public ShapeEditing()
{
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 10.0f);
_body = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(4.0f, 4.0f, new Vector2(0.0f, 0.0f), 0.0f);
_fixture1 = _body.CreateFixture(shape, 10.0f);
}
_fixture2 = null;
_sensor = false;
}
public GearJoint()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var circle1 = new CircleShape();
circle1.Radius = 1.0f;
var box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
var circle2 = new CircleShape();
circle2.Radius = 2.0f;
var bd1 = new BodyDef();
bd1.BodyType = BodyType.StaticBody;
bd1.Position.Set(10.0f, 9.0f);
var body1 = World.CreateBody(bd1);
body1.CreateFixture(circle1, 5.0f);
var bd2 = new BodyDef();
bd2.BodyType = BodyType.DynamicBody;
bd2.Position.Set(10.0f, 8.0f);
var body2 = World.CreateBody(bd2);
body2.CreateFixture(box, 5.0f);
var bd3 = new BodyDef();
bd3.BodyType = BodyType.DynamicBody;
bd3.Position.Set(10.0f, 6.0f);
var body3 = World.CreateBody(bd3);
body3.CreateFixture(circle2, 5.0f);
var jd1 = new RevoluteJointDef();
jd1.Initialize(body1, body2, bd1.Position);
var joint1 = World.CreateJoint(jd1);
var jd2 = new RevoluteJointDef();
jd2.Initialize(body2, body3, bd3.Position);
var joint2 = World.CreateJoint(jd2);
var jd4 = new GearJointDef();
jd4.BodyA = body1;
jd4.BodyB = body3;
jd4.Joint1 = joint1;
jd4.Joint2 = joint2;
jd4.Ratio = circle2.Radius / circle1.Radius;
World.CreateJoint(jd4);
}
{
var circle1 = new CircleShape();
circle1.Radius = 1.0f;
var circle2 = new CircleShape();
circle2.Radius = 2.0f;
var box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
var bd1 = new BodyDef();
bd1.BodyType = BodyType.DynamicBody;
bd1.Position.Set(-3.0f, 12.0f);
var body1 = World.CreateBody(bd1);
body1.CreateFixture(circle1, 5.0f);
var 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();
_joint1 = (RevoluteJoint)World.CreateJoint(jd1);
var bd2 = new BodyDef();
bd2.BodyType = BodyType.DynamicBody;
bd2.Position.Set(0.0f, 12.0f);
var body2 = World.CreateBody(bd2);
body2.CreateFixture(circle2, 5.0f);
var jd2 = new RevoluteJointDef();
jd2.Initialize(ground, body2, bd2.Position);
_joint2 = (RevoluteJoint)World.CreateJoint(jd2);
var bd3 = new BodyDef();
bd3.BodyType = BodyType.DynamicBody;
bd3.Position.Set(2.5f, 12.0f);
var body3 = World.CreateBody(bd3);
body3.CreateFixture(box, 5.0f);
var jd3 = new PrismaticJointDef();
jd3.Initialize(ground, body3, bd3.Position, new Vector2(0.0f, 1.0f));
jd3.LowerTranslation = -5.0f;
jd3.UpperTranslation = 5.0f;
jd3.EnableLimit = true;
_joint3 = (PrismaticJoint)World.CreateJoint(jd3);
var jd4 = new GearJointDef();
jd4.BodyA = body1;
jd4.BodyB = body2;
jd4.Joint1 = _joint1;
jd4.Joint2 = _joint2;
jd4.Ratio = circle2.Radius / circle1.Radius;
_joint4 = (Box2DSharp.Dynamics.Joints.GearJoint)World.CreateJoint(jd4);
var jd5 = new GearJointDef();
jd5.BodyA = body2;
jd5.BodyB = body3;
jd5.Joint1 = _joint2;
jd5.Joint2 = _joint3;
jd5.Ratio = -1.0f / circle2.Radius;
_joint5 = (Box2DSharp.Dynamics.Joints.GearJoint)World.CreateJoint(jd5);
}
}
public EdgeAndPolygonContact(Fixture fA, int indexA, Fixture fB, int indexB) : base(fA, indexA, fB, indexB)
{
edgeA = (EdgeShape)m_fixtureA.Shape;
polygonB = (PolygonShape)m_fixtureB.Shape;
}
public ApplyForce()
{
World.Gravity = new Vector2(0.0f, 0.0f);
const float restitution = 0.4f;
Body ground;
{
var bd = new BodyDef();
bd.Position.Set(0.0f, 20.0f);
ground = World.CreateBody(bd);
var shape = new EdgeShape();
var sd = new FixtureDef();
sd.Shape = shape;
sd.Density = 0.0f;
sd.Restitution = restitution;
// Left vertical
shape.Set(new Vector2(-20.0f, -20.0f), new Vector2(-20.0f, 20.0f));
ground.CreateFixture(sd);
// Right vertical
shape.Set(new Vector2(20.0f, -20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Top horizontal
shape.Set(new Vector2(-20.0f, 20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Bottom horizontal
shape.Set(new Vector2(-20.0f, -20.0f), new Vector2(20.0f, -20.0f));
ground.CreateFixture(sd);
}
{
var xf1 = new Transform();
xf1.Rotation.Set(0.3524f * Settings.Pi);
xf1.Position = xf1.Rotation.GetXAxis();
var vertices = new Vector2[3];
vertices[0] = MathUtils.Mul(xf1, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Mul(xf1, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Mul(xf1, new Vector2(0.0f, 0.5f));
var poly1 = new PolygonShape();
poly1.Set(vertices);
var sd1 = new FixtureDef();
sd1.Shape = poly1;
sd1.Density = 2.0f;
var xf2 = new Transform();
xf2.Rotation.Set(-0.3524f * Settings.Pi);
xf2.Position = -xf2.Rotation.GetXAxis();
vertices[0] = MathUtils.Mul(xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Mul(xf2, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Mul(xf2, new Vector2(0.0f, 0.5f));
var poly2 = new PolygonShape();
poly2.Set(vertices);
var sd2 = new FixtureDef();
sd2.Shape = poly2;
sd2.Density = 2.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = new Vector2(0.0f, 3.0f);
bd.Angle = Settings.Pi;
bd.AllowSleep = false;
_body = World.CreateBody(bd);
_body.CreateFixture(sd1);
_body.CreateFixture(sd2);
var gravity = 10.0f;
var I = _body.Inertia;
var mass = _body.Mass;
// Compute an effective radius that can be used to
// set the max torque for a friction joint
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
var radius = (float)Math.Sqrt(2.0f * I / mass);
FrictionJointDef jd = new FrictionJointDef();
jd.BodyA = ground;
jd.BodyB = _body;
jd.LocalAnchorA.SetZero();
jd.LocalAnchorB = _body.GetLocalCenter();
jd.CollideConnected = true;
jd.MaxForce = 0.5f * mass * gravity;
jd.MaxTorque = 0.2f * mass * radius * gravity;
World.CreateJoint(jd);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
fd.Friction = 0.3f;
for (var i = 0; i < 10; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 7.0f + 1.54f * i);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var gravity = 10.0f;
var I = body.Inertia;
var mass = body.Mass;
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
var radius = (float)Math.Sqrt(2.0f * I / mass);
var jd = new FrictionJointDef();
jd.LocalAnchorA.SetZero();
jd.LocalAnchorB.SetZero();
jd.BodyA = ground;
jd.BodyB = body;
jd.CollideConnected = true;
jd.MaxForce = mass * gravity;
jd.MaxTorque = 0.1f * mass * radius * gravity;
World.CreateJoint(jd);
}
}
}
public Bridge()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
fd.Friction = 0.2f;
var jd = new RevoluteJointDef();
var prevBody = ground;
for (var i = 0; i < Count; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
if (i == Count >> 1)
{
_middle = body;
}
prevBody = body;
}
{
var anchor = new Vector2(-15.0f + 1.0f * Count, 5.0f);
jd.Initialize(prevBody, ground, anchor);
World.CreateJoint(jd);
}
}
for (var i = 0; i < 2; ++i)
{
var vertices = new Vector2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
var shape = new PolygonShape();
shape.Set(vertices);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-8.0f + 8.0f * i, 12.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
for (var i = 0; i < 3; ++i)
{
var shape = new CircleShape();
shape.Radius = 0.5f;
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-6.0f + 6.0f * i, 10.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
}
private BridgeTest()
{
Body ground;
{
ground = BodyFactory.CreateBody(World);
EdgeShape shape = new EdgeShape(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape);
}
{
Vertices box = PolygonUtils.CreateRectangle(0.5f, 0.125f);
PolygonShape shape = new PolygonShape(box, 20);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.2f;
Vector2 anchor = new Vector2(-15f + 1.0f * i, 5.0f);
RevoluteJoint jd = new RevoluteJoint(prevBody, body, anchor, true);
World.AddJoint(jd);
prevBody = body;
}
