@Override
public void start() {
super.start();
environment =
new Continuous2D(1.0, config.getEnvironmentWidth(), config.getEnvironmentHeight());
drawProxy = new DrawProxy(environment.getWidth(), environment.getHeight());
environment.setObjectLocation(drawProxy, new Double2D());
physicsWorld = new World(new Vec2());
placementArea =
new PlacementArea((float) environment.getWidth(), (float) environment.getHeight());
placementArea.setSeed(config.getSimulationSeed());
schedule.reset();
System.gc();
physicsWorld.setContactListener(contactListener);
// Create ALL the objects
createWalls();
createTargetArea();
robotFactory.placeInstances(
placementArea.new ForType<>(), physicsWorld, config.getTargetAreaPlacement());
config.getResourceFactory().placeInstances(placementArea.new ForType<>(), physicsWorld);
// Now actually add the objects that have been placed to the world and schedule
for (PhysicalObject object : placementArea.getPlacedObjects()) {
drawProxy.registerDrawable(object.getPortrayal());
schedule.scheduleRepeating(object);
}
schedule.scheduleRepeating(
simState -> physicsWorld.step(TIME_STEP, VELOCITY_ITERATIONS, POSITION_ITERATIONS));
}
/**
* Creates a fixture and attach it to this body. Use this function if you need to set some fixture
* parameters, like friction. Otherwise you can create the fixture directly from a shape. If the
* density is non-zero, this function automatically updates the mass of the body. Contacts are not
* created until the next time step.
*
* @param def the fixture definition.
* @warning This function is locked during callbacks.
*/
public final Fixture createFixture(FixtureDef def) {
assert (m_world.isLocked() == false);
if (m_world.isLocked() == true) {
return null;
}
// djm TODO from pool?
Fixture fixture = new Fixture();
fixture.create(this, def);
if ((m_flags & e_activeFlag) == e_activeFlag) {
BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
fixture.createProxy(broadPhase, m_xf);
}
fixture.m_next = m_fixtureList;
m_fixtureList = fixture;
++m_fixtureCount;
fixture.m_body = this;
// Adjust mass properties if needed.
if (fixture.m_density > 0.0f) {
resetMassData();
}
// Let the world know we have a new fixture. This will cause new contacts
// to be created at the beginning of the next time step.
m_world.m_flags |= World.NEW_FIXTURE;
return fixture;
}
/**
* Notification that this body is being added to the world
*
* @param world The world this body is being added to
*/
void addToWorld(World world) {
org.jbox2d.dynamics.World jboxWorld = world.getJBoxWorld();
jboxBody = jboxWorld.createBody(jboxBodyDef);
shape.createInBody(this);
if (!staticBody) {
jboxBody.setMassFromShapes();
} else {
jboxBody.m_type = org.jbox2d.dynamics.Body.e_staticType;
}
}
private Body initPhysicsBody(World world, float x, float y) {
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType.DYNAMIC;
bodyDef.position = new Vec2(0, 0);
Body body = world.createBody(bodyDef);
PolygonShape shape = new PolygonShape();
Transform fx = new Transform();
fx.position.set(100f, 100f);
shape.centroid(fx);
shape.setAsBox(
sprite.layer().width() * GameScreen.M_PER_PIXEL / 2,
sprite.layer().height() * GameScreen.M_PER_PIXEL / 2);
FixtureDef fixtureDef = new FixtureDef();
fixtureDef.shape = shape;
fixtureDef.density = 0.4f;
fixtureDef.friction = 0.1f;
fixtureDef.restitution = 0f;
body.createFixture(fixtureDef);
body.setLinearDamping(0.2f);
body.setTransform(new Vec2(x, y), 0f);
// MassData md = body.getMassData();
// massD.center.set(2f, 0); body.setMassData(massD);
return body;
}
/** 创建多边形物体 */
private void createBody() {
// 定义物体的形状是多边形形状
PolygonShape shape = new PolygonShape();
shape.set(vecs, edge);
// 设置多边形物体的一些固定的物理属性
FixtureDef fd = new FixtureDef();
fd.shape = shape;
// 固定设置参数
fd.density = 5.0f; // 密度
