public void CalculateBounds()
{
if (connectedBody == null)
{
_bodyBounds = new Bounds();
return;
}
AABB aabb_full = new AABB();
bool combine = false;
for (int i = 0; i < connectedBody.FixtureList.Count; i++)
{
for (int j = 0; j < connectedBody.FixtureList[i].Shape.ChildCount; j++)
{
AABB aabb;
connectedBody.FixtureList[i].Shape.ComputeAABB(out aabb, ref connectedBody.Xf, j);
if (!combine)
{
combine = true;
aabb_full = aabb;
}
else
{
aabb_full.Combine(ref aabb);
}
}
}
_bodyBounds = Bounds.FromAABB(ref aabb_full, to2dMode, GetSize());
}
// Constructor
public Particle(FluidSystem fluidSystem, int index, Vector2 position)
{
//this.simulation = simulation;
this.index = index;
this.position = position;
active = false;
alive = false;
aabb = new AABB();
neighbors = new int[FluidSystem.MAX_NEIGHBORS];
distances = new float[FluidSystem.MAX_NEIGHBORS];
relativePosition = new Vector2[FluidSystem.MAX_NEIGHBORS];
oneminusq = new float[FluidSystem.MAX_NEIGHBORS];
entitiesToInfluence = new int[MAX_INFLUENCES];
fixturesToTest = new Fixture[MAX_FIXTURES_TO_TEST];
collisionVertices = new Vector2[Settings.MaxPolygonVertices];
collisionNormals = new Vector2[Settings.MaxPolygonVertices];
int i = fluidSystem.getFluidGridX(position.X);
int j = fluidSystem.getFluidGridY(position.Y);
if (!fluidSystem.fluidGrid.ContainsKey(i))
fluidSystem.fluidGrid[i] = new Dictionary<int, List<int>>();
if (!fluidSystem.fluidGrid[i].ContainsKey(j))
fluidSystem.fluidGrid[i][j] = new List<int>();
fluidSystem.fluidGrid[i][j].Add(index);
ci = i;
cj = j;
}
/// <summary>
/// Creates a new terrain.
/// </summary>
/// <param name="world">The World</param>
/// <param name="area">The area of the terrain.</param>
public Terrain(World world, AABB area)
{
World = world;
Width = area.Width;
Height = area.Height;
Center = area.Center;
}
public virtual Body GetBodyAtMouse(bool includeStatic)
{
// Make a small box
mousePVec.X = MouseXWorldPhys;
mousePVec.Y = MouseYWorldPhys;
FVector2 lowerBound = new FVector2(MouseXWorldPhys - 0.001f, MouseYWorldPhys - 0.001f);
FVector2 upperBound = new FVector2(MouseXWorldPhys + 0.001f, MouseYWorldPhys + 0.001f);
AABB aabb = new AABB(lowerBound, upperBound);
Body body = null;
// Query the world for overlapping shapes
System.Func<Fixture, bool> GetBodyCallback = delegate (Fixture fixture0)
{
Shape shape = fixture0.Shape;
if(fixture0.Body.BodyType != BodyType.Static || includeStatic)
{
FarseerPhysics.Common.Transform transform0;
fixture0.Body.GetTransform(out transform0);
bool inside = shape.TestPoint(ref transform0, ref mousePVec);
if(inside)
{
body = fixture0.Body;
return false;
}
}
return true;
};
FSWorldComponent.PhysicsWorld.QueryAABB(GetBodyCallback, ref aabb);
return body;
}
private BuoyancyTest()
{
World.Gravity = new Vector2(0, -9.82f);
BodyFactory.CreateEdge(World, new Vector2(-40, 0), new Vector2(40, 0));
float offset = 5;
for (int i = 0; i < 3; i++)
{
Body rectangle = BodyFactory.CreateRectangle(World, 2, 2, 1, new Vector2(-30 + offset, 20));
rectangle.Rotation = Rand.RandomFloat(0, 3.14f);
rectangle.BodyType = BodyType.Dynamic;
offset += 7;
}
for (int i = 0; i < 3; i++)
{
Body rectangle = BodyFactory.CreateCircle(World, 1, 1, new Vector2(-30 + offset, 20));
rectangle.Rotation = Rand.RandomFloat(0, 3.14f);
rectangle.BodyType = BodyType.Dynamic;
offset += 7;
}
AABB container = new AABB(new Vector2(0, 10), 60, 10);
BuoyancyController buoyancy = new BuoyancyController(container, 2, 2, 1, World.Gravity);
World.AddController(buoyancy);
}
/// <summary>
/// Creates a new quad tree broadphase with the specified span.
