public WeldJointDef()
{
JointType = JointType.Weld;
_localAnchorA = Vec2.Empty;
_localAnchorB = Vec2.Empty;
_referenceAngle = 0.0f;
}
public LineJoint()
{
Body ground = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 7.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
LineJointDef jd = new LineJointDef();
Vec2 axis = new Vec2(2.0f, 1.0f);
axis.Normalize();
jd.Initialize(ground, body, new Vec2(0.0f, 8.5f), axis);
jd.MotorSpeed = 0.0f;
jd.MaxMotorForce = 100.0f;
jd.EnableMotor = true;
jd.LowerTranslation = -4.0f;
jd.UpperTranslation = 4.0f;
jd.EnableLimit = true;
m_world.CreateJoint(jd);
}
}
public override void DrawSolidCircle(Vec2 center, float radius, Vec2 axis, ColorF color)
{
float k_segments = (int)(1024.0f * (radius / 50));
float k_increment = (float)(2.0f * Math.PI / k_segments);
float theta = 0.0f;
Gl.glEnable(Gl.GL_BLEND);
Gl.glBlendFunc(Gl.GL_SRC_ALPHA, Gl.GL_ONE_MINUS_SRC_ALPHA);
Gl.glColor4f(0.5f * color.R, 0.5f * color.G, 0.5f * color.B, 0.5f);
Gl.glBegin(Gl.GL_TRIANGLE_FAN);
for (int i = 0; i < k_segments; ++i)
{
Vec2 v = center + radius * new Vec2((float)Math.Cos(theta), (float)Math.Sin(theta));
Gl.glVertex2f(v.X, v.Y);
theta += k_increment;
}
Gl.glEnd();
Gl.glDisable(Gl.GL_BLEND);
theta = 0.0f;
Gl.glColor4f(color.R, color.G, color.B, 1.0f);
Gl.glBegin(Gl.GL_LINE_LOOP);
for (int i = 0; i < k_segments; ++i)
{
Vec2 v = center + radius * new Vec2((float)Math.Cos(theta), (float)Math.Sin(theta));
Gl.glVertex2f(v.X, v.Y);
theta += k_increment;
}
Gl.glEnd();
Vec2 p = center + radius * axis;
Gl.glBegin(Gl.GL_LINES);
Gl.glVertex2f(center.X, center.Y);
Gl.glVertex2f(p.X, p.Y);
Gl.glEnd();
}
void Report(Vec2 point, Vec2 normal)
{
_hit++;
Vec2 sub = _start - point;
float len = sub.Length();
if (_hit > 100 || _start == point || len == 0)
return;
starts.Add(_start);
ends.Add(point);
var reflect = Reflect(_start, point, normal);
_length -= len;
_start = point;
_normal = normal;
if (_length > 0)
{
_world.RayCast(_callback, _start, _start - (reflect * _length));
if (!_callback.m_hit || (_start == _callback.m_point))
{
starts.Add(_start);
ends.Add(_start - (reflect * _length));
}
Report(_callback.m_point, _callback.m_normal);
}
}
public FrictionJointDef()
{
JointType = JointType.Friction;
_localAnchorA = Vec2.Empty;
_localAnchorB = Vec2.Empty;
_maxForce = 0.0f;
_maxTorque = 0.0f;
}
public override void DrawSegment(Vec2 p1, Vec2 p2, ColorF color)
{
Gl.glColor3f(color.R, color.G, color.B);
Gl.glBegin(Gl.GL_LINES);
Gl.glVertex2f(p1.X, p1.Y);
Gl.glVertex2f(p2.X, p2.Y);
Gl.glEnd();
}
public override void MouseMove(Vec2 p)
{
if (_moving)
{
newPos = p;
}
base.MouseMove(p);
}
/// Initialize the bodies, anchors, and reference angle using a world
/// anchor point.