fd.friction = 0.3f; // 摩擦系数
fd.restitution = restitution; // 恢复系数
BodyDef bd = new BodyDef();
bd.position.set(x, y);
bd.type = BodyType.DYNAMIC;
bd.angle = angle;
bd.allowSleep = true;
bd.setAwake(true);
// 根据bodyDef创建物体到世界中
body = world.createBody(bd);
// 设置好物体的固定属性
body.createFixture(fd);
}
public void update(GameContainer arg0, int arg1) throws SlickException {
world.step(timeStep, velocityIterations, positionIterations);
Fixture fa = cDetect.fa;
Fixture fb = cDetect.fb;
if (fa != null && fb != null) {
player1.checkDeleteFixture(fa, fb);
player2.checkDeleteFixture(fa, fb);
asteroids.damageAsteroid(fa);
asteroids.damageAsteroid(fb);
}
player1.batteryLeft = 100f;
player1.calcForce(input, arg1, player2.player.getPosition());
player2.calcForceCPU(
player1.player.getPosition(), asteroids.asteroids, new ArrayList<Vec2>(), arg1);
player1.checkDeath();
player2.checkDeath();
if (player1.dead) {
over = true;
}
if (player2.dead) {
winner += 1; // In this case, winner will be used to determine score
world.destroyBody(player2.player);
player2 = new ShipCPU(player2Ship, world, tr, level);
float jX = tr.width / tr.xscale;
float jY = tr.height / tr.yscale;
float max = jY / 2 - 15;
float min = -jY / 2 + 15;
float p2Y = (float) (Math.random() * (max - min) + min);
player2.player.setTransform(new Vec2(jX / 2 - 15, p2Y), (float) Math.PI / 2);
}
if (input.isKeyDown(Input.KEY_ESCAPE)) {
over = true;
}
}
/**
* Set the mass properties to override the mass properties of the fixtures. Note that this changes
* the center of mass position. Note that creating or destroying fixtures can also alter the mass.
* This function has no effect if the body isn't dynamic.
*
* @param massData the mass properties.
*/
public final void setMassData(MassData massData) {
// TODO_ERIN adjust linear velocity and torque to account for movement of center.
assert (m_world.isLocked() == false);
if (m_world.isLocked() == true) {
return;
}
if (m_type != BodyType.DYNAMIC) {
return;
}
m_invMass = 0.0f;
m_I = 0.0f;
m_invI = 0.0f;
m_mass = massData.mass;
if (m_mass <= 0.0f) {
m_mass = 1f;
}
m_invMass = 1.0f / m_mass;
if (massData.I > 0.0f && (m_flags & e_fixedRotationFlag) == 0) {
m_I = massData.I - m_mass * Vec2.dot(massData.center, massData.center);
assert (m_I > 0.0f);
m_invI = 1.0f / m_I;
}
final Vec2 oldCenter = m_world.getPool().popVec2();
// Move center of mass.
oldCenter.set(m_sweep.c);
m_sweep.localCenter.set(massData.center);
// m_sweep.c0 = m_sweep.c = Mul(m_xf, m_sweep.localCenter);
Transform.mulToOut(m_xf, m_sweep.localCenter, m_sweep.c0);
m_sweep.c.set(m_sweep.c0);
// Update center of mass velocity.
// m_linearVelocity += Cross(m_angularVelocity, m_sweep.c - oldCenter);
final Vec2 temp = m_world.getPool().popVec2();
temp.set(m_sweep.c).subLocal(oldCenter);
Vec2.crossToOut(m_angularVelocity, temp, temp);
m_linearVelocity.addLocal(temp);
m_world.getPool().pushVec2(2);
}
private static void fractureCheck(
final Fixture f1, final Fixture f2, final float iml, World w, Contact contact, int i) {
materials.clear();
for (Material m = f1.m_material; m != null; m = m.m_fragments) {
if (materials.contains(m)) {
return;
}
if (m.m_rigidity < iml) {
f1.m_body.m_fractureTransformUpdate = f2.m_body.m_fractureTransformUpdate = false;
if (f1.m_body.m_massArea > Material.MINMASSDESCTRUCTION) {
WorldManifold wm = new WorldManifold();
contact.getWorldManifold(wm); // vola sa iba raz
w.addFracture(new Fracture(f1, f2, m, contact, iml, new Vec2(wm.points[i])));
} else if (f1.m_body.m_type != BodyType.DYNAMIC) {
w.addFracture(new Fracture(f1, f2, m, null, 0, null));
}
}
materials.add(m);
}
}
/**
* Set the position of the body's origin and rotation. This breaks any contacts and wakes the
* other bodies. Manipulating a body's transform may cause non-physical behavior.
