BreakableBody.h
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- /*
- * Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com
- *
- * This software is provided 'as-is', without any express or implied
- * warranty. In no event will the authors be held liable for any damages
- * arising from the use of this software.
- * Permission is granted to anyone to use this software for any purpose,
- * including commercial applications, and to alter it and redistribute it
- * freely, subject to the following restrictions:
- * 1. The origin of this software must not be misrepresented; you must not
- * claim that you wrote the original software. If you use this software
- * in a product, an acknowledgment in the product documentation would be
- * appreciated but is not required.
- * 2. Altered source versions must be plainly marked as such, and must not be
- * misrepresented as being the original software.
- * 3. This notice may not be removed or altered from any source distribution.
- */
- /* Testbed example showing deformable and breakable bodies using the soft
- * b2DistanceJoint and a small,liteweight triangle mesher.
- * 2008-05-09 / nimodo
- */
- #ifndef BREAKABLE_BODY_H
- #define BREAKABLE_BODY_H
- #include "TriangleMesh.h"
- /// utility macro
- #define H(x) (x)/2.0f
- #define N_MAXVERTEX 256
- class BreakableBody : public Test
- {
- public:
- BreakableBody()
- {
- /// geometries
- float32 gx = 100.0f, gy = 1.0f,
- dx = 34.0f, br = 0.3f;
- float32 sx=-dx-H(dx), sy = 30.f;
- /// break joint, if the reactionforce exceeds:
- maxAllowableForce = 100.0f;
- m_drawMode = m_staticBodies = false;
- m_drawCount = 0;
- /// ground
- {
- b2PolygonDef sd;
- b2BodyDef bd;
- b2Body* ground;
- bd.position.Set(0.0f, 0.0f);
- ground = m_world->CreateBody(&bd);
- /// bottom
- sd.SetAsBox( H(gx), H(gy) );
- ground->CreateFixture(&sd);
- sd.SetAsBox( H(dx), H(gy), b2Vec2(-dx,sy-1.0f), 0.0f );
- ground->CreateFixture(&sd);
- }
- /// dyn bodies
- {
- b2PolygonDef pd;
- b2DistanceJointDef dj;
-
- dj.dampingRatio = 0.0f;
- dj.collideConnected = true;
- ExampleData('B');
- dj.frequencyHz = 20.f;
- pd.density = 1.0f/70.0f;
- pd.friction = 0.4f;
- pd.restitution = 0.01f;
- CreateSoftBody( b2Vec2(sx,sy), 0, 0, pd, dj,
- nodes,n_nodes, segments,n_segments, holes,n_holes) ;
- ExampleData('@');
- dj.frequencyHz = 20.f;
- pd.density = 1.0f/36.0f;
- pd.friction = 0.1f;
- pd.restitution = 0.5f;
- CreateSoftBody( b2Vec2(sx+6.f,sy), 0, 0, pd, dj,
- nodes,n_nodes, segments,n_segments, holes,n_holes) ;
-
- ExampleData('x');
- dj.frequencyHz = 20.0f;
- pd.density = 1.0f/60.0f;
- pd.friction = 0.6f;
- pd.restitution = 0.0f;
- CreateSoftBody( b2Vec2(sx+13.f,sy), 0, 0, pd, dj,
- nodes,n_nodes, segments,n_segments, holes,n_holes) ;
- ExampleData('2');
- pd.density = 0.01f;
- pd.friction = 0.3f;
- pd.restitution = 0.3f;
- CreateSoftBody( b2Vec2(sx+20.f,sy), 0, 0, pd, dj,
- nodes,n_nodes, segments,n_segments, holes,n_holes) ;
- ExampleData('D');
- CreateSoftBody( b2Vec2(sx+28.f,sy), 0, 0, pd, dj,
- nodes,n_nodes, segments,n_segments, holes,n_holes) ;
-
- ExampleData('b');
- dj.frequencyHz = 10.0f;
- dj.dampingRatio = 20.0f;
- pd.friction = 0.9f;
- pd.restitution = 0.01f;
- pd.density = 0.01f;
- CreateSoftBody( b2Vec2(-5.f,5.f*gy), 0, 0, pd, dj,
- nodes,n_nodes, segments,n_segments, holes,n_holes) ;
-
- b2CircleDef cd;
- b2BodyDef bd;
- b2Body* b;
- cd.radius = br;
- cd.density= 0.001f;
- bd.position.Set(0.0f,10.0f*gy);
- for (int32 i=0; i<60; i++ )
- {
- b = m_world->CreateBody(&bd);
- b->CreateFixture (&cd);
- b->SetMassFromShapes();
- }
-
- }
- }
- /// Create compound (soft) body using a triangle mesh
- /// If meshDensity is 0, a minimal grid is generated.
