public override void Keyboard()
{
if (KeyboardManager.IsPressed(Key.C)) {
if (m_fixture2 == null) {
CircleShape shape = new CircleShape();
shape.m_radius = 3.0f;
shape.m_p.Set(0.5f, -4.0f);
shape.Density = 10;
m_fixture2 = m_body.CreateFixture(shape);
m_body.SetAwake(true);
}
}
if (KeyboardManager.IsPressed(Key.D)){
if (m_fixture2 != null)
{
m_body.DestroyFixture(m_fixture2);
m_fixture2 = null;
m_body.SetAwake(true);
}
}
if (KeyboardManager.IsPressed(Key.S)){
if (m_fixture2 != null)
{
m_sensor = !m_sensor;
m_fixture2.IsSensor = m_sensor;
}
}
}
/// Compute the collision manifold between two circles.
public static void CollideCircles(out Manifold manifold,
CircleShape circleA, Transform xfA,
CircleShape circleB, Transform xfB) {
throw new NotImplementedException();
//manifold.pointCount = 0;
//Vec2 pA = Utilities.Mul(xfA, circleA.m_p);
//Vec2 pB = Utilities.Mul(xfB, circleB.m_p);
//Vec2 d = pB - pA;
//float distSqr = Utilities.Dot(d, d);
//float rA = circleA.m_radius, rB = circleB.m_radius;
//float radius = rA + rB;
//if (distSqr > radius * radius)
//{
// return;
//}
//manifold.type = Manifold::e_circles;
//manifold.localPoint = circleA.m_p;
//manifold.localNormal.SetZero();
//manifold.pointCount = 1;
//manifold.points[0].localPoint = circleB.m_p;
//manifold.points[0].id.key = 0;
}
public override void Keyboard()
{
if (KeyboardManager.IsPressed(Key.Comma)) {
if (m_bullet != null)
{
m_world.DestroyBody(m_bullet);
m_bullet = null;
}
{
CircleShape shape = new CircleShape();
shape.m_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._dynamicBody;
bd.bullet = true;
bd.Position.Set(-31.0f, 5.0f);
m_bullet = m_world.CreateBody(bd);
m_bullet.CreateFixture(fd);
m_bullet.SetLinearVelocity(new Vec2(400.0f, 0.0f));
}
}
}
public SphereStack()
{
{
BodyDef bd = new BodyDef();
Body 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);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.0f;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 4.0f + 3.0f * i);
m_bodies[i] = m_world.CreateBody(bd);
m_bodies[i].CreateFixture(shape);
m_bodies[i].SetLinearVelocity(new Vec2(0.0f, -50.0f));
}
}
}
public SensorTest()
{
{
BodyDef bd = new BodyDef();
Body 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);
}
#if ZERO
{
FixtureDef sd;
sd.SetAsBox(10.0f, 2.0f, new Vec2(0.0f, 20.0f), 0.0f);
sd.IsSensor = true;
m_sensor = ground.CreateFixture(sd);
}
#else
{
CircleShape shape = new CircleShape();
shape.m_radius = 5.0f;
shape.m_p.Set(0.0f, 10.0f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.IsSensor = true;
m_sensor = ground.CreateFixture(fd);
}
#endif
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.0f;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f + 3.0f * i, 20.0f);
bd.UserData = m_touching[i];
m_touching[i] = false;
m_bodies[i] = m_world.CreateBody(bd);
m_bodies[i].CreateFixture(shape);
}
}
}
public Confined()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape2 = new EdgeShape();
// Floor
shape2.Set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
shape2.Density = 0;
ground.CreateFixture(shape2);
// Left wall
shape2.Set(new Vec2(-10.0f, 0.0f), new Vec2(-10.0f, 20.0f));
ground.CreateFixture(shape2);
// Right wall
shape2.Set(new Vec2(10.0f, 0.0f), new Vec2(10.0f, 20.0f));
ground.CreateFixture(shape2);
// Roof
shape2.Set(new Vec2(-10.0f, 20.0f), new Vec2(10.0f, 20.0f));
ground.CreateFixture(shape2);
}
float radius = 0.5f;
CircleShape shape = new CircleShape();
shape.m_p.SetZero();
shape.m_radius = radius;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
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._dynamicBody;
bd.Position.Set(-10.0f + (2.1f * j + 1.0f + 0.01f * i) * radius, (2.0f * i + 1.0f) * radius);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
m_world.SetGravity(new Vec2(0.0f, 0.0f));
}
public OneSidedPlatform()
{
// Ground
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
// Platform
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 10.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(3.0f, 0.5f);
shape.Density = 0;
m_platform = body.CreateFixture(shape);
m_bottom = 10.0f - 0.5f;
m_top = 10.0f + 0.5f;
}
// Actor
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 12.0f);
Body body = m_world.CreateBody(bd);
m_radius = 0.5f;
CircleShape shape = new CircleShape();
shape.m_radius = m_radius;
shape.Density = 20;
m_character = body.CreateFixture(shape);
body.SetLinearVelocity(new Vec2(0.0f, -50.0f));
m_state = State.e_unknown;
}
}
void CreateCircle()
{
float radius = 2.0f;
CircleShape shape = new CircleShape();
shape.m_p.SetZero();
shape.m_radius = radius;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
fd.friction = 0.0f;
Vec2 p = new Vec2(RandomFloat(), 3.0f + RandomFloat());
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position = p;
//bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
public VaryingRestitution()
{
{
BodyDef bd = new BodyDef();
Body 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);
}
{
CircleShape shape = new CircleShape();
shape.m_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.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f + 3.0f * i, 20.0f);
Body body = m_world.CreateBody(bd);
fd.restitution = restitution[i];
body.CreateFixture(fd);
}
}
}
public AddPair()
{
m_world.SetGravity(new Vec2(0.0f,0.0f));
{
CircleShape shape = new CircleShape();
shape.m_p.SetZero();
shape.m_radius = 0.1f;
float minX = -6.0f;
float maxX = 0.0f;
float minY = 4.0f;
float maxY = 6.0f;
for (int i = 0; i < 400; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position = new Vec2(RandomFloat(minX,maxX),RandomFloat(minY,maxY));
Body body = m_world.CreateBody(bd);
shape.Density = 0.01f;
body.CreateFixture(shape);
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-40.0f,5.0f);
bd.bullet = true;
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
body.SetLinearVelocity(new Vec2(150.0f, 0.0f));
}
}
public CharacterCollision()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
// Collinear edges with no adjacency information.