*
* @param position the world position of the body's local origin.
* @param angle the world rotation in radians.
*/
public final void setTransform(Vec2 position, float angle) {
assert (m_world.isLocked() == false);
if (m_world.isLocked() == true) {
return;
}
m_xf.R.set(angle);
m_xf.position.set(position);
// m_sweep.c0 = m_sweep.c = Mul(m_xf, m_sweep.localCenter);
Transform.mulToOut(m_xf, m_sweep.localCenter, m_sweep.c0);
m_sweep.c.set(m_sweep.c0);
m_sweep.a0 = m_sweep.a = angle;
BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
for (Fixture f = m_fixtureList; f != null; f = f.m_next) {
f.synchronize(broadPhase, m_xf, m_xf);
}
m_world.m_contactManager.findNewContacts();
}
public Planetoid(Sprite s, BodyDef bodyDef, World world, float mass, float forceFactor) {
this.sprite = s;
this.pBody = world.createBody(bodyDef);
CircleShape circle = new CircleShape();
circle.m_radius = this.sprite.getWidth() / Globals.PHYS_RATIO / Globals.magicBoundRatio;
FixtureDef fixDef = new FixtureDef();
fixDef.shape = circle;
pBody.createFixture(fixDef);
pBody.m_mass = mass;
this.forceFactor = forceFactor;
}
@Override
Body initPhysicsBody(World world, float x, float y, float width, float height, float angle) {
FixtureDef fixtureDef = new FixtureDef();
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType.DYNAMIC;
bodyDef.position = new Vec2(0, 0);
Body body = world.createBody(bodyDef);
CircleShape circleShape = new CircleShape();
circleShape.m_radius = RADIUS;
fixtureDef.shape = circleShape;
fixtureDef.density = 0.4f;
fixtureDef.friction = 1f;
fixtureDef.restitution = 0.0f;
circleShape.m_p.set(0, 0);
body.createFixture(fixtureDef);
// body.setLinearDamping(0.2f);
body.setTransform(new Vec2(x, y), angle);
return body;
}
public void initWorld() {
Vec2 gravity = new Vec2(0.0f, 9.8f);
world = new World(gravity);
// ground
FixtureDef groundFixtureDef = new FixtureDef();
PolygonShape groundShape = new PolygonShape();
groundShape.setAsBox(20f, 0.1f);
groundFixtureDef.shape = groundShape;
groundFixtureDef.density = 25.0f;
groundFixtureDef.filter = new Filter();
groundFixtureDef.filter.categoryBits = 0x0001;
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.position = new Vec2(0.0f, 3f);
groundBodyDef.angle = 0.0f;
groundBodyDef.type = BodyType.STATIC;
groundBody = world.createBody(groundBodyDef);
groundFixture = groundBody.createFixture(groundFixtureDef);
}
public void init(GameContainer container) throws SlickException {
if (container instanceof AppGameContainer) {
app = (AppGameContainer) container;
}
over = false;
input = container.getInput();
Vec2 gravity = new Vec2(0.0f, 0.0f);
world = new World(gravity, true);
player1 = new ShipBuild(player1Ship, world, tr);
player2 = new ShipCPU(player2Ship, world, tr, level); // thats the time in ms for shooting
float jX = tr.width / tr.xscale;
float jY = tr.height / tr.yscale;
float max = jY / 2 - 15;
float min = -jY / 2 + 15;
asteroids = new AsteroidSpawner(world, tr);
asteroids.genAsteroids(jX / 2 - 40, max - 25);
float p1Y = (float) (Math.random() * (max - min) + min);
float p2Y = (float) (Math.random() * (max - min) + min);
player1.player.setTransform(new Vec2(-jX / 2 + 15, p1Y), 3 * (float) Math.PI / 2);
player2.player.setTransform(new Vec2(jX / 2 - 15, p2Y), (float) Math.PI / 2);
player1.inputForward = Input.KEY_W; // E;
player1.inputLeft = Input.KEY_A; // W;
player1.inputRight = Input.KEY_D; // R;
player1.inputShoot = Input.KEY_SPACE; // A;
player1.inputBackward = Input.KEY_S;
cDetect = new CollideTest(player1, player2, world);
world.setContactListener(cDetect);
}
/**
* Destroy a fixture. This removes the fixture from the broad-phase and destroys all contacts
* associated with this fixture. This will automatically adjust the mass of the body if the body
* is dynamic and the fixture has positive density. All fixtures attached to a body are implicitly
* destroyed when the body is destroyed.
