public void drawBranch(Branch branch) {
// only draw the branch if it is marked as active
float leafSize =
1.f
+ Main.sqrt(
Main.pow(branch.endX - branch.startX, 2)
+ Main.pow(branch.endY - branch.startY, 2))
/ 160.0f;
if (branch.activeP) {
float alpha = 255.0f;
// if the branch hasn't stopped growing, the alpha is less than 255.0
if (!branch.stoppedGrowing) {
alpha =
255.0f
* (float)
((double) (System.nanoTime() - branch.startGrowTimestamp)
/ (double) Tree.BRANCH_GROW_TIME);
if (alpha >= 255.0f) branch.stoppedGrowing = true;
}
p.stroke(0, 100, 0, alpha);
p.fill(0, 255, 0, alpha);
// Get the shape of the box2d body, and get its coordinates
p.beginShape();
// get the body transform so that we can convert the shape's coordinates to world coordinates
Transform transform = branch.body.getTransform();
Vec2 pos;
for (Fixture f = branch.body.getFixtureList(); f != null; f = f.getNext()) {
PolygonShape shape = (PolygonShape) f.getShape();
for (int i = 0; i < shape.getVertexCount(); i++) {
// apply the transform to the shape coordinates, and
// then convert box2d coordinates to processing coordinates
pos = box2d.coordWorldToPixels(Transform.mul(transform, shape.getVertex(i)));
p.vertex(pos.x, pos.y);
}
}
p.endShape(Main.CLOSE);
// draw leafs after the other branches
p.pushMatrix();
CPoint2 leafPos = branch.getLeafPosition();
p.translate(leafPos.x, leafPos.y);
// p.rotate(leafAngle);
p.rotate(-branch.body.getAngle() + -0.25f * Main.PI); // + Main.PI);
p.noStroke();
p.fill(0, 255, 0, alpha * 0.25f);
p.ellipseMode(Main.CORNER);
float s = 0.0f;
for (int i = 7; i > 2; i--) {
s = leafSize * i;
p.ellipse(0, 0, s, s);
}
p.ellipse(0, 0, s, s);
p.popMatrix();
p.strokeWeight(1.0f);
}
}
private void drawShape(Fixture fixture, Transform xf, Color3f color) {
switch (fixture.getType()) {
case CIRCLE:
{
CircleShape circle = (CircleShape) fixture.getShape();
// Vec2 center = Mul(xf, circle.m_p);
Transform.mulToOutUnsafe(xf, circle.m_p, center);
float radius = circle.m_radius;
xf.q.getXAxis(axis);
if (fixture.getUserData() != null && fixture.getUserData().equals(LIQUID_INT)) {
Body b = fixture.getBody();
liquidOffset.set(b.m_linearVelocity);
float linVelLength = b.m_linearVelocity.length();
if (averageLinearVel == -1) {
averageLinearVel = linVelLength;
} else {
averageLinearVel = .98f * averageLinearVel + .02f * linVelLength;
}
liquidOffset.mulLocal(liquidLength / averageLinearVel / 2);
circCenterMoved.set(center).addLocal(liquidOffset);
center.subLocal(liquidOffset);
m_debugDraw.drawSegment(center, circCenterMoved, liquidColor);
return;
}
m_debugDraw.drawSolidCircle(center, radius, axis, color);
}
break;
case POLYGON:
{
PolygonShape poly = (PolygonShape) fixture.getShape();
int vertexCount = poly.m_count;
assert (vertexCount <= Settings.maxPolygonVertices);
Vec2[] vertices = tlvertices.get(Settings.maxPolygonVertices);
for (int i = 0; i < vertexCount; ++i) {
// vertices[i] = Mul(xf, poly.m_vertices[i]);
Transform.mulToOutUnsafe(xf, poly.m_vertices[i], vertices[i]);
}
m_debugDraw.drawSolidPolygon(vertices, vertexCount, color);
}
break;
case EDGE:
{
EdgeShape edge = (EdgeShape) fixture.getShape();
Transform.mulToOutUnsafe(xf, edge.m_vertex1, v1);
Transform.mulToOutUnsafe(xf, edge.m_vertex2, v2);
m_debugDraw.drawSegment(v1, v2, color);
}
break;
case CHAIN:
{
ChainShape chain = (ChainShape) fixture.getShape();
int count = chain.m_count;
Vec2[] vertices = chain.m_vertices;
Transform.mulToOutUnsafe(xf, vertices[0], v1);
for (int i = 1; i < count; ++i) {
Transform.mulToOutUnsafe(xf, vertices[i], v2);
m_debugDraw.drawSegment(v1, v2, color);
m_debugDraw.drawCircle(v1, 0.05f, color);
v1.set(v2);
}
}
break;
default:
break;
}
}
private void solveTOI(final TimeStep step) {
final Island island = toiIsland;
island.init(
2 * Settings.maxTOIContacts,
Settings.maxTOIContacts,
0,
m_contactManager.m_contactListener);
if (m_stepComplete) {
for (Body b = m_bodyList; b != null; b = b.m_next) {
b.m_flags &= ~Body.e_islandFlag;
b.m_sweep.alpha0 = 0.0f;
}
for (Contact c = m_contactManager.m_contactList; c != null; c = c.m_next) {
// Invalidate TOI
c.m_flags &= ~(Contact.TOI_FLAG | Contact.ISLAND_FLAG);
c.m_toiCount = 0;
c.m_toi = 1.0f;
}
}
// Find TOI events and solve them.
