public SphereStack()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
for (int i = 0; i < e_count; ++i)
{
shape.Radius = Rand.RandomFloat(0.5f, 0.5f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 4.0f + 3.0f * i);
m_bodies[i] = m_world.CreateBody(bd);
m_bodies[i].CreateFixture(shape, 1.0f);
}
}
}
public VaryingRestitution()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.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.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-10.0f + 3.0f * i, 20.0f);
Body body = m_world.CreateBody(bd);
fd.Restitution = restitution[i];
fd.UserData = i;
body.CreateFixture(fd);
}
}
}
VaryingRestitution()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape._radius = 1.0f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
float[] restitution = new float[7] {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.Dynamic;
bd.position = new Vector2(-10.0f + 3.0f * i, 20.0f);
Body body = _world.CreateBody(bd);
fd.restitution = restitution[i];
body.CreateFixture(fd);
}
}
}
public SphereStack()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape._radius = 1.0f;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 4.0f + 3.0f * i);
_bodies[i] = _world.CreateBody(bd);
_bodies[i].CreateFixture(shape, 1.0f);
//_bodies[i].SetLinearVelocity(new Vector2(0.0f, -100.0f));
}
}
}
public override void Keyboard(SFML.Window.KeyCode key)
{
switch (char.ToLower((char)key))
{
case 'c':
if (m_fixture2 == null)
{
CircleShape shape = new CircleShape();
shape.Radius = 3.0f;
shape.Position = new Vec2(0.5f, -4.0f);
m_fixture2 = m_body.CreateFixture(shape, 10.0f);
m_body.IsAwake = true;
}
break;
case 'd':
if (m_fixture2 != null)
{
m_body.DestroyFixture(m_fixture2.Value);
m_fixture2 = null;
m_body.IsAwake = true;
}
break;
}
}
public void Clone()
{
CircleShape circle = new CircleShape(1.23f);
CircleShape clone = circle.Clone() as CircleShape;
Assert.IsNotNull(clone);
Assert.AreEqual(circle.Radius, clone.Radius);
Assert.AreEqual(circle.GetAabb(Pose.Identity).Minimum, clone.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(circle.GetAabb(Pose.Identity).Maximum, clone.GetAabb(Pose.Identity).Maximum);
}
public static void CollideCircles(out Manifold manifold, CircleShape circle1, Transform xf1, CircleShape circle2, Transform xf2)
{
var circle1Lock = circle1.Lock();
var circle2Lock = circle2.Lock();
NativeMethods.cb2_collidecircles(out manifold, circle1Lock, xf1, circle2Lock, xf2);
circle1.Unlock();
circle2.Unlock();
}
public static void CollidePolygonAndCircle(out Manifold manifold, PolygonShape polygon, Transform xf1, CircleShape circle, Transform xf2)
{
var polyLock = polygon.Lock();
var circleLock = circle.Lock();
NativeMethods.cb2_collidepolygonandcircle(out manifold, polyLock, xf1, circleLock, xf2);
polygon.Unlock();
circle.Unlock();
}
public void GetMesh()
{
var s = new CircleShape(3);
var mesh = s.GetMesh(0.05f, 3);
Assert.Greater(mesh.NumberOfTriangles, 1);
foreach(var vertex in mesh.Vertices)
{
Assert.AreEqual(0, vertex.Z);
}
}
public Revolute()
{
System.Collections.Generic.List<JointDef> joints = new System.Collections.Generic.List<JointDef>();
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.Radius = 0.5f;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
RevoluteJointDef rjd = new RevoluteJointDef();
bd.Position = new Vec2(0.0f, 20.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
float w = 100.0f;
body.AngularVelocity = w;
body.LinearVelocity = new Vec2(-8.0f * w, 0.0f);
rjd.Initialize(ground, body, new Vec2(0.0f, 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);
joints.Add(rjd);
}
using (System.IO.FileStream fs = new System.IO.FileStream("out.xml", System.IO.FileMode.Create))
{
var serializer = Box2CS.Serialize.WorldSerializer.SerializeWorld(m_world, new Box2CS.Serialize.WorldXmlSerializer());
foreach (var j in joints)
serializer.AddJoint(j);
serializer.Serialize(fs);
}
}
public SensorTest()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
#if false
{
FixtureDef sd;
sd.SetAsBox(10.0f, 2.0f, new Vector2(0.0f, 20.0f), 0.0f);
sd.isSensor = true;
_sensor = ground.CreateFixture(&sd);
}
#else
{
CircleShape shape = new CircleShape();
shape._radius = 5.0f;
shape._p = new Vector2(0.0f, 10.0f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.isSensor = true;
_sensor = ground.CreateFixture(fd);
}
#endif
}
{
CircleShape shape = new CircleShape();
shape._radius = 1.0f;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0f + 3.0f * i, 20.0f);
bd.userData = i;
_touching[i] = false;
_bodies[i] = _world.CreateBody(bd);
_bodies[i].CreateFixture(shape, 1.0f);
}
}
}
public ContinuousTest()
{
{
BodyDef bd = new BodyDef();
bd.position = new Vector2(0.0f, 0.0f);
Body body = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-10.0f, 0.0f), new Vector2(10.0f, 0.0f));
body.CreateFixture(shape, 1.0f);
shape.SetAsBox(0.2f, 1.0f, new Vector2(0.5f, 1.0f), 0.0f);
body.CreateFixture(shape, 1.0f);
}
#if true
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 20.0f);
//bd.angle = 0.1f;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.1f);
_body = _world.CreateBody(bd);
_body.CreateFixture(shape, 1.0f);
Launch();
}
#else
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 0.5f);
Body body = _world.CreateBody(bd);
CircleShape shape = new CircleShape();
shape._p = new Vector2Zero();
shape._radius = 0.5f;
body.CreateFixture(shape, 1.0f);
//bd.bullet = true;
bd.position = new Vector2(0.0f, 10.0f);
body = _world.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
body.SetLinearVelocity(new Vector2(0.0f, -100.0f));
}
#endif
}
public Confined()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
// Floor
shape.SetAsEdge(new Vector2(-10.0f, 0.0f), new Vector2(10.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
// Left wall
shape.SetAsEdge(new Vector2(-10.0f, 0.0f), new Vector2(-10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
// Right wall
shape.SetAsEdge(new Vector2(10.0f, 0.0f), new Vector2(10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
// Roof
shape.SetAsEdge(new Vector2(-10.0f, 20.0f), new Vector2(10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
}
float radius = 0.5f;
CircleShape shape2 = new CircleShape();
shape2._p = Vector2.Zero;
shape2._radius = radius;
FixtureDef fd = new FixtureDef();
fd.shape = shape2;
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.Dynamic;
bd.position = new Vector2(-10.0f + (2.1f * j + 1.0f + 0.01f * i) * radius, (2.0f * i + 1.0f) * radius);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
_world.Gravity = new Vector2(0.0f, 0.0f);
}
public override void Keyboard(KeyboardState state, KeyboardState oldState)
{
if (state.IsKeyDown(Keys.C) && oldState.IsKeyUp(Keys.C) && _fixture2 == null)
{
CircleShape shape = new CircleShape();
shape._radius = 3.0f;
shape._p = new Vector2(0.5f, -4.0f);
_fixture2 = _body.CreateFixture(shape, 10.0f);
_body.SetAwake(true);
}
if (state.IsKeyDown(Keys.D) && oldState.IsKeyUp(Keys.D) && _fixture2 != null)
{
_body.DestroyFixture(_fixture2);
_fixture2 = null;
_body.SetAwake(true);
}
}
public SensorTest()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.Radius = 5.0f;
shape.Position = new Vec2(0.0f, 10.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.IsSensor = true;
m_sensor = ground.CreateFixture(fd);
}
}
{
CircleShape shape = new CircleShape();
for (int i = 0; i < e_count; ++i)
{
shape.Radius = Rand.RandomFloat(0.85f, 1.0f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-10.0f + 3.0f * i, 20.0f);
bd.UserData = i;
m_touching[i] = false;
m_bodies[i] = m_world.CreateBody(bd);
m_bodies[i].CreateFixture(shape, 1.0f);
}
}
}
public OneSidedPlatform()
{
// Ground
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
// Platform
{
BodyDef bd = new BodyDef();
bd.position = new Vector2(0.0f, 10.0f);
Body body = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(3.0f, 0.5f);
_platform = body.CreateFixture(shape, 0.0f);
_bottom = 10.0f - 0.5f;
_top = 10.0f + 0.5f;
}
// Actor
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 12.0f);
Body body = _world.CreateBody(bd);
_radius = 0.5f;
CircleShape shape = new CircleShape();
shape._radius = _radius;
_character = body.CreateFixture(shape, 20.0f);
body.SetLinearVelocity(new Vector2(0.0f, -50.0f));
_state = State.e_unknown;
}
}
public Revolute()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
RevoluteJointDef rjd = new RevoluteJointDef();
bd.position = new Vector2(0.0f, 20.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
float w = 100.0f;
body.SetAngularVelocity(w);
body.SetLinearVelocity(new Vector2(-8.0f * w, 0.0f));
rjd.Initialize(ground, body, new Vector2(0.0f, 12.0f));
rjd.motorSpeed = 1.0f * (float)Settings.b2_pi;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = false;
rjd.lowerAngle = -0.25f * (float)Settings.b2_pi;
rjd.upperAngle = 0.5f * (float)Settings.b2_pi;
rjd.enableLimit = true;
rjd.collideConnected = true;
_joint = (RevoluteJoint)_world.CreateJoint(rjd);
}
}
void CreateCircle()
{
float radius = 2.0f;
CircleShape shape = new CircleShape();
shape.Position = Vec2.Empty;
shape.Radius = radius;
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
fd.Friction = 0.0f;
Vec2 p = new Vec2(Rand.RandomFloat(), 3.0f + Rand.RandomFloat());
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = p;
//bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
public OneSidedPlatform()
{
// Ground
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
// Platform
{
BodyDef bd = new BodyDef();
bd.Position = new Vec2(0.0f, 10.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(3.0f, 0.5f);
m_platform = body.CreateFixture(shape, 0.0f);
m_top = 10.0f + 0.5f;
}
// Actor
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 12.0f);
Body body = m_world.CreateBody(bd);
m_radius = 0.5f;
CircleShape shape = new CircleShape();
shape.Radius = m_radius;
m_character = body.CreateFixture(shape, 20.0f);
body.LinearVelocity = new Vec2(0.0f, -50.0f);
}
}
public void DrawNodeDisplay()
{
_nodeWindow.Draw(new Text("Node tree", _font, 35)
{
Position = new Vector2f(90, 30),
FillColor = new Color(190, 190, 190)
});
_nodeWindow.Draw(new Text(_data.Agent.Name, _font, 15)
{
Position = new Vector2f(260, 53),
FillColor = new Color(200, 200, 200)
});
bool finished = false;
int level = 0;
int parentXPos = 0;
int childXPos = 0;
Queue <Node <TileType> > levelNodeQueue = new Queue <Node <TileType> >();
Queue <Node <TileType> > nextLevelNodeQueue = new Queue <Node <TileType> >();
levelNodeQueue.Enqueue(_data.Agent.AgentData.RootNode);
_nodeWindow.Draw(new CircleShape()
{
Position = new Vector2f(
105,
80),
Radius = 5,
FillColor = new Color(221, 108, 102)
});
_nodeWindow.Draw(new Text("(" + _data.Agent.AgentData.RootNode.Pos.X + ", "
+ _data.Agent.AgentData.RootNode.Pos.Y + ")", _font, 10)
{
Position = new Vector2f(
105 + 15,
80),
FillColor = new Color(220, 220, 220)
});
while (!finished)
{
parentXPos = 0;
childXPos = 0;
while (levelNodeQueue.Count > 0)
{
Node <TileType> currentParentNode = levelNodeQueue.Dequeue();
foreach (Node <TileType> child in currentParentNode.Children)
{
nextLevelNodeQueue.Enqueue(child);
// child is child node
// current parent node is current parent node, xpos increases with eveyr child, however, we'll need to know the position of the parent node...