public void Initialize(Body body1, Body body2, Vec2 anchor)
{
BodyA = body1;
BodyB = body2;
_localAnchorA = BodyA.GetLocalPoint(anchor);
_localAnchorB = BodyB.GetLocalPoint(anchor);
_referenceAngle = BodyB.Angle - BodyA.Angle;
}
public void DrawPoint(Vec2 p, float size, ColorF color)
{
Gl.glPointSize(size);
Gl.glBegin(Gl.GL_POINTS);
Gl.glColor3f(color.R, color.G, color.B);
Gl.glVertex2f(p.X, p.Y);
Gl.glEnd();
Gl.glPointSize(1.0f);
}
public DistanceJointDef()
{
JointType = JointType.Distance;
_localAnchorA = Vec2.Empty;
_localAnchorB = Vec2.Empty;
_length = 1.0f;
_frequencyHz = 0.0f;
_dampingRatio = 0.0f;
}
/// Does this aabb contain the provided AABB.
public bool Contains(Vec2 pt)
{
bool result = true;
result = result && LowerBound.X <= pt.X;
result = result && LowerBound.Y <= pt.Y;
result = result && pt.X <= UpperBound.X;
result = result && pt.Y <= UpperBound.Y;
return result;
}
public override void DrawPolygon(Vec2[] vertices, int vertexCount, ColorF color)
{
Gl.glColor3f(color.R, color.G, color.B);
Gl.glBegin(Gl.GL_LINE_LOOP);
for (int i = 0; i < vertexCount; ++i)
{
Gl.glVertex2f(vertices[i].X, vertices[i].Y);
}
Gl.glEnd();
}
public void DrawArc(Vec2 pos, float radius, float startAngle, float endAngle)
{
Gl.glPushMatrix();
Gl.glTranslatef(pos.X, pos.Y, 0);
var xx = Glu.gluNewQuadric();
Glu.gluQuadricDrawStyle(xx, Glu.GLU_SILHOUETTE);
Glu.gluPartialDisk(xx, radius, radius, 24, 1, b2Math.Rad2Deg(startAngle), b2Math.Rad2Deg(endAngle - startAngle));
Glu.gluDeleteQuadric(xx);
Gl.glPopMatrix();
}
public PulleyJointDef()
{
JointType = JointType.Pulley;
_groundAnchorA = new Vec2(-1.0f, 1.0f);
_groundAnchorB = new Vec2(1.0f, 1.0f);
_localAnchorA = new Vec2(-1.0f, 0.0f);
_localAnchorB = new Vec2(1.0f, 0.0f);
_lengthA = 0.0f;
_maxLengthA = 0.0f;
_lengthB = 0.0f;
_maxLengthB = 0.0f;
_ratio = 1.0f;
CollideConnected = true;
}
public override void DrawCircle(Vec2 center, float radius, ColorF color)
{
float k_segments = (int)(1024.0f * (radius / 50));
float k_increment = (float)(2.0f * Math.PI / k_segments);
float theta = 0.0f;
Gl.glColor3f(color.R, color.G, color.B);
Gl.glBegin(Gl.GL_LINE_LOOP);
for (int i = 0; i < k_segments; ++i)
{
Vec2 v = center + radius * new Vec2((float)Math.Cos(theta), (float)Math.Sin(theta));
Gl.glVertex2f(v.X, v.Y);
theta += k_increment;
}
Gl.glEnd();
}
public Prismatic()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.5f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-10.0f, 10.0f);
bd.Angle = 0.5f * (float)Math.PI;
bd.AllowSleep = false;
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
PrismaticJointDef pjd = new PrismaticJointDef();
// Bouncy limit
Vec2 axis = new Vec2(2.0f, 1.0f);
axis.Normalize();
pjd.Initialize(ground, body, new Vec2(0.0f, 0.0f), axis);
// Non-bouncy limit
//pjd.Initialize(ground, body, new Vec2(-10.0f, 10.0f), new Vec2(1.0f, 0.0f));
pjd.MotorSpeed = 10.0f;
pjd.MaxMotorForce = 10000.0f;
pjd.EnableMotor = true;
pjd.LowerTranslation = 0.0f;
pjd.UpperTranslation = 20.0f;
pjd.EnableLimit = false;
m_joint = (PrismaticJoint)m_world.CreateJoint(pjd);
}
}
/// Main...