*
* @param fixture the fixture to be removed.
* @warning This function is locked during callbacks.
*/
public final void destroyFixture(Fixture fixture) {
assert (m_world.isLocked() == false);
if (m_world.isLocked() == true) {
return;
}
assert (fixture.m_body == this);
// Remove the fixture from this body's singly linked list.
assert (m_fixtureCount > 0);
Fixture node = m_fixtureList;
Fixture last = null; // java change
boolean found = false;
while (node != null) {
if (node == fixture) {
node = fixture.m_next;
found = true;
break;
}
last = node;
node = node.m_next;
}
// You tried to remove a shape that is not attached to this body.
assert (found);
// java change, remove it from the list
if (last == null) {
m_fixtureList = fixture.m_next;
} else {
last.m_next = fixture.m_next;
}
// Destroy any contacts associated with the fixture.
ContactEdge edge = m_contactList;
while (edge != null) {
Contact c = edge.contact;
edge = edge.next;
Fixture fixtureA = c.getFixtureA();
Fixture fixtureB = c.getFixtureB();
if (fixture == fixtureA || fixture == fixtureB) {
// This destroys the contact and removes it from
// this body's contact list.
m_world.m_contactManager.destroy(c);
}
}
if ((m_flags & e_activeFlag) == e_activeFlag) {
assert (fixture.m_proxy != null);
BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
fixture.destroyProxy(broadPhase);
} else {
assert (fixture.m_proxy == null);
}
fixture.destroy();
fixture.m_body = null;
fixture.m_next = null;
fixture = null;
--m_fixtureCount;
// Reset the mass data.
resetMassData();
}
public void step(float step_speed) {
world.step(step_speed, 10, 10);
}
/**
* This resets the mass properties to the sum of the mass properties of the fixtures. This
* normally does not need to be called unless you called setMassData to override the mass and you
* later want to reset the mass.
*/
public final void resetMassData() {
// Compute mass data from shapes. Each shape has its own density.
m_mass = 0.0f;
m_invMass = 0.0f;
m_I = 0.0f;
m_invI = 0.0f;
m_sweep.localCenter.setZero();
// Static and kinematic bodies have zero mass.
if (m_type == BodyType.STATIC || m_type == BodyType.KINEMATIC) {
// m_sweep.c0 = m_sweep.c = m_xf.position;
m_sweep.c.set(m_xf.position);
m_sweep.c0.set(m_xf.position);
return;
}
assert (m_type == BodyType.DYNAMIC);
// Accumulate mass over all fixtures.
final Vec2 center = m_world.getPool().popVec2();
center.setZero();
final Vec2 temp = m_world.getPool().popVec2();
final MassData massData = pmd;
for (Fixture f = m_fixtureList; f != null; f = f.m_next) {
if (f.m_density == 0.0f) {
continue;
}
f.getMassData(massData);
m_mass += massData.mass;
// center += massData.mass * massData.center;
temp.set(massData.center).mulLocal(massData.mass);
center.addLocal(temp);
m_I += massData.I;
}
// Compute center of mass.
