com.almasb.fxgl.physics.PhysicsWorld Maven / Gradle / Ivy
/*
* FXGL - JavaFX Game Library. The MIT License (MIT).
* Copyright (c) AlmasB ([email protected]).
* See LICENSE for details.
*/
package com.almasb.fxgl.physics;
import com.almasb.fxgl.core.collection.Array;
import com.almasb.fxgl.core.collection.UnorderedArray;
import com.almasb.fxgl.core.collection.UnorderedPairMap;
import com.almasb.fxgl.core.math.Vec2;
import com.almasb.fxgl.core.pool.Pool;
import com.almasb.fxgl.core.pool.Pools;
import com.almasb.fxgl.entity.Entity;
import com.almasb.fxgl.entity.EntityWorldListener;
import com.almasb.fxgl.entity.components.BoundingBoxComponent;
import com.almasb.fxgl.entity.components.CollidableComponent;
import com.almasb.fxgl.logging.Logger;
import com.almasb.fxgl.physics.box2d.callbacks.ContactFilter;
import com.almasb.fxgl.physics.box2d.callbacks.ContactImpulse;
import com.almasb.fxgl.physics.box2d.callbacks.ContactListener;
import com.almasb.fxgl.physics.box2d.collision.Manifold;
import com.almasb.fxgl.physics.box2d.collision.shapes.Shape;
import com.almasb.fxgl.physics.box2d.dynamics.*;
import com.almasb.fxgl.physics.box2d.dynamics.contacts.Contact;
import com.almasb.fxgl.physics.box2d.dynamics.joints.*;
import javafx.beans.value.ChangeListener;
import javafx.geometry.Point2D;
import java.io.Serializable;
import java.util.HashMap;
import java.util.Iterator;
import java.util.List;
import java.util.Map;
/**
* Manages collision handling and performs the physics tick.
* Contains methods to convert pixel coordinates to meters and vice versa.
* Collision handling unifies how different collisions (with and without PhysicsComponent) are processed.
*
* @author Almas Baimagambetov (AlmasB) ([email protected])
*/
public final class PhysicsWorld implements EntityWorldListener, ContactListener, PhysicsUnitConverter {
private static final Logger log = Logger.get(PhysicsWorld.class);
private final double PIXELS_PER_METER;
private final double METERS_PER_PIXELS;
private World jboxWorld = new World(new Vec2(0, -10));
private Array entities = new UnorderedArray<>(128);
private UnorderedPairMap collisionHandlers = new UnorderedPairMap<>(16);
// stores active collisions
private UnorderedPairMap collisionsMap = new UnorderedPairMap<>(128);
private CollisionDetectionStrategy strategy;
private int appHeight;
public PhysicsWorld(int appHeight, double ppm) {
this(appHeight, ppm, CollisionDetectionStrategy.BRUTE_FORCE);
}
public PhysicsWorld(int appHeight, double ppm, CollisionDetectionStrategy strategy) {
this.appHeight = appHeight;
this.strategy = strategy;
PIXELS_PER_METER = ppm;
METERS_PER_PIXELS = 1 / PIXELS_PER_METER;
initCollisionPool();
initContactListener();
initParticles();
jboxWorld.setContactFilter(new CollisionFilterCallback());
log.debugf("Physics world initialized: appHeight=%d, physics.ppm=%.1f",
appHeight, ppm);
log.debug("Using strategy: " + strategy);
}
private void initCollisionPool() {
Pools.set(CollisionPair.class, new Pool() {
@Override
protected CollisionPair newObject() {
return new CollisionPair();
}
});
}
/**
* Registers contact listener to JBox2D world so that collisions are
* registered for subsequent notification.
* Only collidable entities are checked.
