test_physics_2d.cpp 19 KB

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  1. /*************************************************************************/
  2. /* test_physics_2d.cpp */
  3. /*************************************************************************/
  4. /* This file is part of: */
  5. /* GODOT ENGINE */
  6. /* http://www.godotengine.org */
  7. /*************************************************************************/
  8. /* Copyright (c) 2007-2015 Juan Linietsky, Ariel Manzur. */
  9. /* */
  10. /* Permission is hereby granted, free of charge, to any person obtaining */
  11. /* a copy of this software and associated documentation files (the */
  12. /* "Software"), to deal in the Software without restriction, including */
  13. /* without limitation the rights to use, copy, modify, merge, publish, */
  14. /* distribute, sublicense, and/or sell copies of the Software, and to */
  15. /* permit persons to whom the Software is furnished to do so, subject to */
  16. /* the following conditions: */
  17. /* */
  18. /* The above copyright notice and this permission notice shall be */
  19. /* included in all copies or substantial portions of the Software. */
  20. /* */
  21. /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
  22. /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
  23. /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
  24. /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
  25. /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
  26. /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
  27. /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
  28. /*************************************************************************/
  29. #include "test_physics_2d.h"
  30. #include "servers/visual_server.h"
  31. #include "servers/physics_2d_server.h"
  32. #include "os/main_loop.h"
  33. #include "print_string.h"
  34. #include "map.h"
  35. #include "scene/resources/texture.h"
  36. #include "os/os.h"
  37. static const unsigned char convex_png[]={
  38. 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  39. };
  40. class TestPhysics2DMainLoop : public MainLoop {
  41. OBJ_TYPE( TestPhysics2DMainLoop, MainLoop );
  42. RID circle_img;
  43. RID circle_shape;
  44. RID space;
  45. RID canvas;
  46. RID ray;
  47. RID ray_query;
  48. Matrix32 view_xform;
  49. Vector2 ray_from,ray_to;
  50. struct BodyShapeData {
  51. RID image;
  52. RID shape;
  53. };
  54. BodyShapeData body_shape_data[6];
  55. void _create_body_shape_data() {
  56. VisualServer *vs = VisualServer::get_singleton();
  57. Physics2DServer *ps = Physics2DServer::get_singleton();
  58. // SEGMENT
  59. {
  60. DVector<uint8_t> pixels;
  61. pixels.resize(32*2*2);
  62. for(int i=0;i<2;i++) {
  63. for(int j=0;j<32;j++) {
  64. pixels.set(i*32*2+j*2+0,(j==0)?255:0);
  65. pixels.set(i*32*2+j*2+1,255);
  66. }
  67. }
  68. Image image(32,2,0,Image::FORMAT_GRAYSCALE_ALPHA,pixels);
  69. body_shape_data[Physics2DServer::SHAPE_SEGMENT].image=vs->texture_create_from_image(image);
  70. RID segment_shape = ps->shape_create(Physics2DServer::SHAPE_SEGMENT);
  71. Rect2 sg(Point2(-16,0),Point2(16,0));
  72. ps->shape_set_data(segment_shape,sg);
  73. body_shape_data[Physics2DServer::SHAPE_SEGMENT].shape = segment_shape;
