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 static void CollidePolygons(out Manifold manifold, PolygonShape poly1, Transform xf1, PolygonShape poly2, Transform xf2)
{
var poly1Lock = poly1.Lock();
var poly2Lock = poly2.Lock();
NativeMethods.cb2_collidepolygons(out manifold, poly1Lock, xf1, poly2Lock, xf2);
poly1.Unlock();
poly2.Unlock();
}
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 bool TestOverlap(Shape shapeA, Shape shapeB, Transform xfA, Transform xfB)
{
var sh1Lock = shapeA.Lock();
var sh2Lock = shapeB.Lock();
bool rV = NativeMethods.cb2_testoverlap(sh1Lock, sh2Lock, xfA, xfB);
shapeA.Unlock();
shapeB.Unlock();
return rV;
}
public ApplyForce()
{
m_world.Gravity = new Vec2(0.0f, 0.0f);
const float k_restitution = 0.4f;
Body ground;
{
BodyDef bd = new BodyDef();
bd.Position = new Vec2(0.0f, 20.0f);
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef sd = new FixtureDef();
sd.Shape = shape;
sd.Density = 0.0f;
sd.Restitution = k_restitution;
// Left vertical
shape.SetAsEdge(new Vec2(-20.0f, -20.0f), new Vec2(-20.0f, 20.0f));
ground.CreateFixture(sd);
// Right vertical
shape.SetAsEdge(new Vec2(20.0f, -20.0f), new Vec2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Top horizontal
shape.SetAsEdge(new Vec2(-20.0f, 20.0f), new Vec2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Bottom horizontal
shape.SetAsEdge(new Vec2(-20.0f, -20.0f), new Vec2(20.0f, -20.0f));
ground.CreateFixture(sd);
}
{
Transform xf1 = new Transform();
xf1.R = new Mat22(0.3524f * (float)Math.PI);
xf1.Position = (xf1.R * new Vec2(1.0f, 0.0f));
Vec2[] vertices = new Vec2[3]
{
(xf1 * new Vec2(-1.0f, 0.0f)),
(xf1 * new Vec2(1.0f, 0.0f)),
(xf1 * new Vec2(0.0f, 0.5f))
};
PolygonShape poly1 = new PolygonShape(vertices);
FixtureDef sd1 = new FixtureDef();
sd1.Shape = poly1;
sd1.Density = 4.0f;
Transform xf2 = new Transform();
xf2.R = new Mat22(-0.3524f * (float)Math.PI);
xf2.Position = (xf2.R * new Vec2(-1.0f, 0.0f));
vertices = new Vec2[]
{
(xf2 * new Vec2(-1.0f, 0.0f)),
(xf2 * new Vec2(1.0f, 0.0f)),
(xf2 * new Vec2(0.0f, 0.5f))
};
PolygonShape poly2 = new PolygonShape(vertices);
FixtureDef sd2 = new FixtureDef();
sd2.Shape = poly2;
sd2.Density = 2.0f;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.AngularDamping = 5.0f;
bd.LinearDamping = 0.1f;
bd.Position = new Vec2(0.0f, 2.0f);
bd.Angle = (float)Math.PI;
bd.AllowSleep = false;
m_body = m_world.CreateBody(bd);
m_body.CreateFixture(sd1);
m_body.CreateFixture(sd2);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
fd.Friction = 0.3f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 5.0f + 1.54f * i);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
float gravity = 10.0f;
float I = body.Inertia;
float mass = body.Mass;
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = (float)Math.Sqrt(2.0f * I / mass);
FrictionJointDef jd = new FrictionJointDef();
jd.LocalAnchorA = jd.LocalAnchorB = Vec2.Empty;
jd.BodyA = ground;
jd.BodyB = body;
jd.CollideConnected = true;
jd.MaxForce = mass * gravity;
jd.MaxTorque = mass * radius * gravity;
m_world.CreateJoint(jd);
}
}
}
public static extern void b2contact_evaluate(IntPtr contact, out Manifold outManifold, Transform xfA, Transform xfB);
public void Evaluate(out Manifold manifold, Transform xfA, Transform xfB)
{
manifold = new Manifold();
NativeMethods.b2contact_evaluate(_contactPtr, out manifold, xfA, xfB);
}
