public Rotator(int colA, int colB)
: base(false)
{
this.CollideInternal = true;
ctr = new Vector(555, 175);
rectComposite = new RectComposite(ctr, colA, colB);
addComposite(rectComposite);
circA = new CircleParticle(ctr.X, ctr.Y, 5, false, 1, 0.3f, 0);
circA.SetStyle(1, colA, colB);
this.Particles.Add(circA);
rectA = new RectangleParticle(555, 160, 10, 10, 0, false, 3, 0.3f, 0);
rectA.SetStyle(1, colA, colB);
this.Particles.Add(rectA);
connectorA = new SpringConstraint(rectComposite.PA, rectA, 1, false, 1, 1, false);
connectorA.SetStyle(2, colB);
this.Constraints.Add(connectorA);
rectB = new RectangleParticle(555, 190, 10, 10, 0, false, 3, 0.3f, 0);
rectB.SetStyle(1, colA, colB);
this.Particles.Add(rectB);
connectorB = new SpringConstraint(rectComposite.PC, rectB, 1, false, 1, 1, false);
connectorB.SetStyle(2, colB);
this.Constraints.Add(connectorB);
}
private static Vector closestVertexOnOBB(Vector p, RectangleParticle r)
{
Vector d = p - r.samp;
Vector q = new Vector(r.samp.X, r.samp.Y);
for (int i = 0; i < 2; i++)
{
float dist = d.Dot(r.axes[i]);
if (dist >= 0) dist = r.extents(i);
else if (dist < 0) dist = -r.extents(i);
q += (r.axes[i] * dist);
}
return q;
}
private void setCorners(RectangleParticle r, int i)
{
float rx = r.curr.X;
float ry = r.curr.Y;
float ae0_x = r.axes[0].X * r.extents(0);
float ae0_y = r.axes[0].Y * r.extents(0);
float ae1_x = r.axes[1].X * r.extents(1);
float ae1_y = r.axes[1].Y * r.extents(1);
float emx = ae0_x - ae1_x;
float emy = ae0_y - ae1_y;
float epx = ae0_x + ae1_x;
float epy = ae0_y + ae1_y;
if (i == 0)
{
// 0 and 1
rca.X = rx - epx;
rca.Y = ry - epy;
rcb.X = rx + emx;
rcb.Y = ry + emy;
}
else if (i == 1)
{
// 1 and 2
rca.X = rx + emx;
rca.Y = ry + emy;
rcb.X = rx + epx;
rcb.Y = ry + epy;
}
else if (i == 2)
{
// 2 and 3
rca.X = rx + epx;
rca.Y = ry + epy;
rcb.X = rx - emx;
rcb.Y = ry - emy;
}
else if (i == 3)
{
// 3 and 0
rca.X = rx - emx;
rca.Y = ry - emy;
rcb.X = rx - epx;
rcb.Y = ry - epy;
}
}
private static bool testOBBvsOBB(RectangleParticle ra, RectangleParticle rb)
{
Vector collisionNormal = new Vector();
float collisionDepth = float.PositiveInfinity;
for (int i = 0; i < 2; i++)
{
Vector axisA = ra.axes[i];
float depthA = testIntervals(ra.getProjection(axisA), rb.getProjection(axisA));
if (depthA == 0) return false;
Vector axisB = rb.axes[i];
float depthB = testIntervals(ra.getProjection(axisB), rb.getProjection(axisB));
if (depthB == 0) return false;
float absA = Math.Abs(depthA);
float absB = Math.Abs(depthB);
if (absA < Math.Abs(collisionDepth) || absB < Math.Abs(collisionDepth))
{
bool altb = absA < absB;
collisionNormal = altb ? axisA : axisB;
collisionDepth = altb ? depthA : depthB;
}
}
CollisionResolver.resolveParticleParticle(ra, rb, collisionNormal, collisionDepth);
return true;
}
private static bool testOBBvsCircle(RectangleParticle ra, CircleParticle ca)
{
Vector collisionNormal = new Vector();
float collisionDepth = float.PositiveInfinity;