// draw the line between aprent and child
Vertex[] line = new Vertex[] { };
if (child.IsOnPath)
{
if (currentParentNode.IsOnPath)
{
line = new Vertex[]
{
new Vertex(new Vector2f(105 + 5 + 80 * parentXPos, 110 + 5 + 30 * (level - 1)), new Color(250, 250, 220)),
new Vertex(new Vector2f(105 + 5 + 80 * childXPos, 110 + 5 + 30 * level), new Color(250, 250, 220))
};
}
}
else
{
line = new Vertex[]
{
new Vertex(new Vector2f(105 + 5 + 80 * parentXPos, 110 + 5 + 30 * (level - 1)), new Color(150, 150, 150)),
new Vertex(new Vector2f(105 + 5 + 80 * childXPos, 110 + 5 + 30 * level), new Color(150, 150, 150))
};
}
_nodeWindow.Draw(line, PrimitiveType.Lines);
_nodeWindow.Draw(new Text("(" + child.Pos.X + ", " + child.Pos.Y + ")", _font, 10)
{
Position = new Vector2f(
105 + 15 + 80 * childXPos,
110 + 30 * level),
FillColor = new Color(220, 220, 220)
});
if (child.Cost != 0)
{
_nodeWindow.Draw(new Text("c: " + child.Cost, _font, 10)
{
Position = new Vector2f(
105 + 50 + 80 * childXPos,
110 + 30 * level),
FillColor = new Color(220, 220, 220)
});
}
CircleShape nodeCircle = new CircleShape()
{
Position = new Vector2f(
105 + 80 * childXPos,
110 + 30 * level),
Radius = 5,
FillColor = HashedPosColor(child.Pos.X, child.Pos.Y, 100)
};
if (_data.Agent.AgentData.PosToSearch.Count > 0)
{
if (child.Pos == _data.Agent.AgentData.PosToSearch[0])
{
nodeCircle.FillColor = new Color(255, 201, 14);
}
}
if (child.Data == TileType.Goal)
{
nodeCircle.FillColor = new Color(111, 221, 102);
}
_nodeWindow.Draw(nodeCircle);
childXPos++;
}
parentXPos++;
}
// We've just looped through all the stuff in this level, all the children are in the next level
// move each next level node to the level one and move on
levelNodeQueue.Clear();
while (nextLevelNodeQueue.Count > 0)
{
levelNodeQueue.Enqueue(nextLevelNodeQueue.Dequeue());
}
nextLevelNodeQueue.Clear();
if (levelNodeQueue.Count == 0)
{
finished = true;
}
level++;
_nodeWindow.Draw(new Text("INTERNAL", _font, 10)
{
Position = new Vector2f(
5,
50),
FillColor = new Color(220, 220, 220)
});
int yPos = 0;
for (int i = _data.Agent.AgentData.InternalHeap.Count - 1; i >= 0; i--)
{
Node <TileType> node = _data.Agent.AgentData.InternalHeap[i];
CircleShape nodeCircle = new CircleShape()
{
Position = new Vector2f(
10,
90 + 30 * yPos),
Radius = 5,
FillColor = HashedPosColor(node.Pos.X, node.Pos.Y, 100)
};
_nodeWindow.Draw(nodeCircle);
if (node.Cost != 0)
{
_nodeWindow.Draw(new Text(node.Cost.ToString(), _font, 10)
{
Position = new Vector2f(
12,
90 + 30 * yPos),
FillColor = new Color(220, 220, 220)
});
}
_nodeWindow.Draw(new Text("(" + node.Pos.X + ", " + node.Pos.Y + ")", _font, 10)
{
Position = new Vector2f(
25,
90 + 30 * yPos),
FillColor = new Color(220, 220, 220)
});
yPos++;
}
}
}
static bool collideEdgeAndCircle(EdgeShape edge, ref FSTransform edgeTransform, CircleShape circle, ref FSTransform circleTransform, out FSCollisionResult result)
{
result = new FSCollisionResult();
Collision.collideEdgeAndCircle(ref _manifold, edge, ref edgeTransform, circle, ref circleTransform);
if (_manifold.pointCount > 0)
{
// code adapted from PositionSolverManifold.Initialize
if (_manifold.type == ManifoldType.Circles)
{
// this is essentically directly from ContactSolver.WorldManifold.Initialize. To avoid doing the extra math twice we duplicate this code
// here because it doesnt return some values we need to calculate separation
var pointA = MathUtils.mul(ref edgeTransform, _manifold.localPoint);
var pointB = MathUtils.mul(ref circleTransform, _manifold.points[0].localPoint);
result.normal = pointA - pointB;
Vector2Ext.normalize(ref result.normal);
var cA = pointA - edge.radius * result.normal;
var cB = pointB + circle.radius * result.normal;
result.point = 0.5f * (cA + cB);
result.point *= FSConvert.simToDisplay;
var separation = Vector2.Dot(pointA - pointB, result.normal) - edge.radius - circle.radius;
// Ensure normal points from A to B
Vector2.Negate(ref result.normal, out result.normal);
result.minimumTranslationVector = result.normal * Math.Abs(separation);
}
else // FaceA
{
result.normal = MathUtils.mul(edgeTransform.q, _manifold.localNormal);
var planePoint = MathUtils.mul(ref edgeTransform, _manifold.localPoint);
var clipPoint = MathUtils.mul(ref circleTransform, _manifold.points[0].localPoint);
var separation = Vector2.Dot(clipPoint - planePoint, result.normal) - edge.radius - circle.radius;
result.point = (clipPoint - result.normal * circle.radius) * FSConvert.simToDisplay;
result.minimumTranslationVector = result.normal * -separation;
}
#if DEBUG_FSCOLLISIONS
Debug.drawPixel(result.point, 5, Color.Red, 0.2f);
Debug.drawLine(result.point, result.point + result.normal * 20, Color.Yellow, 0.2f);
#endif
return(true);
}
return(false);
}
/// <summary>
///
/// </summary>
/// <param name="filename"></param>
/// <param name="game"></param>
public void Load(String filename, Game game)
{
fileName = filename;
XmlTextReader reader = new XmlTextReader(filename);
reader.ReadToFollowing("Data");
restitution = float.Parse(reader.GetAttribute("Restitution"));
density = float.Parse(reader.GetAttribute("Density"));
friction = float.Parse(reader.GetAttribute("Friction"));
String fr = reader.GetAttribute("fixedRotation");
if (fr != null)
{
fixedRotation = bool.Parse(fr);
}
//Load images
images = new List <Texture2D>();
reader.ReadToFollowing("Image");
int x;
int y;
do
{
x = int.Parse(reader.GetAttribute("width"));
y = int.Parse(reader.GetAttribute("height"));
String fileToLoad = reader.ReadElementContentAsString();
images.Add(game.Content.Load <Texture2D>(fileToLoad));
}while (reader.ReadToNextSibling("Image"));
size = new Vector2(x, y);
//Load animations
animations = new Dictionary <string, List <short> >();
reader.ReadToFollowing("State");
do
{
String name = reader.GetAttribute("name");
String[] strs = reader.ReadElementContentAsString().Split(',');
animations.Add(name, new List <short>());
List <short> tempList;
animations.TryGetValue(name, out tempList);
foreach (String s in strs)
{
tempList.Add(short.Parse(s));
}
} while (reader.ReadToNextSibling("State"));
reader.ReadToFollowing("Shape");
do
{
string shapeType = reader.GetAttribute("ShapeType");
string type = reader.GetAttribute("type");
switch (type)
{
case "Static":
{
bodyType = BodyType.Static;
break;
}
case "Dynamic":
{
bodyType = BodyType.Dynamic;
break;
}
case "Kinematic":
{
bodyType = BodyType.Kinematic;
break;
}
}
switch (shapeType)
{
case "Circle":
{
float rad = reader.ReadElementContentAsFloat();
shape = new CircleShape();
shape._radius = rad;
break;
}
case "Polygon":
{
PolygonShape pShape = new PolygonShape();
List <Vector2> verts = new List <Vector2>();
float multiX = x / scale;
float multiY = y / scale;
reader.ReadToFollowing("Vertex");
do
{
String str = reader.ReadElementContentAsString();
String[] strs = str.Split(',');
Vector2 vert = new Vector2(float.Parse(strs[0]) * multiX, float.Parse(strs[1]) * multiY);
verts.Add(vert);
} while (reader.ReadToNextSibling("Vertex"));
pShape.Set(verts.ToArray(), verts.Count);
shape = pShape;
break;
}
}
shapes.Add(shape);
if (shapes.Count > 1)
{
Console.Write(" ");
}
}while(reader.ReadToNextSibling("Shape"));
}
public CharacterCollision()
{
// Ground body
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
// Collinear edges with no adjacency information.
// This shows the problematic case where a box shape can hit
// an internal vertex.
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-8.0f, 1.0f), new Vector2(-6.0f, 1.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetTwoSided(new Vector2(-6.0f, 1.0f), new Vector2(-4.0f, 1.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetTwoSided(new Vector2(-4.0f, 1.0f), new Vector2(-2.0f, 1.0f));
ground.CreateFixture(shape, 0.0f);
}
// Chain shape
{
var bd = new BodyDef {
Angle = 0.25f * Settings.Pi
};
var ground = World.CreateBody(bd);
var vs = new Vector2[4]
{
new Vector2(5.0f, 7.0f),
new Vector2(6.0f, 8.0f),
new Vector2(7.0f, 8.0f),
new Vector2(8.0f, 7.0f)
};
var shape = new ChainShape();
shape.CreateChain(vs, 4, vs[0], vs[3]);
ground.CreateFixture(shape, 0.0f);
}
// Square tiles. This shows that adjacency shapes may
// have non-smooth collision. There is no solution
// to this problem.
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(1.0f, 1.0f, new Vector2(4.0f, 3.0f), 0.0f);
ground.CreateFixture(shape, 0.0f);
shape.SetAsBox(1.0f, 1.0f, new Vector2(6.0f, 3.0f), 0.0f);
ground.CreateFixture(shape, 0.0f);
shape.SetAsBox(1.0f, 1.0f, new Vector2(8.0f, 3.0f), 0.0f);
ground.CreateFixture(shape, 0.0f);
}
// Square made from an edge loop. Collision should be smooth.
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var vs = new Vector2[4]
{
new Vector2(-1.0f, 3.0f),
new Vector2(1.0f, 3.0f),
new Vector2(1.0f, 5.0f),
new Vector2(-1.0f, 5.0f)
};
var shape = new ChainShape();
shape.CreateLoop(vs);
ground.CreateFixture(shape, 0.0f);
}
// Edge loop. Collision should be smooth.
{
var bd = new BodyDef {
Position = new Vector2(-10.0f, 4.0f)
};
var ground = World.CreateBody(bd);
var vs = new Vector2[10]
{
new Vector2(0.0f, 0.0f),
new Vector2(6.0f, 0.0f),
new Vector2(6.0f, 2.0f),
new Vector2(4.0f, 1.0f),
new Vector2(2.0f, 2.0f),
new Vector2(0.0f, 2.0f),
new Vector2(-2.0f, 2.0f),
new Vector2(-4.0f, 3.0f),
new Vector2(-6.0f, 2.0f),
new Vector2(-6.0f, 0.0f)
};
var shape = new ChainShape();
shape.CreateLoop(vs);
ground.CreateFixture(shape, 0.0f);
}
// Square character 1
{
var bd = new BodyDef
{
Position = new Vector2(-3.0f, 8.0f),
BodyType = BodyType.DynamicBody,
FixedRotation = true,
AllowSleep = false
};
var body = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
var fd = new FixtureDef {
Shape = shape, Density = 20.0f
};
body.CreateFixture(fd);
}
// Square character 2
{
var bd = new BodyDef
{
Position = new Vector2(-5.0f, 5.0f),
BodyType = BodyType.DynamicBody,
FixedRotation = true,
AllowSleep = false
};
var body = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
var fd = new FixtureDef {
Shape = shape, Density = 20.0f
};
body.CreateFixture(fd);
}
// Hexagon character
{
var bd = new BodyDef
{
Position = new Vector2(-5.0f, 8.0f),
BodyType = BodyType.DynamicBody,
FixedRotation = true,
AllowSleep = false
};
var body = World.CreateBody(bd);
var angle = 0.0f;
const float delta = Settings.Pi / 3.0f;
var vertices = new Vector2[6];
for (var i = 0; i < 6; ++i)
{
vertices[i].Set(0.5f * (float)Math.Cos(angle), 0.5f * (float)Math.Sin(angle));
angle += delta;
}
var shape = new PolygonShape();
shape.Set(vertices);
var fd = new FixtureDef {
Shape = shape, Density = 20.0f
};
body.CreateFixture(fd);
}
// Circle character
{
var bd = new BodyDef
{
Position = new Vector2(3.0f, 5.0f),
BodyType = BodyType.DynamicBody,
FixedRotation = true,
AllowSleep = false
};
var body = World.CreateBody(bd);
var shape = new CircleShape {
Radius = 0.5f
};
var fd = new FixtureDef {
Shape = shape, Density = 20.0f
};
body.CreateFixture(fd);
}
// Circle character
{
var bd = new BodyDef
{
Position = new Vector2(-7.0f, 6.0f),
BodyType = BodyType.DynamicBody,
AllowSleep = false
};
_character = World.CreateBody(bd);
var shape = new CircleShape {
Radius = 0.25f
};
var fd = new FixtureDef
{
Shape = shape,
Density = 20.0f,
Friction = 1.0f
};
_character.CreateFixture(fd);
}
}
public void Create(BroadPhase broadPhase, Body body, XForm xf, FixtureDef def)
{
UserData = def.UserData;
Friction = def.Friction;
Restitution = def.Restitution;
Density = def.Density;
_body = body;
_next = null;
Filter = def.Filter;
_isSensor = def.IsSensor;
_type = def.Type;
// Allocate and initialize the child shape.
switch (_type)
{
case ShapeType.CircleShape:
{
CircleShape circle = new CircleShape();
CircleDef circleDef = (CircleDef)def;
circle._position = circleDef.LocalPosition;
circle._radius = circleDef.Radius;
_shape = circle;
}
break;
case ShapeType.PolygonShape:
{
PolygonShape polygon = new PolygonShape();
PolygonDef polygonDef = (PolygonDef)def;
polygon.Set(polygonDef.Vertices, polygonDef.VertexCount);
_shape = polygon;
}
break;
case ShapeType.EdgeShape:
{
EdgeShape edge = new EdgeShape();
EdgeDef edgeDef = (EdgeDef)def;
edge.Set(edgeDef.Vertex1, edgeDef.Vertex2);
_shape = edge;
}
break;
default:
Box2DNetDebug.Assert(false);
break;
}
// Create proxy in the broad-phase.
