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* Copyright (c) 2013, Daniel Murphy
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package org.jbox2d.testbed.tests;
import org.jbox2d.collision.shapes.CircleShape;
import org.jbox2d.collision.shapes.EdgeShape;
import org.jbox2d.collision.shapes.PolygonShape;
import org.jbox2d.common.Color3f;
import org.jbox2d.common.MathUtils;
import org.jbox2d.common.Vec2;
import org.jbox2d.dynamics.Body;
import org.jbox2d.dynamics.BodyDef;
import org.jbox2d.dynamics.Fixture;
import org.jbox2d.dynamics.FixtureDef;
import org.jbox2d.testbed.framework.TestbedSettings;
import org.jbox2d.testbed.framework.TestbedTest;
import org.jbox2d.callbacks.RayCastCallback;
public class RayCastTest extends TestbedTest {
public static final int e_maxBodies = 256;
enum Mode {
e_closest, e_any, e_multiple
};
int m_bodyIndex;
Body[] m_bodies;
Integer[] m_userData;
PolygonShape[] m_polygons;
CircleShape m_circle;
EdgeShape m_edge;
float m_angle;
Mode m_mode;
@Override
public String getTestName() {
return "Raycast";
}
@Override
public void initTest(boolean deserialized) {
m_bodies = new Body[e_maxBodies];
m_userData = new Integer[e_maxBodies];
m_polygons = new PolygonShape[4];
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
Vec2 vertices[] = new Vec2[3];
vertices[0] = new Vec2(-0.5f, 0.0f);
vertices[1] = new Vec2(0.5f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[0] = new PolygonShape();
m_polygons[0].set(vertices, 3);
}
{
Vec2 vertices[] = new Vec2[3];
vertices[0] = new Vec2(-0.1f, 0.0f);
vertices[1] = new Vec2(0.1f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[1] = new PolygonShape();
m_polygons[1].set(vertices, 3);
}
{
float w = 1.0f;
float b = w / (2.0f + MathUtils.sqrt(2.0f));
float s = MathUtils.sqrt(2.0f) * b;
Vec2 vertices[] = new Vec2[8];
vertices[0] = new Vec2(0.5f * s, 0.0f);
vertices[1] = new Vec2(0.5f * w, b);
vertices[2] = new Vec2(0.5f * w, b + s);
vertices[3] = new Vec2(0.5f * s, w);
vertices[4] = new Vec2(-0.5f * s, w);
vertices[5] = new Vec2(-0.5f * w, b + s);
vertices[6] = new Vec2(-0.5f * w, b);
vertices[7] = new Vec2(-0.5f * s, 0.0f);
m_polygons[2] = new PolygonShape();
m_polygons[2].set(vertices, 8);
}
{
m_polygons[3] = new PolygonShape();
m_polygons[3].setAsBox(0.5f, 0.5f);
}
{
m_circle = new CircleShape();
m_circle.m_radius = 0.5f;
}
{
m_edge = new EdgeShape();
m_edge.set(new Vec2(-1.0f, 0.0f), new Vec2(1.0f, 0.0f));
}
m_bodyIndex = 0;
m_angle = 0.0f;
m_mode = Mode.e_closest;
}
RayCastClosestCallback ccallback = new RayCastClosestCallback();
RayCastAnyCallback acallback = new RayCastAnyCallback();
RayCastMultipleCallback mcallback = new RayCastMultipleCallback();
// pooling
Vec2 point1 = new Vec2();
Vec2 d = new Vec2();
Vec2 pooledHead = new Vec2();
Vec2 point2 = new Vec2();
@Override
public void step(TestbedSettings settings) {
boolean advanceRay = settings.pause == false || settings.singleStep;
super.step(settings);
addTextLine("Press 1-6 to drop stuff, m to change the mode");
addTextLine("Polygon 1 is filtered");
addTextLine("Mode = " + m_mode);
float L = 11.0f;
point1.set(0.0f, 10.0f);
d.set(L * MathUtils.cos(m_angle), L * MathUtils.sin(m_angle));
point2.set(point1);
point2.addLocal(d);
if (m_mode == Mode.e_closest) {
ccallback.init();
getWorld().raycast(ccallback, point1, point2);
if (ccallback.m_hit) {
getDebugDraw().drawPoint(ccallback.m_point, 5.0f, new Color3f(0.4f, 0.9f, 0.4f));
getDebugDraw().drawSegment(point1, ccallback.m_point, new Color3f(0.8f, 0.8f, 0.8f));
pooledHead.set(ccallback.m_normal);
pooledHead.mulLocal(.5f).addLocal(ccallback.m_point);
getDebugDraw().drawSegment(ccallback.m_point, pooledHead, new Color3f(0.9f, 0.9f, 0.4f));
} else {
getDebugDraw().drawSegment(point1, point2, new Color3f(0.8f, 0.8f, 0.8f));
}
} else if (m_mode == Mode.e_any) {
acallback.init();
getWorld().raycast(acallback, point1, point2);
if (acallback.m_hit) {
getDebugDraw().drawPoint(acallback.m_point, 5.0f, new Color3f(0.4f, 0.9f, 0.4f));
getDebugDraw().drawSegment(point1, acallback.m_point, new Color3f(0.8f, 0.8f, 0.8f));
pooledHead.set(acallback.m_normal);
pooledHead.mulLocal(.5f).addLocal(acallback.m_point);
getDebugDraw().drawSegment(acallback.m_point, pooledHead, new Color3f(0.9f, 0.9f, 0.4f));
} else {