public ElasticBody()
{
Program.MainForm.ViewZoom = 0.25f;
/// Bottom static body
{
PolygonShape sd = new PolygonShape();
sd.SetAsBox(50.0f, 2.0f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(-1.0f, -7.5f);
m_ground = m_world.CreateBody(bd);
m_ground.CreateFixture(new FixtureDef(sd, 0.0f, 0.1f, 0.1f));
}
/// "Elastic body" 64 bodies - something like a lin. elastic compound
/// connected via dynamic forces (springs)
{
PolygonShape sd = new PolygonShape();
sd.SetAsBox(width, height);
FixtureDef sdf = new FixtureDef();
sdf.Density = 1.5f;
sdf.Friction = 0.01f;
sdf.Filter.GroupIndex = -1;
sdf.Shape = sd;
Vec2 startpoint = new Vec2(0, 0);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Bullet = false;
//bd.AllowSleep = false;
for (int i = 0; i < BodyCountY; ++i)
{
for (int j = 0; j < BodyCountX; ++j)
{
bd.Position = new Vec2(j*(width*2), 2.51f + (height*2) * i);
bd.Position += startpoint;
Body body = m_world.CreateBody(bd);
bodies[BodyCountX*i+j] = body;
body.CreateFixture(sdf);
}
}
}
}
public void Apply()
{
if (!string.IsNullOrEmpty(toolStripStatusLabel1.Text))
{
MessageBox.Show("You have errors in your polygon. Please fix these before applying:\n\n"+toolStripStatusLabel1.ToolTipText, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
Vec2[] vertices = new Vec2[PolyData.Vertices.Count];
for (int i = 0; i < PolyData.Vertices.Count; ++i)
{
vertices[i] = (new Vec2((PolyData.Vertices[i].X - (pictureBox1.Width / 2)) / pictureBox1.Width, (PolyData.Vertices[i].Y - (pictureBox1.Height / 2)) / pictureBox1.Height)) * (float)PolyData.Scale;
}
SelectedShape.Vertices = vertices;
if ((Program.MainForm.SelectedNode.Node.Parent as FixtureNode).OwnedBody != null &&
(Program.MainForm.SelectedNode.Node.Parent as FixtureNode).OwnedBody.AutoMassRecalculate)
(Program.MainForm.SelectedNode.Node.Parent as FixtureNode).OwnedBody.RecalculateMass();
}
public Body[] GenerateBodies(World world, Vec2 basePosition, FixtureDef def)
{
if (_vecs.Count <= 1)
throw new ArgumentOutOfRangeException("Vecs");
Body[] bodies = new Body[_vecs.Count - 1];
for (int i = 0; i < _vecs.Count - 1; ++i)
{
PolygonShape edge = new PolygonShape(_vecs[i], _vecs[i + 1]);
BodyDef bd = new BodyDef();
bd.Position = basePosition;
bodies[i] = world.CreateBody(bd);
bodies[i].CreateFixture(new FixtureDef(edge, 0, def.Restitution, def.Friction, false, def.UserData));
}
return bodies;
}
void CreateCircle()
{
float radius = 2.0f;
CircleShape shape = new CircleShape();
shape.Position = Vec2.Empty;
shape.Radius = radius;
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
fd.Friction = 0.0f;
Vec2 p = new Vec2(Rand.RandomFloat(), 3.0f + Rand.RandomFloat());
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = p;
//bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
public void Start(World world, float totalLength, Vec2 start, Vec2 normal)
{
Clear();
_hit = 0;
_totalLength = totalLength;
_length = totalLength;
_start = start;
_normal = normal;
_world = world;
// Send a beam out
_callback.m_hit = false;
_world.RayCast(_callback, start, start + (normal * _length));
if (_callback.m_hit)
Report(_callback.m_point, _callback.m_normal);
else
{
starts.Add(_start);
ends.Add(_start + (_normal * _length));
}
}
/// Initialize the bodies, anchors, and length using the world
/// anchors.
