chain shape
{
BodyDef bd = new BodyDef();
bd.angle = 0.25f * (float)Math.PI;
Body ground = m_world.CreateBody(bd);
Vec2[] vs = new Vec2[4];
vs[0].Set(5.0f, 7.0f);
vs[1].Set(6.0f, 8.0f);
vs[2].Set(7.0f, 8.0f);
vs[3].Set(8.0f, 7.0f);
ChainShape shape = new ChainShape();
shape.CreateChain(vs, 4);
shape.Density = 0;
ground.CreateFixture(shape);
}
// Square tiles. This shows that adjacency shapes may
// have non-smooth collision. There is no solution
// to this problem.
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.Density = 0;
shape.SetAsBox(1.0f, 1.0f, new Vec2(4.0f, 3.0f), 0.0f);
ground.CreateFixture(shape);
shape.SetAsBox(1.0f, 1.0f, new Vec2(6.0f, 3.0f), 0.0f);
ground.CreateFixture(shape);
shape.SetAsBox(1.0f, 1.0f, new Vec2(8.0f, 3.0f), 0.0f);
ground.CreateFixture(shape);
}
// Square made from an edge loop. Collision should be smooth.
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
Vec2[] vs = new Vec2[4];
vs[0].Set(-1.0f, 3.0f);
vs[1].Set(1.0f, 3.0f);
vs[2].Set(1.0f, 5.0f);
vs[3].Set(-1.0f, 5.0f);
ChainShape shape = new ChainShape();
shape.CreateLoop(vs, 4);
shape.Density = 0;
ground.CreateFixture(shape);
}
// Edge loop. Collision should be smooth.
{
BodyDef bd = new BodyDef();
bd.Position.Set(-10.0f, 4.0f);
Body ground = m_world.CreateBody(bd);
Vec2[] vs = new Vec2[10];
vs[0].Set(0.0f, 0.0f);
vs[1].Set(6.0f, 0.0f);
vs[2].Set(6.0f, 2.0f);
vs[3].Set(4.0f, 1.0f);
vs[4].Set(2.0f, 2.0f);
vs[5].Set(0.0f, 2.0f);
vs[6].Set(-2.0f, 2.0f);
vs[7].Set(-4.0f, 3.0f);
vs[8].Set(-6.0f, 2.0f);
vs[9].Set(-6.0f, 0.0f);
ChainShape shape = new ChainShape();
shape.CreateLoop(vs, 10);
shape.Density = 0;
ground.CreateFixture(shape);
}
// Square character 1
{
BodyDef bd = new BodyDef();
bd.Position.Set(-3.0f, 8.0f);
bd.type = BodyType._dynamicBody;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
body.CreateFixture(fd);
}
// Square character 2
{
BodyDef bd = new BodyDef();
bd.Position.Set(-5.0f, 5.0f);
bd.type = BodyType._dynamicBody;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
body.CreateFixture(fd);
}
// Hexagon character
{
BodyDef bd = new BodyDef();
bd.Position.Set(-5.0f, 8.0f);
bd.type = BodyType._dynamicBody;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
float angle = 0.0f;
float delta = (float)Math.PI / 3.0f;
Vec2[] vertices = new Vec2[6];
for (int i = 0; i < 6; ++i)
{
vertices[i].Set(0.5f * (float)Math.Cos(angle), 0.5f * (float)Math.Sin(angle));
angle += delta;
}
PolygonShape shape = new PolygonShape();
shape.Set(vertices, 6);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
body.CreateFixture(fd);
}
// Circle character
{
BodyDef bd = new BodyDef();
bd.Position.Set(3.0f, 5.0f);
bd.type = BodyType._dynamicBody;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
body.CreateFixture(fd);
}
// Circle character
{
BodyDef bd = new BodyDef();
bd.Position.Set(-7.0f, 6.0f);
bd.type = BodyType._dynamicBody;
bd.allowSleep = false;
m_character = m_world.CreateBody(bd);
CircleShape shape = new CircleShape();
shape.m_radius = 0.25f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
fd.friction = 1.0f;
m_character.CreateFixture(fd);
}
}
public BodyTypes()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.shape = shape;
ground.CreateFixture(fd);
}
// Define attachment
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 3.0f);
m_attachment = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
shape.Density = 2;
m_attachment.CreateFixture(shape);
}
// Define platform
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-4.0f, 5.0f);
m_platform = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f, new Vec2(4.0f, 0.0f), 0.5f * (float)Math.PI);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.Density = 2.0f;
m_platform.CreateFixture(fd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(m_attachment, m_platform, new Vec2(0.0f, 5.0f));
rjd.maxMotorTorque = 50.0f;
rjd.enableMotor = true;
m_world.CreateJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, m_platform, new Vec2(0.0f, 5.0f), new Vec2(1.0f, 0.0f));
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
pjd.lowerTranslation = -10.0f;
pjd.upperTranslation = 10.0f;
pjd.enableLimit = true;
m_world.CreateJoint(pjd);
m_speed = 3.0f;
}
// Create a payload
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 8.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.75f, 0.75f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.Density = 2.0f;
body.CreateFixture(fd);
}
}
public CollisionFiltering()
{
// Ground body
{
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.friction = 0.3f;
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(sd);
}
// Small triangle
Vec2[] vertices = new Vec2[3];
vertices[0].Set(-1.0f, 0.0f);
vertices[1].Set(1.0f, 0.0f);
vertices[2].Set(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape();
polygon.Set(vertices, 3);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.shape = polygon;
triangleShapeDef.Density = 1.0f;
triangleShapeDef.Filter.GroupIndex = k_smallGroup;
triangleShapeDef.Filter.CategoryBits = k_triangleCategory;
triangleShapeDef.Filter.MaskBits = k_triangleMask;
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.type = BodyType._dynamicBody;
triangleBodyDef.Position.Set(-5.0f, 2.0f);
Body body1 = m_world.CreateBody(triangleBodyDef);
body1.CreateFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Set(vertices, 3);
triangleShapeDef.Filter.GroupIndex = k_largeGroup;
triangleBodyDef.Position.Set(-5.0f, 6.0f);
triangleBodyDef.fixedRotation = true; // look at me!
