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();
}
@Override
public void evaluate(ContactListener listener) {
Body b1 = m_shape1.getBody();
Body b2 = m_shape2.getBody();
// Manifold m0 = m_manifold;
Manifold m0 = new Manifold(m_manifold);
// This next stuff might be unnecessary now [ewj: nope, we need it]
for (int k = 0; k < m_manifold.pointCount; k++) {
m0.points[k] = new ManifoldPoint(m_manifold.points[k]);
m0.points[k].normalImpulse = m_manifold.points[k].normalImpulse;
m0.points[k].tangentImpulse = m_manifold.points[k].tangentImpulse;
m0.points[k].separation = m_manifold.points[k].separation;
// m0.points[k].id.key = m_manifold.points[k].id.key;
m0.points[k].id.features.set(m_manifold.points[k].id.features);
// System.out.println(m_manifold.points[k].normalForce);
}
m0.pointCount = m_manifold.pointCount;
CollidePoly.collidePolygons(
m_manifold, (PolygonShape) m_shape1, b1.getXForm(), (PolygonShape) m_shape2, b2.getXForm());
boolean[] persisted = {false, false};
ContactPoint cp = new ContactPoint();
cp.shape1 = m_shape1;
cp.shape2 = m_shape2;
cp.friction = m_friction;
cp.restitution = m_restitution;
// Match contact ids to facilitate warm starting.
// Watch out (Java note):
// m_manifold.pointCount != m_manifold.points.length!!!
// Match contact ids to facilitate warm starting.
if (m_manifold.pointCount > 0) {
// Match old contact ids to new contact ids and copy the
// stored impulses to warm start the solver.
for (int i = 0; i < m_manifold.pointCount; ++i) {
ManifoldPoint mp = m_manifold.points[i];
mp.normalImpulse = 0.0f;
mp.tangentImpulse = 0.0f;
boolean found = false;
ContactID id = new ContactID(mp.id);
for (int j = 0; j < m0.pointCount; ++j) {
if (persisted[j] == true) {
continue;
}
ManifoldPoint mp0 = m0.points[j];
if (mp0.id.isEqual(id)) {
persisted[j] = true;
mp.normalImpulse = mp0.normalImpulse;
mp.tangentImpulse = mp0.tangentImpulse;
// A persistent point.
found = true;
// Report persistent point.
if (listener != null) {
cp.position = b1.getWorldPoint(mp.localPoint1);
Vec2 v1 = b1.getLinearVelocityFromLocalPoint(mp.localPoint1);
Vec2 v2 = b2.getLinearVelocityFromLocalPoint(mp.localPoint2);
cp.velocity = v2.sub(v1);
cp.normal = m_manifold.normal.clone();
cp.separation = mp.separation;
cp.id = new ContactID(id);
listener.persist(cp);
}
break;
}
}
// Report added point.
if (found == false && listener != null) {
cp.position = b1.getWorldPoint(mp.localPoint1);
Vec2 v1 = b1.getLinearVelocityFromLocalPoint(mp.localPoint1);
Vec2 v2 = b2.getLinearVelocityFromLocalPoint(mp.localPoint2);
cp.velocity = v2.sub(v1);
cp.normal = m_manifold.normal.clone();
cp.separation = mp.separation;
cp.id = new ContactID(id);
listener.add(cp);
}
}
m_manifoldCount = 1;
} else {
m_manifoldCount = 0;
}
if (listener == null) {
return;
}
// Report removed points.
for (int i = 0; i < m0.pointCount; ++i) {
if (persisted[i]) {
continue;
}
ManifoldPoint mp0 = m0.points[i];
cp.position = b1.getWorldPoint(mp0.localPoint1);
Vec2 v1 = b1.getLinearVelocityFromLocalPoint(mp0.localPoint1);
Vec2 v2 = b2.getLinearVelocityFromLocalPoint(mp0.localPoint2);
cp.velocity = v2.sub(v1);
cp.normal = m0.normal.clone();
cp.separation = mp0.separation;
cp.id = new ContactID(mp0.id);
listener.remove(cp);
}
}
public void evaluate(ContactListener listener) {
// CollideCircle.collideCircle(m_manifold, (CircleShape) m_shape1,
// (CircleShape) m_shape2, false);
Body b1 = m_shape1.getBody();
Body b2 = m_shape2.getBody();
Manifold m0 = new Manifold(m_manifold);
for (int k = 0; k < m_manifold.pointCount; k++) {
m0.points[k] = new ManifoldPoint(m_manifold.points[k]);
m0.points[k].normalImpulse = m_manifold.points[k].normalImpulse;
m0.points[k].tangentImpulse = m_manifold.points[k].tangentImpulse;
m0.points[k].separation = m_manifold.points[k].separation;
// m0.points[k].id.key = m_manifold.points[k].id.key;
m0.points[k].id.features.set(m_manifold.points[k].id.features);
// System.out.println(m_manifold.points[k].id.key);
}
m0.pointCount = m_manifold.pointCount;
CollideCircle.collideCircles(
m_manifold, (CircleShape) m_shape1, b1.m_xf, (CircleShape) m_shape2, b2.m_xf);
ContactPoint cp = new ContactPoint();
cp.shape1 = m_shape1;
cp.shape2 = m_shape2;
cp.friction = m_friction;
cp.restitution = m_restitution;
if (m_manifold.pointCount > 0) {
m_manifoldCount = 1;
ManifoldPoint mp = m_manifold.points[0];
if (m0.pointCount == 0) {
mp.normalImpulse = 0.0f;
mp.tangentImpulse = 0.0f;
if (listener != null) {
cp.position = b1.getWorldPoint(mp.localPoint1);
Vec2 v1 = b1.getLinearVelocityFromLocalPoint(mp.localPoint1);
Vec2 v2 = b2.getLinearVelocityFromLocalPoint(mp.localPoint2);
cp.velocity = v2.sub(v1);
cp.normal = m_manifold.normal.clone();
cp.separation = mp.separation;
cp.id = new ContactID(mp.id);
listener.add(cp);
}
} else {
ManifoldPoint mp0 = m0.points[0];
mp.normalImpulse = mp0.normalImpulse;
mp.tangentImpulse = mp0.tangentImpulse;
if (listener != null) {
cp.position = b1.getWorldPoint(mp.localPoint1);
Vec2 v1 = b1.getLinearVelocityFromLocalPoint(mp.localPoint1);
Vec2 v2 = b2.getLinearVelocityFromLocalPoint(mp.localPoint2);
cp.velocity = v2.sub(v1);
cp.normal = m_manifold.normal.clone();
cp.separation = mp.separation;
cp.id = new ContactID(mp.id);
listener.persist(cp);
}
}
} else {
m_manifoldCount = 0;
if (m0.pointCount > 0 && (listener != null)) {
ManifoldPoint mp0 = m0.points[0];
cp.position = b1.getWorldPoint(mp0.localPoint1);
Vec2 v1 = b1.getLinearVelocityFromLocalPoint(mp0.localPoint1);
Vec2 v2 = b2.getLinearVelocityFromLocalPoint(mp0.localPoint2);
cp.velocity = v2.sub(v1);
cp.normal = m0.normal.clone();
cp.separation = mp0.separation;
cp.id = new ContactID(mp0.id);
listener.remove(cp);
}
}
}