getDebugDraw().drawSegment(point1, point2, new Color3f(0.8f, 0.8f, 0.8f));
}
} else if (m_mode == Mode.e_multiple) {
mcallback.init();
getWorld().raycast(mcallback, point1, point2);
getDebugDraw().drawSegment(point1, point2, new Color3f(0.8f, 0.8f, 0.8f));
for (int i = 0; i < mcallback.m_count; ++i) {
Vec2 p = mcallback.m_points[i];
Vec2 n = mcallback.m_normals[i];
getDebugDraw().drawPoint(p, 5.0f, new Color3f(0.4f, 0.9f, 0.4f));
getDebugDraw().drawSegment(point1, p, new Color3f(0.8f, 0.8f, 0.8f));
pooledHead.set(n);
pooledHead.mulLocal(.5f).addLocal(p);
getDebugDraw().drawSegment(p, pooledHead, new Color3f(0.9f, 0.9f, 0.4f));
}
}
if (advanceRay) {
m_angle += 0.25f * MathUtils.PI / 180.0f;
}
}
void Create(int index) {
if (m_bodies[m_bodyIndex] != null) {
getWorld().destroyBody(m_bodies[m_bodyIndex]);
m_bodies[m_bodyIndex] = null;
}
BodyDef bd = new BodyDef();
float x = (float) Math.random() * 20 - 10;
float y = (float) Math.random() * 20;
bd.position.set(x, y);
bd.angle = (float) Math.random() * MathUtils.TWOPI - MathUtils.PI;
m_userData[m_bodyIndex] = index;
bd.userData = m_userData[m_bodyIndex];
if (index == 4) {
bd.angularDamping = 0.02f;
}
m_bodies[m_bodyIndex] = getWorld().createBody(bd);
if (index < 4) {
FixtureDef fd = new FixtureDef();
fd.shape = m_polygons[index];
fd.friction = 0.3f;
m_bodies[m_bodyIndex].createFixture(fd);
} else if (index < 5) {
FixtureDef fd = new FixtureDef();
fd.shape = m_circle;
fd.friction = 0.3f;
m_bodies[m_bodyIndex].createFixture(fd);
} else {
FixtureDef fd = new FixtureDef();
fd.shape = m_edge;
fd.friction = 0.3f;
m_bodies[m_bodyIndex].createFixture(fd);
}
m_bodyIndex = (m_bodyIndex + 1) % e_maxBodies;
}
void DestroyBody() {
for (int i = 0; i < e_maxBodies; ++i) {
if (m_bodies[i] != null) {
getWorld().destroyBody(m_bodies[i]);
m_bodies[i] = null;
return;
}
}
}
@Override
public void keyPressed(char argKeyChar, int argKeyCode) {
switch (argKeyChar) {
case '1':
case '2':
case '3':
case '4':
case '5':
case '6':
Create(argKeyChar - '1');
break;
case 'd':
DestroyBody();
break;
case 'm':
if (m_mode == Mode.e_closest) {
m_mode = Mode.e_any;
} else if (m_mode == Mode.e_any) {
m_mode = Mode.e_multiple;
} else if (m_mode == Mode.e_multiple) {
m_mode = Mode.e_closest;
}
break;
}
}
}
// This test demonstrates how to use the world ray-cast feature.
// NOTE: we are intentionally filtering one of the polygons, therefore
// the ray will always miss one type of polygon.
// This callback finds the closest hit. Polygon 0 is filtered.
class RayCastClosestCallback implements RayCastCallback {
boolean m_hit;
Vec2 m_point;
Vec2 m_normal;
public void init() {
m_hit = false;
}
public float reportFixture(Fixture fixture, Vec2 point, Vec2 normal, float fraction) {
Body body = fixture.getBody();
Object userData = body.getUserData();
if (userData != null) {
int index = (Integer) userData;
if (index == 0) {
// filter
return -1f;
}
}
m_hit = true;
m_point = point;
m_normal = normal;
return fraction;
}
};
// This callback finds any hit. Polygon 0 is filtered.
class RayCastAnyCallback implements RayCastCallback {
public void init() {
m_hit = false;
}
public float reportFixture(Fixture fixture, Vec2 point, Vec2 normal, float fraction) {
Body body = fixture.getBody();
Object userData = body.getUserData();
if (userData != null) {
int index = (Integer) userData;
if (index == 0) {
// filter
return -1f;
}
}
m_hit = true;
m_point = point;
m_normal = normal;
return 0f;
}
boolean m_hit;
Vec2 m_point;
Vec2 m_normal;
};
// This ray cast collects multiple hits along the ray. Polygon 0 is filtered.
class RayCastMultipleCallback implements RayCastCallback {
public int e_maxCount = 30;
Vec2 m_points[] = new Vec2[e_maxCount];
Vec2 m_normals[] = new Vec2[e_maxCount];
int m_count;
public void init() {
for (int i = 0; i < e_maxCount; i++) {
m_points[i] = new Vec2();
m_normals[i] = new Vec2();
}
m_count = 0;
}
public float reportFixture(Fixture fixture, Vec2 point, Vec2 normal, float fraction) {
Body body = fixture.getBody();
int index = 0;
Object userData = body.getUserData();
if (userData != null) {
index = (Integer) userData;
if (index == 0) {
// filter
return -1f;
}
}
assert (m_count < e_maxCount);
m_points[m_count].set(point);
m_normals[m_count].set(normal);
++m_count;
if (m_count == e_maxCount) {
return 0f;
}
return 1f;
}
};