C++ Fixture::GetShape方法代码示例

inline void Contact::GetWorldManifold(WorldManifold* worldManifold) const
{
	const Body* bodyA = m_fixtureA->GetBody();
	const Body* bodyB = m_fixtureB->GetBody();
	const Shape* shapeA = m_fixtureA->GetShape();
	const Shape* shapeB = m_fixtureB->GetShape();

	worldManifold->Initialize(&m_manifold, bodyA->GetTransform(), shapeA->m_radius, bodyB->GetTransform(), shapeB->m_radius);
}

void PhysicsWorld::FindAllCollisions() {
	contactManager.numOldContacts = contactManager.numContacts;
	assert(contactManager.numOldContacts < MaxNumContacts );
	memcpy(contactManager.oldContacts, contactManager.contacts, contactManager.numOldContacts * sizeof(Contact));
	contactManager.numContacts = 0;
	/*
		O(n^2) collsion detection ( or worse LOL )
		Check all fixtures vs all fixtures for collisions, 
		We dont collide fixtures that are from the same body
	*/ 
	for ( size_t i = 0; i < numBodies; i++ ) {
		for ( size_t j = i + 1; j < numBodies; j++ ) {
			if ( (bodies[i]->type != eDynamic && bodies[j]->type != eDynamic) ) {
				continue;
			}
			if ( contactManager.contactFilter && !contactManager.contactFilter->ShouldCollide(bodies[i], bodies[j]) ) {
				continue;
			}
			Fixture *fi = bodies[i]->GetFixtureList();
			while ( fi ) {
				Fixture *fj = bodies[j]->GetFixtureList();
				while ( fj ) {
					if ( fi->IsSensor( ) || fj->IsSensor( ) ) {
						if ( CheckOverlap(fi->GetShape(), bodies[i]->GetPosition(), fj->GetShape(), bodies[j]->GetPosition()) )	{
							contactManager.contactListener->OnSensor(fi, fj);
						}
					} else {
						// check collision and add to the contact list if they intersect
						contactManager.AddPair(fi, fj);
					}
					fj = fj->GetNext();
				}
				fi = fi->GetNext();
			}
		}
	}
	contactManager.MergeContacts();
}		

Fixture * World::QueryPoint(const Vector2 &point) const
{
	for(int i = 0; i < entities.size(); i++)
	{
		for(Fixture *f = entities[i]->body.GetFixtureList(); f != 0; f = f->GetNext()) 
		{
			if(f->GetShape()->TestPoint(point, entities[i]->body.GetPosition()))
			{
				return f;
			}
		}
	}
	return 0;
}

ContactSolver::ContactSolver(ContactSolverDef* def)
{
	m_step = def->step;
	m_allocator = def->allocator;
	m_count = def->count;
	m_positionConstraints = (ContactPositionConstraint*)m_allocator->Allocate(m_count * sizeof(ContactPositionConstraint));
	m_velocityConstraints = (ContactVelocityConstraint*)m_allocator->Allocate(m_count * sizeof(ContactVelocityConstraint));
	m_positions = def->positions;
	m_velocities = def->velocities;
	m_contacts = def->contacts;

	// Initialize position independent portions of the constraints.
	for (int32 i = 0; i < m_count; ++i)
	{
		Contact* contact = m_contacts[i];

		Fixture* fixtureA = contact->m_fixtureA;
		Fixture* fixtureB = contact->m_fixtureB;
		Shape* shapeA = fixtureA->GetShape();
		Shape* shapeB = fixtureB->GetShape();
		float32 radiusA = shapeA->m_radius;
		float32 radiusB = shapeB->m_radius;
		Body* bodyA = fixtureA->GetBody();
		Body* bodyB = fixtureB->GetBody();
		Manifold* manifold = contact->GetManifold();

		int32 pointCount = manifold->pointCount;
		assert(pointCount > 0);

		ContactVelocityConstraint* vc = m_velocityConstraints + i;
		vc->friction = contact->m_friction;
		vc->restitution = contact->m_restitution;
		vc->tangentSpeed = contact->m_tangentSpeed;
		vc->indexA = bodyA->m_islandIndex;
		vc->indexB = bodyB->m_islandIndex;
		vc->invMassA = bodyA->m_invMass;
		vc->invMassB = bodyB->m_invMass;
		vc->invIA = bodyA->m_invI;
		vc->invIB = bodyB->m_invI;
		vc->contactIndex = i;
		vc->pointCount = pointCount;
		vc->K.SetZero();
		vc->normalMass.SetZero();