// This shows the problematic case where a box shape can hit
// an internal vertex.
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Density = 0;
shape.Set(new Vec2(-8.0f, 1.0f), new Vec2(-6.0f, 1.0f));
ground.CreateFixture(shape);
shape.Set(new Vec2(-6.0f, 1.0f), new Vec2(-4.0f, 1.0f));
ground.CreateFixture(shape);
shape.Set(new Vec2(-4.0f, 1.0f), new Vec2(-2.0f, 1.0f));
ground.CreateFixture(shape);
}
// Chain shape
{
BodyDef bd = new BodyDef();
bd.angle = 0.25f * (float)Math.PI;
Body ground = m_world.CreateBody(bd);
Vec2[] vs = new Vec2[4];
vs[0].Set(5.0f, 7.0f);
vs[1].Set(6.0f, 8.0f);
vs[2].Set(7.0f, 8.0f);
vs[3].Set(8.0f, 7.0f);
ChainShape shape = new ChainShape();
shape.CreateChain(vs, 4);
shape.Density = 0;
ground.CreateFixture(shape);
}
// Square tiles. This shows that adjacency shapes may
// have non-smooth collision. There is no solution
// to this problem.
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.Density = 0;
shape.SetAsBox(1.0f, 1.0f, new Vec2(4.0f, 3.0f), 0.0f);
ground.CreateFixture(shape);
shape.SetAsBox(1.0f, 1.0f, new Vec2(6.0f, 3.0f), 0.0f);
ground.CreateFixture(shape);
shape.SetAsBox(1.0f, 1.0f, new Vec2(8.0f, 3.0f), 0.0f);
ground.CreateFixture(shape);
}
// Square made from an edge loop. Collision should be smooth.
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
Vec2[] vs = new Vec2[4];
vs[0].Set(-1.0f, 3.0f);
vs[1].Set(1.0f, 3.0f);
vs[2].Set(1.0f, 5.0f);
vs[3].Set(-1.0f, 5.0f);
ChainShape shape = new ChainShape();
shape.CreateLoop(vs, 4);
shape.Density = 0;
ground.CreateFixture(shape);
}
// Edge loop. Collision should be smooth.
{
BodyDef bd = new BodyDef();
bd.Position.Set(-10.0f, 4.0f);
Body ground = m_world.CreateBody(bd);
Vec2[] vs = new Vec2[10];
vs[0].Set(0.0f, 0.0f);
vs[1].Set(6.0f, 0.0f);
vs[2].Set(6.0f, 2.0f);
vs[3].Set(4.0f, 1.0f);
vs[4].Set(2.0f, 2.0f);
vs[5].Set(0.0f, 2.0f);
vs[6].Set(-2.0f, 2.0f);
vs[7].Set(-4.0f, 3.0f);
vs[8].Set(-6.0f, 2.0f);
vs[9].Set(-6.0f, 0.0f);
ChainShape shape = new ChainShape();
shape.CreateLoop(vs, 10);
shape.Density = 0;
ground.CreateFixture(shape);
}
// Square character 1
{
BodyDef bd = new BodyDef();
bd.Position.Set(-3.0f, 8.0f);
bd.type = BodyType._dynamicBody;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
body.CreateFixture(fd);
}
// Square character 2
{
BodyDef bd = new BodyDef();
bd.Position.Set(-5.0f, 5.0f);
bd.type = BodyType._dynamicBody;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
body.CreateFixture(fd);
}
// Hexagon character
{
BodyDef bd = new BodyDef();
bd.Position.Set(-5.0f, 8.0f);
bd.type = BodyType._dynamicBody;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
float angle = 0.0f;
float delta = (float)Math.PI / 3.0f;
Vec2[] vertices = new Vec2[6];
for (int i = 0; i < 6; ++i)
{
vertices[i].Set(0.5f * (float)Math.Cos(angle), 0.5f * (float)Math.Sin(angle));
angle += delta;
}
PolygonShape shape = new PolygonShape();
shape.Set(vertices, 6);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
body.CreateFixture(fd);
}
// Circle character
{
BodyDef bd = new BodyDef();
bd.Position.Set(3.0f, 5.0f);
bd.type = BodyType._dynamicBody;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
body.CreateFixture(fd);
}
// Circle character
{
BodyDef bd = new BodyDef();
bd.Position.Set(-7.0f, 6.0f);
bd.type = BodyType._dynamicBody;
bd.allowSleep = false;
m_character = m_world.CreateBody(bd);
CircleShape shape = new CircleShape();
shape.m_radius = 0.25f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
fd.friction = 1.0f;
m_character.CreateFixture(fd);
}
}
Bridge()
{
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;
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._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);
if (i == (e_count >> 1))
{
m_middle = body;
}
prevBody = body;
}
Vec2 anchor2 = new Vec2(-15.0f + 1.0f * e_count, 5.0f);
jd.Initialize(prevBody, ground, anchor2);
m_world.CreateJoint(jd);
}
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 < 3; ++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 EdgeTest()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
Vec2 v1 = new Vec2(-10.0f, 0.0f), v2 = new Vec2(-7.0f, -2.0f), v3 = new Vec2(-4.0f, 0.0f);
Vec2 v4 = new Vec2(0.0f, 0.0f), v5 = new Vec2(4.0f, 0.0f), v6 = new Vec2(7.0f, 2.0f), v7 = new Vec2(10.0f, 0.0f);
EdgeShape shape = new EdgeShape();
shape.Set(v1, v2);
shape.m_hasVertex3 = true;
shape.m_vertex3 = v3;
shape.Density = 0;
ground.CreateFixture(shape);
shape.Set(v2, v3);
shape.m_hasVertex0 = true;
shape.m_hasVertex3 = true;
shape.m_vertex0 = v1;
shape.m_vertex3 = v4;
ground.CreateFixture(shape);
shape.Set(v3, v4);
shape.m_hasVertex0 = true;
shape.m_hasVertex3 = true;
shape.m_vertex0 = v2;
shape.m_vertex3 = v5;
ground.CreateFixture(shape);
shape.Set(v4, v5);
shape.m_hasVertex0 = true;
shape.m_hasVertex3 = true;
shape.m_vertex0 = v3;
shape.m_vertex3 = v6;
ground.CreateFixture(shape);
shape.Set(v5, v6);
shape.m_hasVertex0 = true;
shape.m_hasVertex3 = true;
shape.m_vertex0 = v4;
shape.m_vertex3 = v7;
ground.CreateFixture(shape);
shape.Set(v6, v7);
shape.m_hasVertex0 = true;
shape.m_vertex0 = v5;
ground.CreateFixture(shape);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-0.5f, 0.6f);
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
body.CreateFixture(shape);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(1.0f, 0.6f);
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
body.CreateFixture(shape);
}
}
/// Compute the collision manifold between a polygon and a circle.