Body body2 = m_world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-5.0f, 10.0f);
Body body = m_world.CreateBody(bd);
PolygonShape p = new PolygonShape();
p.SetAsBox(0.5f, 1.0f);
body.CreateFixture(p);
PrismaticJointDef jd = new PrismaticJointDef();
jd.bodyA = body2;
jd.bodyB = body;
jd.enableLimit = true;
jd.localAnchorA.Set(0.0f, 4.0f);
jd.localAnchorB.SetZero();
jd.localAxisA.Set(0.0f, 1.0f);
jd.lowerTranslation = -1.0f;
jd.upperTranslation = 1.0f;
m_world.CreateJoint(jd);
}
// Small box
polygon.SetAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.shape = polygon;
boxShapeDef.Density = 1.0f;
boxShapeDef.restitution = 0.1f;
boxShapeDef.Filter.GroupIndex = k_smallGroup;
boxShapeDef.Filter.CategoryBits = k_boxCategory;
boxShapeDef.Filter.MaskBits = k_boxMask;
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.type = BodyType._dynamicBody;
boxBodyDef.Position.Set(0.0f, 2.0f);
Body body3 = m_world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxShapeDef.Filter.GroupIndex = k_largeGroup;
boxBodyDef.Position.Set(0.0f, 6.0f);
Body body4 = m_world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle.m_radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.shape = circle;
circleShapeDef.Density = 1.0f;
circleShapeDef.Filter.GroupIndex = k_smallGroup;
circleShapeDef.Filter.CategoryBits = k_circleCategory;
circleShapeDef.Filter.MaskBits = k_circleMask;
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.type = BodyType._dynamicBody;
circleBodyDef.Position.Set(5.0f, 2.0f);
Body body5 = m_world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle.m_radius *= 2.0f;
circleShapeDef.Filter.GroupIndex = k_largeGroup;
circleBodyDef.Position.Set(5.0f, 6.0f);
Body body6 = m_world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
private void DrawShape(Fixture fixture, Transform xf, Color color)
{
switch (fixture.GetShapeType())
{
case ShapeType.Circle:
{
CircleShape circle = (CircleShape)fixture.GetShape();
Vec2 center = Utilities.Mul(xf, circle.m_p);
float radius = circle.m_radius;
Vec2 axis = Utilities.Mul(xf.q, new Vec2(1.0f, 0.0f));
m_debugDraw.DrawSolidCircle(center, radius, axis, color);
}
break;
case ShapeType.Edge:
{
EdgeShape edge = (EdgeShape)fixture.GetShape();
Vec2 v1 = Utilities.Mul(xf, edge.m_vertex1);
Vec2 v2 = Utilities.Mul(xf, edge.m_vertex2);
m_debugDraw.DrawSegment(v1, v2, color);
}
break;
case ShapeType.Chain:
{
ChainShape chain = (ChainShape)fixture.GetShape();
int count = chain.m_count;
List <Vec2> vertices = chain.m_vertices;
Vec2 v1 = Utilities.Mul(xf, vertices[0]);
for (int i = 1; i < count; ++i)
{
Vec2 v2 = Utilities.Mul(xf, vertices[i]);
m_debugDraw.DrawSegment(v1, v2, color);
m_debugDraw.DrawCircle(v1, 0.05f, color);
v1 = v2;
}
}
break;
case ShapeType.Polygon:
{
PolygonShape poly = (PolygonShape)fixture.GetShape();
int vertexCount = poly.m_count;
Utilities.Assert(vertexCount <= Settings._maxPolygonVertices);
Vec2[] vertices = new Vec2[Settings._maxPolygonVertices];
for (int i = 0; i < vertexCount; ++i)
{
vertices[i] = Utilities.Mul(xf, poly.m_vertices[i]);
}
m_debugDraw.DrawSolidPolygon(vertices, vertexCount, color);
}
break;
default:
break;
}
}
public ApplyForce() {
m_world.SetGravity(new Vec2(0.0f, 0.0f));
const float k_restitution = 0.4f;
Body ground;
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 20.0f);
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.Density = 0.0f;
sd.restitution = k_restitution;
// Left vertical
shape.Set(new Vec2(-20.0f, -20.0f), new Vec2(-20.0f, 20.0f));
ground.CreateFixture(sd);
// Right vertical
shape.Set(new Vec2(20.0f, -20.0f), new Vec2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Top horizontal
shape.Set(new Vec2(-20.0f, 20.0f), new Vec2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Bottom horizontal
shape.Set(new Vec2(-20.0f, -20.0f), new Vec2(20.0f, -20.0f));
ground.CreateFixture(sd);
}
{
Transform xf1 = new Transform();
xf1.q.Set(0.3524f * (float)Math.PI);
xf1.p = xf1.q.GetXAxis();
Vec2[] vertices = new Vec2[3];
vertices[0] = Utilities.Mul(xf1, new Vec2(-1.0f, 0.0f));
vertices[1] = Utilities.Mul(xf1, new Vec2(1.0f, 0.0f));
vertices[2] = Utilities.Mul(xf1, new Vec2(0.0f, 0.5f));
PolygonShape poly1 = new PolygonShape();
poly1.Set(vertices, 3);
FixtureDef sd1 = new FixtureDef();
sd1.shape = poly1;
sd1.Density = 4.0f;
Transform xf2 = new Transform();
xf2.q.Set(-0.3524f * (float)Math.PI);
xf2.p = -xf2.q.GetXAxis();
vertices[0] = Utilities.Mul(xf2, new Vec2(-1.0f, 0.0f));
vertices[1] = Utilities.Mul(xf2, new Vec2(1.0f, 0.0f));
vertices[2] = Utilities.Mul(xf2, new Vec2(0.0f, 0.5f));
PolygonShape poly2 = new PolygonShape();
poly2.Set(vertices, 3);
FixtureDef sd2 = new FixtureDef();
sd2.shape = poly2;
sd2.Density = 2.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.angularDamping = 5.0f;
bd.linearDamping = 0.1f;
bd.Position.Set(0.0f, 2.0f);
bd.angle = (float)Math.PI;
bd.allowSleep = false;
m_body = m_world.CreateBody(bd);
m_body.CreateFixture(sd1);
m_body.CreateFixture(sd2);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
fd.friction = 0.3f;
for (int i = 0; i < 10; ++i) {
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 5.0f + 1.54f * i);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
float gravity = 10.0f;
float I = body.GetInertia();
float mass = body.GetMass();
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = (float)Math.Sqrt(2.0f * I / mass);
FrictionJointDef jd = new FrictionJointDef();
jd.localAnchorA.SetZero();
jd.localAnchorB.SetZero();
jd.bodyA = ground;
jd.bodyB = body;
jd.collideConnected = true;
jd.maxForce = mass * gravity;