*/
private void initContactListener() {
jboxWorld.setContactListener(this);
}
private void initParticles() {
jboxWorld.setParticleGravityScale(1f);
jboxWorld.setParticleDensity(1.2f);
jboxWorld.setParticleRadius(toMetersF(1)); // 0.5 for super realistic effect, but slow
}
private Array delayedBodiesAdd = new UnorderedArray<>();
private Array delayedBodiesRemove = new UnorderedArray<>();
private Map > scaleListeners = new HashMap<>();
@Override
public void onEntityAdded(Entity entity) {
entities.add(entity);
if (entity.hasComponent(PhysicsComponent.class)) {
onPhysicsEntityAdded(entity);
}
}
private void onPhysicsEntityAdded(Entity entity) {
if (!jboxWorld.isLocked()) {
createBody(entity);
} else {
delayedBodiesAdd.add(entity);
}
ChangeListener scaleChangeListener = (observable, oldValue, newValue) -> {
Body b = entity.getComponent(PhysicsComponent.class).body;
if (b != null) {
List fixtures = List.copyOf(b.getFixtures());
fixtures.forEach(b::destroyFixture);
createFixtures(entity);
createSensors(entity);
}
};
scaleListeners.put(entity, scaleChangeListener);
entity.getTransformComponent().scaleXProperty().addListener(scaleChangeListener);
entity.getTransformComponent().scaleYProperty().addListener(scaleChangeListener);
}
@Override
public void onEntityRemoved(Entity entity) {
entities.removeValueByIdentity(entity);
if (entity.hasComponent(PhysicsComponent.class)) {
onPhysicsEntityRemoved(entity);
}
}
private void onPhysicsEntityRemoved(Entity entity) {
if (scaleListeners.containsKey(entity)) {
ChangeListener scaleChangeListener = scaleListeners.get(entity);
entity.getTransformComponent().scaleXProperty().removeListener(scaleChangeListener);
entity.getTransformComponent().scaleYProperty().removeListener(scaleChangeListener);
scaleListeners.remove(entity);
}
if (!jboxWorld.isLocked()) {
destroyBody(entity);
} else {
delayedBodiesRemove.add(entity.getComponent(PhysicsComponent.class).getBody());
}
}
public void onUpdate(double tpf) {
jboxWorld.step((float) tpf, 8, 3);
postStep();
checkCollisions();
notifyCollisions();
}
private void postStep() {
for (Entity e : delayedBodiesAdd)
createBody(e);
delayedBodiesAdd.clear();
for (Body body : delayedBodiesRemove)
jboxWorld.destroyBody(body);
delayedBodiesRemove.clear();
}
/**
* Clears collidable entities and active collisions.
* Does not clear collision handlers.
*/
public void clear() {
log.debug("Clearing physics world");
entities.clear();
collisionsMap.clear();
}
public void clearCollisionHandlers() {
collisionHandlers.clear();
}
@Override
public void beginContact(Contact contact) {
Entity e1 = contact.getFixtureA().getBody().getEntity();
Entity e2 = contact.getFixtureB().getBody().getEntity();
// check sensors first
if (contact.getFixtureA().isSensor()) {
notifySensorCollisionBegin(e1, e2, contact.getFixtureA().getHitBox());
return;
} else if (contact.getFixtureB().isSensor()) {
notifySensorCollisionBegin(e2, e1, contact.getFixtureB().getHitBox());
return;
}
if (!areCollidable(e1, e2))
return;
CollisionHandler handler = getHandler(e1, e2);
if (handler != null) {
HitBox a = contact.getFixtureA().getHitBox();
HitBox b = contact.getFixtureB().getHitBox();
collisionBeginFor(handler, e1, e2, a, b);
}
}
@Override
public void endContact(Contact contact) {
Entity e1 = contact.getFixtureA().getBody().getEntity();
Entity e2 = contact.getFixtureB().getBody().getEntity();
// check sensors first
if (contact.getFixtureA().isSensor()) {
notifySensorCollisionEnd(e1, e2, contact.getFixtureA().getHitBox());
return;
} else if (contact.getFixtureB().isSensor()) {
notifySensorCollisionEnd(e2, e1, contact.getFixtureB().getHitBox());
return;
}
if (!areCollidable(e1, e2))
return;
CollisionHandler handler = getHandler(e1, e2);
if (handler != null) {
collisionEndFor(e1, e2);
}
}
/**
* Note: certain modifications to the jbox2d world directly may not be
* recognized by FXGL.
