/*
* Phys2D - a 2D physics engine based on the work of Erin Catto. The
* original source remains:
*
* Copyright (c) 2006 Erin Catto http://www.gphysics.com
*
* This source is provided under the terms of the BSD License.
*
* Copyright (c) 2006, Phys2D
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
*
* * Redistributions of source code must retain the above
* copyright notice, this list of conditions and the
* following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Phys2D/New Dawn Software nor the names of
* its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS
* BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
* OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR
* TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
* OF SUCH DAMAGE.
*/
package net.phys2d.raw.test;
import java.awt.Color;
import java.awt.Frame;
import java.awt.Graphics2D;
import java.awt.Toolkit;
import java.awt.event.KeyAdapter;
import java.awt.event.KeyEvent;
import java.awt.event.WindowAdapter;
import java.awt.event.WindowEvent;
import java.awt.image.BufferStrategy;
import net.phys2d.math.MathUtil;
import net.phys2d.math.Matrix2f;
import net.phys2d.math.ROVector2f;
import net.phys2d.math.Vector2f;
import net.phys2d.raw.AngleJoint;
import net.phys2d.raw.Arbiter;
import net.phys2d.raw.ArbiterList;
import net.phys2d.raw.BasicJoint;
import net.phys2d.raw.Body;
import net.phys2d.raw.BodyList;
import net.phys2d.raw.Contact;
import net.phys2d.raw.DistanceJoint;
import net.phys2d.raw.FixedJoint;
import net.phys2d.raw.Joint;
import net.phys2d.raw.JointList;
import net.phys2d.raw.SlideJoint;
import net.phys2d.raw.SpringJoint;
import net.phys2d.raw.World;
import net.phys2d.raw.shapes.Box;
import net.phys2d.raw.shapes.Circle;
import net.phys2d.raw.shapes.Line;
import net.phys2d.raw.shapes.Polygon;
import net.phys2d.raw.strategies.QuadSpaceStrategy;
/**
* A common demo box super class.
*
* @author Kevin Glass
*/
public abstract class AbstractDemo {
/** The frame displaying the demo */
protected Frame frame;
/** The title of the current demo */
protected String title;
/** The world containing the physics model */
protected World world = new World(new Vector2f(0.0f, 10.0f), 10, new QuadSpaceStrategy(20,5));
/** True if the simulation is running */
private boolean running = true;
/** The rendering strategy */
private BufferStrategy strategy;
/** True if we should reset the demo on the next loop */
protected boolean needsReset;
/** True if we should render normals */
private boolean normals = true;
/** True if we should render contact points */
private boolean contacts = true;
/**
* Create a new demo
*
* @param title The title of the demo
*/
public AbstractDemo(String title) {
this.title = title;
}
/**
* Retrieve the title of the demo
*
* @return The title of the demo
*/
public String getTitle() {
return title;
}
/**
* Notification that a key was pressed
*
* @param c The character of key hit
*/
protected void keyHit(char c) {
if (c == 'r') {
needsReset = true;
}
if (c == 'c') {
normals = !normals;
contacts = !contacts;
}
}
/**
* Initialise the GUI
*/
private void initGUI() {
frame = new Frame(title);
frame.setResizable(false);
frame.setIgnoreRepaint(true);
frame.setSize(500,500);
int x = (int) (Toolkit.getDefaultToolkit().getScreenSize().getWidth() - 500) / 2;
int y = (int) (Toolkit.getDefaultToolkit().getScreenSize().getHeight() - 500) / 2;
frame.setLocation(x,y);
frame.addWindowListener(new WindowAdapter() {
public void windowClosing(WindowEvent e) {
running = false;
System.exit(0);
}
});
frame.addKeyListener(new KeyAdapter() {
