263 lines
14 KiB
C#
263 lines
14 KiB
C#
// Copyright (c) 2017 Kastellanos Nikolaos
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/* Original source Farseer Physics Engine:
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* Copyright (c) 2014 Ian Qvist, http://farseerphysics.codeplex.com
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* Microsoft Permissive License (Ms-PL) v1.1
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*/
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using System;
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using System.Collections.Generic;
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using Microsoft.Xna.Framework;
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using FarseerPhysics.Collision.Shapes;
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using FarseerPhysics.Common;
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using FarseerPhysics.Common.Decomposition;
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using FarseerPhysics.Dynamics.Joints;
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namespace FarseerPhysics.Dynamics
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{
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public partial class World
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{
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public virtual Body CreateBody(Vector2 position = new Vector2(), float rotation = 0, BodyType bodyType = BodyType.Static, bool findNewContacts = true)
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{
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Body body = new Body
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{
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Position = position,
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Rotation = rotation,
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BodyType = bodyType
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};
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AddAsync(body, findNewContacts);
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return body;
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}
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public Body CreateEdge(Vector2 start, Vector2 end, BodyType bodyType = BodyType.Static, Category collisionCategory = Category.Cat1, Category collidesWith = Category.All, bool findNewContacts = true)
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{
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Body body = CreateBody(bodyType: bodyType, findNewContacts: findNewContacts);
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body.CreateEdge(start, end, collisionCategory, collidesWith);
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return body;
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}
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public Body CreateChainShape(Vertices vertices, Vector2 position = new Vector2(), Category collisionCategory = Category.Cat1, Category collidesWith = Category.All, bool findNewContacts = true)
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{
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Body body = CreateBody(position, findNewContacts: findNewContacts);
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body.CreateChainShape(vertices, collisionCategory, collidesWith);
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return body;
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}
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public Body CreateLoopShape(Vertices vertices, Vector2 position = new Vector2(), Category collisionCategory = Category.Cat1, Category collidesWith = Category.All, bool findNewContacts = true)
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{
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Body body = CreateBody(position, findNewContacts: findNewContacts);
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body.CreateLoopShape(vertices, collisionCategory, collidesWith);
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return body;
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}
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public Body CreateRectangle(float width, float height, float density, Vector2 position = new Vector2(), float rotation = 0, BodyType bodyType = BodyType.Static, Category collisionCategory = Category.Cat1, Category collidesWith = Category.All, bool findNewContacts = true)
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{
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if (width <= 0)
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throw new ArgumentOutOfRangeException("width", "Width must be more than 0 meters");
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if (height <= 0)
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throw new ArgumentOutOfRangeException("height", "Height must be more than 0 meters");
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Body body = CreateBody(position, rotation, bodyType, findNewContacts);
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Vertices rectangleVertices = PolygonTools.CreateRectangle(width / 2, height / 2);
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body.CreatePolygon(rectangleVertices, density, collisionCategory, collidesWith);
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return body;
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}
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public Body CreateCircle(float radius, float density, Vector2 position = new Vector2(), BodyType bodyType = BodyType.Static, Category collisionCategory = Category.Cat1, Category collidesWith = Category.All, bool findNewContacts = true)
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{
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Body body = CreateBody(position, 0, bodyType, findNewContacts);
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body.CreateCircle(radius, density, collisionCategory, collidesWith);
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return body;
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}
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public Body CreateEllipse(float xRadius, float yRadius, int edges, float density, Vector2 position = new Vector2(), float rotation = 0, BodyType bodyType = BodyType.Static, Category collisionCategory = Category.Cat1, Category collidesWith = Category.All, bool findNewContacts = true)
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{
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Body body = CreateBody(position, rotation, bodyType, findNewContacts);
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body.CreateEllipse(xRadius, yRadius, edges, density, collisionCategory, collidesWith);
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return body;
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}
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public Body CreatePolygon(Vertices vertices, float density, Vector2 position = new Vector2(), float rotation = 0, BodyType bodyType = BodyType.Static, Category collisionCategory = Category.Cat1, Category collidesWith = Category.All, bool findNewContacts = true)
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{
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Body body = CreateBody(position, rotation, bodyType, findNewContacts);
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body.CreatePolygon(vertices, density, collisionCategory, collidesWith);
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return body;
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}
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public Body CreateCompoundPolygon(List<Vertices> list, float density, Vector2 position = new Vector2(), float rotation = 0, BodyType bodyType = BodyType.Static, Category collisionCategory = Category.Cat1, Category collidesWith = Category.All, bool findNewContacts = true)
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{
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//We create a single body
