godot/main/tests/test_physics_2d.cpp

/*************************************************************************/
/*  test_physics_2d.cpp                                                  */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
/*                    http://www.godotengine.org                         */
/*************************************************************************/
/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur.                 */
/*                                                                       */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the       */
/* "Software"), to deal in the Software without restriction, including   */
/* without limitation the rights to use, copy, modify, merge, publish,   */
/* distribute, sublicense, and/or sell copies of the Software, and to    */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions:                                             */
/*                                                                       */
/* The above copyright notice and this permission notice shall be        */
/* included in all copies or substantial portions of the Software.       */
/*                                                                       */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
/*************************************************************************/
#include "test_physics_2d.h"
#include "servers/visual_server.h"
#include "servers/physics_2d_server.h"
#include "os/main_loop.h"
#include "print_string.h"
#include "map.h"
#include "scene/resources/texture.h"
#include "os/os.h"

static const unsigned char convex_png[]={
0x89,0x50,0x4e,0x47,0xd,0xa,0x1a,0xa,0x0,0x0,0x0,0xd,0x49,0x48,0x44,0x52,0x0,0x0,0x0,0x40,0x0,0x0,0x0,0x40,0x8,0x6,0x0,0x0,0x0,0xaa,0x69,0x71,0xde,0x0,0x0,0x0,0x1,0x73,0x52,0x47,0x42,0x0,0xae,0xce,0x1c,0xe9,0x0,0x0,0x0,0x6,0x62,0x4b,0x47,0x44,0x0,0x0,0x0,0x0,0x0,0x0,0xf9,0x43,0xbb,0x7f,0x0,0x0,0x0,0x9,0x70,0x48,0x59,0x73,0x0,0x0,0xb,0x13,0x0,0x0,0xb,0x13,0x1,0x0,0x9a,0x9c,0x18,0x0,0x0,0x0,0x7,0x74,0x49,0x4d,0x45,0x7,0xdb,0x6,0xa,0x3,0x13,0x31,0x66,0xa7,0xac,0x79,0x0,0x0,0x4,0xef,0x49,0x44,0x41,0x54,0x78,0xda,0xed,0x9b,0xdd,0x4e,0x2a,0x57,0x14,0xc7,0xf7,0x1e,0xc0,0x19,0x38,0x32,0x80,0xa,0x6a,0xda,0x18,0xa3,0xc6,0x47,0x50,0x7b,0xa1,0xd9,0x36,0x27,0x7e,0x44,0xed,0x45,0x4d,0x93,0x3e,0x40,0x1f,0x64,0x90,0xf4,0x1,0xbc,0xf0,0xc2,0x9c,0x57,0x30,0x4d,0xbc,0xa8,0x6d,0xc,0x69,0x26,0xb5,0x68,0x8b,0x35,0x7e,0x20,0xb4,0xf5,0x14,0xbf,0x51,0x3c,0x52,0xe,0xc,0xe,0xc8,0xf0,0xb1,0x7a,0x51,0x3d,0xb1,0x9e,0x19,0x1c,0x54,0x70,0x1c,0xdc,0x9,0x17,0x64,0x8,0xc9,0xff,0xb7,0xd6,0x7f,0xcd,0x3f,0x2b,0xd9,0x8,0xbd,0x9c,0xda,0x3e,0xf8,0x31,0xff,0xc,0x0,0x8,0x42,0x88,0x9c,0x9f,0x9f,0xbf,0xa,0x87,0xc3,0xad,0x7d,0x7d,0x7d,0x7f,0x23,0x84,0x78,0x8c,0x31,0xaf,0x55,0x0,0xc6,0xc7,0x14,0x1e,0x8f,0xc7,0xbf,0x38,0x3c,0x3c,0x6c,0x9b,0x9f,0x9f,0x6f,0xb8,0x82,0x9b,0xee,0xe8,0xe8,0xf8,0x12,0x0,0xbe,0xd3,0x2a,0x8,0xfc,0x50,0xd1,0xf9,0x7c,0x9e,0x8a,0x46,0xa3,0x5f,0x9d,0x9e,0x9e,0x7e,0xb2,0xb0,0xb0,0x60,0xe5,0x79,0x1e,0xf1,0xfc,0x7f,0x3a,0x9,0x21,0x88,0x10,0x82,0x26,0x26,0x26,0xde,0x77,0x75,0x75,0x85,0x59,0x96,0xfd,0x5e,0x6b,0x20,0xf0,0x7d,0x85,0x4b,0x92,0xf4,0xfa,0xe0,0xe0,0xe0,0xd3,0xb9,0xb9,0xb9,0x46,0x49,0x92,0xea,0x6f,0xa,0xbf,0x7d,0x8,0x21,0x68,0x70,0x70,0xb0,0x38,0x39,0x39,0x79,0xd6,0xd9,0xd9,0xb9,0xcf,0x30,0xcc,0xa2,0xd6,0xad,0x21,0x2b,0x1c,0x0,0x38,0x41,0x10,0xfc,0xdb,0xdb,0xdb,0x27,0x1e,0x8f,0x27,0x4b,0x8,0x1,0x84,0x90,0xea,0xf,0x21,0x4,0x3c,0x1e,0x4f,0x76,0x67,0x67,0x67,0x3f,0x9f,0xcf,0xff,0x7c,0x5,0xf3,0xd9,0x0,0xe0,0x2,0x81,0xc0,0xa9,0xdb,0xed,0x2e,0x94,0x2b,0x5c,0xe,0xc4,0xca,0xca,0x8a,0x18,0x8d,0x46,0x3,0x0,0xc0,0x69,0x1e,0x4,0x0,0x90,0x48,0x24,0x12,0xe4,0x38,0xee,0x41,0xc2,0x6f,0x43,0xe0,0x38,0xe,0xfc,0x7e,0xbf,0x10,0x8b,0xc5,0xd6,0x35,0xd,0x22,0x9b,0xcd,0x7a,0x96,0x97,0x97,0x33