if (m_mass > 0.0f) {
m_invMass = 1.0f / m_mass;
center.mulLocal(m_invMass);
} else {
// Force all dynamic bodies to have a positive mass.
m_mass = 1.0f;
m_invMass = 1.0f;
}
if (m_I > 0.0f && (m_flags & e_fixedRotationFlag) == 0) {
// Center the inertia about the center of mass.
m_I -= m_mass * Vec2.dot(center, center);
assert (m_I > 0.0f);
m_invI = 1.0f / m_I;
} else {
m_I = 0.0f;
m_invI = 0.0f;
}
Vec2 oldCenter = m_world.getPool().popVec2();
// Move center of mass.
oldCenter.set(m_sweep.c);
m_sweep.localCenter.set(center);
// m_sweep.c0 = m_sweep.c = Mul(m_xf, m_sweep.localCenter);
Transform.mulToOut(m_xf, m_sweep.localCenter, m_sweep.c0);
m_sweep.c.set(m_sweep.c0);
// Update center of mass velocity.
// m_linearVelocity += Cross(m_angularVelocity, m_sweep.c - oldCenter);
temp.set(m_sweep.c).subLocal(oldCenter);
Vec2.crossToOut(m_angularVelocity, temp, temp);
m_linearVelocity.addLocal(temp);
m_world.getPool().pushVec2(3);
}
/**
* Notification that this body is being removed from the world
*
* @param world The world this body is being removed from
*/
void removeFromWorld(World world) {
userData = null;
org.jbox2d.dynamics.World jboxWorld = world.getJBoxWorld();
jboxWorld.destroyBody(jboxBody);
}
private void addWorldContactListener(World world) {
world.setContactListener(
new ContactListener() {
public void result(ContactResult point) {
// System.out.println("Result contact");
}
// @Override
public void remove(ContactPoint point) {
// System.out.println("remove contact");
}
// @Override
public void persist(ContactPoint point) {
// System.out.println("persist contact");
}
// @Override
public void add(ContactPoint point) {
// /*
Shape shape1 = point.shape1;
Shape shape2 = point.shape2;
final Body body1 = shape1.getBody();
final Body body2 = shape2.getBody();
Object userData1 = body1.getUserData();
Object userData2 = body2.getUserData();
if (userData1 instanceof IPhysicsComponent
&& userData2 instanceof IPhysicsComponent) { // Check for ball/star collision
IPhysicsComponent physObj1 = (IPhysicsComponent) userData1;
IPhysicsComponent physObj2 = (IPhysicsComponent) userData2;
// System.out.println("Collided: " + mt4jObj1 + " with " + mt4jObj2);
if (physObj1 instanceof MTComponent && physObj2 instanceof MTComponent) {
MTComponent comp1 = (MTComponent) physObj1;
MTComponent comp2 = (MTComponent) physObj2;
// Check if one of the components is the BALL
MTComponent ball = isHit("ball", comp1, comp2);
final MTComponent theBall = ball;
// Check if one of the components is the GOAL
MTComponent goal1 = isHit("goal1", comp1, comp2);
MTComponent goal2 = isHit("goal2", comp1, comp2);
// Check if a puck was involved
MTComponent bluePuck = isHit("blue", comp1, comp2);
MTComponent redPuck = isHit("red", comp1, comp2);
// Check if a border was hit
MTComponent border = null;
if (comp1.getName() != null && comp1.getName().startsWith("border")) {
border = comp1;
} else if (comp2.getName() != null && comp2.getName().startsWith("border")) {
border = comp2;
}
if (ball != null) {
// CHECK IF BALL HIT A PADDLE
if (enableSound && (bluePuck != null || redPuck != null)) {
// System.out.println("PUCK HIT BALL!");
/*
triggerSound(paddleHit);
*/
}
// Check if BALL HIT A GOAL
if (goal1 != null || goal2 != null) {