		ContactPositionConstraint* pc = m_positionConstraints + i;
		pc->indexA = bodyA->m_islandIndex;
		pc->indexB = bodyB->m_islandIndex;
		pc->invMassA = bodyA->m_invMass;
		pc->invMassB = bodyB->m_invMass;
		pc->localCenterA = bodyA->m_sweep.localCenter;
		pc->localCenterB = bodyB->m_sweep.localCenter;
		pc->invIA = bodyA->m_invI;
		pc->invIB = bodyB->m_invI;
		pc->localNormal = manifold->localNormal;
		pc->localPoint = manifold->localPoint;
		pc->pointCount = pointCount;
		pc->radiusA = radiusA;
		pc->radiusB = radiusB;
		pc->type = manifold->type;

		for (int32 j = 0; j < pointCount; ++j)
		{
			ManifoldPoint* cp = manifold->points + j;
			VelocityConstraintPoint* vcp = vc->points + j;
	
			if (m_step.warmStarting)
			{
				vcp->normalImpulse = m_step.dtRatio * cp->normalImpulse;
				vcp->tangentImpulse = m_step.dtRatio * cp->tangentImpulse;
			}
			else
			{
				vcp->normalImpulse = 0.0f;
				vcp->tangentImpulse = 0.0f;
			}

			vcp->rA.SetZero();
			vcp->rB.SetZero();
			vcp->normalMass = 0.0f;
			vcp->tangentMass = 0.0f;
			vcp->velocityBias = 0.0f;

			pc->localPoints[j] = cp->localPoint;
		}
	}
}

void Island::SolveTOI(const PTimeStep& subStep, s32 toiIndexA, s32 toiIndexB)
{
	assert(toiIndexA < m_bodyCount);
	assert(toiIndexB < m_bodyCount);

	// Initialize the body state.
	for (s32 i = 0; i < m_bodyCount; ++i)
	{
		Body* b = m_bodies[i];
		m_positions[i].c = b->m_sweep.c;
		m_positions[i].a = b->m_sweep.a;
		m_velocities[i].v = b->m_linearVelocity;
		m_velocities[i].w = b->m_angularVelocity;
	}

	ContactSolverDef contactSolverDef;
	contactSolverDef.contacts = m_contacts;
	contactSolverDef.count = m_contactCount;
	contactSolverDef.allocator = m_allocator;
	contactSolverDef.step = subStep;
	contactSolverDef.positions = m_positions;
	contactSolverDef.velocities = m_velocities;
	ContactSolver contactSolver(&contactSolverDef);

	// Solve position constraints.
	for (s32 i = 0; i < subStep.positionIterations; ++i)
	{
		bool contactsOkay = contactSolver.SolveTOIPositionConstraints(toiIndexA, toiIndexB);
		if (contactsOkay)
		{
			break;
		}
	}

#if 0
	// Is the new position really safe?
	for (s32 i = 0; i < m_contactCount; ++i)
	{
		Contact* c = m_contacts[i];
		Fixture* fA = c->GetFixtureA();
		Fixture* fB = c->GetFixtureB();

		Body* bA = fA->GetBody();
		Body* bB = fB->GetBody();

		s32 indexA = c->GetChildIndexA();
		s32 indexB = c->GetChildIndexB();

		DistanceInput input;
		input.proxyA.Set(fA->GetShape(), indexA);
		input.proxyB.Set(fB->GetShape(), indexB);
		input.Transform2DA = bA->GetTransform2D();
		input.Transform2DB = bB->GetTransform2D();
		input.useRadii = false;

		DistanceOutput output;
		SimplexCache cache;
		cache.count = 0;
		Distance(&output, &cache, &input);

		if (output.distance == 0 || cache.count == 3)
		{
			cache.count += 0;
		}
	}
#endif

	// Leap of faith to new safe state.
	m_bodies[toiIndexA]->m_sweep.c0 = m_positions[toiIndexA].c;
	m_bodies[toiIndexA]->m_sweep.a0 = m_positions[toiIndexA].a;
	m_bodies[toiIndexB]->m_sweep.c0 = m_positions[toiIndexB].c;
	m_bodies[toiIndexB]->m_sweep.a0 = m_positions[toiIndexB].a;