*
* @return raw jbox2d physics world
*/
public World getJBox2DWorld() {
return jboxWorld;
}
private boolean isCollidable(Entity e) {
if (!e.isActive())
return false;
return e.getComponentOptional(CollidableComponent.class)
.map(CollidableComponent::getValue)
.orElse(false);
}
private boolean areCollidable(Entity e1, Entity e2) {
return isCollidable(e1) && isCollidable(e2);
}
@SuppressWarnings("PMD.UselessParentheses")
private boolean needManualCheck(Entity e1, Entity e2) {
// if no physics -> check manually
BodyType type1 = e1.getComponentOptional(PhysicsComponent.class)
.map(p -> p.body.getType())
.orElse(null);
if (type1 == null)
return true;
BodyType type2 = e2.getComponentOptional(PhysicsComponent.class)
.map(p -> p.body.getType())
.orElse(null);
if (type2 == null)
return true;
// if one is kinematic and the other is static -> check manually
return (type1 == BodyType.KINEMATIC && type2 == BodyType.STATIC)
|| (type2 == BodyType.KINEMATIC && type1 == BodyType.STATIC);
}
/**
* @param e1 entity 1
* @param e2 entity 2
* @return collision handler for e1 and e2 based on their types or null if no such handler exists
*/
private CollisionHandler getHandler(Entity e1, Entity e2) {
if (!e1.isActive() || !e2.isActive())
return null;
return collisionHandlers.get(e1.getType(), e2.getType());
}
private void notifySensorCollisionBegin(Entity eWithSensor, Entity eTriggered, HitBox box) {
var handler = eWithSensor.getComponent(PhysicsComponent.class).getSensorHandlers().get(box);
handler.onCollisionBegin(eTriggered);
}
private void notifySensorCollisionEnd(Entity eWithSensor, Entity eTriggered, HitBox box) {
var handler = eWithSensor.getComponent(PhysicsComponent.class).getSensorHandlers().get(box);
handler.onCollisionEnd(eTriggered);
}
@Override
public void preSolve(Contact contact, Manifold oldManifold) { }
@Override
public void postSolve(Contact contact, ContactImpulse impulse) { }
private Array collidables = new UnorderedArray<>(128);
private CollisionResult collisionResult = new CollisionResult();
private CollisionGrid collisionGrid = new CollisionGrid(64, 64);
/**
* Perform collision detection for all entities that have
* setCollidable(true) and if at least one entity does not have PhysicsComponent.
* Subsequently fire collision handlers for all entities that have
* setCollidable(true).