// BALL HIT A GOAL
if (goal1 != null) {
System.out.println("GOAL FOR PLAYER 2!");
scorePlayer2++;
} else if (goal2 != null) {
System.out.println("GOAL FOR PLAYER 1!");
scorePlayer1++;
}
// Update scores
updateScores();
// Play goal sound
// triggerSound(goalHit);
if (scorePlayer1 >= 15 || scorePlayer2 >= 15) {
reset();
} else {
// Reset ball
if (theBall.getUserData("resetted")
== null) { // To make sure that we call destroy only once
theBall.setUserData("resetted", true);
app.invokeLater(
new Runnable() {
public void run() {
IPhysicsComponent a = (IPhysicsComponent) theBall;
a.getBody()
.setXForm(
new Vec2(
getMTApplication().width / 2f / scale,
getMTApplication().height / 2f / scale),
a.getBody().getAngle());
// a.getBody().setLinearVelocity(new Vec2(0,0));
a.getBody()
.setLinearVelocity(
new Vec2(
ToolsMath.getRandom(-8, 8),
ToolsMath.getRandom(-8, 8)));
a.getBody().setAngularVelocity(0);
theBall.setUserData("resetted", null);
}
});
}
}
}
// If ball hit border Play sound
if (enableSound && border != null) {
/*
triggerSound(wallHit);
*/
}
}
}
} else { // if at lest one if the colliding bodies' userdata is not a physics shape
}
// */
}
});
}
public void newBody(BodyDef bodyDef, World world) {
this.pBody = world.createBody(bodyDef);
}
/**
* Rozbije objekt. Upravi objekt world tak, ze vymaze triesteny objekt a nahradi ho fragmentami na
* zaklade nastaveneho materialu a clenskych premennych.
*
* @param dt casova dlzka framu
*/
public void smash(float dt) {
if (contact == null) { // riesi sa staticky prvok, ktory ma priliz maly obsah
b1.setType(BodyType.DYNAMIC);
return;
}
World w = b1.m_world;
Shape s = f1.m_shape;
Polygon p = f1.m_polygon;
if (p == null) {
switch (s.m_type) {
case POLYGON:
PolygonShape ps = (PolygonShape) s;
Vec2[] vertices = ps.m_vertices;
p = new Polygon();
for (int i = 0; i < ps.m_count; ++i) {
p.add(vertices[ps.m_count - i - 1]);
}
break;
case CIRCLE:
CircleShape cs = (CircleShape) s;
p = new Polygon();
float radius = cs.m_radius;
double u = Math.PI * 2 / CIRCLEVERTICES;
radius =
(float) Math.sqrt(u / Math.sin(u))
* radius; // upravim radius tak, aby bola zachovana velkost obsahu
Vec2 center = cs.m_p;
for (int i = 0; i < CIRCLEVERTICES; ++i) {
double j = u * i; // uhol
float sin = (float) Math.sin(j);
float cos = (float) Math.cos(j);
Vec2 v = new Vec2(sin, cos).mulLocal(radius).addLocal(center);
p.add(v);
}
break;
default:
throw new RuntimeException("Dany typ tvaru nepodporuje stiepenie");
}
}
float mConst = f1.m_material.m_rigidity / normalImpulse; // sila v zavislosti na pevnosti telesa
boolean fixA = f1 == contact.m_fixtureA; // true, ak f2 je v objekte contact ako m_fixtureA
float oldAngularVelocity =
fixA ? contact.m_angularVelocity_bodyA : contact.m_angularVelocity_bodyB;
Vec2 oldLinearVelocity = fixA ? contact.m_linearVelocity_bodyA : contact.m_linearVelocity_bodyB;
b1.setAngularVelocity(
(b1.m_angularVelocity - oldAngularVelocity) * mConst + oldAngularVelocity);
b1.setLinearVelocity(
b1.m_linearVelocity.sub(oldLinearVelocity).mulLocal(mConst).addLocal(oldLinearVelocity));
if (!w.isFractured(f2)
&& b2.m_type == BodyType.DYNAMIC
&& !b2.m_fractureTransformUpdate) { // ak sa druhy objekt nerozbija, tak sa jej nahodia