public static void CollidePolygonAndCircle(out Manifold manifold,
PolygonShape polygonA, Transform xfA,
CircleShape circleB, Transform xfB) {
manifold = new Manifold();
manifold.points.Clear();
// Compute circle position in the frame of the polygon.
Vec2 c = Utilities.Mul(xfB, circleB.m_p);
Vec2 cLocal = Utilities.MulT(xfA, c);
// Find the min separating edge.
int normalIndex = 0;
float separation = -Single.MaxValue;
float radius = polygonA.m_radius + circleB.m_radius;
int vertexCount = polygonA.m_count;
List<Vec2> vertices = new List<Vec2>(polygonA.m_vertices);
List<Vec2> normals = new List<Vec2>(polygonA.m_normals);
for (int i = 0; i < vertexCount; ++i)
{
float s = Utilities.Dot(normals[i], cLocal - vertices[i]);
if (s > radius)
{
// Early out.
return;
}
if (s > separation)
{
separation = s;
normalIndex = i;
}
}
// Vertices that subtend the incident face.
int vertIndex1 = normalIndex;
int vertIndex2 = vertIndex1 + 1 < vertexCount ? vertIndex1 + 1 : 0;
Vec2 v1 = vertices[vertIndex1];
Vec2 v2 = vertices[vertIndex2];
// If the center is inside the polygon ...
if (separation < Single.Epsilon)
{
manifold.points.Clear();
manifold.points.Add(new ManifoldPoint());
manifold.type = Manifold.ManifoldType.e_faceA;
manifold.localNormal = normals[normalIndex];
manifold.localPoint = 0.5f * (v1 + v2);
manifold.points[0].localPoint = circleB.m_p;
manifold.points[0].id.key = 0;
return;
}
// Compute barycentric coordinates
float u1 = Utilities.Dot(cLocal - v1, v2 - v1);
float u2 = Utilities.Dot(cLocal - v2, v1 - v2);
if (u1 <= 0.0f)
{
if (Utilities.DistanceSquared(cLocal, v1) > radius * radius)
{
return;
}
manifold.points.Clear();
manifold.points.Add(new ManifoldPoint());
manifold.type = Manifold.ManifoldType.e_faceA;
manifold.localNormal = cLocal - v1;
manifold.localNormal.Normalize();
manifold.localPoint = v1;
manifold.points[0].localPoint = circleB.m_p;
manifold.points[0].id.key = 0;
}
else if (u2 <= 0.0f)
{
if (Utilities.DistanceSquared(cLocal, v2) > radius * radius)
{
return;
}
manifold.points = new List<ManifoldPoint>();
manifold.points.Add(new ManifoldPoint());
manifold.type = Manifold.ManifoldType.e_faceA;
manifold.localNormal = cLocal - v2;
manifold.localNormal.Normalize();
manifold.localPoint = v2;
manifold.points[0].localPoint = circleB.m_p;
manifold.points[0].id.key = 0;
}
else
{
Vec2 faceCenter = 0.5f * (v1 + v2);
float separation2 = Utilities.Dot(cLocal - faceCenter, normals[vertIndex1]);
if (separation2 > radius)
{
return;
}
manifold.points = new List<ManifoldPoint>();
manifold.points.Add(new ManifoldPoint());
manifold.type = Manifold.ManifoldType.e_faceA;
manifold.localNormal = normals[vertIndex1];
manifold.localPoint = faceCenter;
manifold.points[0].localPoint = circleB.m_p;
manifold.points[0].id.key = 0;
}
}
/// Compute the collision manifold between an edge and a circle.
public static void CollideEdgeAndCircle(out Manifold manifold,
EdgeShape edgeA, Transform xfA,
CircleShape circleB, Transform xfB){
manifold = new Manifold();
// Compute circle in frame of edge
Vec2 Q = Utilities.MulT(xfA, Utilities.Mul(xfB, circleB.m_p));
Vec2 A = edgeA.m_vertex1, B = edgeA.m_vertex2;
Vec2 e = B - A;
// Barycentric coordinates
float u = Utilities.Dot(e, B - Q);
float v = Utilities.Dot(e, Q - A);
float radius = edgeA.m_radius + circleB.m_radius;
ContactFeature cf;
cf.indexB = 0;
cf.typeB = ContactFeature.FeatureType.e_vertex;
// Region A
if (v <= 0.0f)
{
Vec2 P = A;
Vec2 d = Q - P;
float dd = Utilities.Dot(d, d);
if (dd > radius * radius)
{
return;
}
// Is there an edge connected to A?
if (edgeA.m_hasVertex0)
{
Vec2 A1 = edgeA.m_vertex0;
Vec2 B1 = A;
Vec2 e1 = B1 - A1;
float u1 = Utilities.Dot(e1, B1 - Q);
// Is the circle in Region AB of the previous edge?