  74. }
  75. // CIRCLE
  76. {
  77. DVector<uint8_t> pixels;
  78. pixels.resize(32*32*2);
  79. for(int i=0;i<32;i++) {
  80. for(int j=0;j<32;j++) {
  81. bool black=Vector2(i-16,j-16).length_squared() < 16*16;
  82. pixels.set(i*32*2+j*2+0,(i==16 || j==16)?255:0);
  83. pixels.set(i*32*2+j*2+1,black?255:0);
  84. }
  85. }
  86. Image image(32,32,0,Image::FORMAT_GRAYSCALE_ALPHA,pixels);
  87. body_shape_data[Physics2DServer::SHAPE_CIRCLE].image=vs->texture_create_from_image(image);
  88. RID circle_shape = ps->shape_create(Physics2DServer::SHAPE_CIRCLE);
  89. ps->shape_set_data(circle_shape,16);
  90. body_shape_data[Physics2DServer::SHAPE_CIRCLE].shape = circle_shape;
  91. }
  92. // BOX
  93. {
  94. DVector<uint8_t> pixels;
  95. pixels.resize(32*32*2);
  96. for(int i=0;i<32;i++) {
  97. for(int j=0;j<32;j++) {
  98. bool black=i>0 && i<31 && j>0 && j<31;
  99. pixels.set(i*32*2+j*2+0,black?0:255);
  100. pixels.set(i*32*2+j*2+1,255);
  101. }
  102. }
  103. Image image(32,32,0,Image::FORMAT_GRAYSCALE_ALPHA,pixels);
  104. body_shape_data[Physics2DServer::SHAPE_RECTANGLE].image=vs->texture_create_from_image(image);
  105. RID rectangle_shape = ps->shape_create(Physics2DServer::SHAPE_RECTANGLE);
  106. ps->shape_set_data(rectangle_shape,Vector2(16,16));
  107. body_shape_data[Physics2DServer::SHAPE_RECTANGLE].shape = rectangle_shape;
  108. }
  109. // CAPSULE
  110. {
  111. DVector<uint8_t> pixels;
  112. pixels.resize(32*64*2);
  113. for(int i=0;i<64;i++) {
  114. for(int j=0;j<32;j++) {
  115. int si = i>48 ? i - 32 : (i<16 ? i : 16);
  116. bool black=Vector2(si-16,j-16).length_squared() < 16*16;
  117. pixels.set(i*32*2+j*2+0,(i==16 || j==16 || i==48)?255:0);
  118. pixels.set(i*32*2+j*2+1,black?255:0);
  119. }
  120. }
  121. Image image(32,64,0,Image::FORMAT_GRAYSCALE_ALPHA,pixels);
  122. body_shape_data[Physics2DServer::SHAPE_CAPSULE].image=vs->texture_create_from_image(image);
  123. RID capsule_shape = ps->shape_create(Physics2DServer::SHAPE_CAPSULE);
  124. ps->shape_set_data(capsule_shape,Vector2(16,32));
  125. body_shape_data[Physics2DServer::SHAPE_CAPSULE].shape = capsule_shape;
  126. }
  127. // CONVEX
  128. {
  129. Image image(convex_png);
  130. body_shape_data[Physics2DServer::SHAPE_CUSTOM+1].image=vs->texture_create_from_image(image);
  131. RID convex_polygon_shape = ps->shape_create(Physics2DServer::SHAPE_CONVEX_POLYGON);
  132. DVector<Vector2> arr;
  133. Point2 sb(32,32);
  134. arr.push_back(Point2(20,3)-sb);
  135. arr.push_back(Point2(58,23)-sb);
  136. arr.push_back(Point2(55,54)-sb);
  137. arr.push_back(Point2(27,60)-sb);
  138. arr.push_back(Point2(5,56)-sb);
  139. arr.push_back(Point2(4,20)-sb);
  140. arr.push_back(Point2(11,7)-sb);
  141. ps->shape_set_data(convex_polygon_shape,arr);
  142. body_shape_data[Physics2DServer::SHAPE_CUSTOM+1].shape = convex_polygon_shape;
  143. }
  144. }
  145. void _do_ray_query() {
  146. // Physics2DServer *ps = Physics2DServer::get_singleton();
  147. // ps->query_intersection_segment(ray_query,ray_from,ray_to);
  148. }
  149. protected:
  150. void input_event(const InputEvent& p_event) {
  151. if (p_event.type==InputEvent::MOUSE_BUTTON) {
  152. const InputEventMouseButton &mb=p_event.mouse_button;
  153. if (mb.pressed) {
  154. Point2 p( mb.x, mb.y );