- /// Actually pd and dj define the behaviour for all triangles
- void CreateSoftBody(b2Vec2 pos, int32 meshDensity,int32 options,
- b2PolygonDef pd, b2DistanceJointDef dj,
- tmVertex* nodes,int32 n_nodes,
- tmSegmentId *segments=NULL, int32 n_segments=0,
- tmVertex* holes=NULL, int32 n_holes=0)
- {
- int32 i;
- /// TriangleMesh defs
- tmTriangle *triangles;
- TriangleMesh md;
- /// box2d defs
- b2BodyDef bd;
- b2Body *b;
- /// in case of meshDensit>3 ...
- md.SetMaxVertexCount(meshDensity);
- if (options>0) md.SetOptions(options);
- /// triangulator main
- md.Mesh( nodes, n_nodes, segments,n_segments, holes, n_holes );
- md.PrintData();
- /// bodies (triangles)
- triangles = md.GetTriangles();
- if ( triangles==NULL ) return;
- pd.vertexCount = 3;
- for ( i=0; i<md.GetTriangleCount(); i++ )
- {
- if ( triangles[i].inside )
- {
- /// triangle -> b2PolygonDef
- pd.vertices[0].Set(triangles[i].v[0]->x, triangles[i].v[0]->y);
- pd.vertices[1].Set(triangles[i].v[1]->x, triangles[i].v[1]->y);
- pd.vertices[2].Set(triangles[i].v[2]->x, triangles[i].v[2]->y);
- bd.position.Set(pos.x,pos.y);
- b = m_world->CreateBody(&bd);
- b->CreateFixture(&pd);
- b->SetMassFromShapes();
- /// we need the body pointer in the triangles for the joints later
- triangles[i].userData = (void *)b;
- }
- }
- /// joints
- /// for each triangle-pair in edges, connect with a distance joint
- tmEdge *edges;
- tmTriangle *t0,*t1;
- b2Body *b1,*b2;
- edges = md.GetEdges();
- for ( i=0; i<md.GetEdgeCount(); i++ )
- {
- t0 = edges[i].t[0];
- t1 = edges[i].t[1];
- if ( (t0->inside==false) || (t1->inside==false) ) continue;
-
- /// Get bodies
- b1 = (b2Body*)t0->userData;
- b2 = (b2Body*)t1->userData;
- if ( b1==NULL || b2==NULL ) continue;
- dj.Initialize( b1,b2, b1->GetWorldCenter(), b2->GetWorldCenter());
- m_world->CreateJoint(&dj);
- }
- /// clean TriangleMesh
- md.FreeMemory();
- }
-
- /// maybe here to check for maximal reaction forces to break a body
- void Step(Settings* settings)
- {
- b2Joint *jStressed=NULL;
- float32 F=0.0f, tmp;
- Test::Step(settings);
- for (b2Joint* j = m_world->GetJointList(); j; j = j->GetNext())
- {
- tmp = j->GetReactionForce(settings->hz).Length();
- if ( tmp>F )
- {
- F = tmp;
- jStressed = j;
- }
- }
- if ( jStressed && (F>maxAllowableForce) )
- {
- m_world->DestroyJoint(jStressed);
- }
- m_debugDraw.DrawString(1, m_textLine,"max.reactionforce=%.0f allowable=%.0f change:-+", (float)F,(float)maxAllowableForce);
- m_textLine += 12;
- m_debugDraw.DrawString(1, m_textLine,"drawmode(%s):d mesh:m static(%s):s", (m_drawMode)?"on":"off", (m_staticBodies)?"on":"off");