Vector2 anchor2 = new Vector2(-15.0f + 1.0f * Count, 5.0f);
RevoluteJoint jd2 = new RevoluteJoint(ground, prevBody, anchor2, true);
World.AddJoint(jd2);
}
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.5f, 0.0f));
vertices.Add(new Vector2(0.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
for (int i = 0; i < 2; ++i)
{
PolygonShape shape = new PolygonShape(vertices, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-8.0f + 8.0f * i, 12.0f);
body.CreateFixture(shape);
}
for (int i = 0; i < 3; ++i)
{
CircleShape shape = new CircleShape(0.5f, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-6.0f + 6.0f * i, 10.0f);
body.CreateFixture(shape);
}
}
public Fixture CreateEdge(Vector2 start, Vector2 end)
{
EdgeShape edgeShape = new EdgeShape(start, end);
return(CreateFixture(edgeShape));
}
protected override void Create()
{
_hz = 4.0f;
_zeta = 0.7f;
_speed = 50.0f;
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 0.0f;
fd.Friction = 0.6f;
shape.Set(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
ground.CreateFixture(fd);
float[] hs = { 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 (var i = 0; i < 10; ++i)
{
var y2 = hs[i];
shape.Set(new Vector2(x, y1), new Vector2(x + dx, y2));
ground.CreateFixture(fd);
y1 = y2;
x += dx;
}
for (var i = 0; i < 10; ++i)
{
var y2 = hs[i];
shape.Set(new Vector2(x, y1), new Vector2(x + dx, y2));
ground.CreateFixture(fd);
y1 = y2;
x += dx;
}
shape.Set(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 80.0f;
shape.Set(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 40.0f;
shape.Set(new Vector2(x, 0.0f), new Vector2(x + 10.0f, 5.0f));
ground.CreateFixture(fd);
x += 20.0f;
shape.Set(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 40.0f;
shape.Set(new Vector2(x, 0.0f), new Vector2(x, 20.0f));
ground.CreateFixture(fd);
}
// Teeter
{
var bd = new BodyDef();
bd.Position.Set(140.0f, 1.0f);
bd.BodyType = BodyType.DynamicBody;
var body = World.CreateBody(bd);
var box = new PolygonShape();
box.SetAsBox(10.0f, 0.25f);
body.CreateFixture(box, 1.0f);
var jd = new RevoluteJointDef();
jd.Initialize(ground, body, body.GetPosition());
jd.LowerAngle = -8.0f * Settings.Pi / 180.0f;
jd.UpperAngle = 8.0f * Settings.Pi / 180.0f;
jd.EnableLimit = true;
World.CreateJoint(jd);
body.ApplyAngularImpulse(100.0f, true);
}
// Bridge
{
var N = 20;
var shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
fd.Friction = 0.6f;
var jd = new RevoluteJointDef();
var prevBody = ground;
for (var i = 0; i < N; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(161.0f + 2.0f * i, -0.125f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(160.0f + 2.0f * i, -0.125f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
prevBody = body;
}
{
var anchor = new Vector2(160.0f + 2.0f * N, -0.125f);
jd.Initialize(prevBody, ground, anchor);
World.CreateJoint(jd);
}
}
// Boxes
{
var box = new PolygonShape();
box.SetAsBox(0.5f, 0.5f);
Body body = null;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(230.0f, 0.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.Position.Set(230.0f, 1.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.Position.Set(230.0f, 2.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.Position.Set(230.0f, 3.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.Position.Set(230.0f, 4.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
}
// Car
{
var chassis = new PolygonShape();
var vertices = new Vector2[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);
var circle = new CircleShape();
circle.Radius = 0.4f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 1.0f);
_car = World.CreateBody(bd);
_car.CreateFixture(chassis, 1.0f);
var fd = new FixtureDef();
fd.Shape = circle;
fd.Density = 1.0f;
fd.Friction = 0.9f;
bd.Position.Set(-1.0f, 0.35f);
_wheel1 = World.CreateBody(bd);
_wheel1.CreateFixture(fd);
bd.Position.Set(1.0f, 0.4f);
_wheel2 = World.CreateBody(bd);
_wheel2.CreateFixture(fd);
var jd = new WheelJointDef();
var axis = new Vector2(0.0f, 1.0f);
jd.Initialize(_car, _wheel1, _wheel1.GetPosition(), axis);
jd.MotorSpeed = 0.0f;
jd.MaxMotorTorque = 20.0f;
jd.EnableMotor = true;
jd.FrequencyHz = _hz;
jd.DampingRatio = _zeta;
_spring1 = (WheelJoint)World.CreateJoint(jd);
jd.Initialize(_car, _wheel2, _wheel2.GetPosition(), axis);
jd.MotorSpeed = 0.0f;
jd.MaxMotorTorque = 10.0f;
jd.EnableMotor = false;
jd.FrequencyHz = _hz;
jd.DampingRatio = _zeta;
_spring2 = (WheelJoint)World.CreateJoint(jd);
}
}
public Cantilever()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
var jd = new WeldJointDef();
var prevBody = ground;
for (var i = 0; i < Count; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
prevBody = body;
}
}
{
var shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
var jd = new WeldJointDef();
jd.FrequencyHz = 5.0f;
jd.DampingRatio = 0.7f;
var prevBody = ground;
for (var i = 0; i < 3; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-14.0f + 2.0f * i, 15.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(-15.0f + 2.0f * i, 15.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
prevBody = body;
}
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
var jd = new WeldJointDef();
var prevBody = ground;
for (var i = 0; i < Count; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-4.5f + 1.0f * i, 5.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
var anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
}
prevBody = body;
}
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
var jd = new WeldJointDef();
jd.FrequencyHz = 8.0f;
jd.DampingRatio = 0.7f;
var prevBody = ground;
for (var i = 0; i < Count; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(5.5f + 1.0f * i, 10.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
var anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
}
prevBody = body;
}
}
for (var i = 0; i < 2; ++i)
{
var vertices = new Vector2 [3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
var shape = new PolygonShape();
shape.Set(vertices);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-8.0f + 8.0f * i, 12.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
for (var i = 0; i < 2; ++i)
{
var shape = new CircleShape();
shape.Radius = 0.5f;
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-6.0f + 6.0f * i, 10.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
}
public CompoundShapes()
{
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 0.0f);
Body body = World.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
body.CreateFixture(shape, 0.0f);
}
// Table 1
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-15.0f, 1.0f);
m_table1 = World.CreateBody(bd);
PolygonShape top = new PolygonShape();
top.SetAsBox(3.0f, 0.5f, new Vector2(0.0f, 3.5f), 0.0f);
PolygonShape leftLeg = new PolygonShape();
leftLeg.SetAsBox(0.5f, 1.5f, new Vector2(-2.5f, 1.5f), 0.0f);
PolygonShape rightLeg = new PolygonShape();
rightLeg.SetAsBox(0.5f, 1.5f, new Vector2(2.5f, 1.5f), 0.0f);
m_table1.CreateFixture(top, 2.0f);
m_table1.CreateFixture(leftLeg, 2.0f);
m_table1.CreateFixture(rightLeg, 2.0f);
}
// Table 2
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-5.0f, 1.0f);
m_table2 = World.CreateBody(bd);
PolygonShape top = new PolygonShape();
top.SetAsBox(3.0f, 0.5f, new Vector2(0.0f, 3.5f), 0.0f);
PolygonShape leftLeg = new PolygonShape();
leftLeg.SetAsBox(0.5f, 2.0f, new Vector2(-2.5f, 2.0f), 0.0f);
PolygonShape rightLeg = new PolygonShape();
rightLeg.SetAsBox(0.5f, 2.0f, new Vector2(2.5f, 2.0f), 0.0f);
m_table2.CreateFixture(top, 2.0f);
m_table2.CreateFixture(leftLeg, 2.0f);
m_table2.CreateFixture(rightLeg, 2.0f);
}
// Spaceship 1
