Merge pull request #1541 from vlidholt/master

Adds support for keeping track of contact points in physics

examples/game/test_physics.dart

@@ -45,24 +45,11 @@ main() async {
 }
 
 class TestBed extends NodeWithSize {
-  Sprite _ship;
   Sprite _obstacle;
+  PhysicsNode _physicsNode;
 
   TestBed() : super(new Size(1024.0, 1024.0)) {
-    PhysicsNode physicsNode = new PhysicsNode(new Offset(0.0, 100.0));
-
-    _ship = new Sprite(_spriteSheet["ship.png"]);
-    _ship.position = new Point(512.0, 512.0);
-    _ship.size = new Size(64.0, 64.0);
-    _ship.physicsBody = new PhysicsBody(
-      new PhysicsShapeGroup([
-        new PhysicsShapeCircle(Point.origin, 32.0),
-        new PhysicsShapePolygon([new Point(0.0, 0.0), new Point(50.0, 0.0), new Point(50.0, 50.0), new Point(0.0, 50.0)])
-      ]),
-      friction: 0.5,
-      tag: "ship"
-    );
-    physicsNode.addChild(_ship);
+    _physicsNode = new PhysicsNode(new Offset(0.0, 100.0));
 
     _obstacle = new Sprite(_spriteSheet["ship.png"]);
     _obstacle.position = new Point(532.0, 800.0);
@@ -73,23 +60,47 @@ class TestBed extends NodeWithSize {
       friction: 0.5,
       tag: "obstacle"
     );
-    physicsNode.addChild(_obstacle);
-    physicsNode.addContactCallback(myCallback, "obstacle", "ship", PhysicsContactType.begin);
+    _physicsNode.addChild(_obstacle);
+    _physicsNode.addContactCallback(myCallback, "obstacle", "ship", PhysicsContactType.begin);
 
-    addChild(physicsNode);
+    addChild(_physicsNode);
 
     userInteractionEnabled = true;
   }
 
   void myCallback(PhysicsContactType type, PhysicsContact contact) {
     print("CONTACT type: $type");
-    contact.nodeB.removeFromParent();
   }
 
   bool handleEvent(SpriteBoxEvent event) {
     if (event.type == "pointerdown") {
       Point pos = convertPointToNodeSpace(event.boxPosition);
-      _ship.position = pos;
+
+      Sprite shipA;
+      shipA = new Sprite(_spriteSheet["ship.png"]);
+      shipA.position = new Point(pos.x - 40.0, pos.y);
+      shipA.size = new Size(64.0, 64.0);
+      shipA.physicsBody = new PhysicsBody(new PhysicsShapeCircle(Point.origin, 32.0),
+        friction: 0.5,
+        tag: "ship"
+      );
+      _physicsNode.addChild(shipA);
+      shipA.physicsBody.applyLinearImpulse(
+        new Offset(randomSignedDouble() * 5.0, randomSignedDouble() * 5.0),
+        shipA.position
+      );
+
+      Sprite shipB;
+      shipB = new Sprite(_spriteSheet["ship.png"]);
+      shipB.position = new Point(pos.x + 40.0, pos.y);
+      shipB.size = new Size(64.0, 64.0);
+      shipB.physicsBody = new PhysicsBody(new PhysicsShapePolygon([new Point(-25.0, -25.0), new Point(25.0, -25.0), new Point(25.0, 25.0), new Point(-25.0, 25.0)]),
+        friction: 0.5,
+        tag: "ship"
+      );
+      _physicsNode.addChild(shipB);
+
+      new PhysicsJointWeld(shipA.physicsBody, shipB.physicsBody);
     }
     return true;
   }

skysprites/lib/physics_body.dart

@@ -230,6 +230,8 @@ class PhysicsBody {
 
   box2d.Body _body;
 
+  List<PhysicsJoint> _joints = [];
+
   bool _attached = false;
 
   void applyForce(Offset force, Point worldPoint) {
@@ -338,6 +340,13 @@ class PhysicsBody {
     _node = node;
 