jd.maxTorque = mass * radius * gravity;
m_world.CreateJoint(jd);
}
}
}
public Car()
{
m_hz = 4.0f;
m_zeta = 0.7f;
m_speed = 50.0f;
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 0.0f;
fd.friction = 0.6f;
shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
ground.CreateFixture(fd);
float[] hs = new float[]{0.25f, 1.0f, 4.0f, 0.0f, 0.0f, -1.0f, -2.0f, -2.0f, -1.25f, 0.0f};
float x = 20.0f, y1 = 0.0f, dx = 5.0f;
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
shape.Set(new Vec2(x, y1), new Vec2(x + dx, y2));
ground.CreateFixture(fd);
y1 = y2;
x += dx;
}
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
shape.Set(new Vec2(x, y1), new Vec2(x + dx, y2));
ground.CreateFixture(fd);
y1 = y2;
x += dx;
}
shape.Set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 80.0f;
shape.Set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 40.0f;
shape.Set(new Vec2(x, 0.0f), new Vec2(x + 10.0f, 5.0f));
ground.CreateFixture(fd);
x += 20.0f;
shape.Set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 40.0f;
shape.Set(new Vec2(x, 0.0f), new Vec2(x, 20.0f));
ground.CreateFixture(fd);
}
// Teeter
{
BodyDef bd = new BodyDef();
bd.Position.Set(140.0f, 1.0f);
bd.type = BodyType._dynamicBody;
Body body = m_world.CreateBody(bd);
PolygonShape box = new PolygonShape();
box.SetAsBox(10.0f, 0.25f);
box.Density = 1;
body.CreateFixture(box);
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(ground, body, body.GetPosition());
jd.lowerAngle = -8.0f * (float)Math.PI / 180.0f;
jd.upperAngle = 8.0f * (float)Math.PI / 180.0f;
jd.enableLimit = true;
m_world.CreateJoint(jd);
body.ApplyAngularImpulse(100.0f, true);
}
// Bridge
{
int N = 20;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
fd.friction = 0.6f;
RevoluteJointDef jd = new RevoluteJointDef();
Body prevBody = ground;
for (int i = 0; i < N; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(161.0f + 2.0f * i, -0.125f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2(160.0f + 2.0f * i, -0.125f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
prevBody = body;
}
Vec2 anchor2 = new Vec2(160.0f + 2.0f * N, -0.125f);
jd.Initialize(prevBody, ground, anchor2);
m_world.CreateJoint(jd);
}
// Boxes
{
PolygonShape box = new PolygonShape();
box.SetAsBox(0.5f, 0.5f);
box.Density = 0.5f;
Body body = null;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(230.0f, 0.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
bd.Position.Set(230.0f, 1.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
bd.Position.Set(230.0f, 2.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
bd.Position.Set(230.0f, 3.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
bd.Position.Set(230.0f, 4.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
}
// Car
{
PolygonShape chassis = new PolygonShape();
Vec2[] vertices = new Vec2[8];
vertices[0].Set(-1.5f, -0.5f);
vertices[1].Set(1.5f, -0.5f);
vertices[2].Set(1.5f, 0.0f);
vertices[3].Set(0.0f, 0.9f);
vertices[4].Set(-1.15f, 0.9f);
vertices[5].Set(-1.5f, 0.2f);
chassis.Set(vertices, 6);
CircleShape circle = new CircleShape();
circle.m_radius = 0.4f;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 1.0f);
m_car = m_world.CreateBody(bd);
m_car.CreateFixture(chassis);
FixtureDef fd = new FixtureDef();
fd.shape = circle;
fd.Density = 1.0f;
fd.friction = 0.9f;
bd.Position.Set(-1.0f, 0.35f);
m_wheel1 = m_world.CreateBody(bd);
m_wheel1.CreateFixture(fd);
bd.Position.Set(1.0f, 0.4f);
m_wheel2 = m_world.CreateBody(bd);
m_wheel2.CreateFixture(fd);
WheelJointDef jd = new WheelJointDef();
Vec2 axis = new Vec2(0.0f, 1.0f);
jd.Initialize(m_car, m_wheel1, m_wheel1.GetPosition(), axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 20.0f;
jd.enableMotor = true;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring1 = (WheelJoint)m_world.CreateJoint(jd);
jd.Initialize(m_car, m_wheel2, m_wheel2.GetPosition(), axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 10.0f;
jd.enableMotor = false;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring2 = (WheelJoint)m_world.CreateJoint(jd);
}
}
// Algorithm:
// 1. Classify v1 and v2
// 2. Classify polygon centroid as front or back
// 3. Flip normal if necessary
// 4. Initialize normal range to [-pi, pi] about face normal
// 5. Adjust normal range according to adjacent edges
// 6. Visit each separating axes, only accept axes within the range
// 7. Return if _any_ axis indicates separation
// 8. Clip
public void Collide(out Manifold manifold, EdgeShape edgeA, Transform xfA, PolygonShape polygonB, Transform xfB){
manifold = new Manifold();
m_xf = Utilities.MulT(xfA, xfB);
m_centroidB = Utilities.Mul(m_xf, polygonB.m_centroid);
m_v0 = edgeA.m_vertex0;
m_v1 = edgeA.m_vertex1;
m_v2 = edgeA.m_vertex2;
m_v3 = edgeA.m_vertex3;
bool hasVertex0 = edgeA.m_hasVertex0;
bool hasVertex3 = edgeA.m_hasVertex3;
Vec2 edge1 = m_v2 - m_v1;
edge1.Normalize();
m_normal1.Set(edge1.Y, -edge1.X);
float offset1 = Utilities.Dot(m_normal1, m_centroidB - m_v1);
float offset0 = 0.0f, offset2 = 0.0f;
bool convex1 = false, convex2 = false;
// Is there a preceding edge?
if (hasVertex0)
{
Vec2 edge0 = m_v1 - m_v0;
edge0.Normalize();
m_normal0.Set(edge0.Y, -edge0.X);
convex1 = Utilities.Cross(edge0, edge1) >= 0.0f;
offset0 = Utilities.Dot(m_normal0, m_centroidB - m_v0);
}
// Is there a following edge?
if (hasVertex3)
{
Vec2 edge2 = m_v3 - m_v2;
edge2.Normalize();
m_normal2.Set(edge2.Y, -edge2.X);
convex2 = Utilities.Cross(edge1, edge2) > 0.0f;
offset2 = Utilities.Dot(m_normal2, m_centroidB - m_v2);
}
// Determine front or back collision. Determine collision normal limits.
