void Update()
{
// UPDATE the physics!
_cursorPos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
// dragging!
if (Input.GetMouseButton(0))
{
if (_dragBody != null)
{
PointMass pm = _dragBody.getPointMass(_dragPoint);
if (_dragBody.GetType().Name == "DraggableSpringBody")
{
((DraggableSpringBody)_dragBody).setDragForce(JelloPhysics.VectorTools.calculateSpringForce(pm.Position, pm.Velocity, _cursorPos, Vector2.zero, 0.0f, 100.0f, 10.0f), _dragPoint);
}
else if (_dragBody.GetType().Name == "DraggablePressureBody")
{
((DraggablePressureBody)_dragBody).setDragForce(JelloPhysics.VectorTools.calculateSpringForce(pm.Position, pm.Velocity, _cursorPos, Vector2.zero, 0.0f, 100.0f, 10.0f), _dragPoint);
}
}
}
else
{
_dragBody = null;
_dragPoint = -1;
}
if (Input.GetMouseButtonDown(0))
{
if (_dragBody == (null))
{
int body;
_world.getClosestPointMass(_cursorPos, out body, out _dragPoint);
_dragBody = _world.getBody(body);
}
}
}
/// <summary>
/// Allows the game to run logic such as updating the world,
/// checking for collisions, gathering input and playing audio.
/// </summary>
/// <param name="gameTime">Provides a snapshot of timing values.</param>
void Update()
{
// UPDATE the physics!
for (int i = 0; i < 3; i++)
{
mWorld.update(1 / 120f);
}
// cursor movement.
cursorPos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
// if the user presses the A button, create a new body at the cursor position.
if (Input.GetKeyDown(KeyCode.A))
{
GameObject s = new GameObject();
JelloPhysics.ClosedShape shape = new JelloPhysics.ClosedShape();
shape.begin();
shape.addVertex(new Vector2(-1.0f, 0f));
shape.addVertex(new Vector2(0f, 1.0f));
shape.addVertex(new Vector2(1.0f, 0f));
shape.addVertex(new Vector2(0f, -1.0f));
shape.finish();
DraggableSpringBody body = new DraggableSpringBody();
body.Setup(mWorld, shape, 1f, 150, 5, 300, 15, new Vector2(cursorPos.x, cursorPos.y), ((float)UnityEngine.Random.Range(0, 360)), Vector2.one);
body.addInternalSpring(0, 2, 400f, 12f);
body.addInternalSpring(1, 3, 400f, 12f);
}
if (Input.GetKeyDown(KeyCode.B))
{
GameObject s = new GameObject();
JelloPhysics.ClosedShape shape = new JelloPhysics.ClosedShape();
shape.begin();
for (int i = 0; i < 360; i += 20)
{
shape.addVertex(new Vector2((float)Mathf.Cos(((float)-i) * Mathf.Deg2Rad), (float)Mathf.Sin(((float)-i) * Mathf.Deg2Rad)));
}
shape.finish();
DraggablePressureBody pb = new DraggablePressureBody();
pb.Setup(mWorld, shape, 1.0f, 40.0f, 10.0f, 1.0f, 300.0f, 20.0f, cursorPos, 0, Vector2.one);
pb.addTriangle(0, 10, 9);
pb.addTriangle(0, 9, 1);
pb.addTriangle(1, 9, 8);
pb.addTriangle(1, 8, 2);
pb.addTriangle(2, 8, 7);
pb.addTriangle(2, 7, 3);
pb.addTriangle(3, 7, 6);
pb.addTriangle(3, 6, 4);
pb.addTriangle(4, 6, 5);
pb.addTriangle(17, 10, 0);
pb.addTriangle(17, 11, 10);
pb.addTriangle(16, 11, 17);
pb.addTriangle(16, 12, 11);
pb.addTriangle(15, 12, 16);
pb.addTriangle(15, 13, 12);
pb.addTriangle(14, 12, 15);
pb.addTriangle(14, 13, 12);
pb.finalizeTriangles(Color.white);
pb.addInternalSpring(0, 2, 400f, 12f);
pb.addInternalSpring(1, 3, 400f, 12f);
}
// dragging!