- m_textLine += 12;
- for ( int32 i=0; i<m_drawCount-1; i++ )
- {
- b2Vec2 p1,p2;
- p1.Set(m_drawVertices[i].x,m_drawVertices[i].y);
- p2.Set(m_drawVertices[i+1].x,m_drawVertices[i+1].y);
- m_debugDraw.DrawSegment(p1,p2,b2Color(0.6f,0.2f,0.2f));
- }
- }
- /// default constructor for TestEntries.cpp
- static Test* Create()
- {
- return new BreakableBody;
- }
- void Keyboard(unsigned char key)
- {
- switch (key)
- {
- case '-':
- maxAllowableForce -= 5.0f;
- break;
- case '+':
- maxAllowableForce += 5.0f;
- break;
- case 'd':
- m_drawMode = !m_drawMode;
- break;
- case 's':
- m_staticBodies = !m_staticBodies;
- break;
- case 'm':
- if ( m_drawCount>0 )
- {
- b2PolygonDef pd;
- b2DistanceJointDef dj;
- dj.collideConnected = true;
- dj.frequencyHz = 20.f;
- dj.dampingRatio = 10.0f;
- pd.density = (m_staticBodies) ? 0.0f : 1.0f/32.0f;
- pd.friction = 0.99f;
- pd.restitution = 0.01f;
- CreateSoftBody( b2Vec2(0.0f,0.0f), 0, tmO_SEGMENTBOUNDARY|tmO_GRADING,
- pd, dj, m_drawVertices, m_drawCount) ;
-
- m_drawCount = 0;
- m_drawMode = false;
- }
- break;
- }
- }
- void MouseDown(const b2Vec2& p)
- {
- if ( m_drawMode && (m_drawCount<N_MAXVERTEX) )
- {
- m_drawVertices[m_drawCount].x = p.x;
- m_drawVertices[m_drawCount].y = p.y;
- m_drawCount++;
- }
- else Test::MouseDown(p);
- }
- /*
- void MouseMove(const b2Vec2& p)
- {
- m_lastPoint = p;
- if (m_drawMode)
- {
- }
- }
- */
- void MouseUp(const b2Vec2& p)
- {
- Test::MouseUp(p);
- }
- /// examples
- void ExampleData(char which)
- {
- /// @ - ring
- static tmVertex ring_nodes[] = {
- { 6.00f, 3.00f},
- { 5.12f, 5.12f},
- { 3.00f, 6.00f},
- { 0.88f, 5.12f},
- { 0.00f, 3.00f},
- { 0.88f, 0.88f},
- { 3.00f, 0.00f},
- { 5.12f, 0.88f},
- { 4.50f, 3.00f},
- { 4.06f, 4.06f},
- { 3.00f, 4.50f},
- { 1.94f, 4.06f},
- { 1.50f, 3.00f},
- { 1.94f, 1.94f},
- { 3.00f, 1.50f},
- { 4.06f, 1.94f}
- };
- static tmSegmentId ring_segments[] = {
- { 9, 10 },
- { 10, 11 },
- { 11, 12 },
- { 12, 13 },
- { 13, 14 },
- { 14, 15 },
- { 15, 16 },
- { 16, 9 }
- };
- static tmVertex ring_holes[] = {
- { 3.00f, 3.00f}
- };
- /// 'B'
- static tmVertex B_nodes[] = {
- { 0.00f, 0.00f},
- { 4.00f, 0.00f},
- { 5.00f, 2.00f},
- { 5.00f, 4.00f},
- { 4.00f, 5.00f},
- { 5.00f, 6.00f},
- { 5.00f, 8.00f},
- { 4.00f, 9.00f},
- { 0.00f, 9.00f},
- { 0.00f, 5.00f},
- { 1.50f, 1.50f},
- { 3.50f, 1.50f},
- { 3.50f, 4.00f},
- { 1.50f, 4.00f},
- { 1.50f, 6.00f},
- { 3.50f, 6.00f},
- { 3.50f, 8.50f},
- { 1.50f, 8.50f}
- };
- static tmSegmentId B_segments[] = {
- { 1, 2 },
- { 2, 3 },
- { 3, 4 },
- { 4, 5 },
- { 5, 6 },
- { 6, 7 },
