public static Body CreateRectangle(World world, float width, float height, float density, Vector2 position,
PressPlay.FFWD.Component userData)
{
if (width <= 0)
{
throw new ArgumentOutOfRangeException("width", "Width must be more than 0 meters");
}
if (height <= 0)
{
throw new ArgumentOutOfRangeException("height", "Height must be more than 0 meters");
}
Body newBody = CreateBody(world, position);
Vertices rectangleVertices = PolygonTools.CreateRectangle(width / 2, height / 2);
PolygonShape rectangleShape = new PolygonShape(rectangleVertices, density);
newBody.CreateFixture(rectangleShape, userData);
return(newBody);
}
/// <summary>
/// Creates a capsule.
/// Note: Automatically decomposes the capsule if it contains too many vertices (controlled by Settings.MaxPolygonVertices)
/// </summary>
/// <returns></returns>
public static Body CreateCapsule(World world, float height, float topRadius, int topEdges, float bottomRadius, int bottomEdges, float density, Vector2 position, object userData)
{
Vertices verts = PolygonTools.CreateCapsule(height, topRadius, topEdges, bottomRadius, bottomEdges);
Body body;
//There are too many vertices in the capsule. We decompose it.
if (verts.Count >= Settings.MaxPolygonVertices)
{
List <Vertices> vertList = Triangulate.ConvexPartition(verts, TriangulationAlgorithm.Earclip);
body = CreateCompoundPolygon(world, vertList, density, userData);
body.Position = position;
return(body);
}
body = CreatePolygon(world, verts, density, userData);
body.Position = position;
return(body);
}
public override void LoadContent()
{
Vertices rect1 = PolygonTools.CreateRectangle(2, 2);
Vertices rect2 = PolygonTools.CreateRectangle(2, 2);
Vector2 trans = new Vector2(-2, 0);
rect1.Translate(ref trans);
trans = new Vector2(2, 0);
rect2.Translate(ref trans);
List <Vertices> vertices = new List <Vertices>(2);
vertices.Add(rect1);
vertices.Add(rect2);
_rectangles = BodyFactory.CreateCompoundPolygon(World, vertices, 1);
_rectangles.BodyType = BodyType.Dynamic;
base.LoadContent();
}
public static PhysicsObject createFromTexture(Texture2D texture, float density = 1f)
{
int width = texture.Width;
int height = texture.Height;
uint[] data = new uint[texture.Width * texture.Height];
texture.GetData <uint>(data);
PhysicsObject obj = new PhysicsObject();
for (int i = 0; i < Main.objects.Length; i++)
{
if (Main.objects[i].active == false)
{
Main.objects[i] = obj;
obj.whoAmI = i;
break;
}
}
Vertices verts = PolygonTools.CreatePolygon(data, width, false);
Vector2 centroid = -verts.GetCentroid();
obj.origin = Vector2.Zero;// centroid / 2;
verts = SimplifyTools.ReduceByDistance(verts, 4f);
List <Vertices> list = BayazitDecomposer.ConvexPartition(verts);
Vector2 vScale = new Vector2(ConvertUnits.ToSimUnits(1));
foreach (Vertices v in list)
{
v.Scale(ref vScale);
}
obj.body = BodyFactory.CreateCompoundPolygon(Main.physicsWorld, list, 1f);
obj.shape = 3;
obj.active = true;
obj.dwidth = width;
obj.dheight = height;
obj.body.BodyType = BodyType.Dynamic;
Debug.print("New texture body with " + verts.Count + " vertices successfully added");
return(obj);
}
private BuoyancyTest()
{
//Make a box
//Bottom
Body ground = BodyFactory.CreateBody(World);
Vertices edge = PolygonTools.CreateEdge(new Vector2(0.0f, 0.0f), new Vector2(40.0f, 0.0f));
PolygonShape shape = new PolygonShape(edge);
ground.CreateFixture(shape);
//Left side
shape.Set(PolygonTools.CreateEdge(new Vector2(0.0f, 0.0f), new Vector2(00.0f, 15.0f)));
ground.CreateFixture(shape);
//Right side
shape.Set(PolygonTools.CreateEdge(new Vector2(40.0f, 0.0f), new Vector2(40.0f, 15.0f)));
ground.CreateFixture(shape);
//Buoyancy controller
_aabbContainer = new AABBFluidContainer(new Vector2(0, 0), 40, 10);
_waveContainer = new WaveContainer(new Vector2(0, 0), 40, 10);
_waveContainer.WaveGeneratorStep = 0;
FluidDragController buoyancyController = new FluidDragController(_waveContainer, 4f, 0.98f, 0.2f,
World.Gravity);
buoyancyController.Entry += EntryEventHandler;