AABB aabb;
_shape.ComputeAABB(out aabb, xf);
bool inRange = broadPhase.InRange(aabb);
// You are creating a shape outside the world box.
Box2DNetDebug.Assert(inRange);
_proxyId = inRange ? broadPhase.CreateProxy(aabb, this) : PairManager.NullProxy;
}
/// <summary>
/// Activate the explosion at the specified position.
/// </summary>
/// <param name="pos">The position where the explosion happens </param>
/// <param name="radius">The explosion radius </param>
/// <param name="maxForce">The explosion force at the explosion point (then is inversely proportional to the square of the distance)</param>
/// <returns>A list of bodies and the amount of force that was applied to them.</returns>
public Dictionary <Fixture, Vector2> Activate(Vector2 pos, float radius, float maxForce)
{
AABB aabb;
aabb.LowerBound = pos + new Vector2(-radius, -radius);
aabb.UpperBound = pos + new Vector2(radius, radius);
Fixture[] shapes = new Fixture[MaxShapes];
// More than 5 shapes in an explosion could be possible, but still strange.
Fixture[] containedShapes = new Fixture[5];
bool exit = false;
int shapeCount = 0;
int containedShapeCount = 0;
// Query the world for overlapping shapes.
World.QueryAABB(
fixture => {
if (fixture.TestPoint(ref pos))
{
if (IgnoreWhenInsideShape)
{
exit = true;
return(false);
}
containedShapes[containedShapeCount++] = fixture;
}
else
{
shapes[shapeCount++] = fixture;
}
// Continue the query.
return(true);
}, ref aabb);
if (exit)
{
return(new Dictionary <Fixture, Vector2>());
}
Dictionary <Fixture, Vector2> exploded = new Dictionary <Fixture, Vector2>(shapeCount + containedShapeCount);
// Per shape max/min angles for now.
float[] vals = new float[shapeCount * 2];
int valIndex = 0;
for (int i = 0; i < shapeCount; ++i)
{
PolygonShape ps;
CircleShape cs = shapes[i].Shape as CircleShape;
if (cs != null)
{
// We create a "diamond" approximation of the circle
Vertices v = new Vertices();
Vector2 vec = Vector2.Zero + new Vector2(cs.Radius, 0);
v.Add(vec);
vec = Vector2.Zero + new Vector2(0, cs.Radius);
v.Add(vec);
vec = Vector2.Zero + new Vector2(-cs.Radius, cs.Radius);
v.Add(vec);
vec = Vector2.Zero + new Vector2(0, -cs.Radius);
v.Add(vec);
ps = new PolygonShape(v, 0);
}
else
{
ps = shapes[i].Shape as PolygonShape;
}
if ((shapes[i].Body.BodyType == BodyType.Dynamic) && ps != null)
{
Vector2 toCentroid = shapes[i].Body.GetWorldPoint(ps.MassData.Centroid) - pos;
float angleToCentroid = (float)Math.Atan2(toCentroid.Y, toCentroid.X);
float min = float.MaxValue;
float max = float.MinValue;
float minAbsolute = 0.0f;
float maxAbsolute = 0.0f;
for (int j = 0; j < ps.Vertices.Count; ++j)
{
Vector2 toVertex = (shapes[i].Body.GetWorldPoint(ps.Vertices[j]) - pos);
float newAngle = (float)Math.Atan2(toVertex.Y, toVertex.X);
float diff = (newAngle - angleToCentroid);
diff = (diff - MathHelper.Pi) % (2 * MathHelper.Pi);
// the minus pi is important. It means cutoff for going other direction is at 180 deg where it needs to be
if (diff < 0.0f)
{
diff += 2 * MathHelper.Pi; // correction for not handling negs
}
diff -= MathHelper.Pi;
if (Math.Abs(diff) > MathHelper.Pi)
{
continue; // Something's wrong, point not in shape but exists angle diff > 180
}
if (diff > max)
{
max = diff;
maxAbsolute = newAngle;
}
if (diff < min)
{
min = diff;
minAbsolute = newAngle;
}
}
vals[valIndex] = minAbsolute;
++valIndex;
vals[valIndex] = maxAbsolute;
++valIndex;
}
}
Array.Sort(vals, 0, valIndex, _rdc);
_data.Clear();
bool rayMissed = true;
for (int i = 0; i < valIndex; ++i)
{
Fixture fixture = null;
float midpt;
int iplus = (i == valIndex - 1 ? 0 : i + 1);
if (vals[i] == vals[iplus])
{
continue;
}
if (i == valIndex - 1)
{
// the single edgecase
midpt = (vals[0] + MathHelper.Pi * 2 + vals[i]);
}
else
{
midpt = (vals[i + 1] + vals[i]);
}
midpt = midpt / 2;
Vector2 p1 = pos;
Vector2 p2 = radius * new Vector2((float)Math.Cos(midpt), (float)Math.Sin(midpt)) + pos;
// RaycastOne
bool hitClosest = false;
World.RayCast((f, p, n, fr) => {
Body body = f.Body;
if (!IsActiveOn(body))
{
return(0);
}
hitClosest = true;
fixture = f;
return(fr);
}, p1, p2);
// draws radius points
if ((hitClosest) && (fixture.Body.BodyType == BodyType.Dynamic))
{
if ((_data.Any()) && (_data.Last().Body == fixture.Body) && (!rayMissed))
{
int laPos = _data.Count - 1;
ShapeData la = _data[laPos];
la.Max = vals[iplus];
_data[laPos] = la;
}
else
{
// make new
ShapeData d;
d.Body = fixture.Body;
d.Min = vals[i];
d.Max = vals[iplus];
_data.Add(d);
}
if ((_data.Count > 1) &&
(i == valIndex - 1) &&
(_data.Last().Body == _data.First().Body) &&
(_data.Last().Max == _data.First().Min))
{
ShapeData fi = _data[0];
fi.Min = _data.Last().Min;
_data.RemoveAt(_data.Count - 1);
_data[0] = fi;
while (_data.First().Min >= _data.First().Max)
{
fi.Min -= MathHelper.Pi * 2;
_data[0] = fi;
}
}
int lastPos = _data.Count - 1;
ShapeData last = _data[lastPos];
while ((_data.Count > 0) &&
(_data.Last().Min >= _data.Last().Max)) // just making sure min<max
{
last.Min = _data.Last().Min - 2 * MathHelper.Pi;
_data[lastPos] = last;
}
rayMissed = false;
}
else
{
rayMissed = true; // raycast did not find a shape
}
}
for (int i = 0; i < _data.Count; ++i)
{
if (!IsActiveOn(_data[i].Body))
{
continue;
}
float arclen = _data[i].Max - _data[i].Min;
float first = MathHelper.Min(maxEdgeOffset, EdgeRatio * arclen);
int insertedRays = (int)Math.Ceiling(((arclen - 2.0f * first) - (MinRays - 1) * MaxAngle) / MaxAngle);
if (insertedRays < 0)
{
insertedRays = 0;
}
float offset = (arclen - first * 2.0f) / ((float)MinRays + insertedRays - 1);
//Note: This loop can go into infinite as it operates on floats.
//Added FloatEquals with a large epsilon.
for (float j = _data[i].Min + first;
j < _data[i].Max || MathUtils.FloatEquals(j, _data[i].Max, 0.0001f);
j += offset)
{
Vector2 p1 = pos;
Vector2 p2 = pos + radius * new Vector2((float)Math.Cos(j), (float)Math.Sin(j));
Vector2 hitpoint = Vector2.Zero;
float minlambda = float.MaxValue;
List <Fixture> fl = _data[i].Body.FixtureList;
for (int x = 0; x < fl.Count; x++)
{
Fixture f = fl[x];
RayCastInput ri;
ri.Point1 = p1;
ri.Point2 = p2;
ri.MaxFraction = 50f;
RayCastOutput ro;
if (f.RayCast(out ro, ref ri, 0))
{
if (minlambda > ro.Fraction)
{
minlambda = ro.Fraction;
hitpoint = ro.Fraction * p2 + (1 - ro.Fraction) * p1;
}
}
// the force that is to be applied for this particular ray.
// offset is angular coverage. lambda*length of segment is distance.
float impulse = (arclen / (MinRays + insertedRays)) * maxForce * 180.0f / MathHelper.Pi *
(1.0f - Math.Min(1.0f, minlambda));
// We Apply the impulse!!!
