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);
    }
  }
Example #2
0
  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;
    }
  }
Example #3
0
  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;
      }
    }
  }