Vector2 offset = new Vector2(5, 0);
//Bunch of balls
for (int i = 0; i < 4; i++)
{
Fixture fixture = FixtureFactory.CreateCircle(World, 1, 1, new Vector2(15, 1) + offset * i);
fixture.Body.BodyType = BodyType.Dynamic;
buoyancyController.AddGeom(fixture);
}
World.Add(buoyancyController);
}
public TexturePolygon(Texture2D texture, Vector2 position, float rotation, DrawingHelper.DrawingLevel drawingLevel, Game game, World world, bool textureCenter)
: base(texture, position, drawingLevel, game, world)
{
// Fetch Texure data
uint[] data = new uint[texture.Width * texture.Height];
texture.GetData(data);
Vertices textureVertices = PolygonTools.CreatePolygon(data, texture.Width, true);
// Set Polygon Centroid
if (textureCenter) // Texture based center
{
Vector2 centroid = -textureVertices.GetCentroid();
textureVertices.Translate(ref centroid);
Origin = new Vector2(texture.Width / 2, texture.Height / 2);
}
else // Vertice based center
{
Vector2 centroid = -textureVertices.GetCentroid();
textureVertices.Translate(ref centroid);
Origin = new Vector2(-centroid.X, -centroid.Y);
}
// Simplify Polygon for performance
textureVertices = SimplifyTools.ReduceByDistance(textureVertices, 4f);
List <Vertices> list = Triangulate.ConvexPartition(textureVertices, TriangulationAlgorithm.Bayazit);
// Convert polygon to sim units
Vector2 vertScale = new Vector2(ConvertUnits.ToSimUnits(1));
foreach (Vertices vertice in list)
{
vertice.Scale(ref vertScale);
}
// create body compound.
RigidBody = BodyFactory.CreateCompoundPolygon(world, list, 1f, BodyType.Static);
RigidBody.BodyType = BodyType.Static;
RigidBody.Position = ConvertUnits.ToSimUnits(position);
RigidBody.Rotation = rotation;
}
private ExplosionTest()
{
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
float[] xs = { -10.0f, -5.0f, 0.0f, 5.0f, 10.0f };
for (int j = 0; j < ColumnCount; ++j)
{
PolygonShape shape = new PolygonShape(1);
shape.Vertices = PolygonTools.CreateRectangle(0.5f, 0.5f);
for (int i = 0; i < RowCount; ++i)
{
int n = j * RowCount + i;
Debug.Assert(n < RowCount * ColumnCount);
_indices[n] = n;
const float x = 0.0f;
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(xs[j] + x, 0.752f + 1.54f * i);
body.UserData = _indices[n];
_bodies[n] = body;
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.3f;
//First column is unaffected by the explosion
if (j == 0)
{
body.PhysicsLogicFilter.IgnorePhysicsLogic(PhysicsLogicType.Explosion);
}
}
}
_radius = 5;
_force = 3;
_realExplosion = new RealExplosion(World);
}
public Pyramid(World world, ScreenManager screenManager, Vector2 position, int count, float density)
{
_batch = screenManager.SpriteBatch;
Vertices rect = PolygonTools.CreateRectangle(1f / 2f, 1f / 2f);
PolygonShape shape = new PolygonShape(rect, density);
Vector2 rowStart = position;
rowStart.Y -= 0.5f + count * 1.1f;
Vector2 deltaRow = new Vector2(-0.625f, -1.1f);
const float spacing = 1.25f;
_boxes = new List <Body>();
for (int i = 0; i < count; ++i)
{
Vector2 pos = rowStart;
for (int j = 0; j < i + 1; ++j)
{
Body body = world.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = pos;
body.CreateFixture(shape);
_boxes.Add(body);
pos.X += spacing;
}
rowStart += deltaRow;
}
//GFX
AssetCreator creator = screenManager.Assets;
_box = new Sprite(creator.TextureFromVertices(rect, MaterialType.Dots, Color.SaddleBrown, 2f, 24f));
}
// Anything that is a fixture must have an object type for collision logic purposes
/*public enum ObjectTypes
* {
* Bot = 1,
* Weapon = 2, // Since weapons will be fixtures, they too need an object type.
* Bullet = 3,
* Wall = 4
* }*/
public SPRWorld(World world, int currentLevel)
{
int botHalfWidth = 31; // Half the bot's width (e.g. the distance from the centroid to the edge)
m_World = world;
this.m_Entities = new SortedDictionary <ulong, Entity>();
// Make polygons out of weapons and anything that needs collision.
// NOTE: Stores the convex hull for each item, since collision detection
// relies upon these verticies being convex polygons.