     _attached = true;
+
+    // Attach any joints
+    for (PhysicsJoint joint in _joints) {
+      if (joint.bodyA._attached && joint.bodyB._attached) {
+        joint._attach(physicsNode);
+      }
+    }
   }
 
   void _detach() {

skysprites/lib/physics_joint.dart

@@ -0,0 +1,90 @@
+part of skysprites;
+
+abstract class PhysicsJoint {
+  PhysicsJoint(this.bodyA, this.bodyB) {
+    bodyA._joints.add(this);
+    bodyB._joints.add(this);
+
+    if (bodyA._attached && bodyB._attached) {
+      _attach(bodyA._physicsNode);
+    }
+  }
+
+  PhysicsBody bodyA;
+  PhysicsBody bodyB;
+
+  bool _active = true;
+  box2d.Joint _joint;
+
+  PhysicsNode _physicsNode;
+
+  void _attach(PhysicsNode physicsNode) {
+    if (_joint == null) {
+      _physicsNode = physicsNode;
+      _joint = _createB2Joint(physicsNode);
+    }
+  }
+
+  void _detach() {
+    if (_joint != null && _active) {
+      _physicsNode.b2World.destroyJoint(_joint);
+      _joint = null;
+    }
+    _active = false;
+  }
+
+  box2d.Joint _createB2Joint(PhysicsNode physicsNode);
+}
+
+class PhysicsJointRevolute extends PhysicsJoint {
+  PhysicsJointRevolute(
+    PhysicsBody bodyA,
+    PhysicsBody bodyB,
+    this.anchorWorld, {
+      double lowerAngle: 0.0,
+      double upperAngle: 0.0,
+      bool enableLimit: false
+    }) : super(bodyA, bodyB) {
+    this.lowerAngle = lowerAngle;
+    this.upperAngle = upperAngle;
+    this.enableLimit = enableLimit;
+  }
+
+  Point anchorWorld;
+  double lowerAngle;
+  double upperAngle;
+  bool enableLimit;
+
+  box2d.Joint _createB2Joint(PhysicsNode physicsNode) {
+    // Create Joint Definition
+    Vector2 vecAnchor = new Vector2(
+      anchorWorld.x / physicsNode.b2WorldToNodeConversionFactor,
+      anchorWorld.y / physicsNode.b2WorldToNodeConversionFactor
+    );
+
+    box2d.RevoluteJointDef b2Def = new box2d.RevoluteJointDef();
+    b2Def.initialize(bodyA._body, bodyB._body, vecAnchor);
+    b2Def.enableLimit = enableLimit;
+    b2Def.lowerAngle = lowerAngle;
+    b2Def.upperAngle = upperAngle;
+
+    // Create joint
+    return physicsNode.b2World.createJoint(b2Def);
+  }
+}
+
+class PhysicsJointWeld extends PhysicsJoint {
+  PhysicsJointWeld(
+    PhysicsBody bodyA,
+    PhysicsBody bodyB) : super(bodyA, bodyB);
+
+    box2d.Joint _createB2Joint(PhysicsNode physicsNode) {
+      box2d.WeldJointDef b2Def = new box2d.WeldJointDef();
+      Vector2 middle = new Vector2(
+        (bodyA._body.position.x + bodyB._body.position.x) / 2.0,
+        (bodyA._body.position.y + bodyB._body.position.y) / 2.0
+      );
+      b2Def.initialize(bodyA._body, bodyB._body, middle);
+      return physicsNode.b2World.createJoint(b2Def);
+    }
+}