  155. if (mb.button_index==1) {
  156. ray_to=p;
  157. _do_ray_query();
  158. } else if (mb.button_index==2) {
  159. ray_from=p;
  160. _do_ray_query();
  161. }
  162. }
  163. }
  164. if (p_event.type==InputEvent::MOUSE_MOTION) {
  165. const InputEventMouseMotion &mm=p_event.mouse_motion;
  166. Point2 p( mm.x, mm.y );
  167. if (mm.button_mask&BUTTON_MASK_LEFT) {
  168. ray_to=p;
  169. _do_ray_query();
  170. } else if (mm.button_mask&BUTTON_MASK_RIGHT) {
  171. ray_from=p;
  172. _do_ray_query();
  173. }
  174. }
  175. }
  176. RID _add_body(Physics2DServer::ShapeType p_shape, const Matrix32& p_xform) {
  177. VisualServer *vs = VisualServer::get_singleton();
  178. Physics2DServer *ps = Physics2DServer::get_singleton();
  179. RID body = ps->body_create();
  180. ps->body_add_shape(body,body_shape_data[p_shape].shape);
  181. ps->body_set_space(body,space);
  182. ps->body_set_continuous_collision_detection_mode(body,Physics2DServer::CCD_MODE_CAST_SHAPE);
  183. ps->body_set_state(body,Physics2DServer::BODY_STATE_TRANSFORM,p_xform);
  184. // print_line("add body with xform: "+p_xform);
  185. RID sprite = vs->canvas_item_create();
  186. vs->canvas_item_set_parent(sprite,canvas);
  187. vs->canvas_item_set_transform(sprite,p_xform);
  188. Size2 imgsize( vs->texture_get_width(body_shape_data[p_shape].image),vs->texture_get_height(body_shape_data[p_shape].image) );
  189. vs->canvas_item_add_texture_rect(sprite,Rect2(-imgsize/2.0,imgsize),body_shape_data[p_shape].image);
  190. ps->body_set_force_integration_callback(body,this,"_body_moved",sprite);
  191. // RID q = ps->query_create(this,"_body_moved",sprite);
  192. // ps->query_body_state(q,body);
  193. return body;
  194. }
  195. void _add_plane(const Vector2& p_normal, real_t p_d) {
  196. Physics2DServer *ps = Physics2DServer::get_singleton();
  197. Array arr;
  198. arr.push_back(p_normal);
  199. arr.push_back(p_d);
  200. RID plane = ps->shape_create(Physics2DServer::SHAPE_LINE);
  201. ps->shape_set_data(plane,arr);
  202. RID plane_body = ps->body_create(Physics2DServer::BODY_MODE_STATIC);
  203. ps->body_set_space(plane_body,space);
  204. ps->body_add_shape(plane_body,plane);
  205. }
  206. void _add_concave(const Vector<Vector2>& p_points,const Matrix32& p_xform=Matrix32()) {
  207. Physics2DServer *ps = Physics2DServer::get_singleton();
  208. VisualServer *vs = VisualServer::get_singleton();
  209. RID concave = ps->shape_create(Physics2DServer::SHAPE_CONCAVE_POLYGON);
  210. ps->shape_set_data(concave,p_points);
  211. RID body = ps->body_create(Physics2DServer::BODY_MODE_STATIC);
  212. ps->body_set_space(body,space);
  213. ps->body_add_shape(body,concave);
  214. ps->body_set_state(body,Physics2DServer::BODY_STATE_TRANSFORM,p_xform);
  215. RID sprite = vs->canvas_item_create();
  216. vs->canvas_item_set_parent(sprite,canvas);
  217. vs->canvas_item_set_transform(sprite,p_xform);
  218. for(int i=0;i<p_points.size();i+=2) {
  219. vs->canvas_item_add_line(sprite,p_points[i],p_points[i+1],Color(0,0,0),2);
  220. }
  221. }
  222. void _body_moved(Object *p_state,RID p_sprite) {
  223. Physics2DDirectBodyState *state=(Physics2DDirectBodyState *)p_state;
  224. VisualServer::get_singleton()->canvas_item_set_transform(p_sprite,state->get_transform());