if (u1 > 0.0f)
{
return;
}
}
cf.indexA = 0;
cf.typeA = ContactFeature.FeatureType.e_vertex;
manifold.points.Clear();
manifold.points.Add(new ManifoldPoint());
manifold.type = Manifold.ManifoldType.e_circles;
manifold.localNormal.SetZero();
manifold.localPoint = P;
manifold.points[0].id.key = 0;
manifold.points[0].id.cf = cf;
manifold.points[0].localPoint = circleB.m_p;
return;
}
// Region B
if (u <= 0.0f)
{
Vec2 P = B;
Vec2 d = Q - P;
float dd = Utilities.Dot(d, d);
if (dd > radius * radius)
{
return;
}
// Is there an edge connected to B?
if (edgeA.m_hasVertex3)
{
Vec2 B2 = edgeA.m_vertex3;
Vec2 A2 = B;
Vec2 e2 = B2 - A2;
float v2 = Utilities.Dot(e2, Q - A2);
// Is the circle in Region AB of the next edge?
if (v2 > 0.0f)
{
return;
}
}
cf.indexA = 1;
cf.typeA = ContactFeature.FeatureType.e_vertex;
manifold.points.Clear();
manifold.points.Add(new ManifoldPoint());
manifold.type = Manifold.ManifoldType.e_circles;
manifold.localNormal.SetZero();
manifold.localPoint = P;
manifold.points[0].id.key = 0;
manifold.points[0].id.cf = cf;
manifold.points[0].localPoint = circleB.m_p;
return;
}
// Region AB
float den = Utilities.Dot(e, e);
Utilities.Assert(den > 0.0f);
Vec2 Pb = (1.0f / den) * (u * A + v * B);
Vec2 db = Q - Pb;
float ddb = Utilities.Dot(db, db);
if (ddb > radius * radius)
{
return;
}
Vec2 n = new Vec2(-e.Y, e.X);
if (Utilities.Dot(n, Q - A) < 0.0f)
{
n.Set(-n.X, -n.Y);
}
n.Normalize();
cf.indexA = 0;
cf.typeA = ContactFeature.FeatureType.e_face;
manifold.points.Clear();
manifold.points.Add(new ManifoldPoint());
manifold.type = Manifold.ManifoldType.e_faceA;
manifold.localNormal = n;
manifold.localPoint = A;
manifold.points[0].id.key = 0;
manifold.points[0].id.cf = cf;
manifold.points[0].localPoint = circleB.m_p;
}
public CollisionProcessing()
{
// Ground body
{
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.shape = shape;;
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(sd);
}
float xLo = -5.0f, xHi = 5.0f;
float yLo = 2.0f, yHi = 35.0f;
// Small triangle
Vec2[] vertices = new Vec2[3];
vertices[0].Set(-1.0f, 0.0f);
vertices[1].Set(1.0f, 0.0f);
vertices[2].Set(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._dynamicBody;
triangleBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi));
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.Set(vertices, 3);
triangleBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi));
Body body2 = m_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._dynamicBody;
boxBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi));
Body body3 = m_world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi));
Body body4 = m_world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle.m_radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.shape = circle;
circleShapeDef.Density = 1.0f;
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.type = BodyType._dynamicBody;
circleBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi));
Body body5 = m_world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle.m_radius *= 2.0f;
circleBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi));
Body body6 = m_world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
public TheoJansen()
{
m_offset.Set(0.0f, 8.0f);
m_motorSpeed = 2.0f;
m_motorOn = true;
Vec2 pivot = new Vec2(0.0f, 0.8f);
// Ground
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Density = 0;
shape.Set(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f));
ground.CreateFixture(shape);
shape.Set(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f));
ground.CreateFixture(shape);
shape.Set(new Vec2(50.0f, 0.0f), new Vec2(50.0f, 10.0f));
ground.CreateFixture(shape);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.25f;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-40.0f + 2.0f * i, 0.5f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
}
// 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._dynamicBody;
bd.Position = pivot + m_offset;
m_chassis = m_world.CreateBody(bd);
m_chassis.CreateFixture(sd);
}
{
CircleShape shape = new CircleShape();
shape.m_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._dynamicBody;
bd.Position = pivot + m_offset;
m_wheel = m_world.CreateBody(bd);
m_wheel.CreateFixture(sd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(m_wheel, m_chassis, pivot + m_offset);
jd.collideConnected = false;
jd.motorSpeed = m_motorSpeed;
jd.maxMotorTorque = 400.0f;
jd.enableMotor = m_motorOn;
m_motorJoint = (RevoluteJoint)m_world.CreateJoint(jd);
}
Vec2 wheelAnchor;
wheelAnchor = pivot + new Vec2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
m_wheel.SetTransform(m_wheel.GetPosition(), 120.0f * (float)Math.PI / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
m_wheel.SetTransform(m_wheel.GetPosition(), -120.0f * (float)Math.PI / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
public Dominos()
{
Body b1;
{
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
BodyDef bd = new BodyDef();
b1 = m_world.CreateBody(bd);
b1.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position.Set(-1.5f, 10.0f);
Body ground = m_world.CreateBody(bd);
shape.Density = 0;
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
fd.friction = 0.1f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-6.0f + 1.0f * i, 11.25f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(7.0f, 0.25f, new Vec2(0, 0), 0.3f);
shape.Density = 0;