String[] toPreload = new String[] { "Gun", "Axe", "Shield" };
foreach (String texture in toPreload)
{
Texture2D a = TextureStatic.Get(texture);
uint[] data = new uint[a.Width * a.Height];
a.GetData <uint>(data);
Vertices v = Melkman.GetConvexHull(PolygonTools.CreatePolygon(data, a.Width, a.Height));
Vector2 scale = new Vector2(Settings.MetersPerPixel, Settings.MetersPerPixel);
v.Scale(ref scale);
if (!computedSpritePolygons.ContainsKey(texture))
{
computedSpritePolygons.Add(texture, v);
}
}
//walls
Vector2[] outer = { new Vector2(0, 0) * Settings.MetersPerPixel, new Vector2(0, 1920) * Settings.MetersPerPixel, new Vector2(1080, 1920) * Settings.MetersPerPixel, new Vector2(1080, 0) * Settings.MetersPerPixel };
Vector2[] inner = { new Vector2(200, 200) * Settings.MetersPerPixel, new Vector2(200, 1720) * Settings.MetersPerPixel, new Vector2(880, 1720) * Settings.MetersPerPixel, new Vector2(880, 200) * Settings.MetersPerPixel };
FixtureFactory.CreateRectangle(world, 1920 * Settings.MetersPerPixel, 200 * Settings.MetersPerPixel, 1f, new Vector2(960, 100) * Settings.MetersPerPixel, "Wall").Body.BodyType = BodyType.Static;
FixtureFactory.CreateRectangle(world, 200 * Settings.MetersPerPixel, 1080 * Settings.MetersPerPixel, 1f, new Vector2(100, 540) * Settings.MetersPerPixel, "Wall").Body.BodyType = BodyType.Static;
FixtureFactory.CreateRectangle(world, 1920 * Settings.MetersPerPixel, 200 * Settings.MetersPerPixel, 1f, new Vector2(960, 980) * Settings.MetersPerPixel, "Wall").Body.BodyType = BodyType.Static;
FixtureFactory.CreateRectangle(world, 200 * Settings.MetersPerPixel, 1080 * Settings.MetersPerPixel, 1f, new Vector2(1820, 540) * Settings.MetersPerPixel, "Wall").Body.BodyType = BodyType.Static;
Vector2[] edges = { new Vector2(-botHalfWidth, -botHalfWidth) * Settings.MetersPerPixel, new Vector2(botHalfWidth, -botHalfWidth) * Settings.MetersPerPixel, new Vector2(botHalfWidth, botHalfWidth) * Settings.MetersPerPixel, new Vector2(-botHalfWidth, botHalfWidth) * Settings.MetersPerPixel };
this.battle = new Battle(this, botHalfWidth, world, currentLevel);
GameWorld.audio.SongPlay("sprbattle");
}
public override void Initialize()
{
if (_world != null)
{
var borders = new List <Vertices>();
var bottom = PolygonTools.CreateRectangle(
ConvertUnits.ToSimUnits(_screenBounds.Width),
0.01f,
new Vector2(ConvertUnits.ToSimUnits(_screenBounds.Width / 2f), ConvertUnits.ToSimUnits(_screenBounds.Height + _ball.Texture.Height)),
0);
var left = PolygonTools.CreateRectangle(
0.01f,
ConvertUnits.ToSimUnits(_screenBounds.Height),
new Vector2(0, ConvertUnits.ToSimUnits(_screenBounds.Height / 2f)),
0);
var top = PolygonTools.CreateRectangle(
ConvertUnits.ToSimUnits(_screenBounds.Width),
0.01f,
new Vector2(ConvertUnits.ToSimUnits(_screenBounds.Width / 2f), 0),
0);
var right = PolygonTools.CreateRectangle(
0.01f,
ConvertUnits.ToSimUnits(_screenBounds.Height),
new Vector2(ConvertUnits.ToSimUnits(_screenBounds.Width), ConvertUnits.ToSimUnits(_screenBounds.Height / 2f)),
0);
borders.AddRange(new[] { bottom, left, top, right });
Body = BodyFactory.CreateCompoundPolygon(_world, borders, 1, 1);
foreach (var fixture in Body.FixtureList)
{
fixture.Restitution = 1;
fixture.Friction = 0;
}
// Paddle should not bounce off walls
_paddle.Body.IgnoreCollisionWith(Body);
}
base.Initialize();
}
public static List <Fixture> AttachLineArc(float radians, int sides, float radius, Vector2 position, float angle,
bool closed, Body body)
{
Vertices arc = PolygonTools.CreateArc(radians, sides, radius);
arc.Rotate((MathHelper.Pi - radians) / 2 + angle);
arc.Translate(ref position);
List <Fixture> fixtures = new List <Fixture>(arc.Count);
if (closed)
{
fixtures.Add(AttachLoopShape(arc, body));
}
for (int i = 1; i < arc.Count; i++)
{
fixtures.Add(AttachEdge(arc[i], arc[i - 1], body));
}
return(fixtures);
}
private static Body CreateShip()
{
var body = new Body(world);
body.BodyType = BodyType.Dynamic;
body.LinearDamping = 0.5f;
body.AngularDamping = 1f;
// tip
var rect1 = new PolygonShape(PolygonTools.CreateRectangle(0.25f, 0.5f, new Vector2(0, -0.5f), 0), 1);
// tail
var rect2 = new PolygonShape(PolygonTools.CreateRectangle(0.75f, 0.5f, new Vector2(0, 0.5f), 0), 3);
body.CreateFixture(rect1);
body.CreateFixture(rect2);
body.OnCollision += (a, b, contact) =>
{
var hit = false;
var linear = a.Body.LinearVelocity - b.Body.LinearVelocity;