Vector2 vectImp =
Vector2.Dot(impulse * new Vector2((float)Math.Cos(j), (float)Math.Sin(j)), -ro.Normal) *
new Vector2((float)Math.Cos(j), (float)Math.Sin(j));
_data[i].Body.ApplyLinearImpulse(ref vectImp, ref hitpoint);
// We gather the fixtures for returning them
if (exploded.ContainsKey(f))
{
exploded[f] += vectImp;
}
else
{
exploded.Add(f, vectImp);
}
if (minlambda > 1.0f)
{
hitpoint = p2;
}
}
}
}
// We check contained shapes
for (int i = 0; i < containedShapeCount; ++i)
{
Fixture fix = containedShapes[i];
if (!IsActiveOn(fix.Body))
{
continue;
}
float impulse = MinRays * maxForce * 180.0f / MathHelper.Pi;
Vector2 hitPoint;
CircleShape circShape = fix.Shape as CircleShape;
if (circShape != null)
{
hitPoint = fix.Body.GetWorldPoint(circShape.Position);
}
else
{
PolygonShape shape = fix.Shape as PolygonShape;
hitPoint = fix.Body.GetWorldPoint(shape.MassData.Centroid);
}
Vector2 vectImp = impulse * (hitPoint - pos);
fix.Body.ApplyLinearImpulse(ref vectImp, ref hitPoint);
if (!exploded.ContainsKey(fix))
{
exploded.Add(fix, vectImp);
}
}
return(exploded);
}
public RayCast()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.5f, 0.0f);
vertices[1] = new Vec2(0.5f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[0] = new PolygonShape();
m_polygons[0].Vertices = vertices;
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.1f, 0.0f);
vertices[1] = new Vec2(0.1f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[1] = new PolygonShape();
m_polygons[1].Vertices = vertices;
}
{
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] = new Vec2(0.5f * s, 0.0f);
vertices[1] = new Vec2(0.5f * w, b);
vertices[2] = new Vec2(0.5f * w, b + s);
vertices[3] = new Vec2(0.5f * s, w);
vertices[4] = new Vec2(-0.5f * s, w);
vertices[5] = new Vec2(-0.5f * w, b + s);
vertices[6] = new Vec2(-0.5f * w, b);
vertices[7] = new Vec2(-0.5f * s, 0.0f);
m_polygons[2] = new PolygonShape();
m_polygons[2].Vertices = vertices;
}
{
m_polygons[3] = new PolygonShape();
m_polygons[3].SetAsBox(0.5f, 0.5f);
}
{
m_circle = new CircleShape();
m_circle.Radius = 0.5f;
}
m_bodyIndex = 0;
m_angle = 0.0f;
m_mode = Mode.e_closest;
}
public DialogueBox(GameState state, string tag)
{
this.state = state;
this.tag = tag;
if (tag == "AI")
{
cursor = new CircleShape((SCREEN_WIDTH / 1920) * 10, 3);
dialogueFontSize = getFontSize();
nameFontSize = getFontSize() + 20;
cursor.Rotation = 180;
}
else if (tag == "PLAYER")
{
cursor = new CircleShape((SCREEN_WIDTH / 1920) * 20, 3);
dialogueFontSize = getFontSize() + 20;
nameFontSize = getFontSize() + 30;
cursor.Rotation = 180;
}
else if (tag == "tooltip")
{
dialogueFontSize = getFontSize() - 3;
nameFontSize = getFontSize() - 10;
}
if (tag != "tooltip")
{
if (!spriteDict.ContainsKey("left"))
{
spriteDict.Add("left", new Sprite(new Texture("../../Art/UI_Art/buttons n boxes/speechbubbleleft.png")));
spriteDict["left"].Scale = scale;
}
if (!spriteDict.ContainsKey("right"))
{
spriteDict.Add("right", new Sprite(new Texture("../../Art/UI_Art/buttons n boxes/speechbubbleright.png")));
spriteDict["right"].Scale = scale;
}
if (!spriteDict.ContainsKey("player"))
{
spriteDict.Add("player", new Sprite(new Texture("../../Art/UI_Art/buttons n boxes/psb.png")));
spriteDict["player"].Scale = scale;
}
}
else
{
// Tooltip 1
if (!spriteDict.ContainsKey("tooltipleft"))
{
spriteDict.Add("tooltipleft", new Sprite(new Texture("../../Art/UI_Art/buttons n boxes/tooltipinforight.png")));
spriteDict["tooltipleft"].Scale = scale;
}
if (!spriteDict.ContainsKey("tooltiplefthover"))
{
spriteDict.Add("tooltiplefthover", new Sprite(new Texture("../../Art/UI_Art/buttons n boxes/tooltipinforighthover.png")));
spriteDict["tooltiplefthover"].Scale = scale;
}
// Tooltip 2
if (!spriteDict.ContainsKey("tooltipright"))
{
spriteDict.Add("tooltipright", new Sprite(new Texture("../../Art/UI_Art/buttons n boxes/tooltipinfotest.png")));
spriteDict["tooltipright"].Scale = scale;
}
if (!spriteDict.ContainsKey("tooltiprighthover"))
{
spriteDict.Add("tooltiprighthover", new Sprite(new Texture("../../Art/UI_Art/buttons n boxes/tooltipinfotesthover.png")));
spriteDict["tooltiprighthover"].Scale = scale;
}
// Tooltip 3
if (!spriteDict.ContainsKey("tooltipsmall"))
{
spriteDict.Add("tooltipsmall", new Sprite(new Texture("../../Art/UI_Art/buttons n boxes/speakbuttontooltip.png")));
spriteDict["tooltipsmall"].Scale = scale;
}
if (!spriteDict.ContainsKey("tooltipsmallhover"))
{
spriteDict.Add("tooltipsmallhover", new Sprite(new Texture("../../Art/UI_Art/buttons n boxes/speakbuttontooltiphover.png")));
spriteDict["tooltipsmallhover"].Scale = scale;
}
}
}
private EdgeShapesTest()
{
// Ground body
{
Body ground = BodyFactory.CreateBody(World);
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(new Vector2(x1, y1), new Vector2(x2, y2));
ground.CreateFixture(shape);
x1 = x2;
y1 = y2;
}
}
{
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.5f, 0.0f));
vertices.Add(new Vector2(0.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
_polygons[0] = new PolygonShape(vertices, 20);
}
{
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.1f, 0.0f));
vertices.Add(new Vector2(0.1f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
_polygons[1] = new PolygonShape(vertices, 20);
}
{
const float w = 1.0f;
float b = w / (2.0f + (float)Math.Sqrt(2.0f));
float s = (float)Math.Sqrt(2.0f) * b;
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(0.5f * s, 0.0f));
vertices.Add(new Vector2(0.5f * w, b));
vertices.Add(new Vector2(0.5f * w, b + s));
vertices.Add(new Vector2(0.5f * s, w));
vertices.Add(new Vector2(-0.5f * s, w));
vertices.Add(new Vector2(-0.5f * w, b + s));
vertices.Add(new Vector2(-0.5f * w, b));
vertices.Add(new Vector2(-0.5f * s, 0.0f));
_polygons[2] = new PolygonShape(vertices, 20);
}
{
_polygons[3] = new PolygonShape(20);
_polygons[3].Vertices = PolygonUtils.CreateRectangle(0.5f, 0.5f);
}
{
_circle = new CircleShape(0.5f, 1);
}
_bodyIndex = 0;
_angle = 0.0f;
}
//NoNeed Body _middle;
public Bridge()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0, 0.0), new Vector2(40.0, 0.0));
ground.CreateFixture(shape, 0.0);
}
{
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.Dynamic;
bd.position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
if (i == (e_count >> 1))
{
//NoNeed _middle = body;
}
prevBody = body;
}
Vector2 anchor2 = new Vector2(-15.0f + 1.0f * e_count, 5.0f);
jd.Initialize(prevBody, ground, anchor2);
_world.CreateJoint(jd);
}
Vector2[] vertices = new Vector2[3];
for (int i = 0; i < 2; ++i)
{
vertices[0] = new Vector2(-0.5f, 0.0f);
vertices[1] = new Vector2(0.5f, 0.0f);
vertices[2] = new Vector2(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.Dynamic;
bd.position = new Vector2(-8.0f + 8.0f * i, 12.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 3; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-6.0f + 6.0f * i, 10.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
public CollisionProcessing()
{
// Ground body
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-50.0, 0.0), new Vector2(50.0, 0.0));
FixtureDef sd = new FixtureDef();
sd.shape = shape;
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
double xLo = -5.0, xHi = 5.0;
double yLo = 2.0, yHi = 35.0;
// Small triangle
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-1.0f, 0.0f);
vertices[1] = new Vector2(1.0f, 0.0f);
vertices[2] = new Vector2(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape();
polygon.Set(vertices, 3);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.shape = polygon;
triangleShapeDef.density = 1.0f;
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.type = BodyType.Dynamic;
triangleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body1 = _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);
triangleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body2 = _world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
// Small box
polygon.SetAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.shape = polygon;
boxShapeDef.density = 1.0f;
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.type = BodyType.Dynamic;
boxBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body3 = _world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body4 = _world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle._radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.shape = circle;
circleShapeDef.density = 1.0f;
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.type = BodyType.Dynamic;
circleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body5 = _world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle._radius *= 2.0f;
circleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body6 = _world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
public CircleContact(Fixture fA, int indexA, Fixture fB, int indexB) : base(fA, indexA, fB, indexB)
{
circleB = (CircleShape)m_fixtureB.Shape;
circleA = (CircleShape)m_fixtureA.Shape;
}
private TheoJansenTest()
{
_offset = new Vector2(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
Vector2 pivot = new Vector2(0.0f, 0.8f);
// Ground
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
FixtureFactory.AttachEdge(new Vector2(-50.0f, 0.0f), new Vector2(-50.0f, 10.0f), ground);
FixtureFactory.AttachEdge(new Vector2(50.0f, 0.0f), new Vector2(50.0f, 10.0f), ground);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape(0.25f, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-40.0f + 2.0f * i, 0.5f);
body.CreateFixture(shape);
}
// Chassis
{
PolygonShape shape = new PolygonShape(1);
shape.Vertices = PolygonUtils.CreateRectangle(2.5f, 1.0f);
_chassis = BodyFactory.CreateBody(World);
_chassis.BodyType = BodyType.Dynamic;
_chassis.Position = pivot + _offset;
Fixture fixture = _chassis.CreateFixture(shape);
fixture.CollisionGroup = -1;
}
{
CircleShape shape = new CircleShape(1.6f, 1);
_wheel = BodyFactory.CreateBody(World);
_wheel.BodyType = BodyType.Dynamic;
_wheel.Position = pivot + _offset;
Fixture fixture = _wheel.CreateFixture(shape);
fixture.CollisionGroup = -1;
}
{
_motorJoint = new RevoluteJoint(_wheel, _chassis, _chassis.Position, true);
_motorJoint.CollideConnected = false;
_motorJoint.MotorSpeed = _motorSpeed;
_motorJoint.MaxMotorTorque = 400.0f;
_motorJoint.MotorEnabled = _motorOn;
World.AddJoint(_motorJoint);
}
Vector2 wheelAnchor = pivot + new Vector2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.Position, 120.0f * Settings.Pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.Position, -120.0f * Settings.Pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
public void DrawShape(Fixture fixture, Transform xf, Color color)
{
switch (fixture.ShapeType)
{
case ShapeType.Circle:
{
CircleShape circle = (CircleShape)fixture.Shape;
Vector2 center = MathUtils.Multiply(ref xf, circle.Position);
float radius = circle.Radius;
Vector2 axis = xf.R.Col1;
if (DrawSolidShapes)
{
DrawSolidCircle(center, radius, axis, color);
}
else
{
DrawCircle(center, radius, color);
}
}
break;
case ShapeType.Polygon:
{
PolygonShape poly = (PolygonShape)fixture.Shape;
int vertexCount = poly.Vertices.Count;
Debug.Assert(vertexCount <= Settings.MaxPolygonVertices);
for (int i = 0; i < vertexCount; ++i)
{
_tempVertices[i] = MathUtils.Multiply(ref xf, poly.Vertices[i]);
}
if (DrawSolidShapes)
{
DrawSolidPolygon(_tempVertices, vertexCount, color);
}
else
{
DrawPolygon(_tempVertices, vertexCount, color);
}
}
break;
case ShapeType.Edge:
{
EdgeShape edge = (EdgeShape)fixture.Shape;
Vector2 v1 = MathUtils.Multiply(ref xf, edge.Vertex1);
Vector2 v2 = MathUtils.Multiply(ref xf, edge.Vertex2);
DrawSegment(v1, v2, color);
}
break;
case ShapeType.Loop:
{
LoopShape loop = (LoopShape)fixture.Shape;
int count = loop.Vertices.Count;
Vector2 v1 = MathUtils.Multiply(ref xf, loop.Vertices[count - 1]);
DrawCircle(v1, 0.05f, color);
for (int i = 0; i < count; ++i)
{
Vector2 v2 = MathUtils.Multiply(ref xf, loop.Vertices[i]);
DrawSegment(v1, v2, color);
v1 = v2;
}
}
break;
}
}
public override void Step(Framework.Settings settings)
{
base.Step(settings);
_debugDraw.DrawString(50, _textLine, "Press: (,) to launch a bullet.");
if (_stepCount == 300)
{
if (_bullet != null)
{
_world.DestroyBody(_bullet);
_bullet = null;
}
{
CircleShape shape = new CircleShape();