if (hasVertex0 && hasVertex3)
{
if (convex1 && convex2)
{
m_front = offset0 >= 0.0f || offset1 >= 0.0f || offset2 >= 0.0f;
if (m_front)
{
m_normal = m_normal1;
m_lowerLimit = m_normal0;
m_upperLimit = m_normal2;
}
else
{
m_normal = -m_normal1;
m_lowerLimit = -m_normal1;
m_upperLimit = -m_normal1;
}
}
else if (convex1)
{
m_front = offset0 >= 0.0f || (offset1 >= 0.0f && offset2 >= 0.0f);
if (m_front)
{
m_normal = m_normal1;
m_lowerLimit = m_normal0;
m_upperLimit = m_normal1;
}
else
{
m_normal = -m_normal1;
m_lowerLimit = -m_normal2;
m_upperLimit = -m_normal1;
}
}
else if (convex2)
{
m_front = offset2 >= 0.0f || (offset0 >= 0.0f && offset1 >= 0.0f);
if (m_front)
{
m_normal = m_normal1;
m_lowerLimit = m_normal1;
m_upperLimit = m_normal2;
}
else
{
m_normal = -m_normal1;
m_lowerLimit = -m_normal1;
m_upperLimit = -m_normal0;
}
}
else
{
m_front = offset0 >= 0.0f && offset1 >= 0.0f && offset2 >= 0.0f;
if (m_front)
{
m_normal = m_normal1;
m_lowerLimit = m_normal1;
m_upperLimit = m_normal1;
}
else
{
m_normal = -m_normal1;
m_lowerLimit = -m_normal2;
m_upperLimit = -m_normal0;
}
}
}
else if (hasVertex0)
{
if (convex1)
{
m_front = offset0 >= 0.0f || offset1 >= 0.0f;
if (m_front)
{
m_normal = m_normal1;
m_lowerLimit = m_normal0;
m_upperLimit = -m_normal1;
}
else
{
m_normal = -m_normal1;
m_lowerLimit = m_normal1;
m_upperLimit = -m_normal1;
}
}
else
{
m_front = offset0 >= 0.0f && offset1 >= 0.0f;
if (m_front)
{
m_normal = m_normal1;
m_lowerLimit = m_normal1;
m_upperLimit = -m_normal1;
}
else
{
m_normal = -m_normal1;
m_lowerLimit = m_normal1;
m_upperLimit = -m_normal0;
}
}
}
else if (hasVertex3)
{
if (convex2)
{
m_front = offset1 >= 0.0f || offset2 >= 0.0f;
if (m_front)
{
m_normal = m_normal1;
m_lowerLimit = -m_normal1;
m_upperLimit = m_normal2;
}
else
{
m_normal = -m_normal1;
m_lowerLimit = -m_normal1;
m_upperLimit = m_normal1;
}
}
else
{
m_front = offset1 >= 0.0f && offset2 >= 0.0f;
if (m_front)
{
m_normal = m_normal1;
m_lowerLimit = -m_normal1;
m_upperLimit = m_normal1;
}
else
{
m_normal = -m_normal1;
m_lowerLimit = -m_normal2;
m_upperLimit = m_normal1;
}
}
}
else
{
m_front = offset1 >= 0.0f;
if (m_front)
{
m_normal = m_normal1;
m_lowerLimit = -m_normal1;
m_upperLimit = -m_normal1;
}
else
{
m_normal = -m_normal1;
m_lowerLimit = m_normal1;
m_upperLimit = m_normal1;
}
}
// Get polygonB in frameA
m_polygonB.count = polygonB.m_count;
for (int i = 0; i < polygonB.m_count; ++i)
{
m_polygonB.vertices[i] = Utilities.Mul(m_xf, polygonB.m_vertices[i]);
m_polygonB.normals[i] = Utilities.Mul(m_xf.q, polygonB.m_normals[i]);
}
m_radius = 2.0f * Settings._polygonRadius;
manifold.points.Clear();
EPAxis edgeAxis = ComputeEdgeSeparation();
// If no valid normal can be found than this edge should not collide.
if (edgeAxis.type == EPAxisType.e_unknown)
{
return;
}
if (edgeAxis.separation > m_radius)
{
return;
}
EPAxis polygonAxis = ComputePolygonSeparation();
if (polygonAxis.type != EPAxisType.e_unknown && polygonAxis.separation > m_radius)
{
return;
}
// Use hysteresis for jitter reduction.
const float k_relativeTol = 0.98f;
const float k_absoluteTol = 0.001f;
EPAxis primaryAxis;
if (polygonAxis.type == EPAxisType.e_unknown)
{
primaryAxis = edgeAxis;
}
else if (polygonAxis.separation > k_relativeTol * edgeAxis.separation + k_absoluteTol)
{
primaryAxis = polygonAxis;
}
else
{
primaryAxis = edgeAxis;
}
ClipVertex[] ie = new ClipVertex[2];
ReferenceFace rf = new ReferenceFace();
if (primaryAxis.type == EPAxisType.e_edgeA)
{
manifold.type = Manifold.ManifoldType.e_faceA;
// Search for the polygon normal that is most anti-parallel to the edge normal.
