/*************************************************************************/ /* 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/os/main_loop.h" #include "servers/physics_server_2d.h" #include "servers/rendering_server.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, 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0xb9, 0x6e, 0xb9, 0x16, 0x8c, 0x31, 0x2e, 0xda, 0x6c, 0xb6, 0xc8, 0xd0, 0xd0, 0x10, 0x65, 0xb3, 0xd9, 0x92, 0x95, 0xa8, 0x6e, 0xc5, 0x0, 0xa8, 0xe9, 0x96, 0x68, 0x34, 0x6a, 0xdd, 0xdf, 0xdf, 0x6f, 0x76, 0xb9, 0x5c, 0x9f, 0x89, 0xa2, 0x58, 0xbf, 0xb8, 0xb8, 0x8, 0x26, 0x93, 0x29, 0x3b, 0x3c, 0x3c, 0x8c, 0xed, 0x76, 0x7b, 0xd2, 0x68, 0x34, 0xfe, 0xd0, 0xd8, 0xd8, 0x98, 0xae, 0xb6, 0xe0, 0x8a, 0x1, 0x50, 0xb, 0xe6, 0xa9, 0x5, 0xbf, 0x9c, 0x97, 0xf3, 0xff, 0xf3, 0x2f, 0x6a, 0x82, 0x7f, 0xf6, 0x4e, 0xca, 0x1b, 0xf5, 0x0, 0x0, 0x0, 0x0, 0x49, 0x45, 0x4e, 0x44, 0xae, 0x42, 0x60, 0x82 }; 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() { RenderingServer *vs = RenderingServer::get_singleton(); PhysicsServer2D *ps = PhysicsServer2D::get_singleton(); // SEGMENT { Vector 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 = memnew(Image(32, 2, 0, Image::FORMAT_LA8, pixels)); body_shape_data[PhysicsServer2D::SHAPE_SEGMENT].image = vs->texture_2d_create(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[PhysicsServer2D::SHAPE_SEGMENT].shape = segment_shape; } // CIRCLE { Vector 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 = memnew(Image(32, 32, 0, Image::FORMAT_LA8, pixels)); body_shape_data[PhysicsServer2D::SHAPE_CIRCLE].image = vs->texture_2d_create(image); RID circle_shape = ps->circle_shape_create(); ps->shape_set_data(circle_shape, 16); body_shape_data[PhysicsServer2D::SHAPE_CIRCLE].shape = circle_shape; } // BOX { Vector 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 = memnew(Image(32, 32, 0, Image::FORMAT_LA8, pixels)); body_shape_data[PhysicsServer2D::SHAPE_RECTANGLE].image = vs->texture_2d_create(image); RID rectangle_shape = ps->rectangle_shape_create(); ps->shape_set_data(rectangle_shape, Vector2(16, 16)); body_shape_data[PhysicsServer2D::SHAPE_RECTANGLE].shape = rectangle_shape; } // CAPSULE { Vector 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 = memnew(Image(32, 64, 0, Image::FORMAT_LA8, pixels)); body_shape_data[PhysicsServer2D::SHAPE_CAPSULE].image = vs->texture_2d_create(image); RID capsule_shape = ps->capsule_shape_create(); ps->shape_set_data(capsule_shape, Vector2(16, 32)); body_shape_data[PhysicsServer2D::SHAPE_CAPSULE].shape = capsule_shape; } // CONVEX { Ref image = memnew(Image(convex_png)); body_shape_data[PhysicsServer2D::SHAPE_CONVEX_POLYGON].image = vs->texture_2d_create(image); RID convex_polygon_shape = ps->convex_polygon_shape_create(); Vector 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[PhysicsServer2D::SHAPE_CONVEX_POLYGON].shape = convex_polygon_shape; } } void _do_ray_query() { /* PhysicsServer2D *ps = PhysicsServer2D::get_singleton(); ps->query_intersection_segment(ray_query,ray_from,ray_to); */ } protected: void input_event(const Ref &p_event) { Ref mb = p_event; if (mb.is_valid()) { if (mb->is_pressed()) { Point2 p = mb->get_position(); 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 mm = p_event; if (mm.is_valid()) { Point2 p = mm->get_position(); if (mm->get_button_mask() & MOUSE_BUTTON_MASK_LEFT) { ray_to = p; _do_ray_query(); } else if (mm->get_button_mask() & MOUSE_BUTTON_MASK_RIGHT) { ray_from = p; _do_ray_query(); } } } RID _add_body(PhysicsServer2D::ShapeType p_shape, const Transform2D &p_xform) { RenderingServer *vs = RenderingServer::get_singleton(); PhysicsServer2D *ps = PhysicsServer2D::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, PhysicsServer2D::CCD_MODE_CAST_SHAPE); ps->body_set_state(body, PhysicsServer2D::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(5, 5); //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, callable_mp(this, &TestPhysics2DMainLoop::_body_moved), sprite); return body; } void _add_world_boundary(const Vector2 &p_normal, real_t p_d) { PhysicsServer2D *ps = PhysicsServer2D::get_singleton(); Array arr; arr.push_back(p_normal); arr.push_back(p_d); RID world_boundary = ps->world_boundary_shape_create(); ps->shape_set_data(world_boundary, arr); RID plane_body = ps->body_create(); ps->body_set_mode(plane_body, PhysicsServer2D::BODY_MODE_STATIC); ps->body_set_space(plane_body, space); ps->body_add_shape(plane_body, world_boundary); } void _add_concave(const Vector &p_points, const Transform2D &p_xform = Transform2D()) { PhysicsServer2D *ps = PhysicsServer2D::get_singleton(); RenderingServer *vs = RenderingServer::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, PhysicsServer2D::BODY_MODE_STATIC); ps->body_set_space(body, space); ps->body_add_shape(body, concave); ps->body_set_state(body, PhysicsServer2D::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) { PhysicsDirectBodyState2D *state = (PhysicsDirectBodyState2D *)p_state; RenderingServer::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; } RenderingServer *vs = RenderingServer::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("_ray_query_callback"), &TestPhysics2DMainLoop::_ray_query_callback); } public: virtual void initialize() override { RenderingServer *vs = RenderingServer::get_singleton(); PhysicsServer2D *ps = PhysicsServer2D::get_singleton(); space = ps->space_create(); ps->space_set_active(space, true); ps->set_active(true); ps->area_set_param(space, PhysicsServer2D::AREA_PARAM_GRAVITY_VECTOR, Vector2(0, 1)); ps->area_set_param(space, PhysicsServer2D::AREA_PARAM_GRAVITY, 980); { RID vp = vs->viewport_create(); canvas = vs->canvas_create(); Size2i screen_size = DisplayServer::get_singleton()->window_get_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++) { PhysicsServer2D::ShapeType types[4] = { PhysicsServer2D::SHAPE_CIRCLE, PhysicsServer2D::SHAPE_CAPSULE, PhysicsServer2D::SHAPE_RECTANGLE, PhysicsServer2D::SHAPE_CONVEX_POLYGON, }; PhysicsServer2D::ShapeType type = types[i % 4]; //type=PhysicsServer2D::SHAPE_SEGMENT; _add_body(type, Transform2D(i * 0.8, Point2(152 + i * 40, 100 - 40 * i))); /* if (i==0) ps->body_set_mode(b,PhysicsServer2D::BODY_MODE_STATIC); */ } //RID b= _add_body(PhysicsServer2D::SHAPE_CIRCLE,Transform2D(0,Point2(101,140))); //ps->body_set_mode(b,PhysicsServer2D::BODY_MODE_STATIC); Point2 prev; Vector 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_world_boundary(Vector2(0.0,-1).normalized(),-300); //_add_world_boundary(Vector2(1,0).normalized(),50); //_add_world_boundary(Vector2(-1,0).normalized(),-600); } virtual bool process(double p_time) override { return false; } virtual void finalize() override { } TestPhysics2DMainLoop() {} }; namespace TestPhysics2D { MainLoop *test() { return memnew(TestPhysics2DMainLoop); } } // namespace TestPhysics2D