shape._radius = 0.25f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.restitution = 0.05f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.bullet = true;
bd.position = new Vector2(-31.0f, 5.0f);
_bullet = _world.CreateBody(bd);
_bullet.CreateFixture(fd);
_bullet.SetLinearVelocity(new Vector2(400.0f, 0.0f));
}
}
_textLine += 15;
}
public void JointReactions()
{
var gravity = new Vector2(0, -10.0f);
World world = new World(gravity);
BodyDef bodyDef = new BodyDef();
Body ground = world.CreateBody(bodyDef);
CircleShape circle = new CircleShape();
circle.Radius = 1.0f;
FixtureDef fixtureDef = new FixtureDef();
// Disable collision
fixtureDef.Filter.MaskBits = 0;
fixtureDef.Density = 1.0f;
fixtureDef.Shape = circle;
bodyDef.BodyType = BodyType.DynamicBody;
bodyDef.Position.Set(-2.0f, 3.0f);
var bodyA = world.CreateBody(bodyDef);
var bodyB = world.CreateBody(bodyDef);
var bodyC = world.CreateBody(bodyDef);
circle.ComputeMass(out var massData, fixtureDef.Density);
var mg = massData.Mass * gravity.Y;
bodyA.CreateFixture(fixtureDef);
bodyB.CreateFixture(fixtureDef);
bodyC.CreateFixture(fixtureDef);
DistanceJointDef distanceJointDef = new DistanceJointDef();
distanceJointDef.Initialize(ground, bodyA, bodyDef.Position + new Vector2(0.0f, 4.0f), bodyDef.Position);
distanceJointDef.MinLength = distanceJointDef.Length;
distanceJointDef.MaxLength = distanceJointDef.Length;
PrismaticJointDef prismaticJointDef = new PrismaticJointDef();
prismaticJointDef.Initialize(ground, bodyB, bodyDef.Position, new Vector2(1.0f, 0.0f));
RevoluteJointDef revoluteJointDef = new RevoluteJointDef();
revoluteJointDef.Initialize(ground, bodyC, bodyDef.Position);
var distanceJoint = (DistanceJoint)world.CreateJoint(distanceJointDef);
var prismaticJoint = (PrismaticJoint)world.CreateJoint(prismaticJointDef);
var revoluteJoint = (RevoluteJoint)world.CreateJoint(revoluteJointDef);
const float timeStep = 1 / 60f;
const float invTimeStep = 60.0f;
const int velocityIterations = 6;
const int positionIterations = 2;
world.Step(timeStep, velocityIterations, positionIterations);
const float tol = 1e-5f;
{
var F = distanceJoint.GetReactionForce(invTimeStep);
var T = distanceJoint.GetReactionTorque(invTimeStep);
F.X.ShouldBe(0.0f);
Math.Abs(F.Y + mg).ShouldBeLessThan(tol);
T.ShouldBe(0.0f);
}
{
var F = prismaticJoint.GetReactionForce(invTimeStep);
var T = prismaticJoint.GetReactionTorque(invTimeStep);
F.X.ShouldBe(0.0f);
Math.Abs(F.Y + mg).ShouldBeLessThan(tol);
T.ShouldBe(0.0f);
}
{
var F = revoluteJoint.GetReactionForce(invTimeStep);
var T = revoluteJoint.GetReactionTorque(invTimeStep);
F.X.ShouldBe(0.0f);
Math.Abs(F.Y + mg).ShouldBeLessThan(tol);
T.ShouldBe(0.0f);
}
}
public Car()
{
{ // car body
PolygonShape poly1 = new PolygonShape(), poly2 = new PolygonShape();
// bottom half
poly1.Vertices = new Vec2[]
{
new Vec2(2.2f,-0.74f),
new Vec2(2.2f,-0.2f),
new Vec2(1.0f,0),
new Vec2(-2.2f,0),
new Vec2(-2.2f,-0.74f)
};
FixtureDef fixture1 = new FixtureDef();
fixture1.Filter.GroupIndex = -1;
fixture1.Shape = poly1;
fixture1.Density = 20.0f;
fixture1.Friction = 0.68f;
// top half
poly2.Vertices = new Vec2[]
{
new Vec2(1.0f,0),
new Vec2(0.5f,0.74f),
new Vec2(-1.3f,0.7f),
new Vec2(-1.7f,0),
};
FixtureDef fixture2 = new FixtureDef();
fixture2.Filter.GroupIndex = -1;
fixture2.Shape = poly2;
fixture2.Density = 5.0f;
fixture2.Friction = 0.68f;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0, 0);
m_vehicle = m_world.CreateBody(bd);
m_vehicle.CreateFixture(fixture1);
m_vehicle.CreateFixture(fixture2);
}
{ // vehicle wheels
CircleShape circ = new CircleShape();
circ.Radius = 0.58608f;
FixtureDef wheelFix = new FixtureDef();
wheelFix.Shape = circ;
wheelFix.Density = 40.0f;
wheelFix.Friction = 0.8f;
wheelFix.Filter.GroupIndex = -1;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.AllowSleep = false;
bd.Position = new Vec2(1.2f, -0.8f);
m_rightWheel = m_world.CreateBody(bd);
m_rightWheel.CreateFixture(wheelFix);
bd.Position = new Vec2(-1.2f, -0.8f);
m_leftWheel = m_world.CreateBody(bd);
m_leftWheel.CreateFixture(wheelFix);
}
{ // join wheels to chassis
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(m_vehicle, m_leftWheel, m_leftWheel.WorldCenter);
jd.CollideConnected = false;
jd.EnableMotor = true;
jd.MaxMotorTorque = 10.0f;
jd.MotorSpeed = 0.0f;
m_leftJoint = (RevoluteJoint)m_world.CreateJoint(jd);
jd.Initialize(m_vehicle, m_rightWheel, m_rightWheel.WorldCenter);
jd.CollideConnected = false;
m_rightJoint = (RevoluteJoint)m_world.CreateJoint(jd);
}
}
/// <summary>
/// Compute contact points for edge versus circle.
/// This accounts for edge connectivity.
/// </summary>
/// <param name="manifold">The manifold.</param>
/// <param name="edgeA">The edge A.</param>
/// <param name="transformA">The transform A.</param>
/// <param name="circleB">The circle B.</param>
/// <param name="transformB">The transform B.</param>
public static void CollideEdgeAndCircle(ref Manifold manifold, EdgeShape edgeA, ref Transform transformA, CircleShape circleB, ref Transform transformB)
{
manifold.PointCount = 0;
// Compute circle in frame of edge
Vector2 Q = MathUtils.MulT(ref transformA, MathUtils.Mul(ref transformB, ref circleB._position));
Vector2 A = edgeA.Vertex1, B = edgeA.Vertex2;
Vector2 e = B - A;
// Barycentric coordinates
float u = Vector2.Dot(e, B - Q);
float v = Vector2.Dot(e, Q - A);
float radius = edgeA.Radius + circleB.Radius;
ContactFeature cf;
cf.IndexB = 0;
cf.TypeB = ContactFeatureType.Vertex;
// Region A
if (v <= 0.0f)
{
Vector2 P1 = A;
Vector2 d1 = Q - P1;
float dd1 = Vector2.Dot(d1, d1);
if (dd1 > radius * radius)
{
return;
}
// Is there an edge connected to A?
if (edgeA.HasVertex0)
{
Vector2 A1 = edgeA.Vertex0;
Vector2 B1 = A;
Vector2 e1 = B1 - A1;
float u1 = Vector2.Dot(e1, B1 - Q);
// Is the circle in Region AB of the previous edge?
if (u1 > 0.0f)
{
return;
}
}
cf.IndexA = 0;
cf.TypeA = ContactFeatureType.Vertex;
manifold.PointCount = 1;
manifold.Type = ManifoldType.Circles;
manifold.LocalNormal = Vector2.Zero;
manifold.LocalPoint = P1;
manifold.Points.Value0.Id.Key = 0;
manifold.Points.Value0.Id.ContactFeature = cf;
manifold.Points.Value0.LocalPoint = circleB.Position;
return;
}
// Region B
if (u <= 0.0f)
{
Vector2 P2 = B;
Vector2 d2 = Q - P2;
float dd2 = Vector2.Dot(d2, d2);
if (dd2 > radius * radius)
{
return;
}
// Is there an edge connected to B?
if (edgeA.HasVertex3)
{
Vector2 B2 = edgeA.Vertex3;
Vector2 A2 = B;
Vector2 e2 = B2 - A2;
float v2 = Vector2.Dot(e2, Q - A2);
// Is the circle in Region AB of the next edge?
if (v2 > 0.0f)
{
return;
}
}
cf.IndexA = 1;
cf.TypeA = (byte)ContactFeatureType.Vertex;
manifold.PointCount = 1;
manifold.Type = ManifoldType.Circles;
manifold.LocalNormal = Vector2.Zero;
manifold.LocalPoint = P2;
manifold.Points.Value0.Id.Key = 0;
manifold.Points.Value0.Id.ContactFeature = cf;
manifold.Points.Value0.LocalPoint = circleB.Position;
return;
}
// Region AB
float den = Vector2.Dot(e, e);
System.Diagnostics.Debug.Assert(den > 0.0f);
Vector2 P = (1.0f / den) * (u * A + v * B);
Vector2 d = Q - P;
float dd = Vector2.Dot(d, d);
if (dd > radius * radius)
{
return;
}
Vector2 n = new Vector2(-e.Y, e.X);
if (Vector2.Dot(n, Q - A) < 0.0f)
{
n = new Vector2(-n.X, -n.Y);
}
n.Normalize();
cf.IndexA = 0;
cf.TypeA = ContactFeatureType.Face;
manifold.PointCount = 1;
manifold.Type = ManifoldType.FaceA;
manifold.LocalNormal = n;
manifold.LocalPoint = A;
manifold.Points.Value0.Id.Key = 0;
manifold.Points.Value0.Id.ContactFeature = cf;
manifold.Points.Value0.LocalPoint = circleB.Position;
}
public RayCast()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.5f, 0.0f);
vertices[1] = new Vec2(0.5f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[0] = new PolygonShape();
m_polygons[0].Vertices = vertices;
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.1f, 0.0f);
vertices[1] = new Vec2(0.1f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[1] = new PolygonShape();
m_polygons[1].Vertices = vertices;
}
{
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] = new Vec2(0.5f * s, 0.0f);
vertices[1] = new Vec2(0.5f * w, b);
vertices[2] = new Vec2(0.5f * w, b + s);
vertices[3] = new Vec2(0.5f * s, w);
vertices[4] = new Vec2(-0.5f * s, w);
vertices[5] = new Vec2(-0.5f * w, b + s);
vertices[6] = new Vec2(-0.5f * w, b);
vertices[7] = new Vec2(-0.5f * s, 0.0f);
m_polygons[2] = new PolygonShape();
m_polygons[2].Vertices = vertices;
}
{
m_polygons[3] = new PolygonShape();
m_polygons[3].SetAsBox(0.5f, 0.5f);
}
{
m_circle = new CircleShape();
m_circle.Radius = 0.5f;
}
m_bodyIndex = 0;
m_angle = 0.0f;
m_mode = Mode.e_closest;
}
public override bool Initialize()
{
if (!base.Initialize())
{
return(false);
}
if (!RetrieveSibling(out m_state))
{
return(false);
}
var size = m_state.Dimensions;
m_bodyShape = new RectangleShape
{
FillColor = Color.White,
OutlineColor = Color.Black,
OutlineThickness = OutlineThickness,
Size = size.ToVector2f(),
Origin = new Vector2f(size.X / 2, size.Y / 2)
};
// fill is positioned at the base of the body so it acts as a health bar
m_bodyFillShape = new RectangleShape
{
Size = size.ToVector2f(),
Origin = new Vector2f(0, size.Y / 2)
};
m_bodyFillTransform.Translate(-size.X / 2, 0);
// tracks are 90% of the body length
size.X *= 0.9f;
size.Y += (m_state.TrackWidth * 2);
m_trackShape = new RectangleShape
{
FillColor = Color.Black,
Size = size.ToVector2f(),
Origin = new Vector2f(size.X / 2, size.Y / 2)
};
var turretRadius = m_state.TurretWidth / 2;
m_turretShape = new CircleShape
{
FillColor = BodyColor,
OutlineColor = Color.Black,
OutlineThickness = OutlineThickness,
Radius = turretRadius,
Origin = new Vector2f(turretRadius, turretRadius)
};
// make the barrel extend from the center of the turret for simplicity
size = m_state.BarrelDimensions + new Vector2(turretRadius, 0);
m_barrelShape = new RectangleShape
{
FillColor = BodyColor,
OutlineColor = Color.Black,
OutlineThickness = OutlineThickness,
Size = size.ToVector2f(),
Origin = new Vector2f(0, size.Y / 2)
};
Initialized = true;
return(true);
}
static bool collidePolygonCircle(PolygonShape polygon, ref FSTransform polyTransform, CircleShape circle, ref FSTransform circleTransform, out FSCollisionResult result)
{
result = new FSCollisionResult();
Collision.collidePolygonAndCircle(ref _manifold, polygon, ref polyTransform, circle, ref circleTransform);
if (_manifold.pointCount > 0)
{
FixedArray2 <Vector2> points;
ContactSolver.WorldManifold.initialize(ref _manifold, ref polyTransform, polygon.radius, ref circleTransform, circle.radius, out result.normal, out points);
//var circleInPolySpace = polygonFixture.Body.GetLocalPoint( circleFixture.Body.Position );
var circleInPolySpace = MathUtils.mulT(ref polyTransform, circleTransform.p);
var value1 = circleInPolySpace - _manifold.localPoint;
var value2 = _manifold.localNormal;
var separation = circle.radius - (value1.X * value2.X + value1.Y * value2.Y);
if (separation <= 0)
{
return(false);
}
result.point = points[0] * FSConvert.simToDisplay;
result.minimumTranslationVector = result.normal * separation;
#if DEBUG_FSCOLLISIONS
Debug.drawPixel(result.point, 2, Color.Red, 0.2f);
Debug.drawLine(result.point, result.point + result.normal * 20, Color.Yellow, 0.2f);
#endif
return(true);
}
return(false);
}
protected override BodyContainer Read(ContentReader input, BodyContainer existingInstance)
{
BodyContainer bodies = existingInstance ?? new BodyContainer();
int count = input.ReadInt32();
for (int i = 0; i < count; i++)
{
string name = input.ReadString();
BodyTemplate body = new BodyTemplate
{
Mass = input.ReadSingle(),
BodyType = (BodyType)input.ReadInt32()
};
int fixtureCount = input.ReadInt32();
for (int j = 0; j < fixtureCount; j++)
{
FixtureTemplate fixture = new FixtureTemplate
{
Name = input.ReadString(),
Restitution = input.ReadSingle(),
Friction = input.ReadSingle()
};
ShapeType type = (ShapeType)input.ReadInt32();
switch (type)
{
case ShapeType.Circle:
{
float density = input.ReadSingle();
float radius = input.ReadSingle();
CircleShape circle = new CircleShape(radius, density);
circle.Position = input.ReadVector2();
fixture.Shape = circle;
} break;
case ShapeType.Polygon:
{
Vertices verts = new Vertices(Settings.MaxPolygonVertices);
float density = input.ReadSingle();
int verticeCount = input.ReadInt32();
for (int k = 0; k < verticeCount; k++)
{