BodyDef bd = new BodyDef();
bd.Position.Set(1.0f, 6.0f);
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape);
}
Body b2;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
shape.Density = 0;
BodyDef bd = new BodyDef();
bd.Position.Set(-7.0f, 4.0f);
b2 = m_world.CreateBody(bd);
b2.CreateFixture(shape);
}
Body b3;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
shape.Density = 10;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-0.9f, 1.0f);
bd.angle = -0.15f;
b3 = m_world.CreateBody(bd);
b3.CreateFixture(shape);
}
RevoluteJointDef jd = new RevoluteJointDef();
Vec2 anchor = new Vec2();
anchor.Set(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.collideConnected = true;
m_world.CreateJoint(jd);
Body b4;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f, 15.0f);
b4 = m_world.CreateBody(bd);
shape.Density = 10;
shape.Density = 10;
b4.CreateFixture(shape);
}
anchor.Set(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
m_world.CreateJoint(jd);
Body b5;
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(6.5f, 3.0f);
b5 = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 10.0f;
fd.friction = 0.1f;
shape.SetAsBox(1.0f, 0.1f, new Vec2(0.0f, -0.9f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vec2(-0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vec2(0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
}
anchor.Set(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
m_world.CreateJoint(jd);
Body b6;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(6.5f, 4.1f);
b6 = m_world.CreateBody(bd);
shape.Density = 30;
b6.CreateFixture(shape);
}
anchor.Set(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
m_world.CreateJoint(jd);
Body b7;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(7.4f, 1.0f);
b7 = m_world.CreateBody(bd);
shape.Density = 10;
b7.CreateFixture(shape);
}
DistanceJointDef djd = new DistanceJointDef();
djd.bodyA = b3;
djd.bodyB = b7;
djd.localAnchorA.Set(6.0f, 0.0f);
djd.localAnchorB.Set(0.0f, -1.0f);
Vec2 d = djd.bodyB.GetWorldPoint(djd.localAnchorB) - djd.bodyA.GetWorldPoint(djd.localAnchorA);
djd.length = d.Length();
m_world.CreateJoint(djd);
{
float radius = 0.2f;
CircleShape shape = new CircleShape();
shape.m_radius = radius;
for (int i = 0; i < 4; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(5.9f + 2.0f * radius * i, 2.4f);
Body body = m_world.CreateBody(bd);
shape.Density = 10;
body.CreateFixture(shape);
}
}
}
public CollisionFiltering()
{
// Ground body
{
EdgeShape shape = new EdgeShape();
shape.Set(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].Set(-1.0f, 0.0f);
vertices[1].Set(1.0f, 0.0f);
vertices[2].Set(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._dynamicBody;
triangleBodyDef.Position.Set(-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.Set(vertices, 3);
triangleShapeDef.Filter.GroupIndex = k_largeGroup;
triangleBodyDef.Position.Set(-5.0f, 6.0f);
triangleBodyDef.fixedRotation = true; // look at me!
Body body2 = m_world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-5.0f, 10.0f);
Body body = m_world.CreateBody(bd);
PolygonShape p = new PolygonShape();
p.SetAsBox(0.5f, 1.0f);
body.CreateFixture(p);
PrismaticJointDef jd = new PrismaticJointDef();
jd.bodyA = body2;
jd.bodyB = body;
jd.enableLimit = true;
jd.localAnchorA.Set(0.0f, 4.0f);
jd.localAnchorB.SetZero();
jd.localAxisA.Set(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.GroupIndex = k_smallGroup;
boxShapeDef.Filter.CategoryBits = k_boxCategory;
boxShapeDef.Filter.MaskBits = k_boxMask;
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.type = BodyType._dynamicBody;
boxBodyDef.Position.Set(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.GroupIndex = k_largeGroup;
boxBodyDef.Position.Set(0.0f, 6.0f);
Body body4 = m_world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle.m_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._dynamicBody;
circleBodyDef.Position.Set(5.0f, 2.0f);
Body body5 = m_world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle.m_radius *= 2.0f;
circleShapeDef.Filter.GroupIndex = k_largeGroup;
circleBodyDef.Position.Set(5.0f, 6.0f);
Body body6 = m_world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
public CompoundShapes()
{
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 0.0f);
Body body = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
shape.Density = 0;
body.CreateFixture(shape);
}
{
CircleShape circle1 = new CircleShape();
circle1.m_radius = 0.5f;
circle1.m_p.Set(-0.5f, 0.5f);
circle1.Density = 2;
CircleShape circle2 = new CircleShape();
circle2.m_radius = 0.5f;
circle2.m_p.Set(0.5f, 0.5f);
circle2.Density = 0;
for (int i = 0; i < 10; ++i)
{
float x = RandomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(x + 5.0f, 1.05f + 2.5f * i);
bd.angle = RandomFloat(-(float)Math.PI, (float)Math.PI);
Body body = m_world.CreateBody(bd);
body.CreateFixture(circle1);
body.CreateFixture(circle2);
}
}
{
PolygonShape polygon1 = new PolygonShape();
polygon1.SetAsBox(0.25f, 0.5f);
polygon1.Density = 2;
PolygonShape polygon2 = new PolygonShape();
polygon2.SetAsBox(0.25f, 0.5f, new Vec2(0.0f, -0.5f), 0.5f * (float)Math.PI);
polygon2.Density = 2;
for (int i = 0; i < 10; ++i)
{
float x = RandomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(x - 5.0f, 1.05f + 2.5f * i);
bd.angle = RandomFloat(-(float)Math.PI, (float)Math.PI);
Body body = m_world.CreateBody(bd);