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(5.0f, 1.0f);
m_ship1 = World.CreateBody(bd);
Vector2[] vertices = new Vector2[3];
PolygonShape left = new PolygonShape();
vertices[0].Set(-2.0f, 0.0f);
vertices[1].Set(0.0f, 4.0f / 3.0f);
vertices[2].Set(0.0f, 4.0f);
left.Set(vertices, 3);
PolygonShape right = new PolygonShape();
vertices[0].Set(2.0f, 0.0f);
vertices[1].Set(0.0f, 4.0f / 3.0f);
vertices[2].Set(0.0f, 4.0f);
right.Set(vertices, 3);
m_ship1.CreateFixture(left, 2.0f);
m_ship1.CreateFixture(right, 2.0f);
}
// Spaceship 2
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(15.0f, 1.0f);
m_ship2 = World.CreateBody(bd);
Vector2[] vertices = new Vector2[3];
PolygonShape left = new PolygonShape();
vertices[0].Set(-2.0f, 0.0f);
vertices[1].Set(1.0f, 2.0f);
vertices[2].Set(0.0f, 4.0f);
left.Set(vertices, 3);
PolygonShape right = new PolygonShape();
vertices[0].Set(2.0f, 0.0f);
vertices[1].Set(-1.0f, 2.0f);
vertices[2].Set(0.0f, 4.0f);
right.Set(vertices, 3);
m_ship2.CreateFixture(left, 2.0f);
m_ship2.CreateFixture(right, 2.0f);
}
}
public static Fixture AttachEdge(Vector2 start, Vector2 end, Body body)
{
EdgeShape edgeShape = new EdgeShape(start, end);
return(body.CreateFixture(edgeShape, null));
}
public static World CreateWorld()
{
var gravity = new Vector2(0.000000000000000e+00f, -1.000000000000000e+01f);
var world = new World(gravity);
var bodies = new Body[2];
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Static;
bd.position = new Vector2(0.000000000000000e+00f, 0.000000000000000e+00f);
bd.angle = 0.000000000000000e+00f;
bd.linearVelocity = new Vector2(0.000000000000000e+00f, 0.000000000000000e+00f);
bd.angularVelocity = 0.000000000000000e+00f;
bd.linearDamping = 0.000000000000000e+00f;
bd.angularDamping = 0.000000000000000e+00f;
bd.allowSleep = true;
bd.awake = true;
bd.fixedRotation = false;
bd.bullet = false;
//bd.active = true;
bd.gravityScale = 1.000000000000000e+00f;
bodies[0] = world.CreateBody(bd);
{
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 2.000000029802322e-01f;
fd.density = 1.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = (1);
fd.filter.maskBits = (65535);
fd.filter.groupIndex = (0);
PolygonShape shape = new PolygonShape();
Vector2[] vs = new Vector2[4];
vs[0] = new Vector2(1.622321891784668e+01f, 4.735573291778564e+00f);
vs[1] = new Vector2(1.601119422912598e+01f, 4.735989570617676e+00f);
vs[2] = new Vector2(1.602764320373535e+01f, 3.814474105834961e+00f);
vs[3] = new Vector2(1.621816253662109e+01f, 3.825283050537109e+00f);
shape.Set(vs);
fd.shape = shape;
bodies[0].CreateFixture(fd);
}
{
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 0.000000000000000e+00f;
fd.density = 0.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = (1);
fd.filter.maskBits = (65535);
fd.filter.groupIndex = (0);
EdgeShape shape = new EdgeShape();
Vector2[] vs = new Vector2[4];
;
vs[0] = new Vector2(1.918307685852051e+01f, 3.306496143341064e+00f);
vs[1] = new Vector2(1.703903770446777e+01f, 2.196289300918579e+00f);
vs[2] = new Vector2(4.565430396770254e-41f, 0.000000000000000e+00f);
vs[3] = new Vector2(0.000000000000000e+00f, 1.216642260551453e-01f);
shape.SetTwoSided(vs[0], vs[1]);
;
fd.shape = shape;
bodies[0].CreateFixture(fd);
}
{
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 0.000000000000000e+00f;
fd.density = 0.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = (1);
fd.filter.maskBits = (65535);
fd.filter.groupIndex = (0);
EdgeShape shape = new EdgeShape();
Vector2[] vs = new Vector2[4];
;
vs[0] = new Vector2(2.044397354125977e+01f, 4.096230506896973e+00f);
vs[1] = new Vector2(1.918307685852051e+01f, 3.306496143341064e+00f);
vs[2] = new Vector2(4.565430396770254e-41f, 0.000000000000000e+00f);
vs[3] = new Vector2(0.000000000000000e+00f, 1.216642260551453e-01f);
shape.SetTwoSided(vs[0], vs[1]);
;
fd.shape = shape;
bodies[0].CreateFixture(fd);
}
{
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 0.000000000000000e+00f;
fd.density = 0.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = (1);
fd.filter.maskBits = (65535);
fd.filter.groupIndex = (0);
EdgeShape shape = new EdgeShape();
Vector2[] vs = new Vector2[4];
;
vs[0] = new Vector2(2.176111412048340e+01f, 5.379695892333984e+00f);
vs[1] = new Vector2(2.115560913085938e+01f, 4.700156211853027e+00f);
vs[2] = new Vector2(4.565430396770254e-41f, 0.000000000000000e+00f);
vs[3] = new Vector2(0.000000000000000e+00f, 1.216642260551453e-01f);
shape.SetTwoSided(vs[0], vs[1]);
;
fd.shape = shape;
bodies[0].CreateFixture(fd);
}
{
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 0.000000000000000e+00f;
fd.density = 0.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = (1);
fd.filter.maskBits = (65535);
fd.filter.groupIndex = (0);
EdgeShape shape = new EdgeShape();
Vector2[] vs = new Vector2[4];
;
vs[0] = new Vector2(2.206690788269043e+01f, 5.190674781799316e+00f);
vs[1] = new Vector2(2.176111412048340e+01f, 5.379695892333984e+00f);
vs[2] = new Vector2(4.565430396770254e-41f, 0.000000000000000e+00f);
vs[3] = new Vector2(0.000000000000000e+00f, 1.216642260551453e-01f);
shape.SetTwoSided(vs[0], vs[1]);
;
fd.shape = shape;
bodies[0].CreateFixture(fd);
}
{
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 0.000000000000000e+00f;
fd.density = 0.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = (1);
fd.filter.maskBits = (65535);
fd.filter.groupIndex = (0);
EdgeShape shape = new EdgeShape();
Vector2[] vs = new Vector2[4];
;
vs[0] = new Vector2(1.703903770446777e+01f, 2.196289300918579e+00f);
vs[1] = new Vector2(1.560352897644043e+01f, 1.560027003288269e+00f);
vs[2] = new Vector2(4.565430396770254e-41f, 0.000000000000000e+00f);
vs[3] = new Vector2(0.000000000000000e+00f, 1.216642260551453e-01f);
shape.SetTwoSided(vs[0], vs[1]);
;
fd.shape = shape;
bodies[0].CreateFixture(fd);
}
{
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 0.000000000000000e+00f;
fd.density = 0.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = (1);
fd.filter.maskBits = (65535);
fd.filter.groupIndex = (0);
EdgeShape shape = new EdgeShape();
Vector2[] vs = new Vector2[4];
;
vs[0] = new Vector2(1.560352897644043e+01f, 1.560027003288269e+00f);
vs[1] = new Vector2(1.428396320343018e+01f, 1.043329477310181e+00f);
vs[2] = new Vector2(4.565430396770254e-41f, 0.000000000000000e+00f);
vs[3] = new Vector2(0.000000000000000e+00f, 1.216642260551453e-01f);
shape.SetTwoSided(vs[0], vs[1]);
;
fd.shape = shape;
bodies[0].CreateFixture(fd);
}
{
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 0.000000000000000e+00f;
fd.density = 0.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = (1);
fd.filter.maskBits = (65535);
fd.filter.groupIndex = (0);
EdgeShape shape = new EdgeShape();
Vector2[] vs = new Vector2[4];
;
vs[0] = new Vector2(2.115560913085938e+01f, 4.700156211853027e+00f);
vs[1] = new Vector2(2.044397354125977e+01f, 4.096230506896973e+00f);
vs[2] = new Vector2(4.565430396770254e-41f, 0.000000000000000e+00f);
vs[3] = new Vector2(0.000000000000000e+00f, 1.216642260551453e-01f);
shape.SetTwoSided(vs[0], vs[1]);
;
fd.shape = shape;
bodies[0].CreateFixture(fd);
}
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(2.079453659057617e+01f, 7.627632617950439e+00f);
bd.angle = 4.814267158508301e-03f;
bd.linearVelocity = new Vector2(0.000000000000000e+00f, 0.000000000000000e+00f);
bd.angularVelocity = 0.000000000000000e+00f;
bd.linearDamping = 0.000000000000000e+00f;
bd.angularDamping = 0.000000000000000e+00f;
bd.allowSleep = true;
bd.awake = true;
bd.fixedRotation = false;
bd.bullet = true;
//bd.active = true;
bd.gravityScale = 1.000000000000000e+00f;
bodies[1] = world.CreateBody(bd);
{
FixtureDef fd = new FixtureDef();