verts.Add(input.ReadVector2());
}
PolygonShape poly = new PolygonShape(verts, density);
poly.MassData.Centroid = input.ReadVector2();
fixture.Shape = poly;
} break;
case ShapeType.Edge:
{
EdgeShape edge = new EdgeShape(input.ReadVector2(), input.ReadVector2());
edge.HasVertex0 = input.ReadBoolean();
if (edge.HasVertex0)
{
edge.Vertex0 = input.ReadVector2();
}
edge.HasVertex3 = input.ReadBoolean();
if (edge.HasVertex3)
{
edge.Vertex3 = input.ReadVector2();
}
fixture.Shape = edge;
} break;
case ShapeType.Chain:
{
Vertices verts = new Vertices();
int verticeCount = input.ReadInt32();
for (int k = 0; k < verticeCount; k++)
{
verts.Add(input.ReadVector2());
}
fixture.Shape = new ChainShape(verts);
} break;
}
body.Fixtures.Add(fixture);
}
bodies[name] = body;
}
return(bodies);
}
public CollisionProcessing()
{
// Ground body
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.shape = shape;
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
float xLo = -5.0f, xHi = 5.0f;
float yLo = 2.0f, yHi = 35.0f;
// Small triangle
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-1.0f, 0.0f);
vertices[1] = new Vector2(1.0f, 0.0f);
vertices[2] = new Vector2(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape();
polygon.Set(vertices, 3);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.shape = polygon;
triangleShapeDef.density = 1.0f;
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.type = BodyType.Dynamic;
triangleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body1 = _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);
triangleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body2 = _world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
// Small box
polygon.SetAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.shape = polygon;
boxShapeDef.density = 1.0f;
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.type = BodyType.Dynamic;
boxBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body3 = _world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body4 = _world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle._radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.shape = circle;
circleShapeDef.density = 1.0f;
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.type = BodyType.Dynamic;
circleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body5 = _world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle._radius *= 2.0f;
circleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body6 = _world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
static void Main(string[] args)
{
GroupCollection collection1 = new GroupCollection();
GroupCollection collection2 = new GroupCollection();
/* collection1.AddRange(new int[] { 1 });
* collection1.AddRange(new int[] { 3 });
* collection1.AddRange(new int[] { 2 });*/
collection1.Add(1);
collection1.Add(3);
collection1.Add(2);
collection2.Add(1);
Console.WriteLine(GroupCollection.Intersect(collection1, collection2));
Console.ReadLine();
return;
PhysicsEngine engine = new PhysicsEngine();
engine.BroadPhase = new Physics2DDotNet.Detectors.SelectiveSweepDetector();
engine.Solver = new Physics2DDotNet.Solvers.SequentialImpulsesSolver();
PhysicsTimer timer = new PhysicsTimer(engine.Update, .01f);
timer.IsRunning = true;
Coefficients coffecients = new Coefficients(/*restitution*/ 1, /*friction*/ .5f);
IShape shape1 = new CircleShape(8, 7);
IShape shape2 = new PolygonShape(VertexHelper.CreateRectangle(20, 10), 3);
Scalar mass = 5;
Body body1 = new Body(new PhysicsState(), shape1, mass, coffecients, new Lifespan());
Body body2 = new Body(new PhysicsState(), shape2, mass, coffecients, new Lifespan());
engine.AddBody(body1);
engine.AddBody(body2);
Joint joint = new HingeJoint(body1, body2, Vector2D.Zero, new Lifespan());
engine.AddJoint(joint);
joint.Lifetime.IsExpired = true;
engine.AddJoint(new HingeJoint(body1, body2, Vector2D.Zero, new Lifespan()));
engine.Update(0, 0);
body1.Lifetime.IsExpired = true;
timer.IsRunning = false;
engine.AddProxy(body1, body2, Matrix2x2.Identity);
// b1.RemoveFromProxy();
BinaryFormatter formatter = new BinaryFormatter();
MemoryStream stream = new MemoryStream();
formatter.Serialize(stream, engine);
stream.Seek(0, SeekOrigin.Begin);
PhysicsEngine engine2 = (PhysicsEngine)formatter.Deserialize(stream);
Console.WriteLine();
/*
*
* Vector2D[] vertexes1 = new Vector2D[]
* {
* new Vector2D(-1,1),
* new Vector2D(-3,1),
* new Vector2D(-3,-1),
* new Vector2D(-1,-1),
* };
* Vector2D[] vertexes2 = new Vector2D[]
* {
* new Vector2D(1,-1),
* new Vector2D(3,-1),
* new Vector2D(3,1),
* new Vector2D(1,1),
* };
* Vector2D[][] polygons = new Vector2D[2][];
* polygons[0] = vertexes1;
* polygons[1] = vertexes2;
* Console.WriteLine(MultiPartPolygon.GetCentroid(polygons));
* Console.WriteLine(MultiPartPolygon.GetArea(polygons));
*/
Console.WriteLine("Finished");
Console.ReadLine();
}
public CollisionFiltering()
{
// Ground body
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.friction = 0.3f;
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
// Small triangle
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-1.0f, 0.0f);
vertices[1] = new Vector2(1.0f, 0.0f);
vertices[2] = new Vector2(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.Dynamic;
triangleBodyDef.position = new Vector2(-5.0f, 2.0f);
Body body1 = _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 = new Vector2(-5.0f, 6.0f);
triangleBodyDef.fixedRotation = true; // look at me!
Body body2 = _world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-5.0f, 10.0f);
Body body = _world.CreateBody(bd);
PolygonShape p = new PolygonShape();
p.SetAsBox(0.5f, 1.0f);
body.CreateFixture(p, 1.0f);
PrismaticJointDef jd = new PrismaticJointDef();
jd.bodyA = body2;
jd.bodyB = body;
jd.enableLimit = true;
jd.localAnchorA = new Vector2(0.0f, 4.0f);
jd.localAnchorB = Vector2.Zero;
jd.localAxis1 = new Vector2(0.0f, 1.0f);
jd.lowerTranslation = -1.0f;
jd.upperTranslation = 1.0f;
_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.Dynamic;
boxBodyDef.position = new Vector2(0.0f, 2.0f);
Body body3 = _world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxShapeDef.filter.groupIndex = k_largeGroup;
boxBodyDef.position = new Vector2(0.0f, 6.0f);
Body body4 = _world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle._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.Dynamic;
circleBodyDef.position = new Vector2(5.0f, 2.0f);
Body body5 = _world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle._radius *= 2.0f;
circleShapeDef.filter.groupIndex = k_largeGroup;
circleBodyDef.position = new Vector2(5.0f, 6.0f);
Body body6 = _world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
// Update is called once per frame
void Update( )
{
Ray ray = _camera.ScreenPointToRay(Input.mousePosition);
RaycastHit2D hit = new RaycastHit2D( );
if (!EventSystem.current.IsPointerOverGameObject())
{
hit = Physics2D.GetRayIntersection(ray, Mathf.Infinity, _layerMask);
}
else if (_currentCursor != CursorType.Normal && !Input.GetMouseButton(0))
{
Cursor.SetCursor(null, Vector2.zero, CursorMode.Auto);
_currentCursor = CursorType.Normal;
}
if (hit.collider != null)
{
if (hit.collider.CompareTag("EffectorCenter") && _currentCursor != CursorType.Move)
{
Cursor.SetCursor(_cursorMove, _cursorMoveHotSpot, CursorMode.Auto);
_currentCursor = CursorType.Move;
}
else if (hit.collider.CompareTag("EffectorOut") && _currentCursor != CursorType.Resize)
{
Cursor.SetCursor(_cursorResize, _cursorResizeHotSpot, CursorMode.Auto);
_currentCursor = CursorType.Resize;
}
}
else if (_currentCursor != CursorType.Normal && !Input.GetMouseButton(0))
{
Cursor.SetCursor(null, Vector2.zero, CursorMode.Auto);
_currentCursor = CursorType.Normal;
}
if (Input.GetMouseButtonDown(0))
{
if (hit.collider != null)
{
if (hit.collider.CompareTag("EffectorCenter"))
{
_effectorTransform = hit.collider.transform.parent;
_offset = hit.point - ( Vector2 )_effectorTransform.position;
}
if (hit.collider.CompareTag("EffectorOut"))
{
_effectorResizeTransform = hit.collider.transform;
_effectorResizeRadiusScript = _effectorResizeTransform.GetComponent <CircleShape>( );
_areaEffector = _effectorResizeTransform.GetComponent <AreaEffector2D>( );
_lastDistanceFromEffector = Vector2.Distance(ray.origin, _effectorResizeTransform.position);
}
}
}
if (Input.GetMouseButton(0) && _effectorTransform != null)
{
_effectorTransform.position = new Vector3(ray.origin.x - _offset.x, ray.origin.y - _offset.y, 0f);
}
if (Input.GetMouseButton(0) && _effectorResizeTransform != null)
{
float _distance = Vector2.Distance(ray.origin, _effectorResizeTransform.position);
float _difDistance = _lastDistanceFromEffector - _distance;
float _newRadius = _effectorResizeRadiusScript.Radius - _difDistance;
_newRadius = Mathf.Clamp(_newRadius, _minRadius, _maxRadius);
_areaEffector.forceMagnitude = _newRadius * _forceMultiplier;
_effectorResizeRadiusScript.Radius = _newRadius;
_lastDistanceFromEffector = _distance;
}
if (Input.GetMouseButtonUp(0))
{
_effectorTransform = null;
_effectorResizeTransform = null;
_effectorResizeRadiusScript = null;
_areaEffector = null;
}
}
private GearsTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
{
CircleShape circle1 = new CircleShape(1.0f, 5f);
PolygonShape box = new PolygonShape(5f);
box.Vertices = PolygonTools.CreateRectangle(0.5f, 5.0f);
CircleShape circle2 = new CircleShape(2.0f, 5f);
Body body1 = BodyFactory.CreateBody(World, new Vector2(10.0f, 9.0f));
body1.CreateFixture(circle1);
Body body2 = BodyFactory.CreateBody(World, new Vector2(10.0f, 8.0f));
body2.BodyType = BodyType.Dynamic;
body2.CreateFixture(box);
Body body3 = BodyFactory.CreateBody(World, new Vector2(10.0f, 6.0f));
body3.BodyType = BodyType.Dynamic;
body3.CreateFixture(circle2);
RevoluteJoint joint1 = new RevoluteJoint(body2, body1, body1.Position, true);
World.AddJoint(joint1);
RevoluteJoint joint2 = new RevoluteJoint(body2, body3, body3.Position, true);
World.AddJoint(joint2);
GearJoint joint4 = new GearJoint(body1, body3, joint1, joint2, circle2.Radius / circle1.Radius);
World.AddJoint(joint4);
}
{
CircleShape circle1 = new CircleShape(1.0f, 5.0f);
CircleShape circle2 = new CircleShape(2.0f, 5.0f);
PolygonShape box = new PolygonShape(5f);
box.Vertices = PolygonTools.CreateRectangle(0.5f, 5.0f);
Body body1 = BodyFactory.CreateBody(World, new Vector2(-3.0f, 12.0f));
body1.BodyType = BodyType.Dynamic;
body1.CreateFixture(circle1);
_joint1 = new RevoluteJoint(ground, body1, body1.Position, true);
_joint1.ReferenceAngle = body1.Rotation - ground.Rotation;
World.AddJoint(_joint1);
Body body2 = BodyFactory.CreateBody(World, new Vector2(0.0f, 12.0f));
body2.BodyType = BodyType.Dynamic;
body2.CreateFixture(circle2);
_joint2 = new RevoluteJoint(ground, body2, body2.Position, true);
World.AddJoint(_joint2);
Body body3 = BodyFactory.CreateBody(World, new Vector2(2.5f, 12.0f));
body3.BodyType = BodyType.Dynamic;
body3.CreateFixture(box);
_joint3 = new PrismaticJoint(ground, body3, body3.Position, new Vector2(0.0f, 1.0f), true);
_joint3.LowerLimit = -5.0f;
_joint3.UpperLimit = 5.0f;
_joint3.LimitEnabled = true;
World.AddJoint(_joint3);
_joint4 = new GearJoint(body1, body2, _joint1, _joint2, circle2.Radius / circle1.Radius);
World.AddJoint(_joint4);
_joint5 = new GearJoint(body2, body3, _joint2, _joint3, -1.0f / circle2.Radius);
World.AddJoint(_joint5);
}
}
public CollisionFiltering()
{
// Ground body
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(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] = new Vec2(-1.0f, 0.0f);
vertices[1] = new Vec2(1.0f, 0.0f);
vertices[2] = new Vec2(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape(vertices);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.Shape = polygon;
triangleShapeDef.Density = 1.0f;
triangleShapeDef.Filter = new FilterData(k_triangleCategory, k_triangleMask, k_smallGroup);
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.BodyType = BodyType.Dynamic;
triangleBodyDef.Position = new Vec2(-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.Vertices = vertices;
triangleShapeDef.Filter = new FilterData(triangleShapeDef.Filter.CategoryBits, triangleShapeDef.Filter.MaskBits, k_largeGroup);
triangleBodyDef.Position = new Vec2(-5.0f, 6.0f);
triangleBodyDef.FixedRotation = true; // look at me!