,0xf,0xad,0x7c,0x29,0x10,0x9b,0x9b,0x9b,0xef,0x2e,0x2e,0x2e,0x7e,0xd5,0x1c,0x8,0x0,0x20,0xe1,0x70,0x38,0xfc,0x98,0xd5,0x57,0x2,0xe1,0x76,0xbb,0xf3,0xa1,0x50,0xe8,0x38,0x9b,0xcd,0xfe,0xa2,0x9,0x8,0x0,0x40,0x2e,0x2f,0x2f,0x7d,0x4b,0x4b,0x4b,0xb9,0x4a,0x54,0x5f,0x9,0xc4,0xd2,0xd2,0x92,0xb4,0xb7,0xb7,0xf7,0x36,0x97,0xcb,0x4d,0x3d,0x29,0x8,0x0,0xe0,0x42,0xa1,0xd0,0x71,0xb5,0xc4,0xdf,0xb6,0xc5,0x93,0xe,0x4a,0x0,0x20,0xa9,0x54,0xea,0x37,0xb7,0xdb,0x5d,0xa8,0xa6,0x78,0x39,0x10,0x6b,0x6b,0x6b,0xf1,0x64,0x32,0xb9,0x5a,0x55,0x10,0x0,0xc0,0x6d,0x6c,0x6c,0x9c,0x57,0xbb,0xfa,0x25,0x40,0x14,0x3,0x81,0x40,0x34,0x93,0xc9,0x2c,0x57,0x1c,0x4,0x0,0x90,0x58,0x2c,0xb6,0x5e,0xe9,0xc1,0x77,0x1f,0x10,0x53,0x53,0x53,0x52,0xc5,0x83,0x14,0x0,0x70,0x7e,0xbf,0x5f,0xd0,0x42,0xf5,0x95,0x40,0xf8,0x7c,0xbe,0xcb,0xa3,0xa3,0xa3,0x3f,0x1e,0xbd,0x1b,0x0,0x80,0x1c,0x1f,0x1f,0x87,0xb4,0x56,0xfd,0xaa,0x5,0x29,0x51,0x14,0xbf,0xf5,0xf9,0x7c,0x97,0x5a,0xad,0xbe,0x12,0x88,0xf5,0xf5,0xf5,0xd8,0x83,0x83,0x54,0xb5,0x42,0x8f,0x66,0x83,0x94,0xd6,0xbd,0x5f,0xce,0x7c,0x38,0x3c,0x3c,0xfc,0xb3,0x50,0x28,0xb8,0xcb,0x2,0x1,0x0,0xdc,0xf4,0xf4,0xf4,0xfe,0x73,0x15,0x2f,0x17,0xa4,0x22,0x91,0x48,0x50,0xb5,0x2d,0x0,0x80,0x9b,0x99,0x99,0x79,0xfb,0xdc,0x1,0xc8,0x5,0xa9,0x44,0x22,0xf1,0xfb,0x9d,0x10,0x0,0x80,0x9b,0x9d,0x9d,0xd,0xea,0x5,0xc0,0xad,0xfd,0x43,0x1a,0x0,0xb8,0xdb,0x9a,0xa9,0x8f,0xb6,0xa4,0x46,0xa3,0xa4,0xb7,0xd5,0x37,0xcf,0xf3,0x68,0x75,0x75,0xf5,0x4c,0xee,0x99,0x1c,0x80,0x9c,0x1e,0xf7,0xff,0x16,0x8b,0x45,0x50,0x5,0xa0,0xb7,0xb7,0xb7,0x85,0x10,0xa2,0x2b,0xf1,0x84,0x10,0xd4,0xdf,0xdf,0x6f,0x57,0x3,0x80,0x37,0x18,0xc,0x5,0x3d,0x2,0xa0,0x69,0x3a,0x8b,0x10,0xe2,0x4b,0x2,0xc0,0x18,0xf3,0xc1,0x60,0x70,0x47,0x8f,0x16,0x38,0x3a,0x3a,0x5a,0x93,0x5b,0xc3,0x7f,0x64,0x81,0xba,0xba,0x3a,0x49,0x8f,0x0,0x1a,0x1a,0x1a,0xd4,0xcd,0x0,0x93,0xc9,0xa4,0xcb,0x21,0xe8,0x74,0x3a,0xd5,0x1,0xa0,0x69,0x5a,0x77,0x1d,0x80,0x31,0x2e,0x38,0x9d,0x4e,0xb1,0x66,0x1
};