var angular = a.Body.AngularVelocity - b.Body.AngularVelocity;
if (Math.Abs(linear.X) > 4 || Math.Abs(linear.Y) > 4)
{
Console.WriteLine("OW linear" + DateTime.Now.Millisecond);
hit = true;
}
if (!hit && Math.Abs(angular) > 4)
{
Console.WriteLine("OW angular" + DateTime.Now.Millisecond);
}
return(true);
};
return(body);
}
protected override Body CreatePhysics()
{
var newBody = BodyFactory.CreateBody(World, new Vector2());
if (density != 0)
{
newBody.BodyType = BodyType.Dynamic;
}
var rectangleVertices = PolygonTools.CreateEllipse(width / 2, height / 2, 20);
//var rectangleVertices = PolygonTools.CreateRectangle(width / 2, height / 2);
var rectangleShape = new PolygonShape(rectangleVertices, density);
var fixture = newBody.CreateFixture(rectangleShape);
newBody.FixedRotation = true;
fixture.Friction = friction;
fixture.Restitution = restitution;
SensorFixture = FixtureFactory.AttachRectangle(sensorWidth, 0.05f, 1f, sensorCenter, newBody, sensorName);
SensorFixture.IsSensor = true;
return(newBody);
}
/// <summary>
/// Creates a chain.
/// </summary>
/// <param name="world">The world.</param>
/// <param name="start">The start.</param>
/// <param name="end">The end.</param>
/// <param name="linkWidth">The width.</param>
/// <param name="linkHeight">The height.</param>
/// <param name="numberOfLinks">The number of links.</param>
/// <param name="linkDensity">The link density.</param>
/// <returns></returns>
public static Path CreateChain(World world, Vector2 start, Vector2 end, float linkWidth, float linkHeight, int numberOfLinks, float linkDensity)
{
//Chain start / end
Path path = new Path();
path.Add(start);
path.Add(end);
//A single chainlink
PolygonShape shape = new PolygonShape(PolygonTools.CreateRectangle(linkWidth, linkHeight), linkDensity);
//Use PathManager to create all the chainlinks based on the chainlink created before.
List <Body> chainLinks = PathManager.EvenlyDistributeShapesAlongPath(world, path, shape, BodyType.Dynamic,
numberOfLinks);
//Attach all the chainlinks together with a revolute joint
PathManager.AttachBodiesWithRevoluteJoint(world, chainLinks, new Vector2(0, -linkHeight),
new Vector2(0, linkHeight),
false, false);
return(path);
}
public override void Initialize()
{
base.Initialize();
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
//Load texture that will represent the physics body
Texture2D polygonTexture = GameInstance.Content.Load <Texture2D>("Texture");
//Create an array to hold the data from the texture
uint[] data = new uint[polygonTexture.Width * polygonTexture.Height];
//Transfer the texture data to the array
polygonTexture.GetData(data);
//Find the vertices that makes up the outline of the shape in the texture
Vertices verts = PolygonTools.CreatePolygon(data, polygonTexture.Width);
//For now we need to scale the vertices (result is in pixels, we use meters)
Vector2 scale = new Vector2(0.07f, -0.07f);
verts.Scale(ref scale);
//We also need to move the polygon so that (0,0) is the center of the polygon.
Vector2 centroid = -verts.GetCentroid();
verts.Translate(ref centroid);
_sw.Start();
//Create a single body with multiple fixtures
Body compund = BodyFactory.CreateCompoundPolygon(World, Triangulate.ConvexPartition(verts, TriangulationAlgorithm.Earclip), 1);
compund.BodyType = BodyType.Dynamic;
compund.Position = new Vector2(0, 20);
_sw.Stop();
}
private void CreateWorld(World world)
{
world.Gravity = Vector2.Zero;
List <Vertices> borders = new List <Vertices>(4);
const float borderThickness = 0.1f;
const float width = 16f;
const float height = 9f;
//Top
borders.Add(PolygonTools.CreateRectangle(width, borderThickness, new Vector2(width, height), 0));
//Bottom
borders.Add(PolygonTools.CreateRectangle(width, borderThickness, new Vector2(width, -height), 0));
//Left
borders.Add(PolygonTools.CreateRectangle(borderThickness, height, new Vector2(0, 0), 0));
//Right
borders.Add(PolygonTools.CreateRectangle(borderThickness, height, new Vector2(width + width, 0), 0));
Body body = world.CreateCompoundPolygon(borders, 1, new Vector2(0, 0));
foreach (Fixture fixture in body.FixtureList)
{
fixture.Restitution = 1f;
fixture.Friction = 0;
}
Body circle = world.CreateBody();
circle.BodyType = BodyType.Dynamic;
Fixture cfixture = circle.CreateCircle(0.32f, 1);
cfixture.Restitution = 1f;
cfixture.Friction = 0;
circle.ApplyLinearImpulse(new Vector2(200, 50));
}
/// <summary>
/// Creates a chain.