Body body2 = m_world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-5.0f, 10.0f);
Body body = m_world.CreateBody(bd);
PolygonShape p = new PolygonShape();
p.SetAsBox(0.5f, 1.0f);
body.CreateFixture(p, 1.0f);
PrismaticJointDef jd = new PrismaticJointDef();
jd.BodyA = body2;
jd.BodyB = body;
jd.EnableLimit = true;
jd.LocalAnchorA = new Vec2(0.0f, 4.0f);
jd.LocalAnchorB = Vec2.Empty;
jd.LocalAxis = new Vec2(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 = new FilterData(k_boxCategory, k_boxMask, k_smallGroup);
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.BodyType = BodyType.Dynamic;
boxBodyDef.Position = new Vec2(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 = new FilterData(k_boxCategory, k_boxMask, k_largeGroup);
boxBodyDef.Position = new Vec2(0.0f, 6.0f);
Body body4 = m_world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle.Radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.Shape = circle;
circleShapeDef.Density = 1.0f;
circleShapeDef.Filter = new FilterData(k_circleCategory, k_circleMask, k_smallGroup);
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.BodyType = BodyType.Dynamic;
circleBodyDef.Position = new Vec2(5.0f, 2.0f);
Body body5 = m_world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle.Radius *= 2.0f;
circleShapeDef.Filter = new FilterData(k_circleCategory, k_circleMask, k_largeGroup);
circleBodyDef.Position = new Vec2(5.0f, 6.0f);
Body body6 = m_world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
/// <summary>
/// Compute contact points for edge versus circle.
/// This accounts for edge connectivity.
/// </summary>
/// <param name="manifold">The manifold.</param>
/// <param name="edgeA">The edge A.</param>
/// <param name="transformA">The transform A.</param>
/// <param name="circleB">The circle B.</param>
/// <param name="transformB">The transform B.</param>
public static void CollideEdgeAndCircle(ref Manifold manifold, EdgeShape edgeA, ref Transform transformA,
CircleShape circleB, ref Transform transformB)
{
manifold.PointCount = 0;
// Compute circle in frame of edge
var Q = MathUtils.MulT(ref transformA, MathUtils.Mul(ref transformB, ref circleB._position));
Vector2 A = edgeA.Vertex1, B = edgeA.Vertex2;
var e = B - A;
// Barycentric coordinates
var u = Vector2.Dot(e, B - Q);
var v = Vector2.Dot(e, Q - A);
var radius = edgeA.Radius + circleB.Radius;
ContactFeature cf;
cf.IndexB = 0;
cf.TypeB = ContactFeatureType.Vertex;
// Region A
if (v <= 0.0f)
{
var P1 = A;
var d1 = Q - P1;
var dd1 = Vector2.Dot(d1, d1);
if (dd1 > radius * radius)
{
return;
}
// Is there an edge connected to A?
if (edgeA.HasVertex0)
{
var A1 = edgeA.Vertex0;
var B1 = A;
var e1 = B1 - A1;
var u1 = Vector2.Dot(e1, B1 - Q);
// Is the circle in Region AB of the previous edge?
if (u1 > 0.0f)
{
return;
}
}
cf.IndexA = 0;
cf.TypeA = ContactFeatureType.Vertex;
manifold.PointCount = 1;
manifold.Type = ManifoldType.Circles;
manifold.LocalNormal = Vector2.zero;
manifold.LocalPoint = P1;
manifold.Points.Value0.Id.Key = 0;
manifold.Points.Value0.Id.ContactFeature = cf;
manifold.Points.Value0.LocalPoint = circleB.Position;
return;
}
// Region B
if (u <= 0.0f)
{
var P2 = B;
var d2 = Q - P2;
var dd2 = Vector2.Dot(d2, d2);
if (dd2 > radius * radius)
{
return;
}
// Is there an edge connected to B?
if (edgeA.HasVertex3)
{
var B2 = edgeA.Vertex3;
var A2 = B;
var e2 = B2 - A2;
var v2 = Vector2.Dot(e2, Q - A2);
// Is the circle in Region AB of the next edge?
if (v2 > 0.0f)
{
return;
}
}
cf.IndexA = 1;
cf.TypeA = (byte)ContactFeatureType.Vertex;
manifold.PointCount = 1;
manifold.Type = ManifoldType.Circles;
manifold.LocalNormal = Vector2.zero;
manifold.LocalPoint = P2;
manifold.Points.Value0.Id.Key = 0;
manifold.Points.Value0.Id.ContactFeature = cf;
manifold.Points.Value0.LocalPoint = circleB.Position;
return;
}
// Region AB
var den = Vector2.Dot(e, e);
Debug.Assert(den > 0.0f);
var P = 1.0f / den * (u * A + v * B);
var d = Q - P;
var dd = Vector2.Dot(d, d);
if (dd > radius * radius)
{
return;
}
var n = new Vector2(-e.y, e.x);
if (Vector2.Dot(n, Q - A) < 0.0f)
{
n = new Vector2(-n.x, -n.y);
}
n.Normalize();
cf.IndexA = 0;
cf.TypeA = ContactFeatureType.Face;
manifold.PointCount = 1;
manifold.Type = ManifoldType.FaceA;
manifold.LocalNormal = n;
manifold.LocalPoint = A;
manifold.Points.Value0.Id.Key = 0;
manifold.Points.Value0.Id.ContactFeature = cf;
manifold.Points.Value0.LocalPoint = circleB.Position;
}
/// <summary>
/// 创建一次一定要同步一次
/// </summary>
/// <param name="a">释放者unit Id</param>
/// <param name="b">碰撞关系数据载体Id(Excel表中的)</param>
/// <param name="c">碰撞关系数据载体中的Node的Id</param>
/// <param name="d">目标行为树数据载体Id(Excel表中的)</param>
public override void Run(long a, int b, long c, int d)
{
Unit unit = UnitComponent.Instance.Get(a);
ConfigComponent configComponent = Game.Scene.GetComponent <ConfigComponent>();
B2S_ColliderComponent colliderComponent = UnitFactory
.CreateColliderUnit(unit, configComponent.Get <Server_B2SCollisionRelationConfig>(b).B2S_CollisionRelationId, c)
.GetComponent <B2S_ColliderComponent>();
//这里直接默认以英雄当前位置作为碰撞体生成的位置，如需提前指定位置，请在抛事件那里传参
colliderComponent.SyncBody();
//Log.Info("生成技能碰撞体");
//根据传过来的行为树Id来给这个碰撞Unit加上行为树
NP_RuntimeTreeFactory.CreateSkillNpRuntimeTree(colliderComponent.Entity as Unit,
configComponent.Get <Server_SkillCanvasConfig>(d).NPBehaveId, configComponent.Get <Server_SkillCanvasConfig>(d).BelongToSkillId)
.Start();
//下面这一部分是Debug用的，稳定后请去掉
{
//广播碰撞体信息
foreach (var VARIABLE in colliderComponent.Body.FixtureList)
{
switch (VARIABLE.ShapeType)
{
case ShapeType.Polygon: //多边形
M2C_B2S_Debugger_Polygon test = new M2C_B2S_Debugger_Polygon()
{
Id = unit.Id, SustainTime = 2000,
};
foreach (var VARIABLE1 in ((PolygonShape)VARIABLE.Shape).Vertices)
{
Vector2 worldPoint = colliderComponent.Body.GetWorldPoint(VARIABLE1);
test.Vects.Add(new M2C_B2S_VectorBase()
{
X = worldPoint.X, Y = worldPoint.Y
});
}
MessageHelper.Broadcast(test);
break;
case ShapeType.Circle: //圆形
CircleShape myShape = (CircleShape)VARIABLE.Shape;
M2C_B2S_Debugger_Circle test1 = new M2C_B2S_Debugger_Circle()
{
Id = unit.Id,
SustainTime = 2000,
Radius = myShape.Radius,
Pos = new M2C_B2S_VectorBase()
{
X = colliderComponent.Body.GetWorldPoint(myShape.Position).X,
Y = colliderComponent.Body.GetWorldPoint(myShape.Position).Y
},
};
MessageHelper.Broadcast(test1);
//Log.Info($"是圆形，并且已经朝客户端发送绘制数据,半径为{myShape.Radius}");
break;
}
}
}
}
static bool collideCircles(CircleShape circleA, ref FSTransform firstTransform, CircleShape circleB, ref FSTransform secondTransform, out FSCollisionResult result)
{
result = new FSCollisionResult();
Collision.collideCircles(ref _manifold, circleA, ref firstTransform, circleB, ref secondTransform);
if (_manifold.pointCount > 0)
{
// this is essentically directly from ContactSolver.WorldManifold.Initialize. To avoid doing the extra math twice we duplicate this code
// here because it doesnt return some values we need to calculate separation
var pointA = MathUtils.mul(ref firstTransform, _manifold.localPoint);
var pointB = MathUtils.mul(ref secondTransform, _manifold.points[0].localPoint);
result.normal = pointA - pointB;
Vector2Ext.normalize(ref result.normal);
var cA = pointA - circleA.radius * result.normal;
var cB = pointB + circleB.radius * result.normal;
result.point = 0.5f * (cA + cB);
result.point *= FSConvert.simToDisplay;
var separation = Vector2.Dot(pointA - pointB, result.normal) - circleA.radius - circleB.radius;
result.minimumTranslationVector = result.normal * Math.Abs(separation);
#if DEBUG_FSCOLLISIONS
Debug.drawPixel(result.point, 5, Color.Red, 0.2f);
Debug.drawLine(result.point, result.point + result.normal * 20, Color.Yellow, 0.2f);
#endif
return(true);
}
return(false);
}
TheoJansen()
{
_offset = new Vector2(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
Vector2 pivot = new Vector2(0.0f, 0.8f);
// Ground
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vector2(-50.0f, 0.0f), new Vector2(-50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vector2(50.0f, 0.0f), new Vector2(50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.25f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-40.0f + 2.0f * i, 0.5f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
}
// Chassis
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.5f, 1.0f);
FixtureDef sd = new FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = pivot + _offset;
_chassis = _world.CreateBody(bd);
_chassis.CreateFixture(sd);
}
{
CircleShape shape = new CircleShape();
shape._radius = 1.6f;
FixtureDef sd = new FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = pivot + _offset;
_wheel = _world.CreateBody(bd);
_wheel.CreateFixture(sd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(_wheel, _chassis, pivot + _offset);
jd.collideConnected = false;
jd.motorSpeed = _motorSpeed;
jd.maxMotorTorque = 400.0f;
jd.enableMotor = _motorOn;
_motorJoint = (RevoluteJoint)_world.CreateJoint(jd);
}
Vector2 wheelAnchor;
wheelAnchor = pivot + new Vector2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), 120.0f * (float)Settings.b2_pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), -120.0f * (float)Settings.b2_pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
Cantilever()
{
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;
WeldJointDef jd = new WeldJointDef();
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);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
WeldJointDef jd = new WeldJointDef();
jd.frequencyHz = 5.0f;
jd.dampingRatio = 0.7f;
Body prevBody = ground;
for (int i = 0; i < 3; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-14.0f + 2.0f * i, 15.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2(-15.0f + 2.0f * i, 15.0f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-4.5f + 1.0f * i, 5.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
Vec2 anchor = new Vec2(-5.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
}
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
WeldJointDef jd = new WeldJointDef();
jd.frequencyHz = 8.0f;
jd.dampingRatio = 0.7f;
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(5.5f + 1.0f * i, 10.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
Vec2 anchor = new Vec2(5.0f + 1.0f * i, 10.0f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
}
prevBody = body;
}
}
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 < 2; ++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);
}
}
public override void Keyboard(KeyboardState state, KeyboardState oldState)
{
if (state.IsKeyDown(Keys.OemComma) && oldState.IsKeyUp(Keys.OemComma))
{
if (_bullet != null)
{
_world.DestroyBody(_bullet);
_bullet = null;
}
{
CircleShape shape = new CircleShape();
shape._radius = 0.25f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.restitution = 0.05f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.bullet = true;