class TestPhysics2DMainLoop : public MainLoop {

	OBJ_TYPE( TestPhysics2DMainLoop, MainLoop );


	RID circle_img;
	RID circle_shape;
	RID space;
	RID canvas;
	RID ray;
	RID ray_query;
	Matrix32 view_xform;

	Vector2 ray_from,ray_to;


	struct BodyShapeData {

		RID image;
		RID shape;
	};


	BodyShapeData body_shape_data[6];


	void _create_body_shape_data() {
		VisualServer *vs = VisualServer::get_singleton();
		Physics2DServer *ps = Physics2DServer::get_singleton();

		// SEGMENT

		{

			DVector<uint8_t> pixels;
			pixels.resize(32*2*2);
			for(int i=0;i<2;i++) {

				for(int j=0;j<32;j++) {

					pixels.set(i*32*2+j*2+0,(j==0)?255:0);
					pixels.set(i*32*2+j*2+1,255);
				}
			}

			Image image(32,2,0,Image::FORMAT_GRAYSCALE_ALPHA,pixels);

			body_shape_data[Physics2DServer::SHAPE_SEGMENT].image=vs->texture_create_from_image(image);

			RID segment_shape = ps->shape_create(Physics2DServer::SHAPE_SEGMENT);
			Rect2 sg(Point2(-16,0),Point2(16,0));
			ps->shape_set_data(segment_shape,sg);

			body_shape_data[Physics2DServer::SHAPE_SEGMENT].shape = segment_shape;

		}
		// CIRCLE

		{

			DVector<uint8_t> pixels;
			pixels.resize(32*32*2);
			for(int i=0;i<32;i++) {

				for(int j=0;j<32;j++) {

					bool black=Vector2(i-16,j-16).length_squared() < 16*16;

					pixels.set(i*32*2+j*2+0,(i==16 || j==16)?255:0);
					pixels.set(i*32*2+j*2+1,black?255:0);
				}
			}

			Image image(32,32,0,Image::FORMAT_GRAYSCALE_ALPHA,pixels);

			body_shape_data[Physics2DServer::SHAPE_CIRCLE].image=vs->texture_create_from_image(image);

			RID circle_shape = ps->shape_create(Physics2DServer::SHAPE_CIRCLE);
			ps->shape_set_data(circle_shape,16);

			body_shape_data[Physics2DServer::SHAPE_CIRCLE].shape = circle_shape;

		}

		// BOX

		{

			DVector<uint8_t> pixels;
			pixels.resize(32*32*2);
			for(int i=0;i<32;i++) {

				for(int j=0;j<32;j++) {

					bool black=i>0 && i<31 && j>0 && j<31;

					pixels.set(i*32*2+j*2+0,black?0:255);
					pixels.set(i*32*2+j*2+1,255);
				}
			}

			Image image(32,32,0,Image::FORMAT_GRAYSCALE_ALPHA,pixels);

			body_shape_data[Physics2DServer::SHAPE_RECTANGLE].image=vs->texture_create_from_image(image);

			RID rectangle_shape = ps->shape_create(Physics2DServer::SHAPE_RECTANGLE);
			ps->shape_set_data(rectangle_shape,Vector2(16,16));

			body_shape_data[Physics2DServer::SHAPE_RECTANGLE].shape = rectangle_shape;

		}


		// CAPSULE

		{

			DVector<uint8_t> pixels;
			pixels.resize(32*64*2);
			for(int i=0;i<64;i++) {

				for(int j=0;j<32;j++) {


					int si = i>48 ? i - 32 : (i<16 ? i : 16);
					bool black=Vector2(si-16,j-16).length_squared() < 16*16;

					pixels.set(i*32*2+j*2+0,(i==16 || j==16 || i==48)?255:0);
					pixels.set(i*32*2+j*2+1,black?255:0);

				}
			}

			Image image(32,64,0,Image::FORMAT_GRAYSCALE_ALPHA,pixels);

			body_shape_data[Physics2DServer::SHAPE_CAPSULE].image=vs->texture_create_from_image(image);

			RID capsule_shape = ps->shape_create(Physics2DServer::SHAPE_CAPSULE);
			ps->shape_set_data(capsule_shape,Vector2(16,32));

			body_shape_data[Physics2DServer::SHAPE_CAPSULE].shape = capsule_shape;

		}

		// CONVEX

		{


			Image image(convex_png);

			body_shape_data[Physics2DServer::SHAPE_CUSTOM+1].image=vs->texture_create_from_image(image);

			RID convex_polygon_shape = ps->shape_create(Physics2DServer::SHAPE_CONVEX_POLYGON);

			DVector<Vector2> arr;
			Point2 sb(32,32);
			arr.push_back(Point2(20,3)-sb);
			arr.push_back(Point2(58,23)-sb);
			arr.push_back(Point2(55,54)-sb);
			arr.push_back(Point2(27,60)-sb);
			arr.push_back(Point2(5,56)-sb);
			arr.push_back(Point2(4,20)-sb);
			arr.push_back(Point2(11,7)-sb);
			ps->shape_set_data(convex_polygon_shape,arr);

			body_shape_data[Physics2DServer::SHAPE_CUSTOM+1].shape = convex_polygon_shape;

