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godot/main/tests/test_physics_2d.cpp

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/*************************************************************************/
/* test_physics_2d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* 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 "core/map.h"
#include "core/os/main_loop.h"
#include "core/os/os.h"
#include "core/print_string.h"
#include "scene/resources/texture.h"
#include "servers/physics_2d_server.h"
#include "servers/visual_server.h"
static const unsigned char convex_png[] = {
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};
class TestPhysics2DMainLoop : public MainLoop {
GDCLASS(TestPhysics2DMainLoop, MainLoop);
RID circle_img;
RID circle_shape;
RID space;
RID canvas;
RID ray;
RID ray_query;
Transform2D view_xform;
Vector2 ray_from, ray_to;
struct BodyShapeData {
RID image;
RID shape;
};
BodyShapeData body_shape_data[8];
void _create_body_shape_data() {
VisualServer *vs = VisualServer::get_singleton();
Physics2DServer *ps = Physics2DServer::get_singleton();
// SEGMENT
{
PoolVector<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);
}
}
Ref<Image> image = memnew(Image(32, 2, 0, Image::FORMAT_LA8, pixels));
body_shape_data[Physics2DServer::SHAPE_SEGMENT].image = vs->texture_create_from_image(image);
RID segment_shape = ps->segment_shape_create();
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
{
PoolVector<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);
}
}
Ref<Image> image = memnew(Image(32, 32, 0, Image::FORMAT_LA8, pixels));
body_shape_data[Physics2DServer::SHAPE_CIRCLE].image = vs->texture_create_from_image(image);
RID circle_shape = ps->circle_shape_create();
ps->shape_set_data(circle_shape, 16);
body_shape_data[Physics2DServer::SHAPE_CIRCLE].shape = circle_shape;
}
// BOX
{
PoolVector<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);
}
}
Ref<Image> image = memnew(Image(32, 32, 0, Image::FORMAT_LA8, pixels));
body_shape_data[Physics2DServer::SHAPE_RECTANGLE].image = vs->texture_create_from_image(image);
RID rectangle_shape = ps->rectangle_shape_create();
ps->shape_set_data(rectangle_shape, Vector2(16, 16));
body_shape_data[Physics2DServer::SHAPE_RECTANGLE].shape = rectangle_shape;
}
// CAPSULE
{
PoolVector<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);
}
}
Ref<Image> image = memnew(Image(32, 64, 0, Image::FORMAT_LA8, pixels));
body_shape_data[Physics2DServer::SHAPE_CAPSULE].image = vs->texture_create_from_image(image);
RID capsule_shape = ps->capsule_shape_create();
ps->shape_set_data(capsule_shape, Vector2(16, 32));
body_shape_data[Physics2DServer::SHAPE_CAPSULE].shape = capsule_shape;
}
// CONVEX
{
Ref<Image> image = memnew(Image(convex_png));
body_shape_data[Physics2DServer::SHAPE_CONVEX_POLYGON].image = vs->texture_create_from_image(image);
RID convex_polygon_shape = ps->convex_polygon_shape_create();
PoolVector<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_CONVEX_POLYGON].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 Ref<InputEvent> &p_event) {
Ref<InputEventMouseButton> mb = p_event;
if (mb.is_valid()) {
if (mb->is_pressed()) {
Point2 p(mb->get_position().x, mb->get_position().y);
if (mb->get_button_index() == 1) {
ray_to = p;
_do_ray_query();
} else if (mb->get_button_index() == 2) {
ray_from = p;
_do_ray_query();
}
}
}
Ref<InputEventMouseMotion> mm = p_event;
if (mm.is_valid()) {
Point2 p = mm->get_position();
if (mm->get_button_mask() & BUTTON_MASK_LEFT) {
ray_to = p;
_do_ray_query();
} else if (mm->get_button_mask() & BUTTON_MASK_RIGHT) {
ray_from = p;
_do_ray_query();
}
}
}
RID _add_body(Physics2DServer::ShapeType p_shape, const Transform2D &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->line_shape_create();
ps->shape_set_data(plane, arr);
RID plane_body = ps->body_create();
ps->body_set_mode(plane_body, 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 Transform2D &p_xform = Transform2D()) {
Physics2DServer *ps = Physics2DServer::get_singleton();
VisualServer *vs = VisualServer::get_singleton();
RID concave = ps->concave_polygon_shape_create();
ps->shape_set_data(concave, p_points);
RID body = ps->body_create();
ps->body_set_mode(body, 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() {
ClassDB::bind_method(D_METHOD("_body_moved"), &TestPhysics2DMainLoop::_body_moved);
ClassDB::bind_method(D_METHOD("_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();
Size2i screen_size = OS::get_singleton()->get_window_size();
vs->viewport_attach_canvas(vp, canvas);
vs->viewport_set_size(vp, screen_size.x, screen_size.y);
vs->viewport_attach_to_screen(vp, Rect2(Vector2(), screen_size));
vs->viewport_set_active(vp, true);
Transform2D 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;
_add_body(type, Transform2D(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,Transform2D(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);
}
} // namespace TestPhysics2D
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