예제 #1
0
파일: World.java 프로젝트: robinp/libgdx
  private void drawJoint(Joint joint) {
    Body bodyA = joint.getBodyA();
    Body bodyB = joint.getBodyB();
    Transform xf1 = bodyA.getTransform();
    Transform xf2 = bodyB.getTransform();
    Vec2 x1 = xf1.p;
    Vec2 x2 = xf2.p;
    Vec2 p1 = pool.popVec2();
    Vec2 p2 = pool.popVec2();
    joint.getAnchorA(p1);
    joint.getAnchorB(p2);

    color.set(0.5f, 0.8f, 0.8f);

    switch (joint.getType()) {
        // TODO djm write after writing joints
      case DISTANCE:
        m_debugDraw.drawSegment(p1, p2, color);
        break;

      case PULLEY:
        {
          PulleyJoint pulley = (PulleyJoint) joint;
          Vec2 s1 = pulley.getGroundAnchorA();
          Vec2 s2 = pulley.getGroundAnchorB();
          m_debugDraw.drawSegment(s1, p1, color);
          m_debugDraw.drawSegment(s2, p2, color);
          m_debugDraw.drawSegment(s1, s2, color);
        }
        break;
      case CONSTANT_VOLUME:
      case MOUSE:
        // don't draw this
        break;
      default:
        m_debugDraw.drawSegment(x1, p1, color);
        m_debugDraw.drawSegment(p1, p2, color);
        m_debugDraw.drawSegment(x2, p2, color);
    }
    pool.pushVec2(2);
  }
예제 #2
0
파일: MouseJoint.java 프로젝트: Just-/playn
  @Override
  public void solveVelocityConstraints(TimeStep step) {
    Body b = m_bodyB;

    Vec2 r = pool.popVec2();

    r.set(m_localAnchor).subLocal(b.getLocalCenter());
    Mat22.mulToOut(b.getTransform().R, r, r);

    // Cdot = v + cross(w, r)
    Vec2 Cdot = pool.popVec2();
    Vec2.crossToOut(b.m_angularVelocity, r, Cdot);
    Cdot.addLocal(b.m_linearVelocity);

    Vec2 impulse = pool.popVec2();
    Vec2 temp = pool.popVec2();

    // Mul(m_mass, -(Cdot + m_beta * m_C + m_gamma * m_impulse));
    impulse.set(m_C).mulLocal(m_beta);
    temp.set(m_impulse).mulLocal(m_gamma);
    temp.addLocal(impulse).addLocal(Cdot).mulLocal(-1);
    Mat22.mulToOut(m_mass, temp, impulse);

    Vec2 oldImpulse = temp;
    oldImpulse.set(m_impulse);
    m_impulse.addLocal(impulse);
    float maxImpulse = step.dt * m_maxForce;
    if (m_impulse.lengthSquared() > maxImpulse * maxImpulse) {
      m_impulse.mulLocal(maxImpulse / m_impulse.length());
    }
    impulse.set(m_impulse).subLocal(oldImpulse);

    // pooling
    oldImpulse.set(impulse).mulLocal(b.m_invMass);
    b.m_linearVelocity.addLocal(oldImpulse);
    b.m_angularVelocity += b.m_invI * Vec2.cross(r, impulse);

    pool.pushVec2(4);
  }
예제 #3
0
파일: World.java 프로젝트: robinp/libgdx
  /** 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);
    }
  }
예제 #4
0
파일: MouseJoint.java 프로젝트: Just-/playn
  @Override
  public void initVelocityConstraints(TimeStep step) {
    Body b = m_bodyB;

    float mass = b.getMass();

    // Frequency
    float omega = 2.0f * MathUtils.PI * m_frequencyHz;

    // Damping coefficient
    float d = 2.0f * mass * m_dampingRatio * omega;

    // Spring stiffness
    float k = mass * (omega * omega);

    // magic formulas
    // gamma has units of inverse mass.
    // beta has units of inverse time.
    assert (d + step.dt * k > Settings.EPSILON);
    m_gamma = step.dt * (d + step.dt * k);
    if (m_gamma != 0.0f) {
      m_gamma = 1.0f / m_gamma;
    }
    m_beta = step.dt * k * m_gamma;

    Vec2 r = pool.popVec2();

    // Compute the effective mass matrix.
    // Vec2 r = Mul(b.getTransform().R, m_localAnchor - b.getLocalCenter());
    r.set(m_localAnchor).subLocal(b.getLocalCenter());
    Mat22.mulToOut(b.getTransform().R, r, r);

    // K    = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)]
    //      = [1/m1+1/m2     0    ] + invI1 * [r1.y*r1.y -r1.x*r1.y] + invI2 * [r1.y*r1.y
    // -r1.x*r1.y]
    //        [    0     1/m1+1/m2]           [-r1.x*r1.y r1.x*r1.x]           [-r1.x*r1.y
    // r1.x*r1.x]
    float invMass = b.m_invMass;
    float invI = b.m_invI;

    Mat22 K1 = pool.popMat22();
    K1.m11 = invMass;
    K1.m21 = 0.0f;
    K1.m12 = 0.0f;
    K1.m22 = invMass;

    Mat22 K2 = pool.popMat22();
    K2.m11 = invI * r.y * r.y;
    K2.m21 = -invI * r.x * r.y;
    K2.m12 = -invI * r.x * r.y;
    K2.m22 = invI * r.x * r.x;

    Mat22 K = pool.popMat22();
    K.set(K1).addLocal(K2);
    K.m11 += m_gamma;
    K.m22 += m_gamma;

    K.invertToOut(m_mass);

    m_C.set(b.m_sweep.c).addLocal(r).subLocal(m_target);

    // Cheat with some damping
    b.m_angularVelocity *= 0.98f;

    // Warm starting.
    m_impulse.mulLocal(step.dtRatio);
    // pool
    Vec2 temp = pool.popVec2();
    temp.set(m_impulse).mulLocal(invMass);
    b.m_linearVelocity.addLocal(temp);
    b.m_angularVelocity += invI * Vec2.cross(r, m_impulse);

    pool.pushVec2(2);
    pool.pushMat22(3);
  }
예제 #5
0
 /**
  * Compute the distance from this fixture.
  *
  * @param p a point in world coordinates.
  * @return distance
  */
 public float computeDistance(Vec2 p, int childIndex, Vec2 normalOut) {
   return m_shape.computeDistanceToOut(m_body.getTransform(), p, childIndex, normalOut);
 }