int bestIndex = 0;
float bestValue = Utilities.Dot(m_normal, m_polygonB.normals[0]);
for (int i = 1; i < m_polygonB.count; ++i)
{
float value = Utilities.Dot(m_normal, m_polygonB.normals[i]);
if (value < bestValue)
{
bestValue = value;
bestIndex = i;
}
}
int i1 = bestIndex;
int i2 = i1 + 1 < m_polygonB.count ? i1 + 1 : 0;
ie[0].v = m_polygonB.vertices[i1];
ie[0].id.cf.indexA = 0;
ie[0].id.cf.indexB = (byte)i1;
ie[0].id.cf.typeA = ContactFeature.FeatureType.e_face;
ie[0].id.cf.typeB = ContactFeature.FeatureType.e_vertex;
ie[1].v = m_polygonB.vertices[i2];
ie[1].id.cf.indexA = 0;
ie[1].id.cf.indexB = (byte)i2;
ie[1].id.cf.typeA = ContactFeature.FeatureType.e_face;
ie[1].id.cf.typeB = ContactFeature.FeatureType.e_vertex;
if (m_front)
{
rf.i1 = 0;
rf.i2 = 1;
rf.v1 = m_v1;
rf.v2 = m_v2;
rf.normal = m_normal1;
}
else
{
rf.i1 = 1;
rf.i2 = 0;
rf.v1 = m_v2;
rf.v2 = m_v1;
rf.normal = -m_normal1;
}
}
else
{
manifold.type = Manifold.ManifoldType.e_faceB;
ie[0].v = m_v1;
ie[0].id.cf.indexA = 0;
ie[0].id.cf.indexB = (byte)primaryAxis.index;
ie[0].id.cf.typeA = ContactFeature.FeatureType.e_vertex;
ie[0].id.cf.typeB = ContactFeature.FeatureType.e_face;
ie[1].v = m_v2;
ie[1].id.cf.indexA = 0;
ie[1].id.cf.indexB = (byte)primaryAxis.index;
ie[1].id.cf.typeA = ContactFeature.FeatureType.e_vertex;
ie[1].id.cf.typeB = ContactFeature.FeatureType.e_face;
rf.i1 = primaryAxis.index;
rf.i2 = rf.i1 + 1 < m_polygonB.count ? rf.i1 + 1 : 0;
rf.v1 = m_polygonB.vertices[rf.i1];
rf.v2 = m_polygonB.vertices[rf.i2];
rf.normal = m_polygonB.normals[rf.i1];
}
rf.sideNormal1.Set(rf.normal.Y, -rf.normal.X);
rf.sideNormal2 = -rf.sideNormal1;
rf.sideOffset1 = Utilities.Dot(rf.sideNormal1, rf.v1);
rf.sideOffset2 = Utilities.Dot(rf.sideNormal2, rf.v2);
// Clip incident edge against extruded edge1 side edges.
ClipVertex[] clipPoints1 = new ClipVertex[2];
ClipVertex[] clipPoints2 = new ClipVertex[2];
int np;
// Clip to box side 1
np = Collision.ClipSegmentToLine(clipPoints1, ie, rf.sideNormal1, rf.sideOffset1, rf.i1);
if (np < Settings._maxManifoldPoints)
{
return;
}
// Clip to negative box side 1
np = Collision.ClipSegmentToLine(clipPoints2, clipPoints1, rf.sideNormal2, rf.sideOffset2, rf.i2);
if (np < Settings._maxManifoldPoints)
{
return;
}
// Now clipPoints2 contains the clipped points.
if (primaryAxis.type == EPAxisType.e_edgeA)
{
manifold.localNormal = rf.normal;
manifold.localPoint = rf.v1;
}
else
{
manifold.localNormal = polygonB.m_normals[rf.i1];
manifold.localPoint = polygonB.m_vertices[rf.i1];
}
manifold.points.Clear();
for (int i = 0; i < Settings._maxManifoldPoints; ++i)
{
float separation;
separation = Utilities.Dot(rf.normal, clipPoints2[i].v - rf.v1);
if (separation <= m_radius)
{
ManifoldPoint cp = new ManifoldPoint();
if (primaryAxis.type == EPAxisType.e_edgeA)
{
cp.localPoint = Utilities.MulT(m_xf, clipPoints2[i].v);
cp.id = clipPoints2[i].id;
}
else
{
cp.localPoint = clipPoints2[i].v;
cp.id.cf.typeA = clipPoints2[i].id.cf.typeB;
cp.id.cf.typeB = clipPoints2[i].id.cf.typeA;
cp.id.cf.indexA = clipPoints2[i].id.cf.indexB;
cp.id.cf.indexB = clipPoints2[i].id.cf.indexA;
}
manifold.points.Add(cp);
}
}
}
public EdgeTest()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
Vec2 v1 = new Vec2(-10.0f, 0.0f), v2 = new Vec2(-7.0f, -2.0f), v3 = new Vec2(-4.0f, 0.0f);
Vec2 v4 = new Vec2(0.0f, 0.0f), v5 = new Vec2(4.0f, 0.0f), v6 = new Vec2(7.0f, 2.0f), v7 = new Vec2(10.0f, 0.0f);
EdgeShape shape = new EdgeShape();
shape.Set(v1, v2);
shape.m_hasVertex3 = true;
shape.m_vertex3 = v3;
shape.Density = 0;
ground.CreateFixture(shape);
shape.Set(v2, v3);
shape.m_hasVertex0 = true;
shape.m_hasVertex3 = true;
shape.m_vertex0 = v1;
shape.m_vertex3 = v4;
ground.CreateFixture(shape);
shape.Set(v3, v4);
shape.m_hasVertex0 = true;
shape.m_hasVertex3 = true;
shape.m_vertex0 = v2;
shape.m_vertex3 = v5;
ground.CreateFixture(shape);
shape.Set(v4, v5);
shape.m_hasVertex0 = true;
shape.m_hasVertex3 = true;
shape.m_vertex0 = v3;
shape.m_vertex3 = v6;
ground.CreateFixture(shape);
shape.Set(v5, v6);
shape.m_hasVertex0 = true;
shape.m_hasVertex3 = true;
shape.m_vertex0 = v4;
shape.m_vertex3 = v7;
ground.CreateFixture(shape);
shape.Set(v6, v7);
shape.m_hasVertex0 = true;
shape.m_vertex0 = v5;
ground.CreateFixture(shape);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-0.5f, 0.6f);
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
body.CreateFixture(shape);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(1.0f, 0.6f);
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
body.CreateFixture(shape);
}
}
/// Compute the collision manifold between an edge and a circle.
public static void CollideEdgeAndCircle(out Manifold manifold,
EdgeShape edgeA, Transform xfA,
CircleShape circleB, Transform xfB)
{
manifold = new Manifold();
// Compute circle in frame of edge
Vec2 Q = Utilities.MulT(xfA, Utilities.Mul(xfB, circleB.m_p));
Vec2 A = edgeA.m_vertex1, B = edgeA.m_vertex2;
Vec2 e = B - A;
// Barycentric coordinates
float u = Utilities.Dot(e, B - Q);
float v = Utilities.Dot(e, Q - A);
float radius = edgeA.m_radius + circleB.m_radius;
ContactFeature cf;
cf.indexB = 0;
cf.typeB = ContactFeature.FeatureType.e_vertex;
// Region A
if (v <= 0.0f)
{
Vec2 P = A;
Vec2 d = Q - P;
float dd = Utilities.Dot(d, d);
if (dd > radius * radius)
{
return;
}
// Is there an edge connected to A?
if (edgeA.m_hasVertex0)
{
Vec2 A1 = edgeA.m_vertex0;
Vec2 B1 = A;
Vec2 e1 = B1 - A1;
float u1 = Utilities.Dot(e1, B1 - Q);
// Is the circle in Region AB of the previous edge?