if (Input.GetMouseButton(0))
{
if (dragBody != null)
{
PointMass pm = dragBody.getPointMass(dragPoint);
if (dragBody.GetType().Name == "DraggableSpringBody")
{
((DraggableSpringBody)dragBody).setDragForce(JelloPhysics.VectorTools.calculateSpringForce(pm.Position, pm.Velocity, cursorPos, Vector2.zero, 0.0f, 100.0f, 10.0f), dragPoint);
}
else if (dragBody.GetType().Name == "DraggablePressureBody")
{
((DraggablePressureBody)dragBody).setDragForce(JelloPhysics.VectorTools.calculateSpringForce(pm.Position, pm.Velocity, cursorPos, Vector2.zero, 0.0f, 100.0f, 10.0f), dragPoint);
}
}
}
else
{
dragBody = null;
dragPoint = -1;
}
if (Input.GetMouseButtonDown(0))
{
if (dragBody == null)
{
int body;
mWorld.getClosestPointMass(cursorPos, out body, out dragPoint);
dragBody = mWorld.getBody(body);
}
}
}
private void bodyCollide(Body bA, Body bB, List<BodyCollisionInfo> infoList)
{
int bApmCount = bA.PointMassCount;
int bBpmCount = bB.PointMassCount;
AABB boxB = bB.getAABB();
// check all PointMasses on bodyA for collision against bodyB. if there is a collision, return detailed info.
BodyCollisionInfo infoAway = new BodyCollisionInfo();
BodyCollisionInfo infoSame = new BodyCollisionInfo();
for (int i = 0; i < bApmCount; i++)
{
Vector2 pt = bA.getPointMass(i).Position;
// early out - if this point is outside the bounding box for bodyB, skip it!
if (!boxB.contains(ref pt))
continue;
// early out - if this point is not inside bodyB, skip it!
if (!bB.contains(ref pt))
continue;
int prevPt = (i>0) ? i-1 : bApmCount-1;
int nextPt = (i < bApmCount - 1) ? i + 1 : 0;
Vector2 prev = bA.getPointMass(prevPt).Position;
Vector2 next = bA.getPointMass(nextPt).Position;
// now get the normal for this point. (NOT A UNIT VECTOR)
Vector2 fromPrev = new Vector2();
fromPrev.X = pt.X - prev.X;
fromPrev.Y = pt.Y - prev.Y;
Vector2 toNext = new Vector2();
toNext.X = next.X - pt.X;
toNext.Y = next.Y - pt.Y;
Vector2 ptNorm = new Vector2();
ptNorm.X = fromPrev.X + toNext.X;
ptNorm.Y = fromPrev.Y + toNext.Y;
VectorTools.makePerpendicular(ref ptNorm);
// this point is inside the other body. now check if the edges on either side intersect with and edges on bodyB.
float closestAway = 100000.0f;
float closestSame = 100000.0f;
infoAway.Clear();
infoAway.bodyA = bA;
infoAway.bodyApm = i;
infoAway.bodyB = bB;
infoSame.Clear();
infoSame.bodyA = bA;
infoSame.bodyApm = i;
infoSame.bodyB = bB;
bool found = false;
int b1 = 0;
int b2 = 1;
for (int j = 0; j < bBpmCount; j++)
{
Vector2 hitPt;
Vector2 norm;
float edgeD;
b1 = j;
if (j < bBpmCount - 1)
b2 = j + 1;
else
b2 = 0;
Vector2 pt1 = bB.getPointMass(b1).Position;
Vector2 pt2 = bB.getPointMass(b2).Position;
// quick test of distance to each point on the edge, if both are greater than current mins, we can skip!
float distToA = ((pt1.X - pt.X) * (pt1.X - pt.X)) + ((pt1.Y - pt.Y) * (pt1.Y - pt.Y));
float distToB = ((pt2.X - pt.X) * (pt2.X - pt.X)) + ((pt2.Y - pt.Y) * (pt2.Y - pt.Y));
if ((distToA > closestAway) && (distToA > closestSame) && (distToB > closestAway) && (distToB > closestSame))
continue;
// test against this edge.
float dist = bB.getClosestPointOnEdgeSquared(pt, j, out hitPt, out norm, out edgeD);
// only perform the check if the normal for this edge is facing AWAY from the point normal.
float dot;
//Vector2.Dot(ref ptNorm, ref edgeNorm, out dot);
Vector2.Dot(ref ptNorm, ref norm, out dot);
if (dot <= 0f)
{
if (dist < closestAway)
{
closestAway = dist;
infoAway.bodyBpmA = b1;
infoAway.bodyBpmB = b2;
infoAway.edgeD = edgeD;
infoAway.hitPt = hitPt;
infoAway.normal = norm;
infoAway.penetration = dist;
found = true;
}
}
else
{
if (dist < closestSame)
{
closestSame = dist;
infoSame.bodyBpmA = b1;
infoSame.bodyBpmB = b2;
infoSame.edgeD = edgeD;
infoSame.hitPt = hitPt;
infoSame.normal = norm;
infoSame.penetration = dist;
}
}
}
// we've checked all edges on BodyB. add the collision info to the stack.
if ((found) && (closestAway > mPenetrationThreshold) && (closestSame < closestAway))
{
infoSame.penetration = (float)Math.Sqrt(infoSame.penetration);
infoList.Add(infoSame);
}
else
{
infoAway.penetration = (float)Math.Sqrt(infoAway.penetration);
infoList.Add(infoAway);
}
}
}
private void bodyCollide(Body bA, Body bB, List <BodyCollisionInfo> infoList)
{
int bApmCount = bA.PointMassCount;
int bBpmCount = bB.PointMassCount;
AABB boxB = bB.getAABB();
// check all PointMasses on bodyA for collision against bodyB. if there is a collision, return detailed info.