/// </summary>
/// <param name="world">The world.</param>
/// <param name="start">The start.</param>
/// <param name="end">The end.</param>
/// <param name="linkWidth">The width.</param>
/// <param name="linkHeight">The height.</param>
/// <param name="fixStart">if set to <c>true</c> [fix start].</param>
/// <param name="fixEnd">if set to <c>true</c> [fix end].</param>
/// <param name="numberOfLinks">The number of links.</param>
/// <param name="linkDensity">The link density.</param>
/// <returns></returns>
public static Path CreateChain(World world, Vector2 start, Vector2 end, float linkWidth, float linkHeight,
bool fixStart, bool fixEnd, int numberOfLinks, float linkDensity)
{
//Chain start / end
Path path = new Path();
path.Add(start);
path.Add(end);
//A single chainlink
PolygonShape shape = new PolygonShape(PolygonTools.CreateRectangle(linkWidth, linkHeight), linkDensity);
//Use PathManager to create all the chainlinks based on the chainlink created before.
List <Body> chainLinks = PathManager.EvenlyDistributeShapesAlongPath(world, path, shape, BodyType.Dynamic,
numberOfLinks);
if (fixStart)
{
//Fix the first chainlink to the world
JointFactory.CreateFixedRevoluteJoint(world, chainLinks[0], new Vector2(0, -(linkHeight / 2)),
chainLinks[0].Position);
}
if (fixEnd)
{
//Fix the last chainlink to the world
JointFactory.CreateFixedRevoluteJoint(world, chainLinks[chainLinks.Count - 1],
new Vector2(0, (linkHeight / 2)),
chainLinks[chainLinks.Count - 1].Position);
}
//Attach all the chainlinks together with a revolute joint
PathManager.AttachBodiesWithRevoluteJoint(world, chainLinks, new Vector2(0, -linkHeight),
new Vector2(0, linkHeight),
false, false);
return(path);
}
public Pyramid(World world, ScreenManager screenManager, Vector2 position, int count, float density)
{
_batch = screenManager.SpriteBatch;
Vertices rect = PolygonTools.CreateRectangle(width / 2f, width / 2f);
PolygonShape shape = new PolygonShape(rect, density);
Vector2 rowStart = position;
rowStart.Y -= 0.5f + count * width * 1.1f;
Vector2 deltaRow = new Vector2(-(width + 0.2f) / 2f, width + 0.1f);
float spacing = width + 0.5f;
_boxes = new List <Body>();
for (int i = 0; i < count; ++i)
{
Vector2 pos = rowStart;
for (int j = 0; j < i + 1; ++j)
{
Body body = BodyFactory.CreateBody(world);
body.BodyType = BodyType.Dynamic;
body.Position = pos;
body.CreateFixture(shape);
_boxes.Add(body);
pos.X += spacing;
}
rowStart += deltaRow;
}
tex = screenManager.Content.Load <Texture2D>("Assets/Box");
//GFX
_box = new Sprite(tex);
}
public Agent(World world, ScreenManager screenManager, Vector2 position)
{
_batch = screenManager.SpriteBatch;
_collidesWith = Category.All;
_collisionCategories = Category.All;
_agentBody = world.CreateBody(position);
_agentBody.BodyType = BodyType.Dynamic;
//Center
_agentBody.CreateCircle(0.5f, 0.5f);
//Left arm
_agentBody.CreateRectangle(1.5f, 0.4f, 1f, new Vector2(-1f, 0f));
_agentBody.CreateCircle(0.5f, 0.5f, new Vector2(-2f, 0f));
//Right arm
_agentBody.CreateRectangle(1.5f, 0.4f, 1f, new Vector2(1f, 0f));
_agentBody.CreateCircle(0.5f, 0.5f, new Vector2(2f, 0f));
//Top arm
_agentBody.CreateRectangle(0.4f, 1.5f, 1f, new Vector2(0f, 1f));
_agentBody.CreateCircle(0.5f, 0.5f, new Vector2(0f, 2f));
//Bottom arm
_agentBody.CreateRectangle(0.4f, 1.5f, 1f, new Vector2(0f, -1f));
_agentBody.CreateCircle(0.5f, 0.5f, new Vector2(0f, -2f));
//Bottom armTEST
//_agentBody.CreateRectangle(0.4f, 1.5f, 1f, new Vector2(0f, -3f));
_agentBody.CreateCircle(0.5f, 0.5f, new Vector2(0f, -4f));
//GFX
_box = new Sprite(screenManager.Assets.TextureFromVertices(PolygonTools.CreateRectangle(2.5f / 2f, 0.4f / 2f), MaterialType.Blank, Color.White, 1f, 24f));