if (u1 > 0.0f)
{
return;
}
}
cf.indexA = 0;
cf.typeA = ContactFeature.FeatureType.e_vertex;
manifold.points.Clear();
manifold.points.Add(new ManifoldPoint());
manifold.type = Manifold.ManifoldType.e_circles;
manifold.localNormal.SetZero();
manifold.localPoint = P;
manifold.points[0].id.key = 0;
manifold.points[0].id.cf = cf;
manifold.points[0].localPoint = circleB.m_p;
return;
}
// Region B
if (u <= 0.0f)
{
Vec2 P = B;
Vec2 d = Q - P;
float dd = Utilities.Dot(d, d);
if (dd > radius * radius)
{
return;
}
// Is there an edge connected to B?
if (edgeA.m_hasVertex3)
{
Vec2 B2 = edgeA.m_vertex3;
Vec2 A2 = B;
Vec2 e2 = B2 - A2;
float v2 = Utilities.Dot(e2, Q - A2);
// Is the circle in Region AB of the next edge?
if (v2 > 0.0f)
{
return;
}
}
cf.indexA = 1;
cf.typeA = ContactFeature.FeatureType.e_vertex;
manifold.points.Clear();
manifold.points.Add(new ManifoldPoint());
manifold.type = Manifold.ManifoldType.e_circles;
manifold.localNormal.SetZero();
manifold.localPoint = P;
manifold.points[0].id.key = 0;
manifold.points[0].id.cf = cf;
manifold.points[0].localPoint = circleB.m_p;
return;
}
// Region AB
float den = Utilities.Dot(e, e);
Utilities.Assert(den > 0.0f);
Vec2 Pb = (1.0f / den) * (u * A + v * B);
Vec2 db = Q - Pb;
float ddb = Utilities.Dot(db, db);
if (ddb > radius * radius)
{
return;
}
Vec2 n = new Vec2(-e.Y, e.X);
if (Utilities.Dot(n, Q - A) < 0.0f)
{
n.Set(-n.X, -n.Y);
}
n.Normalize();
cf.indexA = 0;
cf.typeA = ContactFeature.FeatureType.e_face;
manifold.points.Clear();
manifold.points.Add(new ManifoldPoint());
manifold.type = Manifold.ManifoldType.e_faceA;
manifold.localNormal = n;
manifold.localPoint = A;
manifold.points[0].id.key = 0;
manifold.points[0].id.cf = cf;
manifold.points[0].localPoint = circleB.m_p;
}
public PolyShapes()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
Vec2[] vertices = new Vec2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
m_polygons[0].Set(vertices, 3);
}
{
Vec2[] vertices = new Vec2[3];
vertices[0].Set(-0.1f, 0.0f);
vertices[1].Set(0.1f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
m_polygons[1].Set(vertices, 3);
}
{
float w = 1.0f;
float b = w / (2.0f + (float)Math.Sqrt(2.0f));
float s = (float)Math.Sqrt(2.0f) * b;
Vec2[] vertices = new Vec2[8];
vertices[0].Set(0.5f * s, 0.0f);
vertices[1].Set(0.5f * w, b);
vertices[2].Set(0.5f * w, b + s);
vertices[3].Set(0.5f * s, w);
vertices[4].Set(-0.5f * s, w);
vertices[5].Set(-0.5f * w, b + s);
vertices[6].Set(-0.5f * w, b);
vertices[7].Set(-0.5f * s, 0.0f);
m_polygons[2].Set(vertices, 8);
}
{
m_polygons[3].SetAsBox(0.5f, 0.5f);
}
{
m_circle.m_radius = 0.5f;
}
m_bodyIndex = 0;
Array.Clear(m_bodies, 0, m_bodies.Length);
}
// Algorithm:
// 1. Classify v1 and v2
// 2. Classify polygon centroid as front or back
// 3. Flip normal if necessary
// 4. Initialize normal range to [-pi, pi] about face normal
// 5. Adjust normal range according to adjacent edges
// 6. Visit each separating axes, only accept axes within the range
// 7. Return if _any_ axis indicates separation
// 8. Clip
public void Collide(out Manifold manifold, EdgeShape edgeA, Transform xfA, PolygonShape polygonB, Transform xfB)
{
manifold = new Manifold();
m_xf = Utilities.MulT(xfA, xfB);
m_centroidB = Utilities.Mul(m_xf, polygonB.m_centroid);
m_v0 = edgeA.m_vertex0;
m_v1 = edgeA.m_vertex1;
m_v2 = edgeA.m_vertex2;
m_v3 = edgeA.m_vertex3;
bool hasVertex0 = edgeA.m_hasVertex0;
bool hasVertex3 = edgeA.m_hasVertex3;
Vec2 edge1 = m_v2 - m_v1;
edge1.Normalize();
m_normal1.Set(edge1.Y, -edge1.X);
float offset1 = Utilities.Dot(m_normal1, m_centroidB - m_v1);
float offset0 = 0.0f, offset2 = 0.0f;
bool convex1 = false, convex2 = false;
// Is there a preceding edge?
if (hasVertex0)
{
Vec2 edge0 = m_v1 - m_v0;
edge0.Normalize();
m_normal0.Set(edge0.Y, -edge0.X);
convex1 = Utilities.Cross(edge0, edge1) >= 0.0f;
offset0 = Utilities.Dot(m_normal0, m_centroidB - m_v0);
}
// Is there a following edge?
if (hasVertex3)
{
Vec2 edge2 = m_v3 - m_v2;
edge2.Normalize();
m_normal2.Set(edge2.Y, -edge2.X);
convex2 = Utilities.Cross(edge1, edge2) > 0.0f;
offset2 = Utilities.Dot(m_normal2, m_centroidB - m_v2);
}
// Determine front or back collision. Determine collision normal limits.