*/
private void checkCollisions() {
if (strategy == CollisionDetectionStrategy.GRID_INDEXING) {
for (Entity e : entities) {
if (isCollidable(e)) {
e.getBoundingBoxComponent().applyTransformToHitBoxes$fxgl_entity();
collisionGrid.insert(e);
}
}
collisionGrid.getCells().forEach((p, cell) -> {
checkCollisionsInGroup(cell.getEntities());
});
collisionGrid.getCells().clear();
} else {
for (Entity e : entities) {
if (isCollidable(e)) {
e.getBoundingBoxComponent().applyTransformToHitBoxes$fxgl_entity();
collidables.add(e);
}
}
checkCollisionsInGroup(collidables);
collidables.clear();
}
}
private void checkCollisionsInGroup(Array group) {
for (int i = 0; i < group.size(); i++) {
Entity e1 = group.get(i);
for (int j = i + 1; j < group.size(); j++) {
Entity e2 = group.get(j);
CollisionHandler handler = getHandler(e1, e2);
// if no handler registered, no need to check for this pair
if (handler == null)
continue;
// if no need for manual check, let jbox handle it
if (!needManualCheck(e1, e2)) {
continue;
}
// check if e1 ignores e2, or e2 ignores e1
if (isIgnored(e1, e2))
continue;
// check if colliding
var collision = e1.getBoundingBoxComponent().checkCollisionPAT(e2.getBoundingBoxComponent(), collisionResult);
if (collision) {
collisionBeginFor(handler, e1, e2, collisionResult.getBoxA(), collisionResult.getBoxB());
} else {
collisionEndFor(e1, e2);
}
}
}
}
private boolean isIgnored(Entity e1, Entity e2) {
if (!e1.hasComponent(CollidableComponent.class) || !e2.hasComponent(CollidableComponent.class))
return false;
CollidableComponent c1 = e1.getComponent(CollidableComponent.class);
for (Serializable t1 : c1.getIgnoredTypes()) {
if (e2.isType(t1)) {
return true;
}
}
CollidableComponent c2 = e2.getComponent(CollidableComponent.class);
for (Serializable t2 : c2.getIgnoredTypes()) {
if (e1.isType(t2)) {
return true;
}
}
return false;
}
private void collisionBeginFor(CollisionHandler handler, Entity e1, Entity e2, HitBox a, HitBox b) {
CollisionPair pair = collisionsMap.get(e1, e2);
// null means e1 and e2 were not colliding before
// if not null, then ignore because e1 and e2 are still colliding
if (pair == null) {
pair = Pools.obtain(CollisionPair.class);
pair.init(e1, e2, handler);
// add pair to list of collisions so we still use it
collisionsMap.put(pair.getA(), pair.getB(), pair);
handler.onHitBoxTrigger(
pair.getA(), pair.getB(),
e1 == pair.getA() ? a : b,
e2 == pair.getB() ? b : a
);
pair.collisionBegin();
}
}
private void collisionEndFor(Entity e1, Entity e2) {
CollisionPair pair = collisionsMap.get(e1, e2);
// if not null, then collision registered, so end the collision
// and remove it and put pair back to pool
// if null then collision was not present before either
if (pair != null) {
collisionsMap.remove(pair.getA(), pair.getB());
pair.collisionEnd();
Pools.free(pair);
}
}
private void notifyCollisions() {
for (Iterator it = collisionsMap.getValues().iterator(); it.hasNext(); ) {
CollisionPair pair = it.next();
// if a pair no longer qualifies for collision then just remove it
if (!isCollidable(pair.getA()) || !isCollidable(pair.getB())) {
// tell the pair that collision ended
pair.collisionEnd();
it.remove();
Pools.free(pair);
continue;
}
pair.collision();
}
}
/**
* Registers a collision handler.
* The order in which the types are passed to this method
* decides the order of objects being passed into the collision handler
*
*
* Example:
* PhysicsWorld physics = ...
* physics.addCollisionHandler(new CollisionHandler(Type.PLAYER, Type.ENEMY) {
* public void onCollisionBegin(Entity a, Entity b) {
* // called when entities start touching
* }
* public void onCollision(Entity a, Entity b) {
* // called when entities are touching
* }
* public void onCollisionEnd(Entity a, Entity b) {
* // called when entities are separated and no longer touching
* }
* });
*
*
*
* @param handler collision handler
*/
public void addCollisionHandler(CollisionHandler handler) {
collisionHandlers.put(handler.getA(), handler.getB(), handler);
}
/**
* Removes a collision handler
*
* @param handler collision handler to remove
*/
public void removeCollisionHandler(CollisionHandler handler) {
collisionHandlers.remove(handler.getA(), handler.getB());
}
/**
* Set global world gravity.
*
* @param x x component (in pixels)
* @param y y component (in pixels)
*/
public void setGravity(double x, double y) {
jboxWorld.setGravity(toVector(new Point2D(x, y)));
}
/**
* Create physics body and attach to physics world.