_knob = new Sprite(screenManager.Assets.CircleTexture(1.5f, MaterialType.Waves, Color.White, 1f, 24f));
_offset = (2f);
}
CirclePenetrationTest()
{
World.Gravity = Vector2.Zero;
List <Vertices> borders = new List <Vertices>(4);
const double borderWidth = 0.2f;
const double width = 40f;
const double height = 25f;
//Bottom
borders.Add(PolygonTools.CreateRectangle(width, borderWidth, new Vector2(0, height), 0));
//Left
borders.Add(PolygonTools.CreateRectangle(borderWidth, height, new Vector2(-width, 0), 0));
//Top
borders.Add(PolygonTools.CreateRectangle(width, borderWidth, new Vector2(0, -height), 0));
//Right
borders.Add(PolygonTools.CreateRectangle(borderWidth, height, new Vector2(width, 0), 0));
Body body = BodyFactory.CreateCompoundPolygon(World, borders, 1, new Vector2(0, 20));
foreach (Fixture fixture in body.FixtureList)
{
fixture.Restitution = 1f;
fixture.Friction = 0;
}
Body circle = BodyFactory.CreateCircle(World, 0.32f, 1);
circle.BodyType = BodyType.Dynamic;
circle.Restitution = 1f;
circle.Friction = 0;
circle.ApplyLinearImpulse(new Vector2(200, 50));
}
/// <summary>
/// Creates a chain.
/// </summary>
/// <param name="world">The world.</param>
/// <param name="start">The start.</param>
/// <param name="end">The end.</param>
/// <param name="linkWidth">The width.</param>
/// <param name="linkHeight">The height.</param>
/// <param name="numberOfLinks">The number of links.</param>
/// <param name="linkDensity">The link density.</param>
/// <param name="attachRopeJoint">Creates a rope joint between start and end. This enforces the length of the rope. Said in another way: it makes the rope less bouncy.</param>
/// <returns></returns>
public Path CreateChain(Vector2 start, Vector2 end, float linkWidth, float linkHeight, int numberOfLinks, float linkDensity, bool attachRopeJoint)
{
System.Diagnostics.Debug.Assert(numberOfLinks >= 2);
//Chain start / end
Path path = new Path();
path.Add(start);
path.Add(end);
//A single chainlink
PolygonShape shape = new PolygonShape(PolygonTools.CreateRectangle(linkWidth, linkHeight), linkDensity);
//Use PathManager to create all the chainlinks based on the chainlink created before.
List <Body> chainLinks = PathManager.EvenlyDistributeShapesAlongPath(this, path, shape, BodyType.Dynamic, numberOfLinks);
//TODO
//if (fixStart)
//{
// //Fix the first chainlink to the world
// JointFactory.CreateFixedRevoluteJoint(this, chainLinks[0], new Vector2(0, -(linkHeight / 2)),
// chainLinks[0].Position);
//}
//if (fixEnd)
//{
// //Fix the last chainlink to the world
// JointFactory.CreateFixedRevoluteJoint(this, chainLinks[chainLinks.Count - 1],
// new Vector2(0, (linkHeight / 2)),
// chainLinks[chainLinks.Count - 1].Position);
//}
//Attach all the chainlinks together with a revolute joint
PathManager.AttachBodiesWithRevoluteJoint(this, chainLinks, new Vector2(0, -linkHeight), new Vector2(0, linkHeight), false, false);
if (attachRopeJoint)
{
JointFactory.CreateRopeJoint(this, chainLinks[0], chainLinks[^ 1], Vector2.Zero, Vector2.Zero);
public static List <Fixture> CreateCapsule(World world, float height, float endRadius, float density)
{
//Create the middle rectangle
Vertices rectangle = PolygonTools.CreateRectangle(endRadius, height / 2);
List <Vertices> list = new List <Vertices>();
list.Add(rectangle);
List <Fixture> fixtures = CreateCompoundPolygon(world, list, density);
//Create the two circles
CircleShape topCircle = new CircleShape(endRadius, density);
topCircle.Position = new Vector2(0, height / 2);
fixtures.Add(fixtures[0].Body.CreateFixture(topCircle));
CircleShape bottomCircle = new CircleShape(endRadius, density);
bottomCircle.Position = new Vector2(0, -(height / 2));
fixtures.Add(fixtures[0].Body.CreateFixture(bottomCircle));
return(fixtures);
}