fd.friction = 5.000000000000000e-01f;
fd.restitution = 6.999999880790710e-01f;
fd.density = 5.000000074505806e-02f;
fd.isSensor = false;
fd.filter.categoryBits = (1);
fd.filter.maskBits = (65535);
fd.filter.groupIndex = (0);
PolygonShape shape = new PolygonShape();
Vector2[] vs = new Vector2[4];
vs[0] = new Vector2(1.193307399749756e+00f, -7.795047014951706e-02f);
vs[1] = new Vector2(1.193307399749756e+00f, 9.368468075990677e-02f);
vs[2] = new Vector2(-1.108393430709839e+00f, 1.137156039476395e-01f);
vs[3] = new Vector2(-1.108393430709839e+00f, -9.785395860671997e-02f);
shape.Set(vs);
fd.shape = shape;
bodies[1].CreateFixture(fd);
}
}
return(world);
}
EdgeShapesTest()
{
// Ground body
{
Body ground = BodyFactory.CreateBody(World);
double x1 = -20.0f;
double y1 = 2.0f * (double)Math.Cos(x1 / 10.0f * (double)Math.PI);
for (int i = 0; i < 80; ++i)
{
double x2 = x1 + 0.5f;
double y2 = 2.0f * (double)Math.Cos(x2 / 10.0f * (double)Math.PI);
EdgeShape shape = new EdgeShape(new Vector2(x1, y1), new Vector2(x2, y2));
ground.CreateFixture(shape);
x1 = x2;
y1 = y2;
}
}
{
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.5f, 0.0f));
vertices.Add(new Vector2(0.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
_polygons[0] = new PolygonShape(vertices, 20);
}
{
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.1f, 0.0f));
vertices.Add(new Vector2(0.1f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
_polygons[1] = new PolygonShape(vertices, 20);
}
{
const double w = 1.0f;
double b = w / (2.0f + (double)Math.Sqrt(2.0f));
double s = (double)Math.Sqrt(2.0f) * b;
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(0.5f * s, 0.0f));
vertices.Add(new Vector2(0.5f * w, b));
vertices.Add(new Vector2(0.5f * w, b + s));
vertices.Add(new Vector2(0.5f * s, w));
vertices.Add(new Vector2(-0.5f * s, w));
vertices.Add(new Vector2(-0.5f * w, b + s));
vertices.Add(new Vector2(-0.5f * w, b));
vertices.Add(new Vector2(-0.5f * s, 0.0f));
_polygons[2] = new PolygonShape(vertices, 20);
}
{
_polygons[3] = new PolygonShape(20);
_polygons[3].Vertices = PolygonTools.CreateRectangle(0.5f, 0.5f);
}
{
_circle = new CircleShape(0.5f, 1);
}
_bodyIndex = 0;
_angle = 0.0f;
}
public RayCast()
{
// Ground body
{
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);
}
{
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);
m_polygons[0].Set(vertices, 3);
}
{
Vec2[] vertices = new Vec2[3];
vertices[0].Set(-0.1f, 0.0f);
vertices[1].Set(0.1f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
m_polygons[1].Set(vertices, 3);
}
{
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].Set(0.5f * s, 0.0f);
vertices[1].Set(0.5f * w, b);
vertices[2].Set(0.5f * w, b + s);
vertices[3].Set(0.5f * s, w);
vertices[4].Set(-0.5f * s, w);
vertices[5].Set(-0.5f * w, b + s);
vertices[6].Set(-0.5f * w, b);
vertices[7].Set(-0.5f * s, 0.0f);
m_polygons[2].Set(vertices, 8);
}
{
m_polygons[3].SetAsBox(0.5f, 0.5f);
}
{
m_circle.m_radius = 0.5f;
}
m_bodyIndex = 0;
Array.Clear(m_bodies, 0, m_bodies.Length);
m_angle = 0.0f;
m_mode = Mode.e_closest;
}
public static IEdge SetShape(this IEdge myIEdge, EdgeShape myEdgeShape)
{
if (myIEdge == null)
throw new ArgumentNullException("myIEdge must not be null!");
myIEdge.Shape = myEdgeShape;
return myIEdge;
}
public override BodyContainer Process(List <RawBodyTemplate> input, ContentProcessorContext context)
{
if (ScaleFactor < 1)
{
throw new Exception("Pixel to meter ratio must be greater than zero.");
}
if (BezierIterations < 1)
{
throw new Exception("Cubic bézier iterations must be greater than zero.");
}
Matrix matScale = Matrix.CreateScale(_scaleFactor, _scaleFactor, 1f);
SVGPathParser parser = new SVGPathParser(_bezierIterations);
BodyContainer bodies = new BodyContainer();
foreach (RawBodyTemplate rawBody in input)
{
if (rawBody.Name == "importer_default_path_container")
{
continue;
}
BodyTemplate currentBody = new BodyTemplate();
currentBody.Mass = rawBody.Mass;
currentBody.BodyType = rawBody.BodyType;
foreach (RawFixtureTemplate rawFixture in rawBody.Fixtures)
{
List <Polygon> paths = parser.ParseSVGPath(rawFixture.Path, rawFixture.Transformation * matScale);
for (int i = 0; i < paths.Count; i++)
{
if (paths[i].Closed)
{
List <Vertices> partition = Triangulate.ConvexPartition(paths[i].Vertices, TriangulationAlgorithm.Bayazit);
foreach (Vertices v in partition)
{
currentBody.Fixtures.Add(new FixtureTemplate()
{
Shape = new PolygonShape(v, rawFixture.Density),
Restitution = rawFixture.Restitution,
Friction = rawFixture.Friction,
Name = rawFixture.Name
});
}
}
else
{
Shape shape;
if (paths[i].Vertices.Count > 2)
{
shape = new ChainShape(paths[i].Vertices);
}
else
{
shape = new EdgeShape(paths[i].Vertices[0], paths[i].Vertices[1]);
}
currentBody.Fixtures.Add(new FixtureTemplate()
{
Shape = shape,
Restitution = rawFixture.Restitution,
Friction = rawFixture.Friction,
Name = rawFixture.Name
});
}
}
}
if (currentBody.Fixtures.Count > 0)
{
bodies[rawBody.Name] = currentBody;
currentBody = null;
}
}
return(bodies);
}
public SliderCrank()
{
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);
}
{
Body prevBody = ground;
// Define crank.
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
shape.Density = 2;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 7.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vec2(0.0f, 5.0f));
rjd.motorSpeed = 1.0f * (float)Math.PI;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = true;
m_joint1 = (RevoluteJoint)m_world.CreateJoint(rjd);
prevBody = body;
}
// Define follower.
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f);
shape.Density = 2;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 13.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vec2(0.0f, 9.0f));
rjd.enableMotor = false;
m_world.CreateJoint(rjd);
prevBody = body;
}
// Define piston
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
shape.Density = 2;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.fixedRotation = true;
bd.Position.Set(0.0f, 17.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vec2(0.0f, 17.0f));
m_world.CreateJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vec2(0.0f, 17.0f), new Vec2(0.0f, 1.0f));
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
m_joint2 = (PrismaticJoint)m_world.CreateJoint(pjd);
}
// Create a payload
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 23.0f);
Body body = m_world.CreateBody(bd);
shape.Density = 2;
body.CreateFixture(shape);
}
}
}
/// <summary>
/// Compute contact points for edge versus circle.
/// This accounts for edge connectivity.
/// 计算边缘和圆的碰撞点
/// </summary>
/// <param name="manifold"></param>
/// <param name="edgeA"></param>
/// <param name="xfA"></param>
/// <param name="circleB"></param>
/// <param name="xfB"></param>
public static void CollideEdgeAndCircle(
ref Manifold manifold,
EdgeShape edgeA,
in Transform xfA,
public Edge setShape(EdgeShape shape)
{
this.shape = shape;
return(this);
}
public async Task TestBoxStack()
{
var server = StartServer();
await server.WaitIdleAsync();
var mapManager = server.ResolveDependency <IMapManager>();
var entitySystemManager = server.ResolveDependency <IEntitySystemManager>();
var physicsSystem = entitySystemManager.GetEntitySystem <SharedPhysicsSystem>();
MapId mapId;
var columnCount = 1;
var rowCount = 15;
PhysicsComponent[] bodies = new PhysicsComponent[columnCount * rowCount];
Vector2 firstPos = Vector2.Zero;
await server.WaitPost(() =>
{
mapId = mapManager.CreateMap();
physicsSystem.Maps[mapId].Gravity = new Vector2(0, -9.8f);
var entityManager = IoCManager.Resolve <IEntityManager>();
// TODO: Need a blank entity we can spawn for testbed.
