/**在编辑器更改碰撞器Center时*/
public void onEditShapeCenter(object[] args)
{
Collider2D collider = (Collider2D)args [0];
float cx = (float)args [1];
float cy = (float)args [2];
float oldCX = (float)args[3];
float oldCY = (float)args[4];
b2Fixture[] fixtures = _fixtureDict [collider];
if (fixtures != null)
{
for (int i = 0; i < fixtures.Length; i++)
{
b2Fixture fixture = fixtures[i];
b2Shape s = fixture.GetShape();
if (collider is BoxCollider2D)
{
b2PolygonShape boxShape = s as b2PolygonShape;
BoxCollider2D boxColl = collider as BoxCollider2D;
boxShape.SetAsOrientedBox(boxColl.size.x * 0.5f, boxColl.size.y * 0.5f, new b2Vec2(cx, cy), 0);
scaleShape(boxShape);
_body.SetAwake(true);
}
else if (collider is CircleCollider2D)
{
b2CircleShape circleShape = s as b2CircleShape;
circleShape.SetLocalPosition(new b2Vec2(cx, cy));
scaleShape(circleShape, true);
_body.SetAwake(true);
}
else if (collider is PolygonCollider2D)
{
b2PolygonShape polyShape = s as b2PolygonShape;
PolygonCollider2D polyColl = collider as PolygonCollider2D;
List <b2Vec2> vertices = polyShape.GetVertices();
for (int j = 0; j < vertices.Count; j++)
{
b2Vec2 v = vertices[j];
v.x -= oldCX;
v.y -= oldCY;
v.x += cx;
v.y += cy;
}
//scaleShape(polyShape);
_body.SetAwake(true);
}
}
}
}
/**在编辑器更改碰撞器Density时*/
private void onEditColliderDensity(object[] args)
{
Collider2D collider = (Collider2D)args [0];
float density = (float)args [1];
b2Fixture[] fixtures = _fixtureDict[collider];
if (fixtures != null)
{
b2Fixture[] nFixtures = new b2Fixture[fixtures.Length];
for (int i = 0; i < fixtures.Length; i++)
{
b2Fixture fixture = fixtures[i];
b2Shape s = fixture.GetShape();
_body.DestroyFixture(fixture);
nFixtures[i] = _body.CreateFixture2(s, density);
}
_fixtureDict[collider] = nFixtures;
_body.SetAwake(true);
}
}
/**在编辑器更改碰撞器的形状Shape时*/
private void onEditShape(object[] args)
{
Collider2D collider = (Collider2D)args [0];
b2Fixture[] fixtures = _fixtureDict [collider];
if (collider is BoxCollider2D)
{
b2Fixture fixture = fixtures[0];
b2Shape s = fixture.GetShape();
float sizeX = (float)args [1];
float sizeY = (float)args [2];
BoxCollider2D boxColl = collider as BoxCollider2D;
b2PolygonShape polygon = s as b2PolygonShape;
polygon.SetAsOrientedBox(sizeX * 0.5f, sizeY * 0.5f, new b2Vec2(boxColl.offset.x, boxColl.offset.y), 0);
scaleShape(polygon);
_body.SetAwake(true);
}
else if (collider is PolygonCollider2D)
{
Vector2[] points = (Vector2[])args[1];
int len = points.Length;
b2Vec2[] vertices = new b2Vec2[len];
for (int i = 0; i < len; i++)
{
vertices[i] = new b2Vec2(points[i].x, points[i].y);
}
b2FixtureDef fixtureDef = new b2FixtureDef();
fixtureDef.density = fixtures[0].GetDensity();
fixtureDef.friction = fixtures[0].GetFriction();
fixtureDef.isSensor = fixtures[0].IsSensor();
fixtureDef.restitution = fixtures[0].GetRestitution();
int j = fixtures.Length;
while (--j >= 0)
{
_body.DestroyFixture(fixtures[j]);
}
b2Separator sep = new b2Separator();
_fixtureDict [collider] = sep.Separate(_body, fixtureDef, vertices, 1);