		}


	}




	void _do_ray_query() {

//		Physics2DServer *ps = Physics2DServer::get_singleton();
	//	ps->query_intersection_segment(ray_query,ray_from,ray_to);

	}

protected:


	void input_event(const InputEvent& p_event) {

		if (p_event.type==InputEvent::MOUSE_BUTTON) {

			const InputEventMouseButton &mb=p_event.mouse_button;

			if (mb.pressed) {

				Point2 p( mb.x, mb.y );

				if (mb.button_index==1) {
					ray_to=p;
					_do_ray_query();
				} else if (mb.button_index==2) {
					ray_from=p;
					_do_ray_query();
				}

			}
		}
		if (p_event.type==InputEvent::MOUSE_MOTION) {

			const InputEventMouseMotion &mm=p_event.mouse_motion;

			Point2 p( mm.x, mm.y );

			if (mm.button_mask&BUTTON_MASK_LEFT) {
				ray_to=p;
				_do_ray_query();
			} else if (mm.button_mask&BUTTON_MASK_RIGHT) {
				ray_from=p;
				_do_ray_query();
			}
		}
	}

	RID _add_body(Physics2DServer::ShapeType p_shape, const Matrix32& p_xform) {

		VisualServer *vs = VisualServer::get_singleton();
		Physics2DServer *ps = Physics2DServer::get_singleton();

		RID body = ps->body_create();
		ps->body_add_shape(body,body_shape_data[p_shape].shape);
		ps->body_set_space(body,space);
		ps->body_set_continuous_collision_detection_mode(body,Physics2DServer::CCD_MODE_CAST_SHAPE);
		ps->body_set_state(body,Physics2DServer::BODY_STATE_TRANSFORM,p_xform);

//		print_line("add body with xform: "+p_xform);
		RID sprite = vs->canvas_item_create();
		vs->canvas_item_set_parent(sprite,canvas);
		vs->canvas_item_set_transform(sprite,p_xform);
		Size2 imgsize( vs->texture_get_width(body_shape_data[p_shape].image),vs->texture_get_height(body_shape_data[p_shape].image) );
		vs->canvas_item_add_texture_rect(sprite,Rect2(-imgsize/2.0,imgsize),body_shape_data[p_shape].image);

		ps->body_set_force_integration_callback(body,this,"_body_moved",sprite);
//		RID q = ps->query_create(this,"_body_moved",sprite);
//		ps->query_body_state(q,body);

		return body;
	}

	void _add_plane(const Vector2& p_normal, real_t p_d) {

		Physics2DServer *ps = Physics2DServer::get_singleton();

		Array arr;
		arr.push_back(p_normal);
		arr.push_back(p_d);

		RID plane = ps->shape_create(Physics2DServer::SHAPE_LINE);
		ps->shape_set_data(plane,arr);

		RID plane_body = ps->body_create(Physics2DServer::BODY_MODE_STATIC);
		ps->body_set_space(plane_body,space);
		ps->body_add_shape(plane_body,plane);

	}

	void _add_concave(const Vector<Vector2>& p_points,const Matrix32& p_xform=Matrix32()) {

		Physics2DServer *ps = Physics2DServer::get_singleton();
		VisualServer *vs = VisualServer::get_singleton();

		RID concave = ps->shape_create(Physics2DServer::SHAPE_CONCAVE_POLYGON);
		ps->shape_set_data(concave,p_points);
		RID body = ps->body_create(Physics2DServer::BODY_MODE_STATIC);
		ps->body_set_space(body,space);
		ps->body_add_shape(body,concave);
		ps->body_set_state(body,Physics2DServer::BODY_STATE_TRANSFORM,p_xform);


		RID sprite = vs->canvas_item_create();
		vs->canvas_item_set_parent(sprite,canvas);
		vs->canvas_item_set_transform(sprite,p_xform);
		for(int i=0;i<p_points.size();i+=2) {
			vs->canvas_item_add_line(sprite,p_points[i],p_points[i+1],Color(0,0,0),2);
		}