public void Initialize(Body bodyA, Body bodyB,
Vec2 anchorA, Vec2 anchorB)
{
BodyA = bodyA;
BodyB = bodyB;
_localAnchorA = bodyA.GetLocalPoint(anchorA);
_localAnchorB = bodyB.GetLocalPoint(anchorB);
Vec2 d = anchorB - anchorA;
_length = d.Length();
}
public override float ReportFixture(Fixture fixture, Vec2 point, Vec2 normal, float fraction)
{
Body body = fixture.Body;
object userData = body.UserData;
if (userData != null && userData is int)
{
int index = (int)userData;
if (index == 0)
{
// filter
return -1.0f;
}
}
//Assert(m_count < e_maxCount);
m_points.Add(point);
m_normals.Add(normal);
++m_count;
// (m_count == e_maxCount)
//{
// return 0.0f;
//}
return 1.0f;
}
public override float ReportFixture(Fixture fixture, Vec2 point, Vec2 normal, float fraction)
{
Body body = fixture.Body;
object userData = body.UserData;
if (userData != null && userData is int)
{
int index = (int)userData;
if (index == 0)
{
// filter
return -1.0f;
}
}
m_hit = true;
m_point = point;
m_normal = normal;
return fraction;
}
public RayCast()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.5f, 0.0f);
vertices[1] = new Vec2(0.5f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[0] = new PolygonShape();
m_polygons[0].Vertices = vertices;
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.1f, 0.0f);
vertices[1] = new Vec2(0.1f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[1] = new PolygonShape();
m_polygons[1].Vertices = vertices;
}
{
float w = 1.0f;
float b = w / (2.0f + (float)Math.Sqrt(2.0f));
float s = (float)Math.Sqrt(2.0f) * b;
Vec2[] vertices = new Vec2[8];
vertices[0] = new Vec2(0.5f * s, 0.0f);
vertices[1] = new Vec2(0.5f * w, b);
vertices[2] = new Vec2(0.5f * w, b + s);
vertices[3] = new Vec2(0.5f * s, w);
vertices[4] = new Vec2(-0.5f * s, w);
vertices[5] = new Vec2(-0.5f * w, b + s);
vertices[6] = new Vec2(-0.5f * w, b);
vertices[7] = new Vec2(-0.5f * s, 0.0f);
m_polygons[2] = new PolygonShape();
m_polygons[2].Vertices = vertices;
}
{
m_polygons[3] = new PolygonShape();
m_polygons[3].SetAsBox(0.5f, 0.5f);
}
{
m_circle = new CircleShape();
m_circle.Radius = 0.5f;
}
m_bodyIndex = 0;
m_angle = 0.0f;
m_mode = Mode.e_closest;
}
public override void Step()
{
bool advanceRay = TestSettings.pause == false || TestSettings.singleStep;
base.Step();
float L = 11.0f;
Vec2 point1 = new Vec2(0.0f, 10.0f);
Vec2 d = new Vec2(L * (float)Math.Cos(m_angle), L * (float)Math.Sin(m_angle));
Vec2 point2 = point1 + d;
if (m_mode == Mode.e_closest)
{
_callback = new RayCastClosestCallback();
m_world.RayCast(_callback, point1, point2);
}
else if (m_mode == Mode.e_any)
{
_callback = new RayCastAnyCallback();
m_world.RayCast(_callback, point1, point2);
}
else if (m_mode == Mode.e_multiple)
{
_callback = new RayCastMultipleCallback();
m_world.RayCast(_callback, point1, point2);
}
if (advanceRay)
{
m_angle += (float)(0.25 * Math.PI / 180.0);
}
}