public void keyTyped(KeyEvent e) {
keyHit(e.getKeyChar());
}
public void keyPressed(KeyEvent e) {
if (e.getKeyCode() == 27) {
System.exit(0);
}
}
});
frame.setVisible(true);
frame.createBufferStrategy(2);
strategy = frame.getBufferStrategy();
}
/**
* Start the simulation running
*/
public void start() {
initGUI();
initDemo();
float target = 1000 / 60.0f;
float frameAverage = target;
long lastFrame = System.currentTimeMillis();
float yield = 10000f;
float damping = 0.1f;
long renderTime = 0;
long logicTime = 0;
while (running) {
// adaptive timing loop from Master Onyx
long timeNow = System.currentTimeMillis();
frameAverage = (frameAverage * 10 + (timeNow - lastFrame)) / 11;
lastFrame = timeNow;
yield+=yield*((target/frameAverage)-1)*damping+0.05f;
for(int i=0;i<yield;i++) {
Thread.yield();
}
// render
long beforeRender = System.currentTimeMillis();
Graphics2D g = (Graphics2D) strategy.getDrawGraphics();
g.setColor(Color.white);
g.fillRect(0,0,500,500);
draw(g);
renderGUI(g);
g.setColor(Color.black);
g.drawString("FAv: "+frameAverage,10,50);
g.drawString("FPS: "+(int) (1000 / frameAverage),10,70);
g.drawString("Yield: "+yield,10,90);
g.drawString("Arbiters: "+world.getArbiters().size(),10,110);
g.drawString("Bodies: "+world.getBodies().size(),10,130);
g.drawString("R: "+renderTime,10,150);
g.drawString("L: "+logicTime,10,170);
g.drawString("Energy: "+world.getTotalEnergy(),10,190);
g.dispose();
strategy.show();
renderTime = System.currentTimeMillis() - beforeRender;
// update data model
long beforeLogic = System.currentTimeMillis();
for (int i=0;i<5;i++) {
world.step();
}
logicTime = System.currentTimeMillis() - beforeLogic;
if (needsReset) {
world.clear();
initDemo();
needsReset = false;
frameAverage = target;
yield = 10000f;
}
update();
}
}
/**
* Update the demo - just in case we want to add anything over
* the top
*/
protected void update() {
}
/**
* Demo customisable GUI render
*
* @param g The graphics context to use for rendering here
*/
protected void renderGUI(Graphics2D g) {
g.setColor(Color.black);
g.drawString("R - Restart Demo",15,430);
}
/**
* Draw a specific contact point determined from the simulation
*
* @param g The graphics context on which to draw
* @param contact The contact to draw
*/
protected void drawContact(Graphics2D g, Contact contact) {
int x = (int) contact.getPosition().getX();
int y = (int) contact.getPosition().getY();
if (contacts) {
g.setColor(Color.blue);
g.fillOval(x-3,y-3,6,6);
}
if (normals) {
int dx = (int) (contact.getNormal().getX() * 10);
int dy = (int) (contact.getNormal().getY() * 10);
g.setColor(Color.darkGray);
g.drawLine(x,y,x+dx,y+dy);
}
}
/**
* Draw a body
*
* @param g The graphics contact on which to draw
* @param body The body to be drawn
*/
protected void drawBody(Graphics2D g, Body body) {
if (body.getShape() instanceof Box) {
drawBoxBody(g,body,(Box) body.getShape());
}
if (body.getShape() instanceof Circle) {
drawCircleBody(g,body,(Circle) body.getShape());
}
if (body.getShape() instanceof Line) {
drawLineBody(g,body,(Line) body.getShape());
}
if (body.getShape() instanceof Polygon) {
drawPolygonBody(g,body,(Polygon) body.getShape());
}
}
/**
* Draw a polygon into the demo
*
* @param g The graphics to draw the poly onto
* @param body The body describing the poly's position
* @param poly The poly to be drawn
*/
protected void drawPolygonBody(Graphics2D g, Body body, Polygon poly) {
g.setColor(Color.black);
ROVector2f[] verts = poly.getVertices(body.getPosition(), body.getRotation());
for ( int i = 0, j = verts.length-1; i < verts.length; j = i, i++ ) {