- { 7, 8 },
- { 8, 9 },
- { 9, 10 },
- { 10, 1 },
- { 11, 12 },
- { 12, 13 },
- { 13, 14 },
- { 14, 11 },
- { 15, 16 },
- { 16, 17 },
- { 17, 18 },
- { 18, 15 }
- };
- static tmVertex B_holes[] = {
- { 5.00f, 5.00f},
- { 2.50f, 2.50f},
- { 2.50f, 7.00f}
- };
- /// 'D'
- static tmVertex D_nodes[] = {
- { 0.00f, 0.00f},
- { 4.00f, 0.00f},
- { 5.00f, 2.50f},
- { 5.00f, 7.00f},
- { 4.00f, 9.00f},
- { 0.00f, 9.00f},
- { 0.00f, 5.00f},
- { 1.50f, 2.50f},
- { 3.50f, 2.50f},
- { 3.50f, 7.00f},
- { 1.50f, 7.00f},
- };
- static tmSegmentId D_segments[] = {
- { 1, 2 },
- { 2, 3 },
- { 3, 4 },
- { 4, 5 },
- { 5, 6 },
- { 6, 7 },
- { 7, 1 },
- { 8, 9 },
- { 9, 10 },
- { 10, 11 },
- { 11, 8 },
- };
- static tmVertex D_holes[] = {
- { 2.50f, 5.00f},
- };
- /// 'x'
- static tmVertex x_nodes[] = {
- { 0.00f, 0.00f},
- { 1.00f, 0.00f},
- { 5.00f, 0.00f},
- { 6.00f, 0.00f},
- { 6.00f, 1.00f},
- { 6.00f, 5.00f},
- { 6.00f, 6.00f},
- { 1.00f, 6.00f},
- { 5.00f, 6.00f},
- { 0.00f, 6.00f},
- { 0.00f, 5.00f},
- { 0.00f, 1.00f},
- { 3.00f, 2.00f},
- { 4.00f, 3.00f},
- { 3.00f, 4.00f},
- { 2.00f, 3.00f}
- };
- static tmSegmentId x_segments[] = {
- { 2, 13 },
- { 3, 13 },
- { 5, 14 },
- { 6, 14 },
- { 8, 15 },
- { 9, 15 },
- { 11, 16 },
- { 12, 16 }
- };
- static tmVertex x_holes[] = {
- { 3.00f, 1.00f},
- { 5.00f, 3.00f},
- { 3.00f, 5.00f},
- { 1.00f, 3.00f},
- };
- /// '2'
- static tmVertex two_nodes[] = {
- { 0.00f, 0.00f},
- { 6.00f, 0.00f},
- { 6.00f, 1.00f},
- { 2.00f, 1.00f},
- { 2.00f, 2.00f},
- { 6.00f, 6.00f},
- { 6.00f, 8.00f},
- { 5.00f, 9.00f},
- { 2.00f, 9.00f},
- { 1.00f, 7.50f},
- { 0.00f, 2.50f},
- { 5.00f, 6.50f},
- { 5.00f, 8.00f},
- { 2.50f, 8.00f},
- { 2.00f, 7.50f},
- };
- static tmSegmentId two_segments[] = {
- { 1, 2 },
- { 2, 3 },
- { 3, 4 },
- { 4, 5 },
- { 5, 6 },
- { 6, 7 },
- { 7, 8 },
- { 8, 9 },
- { 9, 10 },
- { 10, 15 },
- { 11, 12 },
- { 12, 13 },
- { 13, 14 },
- { 14, 15 },
- };
- static tmVertex two_holes[] = {
- { 3.00f, 5.00f},
- { 4.00f, 3.00f},
- };
- /// '-' beam
- static tmVertex beam_nodes[] = {
- { 0.00f, 0.00f},
- { 32.00f, 0.00f},
- { 32.00f, 3.00f},
- { 0.00f, 3.00f},
- };
- static tmSegmentId *beam_segments = NULL;
- static tmVertex *beam_holes = NULL;
- /// 'b' a box
- static tmVertex b_nodes[] = {
- { 0.00f, 0.00f},
- { 10.00f, 0.00f},
- { 10.00f, 10.00f},
- { 0.00f, 10.00f},
- { 2.00f, 2.00f},
- { 8.00f, 2.00f},
- { 8.00f, 8.00f},
- { 2.00f, 8.00f},
- };
- static tmSegmentId b_segments[] = {
- { 5, 6 },
- { 6, 7 },
- { 7, 8 },
- { 8, 5 },
- };
- static tmVertex b_holes[] = {
- { 5.0f, 5.0f},
- };
- /// choose...