if (hasVertex0 && hasVertex3)
{
if (convex1 && convex2)
{
m_front = offset0 >= 0.0f || offset1 >= 0.0f || offset2 >= 0.0f;
if (m_front)
{
m_normal = m_normal1;
m_lowerLimit = m_normal0;
m_upperLimit = m_normal2;
}
else
{
m_normal = -m_normal1;
m_lowerLimit = -m_normal1;
m_upperLimit = -m_normal1;
}
}
else if (convex1)
{
m_front = offset0 >= 0.0f || (offset1 >= 0.0f && offset2 >= 0.0f);
if (m_front)
{
m_normal = m_normal1;
m_lowerLimit = m_normal0;
m_upperLimit = m_normal1;
}
else
{
m_normal = -m_normal1;
m_lowerLimit = -m_normal2;
m_upperLimit = -m_normal1;
}
}
else if (convex2)
{
m_front = offset2 >= 0.0f || (offset0 >= 0.0f && offset1 >= 0.0f);
if (m_front)
{
m_normal = m_normal1;
m_lowerLimit = m_normal1;
m_upperLimit = m_normal2;
}
else
{
m_normal = -m_normal1;
m_lowerLimit = -m_normal1;
m_upperLimit = -m_normal0;
}
}
else
{
m_front = offset0 >= 0.0f && offset1 >= 0.0f && offset2 >= 0.0f;
if (m_front)
{
m_normal = m_normal1;
m_lowerLimit = m_normal1;
m_upperLimit = m_normal1;
}
else
{
m_normal = -m_normal1;
m_lowerLimit = -m_normal2;
m_upperLimit = -m_normal0;
}
}
}
else if (hasVertex0)
{
if (convex1)
{
m_front = offset0 >= 0.0f || offset1 >= 0.0f;
if (m_front)
{
m_normal = m_normal1;
m_lowerLimit = m_normal0;
m_upperLimit = -m_normal1;
}
else
{
m_normal = -m_normal1;
m_lowerLimit = m_normal1;
m_upperLimit = -m_normal1;
}
}
else
{
m_front = offset0 >= 0.0f && offset1 >= 0.0f;
if (m_front)
{
m_normal = m_normal1;
m_lowerLimit = m_normal1;
m_upperLimit = -m_normal1;
}
else
{
m_normal = -m_normal1;
m_lowerLimit = m_normal1;
m_upperLimit = -m_normal0;
}
}
}
else if (hasVertex3)
{
if (convex2)
{
m_front = offset1 >= 0.0f || offset2 >= 0.0f;
if (m_front)
{
m_normal = m_normal1;
m_lowerLimit = -m_normal1;
m_upperLimit = m_normal2;
}
else
{
m_normal = -m_normal1;
m_lowerLimit = -m_normal1;
m_upperLimit = m_normal1;
}
}
else
{
m_front = offset1 >= 0.0f && offset2 >= 0.0f;
if (m_front)
{
m_normal = m_normal1;
m_lowerLimit = -m_normal1;
m_upperLimit = m_normal1;
}
else
{
m_normal = -m_normal1;
m_lowerLimit = -m_normal2;
m_upperLimit = m_normal1;
}
}
}
else
{
m_front = offset1 >= 0.0f;
if (m_front)
{
m_normal = m_normal1;
m_lowerLimit = -m_normal1;
m_upperLimit = -m_normal1;
}
else
{
m_normal = -m_normal1;
m_lowerLimit = m_normal1;
m_upperLimit = m_normal1;
}
}
// Get polygonB in frameA
m_polygonB.count = polygonB.m_count;
for (int i = 0; i < polygonB.m_count; ++i)
{
m_polygonB.vertices[i] = Utilities.Mul(m_xf, polygonB.m_vertices[i]);
m_polygonB.normals[i] = Utilities.Mul(m_xf.q, polygonB.m_normals[i]);
}
m_radius = 2.0f * Settings._polygonRadius;
manifold.points.Clear();
EPAxis edgeAxis = ComputeEdgeSeparation();
// If no valid normal can be found than this edge should not collide.
if (edgeAxis.type == EPAxisType.e_unknown)
{
return;
}
if (edgeAxis.separation > m_radius)
{
return;
}
EPAxis polygonAxis = ComputePolygonSeparation();
if (polygonAxis.type != EPAxisType.e_unknown && polygonAxis.separation > m_radius)
{
return;
}
// Use hysteresis for jitter reduction.
const float k_relativeTol = 0.98f;
const float k_absoluteTol = 0.001f;
EPAxis primaryAxis;
if (polygonAxis.type == EPAxisType.e_unknown)
{
primaryAxis = edgeAxis;
}
else if (polygonAxis.separation > k_relativeTol * edgeAxis.separation + k_absoluteTol)
{
primaryAxis = polygonAxis;
}
else
{
primaryAxis = edgeAxis;
}
ClipVertex[] ie = new ClipVertex[2];
ReferenceFace rf = new ReferenceFace();
if (primaryAxis.type == EPAxisType.e_edgeA)
{
manifold.type = Manifold.ManifoldType.e_faceA;
// Search for the polygon normal that is most anti-parallel to the edge normal.
int bestIndex = 0;
float bestValue = Utilities.Dot(m_normal, m_polygonB.normals[0]);
for (int i = 1; i < m_polygonB.count; ++i)
{
float value = Utilities.Dot(m_normal, m_polygonB.normals[i]);
if (value < bestValue)
{
bestValue = value;
bestIndex = i;
}
}
int i1 = bestIndex;
int i2 = i1 + 1 < m_polygonB.count ? i1 + 1 : 0;
ie[0].v = m_polygonB.vertices[i1];
ie[0].id.cf.indexA = 0;
ie[0].id.cf.indexB = (byte)i1;
ie[0].id.cf.typeA = ContactFeature.FeatureType.e_face;
ie[0].id.cf.typeB = ContactFeature.FeatureType.e_vertex;
ie[1].v = m_polygonB.vertices[i2];
ie[1].id.cf.indexA = 0;
ie[1].id.cf.indexB = (byte)i2;
ie[1].id.cf.typeA = ContactFeature.FeatureType.e_face;
ie[1].id.cf.typeB = ContactFeature.FeatureType.e_vertex;
if (m_front)
{
rf.i1 = 0;
rf.i2 = 1;
rf.v1 = m_v1;
rf.v2 = m_v2;
rf.normal = m_normal1;
}
else
{
rf.i1 = 1;
rf.i2 = 0;
rf.v1 = m_v2;
rf.v2 = m_v1;
rf.normal = -m_normal1;
}
}
else
{
manifold.type = Manifold.ManifoldType.e_faceB;
ie[0].v = m_v1;
ie[0].id.cf.indexA = 0;
ie[0].id.cf.indexB = (byte)primaryAxis.index;
ie[0].id.cf.typeA = ContactFeature.FeatureType.e_vertex;
ie[0].id.cf.typeB = ContactFeature.FeatureType.e_face;
ie[1].v = m_v2;
ie[1].id.cf.indexA = 0;
ie[1].id.cf.indexB = (byte)primaryAxis.index;
ie[1].id.cf.typeA = ContactFeature.FeatureType.e_vertex;
ie[1].id.cf.typeB = ContactFeature.FeatureType.e_face;
rf.i1 = primaryAxis.index;
rf.i2 = rf.i1 + 1 < m_polygonB.count ? rf.i1 + 1 : 0;
rf.v1 = m_polygonB.vertices[rf.i1];
rf.v2 = m_polygonB.vertices[rf.i2];
rf.normal = m_polygonB.normals[rf.i1];
}
rf.sideNormal1.Set(rf.normal.Y, -rf.normal.X);
rf.sideNormal2 = -rf.sideNormal1;
rf.sideOffset1 = Utilities.Dot(rf.sideNormal1, rf.v1);
rf.sideOffset2 = Utilities.Dot(rf.sideNormal2, rf.v2);
// Clip incident edge against extruded edge1 side edges.