float[] depths = new float[2];
// first go through the axes of the rectangle
for (int i = 0; i < 2; i++)
{
Vector boxAxis = ra.axes[i];
float depth = testIntervals(ra.getProjection(boxAxis), ca.getProjection(boxAxis));
if (depth == 0) return false;
if (Math.Abs(depth) < Math.Abs(collisionDepth))
{
collisionNormal = boxAxis;
collisionDepth = depth;
}
depths[i] = depth;
}
// determine if the circle's center is in a vertex region
float r = ca.Radius;
if (Math.Abs(depths[0]) < r && Math.Abs(depths[1]) < r)
{
Vector vertex = closestVertexOnOBB(ca.samp, ra);
// get the distance from the closest vertex on rect to circle center
collisionNormal = vertex - ca.samp;
float mag = collisionNormal.magnitude();
collisionDepth = r - mag;
if (collisionDepth > 0)
{
// there is a collision in one of the vertex regions
collisionNormal /= mag;
}
else
{
// ra is in vertex region, but is not colliding
return false;
}
}
CollisionResolver.resolveParticleParticle(ra, ca, collisionNormal, collisionDepth);
return true;
}
public Surfaces(int colA, int colB, int colC, int colD, int colE, int colBouncePad)
: base(false)
{
floor = new RectangleParticle(340, 327, 550, 50, 0, true, 1.0f, 0.3f, 0);
floor.SetStyle(0, colD, colD);
this.Particles.Add(floor);
ceil = new RectangleParticle(325, -33, 649, 80, 0, true, 1.0f, 0.3f, 0);
ceil.SetStyle(0, colD, colD);
this.Particles.Add(ceil);
rampRight = new RectangleParticle(375, 220, 390, 20, 0.405f, true, 1.0f, 0.3f, 0);
rampRight.SetStyle(0, colD, colD);
this.Particles.Add(rampRight);
rampLeft = new RectangleParticle(90, 200, 102, 20, -.7f, true, 1.0f, 0.3f, 0);
rampLeft.SetStyle(0, colD, colD);
this.Particles.Add(rampLeft);
rampLeft2 = new RectangleParticle(96, 129, 102, 20, -.7f, true, 1.0f, 0.3f, 0);
rampLeft2.SetStyle(0, colD, colD);
this.Particles.Add(rampLeft2);
rampCircle = new CircleParticle(175, 190, 60, true, 1.0f, 0.3f, 0);
rampCircle.SetStyle(1, colD, colB);
this.Particles.Add(rampCircle);
floorBump = new CircleParticle(600, 660, 400, true, 1.0f, 0.3f, 0);
floorBump.SetStyle(1, colD, colB);
this.Particles.Add(floorBump);
bouncePad = new RectangleParticle(30, 370, 32, 60, 0, true, 1.0f, 0.3f, 0);
bouncePad.SetStyle(1, colD, colBouncePad);
bouncePad.Elasticity = 4;
this.Particles.Add(bouncePad);
leftWall = new RectangleParticle(1, 99, 30, 500, 0, true, 1.0f, 0.3f, 0);
leftWall.SetStyle(0, colD, colD);
this.Particles.Add(leftWall);
leftWallChannelInner = new RectangleParticle(54, 300, 20, 150, 0, true, 1.0f, 0.3f, 0);
leftWallChannelInner.SetStyle(0, colD, colD);
this.Particles.Add(leftWallChannelInner);
leftWallChannel = new RectangleParticle(54, 122, 20, 94, 0, true, 1.0f, 0.3f, 0);
leftWallChannel.SetStyle(0, colD, colD);
this.Particles.Add(leftWallChannel);
leftWallChannelAng = new RectangleParticle(75, 65, 60, 25, -0.7f, true, 1.0f, 0.3f, 0);
leftWallChannelAng.SetStyle(0, colD, colD);
this.Particles.Add(leftWallChannelAng);
topLeftAng = new RectangleParticle(23, 11, 65, 40, -0.7f, true, 1.0f, 0.3f, 0);