// povodne hodnoty (TREBA MODIFIKOVAT POHYB OBJEKTU,
// KTORY SPOSOBUJE ROZPAD)
oldAngularVelocity =
!fixA ? contact.m_angularVelocity_bodyA : contact.m_angularVelocity_bodyB;
oldLinearVelocity = !fixA ? contact.m_linearVelocity_bodyA : contact.m_linearVelocity_bodyB;
b2.setAngularVelocity(
(b2.m_angularVelocity - oldAngularVelocity) * mConst + oldAngularVelocity);
b2.setLinearVelocity(
b2.m_linearVelocity.sub(oldLinearVelocity).mulLocal(mConst).addLocal(oldLinearVelocity));
b2.setTransform(
b2.m_xf0.p.add(b2.m_linearVelocity.mul(dt)),
b2.m_xf0.q.getAngle()); // osetruje jbox2d od posuvania telesa pri rieseni kolizie
b2.m_fractureTransformUpdate = true;
}
Vec2 localPoint = Transform.mulTrans(b1.m_xf, point);
Vec2 b1Vec = b1.getLinearVelocityFromWorldPoint(point);
Vec2 b2Vec = b2.getLinearVelocityFromWorldPoint(point);
Vec2 localVector = b2Vec.subLocal(b1Vec);
localVector.mulLocal(dt);
Polygon[] fragment;
try {
fragment = m.split(p, localPoint, localVector, normalImpulse); // rodeli to
} catch (RuntimeException ex) {
return;
}
if (fragment.length == 1) { // nerozbilo to na ziadne fragmenty
return;
}
// definuje tela fragmentov - tie maju vsetky rovnaku definiciu (preberaju parametre z povodneho
// objektu)
BodyDef bodyDef = new BodyDef();
bodyDef.position.set(b1.m_xf.p); // pozicia
bodyDef.angle = b1.m_xf.q.getAngle(); // otocenie
bodyDef.fixedRotation = b1.isFixedRotation();
bodyDef.angularDamping = b1.m_angularDamping;
bodyDef.allowSleep = b1.isSleepingAllowed();
FixtureDef fd = new FixtureDef();
fd.friction = f1.m_friction; // trenie
fd.restitution = f1.m_restitution; // odrazivost
fd.isSensor = f1.m_isSensor;
fd.density = f1.m_density;
// odstrani fragmentacne predmety/cele teleso
ArrayList<Fixture> fixtures = new ArrayList<>();
if (f1.m_polygon != null) {
for (Fixture f = b1.m_fixtureList; f != null; f = f.m_next) {
if (f.m_polygon == f1.m_polygon) {
fixtures.add(f);
}
}
} else {
fixtures.add(f1);
}
for (Fixture f : fixtures) {
b1.destroyFixture(f);
}
if (b1.m_fixtureCount == 0) {
w.destroyBody(b1);
}
// prida fragmenty do simulacie
MyList<Body> newbodies = new MyList<>();
for (Polygon pg : fragment) { // vytvori tela, prida fixtury, poriesi konvexnu dekompoziciu
if (pg.isCorrect()) {
if (pg instanceof Fragment) {
Polygon[] convex = pg.convexDecomposition();
bodyDef.type = BodyType.DYNAMIC;
for (Polygon pgx : convex) {
Body f_body = w.createBody(bodyDef);
pgx.flip();
PolygonShape ps = new PolygonShape();
ps.set(pgx.getArray(), pgx.size());
fd.shape = ps;
fd.polygon = null;
fd.material = f1.m_material.m_fragments; // rekurzivne stiepenie
f_body.createFixture(fd);
f_body.setAngularVelocity(b1.m_angularVelocity);
f_body.setLinearVelocity(b1.getLinearVelocityFromLocalPoint(f_body.getLocalCenter()));
newbodies.add(f_body);
}
} else {
fd.material = f1.m_material.m_fragments; // rekurzivne stiepenie
bodyDef.type = b1.getType();
Body f_body = w.createBody(bodyDef);
PolygonFixture pf = new PolygonFixture(pg);
f_body.createFixture(pf, fd);
f_body.setLinearVelocity(b1.getLinearVelocityFromLocalPoint(f_body.getLocalCenter()));
f_body.setAngularVelocity(b1.m_angularVelocity);
newbodies.add(f_body);
}
}
}
// zavola sa funkcia z fraction listeneru (pokial je nadefinovany)