/// </summary>
/// <param name="span">the maximum span of the tree (world size)</param>
public QuadTreeBroadPhase(AABB span)
{
QuadTree = new QuadTree<FixtureProxy>(span, 5, 10);
_idRegister = new Dictionary<int, Element<FixtureProxy>>();
_moveBuffer = new List<Element<FixtureProxy>>();
_pairBuffer = new List<Pair>();
}
public override void Update()
{
base.Update();
// udpate selected body
if (SelectedBody != null)
{
if (SelectedBody.IsDisposed || !SelectedBody.Enabled)
SelectedBody = null;
}
// update highlighted body
if(!UI.Mouse.ScreenPosition.IsStriclyInside(Render.Viewport.Area))
return;
var mousePos = UI.Mouse.WorldPosition;
var aabb = new AABB(mousePos, .001f, .001f);
HighlightedBody = null;
Physic.World.QueryAABB(OnMouseOverFixture, ref aabb);
if (HighlightedBody != null)
{
Focus();
}
else
{
Unfocus();
}
}
public void GetFatAABB(int proxyID, out AABB aabb)
{
if (_idRegister.ContainsKey(proxyID))
aabb = _idRegister[proxyID].Span;
else
throw new KeyNotFoundException("proxyID not found in register");
}
public void attemptRopeGrab(string levelUid, int characterId, CharacterMovementComponent characterMovementComponent, PhysicsComponent physicsComponent, RopeGrabComponent existingRopeGrabComponent)
{
float margin = 0.5f;
AABB region = new AABB();
RopeNode ropeNode = null;
int nodeCount = 0;
region.LowerBound = physicsComponent.body.Position - new Vector2(margin, margin);
region.UpperBound = physicsComponent.body.Position + new Vector2(margin, margin);
if (physicsComponent == null)
return;
// Query the world for a body, and check to see if it's a rope
physicsComponent.body.World.QueryAABB((fixture) =>
{
int ropeEntityId = (int)fixture.Body.UserData;
RopeComponent ropeComponent = (RopeComponent)_entityManager.getComponent(levelUid, ropeEntityId, ComponentType.Rope);
RopeGrabComponent ropeGrabComponent = null;
if (ropeComponent != null && !ropeComponent.doubleAnchor)
{
RopeNode current = ropeComponent.ropeNodeHead;
characterMovementComponent.allowRopeGrab = false;
while (current != null)
{
if (current.body == fixture.Body)
{
ropeNode = current;
break;
}
nodeCount++;
current = current.next;
}
if (existingRopeGrabComponent != null)
{
RopeComponent existingRopeComponent = (RopeComponent)_entityManager.getComponent(levelUid, existingRopeGrabComponent.ropeEntityId, ComponentType.Rope);
if (existingRopeComponent.destroyAfterRelease)
existingRopeComponent.timeToLive = 100;
_ropeSystem.releaseRope(existingRopeGrabComponent, physicsComponent.body);
_entityManager.removeComponent(levelUid, characterId, existingRopeGrabComponent);
}
ropeGrabComponent = new RopeGrabComponent(ropeEntityId, ropeNode, (float)nodeCount, ropeComponent.reverseClimbDirection);
_ropeSystem.grabRope(ropeGrabComponent, physicsComponent.body);
_entityManager.addComponent(levelUid, characterId, ropeGrabComponent);
return false;
}
return true;
},
ref region);
}
public Midgard(AABB boundBox, Vector2 gravity, int tickRate)
{
_tickRate = tickRate;
_invTickRate = 1f / (float)_tickRate;
FarseerPhysics.Settings.ContinuousPhysics = false;
_world = new World(gravity);
}
/// <summary>
///
/// </summary>
/// <param name="game"></param>
/// <param name="world"></param>
/// <param name="position">The top left corner</param>
/// <param name="width">The width of the container</param>
/// <param name="height">The height of a container</param>
public Water(Game game, SpriteBatch spriteBatch, World world, Vector2 position, float width, float height)
{
sprite = new LoopSpriteAnimator(game, spriteBatch, game.Content.Load<Texture2D>("Images/Sprites/gb"), 200, 6, 1, 6);
position = new Vector2(position.X + width/2,position.Y + height/2);
texture = new TexturedGameEntity(game, position,0,"Images/water",0.3f);
var container = new AABB(ConvertUnits.ToSimUnits(position),ConvertUnits.ToSimUnits(width),ConvertUnits.ToSimUnits(height));
var buoyancy = new BuoyancyController(container, 1.1f, 2, 1, world.Gravity);
world.AddController(buoyancy);
}
/// <summary>
/// Initializes a new instance of the <see cref="BuoyancyController"/> class.