topLeftAng.SetStyle(0, colD, colD);
this.Particles.Add(topLeftAng);
rightWall = new RectangleParticle(654, 230, 50, 500, 0, true, 1.0f, 0.3f, 0);
rightWall.SetStyle(0, colD, colD);
this.Particles.Add(rightWall);
bridgeStart = new RectangleParticle(127, 49, 75, 25, 0, true, 1.0f, 0.3f, 0);
bridgeStart.SetStyle(0, colD, colD);
this.Particles.Add(bridgeStart);
bridgeEnd = new RectangleParticle(483, 55, 100, 15, 0, true, 1.0f, 0.3f, 0);
bridgeEnd.SetStyle(0, colD, colD);
this.Particles.Add(bridgeEnd);
}
public RobotDemo()
{
APEngine.init(1 / 4);
//APEngine.container = this;
APEngine.addMasslessForce(new Vector(0, 4));
APEngine.Damping = .99f;
APEngine.ConstraintCollisionCycles = 10;
robot = new Robot(1250, 260, 1.6f, 0.02f);
Group terrainA = new Group();
Group terrainB = new Group(true);
Group terrainC = new Group();
RectangleParticle floor = new RectangleParticle(600, 390, 1700, 100, 0, true, 1, 0, 1);
floor.SetStyle(0, 0, 0x999999);
terrainA.Particles.Add(floor);
// pyramid of boxes
RectangleParticle box0 = new RectangleParticle(600, 337, 600, 7, 0, true, 10, 0, 1);
box0.SetStyle(1, 0x999999, 0x336699);
terrainA.Particles.Add(box0);
RectangleParticle box1 = new RectangleParticle(600, 330, 500, 7, 0, true, 10, 0, 1);
box1.SetStyle(1, 0x999999, 0x336699);
terrainA.Particles.Add(box1);
RectangleParticle box2 = new RectangleParticle(600, 323, 400, 7, 0, true, 10, 0, 1);
box2.SetStyle(1, 0x999999, 0x336699);
terrainA.Particles.Add(box2);
RectangleParticle box3 = new RectangleParticle(600, 316, 300, 7, 0, true, 10, 0, 1);
box3.SetStyle(1, 0x999999, 0x336699);
terrainA.Particles.Add(box3);
RectangleParticle box4 = new RectangleParticle(600, 309, 200, 7, 0, true, 10, 0, 1);
box4.SetStyle(1, 0x999999, 0x336699);
terrainA.Particles.Add(box4);
RectangleParticle box5 = new RectangleParticle(600, 302, 100, 7, 0, true, 10, 0, 1);
box5.SetStyle(1, 0x999999, 0x336699);
terrainA.Particles.Add(box5);
// left side floor
RectangleParticle floor2 = new RectangleParticle(-100, 390, 1100, 100, 0.3f, true, 1, 0, 1);
floor2.SetStyle(0, 0, 0x999999);
terrainB.Particles.Add(floor2);
RectangleParticle floor3 = new RectangleParticle(-959, 232, 700, 100, 0, true, 1, 0, 1);
floor3.SetStyle(0, 0, 0x999999);
terrainB.Particles.Add(floor3);
RectangleParticle box6 = new RectangleParticle(-990, 12, 50, 25, 0);
box6.SetStyle(1, 0x999999, 0x336699);
terrainB.Particles.Add(box6);
RectangleParticle floor5 = new RectangleParticle(-1284, 170, 50, 100, 0, true);
floor5.SetStyle(0, 0, 0x999999);
terrainB.Particles.Add(floor5);
// right side floor
RectangleParticle floor6 = new RectangleParticle(1430, 320, 50, 60, 0, true);
floor6.SetStyle(0, 0, 0x00999999);
terrainC.Particles.Add(floor6);
APEngine.addGroup(robot);
APEngine.addGroup(terrainA);
APEngine.addGroup(terrainB);
APEngine.addGroup(terrainC);
robot.addCollidable(terrainA);
robot.addCollidable(terrainB);
robot.addCollidable(terrainC);
robot.togglePower();
}