g.drawLine(
(int) (0.5f + verts[i].getX()),
(int) (0.5f + verts[i].getY()),
(int) (0.5f + verts[j].getX()),
(int) (0.5f + verts[j].getY()));
}
}
/**
* Draw a line into the demo
*
* @param g The graphics to draw the line onto
* @param body The body describing the line's position
* @param line The line to be drawn
*/
protected void drawLineBody(Graphics2D g, Body body, Line line) {
g.setColor(Color.black);
//
// float x = body.getPosition().getX();
// float y = body.getPosition().getY();
// float dx = line.getDX();
// float dy = line.getDY();
//
// g.drawLine((int) x,(int) y,(int) (x+dx),(int) (y+dy));
Vector2f[] verts = line.getVertices(body.getPosition(), body.getRotation());
g.drawLine(
(int) verts[0].getX(),
(int) verts[0].getY(),
(int) verts[1].getX(),
(int) verts[1].getY());
}
/**
* Draw a circle in the world
*
* @param g The graphics contact on which to draw
* @param body The body to be drawn
* @param circle The shape to be drawn
*/
protected void drawCircleBody(Graphics2D g, Body body, Circle circle) {
g.setColor(Color.black);
float x = body.getPosition().getX();
float y = body.getPosition().getY();
float r = circle.getRadius();
float rot = body.getRotation();
float xo = (float) (Math.cos(rot) * r);
float yo = (float) (Math.sin(rot) * r);
g.drawOval((int) (x-r),(int) (y-r),(int) (r*2),(int) (r*2));
g.drawLine((int) x,(int) y,(int) (x+xo),(int) (y+yo));
}
/**
* Draw a box in the world
*
* @param g The graphics contact on which to draw
* @param body The body to be drawn
* @param box The shape to be drawn
*/
protected void drawBoxBody(Graphics2D g, Body body, Box box) {
Vector2f[] pts = box.getPoints(body.getPosition(), body.getRotation());
Vector2f v1 = pts[0];
Vector2f v2 = pts[1];
Vector2f v3 = pts[2];
Vector2f v4 = pts[3];
g.setColor(Color.black);
g.drawLine((int) v1.x,(int) v1.y,(int) v2.x,(int) v2.y);
g.drawLine((int) v2.x,(int) v2.y,(int) v3.x,(int) v3.y);
g.drawLine((int) v3.x,(int) v3.y,(int) v4.x,(int) v4.y);
g.drawLine((int) v4.x,(int) v4.y,(int) v1.x,(int) v1.y);
}
/**
* Draw a joint
*
* @param g The graphics contact on which to draw
* @param j The joint to be drawn
*/
public void drawJoint(Graphics2D g, Joint j) {
if (j instanceof FixedJoint) {
FixedJoint joint = (FixedJoint) j;
g.setColor(Color.red);
float x1 = joint.getBody1().getPosition().getX();
float x2 = joint.getBody2().getPosition().getX();
float y1 = joint.getBody1().getPosition().getY();
float y2 = joint.getBody2().getPosition().getY();
g.drawLine((int) x1,(int) y1,(int) x2,(int) y2);
}
if(j instanceof SlideJoint){
SlideJoint joint = (SlideJoint) j;
Body b1 = joint.getBody1();
Body b2 = joint.getBody2();
Matrix2f R1 = new Matrix2f(b1.getRotation());
Matrix2f R2 = new Matrix2f(b2.getRotation());
ROVector2f x1 = b1.getPosition();
Vector2f p1 = MathUtil.mul(R1,joint.getAnchor1());
p1.add(x1);
ROVector2f x2 = b2.getPosition();
Vector2f p2 = MathUtil.mul(R2,joint.getAnchor2());
p2.add(x2);
Vector2f im = new Vector2f(p2);
im.sub(p1);
im.normalise();
g.setColor(Color.red);
g.drawLine((int)p1.x,(int)p1.y,(int)(p1.x+im.x*joint.getMinDistance()),(int)(p1.y+im.y*joint.getMinDistance()));
g.setColor(Color.blue);
g.drawLine((int)(p1.x+im.x*joint.getMinDistance()),(int)(p1.y+im.y*joint.getMinDistance()),(int)(p1.x+im.x*joint.getMaxDistance()),(int)(p1.y+im.y*joint.getMaxDistance()));
}
if(j instanceof AngleJoint){
AngleJoint angleJoint = (AngleJoint)j;
Body b1 = angleJoint.getBody1();
Body b2 = angleJoint.getBody2();
float RA = j.getBody1().getRotation() + angleJoint.getRotateA();