fixtures = _fixtureDict [collider];
for (j = 0; j < fixtures.Length; j++)
{
scaleShape(fixtures[j].GetShape());
}
_body.SetAwake(true);
}
else if (collider is CircleCollider2D)
{
b2Fixture fixture = fixtures[0];
float radius = (float)args[1];
float cx = (float)args[2];
float cy = (float)args[3];
b2Shape s = fixture.GetShape();
b2CircleShape circle = s as b2CircleShape;
circle.SetRadius(radius);
circle.SetLocalPosition(new b2Vec2(cx, cy));
scaleShape(circle);
_body.SetAwake(true);
}
}
public override byte[] Render(bool toRgbArray = false)
{
if (Viewer == null)
{
Viewer = new Rendering.Viewer(VIEWPORT_W, VIEWPORT_H);
}
Viewer.SetBounds(scroll, VIEWPORT_W / SCALE + scroll, 0, VIEWPORT_H / SCALE);
Viewer.DrawPolygon(new List <float[]> {
new float[] { scroll, 0 },
new float[] { scroll + VIEWPORT_W / SCALE, 0 },
new float[] { scroll + VIEWPORT_W / SCALE, VIEWPORT_H / SCALE },
new float[] { scroll, VIEWPORT_H / SCALE }
}).SetColor(0.9f, 0.9f, 1.0f);
foreach (var cloud_data in cloud_poly)
{
var poly = cloud_data.Item1;
var pos_data = cloud_data.Item2;
if (pos_data.y < scroll / 2)
{
continue;
}
if (pos_data.x > scroll / 2 + VIEWPORT_W / SCALE)
{
continue;
}
Viewer.DrawPolygon(poly.Select(p => new[] { p[0] + scroll / 2, p[1] }).ToList()).SetColor(1, 1, 1);
}
foreach (var terrain_data in terrain_poly)
{
var poly = terrain_data.Item1;
var color = terrain_data.Item2;
if (poly[1][0] < scroll)
{
continue;
}
if (poly[0][0] > scroll + VIEWPORT_W / SCALE)
{
continue;
}
Viewer.DrawPolygon(poly).SetColor(color.x, color.y, color.z);
}
lidar_render = (lidar_render + 1) % 100;
int i = lidar_render;
if (i < 2 * lidar.Length)
{
var l = i < lidar.Length ? lidar[i] : lidar[2 * lidar.Length - i - 1];
Viewer.DrawPolyline(new List <float[]> {
new float[] { l.P1.x, l.P1.y }, new float[] { l.P2.x, l.P2.y }
}).SetColor(1, 0, 0).SetLineWidth(1);
}
foreach (var obj in drawlist)
{
for (b2Fixture f = obj.GetFixtureList(); f != null; f = f.GetNext())
{
var xform = f.GetBody().GetTransform();
if (f.GetShape() is b2CircleShape)
{
var shape = (f.GetShape() as b2CircleShape);
var customData = (obj.GetUserData() as CustomBodyData);
var trans = Utils.b2Mul(xform, shape.m_p);
var t = new Rendering.Transform(new float[] { trans[0], trans[1] });
Viewer.DrawCircle(shape.m_radius, 30).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z).AddAttr(t);
Viewer.DrawCircle(shape.m_radius, 30, false).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2).AddAttr(t);
}
else
{
var shape = f.GetShape();
var customData = (obj.GetUserData() as CustomBodyData);
var path = shape.GetVertices().Select(v => { var trans = Utils.b2Mul(xform, v); return(new float[] { trans[0], trans[1] }); }).ToList();
Viewer.DrawPolygon(path).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z);
path.Add(path[0]);
Viewer.DrawPolyline(path).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2);
}
}
}
var flagy1 = TERRAIN_HEIGHT;
var flagy2 = flagy1 + 50 / SCALE;
var x = TERRAIN_STEP * 3;
Viewer.DrawPolyline(new List <float[]> {
