/// <summary>
/// Default constructor, with shape-matching ON.
/// </summary>
/// <param name="w">World object to add this body to</param>
/// <param name="s">ClosedShape for this body</param>
/// <param name="massPerPoint">mass per PointMass</param>
/// <param name="gasPressure">amount of gas inside the body</param>
/// <param name="shapeSpringK">shape-matching spring constant</param>
/// <param name="shapeSpringDamp">shape-matching spring damping</param>
/// <param name="edgeSpringK">spring constant for edges</param>
/// <param name="edgeSpringDamp">spring damping for edges</param>
/// <param name="pos">global position</param>
/// <param name="angleInRadians">global angle</param>
/// <param name="scale">scale</param>
/// <param name="kinematic">kinematic control boolean</param>
public PressureBody(World w, ClosedShape s, float massPerPoint, float gasPressure, float shapeSpringK, float shapeSpringDamp, float edgeSpringK, float edgeSpringDamp, Vector2 pos, float angleInRadians, Vector2 scale, bool kinematic)
: base(w, s, massPerPoint, shapeSpringK, shapeSpringDamp, edgeSpringK, edgeSpringDamp, pos, angleInRadians, scale, kinematic)
{
mGasAmount = gasPressure;
mNormalList = new Vector2[mPointMasses.Count];
mEdgeLengthList = new float[mPointMasses.Count];
}
// Use this for initialization
void Awake()
{
Application.targetFrameRate = 60;
_world = new JelloPhysics.World();
CreateFloor();
_physicsThread = new Thread(UpdatePhysics){Name = "PhysicsThread"};
_physicsThread.Start();
}
/// <summary>
/// default constructor.
/// </summary>
/// <param name="w">world to add this body to (done automatically)</param>
public Body(World w)
{
mAABB = new AABB();
mBaseShape = null;
mGlobalShape = null;
mPointMasses = new List<PointMass>();
mScale = Vector2.One;
mIsStatic = false;
mKinematic = false;
mMaterial = 0;
w.addBody(this);
}
/// <summary>
/// Create a Springbody with shape matching set to OFF.
/// </summary>
/// <param name="w">World to add this body to.</param>
/// <param name="shape">ClosedShape shape for this body</param>
/// <param name="massPerPoint">mass per PointMass.</param>
/// <param name="edgeSpringK">spring constant for edges.</param>
/// <param name="edgeSpringDamp">spring damping for edges</param>
/// <param name="pos">global position of the body</param>
/// <param name="angleinRadians">global angle of the body</param>
/// <param name="scale">scale</param>
/// <param name="kinematic">kinematic control boolean</param>
public SpringBody(World w, ClosedShape shape, float massPerPoint, float edgeSpringK, float edgeSpringDamp, Vector2 pos, float angleinRadians, Vector2 scale, bool kinematic)
: base(w, shape, massPerPoint, pos, angleinRadians, scale, kinematic)
{
mShapeMatchingOn = false;
mSprings = new List<InternalSpring>();
base.setPositionAngle(pos, angleinRadians, scale);
mEdgeSpringK = edgeSpringK;
mEdgeSpringDamp = edgeSpringDamp;
mShapeSpringK = 0.0f;
mShapeSpringDamp = 0.0f;
// build default springs.
_buildDefaultSprings();
}
/// <summary>
/// Create a SpringBody with shape matching turned ON.
/// </summary>
/// <param name="w"></param>
/// <param name="shape">ClosedShape shape for this body</param>
/// <param name="massPerPoint">mass per PointMass.</param>
/// <param name="shapeSpringK">shape-matching spring constant</param>
/// <param name="shapeSpringDamp">shape-matching spring damping</param>
/// <param name="edgeSpringK">spring constant for edges.</param>
/// <param name="edgeSpringDamp">spring damping for edges</param>
/// <param name="pos">global position</param>
/// <param name="angleinRadians">global angle</param>
/// <param name="scale">scale</param>
/// <param name="kinematic">kinematic control boolean</param>
public void Setup(World w, ClosedShape shape, float massPerPoint, float shapeSpringK, float shapeSpringDamp, float edgeSpringK, float edgeSpringDamp, Vector2 pos, float angleinRadians, Vector2 scale, bool kinematic)
{
base.Setup (w, shape, massPerPoint, pos, angleinRadians, scale, kinematic);
mSprings = new List<InternalSpring>();
base.setPositionAngle(pos, angleinRadians, scale);
mShapeMatchingOn = true;
mShapeSpringK = shapeSpringK;
mShapeSpringDamp = shapeSpringDamp;
mEdgeSpringK = edgeSpringK;
mEdgeSpringDamp = edgeSpringDamp;
// build default springs.