public override void Draw()
{
base.Draw();
m_debugDraw.DrawString(5, m_textLine, "Press 1-5 to place stuff, m to change the mode");
m_textLine += 15;
m_debugDraw.DrawString(5, m_textLine, "Mode = "+m_mode.ToString());
m_textLine += 15;
if (_callback == null)
return;
float L = 11.0f;
Vec2 point1 = new Vec2(0.0f, 10.0f);
Vec2 d = new Vec2(L * (float)Math.Cos(m_angle), L * (float)Math.Sin(m_angle));
Vec2 point2 = point1 + d;
if (_callback is RayCastClosestCallback)
{
RayCastClosestCallback callback = (RayCastClosestCallback)_callback;
m_world.RayCast(_callback, point1, point2);
if (callback.m_hit)
{
m_debugDraw.DrawPoint(callback.m_point, 5.0f, new ColorF(0.4f, 0.9f, 0.4f));
m_debugDraw.DrawSegment(point1, callback.m_point, new ColorF(0.8f, 0.8f, 0.8f));
Vec2 head = callback.m_point + 0.5f * callback.m_normal;
m_debugDraw.DrawSegment(callback.m_point, head, new ColorF(0.9f, 0.9f, 0.4f));
}
else
{
m_debugDraw.DrawSegment(point1, point2, new ColorF(0.8f, 0.8f, 0.8f));
}
}
else if (_callback is RayCastAnyCallback)
{
RayCastAnyCallback callback = (RayCastAnyCallback)_callback;
_callback = new RayCastAnyCallback();
if (callback.m_hit)
{
m_debugDraw.DrawPoint(callback.m_point, 5.0f, new ColorF(0.4f, 0.9f, 0.4f));
m_debugDraw.DrawSegment(point1, callback.m_point, new ColorF(0.8f, 0.8f, 0.8f));
Vec2 head = callback.m_point + 0.5f * callback.m_normal;
m_debugDraw.DrawSegment(callback.m_point, head, new ColorF(0.9f, 0.9f, 0.4f));
}
else
{
m_debugDraw.DrawSegment(point1, point2, new ColorF(0.8f, 0.8f, 0.8f));
}
}
else if (_callback is RayCastMultipleCallback)
{
RayCastMultipleCallback callback = (RayCastMultipleCallback)_callback;
m_debugDraw.DrawSegment(point1, point2, new ColorF(0.8f, 0.8f, 0.8f));
for (int i = 0; i < callback.m_count; ++i)
{
Vec2 p = callback.m_points[i];
Vec2 n = callback.m_normals[i];
m_debugDraw.DrawPoint(p, 5.0f, new ColorF(0.4f, 0.9f, 0.4f));
m_debugDraw.DrawSegment(point1, p, new ColorF(0.8f, 0.8f, 0.8f));
Vec2 head = p + 0.5f * n;
m_debugDraw.DrawSegment(p, head, new ColorF(0.9f, 0.9f, 0.4f));
}
}
}
/// Initialize the bodies, anchors, axis, and reference angle using the world
/// anchor and world axis.
public void Initialize(Body bodyA, Body bodyB, Vec2 anchor, Vec2 axis)
{
BodyA = bodyA;
BodyB = bodyB;
_localAnchorA = bodyA.GetLocalPoint(anchor);
_localAnchorB = bodyB.GetLocalPoint(anchor);
_localAxisA = bodyA.GetLocalVector(axis);
}
public LineJointDef()
{
JointType = JointType.Line;
_localAnchorA = Vec2.Empty;
_localAnchorB = Vec2.Empty;
_localAxisA = new Vec2(1.0f, 0.0f);
_enableLimit = false;
_lowerTranslation = 0.0f;
_upperTranslation = 0.0f;
_enableMotor = false;
_maxMotorForce = 0.0f;
_motorSpeed = 0.0f;
}
/// Combine two AABBs into this one.
public void Combine(AABB aabb1, AABB aabb2)
{
LowerBound = Vec2.Min(aabb1.LowerBound, aabb2.LowerBound);
UpperBound = Vec2.Min(aabb1.UpperBound, aabb2.UpperBound);
}