BodyCollisionInfo infoAway = new BodyCollisionInfo();
BodyCollisionInfo infoSame = new BodyCollisionInfo();
for (int i = 0; i < bApmCount; i++)
{
Vector2 pt = bA.getPointMass(i).Position;
// early out - if this point is outside the bounding box for bodyB, skip it!
if (!boxB.contains(ref pt))
{
continue;
}
// early out - if this point is not inside bodyB, skip it!
if (!bB.contains(ref pt))
{
continue;
}
int prevPt = (i > 0) ? i - 1 : bApmCount - 1;
int nextPt = (i < bApmCount - 1) ? i + 1 : 0;
Vector2 prev = bA.getPointMass(prevPt).Position;
Vector2 next = bA.getPointMass(nextPt).Position;
// now get the normal for this point. (NOT A UNIT VECTOR)
Vector2 fromPrev = new Vector2();
fromPrev.x = pt.x - prev.x;
fromPrev.y = pt.y - prev.y;
Vector2 toNext = new Vector2();
toNext.x = next.x - pt.x;
toNext.y = next.y - pt.y;
Vector2 ptNorm = new Vector2();
ptNorm.x = fromPrev.x + toNext.x;
ptNorm.y = fromPrev.y + toNext.y;
VectorTools.makePerpendicular(ref ptNorm);
// this point is inside the other body. now check if the edges on either side intersect with and edges on bodyB.
float closestAway = 100000.0f;
float closestSame = 100000.0f;
infoAway.Clear();
infoAway.bodyA = bA;
infoAway.bodyApm = i;
infoAway.bodyB = bB;
infoSame.Clear();
infoSame.bodyA = bA;
infoSame.bodyApm = i;
infoSame.bodyB = bB;
bool found = false;
int b1 = 0;
int b2 = 1;
for (int j = 0; j < bBpmCount; j++)
{
Vector2 hitPt;
Vector2 norm;
float edgeD;
b1 = j;
if (j < bBpmCount - 1)
{
b2 = j + 1;
}
else
{
b2 = 0;
}
Vector2 pt1 = bB.getPointMass(b1).Position;
Vector2 pt2 = bB.getPointMass(b2).Position;
// quick test of distance to each point on the edge, if both are greater than current mins, we can skip!
float distToA = ((pt1.x - pt.x) * (pt1.x - pt.x)) + ((pt1.y - pt.y) * (pt1.y - pt.y));
float distToB = ((pt2.x - pt.x) * (pt2.x - pt.x)) + ((pt2.y - pt.y) * (pt2.y - pt.y));
if ((distToA > closestAway) && (distToA > closestSame) && (distToB > closestAway) && (distToB > closestSame))
{
continue;
}
// test against this edge.
float dist = bB.getClosestPointOnEdgeSquared(pt, j, out hitPt, out norm, out edgeD);
// only perform the check if the normal for this edge is facing AWAY from the point normal.
float dot;
//Vector2.Dot(ref ptNorm, ref edgeNorm, out dot);
// Vector2.Dot(ref ptNorm, ref norm, out dot);
dot = Vector2.Dot(ptNorm, norm);
if (dot <= 0f)
{
if (dist < closestAway)
{
closestAway = dist;
infoAway.bodyBpmA = b1;
infoAway.bodyBpmB = b2;
infoAway.edgeD = edgeD;
infoAway.hitPt = hitPt;
infoAway.normal = norm;
infoAway.penetration = dist;
found = true;
}
}
else
{
if (dist < closestSame)
{
closestSame = dist;
infoSame.bodyBpmA = b1;
infoSame.bodyBpmB = b2;
infoSame.edgeD = edgeD;
infoSame.hitPt = hitPt;
infoSame.normal = norm;
infoSame.penetration = dist;
}
}
}
// we've checked all edges on BodyB. add the collision info to the stack.
if ((found) && (closestAway > mPenetrationThreshold) && (closestSame < closestAway))
{
infoSame.penetration = (float)Math.Sqrt(infoSame.penetration);
infoList.Add(infoSame);
}
else
{
infoAway.penetration = (float)Math.Sqrt(infoAway.penetration);
infoList.Add(infoAway);
}
}
}