/// </summary>
/// <param name="container">Only bodies inside this AABB will be influenced by the controller</param>
/// <param name="density">Density of the fluid</param>
/// <param name="linearDragCoefficient">Linear drag coefficient of the fluid</param>
/// <param name="rotationalDragCoefficient">Rotational drag coefficient of the fluid</param>
/// <param name="gravity">The direction gravity acts. Buoyancy force will act in opposite direction of gravity.</param>
public BuoyancyController(AABB container, float density, float linearDragCoefficient, float rotationalDragCoefficient, Vector2 gravity)
: base(ControllerType.BuoyancyController)
{
Container = container;
_normal = new Vector2(0, 1);
Density = density;
LinearDragCoefficient = linearDragCoefficient;
AngularDragCoefficient = rotationalDragCoefficient;
_gravity = gravity;
}
public void Emit()
{
var p = UI.Mouse.WorldPosition;
var aabb = new AABB(p, 0.01f, 0.01f);
var bodies = Physic.World.QueryAABB(ref aabb);
if(bodies.Any())
return;
_emitter.StartEmitting();
}
public void DrawAABB(ref AABB aabb, Color color)
{
Vector2[] verts = new Vector2[4];
verts[0] = new Vector2(aabb.LowerBound.X, aabb.LowerBound.Y);
verts[1] = new Vector2(aabb.UpperBound.X, aabb.LowerBound.Y);
verts[2] = new Vector2(aabb.UpperBound.X, aabb.UpperBound.Y);
verts[3] = new Vector2(aabb.LowerBound.X, aabb.UpperBound.Y);
DrawPolygon(verts, 4, color);
}
public void TestThinningAndFattening()
{
var aabb = new AABB(new Vector2(-10, 5), new Vector2(0, 35));
Assert.AreEqual(aabb, aabb.Thinned.Fattened);
Assert.AreEqual(aabb, aabb.Fattened.Thinned);
AssertFattened(new Vector2(0, 0), new Vector2(0, 0), new Vector2(0, 0), new Vector2(0, 0));
AssertThinned(new Vector2(0, 0), new Vector2(0, 0), new Vector2(0, 0), new Vector2(0, 0));
AssertFattened(new Vector2(0, 0), new Vector2(40, 40), new Vector2(10, 10), new Vector2(30, 30));
AssertThinned(new Vector2(-40, -40), new Vector2(-20, -20), new Vector2(-50, -50), new Vector2(-10, -10));
}
public IEnumerable<Entity> EntitiesInRegion(FloatRect rect)
{
var min = new Vector2(rect.Left, rect.Top) / Program.PixelsPerMeter;
var aabb = new AABB(min, min + (new Vector2(rect.Width, rect.Height) / Program.PixelsPerMeter));
var result = new List<Entity>(256);
World.QueryAABB(f =>
{
result.Add((Entity)f.Body.UserData);
return true;
}, ref aabb);
return result.Distinct().OrderBy(e => e.Depth + e.DepthBias);
}
private DestructibleTerrainTest()
{
World = new World(new Vector2(0, -10));
_terrainArea = new AABB(new Vector2(0, 0), 100, 100);
_terrain = new Terrain(World, _terrainArea)
{
PointsPerUnit = 10,
CellSize = 50,
SubCellSize = 5,
Decomposer = TriangulationAlgorithm.Earclip,
Iterations = 2,
};
_terrain.Initialize();
}
public static void GetEnclosingAABB(this Body body, out AABB aabb_enclosing)
{
AABB aabb_fixture;
Microsoft.Xna.Framework.Vector2 lo = new Microsoft.Xna.Framework.Vector2(float.PositiveInfinity);
Microsoft.Xna.Framework.Vector2 hi = new Microsoft.Xna.Framework.Vector2(float.NegativeInfinity);
for (int i = 0; i < body.FixtureList.Count; i++) {
if(body.FixtureList[i].CollisionCategories == Category.None)
continue;
body.FixtureList[i].GetAABB (out aabb_fixture, 0); // Should just be first proxy (0)
lo.X = Math.Min (lo.X, aabb_fixture.LowerBound.X);
lo.Y = Math.Min (lo.Y, aabb_fixture.LowerBound.Y);
hi.X = Math.Max (hi.X, aabb_fixture.UpperBound.X);
hi.Y = Math.Max (hi.Y, aabb_fixture.UpperBound.Y);
}
aabb_enclosing = new AABB(lo, hi);
}
//----------------------------------------------------------------
// Constructor
//----------------------------------------------------------------
//
// TODO: add Vector2 target_position as an argument??