for (; ; ) {
// Find the first TOI.
Contact minContact = null;
float minAlpha = 1.0f;
for (Contact c = m_contactManager.m_contactList; c != null; c = c.m_next) {
// Is this contact disabled?
if (c.isEnabled() == false) {
continue;
}
// Prevent excessive sub-stepping.
if (c.m_toiCount > Settings.maxSubSteps) {
continue;
}
float alpha = 1.0f;
if ((c.m_flags & Contact.TOI_FLAG) != 0) {
// This contact has a valid cached TOI.
alpha = c.m_toi;
} else {
Fixture fA = c.getFixtureA();
Fixture fB = c.getFixtureB();
// Is there a sensor?
if (fA.isSensor() || fB.isSensor()) {
continue;
}
Body bA = fA.getBody();
Body bB = fB.getBody();
BodyType typeA = bA.m_type;
BodyType typeB = bB.m_type;
assert (typeA == BodyType.DYNAMIC || typeB == BodyType.DYNAMIC);
boolean activeA = bA.isAwake() && typeA != BodyType.STATIC;
boolean activeB = bB.isAwake() && typeB != BodyType.STATIC;
// Is at least one body active (awake and dynamic or kinematic)?
if (activeA == false && activeB == false) {
continue;
}
boolean collideA = bA.isBullet() || typeA != BodyType.DYNAMIC;
boolean collideB = bB.isBullet() || typeB != BodyType.DYNAMIC;
// Are these two non-bullet dynamic bodies?
if (collideA == false && collideB == false) {
continue;
}
// Compute the TOI for this contact.
// Put the sweeps onto the same time interval.
float alpha0 = bA.m_sweep.alpha0;
if (bA.m_sweep.alpha0 < bB.m_sweep.alpha0) {
alpha0 = bB.m_sweep.alpha0;
bA.m_sweep.advance(alpha0);
} else if (bB.m_sweep.alpha0 < bA.m_sweep.alpha0) {
alpha0 = bA.m_sweep.alpha0;
bB.m_sweep.advance(alpha0);
}
assert (alpha0 < 1.0f);
int indexA = c.getChildIndexA();
int indexB = c.getChildIndexB();
// Compute the time of impact in interval [0, minTOI]
final TOIInput input = toiInput;
input.proxyA.set(fA.getShape(), indexA);
input.proxyB.set(fB.getShape(), indexB);
input.sweepA.set(bA.m_sweep);
input.sweepB.set(bB.m_sweep);
input.tMax = 1.0f;
pool.getTimeOfImpact().timeOfImpact(toiOutput, input);
// Beta is the fraction of the remaining portion of the .
float beta = toiOutput.t;
if (toiOutput.state == TOIOutputState.TOUCHING) {
alpha = MathUtils.min(alpha0 + (1.0f - alpha0) * beta, 1.0f);
} else {
alpha = 1.0f;
}
c.m_toi = alpha;
c.m_flags |= Contact.TOI_FLAG;
}
if (alpha < minAlpha) {
// This is the minimum TOI found so far.
minContact = c;
minAlpha = alpha;
}
}
if (minContact == null || 1.0f - 10.0f * Settings.EPSILON < minAlpha) {
// No more TOI events. Done!
m_stepComplete = true;
break;
}
// Advance the bodies to the TOI.