_buildDefaultSprings();
}
/// <summary>
/// create a body, and set its shape and position immediately - with individual masses for each PointMass.
/// </summary>
/// <param name="w">world to add this body to (done automatically)</param>
/// <param name="shape">closed shape for this body</param>
/// <param name="pointMasses">list of masses for each PointMass</param>
/// <param name="position">global position of the body</param>
/// <param name="angleInRadians">global angle of the body</param>
/// <param name="scale">local scale of the body</param>
/// <param name="kinematic">whether this body is kinematically controlled.</param>
public void Setup(World w, ClosedShape shape, List<float> pointMasses, Vector2 position, float angleInRadians, Vector2 scale, bool kinematic)
{
mAABB = new AABB();
DerivedPos = position;
DerivedAngle = angleInRadians;
mLastAngle = DerivedAngle;
mScale = scale;
mMaterial = 0;
mIsStatic = false;
mKinematic = kinematic;
mPointMasses = new List<PointMass>();
setShape(shape);
for (int i = 0; i < mPointMasses.Count; i++)
mPointMasses [i].Mass = pointMasses [i];
updateAABB(0f, true);
w.addBody(this);
}
/// <summary>
/// create a body, and set its shape and position immediately
/// </summary>
/// <param name="w">world to add this body to (done automatically)</param>
/// <param name="shape">closed shape for this body</param>
/// <param name="massPerPoint">mass for each PointMass to be created</param>
/// <param name="position">global position of the body</param>
/// <param name="angleInRadians">global angle of the body</param>
/// <param name="scale">local scale of the body</param>
/// <param name="kinematic">whether this body is kinematically controlled</param>
public void Setup(World w, ClosedShape shape, float massPerPoint, Vector2 position, float angleInRadians, Vector2 scale, bool kinematic)
{
mAABB = new AABB();
DerivedPos = position;
DerivedAngle = angleInRadians;
mLastAngle = DerivedAngle;
mScale = scale;
mMaterial = 0;
mIsStatic = float.IsPositiveInfinity(massPerPoint);
mKinematic = kinematic;
mPointMasses = new List<PointMass>();
setShape(shape);
for (int i = 0; i < mPointMasses.Count; i++)
mPointMasses [i].Mass = massPerPoint;
updateAABB(0f, true);
w.addBody(this);
List<Vector2> points = new List<Vector2>();
foreach (PointMass m in mPointMasses)
{
points.Add(m.Position);
}
}
/// <summary>
/// Allows the game to perform any initialization it needs to before starting to run.
/// This is where it can query for any required services and load any non-graphic
/// related content. Calling base.Initialize will enumerate through any components
/// and initialize them as well.
/// </summary>
protected override void Initialize()
{
#if XBOX360
graphics.PreferredBackBufferWidth = this.Window.ClientBounds.Width;
graphics.PreferredBackBufferHeight = this.Window.ClientBounds.Height;
graphics.PreferMultiSampling = true;
#else
graphics.PreferredBackBufferWidth = 800;
graphics.PreferredBackBufferHeight = 600;
#endif
graphics.ApplyChanges();
screenWidth = graphics.GraphicsDevice.Viewport.Width;
screenHeight = graphics.GraphicsDevice.Viewport.Height;
// setup camera
cameraPos = new Vector3(-2f, -15f, 25f);
cameraLookVector = Vector3.Forward;
// basic effect used for drawing all objects, based on vertexcolor.
lineEffect = new BasicEffect(graphics.GraphicsDevice, null);
lineEffect.LightingEnabled = false;
lineEffect.VertexColorEnabled = true;
lineEffect.Alpha = 1.0f;
// initialize physics world
mWorld = new World();
// lists to keep track of bodies.
mSpringBodies = new List<DraggableSpringBody>();
mPressureBodies = new List<DraggablePressureBody>();
mStaticBodies = new List<Body>();
// STATIC COLLISION SHAPE
// all Closed Shape objects are assumed to be a list of lines going from point to point, with the last point
// connecting back to the first point to close the shape. This is a simple rectangle to represent the ground for this demo.
// ClosedShape objects are automatically "centered" when you call finish(), and that center becomes the center when
// setting the position of the object.
ClosedShape stat = new ClosedShape();
stat.begin();
stat.addVertex(new Vector2(-20f,-1f));
stat.addVertex(new Vector2(-20f, 1f));
stat.addVertex(new Vector2(20f, 1f));
stat.addVertex(new Vector2(20f, -1f));
stat.finish();
// creating the body. Since this is a static body, we can use the base class Body.
// setting the mass per point to PositiveInfinity makes it immobile / static.
Body b = new Body(mWorld, stat, float.PositiveInfinity, new Vector2(0f, -19f), 0, Vector2.One, false);
mStaticBodies.Add(b);
// this is a more complex body, in the shape of a capital "I", and connected with many internal springs.