protected GameWorld( float width, float height, Vector2 gravity )
{
// Create the world's axis-aligned bounding box
m_aabb = new AABB();
m_aabb.LowerBound = new Vector2( -GameScreen.GAME_WIDTH,
-GameScreen.GAME_HEIGHT ) + new Vector2( -MARGIN - width,
-MARGIN - height );
m_aabb.UpperBound = new Vector2( GameScreen.GAME_WIDTH,
GameScreen.GAME_HEIGHT ) + new Vector2( width + MARGIN,
height + MARGIN );
m_world = new World( gravity, m_aabb );
GameWorld.the_world = m_world;
m_succeeded = m_failed = false;
m_enemy_count = 0;
m_enemy_slain = 0;
m_collision_manager = new CollisionManager();
m_background = GameScreen.m_background;
}
public override void Update(GameSettings settings, GameTime gameTime)
{
Vector2 min = -new Vector2(10);
Vector2 max = new Vector2(10);
AABB affected = new AABB(ref min, ref max);
Fixture fix = null;
World.QueryAABB(fixture =>
{
fix = fixture;
return true;
}, ref affected);
//DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
//if (fix != null)
// DebugView.DrawPoint(fix.Body.Position, 1, Color.Red);
//DebugView.DrawAABB(ref affected, Color.AliceBlue);
//DebugView.EndCustomDraw();
base.Update(settings, gameTime);
}
public static Rectangle GetAABB(EasyGameComponent component)
{
AABB overallAABB = new AABB();
component.Body.FixtureList.ForEach(delegate(Fixture fixture)
{
for (int i = 0; i < fixture.Shape.ChildCount; i++)
{
AABB currentAABB;
Transform transform;
fixture.Body.GetTransform(out transform);
fixture.Shape.ComputeAABB(out currentAABB, ref transform, i);
overallAABB.Combine(ref currentAABB);
}
});
int left = (int)overallAABB.UpperBound.X;
int right = (int)overallAABB.LowerBound.X;
int top = (int)overallAABB.UpperBound.Y;
int bottom = (int)overallAABB.LowerBound.Y;
Rectangle rectangle = new Rectangle(left, top, right - left, bottom - top);
return rectangle;
}
public void MoveProxy(int proxyId, ref AABB aabb, Vector2 displacement)
{
AABB fatAABB;
GetFatAABB(proxyId, out fatAABB);
//exit if movement is within fat aabb
if (fatAABB.Contains(ref aabb))
return;
// Extend AABB.
AABB b = aabb;
Vector2 r = new Vector2(Settings.AABBExtension, Settings.AABBExtension);
b.LowerBound = b.LowerBound - r;
b.UpperBound = b.UpperBound + r;
// Predict AABB displacement.
Vector2 d = Settings.AABBMultiplier * displacement;
if (d.X < 0.0f)
b.LowerBound.X += d.X;
else
b.UpperBound.X += d.X;
if (d.Y < 0.0f)
b.LowerBound.Y += d.Y;
else
b.UpperBound.Y += d.Y;
Element<FixtureProxy> qtnode = _idRegister[proxyId];
qtnode.Value.AABB = b; //not neccesary for QTree, but might be accessed externally
qtnode.Span = b;
ReinsertNode(qtnode);
BufferMove(qtnode);
}
public override void HandleInput(InputHelper input, GameTime gameTime)
{
if (input.IsNewMouseButtonPress(MouseButtons.RightButton) ||
input.IsNewButtonPress(Buttons.B))
{
Vector2 cursorPos = Camera.ConvertScreenToWorld(input.Cursor);
Vector2 min = cursorPos - new Vector2(10, 10);
Vector2 max = cursorPos + new Vector2(10, 10);
AABB aabb = new AABB(ref min, ref max);
World.QueryAABB(fixture =>
{
Vector2 fv = fixture.Body.Position - cursorPos;
fv.Normalize();
fv *= 40;
fixture.Body.ApplyLinearImpulse(ref fv);
return true;
}, ref aabb);
}
base.HandleInput(input, gameTime);
}
/// <summary>
/// Get all intersections between a line segment and an AABB.