body.CreateFixture(polygon1);
body.CreateFixture(polygon2);
}
}
{
Transform xf1 = new Transform();
xf1.q.Set(0.3524f * (float)Math.PI);
xf1.p = xf1.q.GetXAxis();
Vec2[] vertices = new Vec2[3];
PolygonShape triangle1 = new PolygonShape();
vertices[0] = Utilities.Mul(xf1, new Vec2(-1.0f, 0.0f));
vertices[1] = Utilities.Mul(xf1, new Vec2(1.0f, 0.0f));
vertices[2] = Utilities.Mul(xf1, new Vec2(0.0f, 0.5f));
triangle1.Set(vertices, 3);
Transform xf2 = new Transform();
xf2.q.Set(-0.3524f * (float)Math.PI);
xf2.p = -xf2.q.GetXAxis();
PolygonShape triangle2 = new PolygonShape();
vertices[0] = Utilities.Mul(xf2, new Vec2(-1.0f, 0.0f));
vertices[1] = Utilities.Mul(xf2, new Vec2(1.0f, 0.0f));
vertices[2] = Utilities.Mul(xf2, new Vec2(0.0f, 0.5f));
triangle2.Set(vertices, 3);
for (int i = 0; i < 10; ++i)
{
float x = RandomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(x, 2.05f + 2.5f * i);
bd.angle = 0.0f;
Body body = m_world.CreateBody(bd);
triangle1.Density = 2;
triangle2.Density = 2;
body.CreateFixture(triangle1);
body.CreateFixture(triangle2);
}
}
{
PolygonShape bottom = new PolygonShape();
bottom.SetAsBox( 1.5f, 0.15f );
PolygonShape left = new PolygonShape();
left.SetAsBox(0.15f, 2.7f, new Vec2(-1.45f, 2.35f), 0.2f);
PolygonShape right = new PolygonShape();
right.SetAsBox(0.15f, 2.7f, new Vec2(1.45f, 2.35f), -0.2f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set( 0.0f, 2.0f );
Body body = m_world.CreateBody(bd);
bottom.Density = 4;
left.Density = 4;
right.Density = 4;
body.CreateFixture(bottom);
body.CreateFixture(left);
body.CreateFixture(right);
}
}
public Car()
{
m_hz = 4.0f;
m_zeta = 0.7f;
m_speed = 50.0f;
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 0.0f;
fd.friction = 0.6f;
shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
ground.CreateFixture(fd);
float[] hs = new float[]{0.25f, 1.0f, 4.0f, 0.0f, 0.0f, -1.0f, -2.0f, -2.0f, -1.25f, 0.0f};
float x = 20.0f, y1 = 0.0f, dx = 5.0f;
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
shape.Set(new Vec2(x, y1), new Vec2(x + dx, y2));
ground.CreateFixture(fd);
y1 = y2;
x += dx;
}
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
shape.Set(new Vec2(x, y1), new Vec2(x + dx, y2));
ground.CreateFixture(fd);
y1 = y2;
x += dx;
}
shape.Set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 80.0f;
shape.Set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 40.0f;
shape.Set(new Vec2(x, 0.0f), new Vec2(x + 10.0f, 5.0f));
ground.CreateFixture(fd);
x += 20.0f;
shape.Set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 40.0f;
shape.Set(new Vec2(x, 0.0f), new Vec2(x, 20.0f));
ground.CreateFixture(fd);
}
// Teeter
{
BodyDef bd = new BodyDef();
bd.Position.Set(140.0f, 1.0f);
bd.type = BodyType._dynamicBody;
Body body = m_world.CreateBody(bd);
PolygonShape box = new PolygonShape();
box.SetAsBox(10.0f, 0.25f);
box.Density = 1;
body.CreateFixture(box);
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(ground, body, body.GetPosition());
jd.lowerAngle = -8.0f * (float)Math.PI / 180.0f;
jd.upperAngle = 8.0f * (float)Math.PI / 180.0f;
jd.enableLimit = true;
m_world.CreateJoint(jd);
body.ApplyAngularImpulse(100.0f, true);
}
// Bridge
{
int N = 20;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
fd.friction = 0.6f;
RevoluteJointDef jd = new RevoluteJointDef();
Body prevBody = ground;
for (int i = 0; i < N; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(161.0f + 2.0f * i, -0.125f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2(160.0f + 2.0f * i, -0.125f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
prevBody = body;
}
Vec2 anchor2 = new Vec2(160.0f + 2.0f * N, -0.125f);
jd.Initialize(prevBody, ground, anchor2);
m_world.CreateJoint(jd);
}
// Boxes
{
PolygonShape box = new PolygonShape();
box.SetAsBox(0.5f, 0.5f);
box.Density = 0.5f;
Body body = null;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(230.0f, 0.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
bd.Position.Set(230.0f, 1.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
bd.Position.Set(230.0f, 2.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
bd.Position.Set(230.0f, 3.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
bd.Position.Set(230.0f, 4.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
}
// Car
{
PolygonShape chassis = new PolygonShape();
Vec2[] vertices = new Vec2[8];
vertices[0].Set(-1.5f, -0.5f);
vertices[1].Set(1.5f, -0.5f);
vertices[2].Set(1.5f, 0.0f);
vertices[3].Set(0.0f, 0.9f);
vertices[4].Set(-1.15f, 0.9f);
vertices[5].Set(-1.5f, 0.2f);
chassis.Set(vertices, 6);
CircleShape circle = new CircleShape();
circle.m_radius = 0.4f;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 1.0f);
m_car = m_world.CreateBody(bd);
m_car.CreateFixture(chassis);
FixtureDef fd = new FixtureDef();
fd.shape = circle;
fd.Density = 1.0f;
fd.friction = 0.9f;
bd.Position.Set(-1.0f, 0.35f);
m_wheel1 = m_world.CreateBody(bd);
m_wheel1.CreateFixture(fd);
bd.Position.Set(1.0f, 0.4f);
m_wheel2 = m_world.CreateBody(bd);
m_wheel2.CreateFixture(fd);
WheelJointDef jd = new WheelJointDef();
Vec2 axis = new Vec2(0.0f, 1.0f);
jd.Initialize(m_car, m_wheel1, m_wheel1.GetPosition(), axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 20.0f;
jd.enableMotor = true;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring1 = (WheelJoint)m_world.CreateJoint(jd);