  225. }
  226. void _ray_query_callback(const RID& p_rid, ObjectID p_id, int p_shape, const Vector2& p_point, const Vector2& p_normal) {
  227. Vector2 ray_end;
  228. if (p_rid.is_valid()) {
  229. ray_end=p_point;
  230. } else {
  231. ray_end=ray_to;
  232. }
  233. VisualServer *vs = VisualServer::get_singleton();
  234. vs->canvas_item_clear(ray);
  235. vs->canvas_item_add_line(ray,ray_from,ray_end,p_rid.is_valid()?Color(0,1,0.4):Color(1,0.4,0),2);
  236. if (p_rid.is_valid())
  237. vs->canvas_item_add_line(ray,ray_end,ray_end+p_normal*20,p_rid.is_valid()?Color(0,1,0.4):Color(1,0.4,0),2);
  238. }
  239. static void _bind_methods() {
  240. ObjectTypeDB::bind_method(_MD("_body_moved"),&TestPhysics2DMainLoop::_body_moved);
  241. ObjectTypeDB::bind_method(_MD("_ray_query_callback"),&TestPhysics2DMainLoop::_ray_query_callback);
  242. }
  243. public:
  244. virtual void init() {
  245. VisualServer *vs = VisualServer::get_singleton();
  246. Physics2DServer *ps = Physics2DServer::get_singleton();
  247. space=ps->space_create();
  248. ps->space_set_active(space,true);
  249. ps->set_active(true);
  250. ps->area_set_param(space,Physics2DServer::AREA_PARAM_GRAVITY_VECTOR,Vector2(0,1));
  251. ps->area_set_param(space,Physics2DServer::AREA_PARAM_GRAVITY,98);
  252. {
  253. RID vp = vs->viewport_create();
  254. canvas = vs->canvas_create();
  255. vs->viewport_attach_canvas(vp,canvas);
  256. vs->viewport_attach_to_screen(vp);
  257. Matrix32 smaller;
  258. //smaller.scale(Vector2(0.6,0.6));
  259. //smaller.elements[2]=Vector2(100,0);
  260. //view_xform = smaller;
  261. vs->viewport_set_canvas_transform(vp,canvas,view_xform);
  262. }
  263. ray = vs->canvas_item_create();
  264. vs->canvas_item_set_parent(ray,canvas);
  265. //ray_query = ps->query_create(this,"_ray_query_callback",Variant());
  266. //ps->query_intersection(ray_query,space);
  267. _create_body_shape_data();
  268. for(int i=0;i<32;i++) {
  269. Physics2DServer::ShapeType types[4]={
  270. Physics2DServer::SHAPE_CIRCLE,
  271. Physics2DServer::SHAPE_CAPSULE,
  272. Physics2DServer::SHAPE_RECTANGLE,
  273. Physics2DServer::SHAPE_CONVEX_POLYGON,
  274. };
  275. Physics2DServer::ShapeType type = types[i%4];
  276. // type=Physics2DServer::SHAPE_SEGMENT;
  277. RID b = _add_body(type,Matrix32(i*0.8,Point2(152+i*40,100-40*i)));
  278. //if (i==0)
  279. // ps->body_set_mode(b,Physics2DServer::BODY_MODE_STATIC);
  280. }
  281. //RID b= _add_body(Physics2DServer::SHAPE_CIRCLE,Matrix32(0,Point2(101,140)));
  282. //ps->body_set_mode(b,Physics2DServer::BODY_MODE_STATIC);
  283. Point2 prev;
  284. Vector<Point2> parr;
  285. for(int i=0;i<30;i++) {
  286. Point2 p(i*60,Math::randf() * 70+340);
  287. if (i>0) {
  288. parr.push_back(prev);
  289. parr.push_back(p);
  290. }
  291. prev=p;
  292. }
  293. _add_concave(parr);
  294. //_add_plane(Vector2(0.0,-1).normalized(),-300);
  295. //_add_plane(Vector2(1,0).normalized(),50);
  296. //_add_plane(Vector2(-1,0).normalized(),-600);
  297. }
  298. virtual bool idle(float p_time) {
  299. return false;
  300. }
  301. virtual void finish() {
  302. }
  303. TestPhysics2DMainLoop() {}
  304. };
  305. namespace TestPhysics2D {
  306. MainLoop* test() {
  307. return memnew( TestPhysics2DMainLoop );
  308. }
  309. }