public void DrawJoint(Box2CS.Serialize.JointDefSerialized x, Vec2 p1, Vec2 p2, BodyDef bodyA, BodyDef bodyB)
{
Transform xf1 = new Transform(bodyA.Position, new Mat22(bodyA.Angle));
Transform xf2 = new Transform(bodyB.Position, new Mat22(bodyB.Angle));
Vec2 x1 = xf1.Position;
Vec2 x2 = xf2.Position;
p1 = xf1 * p1;
p2 = xf2 * p2;
ColorF color = new ColorF(0.5f, 0.8f, 0.8f);
switch (x.Joint.JointType)
{
case JointType.Distance:
DrawSegment(p1, p2, color);
break;
case JointType.Pulley:
{
PulleyJointDef pulley = (PulleyJointDef)x.Joint;
Vec2 s1 = pulley.GroundAnchorA;
Vec2 s2 = pulley.GroundAnchorB;
DrawSegment(s1, p1, color);
DrawSegment(s2, p2, color);
DrawSegment(s1, s2, color);
}
break;
case JointType.Revolute:
{
RevoluteJointDef rjd = (RevoluteJointDef)x.Joint;
if (rjd.EnableLimit)
{
Vec2 startPos = p1;
Vec2 sinCos = new Vec2(-(float)Math.Cos((rjd.UpperAngle + rjd.ReferenceAngle) - (float)Math.PI / 2), -(float)Math.Sin((rjd.UpperAngle + rjd.ReferenceAngle) - (float)Math.PI / 2));
var end = startPos + (sinCos * 3);
DrawSegment(startPos, end, new ColorF(0, 0.65f, 0.65f));
sinCos = new Vec2(-(float)Math.Cos((rjd.LowerAngle + rjd.ReferenceAngle) - (float)Math.PI / 2), -(float)Math.Sin((rjd.LowerAngle + rjd.ReferenceAngle) - (float)Math.PI / 2));
end = startPos + (sinCos * 3);
DrawSegment(startPos, end, new ColorF(0, 0.65f, 0.65f));
DrawArc(startPos, 3, (-rjd.LowerAngle - rjd.ReferenceAngle), (-rjd.UpperAngle - rjd.ReferenceAngle));
}
DrawCircle(p1, 0.75f, new ColorF(0, 0.65f, 0.65f));
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
DrawSegment(x2, p2, color);
}
break;
default:
case JointType.Unknown:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
DrawSegment(x2, p2, color);
break;
}
}
public override void DrawTransform(Transform xf)
{
Vec2 p1 = xf.Position, p2;
const float k_axisScale = 0.4f;
Gl.glBegin(Gl.GL_LINES);
Gl.glColor3f(1.0f, 0.0f, 0.0f);
Gl.glVertex2f(p1.X, p1.Y);
p2 = p1 + k_axisScale * xf.R.Col1;
Gl.glVertex2f(p2.X, p2.Y);
Gl.glColor3f(0.0f, 1.0f, 0.0f);
Gl.glVertex2f(p1.X, p1.Y);
p2 = p1 + k_axisScale * xf.R.Col2;
Gl.glVertex2f(p2.X, p2.Y);
Gl.glEnd();
}
public void DrawShape(FixtureDef fixture, Transform xf, ColorF color)
{
switch (fixture.Shape.ShapeType)
{
case ShapeType.Circle:
{
CircleShape circle = (CircleShape)fixture.Shape;
Vec2 center = (xf * circle.Position);
float radius = circle.Radius;
Vec2 axis = xf.R.Col1;
DrawSolidCircle(center, radius, axis, color);
}
break;
case ShapeType.Polygon:
{
PolygonShape poly = (PolygonShape)fixture.Shape;
int vertexCount = poly.VertexCount;
//b2Assert(vertexCount <= b2_maxPolygonVertices);
for (int i = 0; i < vertexCount; ++i)
drawVertices[i] = (xf * poly.Vertices[i]);
DrawSolidPolygon(drawVertices, vertexCount, color);
}
break;
}
}
public static extern bool cb2_testoverlap(IntPtr shapeA, IntPtr shapeB, Transform xfA, Transform xfB);
public static extern void cb2_collidepolygons(out Manifold manifold, IntPtr polygon1, Transform xf1, IntPtr polygon2, Transform xf2);
public static extern void cb2_collidepolygonandcircle(out Manifold manifold, IntPtr polygon, Transform xf1, IntPtr circle, Transform xf2);
public static extern void cb2_collidecircles(out Manifold manifold, IntPtr circle1, Transform xf1, IntPtr circle2, Transform xf2);
public abstract void DrawTransform(Transform xf);
public static extern void b2body_gettransform(IntPtr body, out Transform transform);