jd.Initialize(m_car, m_wheel2, m_wheel2.GetPosition(), axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 10.0f;
jd.enableMotor = false;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring2 = (WheelJoint)m_world.CreateJoint(jd);
}
}
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 Gears()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
CircleShape circle1 = new CircleShape();
circle1.m_radius = 1.0f;
circle1.Density = 5;
PolygonShape box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
box.Density = 5;
CircleShape circle2 = new CircleShape();
circle2.m_radius = 2.0f;
circle2.Density = 5;
BodyDef bd1 = new BodyDef();
bd1.type = BodyType._staticBody;
bd1.Position.Set(10.0f, 9.0f);
Body body1 = m_world.CreateBody(bd1);
body1.CreateFixture(circle1);
BodyDef bd2 = new BodyDef();
bd2.type = BodyType._dynamicBody;
bd2.Position.Set(10.0f, 8.0f);
Body body2 = m_world.CreateBody(bd2);
body2.CreateFixture(box);
BodyDef bd3 = new BodyDef();
bd3.type = BodyType._dynamicBody;
bd3.Position.Set(10.0f, 6.0f);
Body body3 = m_world.CreateBody(bd3);
body3.CreateFixture(circle2);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.Initialize(body2, body1, bd1.Position);
Joint joint1 = m_world.CreateJoint(jd1);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.Initialize(body2, body3, bd3.Position);
Joint joint2 = m_world.CreateJoint(jd2);
GearJointDef jd4 = new GearJointDef();
jd4.bodyA = body1;
jd4.bodyB = body3;
jd4.joint1 = joint1;
jd4.joint2 = joint2;
jd4.ratio = circle2.m_radius / circle1.m_radius;
m_world.CreateJoint(jd4);
}
{
CircleShape circle1 = new CircleShape();
circle1.m_radius = 1.0f;
circle1.Density = 5;
CircleShape circle2 = new CircleShape();
circle2.m_radius = 2.0f;
circle2.Density = 5;
PolygonShape box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
BodyDef bd1 = new BodyDef();
bd1.type = BodyType._dynamicBody;
bd1.Position.Set(-3.0f, 12.0f);
Body body1 = m_world.CreateBody(bd1);
body1.CreateFixture(circle1);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.bodyA = ground;
jd1.bodyB = body1;
jd1.localAnchorA = ground.GetLocalPoint(bd1.Position);
jd1.localAnchorB = body1.GetLocalPoint(bd1.Position);
jd1.referenceAngle = body1.GetAngle() - ground.GetAngle();
m_joint1 = (RevoluteJoint)m_world.CreateJoint(jd1);
BodyDef bd2 = new BodyDef();
bd2.type = BodyType._dynamicBody;
bd2.Position.Set(0.0f, 12.0f);
Body body2 = m_world.CreateBody(bd2);
body2.CreateFixture(circle2);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.Initialize(ground, body2, bd2.Position);
m_joint2 = (RevoluteJoint)m_world.CreateJoint(jd2);
BodyDef bd3 = new BodyDef();
bd3.type = BodyType._dynamicBody;
bd3.Position.Set(2.5f, 12.0f);
Body body3 = m_world.CreateBody(bd3);
box.Density = 5;
body3.CreateFixture(box);
PrismaticJointDef jd3 = new PrismaticJointDef();
jd3.Initialize(ground, body3, bd3.Position, new Vec2(0.0f, 1.0f));
jd3.lowerTranslation = -5.0f;
jd3.upperTranslation = 5.0f;
jd3.enableLimit = true;
m_joint3 = (PrismaticJoint)m_world.CreateJoint(jd3);
GearJointDef jd4 = new GearJointDef();
jd4.bodyA = body1;
jd4.bodyB = body2;
jd4.joint1 = m_joint1;
jd4.joint2 = m_joint2;
jd4.ratio = circle2.m_radius / circle1.m_radius;
m_joint4 = (GearJoint)m_world.CreateJoint(jd4);
GearJointDef jd5 = new GearJointDef();
jd5.bodyA = body2;
jd5.bodyB = body3;
jd5.joint1 = m_joint2;
jd5.joint2 = m_joint3;
jd5.ratio = -1.0f / circle2.m_radius;
m_joint5 = (GearJoint)m_world.CreateJoint(jd5);
}
}
public ContinuousTest()
{
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 0.0f);
Body body = m_world.CreateBody(bd);
EdgeShape edge = new EdgeShape();
edge.Set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
edge.Density = 0;
body.CreateFixture(edge);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.0f), 0.0f);
shape.Density = 0;
body.CreateFixture(shape);
}
#if true
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 20.0f);
//bd.angle = 0.1f;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.1f);
m_body = m_world.CreateBody(bd);
m_body.CreateFixture(shape);
m_angularVelocity = RandomFloat(-50.0f, 50.0f);
//m_angularVelocity = 46.661274f;
m_body.SetLinearVelocity(new Vec2(0.0f, -100.0f));
m_body.SetAngularVelocity(m_angularVelocity);
}
#else
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.position.Set(0.0f, 2.0f);
Body body = m_world.CreateBody(bd);
CircleShape shape = new CircleShape();
shape.m_p.SetZero();
shape.m_radius = 0.5f;
body.CreateFixture(shape);
bd.bullet = true;
bd.position.Set(0.0f, 10.0f);
body = m_world.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
body.SetLinearVelocity(new Vec2(0.0f, -100.0f));
}
#endif
Utilities._gjkCalls = 0; Utilities._gjkIters = 0; Utilities._gjkMaxIters = 0;
Utilities._toiCalls = 0; Utilities._toiIters = 0;
Utilities._toiRootIters = 0; Utilities._toiMaxRootIters = 0;
Utilities._toiTime = 0.0f; Utilities._toiMaxTime = 0.0f;
}
public Pinball()
{
// Ground body
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
Vec2[] vs = new Vec2[5];
vs[0].Set(0.0f, -2.0f);
vs[1].Set(8.0f, 6.0f);
vs[2].Set(8.0f, 20.0f);
vs[3].Set(-8.0f, 20.0f);
vs[4].Set(-8.0f, 6.0f);
ChainShape loop = new ChainShape();
loop.CreateLoop(vs, 5);
FixtureDef fd = new FixtureDef();
fd.shape = loop;
fd.Density = 0.0f;
ground.CreateFixture(fd);
}
// Flippers
{
Vec2 p1 = new Vec2(-2.0f, 0.0f);
Vec2 p2 = new Vec2(2.0f, 0.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position = p1;