bd.position = new Vector2(-31.0f, 5.0f);
_bullet = _world.CreateBody(bd);
_bullet.CreateFixture(fd);
_bullet.SetLinearVelocity(new Vector2(400.0f, 0.0f));
}
}
}
BridgeTest()
{
Body ground;
{
ground = new Body(World);
EdgeShape shape = new EdgeShape(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape);
}
{
Vertices box = PolygonTools.CreateRectangle(0.5f, 0.125f);
PolygonShape shape = new PolygonShape(box, 20);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.2f;
Vector2 anchor = new Vector2(-15f + 1.0f * i, 5.0f);
RevoluteJoint jd = new RevoluteJoint(prevBody, body, anchor, true);
World.AddJoint(jd);
prevBody = body;
}
Vector2 anchor2 = new Vector2(-15.0f + 1.0f * Count, 5.0f);
RevoluteJoint jd2 = new RevoluteJoint(ground, prevBody, anchor2, true);
World.AddJoint(jd2);
}
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.5f, 0.0f));
vertices.Add(new Vector2(0.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
for (int i = 0; i < 2; ++i)
{
PolygonShape shape = new PolygonShape(vertices, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-8.0f + 8.0f * i, 12.0f);
body.CreateFixture(shape);
}
for (int i = 0; i < 3; ++i)
{
CircleShape shape = new CircleShape(0.5f, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-6.0f + 6.0f * i, 10.0f);
body.CreateFixture(shape);
}
}
public Cantilever()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-14.5f + 1.0f * i, 15.0f);
bd.inertiaScale = 10.0f;
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 15.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-4.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
Vector2 anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
}
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(5.5f + 1.0f * i, 10.0f);
bd.inertiaScale = 10.0f;
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
Vector2 anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
}
prevBody = body;
}
}
for (int i = 0; i < 2; ++i)
{
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-0.5f, 0.0f);
vertices[1] = new Vector2(0.5f, 0.0f);
vertices[2] = new Vector2(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.Dynamic;
bd.position = new Vector2(-8.0f + 8.0f * i, 12.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 2; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-6.0f + 6.0f * i, 10.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
public StarMenuControl(Star objStar)
{
BodyComponentList = new List <Drawable>();
float fltStarRad = objStar.Radius;
Vector2f vecStarCenter = objStar.Position;
float fltStarCenterX = vecStarCenter.X + fltStarRad;
float fltStarCenterY = vecStarCenter.Y + fltStarRad;
CircleShape objCenterCirc = new CircleShape(fltStarRad + 10);
objCenterCirc.OutlineColor = Color.Blue;
objCenterCirc.OutlineThickness = 2;
objCenterCirc.FillColor = Color.Transparent;
float fltCenterCircX = fltStarCenterX - objCenterCirc.Radius;
float fltCenterCircY = fltStarCenterY - objCenterCirc.Radius;
objCenterCirc.Position = new Vector2f(fltCenterCircX, fltCenterCircY);
this.BodyComponentList.Add(objCenterCirc);
float fltCenterCircOffset = fltStarRad + 10;
float fltHorizontalBarX = 50;
float fltLineOffsetX = fltCenterCircOffset + fltHorizontalBarX;
Vector2f vecVertex1 = new Vector2f(fltStarCenterX, fltStarCenterY - fltCenterCircOffset);
Vector2f vecVertex2 = new Vector2f(fltStarCenterX - fltLineOffsetX, fltStarCenterY - 100);
Vector2f vecVertex3 = new Vector2f(fltStarCenterX - fltLineOffsetX, fltStarCenterY + 100);
Vector2f vecVertex4 = new Vector2f(fltStarCenterX, fltStarCenterY + fltCenterCircOffset);
HorizontalLine1 = new Vertex[]
{
new Vertex(vecVertex1, Color.Blue),
new Vertex(vecVertex2, Color.Blue),
new Vertex(vecVertex3, Color.Blue),
new Vertex(vecVertex4, Color.Blue)
};
float fltRecHeight = 200;
RectangleShape recDetails = new RectangleShape(new Vector2f(200, fltRecHeight));
recDetails.FillColor = new Color(50, 170, 255, 50);
recDetails.OutlineColor = Color.Blue;
recDetails.OutlineThickness = 2;
recDetails.Position = new Vector2f(vecVertex2.X - 200, vecVertex2.Y);
BodyComponentList.Add(recDetails);
int intOrbitalCount = 0;
if (objStar.ChildOrbits != null)
{
intOrbitalCount = objStar.ChildOrbits.Length;
}
string strText = $"Name: {objStar.SystemName}\r\nType: {objStar.StarType}\r\nMajor Orbitals: {intOrbitalCount}";
Text objDetailText = new Text(strText, new Font(Engine.Instance.fontStream));
objDetailText.Position = new Vector2f(recDetails.Position.X + 5, recDetails.Position.Y + 5);
objDetailText.CharacterSize = 11;
BodyComponentList.Add(objDetailText);
}
public RayCast()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var vertices = new Vector2[3];
vertices[0] = new Vector2(-0.5f, 0.0f);
vertices[1] = new Vector2(0.5f, 0.0f);
vertices[2] = new Vector2(0.0f, 1.5f);
_polygons[0] = new PolygonShape();
_polygons[0].Set(vertices, 3);
}
{
var vertices2 = new Vector2[3];
vertices2[0] = new Vector2(-0.1f, 0.0f);
vertices2[1] = new Vector2(0.1f, 0.0f);
vertices2[2] = new Vector2(0.0f, 1.5f);
_polygons[1] = new PolygonShape();
_polygons[1].Set(vertices2, 3);
}
{
float w = 1.0f;
float b = w / (2.0f + (float)Math.Sqrt(2.0));
float s = (float)Math.Sqrt(2.0) * b;
var vertices3 = new Vector2[8];
vertices3[0] = new Vector2(0.5f * s, 0.0f);
vertices3[1] = new Vector2(0.5f * w, b);
vertices3[2] = new Vector2(0.5f * w, b + s);
vertices3[3] = new Vector2(0.5f * s, w);
vertices3[4] = new Vector2(-0.5f * s, w);
vertices3[5] = new Vector2(-0.5f * w, b + s);
vertices3[6] = new Vector2(-0.5f * w, b);
vertices3[7] = new Vector2(-0.5f * s, 0.0f);
_polygons[2] = new PolygonShape();
_polygons[2].Set(vertices3, 8);
}
{
_polygons[3] = new PolygonShape();
_polygons[3].SetAsBox(0.5f, 0.5f);
}
{
_circle = new CircleShape();
_circle._radius = 0.5f;
}
_bodyIndex = 0;
_angle = 0.0f;
_mode = RayCastMode.Closest;
}
private CollisionProcessingTest()
{
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
const float xLo = -5.0f;
const float xHi = 5.0f;
const float yLo = 2.0f;
const float yHi = 35.0f;
// Small triangle
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-1.0f, 0.0f));
vertices.Add(new Vector2(1.0f, 0.0f));
vertices.Add(new Vector2(0.0f, 2.0f));
PolygonShape polygon = new PolygonShape(vertices, 1);
Body body1 = BodyFactory.CreateBody(World);
body1.BodyType = BodyType.Dynamic;
body1.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Fixture fixture = body1.CreateFixture(polygon);
fixture.OnCollision += OnCollision;
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Vertices = vertices;
Body body2 = BodyFactory.CreateBody(World);
body2.BodyType = BodyType.Dynamic;
body2.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body2.CreateFixture(polygon);
fixture.OnCollision += OnCollision;
// Small box
Vertices smallBox = PolygonUtils.CreateRectangle(1.0f, 0.5f);
polygon.Vertices = smallBox;
Body body3 = BodyFactory.CreateBody(World);
body3.BodyType = BodyType.Dynamic;
body3.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body3.CreateFixture(polygon);
fixture.OnCollision += OnCollision;
// Large box (recycle definitions)
Vertices largeBox = PolygonUtils.CreateRectangle(2.0f, 1.0f);
polygon.Vertices = largeBox;
Body body4 = BodyFactory.CreateBody(World);
body4.BodyType = BodyType.Dynamic;
body4.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body4.CreateFixture(polygon);
fixture.OnCollision += OnCollision;
// Small circle
CircleShape circle = new CircleShape(1.0f, 1);
Body body5 = BodyFactory.CreateBody(World);
body5.BodyType = BodyType.Dynamic;
body5.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body5.CreateFixture(circle);
fixture.OnCollision += OnCollision;
// Large circle
circle.Radius *= 2.0f;
Body body6 = BodyFactory.CreateBody(World);
body6.BodyType = BodyType.Dynamic;
body6.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body6.CreateFixture(circle);
fixture.OnCollision += OnCollision;
}
public void LaunchBomb(Vector2 position, Vector2 velocity)
{
if (_bomb != null)
{
_world.DestroyBody(_bomb);
_bomb = null;
}
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = position;
bd.bullet = true;
_bomb = _world.CreateBody(bd);
_bomb.SetLinearVelocity(velocity);
CircleShape circle = new CircleShape();
circle._radius = 0.3f;
FixtureDef fd = new FixtureDef();
fd.shape = circle;
fd.density = 20.0f;
fd.restitution = 0.0f;
Vector2 minV = position - new Vector2(0.3f,0.3f);
Vector2 maxV = position + new Vector2(0.3f,0.3f);
AABB aabb;
aabb.lowerBound = minV;
aabb.upperBound = maxV;
_bomb.CreateFixture(fd);
}
private CantileverTest()
{
Body ground = World.CreateEdge(new Vector2(-40, 0), new Vector2(40, 0));
{
PolygonShape shape = new PolygonShape(20);
shape.Vertices = PolygonTools.CreateRectangle(0.5f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-14.5f + 1.0f * i, 5.0f);
body.CreateFixture(shape);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
WeldJoint jd = new WeldJoint(prevBody, body, anchor, anchor, true);
World.Add(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape(20f);
shape.Vertices = PolygonTools.CreateRectangle(1f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < 3; ++i)
{
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-14.0f + 2.0f * i, 15.0f);
body.CreateFixture(shape);
Vector2 anchor = new Vector2(-15.0f + 2.0f * i, 15.0f);
WeldJoint jd = new WeldJoint(prevBody, body, anchor, anchor, true);
jd.FrequencyHz = 5.0f;
jd.DampingRatio = 0.7f;
World.Add(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape(20f);
shape.Vertices = PolygonTools.CreateRectangle(0.5f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-4.5f + 1.0f * i, 5.0f);
body.CreateFixture(shape);
if (i > 0)
{
Vector2 anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
WeldJoint jd = new WeldJoint(prevBody, body, anchor, anchor, true);
World.Add(jd);
}
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape(20f);
shape.Vertices = PolygonTools.CreateRectangle(0.5f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(5.5f + 1.0f * i, 10.0f);
body.CreateFixture(shape);
if (i > 0)
{
Vector2 anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
WeldJoint jd = new WeldJoint(prevBody, body, anchor, anchor, true);
jd.FrequencyHz = 8.0f;
jd.DampingRatio = 0.7f;
World.Add(jd);
}
prevBody = body;
}
}
//Triangels
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.5f, 0.0f));
vertices.Add(new Vector2(0.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
for (int i = 0; i < 2; ++i)
{
PolygonShape shape = new PolygonShape(vertices, 1);
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-8.0f + 8.0f * i, 12.0f);
body.CreateFixture(shape);
}
//Circles
for (int i = 0; i < 2; ++i)
{
CircleShape shape = new CircleShape(0.5f, 1);
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-6.0f + 6.0f * i, 10.0f);
body.CreateFixture(shape);
}
}