float RB = j.getBody1().getRotation() + angleJoint.getRotateB();
Vector2f VA = new Vector2f((float) Math.cos(RA), (float) Math.sin(RA));
Vector2f VB = new Vector2f((float) Math.cos(RB), (float) Math.sin(RB));
Matrix2f R1 = new Matrix2f(b1.getRotation());
Matrix2f R2 = new Matrix2f(b2.getRotation());
ROVector2f x1 = b1.getPosition();
Vector2f p1 = MathUtil.mul(R1,angleJoint.getAnchor1());
p1.add(x1);
ROVector2f x2 = b2.getPosition();
Vector2f p2 = MathUtil.mul(R2,angleJoint.getAnchor2());
p2.add(x2);
g.setColor(Color.red);
g.drawLine((int)p1.x,(int)p1.y,(int)(p1.x+VA.x*20),(int)(p1.y+VA.y*20));
g.drawLine((int)p1.x,(int)p1.y,(int)(p1.x+VB.x*20),(int)(p1.y+VB.y*20));
}
if (j instanceof BasicJoint) {
BasicJoint joint = (BasicJoint) j;
Body b1 = joint.getBody1();
Body b2 = joint.getBody2();
Matrix2f R1 = new Matrix2f(b1.getRotation());
Matrix2f R2 = new Matrix2f(b2.getRotation());
ROVector2f x1 = b1.getPosition();
Vector2f p1 = MathUtil.mul(R1,joint.getLocalAnchor1());
p1.add(x1);
ROVector2f x2 = b2.getPosition();
Vector2f p2 = MathUtil.mul(R2,joint.getLocalAnchor2());
p2.add(x2);
g.setColor(Color.red);
g.drawLine((int) x1.getX(), (int) x1.getY(), (int) p1.x, (int) p1.y);
g.drawLine((int) p1.x, (int) p1.y, (int) x2.getX(), (int) x2.getY());
g.drawLine((int) x2.getX(), (int) x2.getY(), (int) p2.x, (int) p2.y);
g.drawLine((int) p2.x, (int) p2.y, (int) x1.getX(), (int) x1.getY());
}
if(j instanceof DistanceJoint){
DistanceJoint joint = (DistanceJoint) j;
Body b1 = joint.getBody1();
Body b2 = joint.getBody2();
Matrix2f R1 = new Matrix2f(b1.getRotation());
Matrix2f R2 = new Matrix2f(b2.getRotation());
ROVector2f x1 = b1.getPosition();
Vector2f p1 = MathUtil.mul(R1,joint.getAnchor1());
p1.add(x1);
ROVector2f x2 = b2.getPosition();
Vector2f p2 = MathUtil.mul(R2,joint.getAnchor2());
p2.add(x2);
g.setColor(Color.red);
g.drawLine((int) p1.getX(), (int) p1.getY(), (int) p2.x, (int) p2.y);
}
if (j instanceof SpringJoint) {
SpringJoint joint = (SpringJoint) j;
Body b1 = joint.getBody1();
Body b2 = joint.getBody2();
Matrix2f R1 = new Matrix2f(b1.getRotation());
Matrix2f R2 = new Matrix2f(b2.getRotation());
ROVector2f x1 = b1.getPosition();
Vector2f p1 = MathUtil.mul(R1,joint.getLocalAnchor1());
p1.add(x1);
ROVector2f x2 = b2.getPosition();
Vector2f p2 = MathUtil.mul(R2,joint.getLocalAnchor2());
p2.add(x2);
g.setColor(Color.red);
g.drawLine((int) x1.getX(), (int) x1.getY(), (int) p1.x, (int) p1.y);
g.drawLine((int) p1.x, (int) p1.y, (int) p2.getX(), (int) p2.getY());
g.drawLine((int) p2.getX(), (int) p2.getY(), (int) x2.getX(), (int) x2.getY());
}
}
/**
* Draw the whole simulation
*
* @param g The graphics context on which to draw
*/
protected void draw(Graphics2D g) {
BodyList bodies = world.getBodies();
for (int i=0;i<bodies.size();i++) {
Body body = bodies.get(i);
drawBody(g, body);
}
JointList joints = world.getJoints();
for (int i=0;i<joints.size();i++) {
Joint joint = joints.get(i);
drawJoint(g, joint);
}
ArbiterList arbs = world.getArbiters();
for (int i=0;i<arbs.size();i++) {
Arbiter arb = arbs.get(i);
Contact[] contacts = arb.getContacts();
int numContacts = arb.getNumContacts();
for (int j=0;j<numContacts;j++) {
drawContact(g, contacts[j]);
}
}
}
/**
* Initialise the demo - clear the world
*/
public final void initDemo() {
world.clear();
world.setGravity(0,10);
System.out.println("Initialising:" +getTitle());
init(world);
}
/**
* Should be implemented by the demo, add the bodies/joints
* to the world.
*
* @param world The world in which the simulation is going to run
*/
protected abstract void init(World world);
}