ClipVertex[] clipPoints1 = new ClipVertex[2];
ClipVertex[] clipPoints2 = new ClipVertex[2];
int np;
// Clip to box side 1
np = Collision.ClipSegmentToLine(clipPoints1, ie, rf.sideNormal1, rf.sideOffset1, rf.i1);
if (np < Settings._maxManifoldPoints)
{
return;
}
// Clip to negative box side 1
np = Collision.ClipSegmentToLine(clipPoints2, clipPoints1, rf.sideNormal2, rf.sideOffset2, rf.i2);
if (np < Settings._maxManifoldPoints)
{
return;
}
// Now clipPoints2 contains the clipped points.
if (primaryAxis.type == EPAxisType.e_edgeA)
{
manifold.localNormal = rf.normal;
manifold.localPoint = rf.v1;
}
else
{
manifold.localNormal = polygonB.m_normals[rf.i1];
manifold.localPoint = polygonB.m_vertices[rf.i1];
}
manifold.points.Clear();
for (int i = 0; i < Settings._maxManifoldPoints; ++i)
{
float separation;
separation = Utilities.Dot(rf.normal, clipPoints2[i].v - rf.v1);
if (separation <= m_radius)
{
ManifoldPoint cp = new ManifoldPoint();
if (primaryAxis.type == EPAxisType.e_edgeA)
{
cp.localPoint = Utilities.MulT(m_xf, clipPoints2[i].v);
cp.id = clipPoints2[i].id;
}
else
{
cp.localPoint = clipPoints2[i].v;
cp.id.cf.typeA = clipPoints2[i].id.cf.typeB;
cp.id.cf.typeB = clipPoints2[i].id.cf.typeA;
cp.id.cf.indexA = clipPoints2[i].id.cf.indexB;
cp.id.cf.indexB = clipPoints2[i].id.cf.indexA;
}
manifold.points.Add(cp);
}
}
}
/// Get a child edge.
public void GetChildEdge(out EdgeShape edge, int index){
throw new NotImplementedException();
//Utilities.Assert(0 <= index && index < m_count - 1);
//edge.m_type = ShapeType.edge;
//edge.m_radius = m_radius;
//edge.m_vertex1 = m_vertices[index + 0];
//edge.m_vertex2 = m_vertices[index + 1];
//if (index > 0)
//{
// edge.m_vertex0 = m_vertices[index - 1];
// edge.m_hasVertex0 = true;
//}
//else
//{
// edge.m_vertex0 = m_prevVertex;
// edge.m_hasVertex0 = m_hasPrevVertex;
//}
//if (index < m_count - 2)
//{
// edge.m_vertex3 = m_vertices[index + 2];
// edge.m_hasVertex3 = true;
//}
//else
//{
// edge.m_vertex3 = m_nextVertex;
// edge.m_hasVertex3 = m_hasNextVertex;
//}
}
public Dominos()
{
Body b1;
{
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
BodyDef bd = new BodyDef();
b1 = m_world.CreateBody(bd);
b1.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position.Set(-1.5f, 10.0f);
Body ground = m_world.CreateBody(bd);
shape.Density = 0;
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
fd.friction = 0.1f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-6.0f + 1.0f * i, 11.25f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(7.0f, 0.25f, new Vec2(0, 0), 0.3f);
shape.Density = 0;
BodyDef bd = new BodyDef();
bd.Position.Set(1.0f, 6.0f);
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape);
}
Body b2;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
shape.Density = 0;
BodyDef bd = new BodyDef();
bd.Position.Set(-7.0f, 4.0f);
b2 = m_world.CreateBody(bd);
b2.CreateFixture(shape);
}
Body b3;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
shape.Density = 10;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-0.9f, 1.0f);
bd.angle = -0.15f;
b3 = m_world.CreateBody(bd);
b3.CreateFixture(shape);
}
RevoluteJointDef jd = new RevoluteJointDef();
Vec2 anchor = new Vec2();
anchor.Set(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.collideConnected = true;
m_world.CreateJoint(jd);
Body b4;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f, 15.0f);
b4 = m_world.CreateBody(bd);
shape.Density = 10;
shape.Density = 10;
b4.CreateFixture(shape);
}
anchor.Set(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
m_world.CreateJoint(jd);
Body b5;
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(6.5f, 3.0f);
b5 = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 10.0f;
fd.friction = 0.1f;
shape.SetAsBox(1.0f, 0.1f, new Vec2(0.0f, -0.9f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vec2(-0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vec2(0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
}
anchor.Set(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
m_world.CreateJoint(jd);
Body b6;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(6.5f, 4.1f);
b6 = m_world.CreateBody(bd);
shape.Density = 30;
b6.CreateFixture(shape);
}
anchor.Set(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
m_world.CreateJoint(jd);
Body b7;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(7.4f, 1.0f);
b7 = m_world.CreateBody(bd);
shape.Density = 10;
b7.CreateFixture(shape);
}
DistanceJointDef djd = new DistanceJointDef();
djd.bodyA = b3;
djd.bodyB = b7;
djd.localAnchorA.Set(6.0f, 0.0f);
djd.localAnchorB.Set(0.0f, -1.0f);
Vec2 d = djd.bodyB.GetWorldPoint(djd.localAnchorB) - djd.bodyA.GetWorldPoint(djd.localAnchorA);
djd.length = d.Length();
m_world.CreateJoint(djd);
{
float radius = 0.2f;
CircleShape shape = new CircleShape();
shape.m_radius = radius;
for (int i = 0; i < 4; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(5.9f + 2.0f * radius * i, 2.4f);
Body body = m_world.CreateBody(bd);
shape.Density = 10;
body.CreateFixture(shape);
}
}
}