Body leftFlipper = m_world.CreateBody(bd);
bd.Position = p2;
Body rightFlipper = m_world.CreateBody(bd);
PolygonShape box = new PolygonShape();
box.SetAsBox(1.75f, 0.1f);
FixtureDef fd = new FixtureDef();
fd.shape = box;
fd.Density = 1.0f;
leftFlipper.CreateFixture(fd);
rightFlipper.CreateFixture(fd);
RevoluteJointDef jd = new RevoluteJointDef();
jd.bodyA = ground;
jd.localAnchorB.SetZero();
jd.enableMotor = true;
jd.maxMotorTorque = 1000.0f;
jd.enableLimit = true;
jd.motorSpeed = 0.0f;
jd.localAnchorA = p1;
jd.bodyB = leftFlipper;
jd.lowerAngle = -30.0f * (float)Math.PI / 180.0f;
jd.upperAngle = 5.0f * (float)Math.PI / 180.0f;
m_leftJoint = (RevoluteJoint)m_world.CreateJoint(jd);
jd.motorSpeed = 0.0f;
jd.localAnchorA = p2;
jd.bodyB = rightFlipper;
jd.lowerAngle = -5.0f * (float)Math.PI / 180.0f;
jd.upperAngle = 30.0f * (float)Math.PI / 180.0f;
m_rightJoint = (RevoluteJoint)m_world.CreateJoint(jd);
}
// Circle character
{
BodyDef bd = new BodyDef();
bd.Position.Set(1.0f, 15.0f);
bd.type = BodyType._dynamicBody;
bd.bullet = true;
m_ball = m_world.CreateBody(bd);
CircleShape shape = new CircleShape();
shape.m_radius = 0.2f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
m_ball.CreateFixture(fd);
}
m_button = false;
}
public Revolute()
{
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));
FixtureDef fd = new FixtureDef();
fd.shape = shape;
//fd.Filter.CategoryBits = 2;
ground.CreateFixture(fd);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
shape.Density = 5;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
RevoluteJointDef rjd = new RevoluteJointDef();
bd.Position.Set(-10.0f, 20.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
float w = 100.0f;
body.SetAngularVelocity(w);
body.SetLinearVelocity(new Vec2(-8.0f * w, 0.0f));
rjd.Initialize(ground, body, new Vec2(-10.0f, 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);
}
{
CircleShape circle_shape = new CircleShape();
circle_shape.m_radius = 3.0f;
BodyDef circle_bd = new BodyDef();
circle_bd.type = BodyType._dynamicBody;
circle_bd.Position.Set(5.0f, 30.0f);
FixtureDef fd = new FixtureDef();
fd.Density = 5.0f;
fd.Filter.MaskBits = 1;
fd.shape = circle_shape;
m_ball = m_world.CreateBody(circle_bd);
m_ball.CreateFixture(fd);
PolygonShape polygon_shape = new PolygonShape();
polygon_shape.SetAsBox(10.0f, 0.2f, new Vec2(-10.0f, 0.0f), 0.0f);
polygon_shape.Density = 2;
BodyDef polygon_bd = new BodyDef();
polygon_bd.Position.Set(20.0f, 10.0f);
polygon_bd.type = BodyType._dynamicBody;
polygon_bd.bullet = true;
Body polygon_body = m_world.CreateBody(polygon_bd);
polygon_body.CreateFixture(polygon_shape);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(ground, polygon_body, new Vec2(20.0f, 10.0f));
rjd.lowerAngle = -0.25f * (float)Math.PI;
rjd.upperAngle = 0.0f * (float)Math.PI;
rjd.enableLimit = true;
m_world.CreateJoint(rjd);
}
// Tests mass computation of a small object far from the origin
{
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType._dynamicBody;
Body body = m_world.CreateBody(bodyDef);
PolygonShape polyShape = new PolygonShape();
Vec2[] verts = new Vec2[3];
verts[0].Set( 17.63f, 36.31f );
verts[1].Set( 17.52f, 36.69f );
verts[2].Set( 17.19f, 36.36f );
polyShape.Set(verts, 3);
FixtureDef polyFixtureDef = new FixtureDef();
polyFixtureDef.shape = polyShape;
polyFixtureDef.Density = 1;
body.CreateFixture(polyFixtureDef); //assertion hits inside here
}
}
public void LaunchBomb(Vec2 position, Vec2 velocity){
if (m_bomb != null)
{
m_world.DestroyBody(m_bomb);
m_bomb = null;
}
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position = position;
bd.bullet = true;
m_bomb = m_world.CreateBody(bd);
m_bomb.SetLinearVelocity(velocity);
CircleShape circle = new CircleShape();
circle.m_radius = 0.3f;
FixtureDef fd = new FixtureDef();
fd.shape = circle;
fd.Density = 20.0f;
fd.restitution = 0.0f;
Vec2 minV = position - new Vec2(0.3f,0.3f);
Vec2 maxV = position + new Vec2(0.3f, 0.3f);
AABB aabb;
aabb.lowerBound = minV;
aabb.upperBound = maxV;
m_bomb.CreateFixture(fd);
}
private void DrawShape(Fixture fixture, Transform xf, Color color)
{
switch (fixture.GetShapeType())
{
case ShapeType.Circle:
{
CircleShape circle = (CircleShape)fixture.GetShape();
Vec2 center = Utilities.Mul(xf, circle.m_p);
float radius = circle.m_radius;
Vec2 axis = Utilities.Mul(xf.q, new Vec2(1.0f, 0.0f));
m_debugDraw.DrawSolidCircle(center, radius, axis, color);
}
break;
case ShapeType.Edge:
{
EdgeShape edge = (EdgeShape)fixture.GetShape();
Vec2 v1 = Utilities.Mul(xf, edge.m_vertex1);
Vec2 v2 = Utilities.Mul(xf, edge.m_vertex2);
m_debugDraw.DrawSegment(v1, v2, color);
}
break;
case ShapeType.Chain:
{
ChainShape chain = (ChainShape)fixture.GetShape();
int count = chain.m_count;
List <Vec2> vertices = chain.m_vertices;
Vec2 v1 = Utilities.Mul(xf, vertices[0]);
for (int i = 1; i < count; ++i)
{
Vec2 v2 = Utilities.Mul(xf, vertices[i]);
m_debugDraw.DrawSegment(v1, v2, color);
m_debugDraw.DrawCircle(v1, 0.05f, color);
v1 = v2;
}
}
break;
case ShapeType.Polygon:
{
PolygonShape poly = (PolygonShape)fixture.GetShape();
int vertexCount = poly.m_count;
Utilities.Assert(vertexCount <= Settings._maxPolygonVertices);
Vec2[] vertices = new Vec2[Settings._maxPolygonVertices];
for (int i = 0; i < vertexCount; ++i)
{
vertices[i] = Utilities.Mul(xf, poly.m_vertices[i]);
}
m_debugDraw.DrawSolidPolygon(vertices, vertexCount, color);
}
break;
default:
break;
}
}