ClosedShape shape = new ClosedShape();
shape.begin();
shape.addVertex(new Vector2(-1.5f, 2.0f));
shape.addVertex(new Vector2(-0.5f, 2.0f));
shape.addVertex(new Vector2(0.5f, 2.0f));
shape.addVertex(new Vector2(1.5f, 2.0f));
shape.addVertex(new Vector2(1.5f, 1.0f));
shape.addVertex(new Vector2(0.5f, 1.0f));
shape.addVertex(new Vector2(0.5f, -1.0f));
shape.addVertex(new Vector2(1.5f, -1.0f));
shape.addVertex(new Vector2(1.5f, -2.0f));
shape.addVertex(new Vector2(0.5f, -2.0f));
shape.addVertex(new Vector2(-0.5f, -2.0f));
shape.addVertex(new Vector2(-1.5f, -2.0f));
shape.addVertex(new Vector2(-1.5f, -1.0f));
shape.addVertex(new Vector2(-0.5f, -1.0f));
shape.addVertex(new Vector2(-0.5f, 1.0f));
shape.addVertex(new Vector2(-1.5f, 1.0f));
shape.finish();
// draggablespringbody is an inherited version of SpringBody that includes polygons for visualization, and the
// ability to drag the body around the screen with the cursor.
for (int x = -8; x <= 8; x += 4)
{
DraggableSpringBody body = new DraggableSpringBody(mWorld, shape, 1f, 150.0f, 5.0f, 300.0f, 15.0f, new Vector2(x, 0), 0.0f, Vector2.One);
body.addInternalSpring(0, 14, 300.0f, 10.0f);
body.addInternalSpring(1, 14, 300.0f, 10.0f);
body.addInternalSpring(1, 15, 300.0f, 10.0f);
body.addInternalSpring(1, 5, 300.0f, 10.0f);
body.addInternalSpring(2, 14, 300.0f, 10.0f);
body.addInternalSpring(2, 5, 300.0f, 10.0f);
body.addInternalSpring(1, 5, 300.0f, 10.0f);
body.addInternalSpring(14, 5, 300.0f, 10.0f);
body.addInternalSpring(2, 4, 300.0f, 10.0f);
body.addInternalSpring(3, 5, 300.0f, 10.0f);
body.addInternalSpring(14, 6, 300.0f, 10.0f);
body.addInternalSpring(5, 13, 300.0f, 10.0f);
body.addInternalSpring(13, 6, 300.0f, 10.0f);
body.addInternalSpring(12, 10, 300.0f, 10.0f);
body.addInternalSpring(13, 11, 300.0f, 10.0f);
body.addInternalSpring(13, 10, 300.0f, 10.0f);
body.addInternalSpring(13, 9, 300.0f, 10.0f);
body.addInternalSpring(6, 10, 300.0f, 10.0f);
body.addInternalSpring(6, 9, 300.0f, 10.0f);
body.addInternalSpring(6, 8, 300.0f, 10.0f);
body.addInternalSpring(7, 9, 300.0f, 10.0f);
// polygons!
body.addTriangle(0, 15, 1);
body.addTriangle(1, 15, 14);
body.addTriangle(1, 14, 5);
body.addTriangle(1, 5, 2);
body.addTriangle(2, 5, 4);
body.addTriangle(2, 4, 3);
body.addTriangle(14, 13, 6);
body.addTriangle(14, 6, 5);
body.addTriangle(12, 11, 10);
body.addTriangle(12, 10, 13);
body.addTriangle(13, 10, 9);
body.addTriangle(13, 9, 6);
body.addTriangle(6, 9, 8);
body.addTriangle(6, 8, 7);
body.finalizeTriangles(Color.SpringGreen, Color.Navy);
mSpringBodies.Add(body);
}
// pressure body. similar to a SpringBody, but with internal pressurized gas to help maintain shape.
JelloPhysics.ClosedShape ball = new ClosedShape();
ball.begin();
for (int i = 0; i < 360; i += 20)
{
ball.addVertex(new Vector2((float)Math.Cos(MathHelper.ToRadians((float)-i)), (float)Math.Sin(MathHelper.ToRadians((float)-i))));
}
ball.finish();
// make many of these.
for (int x = -10; x <= 10; x+=5)
{
DraggablePressureBody pb = new DraggablePressureBody(mWorld, ball, 1.0f, 40.0f, 10.0f, 1.0f, 300.0f, 20.0f, new Vector2(x, -12), 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((x==-10) ? Color.Teal : Color.Maroon);
mPressureBodies.Add(pb);
}
// default cursor position, etc.
mCursorPos = new Vector2(cameraPos.X, cameraPos.Y);
base.Initialize();
}