var ground = entityManager.SpawnEntity("BlankEntity", new MapCoordinates(0, 0, mapId)).AddComponent <PhysicsComponent>();
var horizontal = new EdgeShape(new Vector2(-20, 0), new Vector2(20, 0));
var horizontalFixture = new Fixture(ground, horizontal)
{
CollisionLayer = 1,
CollisionMask = 1,
Hard = true
};
ground.AddFixture(horizontalFixture);
var vertical = new EdgeShape(new Vector2(10, 0), new Vector2(10, 10));
var verticalFixture = new Fixture(ground, vertical)
{
CollisionLayer = 1,
CollisionMask = 1,
Hard = true
};
ground.AddFixture(verticalFixture);
var xs = new[]
{
0.0f, -10.0f, -5.0f, 5.0f, 10.0f
};
PolygonShape shape;
for (var j = 0; j < columnCount; j++)
{
for (var i = 0; i < rowCount; i++)
{
var x = 0.0f;
var box = entityManager.SpawnEntity("BlankEntity",
new MapCoordinates(new Vector2(xs[j] + x, 0.55f + 2.1f * i), mapId)).AddComponent <PhysicsComponent>();
box.BodyType = BodyType.Dynamic;
box.SleepingAllowed = false;
shape = new PolygonShape(0.001f)
{
Vertices = new List <Vector2>()
{
new(0.5f, -0.5f),
new(0.5f, 0.5f),
new(-0.5f, 0.5f),
new(-0.5f, -0.5f),
}
};
box.FixedRotation = true;
// TODO: Need to detect shape and work out if we need to use fixedrotation
var fixture = new Fixture(box, shape)
{
CollisionMask = 1,
CollisionLayer = 1,
Hard = true,
};
box.AddFixture(fixture);
bodies[j *rowCount + i] = box;
}
}
firstPos = bodies[0].Owner.Transform.WorldPosition;
});
await server.WaitRunTicks(1);
// Check that gravity workin
await server.WaitAssertion(() =>
{
Assert.That(firstPos != bodies[0].Owner.Transform.WorldPosition);
});
// Assert
await server.WaitRunTicks(150);
// Assert settled, none below 0, etc.
await server.WaitAssertion(() =>
{
for (var j = 0; j < columnCount; j++)
{
for (var i = 0; i < bodies.Length; i++)
{
var body = bodies[j *columnCount + i];
var worldPos = body.Owner.Transform.WorldPosition;
// TODO: Multi-column support but I cbf right now
// Can't be more exact as some level of sinking is allowed.
Assert.That(worldPos.EqualsApprox(new Vector2(0.0f, i + 0.5f), 0.1f), $"Expected y-value of {i + 0.5f} but found {worldPos.Y}");
}
}
});
}
public async Task TestBoxStack()
{
var server = StartServer();
await server.WaitIdleAsync();
var entityManager = server.ResolveDependency <IEntityManager>();
var mapManager = server.ResolveDependency <IMapManager>();
var entitySystemManager = server.ResolveDependency <IEntitySystemManager>();
var fixtureSystem = entitySystemManager.GetEntitySystem <FixtureSystem>();
MapId mapId;
const int columnCount = 1;
const int rowCount = 15;
PhysicsComponent[] bodies = new PhysicsComponent[columnCount * rowCount];
Vector2 firstPos = Vector2.Zero;
await server.WaitPost(() =>
{
mapId = mapManager.CreateMap();
EntityUid tempQualifier2 = mapManager.GetMapEntityId(mapId);
IoCManager.Resolve <IEntityManager>().GetComponent <SharedPhysicsMapComponent>(tempQualifier2).Gravity = new Vector2(0, -9.8f);
EntityUid tempQualifier = entityManager.SpawnEntity(null, new MapCoordinates(0, 0, mapId));
var ground = IoCManager.Resolve <IEntityManager>().AddComponent <PhysicsComponent>(tempQualifier);
var horizontal = new EdgeShape(new Vector2(-20, 0), new Vector2(20, 0));
var horizontalFixture = new Fixture(ground, horizontal)
{
CollisionLayer = 1,
CollisionMask = 1,
Hard = true
};
fixtureSystem.CreateFixture(ground, horizontalFixture);
var vertical = new EdgeShape(new Vector2(10, 0), new Vector2(10, 10));
var verticalFixture = new Fixture(ground, vertical)
{
CollisionLayer = 1,
CollisionMask = 1,
Hard = true
};
fixtureSystem.CreateFixture(ground, verticalFixture);
var xs = new[]
{
0.0f, -10.0f, -5.0f, 5.0f, 10.0f
};
for (var j = 0; j < columnCount; j++)
{
for (var i = 0; i < rowCount; i++)
{
var x = 0.0f;
EntityUid tempQualifier1 = entityManager.SpawnEntity(null,
new MapCoordinates(new Vector2(xs[j] + x, 0.55f + 2.1f * i), mapId));
var box = IoCManager.Resolve <IEntityManager>().AddComponent <PhysicsComponent>(tempQualifier1);
box.BodyType = BodyType.Dynamic;
var poly = new PolygonShape(0.001f);
poly.SetVertices(new List <Vector2>()
{
new(0.5f, -0.5f),
new(0.5f, 0.5f),
new(-0.5f, 0.5f),
new(-0.5f, -0.5f),
});
var fixture = new Fixture(box, poly)
{
CollisionMask = 1,
CollisionLayer = 1,
Hard = true,
};
fixtureSystem.CreateFixture(box, fixture);
bodies[j *rowCount + i] = box;
}
private CharacterCollisionTest()
{
//Ground body
Body ground = BodyFactory.CreateEdge(World, new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
// Collinear edges with no adjacency information.
// This shows the problematic case where a box shape can hit
// an internal vertex.
EdgeShape shape = new EdgeShape(new Vector2(-8.0f, 1.0f), new Vector2(-6.0f, 1.0f));
ground.CreateFixture(shape);
shape = new EdgeShape(new Vector2(-6.0f, 1.0f), new Vector2(-4.0f, 1.0f));
ground.CreateFixture(shape);
shape = new EdgeShape(new Vector2(-4.0f, 1.0f), new Vector2(-2.0f, 1.0f));
ground.CreateFixture(shape);
// Chain shape
{
Vertices vs = new Vertices(4);
vs.Add(new Vector2(5.0f, 7.0f));
vs.Add(new Vector2(6.0f, 8.0f));
vs.Add(new Vector2(7.0f, 8.0f));
vs.Add(new Vector2(8.0f, 7.0f));
Body body = BodyFactory.CreateChainShape(World, vs);
body.Rotation = 0.25f * MathConstants.Pi;
}
// Square tiles. This shows that adjacency shapes may
// have non-smooth collision. There is no solution
// to this problem.
PolygonShape tile = new PolygonShape(1);
tile.Vertices = PolygonUtils.CreateRectangle(1.0f, 1.0f, new Vector2(4.0f, 3.0f), 0.0f);
ground.CreateFixture(tile);
tile.Vertices = PolygonUtils.CreateRectangle(1.0f, 1.0f, new Vector2(6.0f, 3.0f), 0.0f);
ground.CreateFixture(tile);
tile.Vertices = PolygonUtils.CreateRectangle(1.0f, 1.0f, new Vector2(8.0f, 3.0f), 0.0f);
ground.CreateFixture(tile);
// Square made from an edge loop. Collision should be smooth.
Vertices vertices = new Vertices(4);
vertices.Add(new Vector2(-1.0f, 3.0f));
vertices.Add(new Vector2(1.0f, 3.0f));
vertices.Add(new Vector2(1.0f, 5.0f));
vertices.Add(new Vector2(-1.0f, 5.0f));
FixtureFactory.AttachLoopShape(vertices, ground);
// Edge loop. Collision should be smooth.