*
* @param e physics entity
*/
private void createBody(Entity e) {
PhysicsComponent physics = e.getComponent(PhysicsComponent.class);
physics.setWorld(this);
// if position is 0, 0 then probably not set, so set ourselves
if (physics.bodyDef.getPosition().x == 0 && physics.bodyDef.getPosition().y == 0) {
physics.bodyDef.getPosition().set(toPoint(e.getCenter()));
}
if (physics.bodyDef.getAngle() == 0) {
physics.bodyDef.setAngle((float) -Math.toRadians(e.getRotation()));
}
physics.body = jboxWorld.createBody(physics.bodyDef);
createFixtures(e);
createSensors(e);
physics.body.setEntity(e);
physics.onInitPhysics();
}
private void createFixtures(Entity e) {
BoundingBoxComponent bbox = e.getBoundingBoxComponent();
PhysicsComponent physics = e.getComponent(PhysicsComponent.class);
FixtureDef fd = physics.fixtureDef;
for (HitBox box : bbox.hitBoxesProperty()) {
Shape b2Shape = createShape(box, e);
// we use definitions from user, but override shape
fd.setShape(b2Shape);
Fixture fixture = physics.body.createFixture(fd);
fixture.setHitBox(box);
}
}
private void createSensors(Entity e) {
PhysicsComponent physics = e.getComponent(PhysicsComponent.class);
if (physics.getSensorHandlers().isEmpty())
return;
physics.getSensorHandlers().keySet().forEach(box -> {
box.bindXY(e.getTransformComponent());
Shape polygonShape = createShape(box, e);
FixtureDef fd = new FixtureDef()
.sensor(true)
.shape(polygonShape);
Fixture f = physics.body.createFixture(fd);
f.setHitBox(box);
});
}
private Shape createShape(HitBox box, Entity e) {
if (e.getComponent(PhysicsComponent.class).body.getType() != BodyType.STATIC
&& box.getShape() instanceof ChainShapeData) {
throw new IllegalArgumentException("BoundingShape.chain() can only be used with BodyType.STATIC");
}
return box.toBox2DShape(e.getBoundingBoxComponent(), this);
}
void destroyFixture(Body body, HitBox box) {
body.getFixtures()
.stream()
.filter(f -> f.getHitBox() == box)
.findAny()
.ifPresent(body::destroyFixture);
}
/**
* Destroy body and remove from physics world.
*
* @param e physics entity
*/
private void destroyBody(Entity e) {
jboxWorld.destroyBody(e.getComponent(PhysicsComponent.class).body);
}
private EdgeCallback raycastCallback = new EdgeCallback();
/**
* Performs a ray cast from start point to end point.
*
* @param start start point
* @param end end point
* @return ray cast result
*/
public RaycastResult raycast(Point2D start, Point2D end) {
raycastCallback.reset();
jboxWorld.raycast(raycastCallback, toPoint(start), toPoint(end));
Entity entity = null;
Point2D point = null;
if (raycastCallback.getFixture() != null)
entity = raycastCallback.getFixture().getBody().getEntity();
if (raycastCallback.getPoint() != null)
point = toPoint(raycastCallback.getPoint());
if (entity == null && point == null)
return RaycastResult.NONE;
return new RaycastResult(entity, point);
}
/* JOINTS BEGIN */
/**
* Add revolute joint between two entities.
*
* @param e1 entity1
* @param e2 entity2
* @param localAnchor1 point in entity1 local coordinate system to which entity2 is attached
* @param localAnchor2 point in entity2 local coordinate system to which entity1 is attached
*/
public RevoluteJoint addRevoluteJoint(Entity e1, Entity e2, Point2D localAnchor1, Point2D localAnchor2) {
checkJointRequirements(e1, e2);
var p1 = e1.getComponent(PhysicsComponent.class);
var p2 = e2.getComponent(PhysicsComponent.class);
RevoluteJointDef def = new RevoluteJointDef();
def.localAnchorA = toPoint(e1.getAnchoredPosition().add(localAnchor1)).subLocal(p1.getBody().getWorldCenter());
def.localAnchorB = toPoint(e2.getAnchoredPosition().add(localAnchor2)).subLocal(p2.getBody().getWorldCenter());
return addJoint(e1, e2, def);
}
/**
* Add rope joint between two entities.
