package advanced.physics.physicsShapes;
import java.util.List;
import javax.media.opengl.glu.GLU;
import org.jbox2d.collision.shapes.PolygonDef;
import org.jbox2d.common.Vec2;
import org.jbox2d.dynamics.Body;
import org.jbox2d.dynamics.BodyDef;
import org.jbox2d.dynamics.World;
import org.mt4j.MTApplication;
import org.mt4j.components.visibleComponents.GeometryInfo;
import org.mt4j.components.visibleComponents.shapes.mesh.MTTriangleMesh;
import org.mt4j.input.inputProcessors.componentProcessors.rotateProcessor.RotateProcessor;
import org.mt4j.input.inputProcessors.componentProcessors.scaleProcessor.ScaleProcessor;
import org.mt4j.util.math.Vector3D;
import org.mt4j.util.math.Vertex;
import org.mt4j.util.opengl.GluTrianglulator;
import processing.core.PApplet;
public class PhysicsPolygon extends MTTriangleMesh implements IPhysicsComponent {
private float angle;
private World world;
private Body body;
private float density;
private float friction;
private float restituion;
public PhysicsPolygon(Vertex[] vertices, Vector3D position, PApplet applet,
World world, float density, float friction, float restitution, float worldScale
) {
super(applet, new GeometryInfo(applet, new Vertex[]{}), false);
this.angle = 0;
this.world = world;
this.density = density;
this.friction = friction;
this.restituion = restitution;
this.setGestureAllowance(ScaleProcessor.class, false);
this.setGestureAllowance(RotateProcessor.class, false);
Vertex.scaleVectorArray(vertices, Vector3D.ZERO_VECTOR, 1f/worldScale, 1f/worldScale, 1);
position.scaleLocal(1f/worldScale); //FIXME REALLY?
GluTrianglulator triangulator = new GluTrianglulator(applet);
List<Vertex> physicsTris = triangulator.tesselate(vertices, GLU.GLU_TESS_WINDING_NONZERO);
Vertex[] triangulatedBodyVerts = physicsTris.toArray(new Vertex[physicsTris.size()]);
triangulator.deleteTess();
//Set the triangulated vertices as the polygons (mesh's) vertices
this.setGeometryInfo(new GeometryInfo(applet, triangulatedBodyVerts));
this.translate(position);
Vector3D realBodyCenter = this.getCenterPointGlobal(); //FIXME geht nur if detached from world //rename futurebodycenter?
//Reset position
this.translate(position.getScaled(-1));
//Now get the position where the global center will be after setting the shape at the desired position
this.setPositionGlobal(position);
Vector3D meshCenterAtPosition = this.getCenterPointGlobal();
//Compute the distance we would have to move the vertices for the body creation
//so that the body.position(center) is at the same position as our mesh center
Vector3D realBodyCenterToMeshCenter = meshCenterAtPosition.getSubtracted(realBodyCenter);
//System.out.println("Diff:" + realBodyCenterToMeshCenter);
//Move the vertices so the body position is at the center of the shape
Vertex.translateVectorArray(triangulatedBodyVerts, realBodyCenterToMeshCenter);
this.setGeometryInfo(new GeometryInfo(applet, triangulatedBodyVerts));
// MTPolygon p = new MTPolygon(vertices, applet);
// p.translate(position);
//// p.setPositionGlobal(position);
// Vector3D realBodyCenter = p.getCenterPointGlobal(); //FIXME geht nur if detached from world //rename futurebodycenter?
// //Reset position
// p.translate(position.getScaled(-1));
//
// //Now get the position where the global center will be after setting the shape at the desired position
// p.setPositionGlobal(position);
// Vector3D meshCenterAtPosition = p.getCenterPointGlobal();
//
// //Compute the distance we would have to move the vertices for the body creation
// //so that the body.position(center) is at the same position as our mesh center
// Vector3D realBodyCenterToMeshCenter = meshCenterAtPosition.getSubtracted(realBodyCenter);
// //System.out.println("Diff:" + realBodyCenterToMeshCenter);
//
// //Move the vertices so the body position is at the center of the shape
// Vertex.translateVectorArray(vertices, realBodyCenterToMeshCenter);
Vertex.translateVectorArray(vertices, realBodyCenterToMeshCenter);
//Create vertex structure for creation of decomposition polygon (use the translated vertices)
float xArr[] = new float[vertices.length];
float yArr[] = new float[vertices.length];
for (int i = 0; i < vertices.length; i++) {
Vertex v = vertices[i];
xArr[i] = v.x;
yArr[i] = v.y;
}
//Create a polygon too see if its simple and eventually decompose it
org.jbox2d.util.nonconvex.Polygon myPoly = new org.jbox2d.util.nonconvex.Polygon(xArr, yArr);
PolygonDef pd = new PolygonDef();
