//==============================================================================
void Gjk::support(const ConvexShape& shape0,
const ConvexShape& shape1,
const Vec4& dir,
Support& support)
{
support.m_v0 = shape0.computeSupport(dir);
support.m_v1 = shape1.computeSupport(-dir);
support.m_v = support.m_v0 - support.m_v1;
}
void Sierpinski::draw(RenderTarget& target, RenderStates states) const{
ConvexShape triangle;
triangle.setPointCount(3);
triangle.setPoint(0, C);
triangle.setPoint(1, A);
triangle.setPoint(2, B);
target.draw(triangle, states);
if (depth == 1){
return;
}
/* Define the three new triangles by point and length */
Vector2f a, b, c, temp1, temp2;
a.x = (C.x + B.x)/2;
a.y = (C.y + B.y)/2;
b.x = (C.x + A.x)/2;
b.y = (C.y + A.y)/2;
c.x = (A.x + B.x)/2;
c.y = A.y;
double length = sqrt(pow(C.x - A.x, 2) + pow(C.y - A.y, 2))/2;
/* a is the small triangle to the right */
temp1.x = a.x + length;
temp1.y = a.y;
temp2.x = a.x + length/2;
temp2.y = a.y + (length/2 * sqrt(3));
Sierpinski child1(temp2, a, temp1, depth - 1);
target.draw(child1, states);
/* b is the small triangle to the left */
temp1.x = b.x - length;
temp1.y = b.y;
temp2.x = b.x - length/2;
temp2.y = b.y + (length/2 * sqrt(3));
Sierpinski child2(temp2, temp1, b ,depth - 1);
target.draw(child2, states);
/* c is the small triangle on the top */
temp1.x = c.x + length/2;
temp1.y = c.y - (length/2 * sqrt(3));
temp2.x = c.x - length/2;
temp2.y = c.y - (length/2 * sqrt(3));
Sierpinski child3(c, temp2, temp1, depth - 1);
target.draw(child3, states);
return;
}
void SFMLRenderer::DrawSolidPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color){
ConvexShape poligono;
poligono.setPointCount(vertexCount);
for(int i=0;i<vertexCount;++i){
poligono.setPoint(i,Vector2f(vertices[i].x, vertices[i].y));
}
poligono.setFillColor(box2d2SFMLColor(color));
wnd->draw(poligono);
}
void Other::draw(RenderTarget& target, RenderStates states) const {
ConvexShape rectangle;
rectangle.setPointCount(4);
rectangle.setPoint(0, A);
rectangle.setPoint(1, B);
rectangle.setPoint(2, C);
rectangle.setPoint(3, D);
rectangle.setFillColor(Color(55 + (depth*depth), 55 + (depth*depth), 55 + (depth*depth)));
target.draw(rectangle, states);
if (depth == 1){
return;
}
/* Skeliton for two new squares */
double length = sqrt(pow(A.x - B.x, 2) + pow(A.y - B.y, 2))/2;
Vector2f upper, right, temp1, temp2, temp3;
upper.x = (A.x + B.x)/2;
upper.y = A.y;
right.x = C.x;
right.y = (B.x + C.x)/2 + length;
/* Defining upper square */
temp1.x = upper.x - length;
temp1.y = upper.y - length;
temp2.x = upper.x;
temp2.y = upper.y - length;
temp3.x = upper.x - length;
temp3.y = upper.y;
Other child1(temp1, temp2, upper, temp3, depth - 1);
target.draw(child1, states);
/* Defining right square */
temp1.x = right.x + length;
temp1.y = right.y;
temp2.x = right.x + length;
temp2.y = right.y + length;
temp3.x = right.x;
temp3.y = right.y + length;
Other child2(right, temp1, temp2, temp3, depth - 1);
target.draw(child2, states);
return;
}
void Body::setShape(Shape* s) {
if (shape) {
delete shape;
shape = NULL;
shape->setOrigin(0);
}
if (s) {
if (s->getType() == circle) {
shape = new Circle();
*shape = *s;
inertiaMoment = 0.5*mass*pow(((Circle*)s)->getRadius(),2);
} else if (s->getType() == convexshape) {
ConvexShape *cs = new ConvexShape();
shape = cs;
*cs = *((ConvexShape*)s);
//let's determine the center off mass
double area = 0;
Vec2 sum;
for (int i = 1; i < cs->getSize()-1; i ++) {
double a = abs(det(cs->getVertex(0),
cs->getVertex(i), cs->getVertex(i+1)))/2.0;
area += a;
sum += (cs->getVertex(0)+cs->getVertex(i)+cs->getVertex(i+1))*a/3.0;
}
cs->setOrigin(sum/area);
for (int i = 0; i < cs->getSize(); i ++) {
inertiaMoment +=
abs(det(cs->getOrigin(), cs->getVertex(i),
cs->getVertex(i+1)))*0.5*mass/area*
pow(distance(cs->getOrigin(),
(cs->getVertex(i)+cs->getVertex(i+1)+cs->getOrigin())/3.0),2);
}
}
}
}