new float[] { x, flagy1 }, new float[] { x, flagy2 }
}).SetColor(0, 0, 0).SetLineWidth(2);
var flagVert = new List <float[]> {
new float[] { x, flagy2 }, new float[] { x, flagy2 - 10 / SCALE }, new float[] { x + 25 / SCALE, flagy2 - 5 / SCALE }
};
Viewer.DrawPolygon(flagVert).SetColor(0.9f, 0.2f, 0);
flagVert.Add(flagVert[0]);
Viewer.DrawPolyline(flagVert).SetColor(0, 0, 0).SetLineWidth(2);
Viewer.Render();
return(null);
}
public override byte[] Render(bool toRgbArray = false)
{
if (Viewer == null)
{
Viewer = new Rendering.Viewer(VIEWPORT_W, VIEWPORT_H);
Viewer.SetBounds(0, VIEWPORT_W / SCALE, 0, VIEWPORT_H / SCALE);
}
foreach (var obj in particles)
{
var data = obj.GetUserData() as CustomBodyData;
data.TimeToLive -= 0.15f;
data.Color1 = new b2Vec3((float)Math.Max(0.2, 0.2 + data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive));
data.Color2 = new b2Vec3((float)Math.Max(0.2, 0.2 + data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive));
}
CleanParticles(false);
foreach (var p in sky_polys)
{
Viewer.DrawPolygon(p).SetColor(0, 0, 0);
}
foreach (var obj in particles.Concat(drawlist))
{
for (b2Fixture f = obj.GetFixtureList(); f != null; f = f.GetNext())
{
var xform = f.GetBody().GetTransform();
if (f.GetShape() is b2CircleShape)
{
var shape = (f.GetShape() as b2CircleShape);
var customData = (obj.GetUserData() as CustomBodyData);
var trans = Utils.b2Mul(xform, shape.m_p);
var t = new Rendering.Transform(new float[] { trans[0], trans[1] });
Viewer.DrawCircle(shape.m_radius, 20).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z).AddAttr(t);
Viewer.DrawCircle(shape.m_radius, 20, false).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2).AddAttr(t);
}
else
{
var shape = f.GetShape();
var customData = (obj.GetUserData() as CustomBodyData);
var path = shape.GetVertices().Select(v => { var trans = Utils.b2Mul(xform, v); return(new float[] { trans[0], trans[1] }); }).ToList();
Viewer.DrawPolygon(path).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z);
path.Add(path[0]);
Viewer.DrawPolyline(path).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2);
}
}
}
foreach (var x in new[] { helipad_x1, helipad_x2 })
{
var flagy1 = helipad_y;
var flagy2 = flagy1 + 50 / SCALE;
Viewer.DrawPolyline(new List <float[]> {
new float[] { x, flagy1 }, new float[] { x, flagy2 }
}).SetColor(1, 1, 1);
Viewer.DrawPolygon(new List <float[]> {
new float[] { x, flagy2 }, new float[] { x, flagy2 - 10 / SCALE }, new float[] { x + 25 / SCALE, flagy2 - 5 / SCALE }
}).SetColor(0.8f, 0.8f, 0);
}
Viewer.Render();
return(null);
}
public b2ContactSolver(b2ContactSolverDef def)
{
m_step = def.step;
m_count = def.count;
m_positionConstraints = Arrays.InitializeWithDefaultInstances <b2ContactPositionConstraint>(m_count);
m_velocityConstraints = Arrays.InitializeWithDefaultInstances <b2ContactVelocityConstraint>(m_count);
m_positions = def.positions;
m_velocities = def.velocities;
m_contacts = def.contacts;
// Initialize position independent portions of the constraints.