Fixture fA = minContact.getFixtureA();
Fixture fB = minContact.getFixtureB();
Body bA = fA.getBody();
Body bB = fB.getBody();
backup1.set(bA.m_sweep);
backup2.set(bB.m_sweep);
bA.advance(minAlpha);
bB.advance(minAlpha);
// The TOI contact likely has some new contact points.
minContact.update(m_contactManager.m_contactListener);
minContact.m_flags &= ~Contact.TOI_FLAG;
++minContact.m_toiCount;
// Is the contact solid?
if (minContact.isEnabled() == false || minContact.isTouching() == false) {
// Restore the sweeps.
minContact.setEnabled(false);
bA.m_sweep.set(backup1);
bB.m_sweep.set(backup2);
bA.synchronizeTransform();
bB.synchronizeTransform();
continue;
}
bA.setAwake(true);
bB.setAwake(true);
// Build the island
island.clear();
island.add(bA);
island.add(bB);
island.add(minContact);
bA.m_flags |= Body.e_islandFlag;
bB.m_flags |= Body.e_islandFlag;
minContact.m_flags |= Contact.ISLAND_FLAG;
// Get contacts on bodyA and bodyB.
tempBodies[0] = bA;
tempBodies[1] = bB;
for (int i = 0; i < 2; ++i) {
Body body = tempBodies[i];
if (body.m_type == BodyType.DYNAMIC) {
for (ContactEdge ce = body.m_contactList; ce != null; ce = ce.next) {
if (island.m_bodyCount == island.m_bodyCapacity) {
break;
}
if (island.m_contactCount == island.m_contactCapacity) {
break;
}
Contact contact = ce.contact;
// Has this contact already been added to the island?
if ((contact.m_flags & Contact.ISLAND_FLAG) != 0) {
continue;
}
// Only add static, kinematic, or bullet bodies.
Body other = ce.other;
if (other.m_type == BodyType.DYNAMIC
&& body.isBullet() == false
&& other.isBullet() == false) {
continue;
}
// Skip sensors.
boolean sensorA = contact.m_fixtureA.m_isSensor;
boolean sensorB = contact.m_fixtureB.m_isSensor;
if (sensorA || sensorB) {
continue;
}
// Tentatively advance the body to the TOI.
backup1.set(other.m_sweep);
if ((other.m_flags & Body.e_islandFlag) == 0) {
other.advance(minAlpha);
}
// Update the contact points
contact.update(m_contactManager.m_contactListener);
// Was the contact disabled by the user?
if (contact.isEnabled() == false) {
other.m_sweep.set(backup1);
other.synchronizeTransform();
continue;
}
// Are there contact points?
if (contact.isTouching() == false) {
other.m_sweep.set(backup1);
other.synchronizeTransform();
continue;
}
// Add the contact to the island
contact.m_flags |= Contact.ISLAND_FLAG;
island.add(contact);
// Has the other body already been added to the island?
if ((other.m_flags & Body.e_islandFlag) != 0) {
continue;
}
// Add the other body to the island.
other.m_flags |= Body.e_islandFlag;
if (other.m_type != BodyType.STATIC) {
other.setAwake(true);
}
island.add(other);
}
}
}
subStep.dt = (1.0f - minAlpha) * step.dt;
subStep.inv_dt = 1.0f / subStep.dt;
subStep.dtRatio = 1.0f;
subStep.positionIterations = 20;
subStep.velocityIterations = step.velocityIterations;
subStep.warmStarting = false;
island.solveTOI(subStep, bA.m_islandIndex, bB.m_islandIndex);
// Reset island flags and synchronize broad-phase proxies.
for (int i = 0; i < island.m_bodyCount; ++i) {
Body body = island.m_bodies[i];
body.m_flags &= ~Body.e_islandFlag;
if (body.m_type != BodyType.DYNAMIC) {
continue;
}
body.synchronizeFixtures();
// Invalidate all contact TOIs on this displaced body.
for (ContactEdge ce = body.m_contactList; ce != null; ce = ce.next) {
ce.contact.m_flags &= ~(Contact.TOI_FLAG | Contact.ISLAND_FLAG);
}
}
// Commit fixture proxy movements to the broad-phase so that new contacts are created.
// Also, some contacts can be destroyed.
m_contactManager.findNewContacts();
if (m_subStepping) {
m_stepComplete = false;
break;
}
}
}