* The joint runs between the center of e1 to the center of e2, using this distance as max length.
*/
public RopeJoint addRopeJoint(Entity e1, Entity e2) {
var c1 = e1.getBoundingBoxComponent().getCenterLocal();
var c2 = e2.getBoundingBoxComponent().getCenterLocal();
return addRopeJoint(e1, e2, c1, c2, e1.getCenter().distance(e2.getCenter()));
}
/**
* Add rope joint between two entities.
*
* @param e1 entity1
* @param e2 entity2
* @param localAnchor1 point in entity1 local coordinate system to which entity2 is attached
* @param localAnchor2 point in entity2 local coordinate system to which entity1 is attached
* @param length the maximum length of the rope joint in pixels
*/
public RopeJoint addRopeJoint(Entity e1, Entity e2, Point2D localAnchor1, Point2D localAnchor2, double length) {
checkJointRequirements(e1, e2);
var p1 = e1.getComponent(PhysicsComponent.class);
var p2 = e2.getComponent(PhysicsComponent.class);
RopeJointDef def = new RopeJointDef();
def.localAnchorA.set(toPoint(e1.getAnchoredPosition().add(localAnchor1)).subLocal(p1.getBody().getWorldCenter()));
def.localAnchorB.set(toPoint(e2.getAnchoredPosition().add(localAnchor2)).subLocal(p2.getBody().getWorldCenter()));
def.maxLength = toMetersF(length);
return addJoint(e1, e2, def);
}
/**
* Add a joint constraining two entities with PhysicsComponent.
* The entities must already be in the game world.
*
* @return joint created using the provided definition
*/
public T addJoint(Entity e1, Entity e2, JointDef def) {
checkJointRequirements(e1, e2);
var p1 = e1.getComponent(PhysicsComponent.class);
var p2 = e2.getComponent(PhysicsComponent.class);
def.setBodyA(p1.body);
def.setBodyB(p2.body);
return jboxWorld.createJoint(def);
}
private void checkJointRequirements(Entity e1, Entity e2) {
if (!e1.hasComponent(PhysicsComponent.class) || !e2.hasComponent(PhysicsComponent.class)) {
throw new IllegalArgumentException("Cannot create a joint: both entities must have PhysicsComponent");
}
}
/**
* Remove given joint from the physics world.
*/
public void removeJoint(Joint joint) {
jboxWorld.destroyJoint(joint);
}
/* JOINTS END */
@Override
public double toMeters(double pixels) {
return pixels * METERS_PER_PIXELS;
}
@Override
public double toPixels(double meters) {
return meters * PIXELS_PER_METER;
}
/**
* Converts a point in pixel space to a point in physics space.
*
* @param p point in pixel space
* @return point in physics space
*/
@Override
public Vec2 toPoint(Point2D p) {
return new Vec2(toMetersF(p.getX()), toMetersF(appHeight - p.getY()));
}
/**
* Converts a point in physics space to a point in pixel space.
*
* @param p point in physics space
* @return point in pixel space
*/
@Override
public Point2D toPoint(Vec2 p) {
return new Point2D(toPixels(p.x), toPixels(toMeters(appHeight) - p.y));
}
private class CollisionFilterCallback extends ContactFilter {
@Override
public boolean shouldCollide(Fixture fixtureA, Fixture fixtureB) {
Entity e1 = fixtureA.getBody().getEntity();
Entity e2 = fixtureB.getBody().getEntity();
if (areCollidable(e1, e2) && isIgnored(e1, e2))
return false;
return super.shouldCollide(fixtureA, fixtureB);
}
}
}
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