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Body body = CreateBody(position, rotation, bodyType, findNewContacts);
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body.CreateCompoundPolygon(list, density, collisionCategory, collidesWith);
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return body;
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}
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public Body CreateGear(float radius, int numberOfTeeth, float tipPercentage, float toothHeight, float density, Vector2 position = new Vector2(), float rotation = 0, BodyType bodyType = BodyType.Static, Category collisionCategory = Category.Cat1, Category collidesWith = Category.All)
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{
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Vertices gearPolygon = PolygonTools.CreateGear(radius, numberOfTeeth, tipPercentage, toothHeight);
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//Gears can in some cases be convex
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if (!gearPolygon.IsConvex())
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{
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//Decompose the gear:
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List<Vertices> list = Triangulate.ConvexPartition(gearPolygon, TriangulationAlgorithm.Earclip);
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return CreateCompoundPolygon(list, density, position, rotation, bodyType, collisionCategory, collidesWith);
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}
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return CreatePolygon(gearPolygon, density, position, rotation, bodyType, collisionCategory, collidesWith);
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}
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public Body CreateCapsule(float height, float topRadius, int topEdges, float bottomRadius, int bottomEdges, float density, Vector2 position = new Vector2(), float rotation = 0, BodyType bodyType = BodyType.Static, Category collisionCategory = Category.Cat1, Category collidesWith = Category.All, bool findNewContacts = true)
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{
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Vertices verts = PolygonTools.CreateCapsule(height, topRadius, topEdges, bottomRadius, bottomEdges);
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//There are too many vertices in the capsule. We decompose it.
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if (verts.Count >= Settings.MaxPolygonVertices)
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{
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List<Vertices> vertList = Triangulate.ConvexPartition(verts, TriangulationAlgorithm.Earclip);
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return CreateCompoundPolygon(vertList, density, position, rotation, bodyType, collisionCategory, collidesWith, findNewContacts);
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}
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return CreatePolygon(verts, density, position, rotation, bodyType, collisionCategory, collidesWith, findNewContacts);
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}
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public Body CreateCapsuleHorizontal(float width, float endRadius, float density, Vector2 position = new Vector2(), float rotation = 0, BodyType bodyType = BodyType.Static, Category collisionCategory = Category.Cat1, Category collidesWith = Category.All, bool findNewContacts = true)
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{
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//Create the middle rectangle
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Vertices rectangle = PolygonTools.CreateRectangle(width / 2, endRadius);
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List<Vertices> list = new List<Vertices>
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{
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rectangle
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};
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Body body = CreateCompoundPolygon(list, density, position, rotation, bodyType, collisionCategory, collidesWith, findNewContacts);
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body.CreateCircle(endRadius, density, new Vector2(width / 2, 0), collisionCategory, collidesWith);
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body.CreateCircle(endRadius, density, new Vector2(-width / 2, 0), collisionCategory, collidesWith);
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//Create the two circles
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//CircleShape topCircle = new CircleShape(endRadius, density);
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//topCircle.Position = new Vector2(0, height / 2);
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//body.CreateFixture(topCircle);
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//CircleShape bottomCircle = new CircleShape(endRadius, density);
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//bottomCircle.Position = new Vector2(0, -(height / 2));
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//body.CreateFixture(bottomCircle);
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return body;
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}
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public Body CreateCapsule(float height, float endRadius, float density, Vector2 position = new Vector2(), float rotation = 0, BodyType bodyType = BodyType.Static, Category collisionCategory = Category.Cat1, Category collidesWith = Category.All, bool findNewContacts = true)
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{
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//Create the middle rectangle
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Vertices rectangle = PolygonTools.CreateRectangle(endRadius, height / 2);
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List<Vertices> list = new List<Vertices>()
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{
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rectangle
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};
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Body body = CreateCompoundPolygon(list, density, position, rotation, bodyType, collisionCategory, collidesWith, findNewContacts);
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body.CreateCircle(endRadius, density, new Vector2(0, height / 2), collisionCategory, collidesWith);
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body.CreateCircle(endRadius, density, new Vector2(0, -(height / 2)), collisionCategory, collidesWith);
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//Create the two circles
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//CircleShape topCircle = new CircleShape(endRadius, density);
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//topCircle.Position = new Vector2(0, height / 2);
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//body.CreateFixture(topCircle);
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//CircleShape bottomCircle = new CircleShape(endRadius, density);
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//bottomCircle.Position = new Vector2(0, -(height / 2));
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//body.CreateFixture(bottomCircle);
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return body;
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}
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public Body CreateRoundedRectangle(float width, float height, float xRadius, float yRadius, int segments, float density, Vector2 position = new Vector2(), float rotation = 0, BodyType bodyType = BodyType.Static, Category collisionCategory = Category.Cat1, Category collidesWith = Category.All)
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{
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Vertices verts = PolygonTools.CreateRoundedRectangle(width, height, xRadius, yRadius, segments);
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//There are too many vertices in the capsule. We decompose it.