vertices = new Vertices(10);
vertices.Add(new Vector2(0.0f, 0.0f));
vertices.Add(new Vector2(6.0f, 0.0f));
vertices.Add(new Vector2(6.0f, 2.0f));
vertices.Add(new Vector2(4.0f, 1.0f));
vertices.Add(new Vector2(2.0f, 2.0f));
vertices.Add(new Vector2(0.0f, 2.0f));
vertices.Add(new Vector2(-2.0f, 2.0f));
vertices.Add(new Vector2(-4.0f, 3.0f));
vertices.Add(new Vector2(-6.0f, 2.0f));
vertices.Add(new Vector2(-6.0f, 0.0f));
BodyFactory.CreateLoopShape(World, vertices, new Vector2(-10, 4));
// Square character 1
Body squareCharacter = BodyFactory.CreateRectangle(World, 1, 1, 20, new Vector2(-3.0f, 8.0f));
squareCharacter.BodyType = BodyType.Dynamic;
squareCharacter.FixedRotation = true;
squareCharacter.SleepingAllowed = false;
squareCharacter.OnCollision += CharacterOnCollision;
squareCharacter.OnSeparation += CharacterOnSeparation;
// Square character 2
Body squareCharacter2 = BodyFactory.CreateRectangle(World, 0.5f, 0.5f, 20, new Vector2(-5.0f, 5.0f));
squareCharacter2.BodyType = BodyType.Dynamic;
squareCharacter2.FixedRotation = true;
squareCharacter2.SleepingAllowed = false;
// Hexagon character
float angle = 0.0f;
const float delta = MathConstants.Pi / 3.0f;
vertices = new Vertices(6);
for (int i = 0; i < 6; ++i)
{
vertices.Add(new Vector2(0.5f * (float)Math.Cos(angle), 0.5f * (float)Math.Sin(angle)));
angle += delta;
}
Body hexCharacter = BodyFactory.CreatePolygon(World, vertices, 20, new Vector2(-5.0f, 8.0f));
hexCharacter.BodyType = BodyType.Dynamic;
hexCharacter.FixedRotation = true;
hexCharacter.SleepingAllowed = false;
// Circle character
Body circleCharacter = BodyFactory.CreateCircle(World, 0.5f, 20, new Vector2(3.0f, 5.0f));
circleCharacter.BodyType = BodyType.Dynamic;
circleCharacter.FixedRotation = true;
circleCharacter.SleepingAllowed = false;
// Circle character
_character = BodyFactory.CreateCircle(World, 0.25f, 20, new Vector2(-7.0f, 6.0f));
_character.BodyType = BodyType.Dynamic;
_character.Friction = 1.0f;
_character.SleepingAllowed = false;
}
private WebTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
{
PolygonShape shape = new PolygonShape(5.0f);
shape.SetAsBox(0.5f, 0.5f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-5.0f, 5.0f);
_bodies[0] = BodyFactory.CreateFromDef(World, bd);
_bodies[0].AddFixture(shape);
bd.Position = new Vector2(5.0f, 5.0f);
_bodies[1] = BodyFactory.CreateFromDef(World, bd);
_bodies[1].AddFixture(shape);
bd.Position = new Vector2(5.0f, 15.0f);
_bodies[2] = BodyFactory.CreateFromDef(World, bd);
_bodies[2].AddFixture(shape);
bd.Position = new Vector2(-5.0f, 15.0f);
_bodies[3] = BodyFactory.CreateFromDef(World, bd);
_bodies[3].AddFixture(shape);
DistanceJointDef jd = new DistanceJointDef();
Vector2 p1, p2, d;
float frequencyHz = 2.0f;
float dampingRatio = 0.0f;
jd.BodyA = ground;
jd.BodyB = _bodies[0];
jd.LocalAnchorA = new Vector2(-10.0f, 0.0f);
jd.LocalAnchorB = new Vector2(-0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out float stiffness, out float damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[0] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = ground;
jd.BodyB = _bodies[1];
jd.LocalAnchorA = new Vector2(10.0f, 0.0f);
jd.LocalAnchorB = new Vector2(0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[1] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = ground;
jd.BodyB = _bodies[2];
jd.LocalAnchorA = new Vector2(10.0f, 20.0f);
jd.LocalAnchorB = new Vector2(0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[2] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = ground;
jd.BodyB = _bodies[3];
jd.LocalAnchorA = new Vector2(-10.0f, 20.0f);
jd.LocalAnchorB = new Vector2(-0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[3] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = _bodies[0];
jd.BodyB = _bodies[1];
jd.LocalAnchorA = new Vector2(0.5f, 0.0f);
jd.LocalAnchorB = new Vector2(-0.5f, 0.0f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[4] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = _bodies[1];
jd.BodyB = _bodies[2];
jd.LocalAnchorA = new Vector2(0.0f, 0.5f);
jd.LocalAnchorB = new Vector2(0.0f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[5] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = _bodies[2];
jd.BodyB = _bodies[3];
jd.LocalAnchorA = new Vector2(-0.5f, 0.0f);
jd.LocalAnchorB = new Vector2(0.5f, 0.0f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[6] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = _bodies[3];
jd.BodyB = _bodies[0];
jd.LocalAnchorA = new Vector2(0.0f, -0.5f);
jd.LocalAnchorB = new Vector2(0.0f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[7] = JointFactory.CreateFromDef(World, jd);
}
}
public Revolute()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
var fd = new FixtureDef();
fd.Shape = shape;
//fd.filter.categoryBits = 2;
ground.CreateFixture(fd);
}
{
var shape = new CircleShape();
shape.Radius = 0.5f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
var rjd = new RevoluteJointDef();
bd.Position.Set(-10.0f, 20.0f);
var body = World.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
var w = 100.0f;
body.SetAngularVelocity(w);
body.SetLinearVelocity(new Vector2(-8.0f * w, 0.0f));
rjd.Initialize(ground, body, new Vector2(-10.0f, 12.0f));
rjd.MotorSpeed = 1.0f * Settings.Pi;
rjd.MaxMotorTorque = 10000.0f;
rjd.EnableMotor = false;
rjd.LowerAngle = -0.25f * Settings.Pi;
rjd.UpperAngle = 0.5f * Settings.Pi;
rjd.EnableLimit = true;
rjd.CollideConnected = true;
m_joint = (RevoluteJoint)World.CreateJoint(rjd);
}
{
var circle_shape = new CircleShape();
circle_shape.Radius = 3.0f;
var circle_bd = new BodyDef();
circle_bd.BodyType = BodyType.DynamicBody;
circle_bd.Position.Set(5.0f, 30.0f);
var fd = new FixtureDef();
fd.Density = 5.0f;
var filter = fd.Filter;
filter.MaskBits = 1;
fd.Filter = filter;
fd.Shape = circle_shape;
m_ball = World.CreateBody(circle_bd);
m_ball.CreateFixture(fd);
var polygon_shape = new PolygonShape();
polygon_shape.SetAsBox(10.0f, 0.2f, new Vector2(-10.0f, 0.0f), 0.0f);
var polygon_bd = new BodyDef();
polygon_bd.Position.Set(20.0f, 10.0f);
polygon_bd.BodyType = BodyType.DynamicBody;
polygon_bd.Bullet = true;
var polygon_body = World.CreateBody(polygon_bd);
polygon_body.CreateFixture(polygon_shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(ground, polygon_body, new Vector2(20.0f, 10.0f));
rjd.LowerAngle = -0.25f * Settings.Pi;
rjd.UpperAngle = 0.0f * Settings.Pi;
rjd.EnableLimit = true;
World.CreateJoint(rjd);
}
// Tests mass computation of a small object far from the origin
{
var bodyDef = new BodyDef();
bodyDef.BodyType = BodyType.DynamicBody;
var body = World.CreateBody(bodyDef);
var polyShape = new PolygonShape();
var verts = new Vector2[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);
var polyFixtureDef = new FixtureDef();
polyFixtureDef.Shape = polyShape;
polyFixtureDef.Density = 1;
body.CreateFixture(polyFixtureDef); //assertion hits inside here
}
}
public override void Draw(GameTime gameTime)
{
//position(body.GetPosition().X * game.physics_scale, body.GetPosition().Y * game.physics_scale);
Vector2 light_origin = new Vector2(x, y);
float current_rotation = body.GetAngle();
while (current_rotation < 0)
{
current_rotation += (float)Math.PI * 2;
}
current_rotation = current_rotation % ((float)Math.PI * 2);
//thing!