public static Body CreateRectangle(World world, float width, float height, float density, Vector2 position = new Vector2(), float rotation = 0, BodyType bodyType = BodyType.Static, object userData = null)
{
if (width <= 0)
{
throw new ArgumentOutOfRangeException(nameof(width), "Width must be more than 0 meters");
}
if (height <= 0)
{
throw new ArgumentOutOfRangeException(nameof(height), "Height must be more than 0 meters");
}
var newBody = CreateBody(world, position, rotation, bodyType);
newBody.UserData = userData;
var rectangleVertices = PolygonTools.CreateRectangle(width / 2, height / 2);
var rectangleShape = new PolygonShape(rectangleVertices, density);
newBody.CreateFixture(rectangleShape);
return(newBody);
}
private void GetIntersection()
{
Vector2[] subjectPoints = PolygonTools.FixTransformBias(toCheck.polygon.points, toCheck.polygon.transform);
Vector2[] cutPoints = PolygonTools.FixTransformBias(checker.polygon.points, checker.polygon.transform);
_polyIntersections = PolygonTools.Clip(subjectPoints, cutPoints, ClipType.Intersection);
for (int i = 0; i < _polyIntersections.Count; i++)
{
if (_currentIntersections.Count - 1 < i)
{
_currentIntersections.Add(Instantiate(intersectionTemplate));
}
_currentIntersections[i].polygon.points = _polyIntersections[i];
_currentIntersections[i].gameObject.SetActive(true);
}
for (int i = _polyIntersections.Count; i < _currentIntersections.Count; i++)
{
_currentIntersections[i].gameObject.SetActive(false);
}
}
private ContinuousTest()
{
List <Vertices> list = new List <Vertices>();
list.Add(PolygonTools.CreateLine(new Vector2(-10.0f, 0.0f), new Vector2(10.0f, 0.0f)));
list.Add(PolygonTools.CreateRectangle(0.2f, 1.0f, new Vector2(0.5f, 1.0f), 0));
_ground = BodyFactory.CreateCompoundPolygon(World, list, 0);
_box = BodyFactory.CreateRectangle(World, 4, 0.2f, 1);
_box.Position = new Vector2(0, 20);
_box.BodyType = BodyType.Dynamic;
//_box.Body.Rotation = 0.1f;
//_angularVelocity = 46.661274f;
_angularVelocity = Rand.RandomFloat(-50.0f, 50.0f);
_box.LinearVelocity = new Vector2(0.0f, -100.0f);
_box.AngularVelocity = _angularVelocity;
Distance.GJKCalls = 0; Distance.GJKIters = 0; Distance.GJKMaxIters = 0;
TimeOfImpact.TOICalls = 0; TimeOfImpact.TOIIters = 0;
TimeOfImpact.TOIRootIters = 0; TimeOfImpact.TOIMaxRootIters = 0;
}
/// <summary>
/// Method for creating complex bodies.
/// </summary>
/// <param name="world">The new object will appear in this world</param>
/// <param name="objectTexture">The new object will get this texture</param>
/// <param name="Scale">The new object get scaled by this factor</param>
/// <param name="Algorithm">The new object get triangulated by this triangulation algorithm</param>
/// <returns>Returns the complex body</returns>
public Body CreateComplexBody(World world, Texture2D objectTexture, float Scale, out Vector2 Origin,
TriangulationAlgorithm Algorithm = TriangulationAlgorithm.Bayazit)
{
Body body = null;
uint[] data = new uint[objectTexture.Width * objectTexture.Height];
objectTexture.GetData(data);
Vertices textureVertices = PolygonTools.CreatePolygon(data, objectTexture.Width, false);
Vector2 centroid = -textureVertices.GetCentroid();
textureVertices.Translate(ref centroid);
Origin = -centroid;
textureVertices = SimplifyTools.CollinearSimplify(textureVertices, 4f);
List <Vertices> list = Triangulate.ConvexPartition(textureVertices, Algorithm);
Vector2 vertScale = new Vector2(ConvertUnits.ToSimUnits(1)) * Scale;
foreach (Vertices vertices in list)
{
vertices.Scale(ref vertScale);
}
return(body = BodyFactory.CreateCompoundPolygon(world, list, 1f));
}
public Robot(Texture2D t, MainGame game, World w)
: base(w)
{
timeCounter = 0.0f;
texture = t;
parent = game;
Health = 100;
state = RobotState.IDLE;