/// </summary>
/// <param name="point1">The first point of the line segment to test</param>
/// <param name="point2">The second point of the line segment to test.</param>
/// <param name="aabb">The AABB that is used for testing intersection.</param>
public static Vertices LineSegmentAABBIntersect(ref Vector2 point1, ref Vector2 point2, AABB aabb)
{
return LineSegmentVerticesIntersect(ref point1, ref point2, aabb.Vertices);
}
/// <summary>
/// Query the world for all fixtures that potentially overlap the
/// provided AABB.
/// </summary>
/// <param name="callback">A user implemented callback class.</param>
/// <param name="aabb">The aabb query box.</param>
public void QueryAABB(Func<Fixture, bool> callback, ref AABB aabb)
{
_queryAABBCallback = callback;
ContactManager.BroadPhase.Query(_queryAABBCallbackWrapper, ref aabb);
_queryAABBCallback = null;
}
public static bool TestOverlap(ref AABB a, ref AABB b)
{
Vector2 d2 = a.LowerBound - b.UpperBound;
if (d2.X > 0.0f || d2.Y > 0.0f)
return false;
Vector2 d1 = b.LowerBound - a.UpperBound;
if (d1.X > 0.0f || d1.Y > 0.0f)
return false;
return true;
}
public static bool TestOverlap(AABB a, AABB b)
{
return TestOverlap(ref a, ref b);
}
/// <summary>
/// Does this aabb contain the provided AABB.
/// </summary>
/// <param name="aabb">The aabb.</param>
/// <returns>
/// <c>true</c> if it contains the specified aabb; otherwise, <c>false</c>.
/// </returns>
public bool Contains(ref AABB aabb)
{
bool result = true;
result = result && LowerBound.X <= aabb.LowerBound.X;
result = result && LowerBound.Y <= aabb.LowerBound.Y;
result = result && aabb.UpperBound.X <= UpperBound.X;
result = result && aabb.UpperBound.Y <= UpperBound.Y;
return result;
}
/// <summary>
/// Combine two AABBs into this one.
/// </summary>
/// <param name="aabb1">The aabb1.</param>
/// <param name="aabb2">The aabb2.</param>
public void Combine(ref AABB aabb1, ref AABB aabb2)
{
LowerBound.X = aabb1.LowerBound.X < aabb2.LowerBound.X ? aabb1.LowerBound.X : aabb2.LowerBound.X; // = Vector2.Min(aabb1.LowerBound, aabb2.LowerBound);
LowerBound.Y = aabb1.LowerBound.Y < aabb2.LowerBound.Y ? aabb1.LowerBound.Y : aabb2.LowerBound.Y;
UpperBound.X = aabb1.UpperBound.X > aabb2.UpperBound.X ? aabb1.UpperBound.X : aabb2.UpperBound.X; // UpperBound = Vector2.Max(aabb1.UpperBound, aabb2.UpperBound);
UpperBound.Y = aabb1.UpperBound.Y > aabb2.UpperBound.Y ? aabb1.UpperBound.Y : aabb2.UpperBound.Y;
UpdatePerimeter();
}
/// <summary>
/// Combine an AABB into this one.
/// </summary>
/// <param name="aabb">The aabb.</param>
public void Combine(ref AABB aabb)
{
//LowerBound = Vector2.Min(LowerBound, aabb.LowerBound);
//UpperBound = Vector2.Max(UpperBound, aabb.UpperBound);
if (LowerBound.X > aabb.LowerBound.X)
LowerBound.X = aabb.LowerBound.X; // = Vector2.Min(aabb1.LowerBound, aabb2.LowerBound);
if (LowerBound.Y > aabb.LowerBound.Y)
LowerBound.Y = aabb.LowerBound.Y;
if (UpperBound.X < aabb.UpperBound.X)
UpperBound.X = aabb.UpperBound.X; // UpperBound = Vector2.Max(aabb1.UpperBound, aabb2.UpperBound);
if (UpperBound.Y < aabb.UpperBound.Y)
UpperBound.Y = aabb.UpperBound.Y;
UpdatePerimeter();
}