rotation = current_rotation;
List <Vector2> testPoints = new List <Vector2>();
SortedList <float, Vector2> intersectionPoints = new SortedList <float, Vector2>();
//firstly, cast out 9 rays around the circle/cone; this will define the base shape of this light
//and ensure that lack of collision targets doesn't lead to rendering holes
for (int i = -rays_to_cast / 2; i <= rays_to_cast / 2; i++)
{
Vector2 target = Vector2.Transform(new Vector2(0, -ray_length), Matrix.CreateRotationZ((light_spread_angle / rays_to_cast) * i + current_rotation)) + light_origin;
testPoints.Add(target);
}
//Gather a list of all nearby fixtures; we'll use these to generate test points and cast rays
AABB aabb;
aabb.lowerBound = body.GetPosition() - new Vector2(ray_length, ray_length);
aabb.upperBound = body.GetPosition() + new Vector2(ray_length, ray_length);
overlapping_fixtures.Clear();
game.world.QueryAABB(QueryCallback, ref aabb);
//Console.WriteLine(overlapping_fixtures.Count());
//Gather a list of all test points in the scene
foreach (Fixture f in overlapping_fixtures)
{
Type shapeType = f.GetType();
if (f.GetShape() is PolygonShape)
{
PolygonShape polygon = (PolygonShape)f.GetShape();
for (int curVert = 0; curVert < polygon.GetVertexCount(); curVert++)
{
//transform this point based on the body transforms
Vector2 target = Vector2.Transform(polygon.GetVertex(curVert), Matrix.CreateRotationZ(f.GetBody().GetAngle())) + f.GetBody().GetPosition();
if (Vector2.DistanceSquared(light_origin, target) <= ray_length * ray_length * 2)
{
float ray_angle = (float)Math.Atan2((target - light_origin).Y, (target - light_origin).X) + (float)Math.PI / 2;
float light_min = current_rotation - light_spread_angle / 2;
float light_max = current_rotation + light_spread_angle / 2;
while (ray_angle > Math.PI)
{
ray_angle -= (float)Math.PI * 2;
}
while (ray_angle < light_min)
{
ray_angle += (float)Math.PI * 2;
}
if (ray_angle < light_max)
{
//Add it to the list for processing
testPoints.Add(target);
}
}
}
}
else if (f.GetShape() is EdgeShape)
{
//Do the same thing, except for edge shapes
//only v1 and v2 will count here
EdgeShape line = (EdgeShape)f.GetShape();
Vector2 target1 = Vector2.Transform(line._vertex1, Matrix.CreateRotationZ(f.GetBody().GetAngle())) + f.GetBody().GetPosition();
if (Vector2.DistanceSquared(light_origin, target1) <= ray_length * ray_length * 2)
{
float ray_angle = (float)Math.Atan2((target1 - light_origin).Y, (target1 - light_origin).X) + (float)Math.PI / 2;
float light_min = current_rotation - light_spread_angle / 2;
float light_max = current_rotation + light_spread_angle / 2;
while (ray_angle > Math.PI)
{
ray_angle -= (float)Math.PI * 2;
}
while (ray_angle < light_min)
{
ray_angle += (float)Math.PI * 2;
}
if (ray_angle < light_max)
{
testPoints.Add(target1);
}
}
Vector2 target2 = Vector2.Transform(line._vertex2, Matrix.CreateRotationZ(f.GetBody().GetAngle())) + f.GetBody().GetPosition();
if (Vector2.DistanceSquared(light_origin, target2) <= ray_length * ray_length * 2)
{
float ray_angle = (float)Math.Atan2((target2 - light_origin).Y, (target2 - light_origin).X) + (float)Math.PI / 2;
float light_min = current_rotation - light_spread_angle / 2;
float light_max = current_rotation + light_spread_angle / 2;
while (ray_angle < light_min)
{
ray_angle += (float)Math.PI * 2;
}
if (ray_angle < light_max)
{
testPoints.Add(target2);
}
}
}
}
//For every test point, calculate the closest intersection
foreach (Vector2 point in testPoints)
{
Vector2 target = point;
//normalize this point, then multiply it by the length; this will give us a
//line originating from the light source, and cast "toward" this corner point
//that is exactly the distance of the light's normal max range
target -= light_origin;
target.Normalize();
target = target * ray_length;
//cast two more rays at slight angle offsets, to deal with corner edge cases
//(only 2, so everything after this is doubled, because loops are silly for only 2 elements)
Vector2 target_neg = Vector2.Transform(target, Matrix.CreateRotationZ(-0.0001f));
Vector2 target_pos = Vector2.Transform(target, Matrix.CreateRotationZ(0.0001f));
target_neg += light_origin;
target_pos += light_origin;
//perform the ray cast, and figure out what to do about the result
float closestFractionNeg = Math.Min(rayCast(light_origin, target_neg), 1f);
float closestFractionPos = Math.Min(rayCast(light_origin, target_pos), 1f);
Vector2 intersectPointPos = light_origin + closestFractionPos * (target_pos - light_origin);
Vector2 intersectPointNeg = light_origin + closestFractionNeg * (target_neg - light_origin);
if (game.input.DevMode)
{
game.drawLine(light_origin, intersectPointNeg, (Color.White));
game.drawLine(light_origin, intersectPointPos, (Color.White));
}
intersectionPoints[(float)Math.Atan2((float)(intersectPointNeg - light_origin).Y, (float)(intersectPointNeg - light_origin).X)] = intersectPointNeg;
intersectionPoints[(float)Math.Atan2((float)(intersectPointPos - light_origin).Y, (float)(intersectPointPos - light_origin).X)] = intersectPointPos;
}
//now, attempt (poorly) to create a triangle mesh based on our hopefully sorted points
GraphicsDevice gd = game.GraphicsDevice;
//VertexPositionColor[] vertex_list = new VertexPositionColor[_max_rays * 3];
ArrayList vertex_list = new ArrayList();
Color originColor = sprite_color;
Color outsideColor = Color.FromNonPremultiplied(sprite_color.R, sprite_color.G, sprite_color.B, 0);
Color intersectionColor;
bool first = true;
foreach (var intersection in intersectionPoints)
{
intersectionColor = Color.Lerp(originColor, outsideColor, Math.Min(1.0f, ((intersection.Value - light_origin).Length() / (float)ray_length)));
if (!first)
{
//finish the last triangle
vertex_list.Add(new VertexPositionColor(new Vector3(intersection.Value.X, intersection.Value.Y, 0), intersectionColor));
}
//start a new triangle leading with this edge
vertex_list.Add(new VertexPositionColor(new Vector3(light_origin.X, light_origin.Y, 0), sprite_color));
vertex_list.Add(new VertexPositionColor(new Vector3(intersection.Value.X, intersection.Value.Y, 0), intersectionColor));
first = false;
}
intersectionColor = Color.Lerp(originColor, outsideColor, Math.Min(1.0f, ((intersectionPoints.First().Value - light_origin).Length() / (float)ray_length)));
//finish the very last triangle (it loops to the beginning)
vertex_list.Add(new VertexPositionColor(new Vector3(intersectionPoints.First().Value.X, intersectionPoints.First().Value.Y, 0), intersectionColor));
buffer.SetData <VertexPositionColor>((VertexPositionColor[])vertex_list.ToArray(typeof(VertexPositionColor)));
gd.SetVertexBuffer(buffer);
//make sure the light shader is set up
light_shader.World = Matrix.CreateTranslation(new Vector3(-game.camera.X / 10, -game.camera.Y / 10, 0));
light_shader.CurrentTechnique.Passes[0].Apply();
//draw them primitives!
gd.DrawPrimitives(PrimitiveType.TriangleList, 0, intersectionPoints.Count);
}
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 SliderCrank()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var prevBody = ground;
// Define crank.
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = new Vector2(0.0f, 7.0f);
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(0.0f, 5.0f));
rjd.MotorSpeed = 1.0f * Settings.Pi;
rjd.MaxMotorTorque = 10000.0f;
rjd.EnableMotor = true;
_joint1 = (RevoluteJoint)World.CreateJoint(rjd);
prevBody = body;
}
// Define follower.
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f);
var bd = new BodyDef {
BodyType = BodyType.DynamicBody, Position = new Vector2(0.0f, 13.0f)
};
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(0.0f, 9.0f));
rjd.EnableMotor = false;
World.CreateJoint(rjd);
prevBody = body;
}
// Define piston
{
var shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
var bd = new BodyDef
{
BodyType = BodyType.DynamicBody, FixedRotation = true,
Position = new Vector2(0.0f, 17.0f)
};
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(0.0f, 17.0f));
World.CreateJoint(rjd);
var pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vector2(0.0f, 17.0f), new Vector2(0.0f, 1.0f));
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
_joint2 = (PrismaticJoint)World.CreateJoint(pjd);
}
// Create a payload
{
var shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = new Vector2(0.0f, 23.0f);
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
}
}
}
public static Fixture AttachEdge(Vector2 start, Vector2 end, Body body, object userData)
{
EdgeShape edgeShape = new EdgeShape(start, end);
return(body.CreateFixture(edgeShape, userData));
}
public Web()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-5.0f, 5.0f);