if (density != 0.0f){
pd.density = density;
pd.friction = friction;
pd.restitution = restituion;
}
//Create polygon body
BodyDef dymBodyDef = new BodyDef();
// dymBodyDef.position = new Vec2(position.x /worldScale, position.y /worldScale);
dymBodyDef.position = new Vec2(position.x , position.y );
this.bodyDefB4CreationCallback(dymBodyDef);
this.body = world.createBody(dymBodyDef);
// GluTrianglulator triangulator = new GluTrianglulator(applet);
// List<Vertex> physicsTris = triangulator.tesselate(vertices, GLU.GLU_TESS_WINDING_NONZERO);
// Vertex[] triangulatedBodyVerts = physicsTris.toArray(new Vertex[physicsTris.size()]);
// triangulator.deleteTess();
// //Set the triangulated vertices as the polygons (mesh's) vertices
// this.setGeometryInfo(new GeometryInfo(applet, triangulatedBodyVerts));
//Decompose poly and add verts to phys body if possible
int success = org.jbox2d.util.nonconvex.Polygon.decomposeConvexAndAddTo(myPoly, this.body, pd);
if (success != -1){
System.out.println("-> Ear clipping SUCCESSFUL -> Using triangulated and polygonized shape for b2d.");
this.body.setMassFromShapes();
this.body.setUserData(this);
this.setUserData("box2d", this.body); //TODO rename userData
//Performance hit! but prevents object from sticking to another sometimes
// theBody.setBullet(true);
}else{
System.out.println("-> Ear clipping had an ERROR - trying again by triangulating shape for b2d with GLU-Triangulator");
// GluTrianglulator triangulator = new GluTrianglulator(app);
// List<Vertex> physicsTris = triangulator.tesselate(bodyVerts, GLU.GLU_TESS_WINDING_NONZERO);
// Vertex[] triangulatedBodyVerts = physicsTris.toArray(new Vertex[physicsTris.size()]);
//System.out.println("GLU tris created: " + triangulatedBodyVerts.length);
//Cap the max triangles - dont use anymore triangles for the physics body..
int cap = 400;
if (triangulatedBodyVerts.length > cap){
//System.err.println("OVER cap! -> capping!");
Vertex[] tmp = new Vertex[cap];
System.arraycopy(triangulatedBodyVerts, 0, tmp, 0, cap);
triangulatedBodyVerts = tmp;
}
//Create polygon body
world.destroyBody(this.body);
dymBodyDef = new BodyDef();
dymBodyDef.position = new Vec2(position.x, position.y);
this.bodyDefB4CreationCallback(dymBodyDef);
this.body = world.createBody(dymBodyDef);
for (int i = 0; i < triangulatedBodyVerts.length/3; i++) {
//Create polygon definition
PolygonDef polyDef = new PolygonDef();
if (density != 0.0f){
polyDef.density = density;
polyDef.friction = friction;
polyDef.restitution = restituion;
}
this.polyDefB4CreationCallback(polyDef); //FIXME TEST
//Add triangle vertices
Vertex vertex1 = triangulatedBodyVerts[i*3];
Vertex vertex2 = triangulatedBodyVerts[i*3+1];
Vertex vertex3 = triangulatedBodyVerts[i*3+2];
polyDef.addVertex(new Vec2(vertex1.x, vertex1.y));
polyDef.addVertex(new Vec2(vertex2.x, vertex2.y));
polyDef.addVertex(new Vec2(vertex3.x, vertex3.y));
//Add poly to body
this.body.createShape(polyDef);
}
this.body.setMassFromShapes();
//FIXME TEST - performance hit!?
//theBody.setBullet(true);
this.body.setUserData(this);
this.setUserData("box2d", this.body); //TODO rename userData
}
// p.destroy();
}
protected void polyDefB4CreationCallback(PolygonDef def){
}
protected void bodyDefB4CreationCallback(BodyDef def){
}
//@Override
public void rotateZGlobal(Vector3D rotationPoint, float degree) {
angle += degree;
super.rotateZGlobal(rotationPoint, degree);
}
public float getAngle() {
return angle;
}
public void setCenterRotation(float angle){
float degreeAngle = MTApplication.degrees(angle);
float oldAngle = this.getAngle();
float diff = degreeAngle-oldAngle;
//System.out.println("Old angle: " + oldAngle + " new angle:" + degreeAngle + " diff->" + diff);
this.rotateZGlobal(this.getCenterPointGlobal(), diff);
}
//@Override
protected void destroyComponent() {
Object o = this.getUserData("box2d");
if (o != null && o instanceof Body){
Body box2dBody = (Body)o;
boolean exists = false;
for (Body body = world.getBodyList(); body != null; body = body.getNext()) {
if (body.equals(this.body))
exists = true;//Delete later to avoid concurrent modification
}
if (exists)
box2dBody.getWorld().destroyBody(box2dBody);
}
super.destroyComponent();
}
public World getWorld() {
return world;
}
public Body getBody() {
return body;
}
public float getDensity() {
return density;
}
public float getFriction() {
return friction;
}
public float getRestituion() {
return restituion;
}
}