	// No warm starting is needed for TOI events because warm
	// starting impulses were applied in the discrete solver.
	contactSolver.InitializeVelocityConstraints();

	// Solve velocity constraints.
	for (s32 i = 0; i < subStep.velocityIterations; ++i)
	{
		contactSolver.SolveVelocityConstraints();
	}

	// Don't store the TOI contact forces for warm starting
	// because they can be quite large.

	real32 h = subStep.delta;

	// Integrate positions
	for (s32 i = 0; i < m_bodyCount; ++i)
	{
		glm::vec2 c = m_positions[i].c;
		real32 a = m_positions[i].a;
		glm::vec2 v = m_velocities[i].v;
		real32 w = m_velocities[i].w;

		// Check for large velocities
		glm::vec2 translation = h * v;
		if (glm::dot(translation, translation) > maxTranslationSquared)
		{
//.........这里部分代码省略.........

void Graphics::Draw(Renderer *renderer)
{
	Fixture *fixture =  owner->body.GetFixtureList();

	while ( fixture )
	{
		if(visible)
		{
		if ( fixture->GetType() == eCircle )
		{
			renderer->DrawTexturedQuad(
				texture, 
				owner->body.GetPosition() + static_cast<Circle*>(fixture->GetShape())->localPos,
				static_cast<Circle*>(fixture->GetShape())->radius * 2.0f, 
				static_cast<Circle*>(fixture->GetShape())->radius * 2.0f, 
				angle, 
				Vector2(0.0f, 0.0f), //owner->body.GetPosition() + static_cast<Circle*>(fixture->GetShape())->localPos,
				flipX, 
				flipY, 
				color
				);
		}
		else if ( fixture->GetType() == eAABox )
		{
			Vector2 minExt = static_cast<AABox*>(fixture->GetShape())->minExt;
			Vector2 maxExt = static_cast<AABox*>(fixture->GetShape())->maxExt;
			Vector2 boxSize = maxExt - minExt;


			renderer->DrawTexturedQuad(
				texture, 
				owner->body.GetPosition() + boxSize/2.0f,
				boxSize.x, 
				boxSize.y, 
				0.0f, 
				owner->body.GetPosition() + boxSize/2.0f,
				flipX, 
				flipY, 
				color
				);

		}
		else if ( fixture->GetType() == eCapsule )
		{

			Vector2 pos0 = static_cast<Capsule*>(fixture->GetShape())->localPos0 + owner->body.GetPosition();
			Vector2 pos1 = static_cast<Capsule*>(fixture->GetShape())->localPos1 + owner->body.GetPosition();
			float radius = static_cast<Capsule*>(fixture->GetShape())->radius;

			Vector2 normal = normalize(pos1-pos0);
			Vector2 tangent = Vector2(-normal.y, normal.x);
			
			Vector2 verts[4];
			verts[0] = pos0 - normal * radius - tangent * radius; 
			verts[1] = pos1 + normal * radius - tangent * radius; 
			verts[2] = pos1 + normal * radius + tangent * radius; 
			verts[3] = pos0 - normal * radius + tangent * radius; 


			Vector2 texCoords[4];
			if ( !flipX )
			{
			texCoords[0] = Vector2(0.0f, 0.0f);
			texCoords[1] = Vector2(1.0f, 0.0f);
			texCoords[2] = Vector2(1.0f, 1.0f);
			texCoords[3] = Vector2(0.0f, 1.0f);
			}
			else
			{
				texCoords[2] = Vector2(0.0f, 0.0f);
				texCoords[0] = Vector2(1.0f, 0.0f);
				texCoords[1] = Vector2(1.0f, 1.0f);
				texCoords[3] = Vector2(0.0f, 1.0f);
			}
			glColor4f(color.r, color.g, color.b, color.a);
			renderer->DrawTexturedQuad(texture, verts, texCoords);
		}
		
		}
		if ( drawShape )
		{
			fixture->GetShape()->Draw(*renderer, owner->body.GetPosition());
		}
		fixture = fixture->GetNext();
		}

}

void BoxScreen::drawBody (const BodyP &b) {
    for (Fixture *f = b->GetFixtureList(); f; f = f->GetNext()) {
	drawShape (b,f->GetShape());
    }
}