_bodies[0] = World.CreateBody(bd);
_bodies[0].CreateFixture(shape, 5.0f);
bd.Position.Set(5.0f, 5.0f);
_bodies[1] = World.CreateBody(bd);
_bodies[1].CreateFixture(shape, 5.0f);
bd.Position.Set(5.0f, 15.0f);
_bodies[2] = World.CreateBody(bd);
_bodies[2].CreateFixture(shape, 5.0f);
bd.Position.Set(-5.0f, 15.0f);
_bodies[3] = World.CreateBody(bd);
_bodies[3].CreateFixture(shape, 5.0f);
var jd = new DistanceJointDef();
Vector2 p1;
Vector2 p2;
Vector2 d;
jd.FrequencyHz = 2.0f;
jd.DampingRatio = 0.0f;
jd.BodyA = ground;
jd.BodyB = _bodies[0];
jd.LocalAnchorA.Set(-10.0f, 0.0f);
jd.LocalAnchorB.Set(-0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
_joints[0] = World.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = _bodies[1];
jd.LocalAnchorA.Set(10.0f, 0.0f);
jd.LocalAnchorB.Set(0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
_joints[1] = World.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = _bodies[2];
jd.LocalAnchorA.Set(10.0f, 20.0f);
jd.LocalAnchorB.Set(0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
_joints[2] = World.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = _bodies[3];
jd.LocalAnchorA.Set(-10.0f, 20.0f);
jd.LocalAnchorB.Set(-0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
_joints[3] = World.CreateJoint(jd);
jd.BodyA = _bodies[0];
jd.BodyB = _bodies[1];
jd.LocalAnchorA.Set(0.5f, 0.0f);
jd.LocalAnchorB.Set(-0.5f, 0.0f);
;
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
_joints[4] = World.CreateJoint(jd);
jd.BodyA = _bodies[1];
jd.BodyB = _bodies[2];
jd.LocalAnchorA.Set(0.0f, 0.5f);
jd.LocalAnchorB.Set(0.0f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
_joints[5] = World.CreateJoint(jd);
jd.BodyA = _bodies[2];
jd.BodyB = _bodies[3];
jd.LocalAnchorA.Set(-0.5f, 0.0f);
jd.LocalAnchorB.Set(0.5f, 0.0f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
_joints[6] = World.CreateJoint(jd);
jd.BodyA = _bodies[3];
jd.BodyB = _bodies[0];
jd.LocalAnchorA.Set(0.0f, -0.5f);
jd.LocalAnchorB.Set(0.0f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
_joints[7] = World.CreateJoint(jd);
}
}
private ApplyForceTest()
{
World.Gravity = Vector2.Zero;
const float restitution = 0.4f;
Body ground;
{
ground = BodyFactory.CreateBody(World);
ground.Position = new Vector2(0.0f, 20.0f);
EdgeShape shape = new EdgeShape(new Vector2(-20.0f, -20.0f), new Vector2(-20.0f, 20.0f));
// Left vertical
Fixture fixture = ground.CreateFixture(shape);
fixture.Restitution = restitution;
// Right vertical
shape = new EdgeShape(new Vector2(20.0f, -20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(shape);
// Top horizontal
shape = new EdgeShape(new Vector2(-20.0f, 20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(shape);
// Bottom horizontal
shape = new EdgeShape(new Vector2(-20.0f, -20.0f), new Vector2(20.0f, -20.0f));
ground.CreateFixture(shape);
}
{
Transform xf1 = new Transform();
xf1.q.Set(0.3524f * Settings.Pi);
xf1.p = MathUtils.Mul(ref xf1.q, new Vector2(1.0f, 0.0f));
Vertices vertices = new Vertices(3);
vertices.Add(MathUtils.Mul(ref xf1, new Vector2(-1.0f, 0.0f)));
vertices.Add(MathUtils.Mul(ref xf1, new Vector2(1.0f, 0.0f)));
vertices.Add(MathUtils.Mul(ref xf1, new Vector2(0.0f, 0.5f)));
PolygonShape poly1 = new PolygonShape(vertices, 4);
Transform xf2 = new Transform();
xf2.q.Set(-0.3524f * Settings.Pi);
xf2.p = MathUtils.Mul(ref xf2.q, new Vector2(-1.0f, 0.0f));
vertices[0] = MathUtils.Mul(ref xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Mul(ref xf2, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Mul(ref xf2, new Vector2(0.0f, 0.5f));
PolygonShape poly2 = new PolygonShape(vertices, 2);
_body = BodyFactory.CreateBody(World);
_body.BodyType = BodyType.Dynamic;
_body.Position = new Vector2(0.0f, 2.0f);
_body.Rotation = Settings.Pi;
_body.AngularDamping = 5.0f;
_body.LinearDamping = 0.8f;
_body.SleepingAllowed = true;
_body.CreateFixture(poly1);
_body.CreateFixture(poly2);
}
{
Vertices box = PolygonUtils.CreateRectangle(0.5f, 0.5f);
PolygonShape shape = new PolygonShape(box, 1);
for (int i = 0; i < 10; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.Position = new Vector2(0.0f, 5.0f + 1.54f * i);
body.BodyType = BodyType.Dynamic;
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.3f;
const float gravity = 10.0f;
float I = body.Inertia;
float mass = body.Mass;
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = (float)Math.Sqrt(2.0 * (I / mass));
FrictionJoint jd = new FrictionJoint(ground, body, Vector2.Zero);
jd.CollideConnected = true;
jd.MaxForce = mass * gravity;
jd.MaxTorque = mass * radius * gravity;
World.AddJoint(jd);
}
}
}
public CharacterCollision()
{
// Ground body
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
// Collinear edges with no adjacency information.
// This shows the problematic case where a box shape can hit
// an internal vertex.
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-8.0f, 1.0f), new Vector2(-6.0f, 1.0f));
ground.CreateFixture(shape, 0.0f);
shape.Set(new Vector2(-6.0f, 1.0f), new Vector2(-4.0f, 1.0f));
ground.CreateFixture(shape, 0.0f);
shape.Set(new Vector2(-4.0f, 1.0f), new Vector2(-2.0f, 1.0f));
ground.CreateFixture(shape, 0.0f);
}
// Chain shape
{
var bd = new BodyDef {
Angle = 0.25f * Settings.Pi
};
var ground = World.CreateBody(bd);
var vs = new Vector2[4]
{
new Vector2(5.0f, 7.0f),
new Vector2(6.0f, 8.0f),
new Vector2(7.0f, 8.0f),
new Vector2(8.0f, 7.0f)
};
var shape = new ChainShape();
shape.CreateChain(vs);
ground.CreateFixture(shape, 0.0f);
}
// Square tiles. This shows that adjacency shapes may
// have non-smooth collision. There is no solution
// to this problem.
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(1.0f, 1.0f, new Vector2(4.0f, 3.0f), 0.0f);
ground.CreateFixture(shape, 0.0f);
shape.SetAsBox(1.0f, 1.0f, new Vector2(6.0f, 3.0f), 0.0f);
ground.CreateFixture(shape, 0.0f);
shape.SetAsBox(1.0f, 1.0f, new Vector2(8.0f, 3.0f), 0.0f);
ground.CreateFixture(shape, 0.0f);
}
// Square made from an edge loop. Collision should be smooth.
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var vs = new Vector2[4]
{
new Vector2(-1.0f, 3.0f),
new Vector2(1.0f, 3.0f),
new Vector2(1.0f, 5.0f),
new Vector2(-1.0f, 5.0f)
};
var shape = new ChainShape();
shape.CreateLoop(vs);
ground.CreateFixture(shape, 0.0f);
}
// Edge loop. Collision should be smooth.
{
var bd = new BodyDef {
Position = new Vector2(-10.0f, 4.0f)
};
var ground = World.CreateBody(bd);
var vs = new Vector2[10]
{
new Vector2(0.0f, 0.0f),
new Vector2(6.0f, 0.0f),
new Vector2(6.0f, 2.0f),
new Vector2(4.0f, 1.0f),
new Vector2(2.0f, 2.0f),
new Vector2(0.0f, 2.0f),
new Vector2(-2.0f, 2.0f),
new Vector2(-4.0f, 3.0f),
new Vector2(-6.0f, 2.0f),
new Vector2(-6.0f, 0.0f)
};
var shape = new ChainShape();
shape.CreateLoop(vs);
ground.CreateFixture(shape, 0.0f);
}
// Square character 1
{
var bd = new BodyDef
{
Position = new Vector2(-3.0f, 8.0f),
BodyType = BodyType.DynamicBody,
FixedRotation = true,
AllowSleep = false
};
var body = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
var fd = new FixtureDef {
Shape = shape, Density = 20.0f
};
body.CreateFixture(fd);
}
// Square character 2
{
var bd = new BodyDef
{
Position = new Vector2(-5.0f, 5.0f),
BodyType = BodyType.DynamicBody,
FixedRotation = true,
AllowSleep = false
};
var body = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
var fd = new FixtureDef {
Shape = shape, Density = 20.0f
};
body.CreateFixture(fd);
}
// Hexagon character
{
var bd = new BodyDef
{
Position = new Vector2(-5.0f, 8.0f),
BodyType = BodyType.DynamicBody,
FixedRotation = true,
AllowSleep = false
};
var body = World.CreateBody(bd);
var angle = 0.0f;
const float delta = Settings.Pi / 3.0f;
var vertices = new Vector2[6];
for (var i = 0; i < 6; ++i)
{
vertices[i].Set(0.5f * (float)Math.Cos(angle), 0.5f * (float)Math.Sin(angle));
angle += delta;
}
var shape = new PolygonShape();
shape.Set(vertices);
var fd = new FixtureDef {
Shape = shape, Density = 20.0f
};
body.CreateFixture(fd);
}
// Circle character
{
var bd = new BodyDef
{
Position = new Vector2(3.0f, 5.0f),
BodyType = BodyType.DynamicBody,
FixedRotation = true,
AllowSleep = false
};
var body = World.CreateBody(bd);
var shape = new CircleShape {
Radius = 0.5f
};
var fd = new FixtureDef {
Shape = shape, Density = 20.0f
};
body.CreateFixture(fd);
}
// Circle character
{
var bd = new BodyDef
{
Position = new Vector2(-7.0f, 6.0f),
BodyType = BodyType.DynamicBody,
AllowSleep = false
};
_character = World.CreateBody(bd);
var shape = new CircleShape {
Radius = 0.25f
};
var fd = new FixtureDef
{
Shape = shape,
Density = 20.0f,
Friction = 1.0f
};
_character.CreateFixture(fd);
}
}