	}

	void _body_moved(Object *p_state,RID p_sprite) {
		Physics2DDirectBodyState *state=(Physics2DDirectBodyState *)p_state;
		VisualServer::get_singleton()->canvas_item_set_transform(p_sprite,state->get_transform());
	}

	void _ray_query_callback(const RID& p_rid, ObjectID p_id, int p_shape, const Vector2& p_point, const Vector2& p_normal) {


		Vector2 ray_end;

		if (p_rid.is_valid()) {
			ray_end=p_point;
		} else {
			ray_end=ray_to;
		}

		VisualServer *vs = VisualServer::get_singleton();

		vs->canvas_item_clear(ray);
		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);
		if (p_rid.is_valid())
			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);

	}

	static void _bind_methods() {


		ObjectTypeDB::bind_method(_MD("_body_moved"),&TestPhysics2DMainLoop::_body_moved);
		ObjectTypeDB::bind_method(_MD("_ray_query_callback"),&TestPhysics2DMainLoop::_ray_query_callback);
	}


public:



	virtual void init() {

		VisualServer *vs = VisualServer::get_singleton();
		Physics2DServer *ps = Physics2DServer::get_singleton();



		space=ps->space_create();
		ps->space_set_active(space,true);
		ps->set_active(true);
		ps->area_set_param(space,Physics2DServer::AREA_PARAM_GRAVITY_VECTOR,Vector2(0,1));
		ps->area_set_param(space,Physics2DServer::AREA_PARAM_GRAVITY,98);

		{

			RID vp = vs->viewport_create();
			canvas = vs->canvas_create();
			vs->viewport_attach_canvas(vp,canvas);
			vs->viewport_attach_to_screen(vp);
			Matrix32 smaller;
			//smaller.scale(Vector2(0.6,0.6));
			//smaller.elements[2]=Vector2(100,0);

			//view_xform = smaller;
			vs->viewport_set_canvas_transform(vp,canvas,view_xform);

		}

		ray = vs->canvas_item_create();
		vs->canvas_item_set_parent(ray,canvas);
		//ray_query = ps->query_create(this,"_ray_query_callback",Variant());
		//ps->query_intersection(ray_query,space);

		_create_body_shape_data();

		for(int i=0;i<32;i++) {

			Physics2DServer::ShapeType types[4]={
				Physics2DServer::SHAPE_CIRCLE,
				Physics2DServer::SHAPE_CAPSULE,
				Physics2DServer::SHAPE_RECTANGLE,
				Physics2DServer::SHAPE_CONVEX_POLYGON,

			};

			Physics2DServer::ShapeType type = types[i%4];
//			type=Physics2DServer::SHAPE_SEGMENT;
			RID b = _add_body(type,Matrix32(i*0.8,Point2(152+i*40,100-40*i)));
			//if (i==0)
			//	ps->body_set_mode(b,Physics2DServer::BODY_MODE_STATIC);
		}

		//RID b= _add_body(Physics2DServer::SHAPE_CIRCLE,Matrix32(0,Point2(101,140)));
		//ps->body_set_mode(b,Physics2DServer::BODY_MODE_STATIC);

		Point2 prev;

		Vector<Point2> parr;
		for(int i=0;i<30;i++) {

			Point2 p(i*60,Math::randf() * 70+340);
			if (i>0) {
				parr.push_back(prev);
				parr.push_back(p);
			}
			prev=p;
		}

		_add_concave(parr);
		//_add_plane(Vector2(0.0,-1).normalized(),-300);
		//_add_plane(Vector2(1,0).normalized(),50);
		//_add_plane(Vector2(-1,0).normalized(),-600);

	}

	virtual bool idle(float p_time) {


		return false;
	}
	virtual void finish() {


	}


	TestPhysics2DMainLoop() {}

};


namespace TestPhysics2D {


MainLoop* test() {


	return memnew( TestPhysics2DMainLoop );
}


}