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if (verts.Count >= Settings.MaxPolygonVertices)
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{
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List<Vertices> vertList = Triangulate.ConvexPartition(verts, TriangulationAlgorithm.Earclip);
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return CreateCompoundPolygon(vertList, density, position, rotation, bodyType, collisionCategory, collidesWith);
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}
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return CreatePolygon(verts, density, position, rotation, bodyType, collisionCategory, collidesWith);
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}
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public Body CreateLineArc(float radians, int sides, float radius, bool closed = false, Vector2 position = new Vector2(), float rotation = 0, BodyType bodyType = BodyType.Static, Category collisionCategory = Category.Cat1, Category collidesWith = Category.All)
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{
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Body body = CreateBody(position, rotation, bodyType);
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body.CreateLineArc(radians, sides, radius, closed, collisionCategory, collidesWith);
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return body;
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}
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public Body CreateSolidArc(float density, float radians, int sides, float radius, Vector2 position = new Vector2(), float rotation = 0, BodyType bodyType = BodyType.Static, Category collisionCategory = Category.Cat1, Category collidesWith = Category.All)
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{
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Body body = CreateBody(position, rotation, bodyType);
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body.CreateSolidArc(density, radians, sides, radius, collisionCategory, collidesWith);
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return body;
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}
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/// <summary>
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/// Creates a chain.
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/// </summary>
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/// <param name="world">The world.</param>
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/// <param name="start">The start.</param>
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/// <param name="end">The end.</param>
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/// <param name="linkWidth">The width.</param>
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/// <param name="linkHeight">The height.</param>
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/// <param name="numberOfLinks">The number of links.</param>
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/// <param name="linkDensity">The link density.</param>
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/// <param name="attachRopeJoint">Creates a rope joint between start and end. This enforces the length of the rope. Said in another way: it makes the rope less bouncy.</param>
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/// <returns></returns>
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public Path CreateChain(Vector2 start, Vector2 end, float linkWidth, float linkHeight, int numberOfLinks, float linkDensity, bool attachRopeJoint)
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{
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System.Diagnostics.Debug.Assert(numberOfLinks >= 2);
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//Chain start / end
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Path path = new Path();
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path.Add(start);
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path.Add(end);
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//A single chainlink
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PolygonShape shape = new PolygonShape(PolygonTools.CreateRectangle(linkWidth, linkHeight), linkDensity);
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//Use PathManager to create all the chainlinks based on the chainlink created before.
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List<Body> chainLinks = PathManager.EvenlyDistributeShapesAlongPath(this, path, shape, BodyType.Dynamic, numberOfLinks);
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//TODO
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//if (fixStart)
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//{
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// //Fix the first chainlink to the world
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// JointFactory.CreateFixedRevoluteJoint(this, chainLinks[0], new Vector2(0, -(linkHeight / 2)),
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// chainLinks[0].Position);
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//}
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//if (fixEnd)
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//{
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// //Fix the last chainlink to the world
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// JointFactory.CreateFixedRevoluteJoint(this, chainLinks[chainLinks.Count - 1],
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// new Vector2(0, (linkHeight / 2)),
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// chainLinks[chainLinks.Count - 1].Position);
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//}
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//Attach all the chainlinks together with a revolute joint
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PathManager.AttachBodiesWithRevoluteJoint(this, chainLinks, new Vector2(0, -linkHeight), new Vector2(0, linkHeight), false, false);
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if (attachRopeJoint)
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JointFactory.CreateRopeJoint(this, chainLinks[0], chainLinks[chainLinks.Count - 1], Vector2.Zero, Vector2.Zero);
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return path;
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}
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}
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} |