for (int i = 0; i < m_count; ++i)
{
b2Contact contact = m_contacts[i];
b2Fixture fixtureA = contact.m_fixtureA;
b2Fixture fixtureB = contact.m_fixtureB;
b2Shape shapeA = fixtureA.GetShape();
b2Shape shapeB = fixtureB.GetShape();
float radiusA = shapeA.m_radius;
float radiusB = shapeB.m_radius;
b2Body bodyA = fixtureA.GetBody();
b2Body bodyB = fixtureB.GetBody();
b2Manifold manifold = contact.GetManifold();
int pointCount = manifold.pointCount;
Debug.Assert(pointCount > 0);
b2ContactVelocityConstraint vc = m_velocityConstraints[i];
vc.friction = contact.m_friction;
vc.restitution = contact.m_restitution;
vc.tangentSpeed = contact.m_tangentSpeed;
vc.indexA = bodyA.m_islandIndex;
vc.indexB = bodyB.m_islandIndex;
vc.invMassA = bodyA.m_invMass;
vc.invMassB = bodyB.m_invMass;
vc.invIA = bodyA.m_invI;
vc.invIB = bodyB.m_invI;
vc.contactIndex = i;
vc.pointCount = pointCount;
vc.K.SetZero();
vc.normalMass.SetZero();
b2ContactPositionConstraint pc = m_positionConstraints[i];
pc.indexA = bodyA.m_islandIndex;
pc.indexB = bodyB.m_islandIndex;
pc.invMassA = bodyA.m_invMass;
pc.invMassB = bodyB.m_invMass;
pc.localCenterA = bodyA.m_sweep.localCenter;
pc.localCenterB = bodyB.m_sweep.localCenter;
pc.invIA = bodyA.m_invI;
pc.invIB = bodyB.m_invI;
pc.localNormal = manifold.localNormal;
pc.localPoint = manifold.localPoint;
pc.pointCount = pointCount;
pc.radiusA = radiusA;
pc.radiusB = radiusB;
pc.type = manifold.type;
for (int j = 0; j < pointCount; ++j)
{
b2ManifoldPoint cp = manifold.points[j];
b2VelocityConstraintPoint vcp = vc.points[j];
if (m_step.warmStarting)
{
vcp.normalImpulse = m_step.dtRatio * cp.normalImpulse;
vcp.tangentImpulse = m_step.dtRatio * cp.tangentImpulse;
}
else
{
vcp.normalImpulse = 0.0f;
vcp.tangentImpulse = 0.0f;
}
vcp.rA.SetZero();
vcp.rB.SetZero();
vcp.normalMass = 0.0f;
vcp.tangentMass = 0.0f;
vcp.velocityBias = 0.0f;
pc.localPoints[j] = cp.localPoint;
}
}
}
public override void Step(b2TimeStep step)
{
if (m_bodyList == null)
{
return;
}
if (useWorldGravity)
{
gravity = GetWorld().GetGravity().Copy();
}
for (b2ControllerEdge i = m_bodyList; i != null; i = i.nextBody)
{
b2Body body = i.body;
if (body.IsAwake() == false)
{
//Buoyancy force is just a function of position,
//so unlike most forces, it is safe to ignore sleeping bodes
continue;
}
b2Vec2 areac = new b2Vec2();
b2Vec2 massc = new b2Vec2();
float area = 0.0f;
float mass = 0.0f;
for (b2Fixture fixture = body.GetFixtureList(); fixture != null; fixture = fixture.GetNext())
{
b2Vec2 sc = new b2Vec2();
float sarea = fixture.GetShape().ComputeSubmergedArea(normal, offset, body.GetTransform(), sc);
area += sarea;
areac.x += sarea * sc.x;
areac.y += sarea * sc.y;
float shapeDensity;
if (useDensity)
{
//TODO: Figure out what to do now density is gone
shapeDensity = 1.0f;
}
else
{
shapeDensity = 1.0f;
}
mass += sarea * shapeDensity;
massc.x += sarea * sc.x * shapeDensity;
massc.y += sarea * sc.y * shapeDensity;
}
areac.x /= area;
areac.y /= area;
massc.x /= mass;
massc.y /= mass;
if (area < float.MinValue)
{
continue;
}
//Buoyancy
b2Vec2 buoyancyForce = gravity.GetNegative();
buoyancyForce.Multiply(density * area);
body.ApplyForce(buoyancyForce, massc);
//Linear drag
b2Vec2 dragForce = body.GetLinearVelocityFromWorldPoint(areac);
dragForce.Subtract(velocity);
dragForce.Multiply(-linearDrag * area);
body.ApplyForce(dragForce, areac);
//Angular drag
//TODO: Something that makes more physical sense?
body.ApplyTorque(-body.GetInertia() / body.GetMass() * area * body.GetAngularVelocity() * angularDrag);
}
}