skysprites/lib/physics_node.dart

@@ -83,6 +83,13 @@ class PhysicsNode extends Node {
 
   void _removeBodiesScheduledForDestruction() {
     for (box2d.Body b2Body in _bodiesScheduledForDestruction) {
+      // Destroy any joints before destroying the body
+      PhysicsBody body = b2Body.userData;
+      for (PhysicsJoint joint in body._joints) {
+        joint._detach();
+      }
+
+      // Destroy the body
       b2World.destroyBody(b2Body);
     }
     _bodiesScheduledForDestruction.clear();
@@ -183,7 +190,57 @@ class PhysicsNode extends Node {
           }
         }
       }
+
       canvas.restore();
+
+      // Draw contacts
+      for (box2d.ContactEdge edge = body.getContactList(); edge != null; edge = edge.next) {
+        box2d.Contact contact = edge.contact;
+        Vector2 cA = new Vector2.zero();
+        Vector2 cB = new Vector2.zero();
+
+        box2d.Fixture fixtureA = contact.fixtureA;
+        box2d.Fixture fixtureB = contact.fixtureB;
+
+        fixtureA.getAABB(contact.getChildIndexA()).getCenterToOut(cA);
+        fixtureB.getAABB(contact.getChildIndexB()).getCenterToOut(cB);
+
+        Point p1 = new Point(
+          cA.x * b2WorldToNodeConversionFactor,
+          cA.y * b2WorldToNodeConversionFactor
+        );
+
+        Point p2 = new Point(
+          cB.x * b2WorldToNodeConversionFactor,
+          cB.y * b2WorldToNodeConversionFactor
+        );
+
+        shapePaint.color = new Color(0x33ffffff);
+        canvas.drawLine(p1, p2, shapePaint);
+
+        box2d.WorldManifold worldManifold = new box2d.WorldManifold();
+        contact.getWorldManifold(worldManifold);
+
+        shapePaint.color = new Color(0xffffffff);
+
+        for (Vector2 pt in worldManifold.points) {
+          Point pCenter = new Point(
+            pt.x * b2WorldToNodeConversionFactor,
+            pt.y * b2WorldToNodeConversionFactor
+          );
+          Offset offset = new Offset(
+            worldManifold.normal.x * 5.0,
+            worldManifold.normal.y * 5.0
+          );
+
+          Point p2 = pCenter + offset;
+          Point p1 = new Point(pCenter.x - offset.dx, pCenter.y - offset.dy);
+          canvas.drawLine(p1, p2, shapePaint);
+          canvas.drawCircle(pCenter, 5.0, shapePaint);
+        }
+      }
+
+
     }
   }
 }
@@ -195,7 +252,9 @@ class PhysicsContact {
     this.shapeA,
     this.shapeB,
     this.isTouching,
-    this.isEnabled
+    this.isEnabled,
+    this.touchingPoints,
+    this.touchingNormal
   );
 
   final Node nodeA;
@@ -204,6 +263,8 @@ class PhysicsContact {
   final PhysicsShape shapeB;
   final isTouching;
   bool isEnabled;
+  final List<Point> touchingPoints;
+  final Offset touchingNormal;
 }
 
 class _ContactCallbackInfo {
@@ -264,19 +325,35 @@ class _ContactHandler extends box2d.ContactListener {
 
       if (match) {
         // We have contact and a matched callback, setup contact info
+        List<Point> touchingPoints = null;
+        Offset touchingNormal = null;
+
+        // Fetch touching points, if any
+        if (b2Contact.isTouching()) {
+          box2d.WorldManifold manifold = new box2d.WorldManifold();
+          b2Contact.getWorldManifold(manifold);
+          touchingNormal = new Offset(manifold.normal.x, manifold.normal.y);
+          touchingPoints = [];
+          for (Vector2 vec in manifold.points) {
+            touchingPoints.add(new Point(
+              vec.x * physicsNode.b2WorldToNodeConversionFactor,
+              vec.y * physicsNode.b2WorldToNodeConversionFactor
+            ));
+          }
+        }
+
+        // Create the contact
         PhysicsContact contact = new PhysicsContact(
           bodyA._node,
           bodyB._node,
           fixtureA.userData,
           fixtureB.userData,
           b2Contact.isTouching(),
-          b2Contact.isEnabled()
+          b2Contact.isEnabled(),
+          touchingPoints,
+          touchingNormal
         );
 
-        if (type == PhysicsContactType.postSolve) {
-
-        }
-
         // Make callback
         info.callback(type, contact);
 

skysprites/lib/skysprites.dart

@@ -33,6 +33,7 @@ part 'node3d.dart';
 part 'node_with_size.dart';
 part 'particle_system.dart';
 part 'physics_body.dart';
+part 'physics_joint.dart';
 part 'physics_node.dart';
 part 'physics_shape.dart';
 part 'sound.dart';