direction = PlayerDirection.RIGHT;
//frameCounter = 0;
//frameRate = 1.0f / 24.0f;
srcRect = new Rectangle(0, 0, width, height);
destRect = new Rectangle((int)Position.X, (int)Position.Y, 50, 50);
myWorld = w;
lastFire = -1.0;
fireRate = 1000;
this.CreateFixture(new PolygonShape(PolygonTools.CreateRectangle(ConvertUnits.ToSimUnits(width / 2), ConvertUnits.ToSimUnits(height / 2)), 1.0f));
this.BodyType = BodyType.Dynamic;
this.Restitution = 0.3f;
this.Friction = 1.0f;
this.IgnoreGravity = true;
this.MarkedForRemoval = false;
}
private VerticalStackTest()
{
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
BodyFactory.CreateEdge(World, new Vector2(20.0f, 0.0f), new Vector2(20.0f, 20.0f));
float[] xs = { 0.0f, -10.0f, -5.0f, 5.0f, 10.0f };
for (int j = 0; j < ColumnCount; ++j)
{
PolygonShape shape = new PolygonShape(1);
shape.Vertices = PolygonTools.CreateRectangle(0.5f, 0.5f);
for (int i = 0; i < RowCount; ++i)
{
int n = j * RowCount + i;
Debug.Assert(n < RowCount * ColumnCount);
_indices[n] = n;
const float x = 0.0f;
//float x = Rand.RandomFloat-0.02f, 0.02f);
//float x = i % 2 == 0 ? -0.025f : 0.025f;
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(xs[j] + x, 0.752f + 1.54f * i);
body.UserData = _indices[n];
_bodies[n] = body;
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.3f;
}
}
_bullet = null;
}
public Agent(World world, PhysicsGameScreen screen, Vector2 position)
{
_collidesWith = Category.All;
_collisionCategories = Category.All;
_agentBody = BodyFactory.CreateBody(world, position);
_agentBody.BodyType = BodyType.Dynamic;
//Center
FixtureFactory.AttachCircle(0.5f, 0.5f, _agentBody);
//Left arm
FixtureFactory.AttachRectangle(1.5f, 0.4f, 1f, new Vector2(-1f, 0f), _agentBody);
FixtureFactory.AttachCircle(0.5f, 0.5f, _agentBody, new Vector2(-2f, 0f));
//Right arm
FixtureFactory.AttachRectangle(1.5f, 0.4f, 1f, new Vector2(1f, 0f), _agentBody);
FixtureFactory.AttachCircle(0.5f, 0.5f, _agentBody, new Vector2(2f, 0f));
//Top arm
FixtureFactory.AttachRectangle(0.4f, 1.5f, 1f, new Vector2(0f, 1f), _agentBody);
FixtureFactory.AttachCircle(0.5f, 0.5f, _agentBody, new Vector2(0f, 2f));
//Bottom arm
FixtureFactory.AttachRectangle(0.4f, 1.5f, 1f, new Vector2(0f, -1f), _agentBody);
FixtureFactory.AttachCircle(0.5f, 0.5f, _agentBody, new Vector2(0f, -2f));
_screen = screen;
//GFX
AssetCreator creator = _screen.ScreenManager.Assets;
_box = new Sprite(creator.TextureFromVertices(PolygonTools.CreateRectangle(1.75f, 0.2f),
MaterialType.Blank, Color.White, 1f));
_knob = new Sprite(creator.CircleTexture(0.5f, MaterialType.Blank, Color.Orange, 1f));
_offset = ConvertUnits.ToDisplayUnits(2f);
}
private void CreateChassis(World world, Vector2 pivot, AssetCreator assets)
{
{
PolygonShape shape = new PolygonShape(1f);
shape.Vertices = PolygonTools.CreateRectangle(5f / 2f, 2.0f / 2f);
_body = new Sprite(assets.TextureFromShape(shape, MaterialType.Blank, Color.Beige, 1f));
_chassis = world.CreateBody();
_chassis.BodyType = BodyType.Dynamic;
_chassis.Position = pivot + _position;
Fixture fixture = _chassis.CreateFixture(shape);
fixture.CollisionGroup = -1;
}
{
CircleShape shape = new CircleShape(1.6f, 1f);
_engine = new Sprite(assets.TextureFromShape(shape, MaterialType.Waves, Color.Beige * 0.8f, 1f));
_wheel = world.CreateBody();
_wheel.BodyType = BodyType.Dynamic;
_wheel.Position = pivot + _position;
Fixture fixture = _wheel.CreateFixture(shape);
fixture.CollisionGroup = -1;
}
{
_motorJoint = new RevoluteJoint(_wheel, _chassis, _wheel.GetLocalPoint(_chassis.Position), Vector2.Zero);
_motorJoint.CollideConnected = false;
_motorJoint.MotorSpeed = _motorSpeed;
_motorJoint.MaxMotorTorque = 400f;
_motorJoint.MotorEnabled = true;
world.Add(_motorJoint);
}
}
