/**
   * Create a convex hull from the given array of points. The count must be in the range [3,
   * Settings.maxPolygonVertices]. This method takes an arraypool for pooling
   *
   * @warning the points may be re-ordered, even if they form a convex polygon
   * @warning collinear points are handled but not removed. Collinear points may lead to poor
   *     stacking behavior.
   */
  public final void set(
      final Vec2[] verts, final int num, final Vec2Array vecPool, final IntArray intPool) {
    assert (3 <= num && num <= Settings.maxPolygonVertices);
    if (num < 3) {
      setAsBox(1.0f, 1.0f);
      return;
    }

    int n = MathUtils.min(num, Settings.maxPolygonVertices);

    // Copy the vertices into a local buffer
    Vec2[] ps = (vecPool != null) ? vecPool.get(n) : new Vec2[n];
    for (int i = 0; i < n; ++i) {
      ps[i] = verts[i];
    }

    // Create the convex hull using the Gift wrapping algorithm
    // http://en.wikipedia.org/wiki/Gift_wrapping_algorithm

    // Find the right most point on the hull
    int i0 = 0;
    float x0 = ps[0].x;
    for (int i = 1; i < num; ++i) {
      float x = ps[i].x;
      if (x > x0 || (x == x0 && ps[i].y < ps[i0].y)) {
        i0 = i;
        x0 = x;
      }
    }

    int[] hull =
        (intPool != null)
            ? intPool.get(Settings.maxPolygonVertices)
            : new int[Settings.maxPolygonVertices];
    int m = 0;
    int ih = i0;

    while (true) {
      hull[m] = ih;

      int ie = 0;
      for (int j = 1; j < n; ++j) {
        if (ie == ih) {
          ie = j;
          continue;
        }

        Vec2 r = pool1.set(ps[ie]).subLocal(ps[hull[m]]);
        Vec2 v = pool2.set(ps[j]).subLocal(ps[hull[m]]);
        float c = Vec2.cross(r, v);
        if (c < 0.0f) {
          ie = j;
        }

        // Collinearity check
        if (c == 0.0f && v.lengthSquared() > r.lengthSquared()) {
          ie = j;
        }
      }

      ++m;
      ih = ie;

      if (ie == i0) {
        break;
      }
    }

    this.m_count = m;

    // Copy vertices.
    for (int i = 0; i < m_count; ++i) {
      if (m_vertices[i] == null) {
        m_vertices[i] = new Vec2();
      }
      m_vertices[i].set(ps[hull[i]]);
    }

    final Vec2 edge = pool1;

    // Compute normals. Ensure the edges have non-zero length.
    for (int i = 0; i < m_count; ++i) {
      final int i1 = i;
      final int i2 = i + 1 < m_count ? i + 1 : 0;
      edge.set(m_vertices[i2]).subLocal(m_vertices[i1]);

      assert (edge.lengthSquared() > Settings.EPSILON * Settings.EPSILON);
      Vec2.crossToOutUnsafe(edge, 1f, m_normals[i]);
      m_normals[i].normalize();
    }

    // Compute the polygon centroid.
    computeCentroidToOut(m_vertices, m_count, m_centroid);
  }
Esempio n. 2
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  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;
    }
  }
Esempio n. 3
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  /** Call this to draw shapes and other debug draw data. */
  public void drawDebugData() {
    if (m_debugDraw == null) {
      return;
    }

    int flags = m_debugDraw.getFlags();

    if ((flags & DebugDraw.e_shapeBit) == DebugDraw.e_shapeBit) {
      for (Body b = m_bodyList; b != null; b = b.getNext()) {
        xf.set(b.getTransform());
        for (Fixture f = b.getFixtureList(); f != null; f = f.getNext()) {
          if (b.isActive() == false) {
            color.set(0.5f, 0.5f, 0.3f);
            drawShape(f, xf, color);
          } else if (b.getType() == BodyType.STATIC) {
            color.set(0.5f, 0.9f, 0.3f);
            drawShape(f, xf, color);
          } else if (b.getType() == BodyType.KINEMATIC) {
            color.set(0.5f, 0.5f, 0.9f);
            drawShape(f, xf, color);
          } else if (b.isAwake() == false) {
            color.set(0.5f, 0.5f, 0.5f);
            drawShape(f, xf, color);
          } else {
            color.set(0.9f, 0.7f, 0.7f);
            drawShape(f, xf, color);
          }
        }
      }
    }

    if ((flags & DebugDraw.e_jointBit) == DebugDraw.e_jointBit) {
      for (Joint j = m_jointList; j != null; j = j.getNext()) {
        drawJoint(j);
      }
    }

    if ((flags & DebugDraw.e_pairBit) == DebugDraw.e_pairBit) {
      color.set(0.3f, 0.9f, 0.9f);
      for (Contact c = m_contactManager.m_contactList; c != null; c = c.getNext()) {
        // Fixture fixtureA = c.getFixtureA();
        // Fixture fixtureB = c.getFixtureB();
        //
        // fixtureA.getAABB(childIndex).getCenterToOut(cA);
        // fixtureB.getAABB().getCenterToOut(cB);
        //
        // m_debugDraw.drawSegment(cA, cB, color);
      }
    }

    if ((flags & DebugDraw.e_aabbBit) == DebugDraw.e_aabbBit) {
      color.set(0.9f, 0.3f, 0.9f);

      for (Body b = m_bodyList; b != null; b = b.getNext()) {
        if (b.isActive() == false) {
          continue;
        }

        for (Fixture f = b.getFixtureList(); f != null; f = f.getNext()) {

          for (int i = 0; i < f.m_proxyCount; ++i) {
            FixtureProxy proxy = f.m_proxies[i];
            AABB aabb = m_contactManager.m_broadPhase.getFatAABB(proxy.proxyId);
            Vec2[] vs = avs.get(4);
            vs[0].set(aabb.lowerBound.x, aabb.lowerBound.y);
            vs[1].set(aabb.upperBound.x, aabb.lowerBound.y);
            vs[2].set(aabb.upperBound.x, aabb.upperBound.y);
            vs[3].set(aabb.lowerBound.x, aabb.upperBound.y);

            m_debugDraw.drawPolygon(vs, 4, color);
          }
        }
      }
    }

    if ((flags & DebugDraw.e_centerOfMassBit) == DebugDraw.e_centerOfMassBit) {
      for (Body b = m_bodyList; b != null; b = b.getNext()) {
        xf.set(b.getTransform());
        xf.p.set(b.getWorldCenter());
        m_debugDraw.drawTransform(xf);
      }
    }

    if ((flags & DebugDraw.e_dynamicTreeBit) == DebugDraw.e_dynamicTreeBit) {
      m_contactManager.m_broadPhase.drawTree(m_debugDraw);
    }
  }
Esempio n. 4
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 public void drawAABB(AABB argAABB, Color3f color) {
   Vec2 vecs[] = vec2Array.get(4);
   argAABB.getVertices(vecs);
   drawPolygon(vecs, 4, color);
 }