FractureListener fl = w.getContactManager().m_fractureListener;
if (fl != null) {
fl.action(m, normalImpulse, newbodies);
}
}
public void destroyBody() {
world.destroyBody(getBody());
}
public void start() {
Vec2 gravity = new Vec2(0, 0);
World world = new World(gravity);
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.position.set(0, -25);
Body groundBody = world.createBody(groundBodyDef);
PolygonShape groundBox = new PolygonShape();
groundBox.setAsBox(900, 10);
groundBody.createFixture(groundBox, 0);
// Dynamic Body
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType.DYNAMIC;
bodyDef.position.set(0, 0);
Body body = world.createBody(bodyDef);
PolygonShape dynamicBox = new PolygonShape();
dynamicBox.setAsBox(12, 12);
FixtureDef fixtureDef = new FixtureDef();
fixtureDef.shape = dynamicBox;
fixtureDef.density = 1f;
fixtureDef.friction = 0.3f;
body.createFixture(fixtureDef);
// Setup world
float timeStep = 1.0f / 60.0f;
int velocityIterations = 6;
int positionIterations = 2;
body.setLinearVelocity(new Vec2(15.0f, -15.0f));
body.setLinearDamping(2f);
Vec2 f = body.getWorldVector(new Vec2(0.0f, -30.0f));
Vec2 p = body.getWorldPoint(body.getLocalCenter().add(new Vec2(-.2f, 0f)));
// body.applyForce(new Vec2(-200,-200),new Vec2(-200,200));
try {
Display.setDisplayMode(new DisplayMode(screen_width, screen_height));
Display.create();
} catch (LWJGLException e) {
e.printStackTrace();
System.exit(0);
}
lastFPS = getTime();
// standardBall[0] = new Ball(400,200,0,12);
// standardBall[1] = new Ball(100,210,2,12);
// standardBall[0].addImpulse(-10,0);
standardBall[0] = new Ball(200, 300, 0, 12);
standardBall[1] = new Ball(415, 100, 2, 12);
standardBall[0].addImpulse(10, -9.99f);
standardBall[2] = new Ball(620, 270, 2, 12);
standardBall[3] = new Ball(640, 290, 2, 12);
standardBall[4] = new Ball(660, 310, 2, 12);
standardBall[5] = new Ball(680, 330, 2, 12);
standardBall[6] = new Ball(620, 230, 2, 12);
standardBall[7] = new Ball(640, 210, 2, 12);
standardBall[8] = new Ball(660, 190, 2, 12);
standardBall[9] = new Ball(680, 170, 2, 12);
standardBall[10] = new Ball(640, 250, 1, 12);
standardBall[11] = new Ball(660, 230, 2, 12);
standardBall[12] = new Ball(660, 270, 2, 12);
standardBall[13] = new Ball(680, 290, 2, 12);
standardBall[14] = new Ball(680, 210, 2, 12);
standardBall[15] = new Ball(680, 250, 2, 12);
standardTable = new Table(0, 0, 800, 400, 25, 15);
// init OpenGL
GL11.glMatrixMode(GL11.GL_PROJECTION);
GL11.glLoadIdentity();
GL11.glOrtho(0, 900, 0, 500, 1, -1);
GL11.glMatrixMode(GL11.GL_MODELVIEW);
while (!Display.isCloseRequested()) {
int delta = getDelta();
world.step(timeStep, velocityIterations, positionIterations);
Vec2 position = body.getPosition();
float angle = body.getAngle();
// System.out.printf("%4.2f %4.2f %4.2f\n", position.x, position.y, angle);
// Clear the screen and depth buffer
GL11.glClear(GL11.GL_COLOR_BUFFER_BIT | GL11.GL_DEPTH_BUFFER_BIT);
standardTable.draw();
for (int i = 0; i < NUMBER_OF_BALLS; i++) {
standardBall[i].draw();
standardBall[i].update(delta);
}
standardBall[0].setX((position.x * 20) + offset_x);
standardBall[0].setY((position.y * 20) + offset_y);
update(delta);
Display.update();
Display.sync(60);
}
Display.destroy();
}