- switch( which )
- {
- case 'B':
- nodes = B_nodes;
- segments = B_segments;
- holes = B_holes;
-
- n_nodes = sizeof(B_nodes)/sizeof(tmVertex);
- n_segments = (segments) ? sizeof(B_segments)/sizeof(tmSegmentId) : 0;
- n_holes = (holes) ? sizeof(B_holes)/sizeof(tmVertex) : 0;
- break;
- case 'D':
- nodes = D_nodes;
- segments = D_segments;
- holes = D_holes;
-
- n_nodes = sizeof(D_nodes)/sizeof(tmVertex);
- n_segments = (segments) ? sizeof(D_segments)/sizeof(tmSegmentId) : 0;
- n_holes = (holes) ? sizeof(D_holes)/sizeof(tmVertex) : 0;
- break;
- case 'x':
- nodes = x_nodes;
- segments = x_segments;
- holes = x_holes;
-
- n_nodes = sizeof(x_nodes)/sizeof(tmVertex);
- n_segments = (segments) ? sizeof(x_segments)/sizeof(tmSegmentId) : 0;
- n_holes = (holes) ? sizeof(x_holes)/sizeof(tmVertex) : 0;
- break;
- case '@':
- nodes = ring_nodes;
- segments = ring_segments;
- holes = ring_holes ;
-
- n_nodes = sizeof(ring_nodes)/sizeof(tmVertex);
- n_segments = (segments) ? sizeof(ring_segments)/sizeof(tmSegmentId) : 0;
- n_holes = (holes) ? sizeof(ring_holes)/sizeof(tmVertex) : 0;
- break;
- case '2':
- nodes = two_nodes;
- segments = two_segments;
- holes = two_holes ;
-
- n_nodes = sizeof(two_nodes)/sizeof(tmVertex);
- n_segments = (segments) ? sizeof(two_segments)/sizeof(tmSegmentId) : 0;
- n_holes = (holes) ? sizeof(two_holes)/sizeof(tmVertex) : 0;
- break;
- case '-':
- nodes = beam_nodes;
- segments = beam_segments;
- holes = beam_holes ;
-
- n_nodes = sizeof(beam_nodes)/sizeof(tmVertex);
- n_segments = (segments) ? sizeof(beam_segments)/sizeof(tmSegmentId) : 0;
- n_holes = (holes) ? sizeof(beam_holes)/sizeof(tmVertex) : 0;
- break;
- case 'b':
- nodes = b_nodes;
- segments = b_segments;
- holes = b_holes;
-
- n_nodes = sizeof(b_nodes)/sizeof(tmVertex);
- n_segments = (segments) ? sizeof(b_segments)/sizeof(tmSegmentId) : 0;
- n_holes = (holes) ? sizeof(b_holes)/sizeof(tmVertex) : 0;
- break;
- }
- }
- ///
- bool m_drawMode, m_staticBodies;
- tmVertex m_drawVertices[N_MAXVERTEX];
- int32 m_drawCount;
- ///
- float32 maxAllowableForce;
- /// temporary vars to hold the examples
- tmVertex *nodes;
- int32 n_nodes;
- tmVertex *holes;
- int32 n_holes;
- tmSegmentId *segments;
- int32 n_segments;
- };
- #undef H
- #endif