I'm using polygon on shape renderer and the problem is that the user should be able to add vertex whenever they want, basically the vertices are not set by me but by the user. What I did is whenever the user add a point, I add them to an arrayList.
ArrayList<Float> v = new ArrayList<Float>();
public void ontouch(screenX, screenY){
v.add(screenX);
v.add(screenY)
}
And then I have this problem when I try to render a polygon on a shapeRenderer
for(int i = 0; i < v.size; i++){
float[] vertices = new float[v.size()]
vertices[i - 1] = v.get(i - 1);
vertices[i] = v.get(i);
}
sr.polygon(v);
But I just get errors.
I am trying to achieve something like this, if you know a different way of doing this then that would be really helpful. By the way I'm also using box2d and this does not need to have collision it's just for the user visual.
The way I would personally do it is by having an LinkedList with Vector2 objects. Vector2 objects store two floats, so for every click, you get the x and y coordinates and make a new Vector2 object. By storing them in the LinkedList, you can retrieve the points at any time in the correct order so you can connect a line.
LinkedList<Vector2> v = new LinkedList<Vector2>();
public void ontouch(screenX, screenY){
v.add(new Vector2(screenX, screenY)); // add Vector2 into LinkedList
}
How you want to draw the lines or connect the points is up to you.
Another was is to just only keep the two most recent points that were clicked, and throw the others away. This would mean storing the lines instead of the points. If the lines are objects, then you can do this:
Vector2 previousPoint;
Vector2 currentPoint;
ArrayList<MyLineClass> lines = new ArrayList<MyLineClass>();
public void ontouch(screenX, screenY){
if(previousPoint == null){
previousPoint = new Vector2(screenX, screenY);
}else{
previousPoint = currentPoint;
currentPoint = new Vector2(screenX, screenY);
lines.add(new MyLineClass(currentPoint, previousPoint)
}
}
I wrote this off the cuff but I believe this example should work.
EDIT:
Good thing LibGDX is open source. If you want to use an array of float numbers, the method simply gets an x and y coordinate in alternating order. So for each index:
0 = x1
1 = y1
2 = x2
3 = y2
4 = x3
5 = y3
etc.
It's an odd method, but I suppose it works.
Related
So i have a point (x,y,z) and a vector (x1,y1,z1) and i want to rotate the point around the vector in a 3D space. From what i read I should be able to do so using quaternions like this:
(0,new_x,new_y,new_z) = K^-1 * I * K
where K = (cos(fi/2), sin(fi/2)*(x1,y1,z1)) (where (x1,y1,z1) is a normalized vector)
I = (0,(x,y,z))
K^-1 = (cos(fi/2), -sin(fi/2)*(x1,y1,z1))
I implemented it like this:
Point3D n = new Point3D(x1,y1,z1);
n=n.normalize();
double a=Math.cos(Math.toRadians(45)); //fi is 90
double b= Math.sin(Math.toRadians(45));
double k_a = a;
double k_b = b*n.getX();
double k_c=b*n.getY();
double k_d = b*n.getZ(); //K points
double k_a2=k_a; //K^-1 points
double k_b2=-k_b;
double k_c2 = -k_c;
double k_d2= -k_d;
//I*K
double a_m = -((x*k_b)+(y*k_c)+(z*k_d));
double b_m= k_a*x+y*k_d+0*k_b-z*k_c;
double c_m = k_a*y+0*k_c+k_b*z-x*k_d;
double d_m = k_a*z+0*k_d+x*k_c-y*k_b;
//K^-1 * what we got above aka the final coordinates
double a_f = k_a2*a_m -b_m*k_b2-c_m*k_c2-d_m*k_d2; //should and is 0
double x_f= k_a2*b_m+a_m*k_b2+k_c2*d_m-k_d2*c_m;
double y_f = k_a2*c_m+a_m*k_c2+k_b2*d_m-k_d2*b_m;
double z_f = k_a2*d_m+a_m*k_d2+k_b2*c_m-k_c2*b_m;
The problem is, that when i use the above code for a animation (rotating a sphere around a vector), instead of a circle i get a spiral, where the sphere quickly ends up in the same place as the vector:
The move it self is done with a button click for now like this:
btn2.setOnAction(new EventHandler() {
#Override
public void handle(ActionEvent e) {
Point3D n = calc(x,y,z,x1,y1,z1); //a call to the method calculating K^-1*I*K shown above
Sphere sphere= new Sphere(10); //I know, drawing a new one everytime is a waste, but i wanted to be sure the translate wasnt at fault since im new at javaFX
sphere.setMaterial(new PhongMaterial(Color.CORAL));
sphere.setTranslateX(n.getX());
sphere.setTranslateY(n.getY());
sphere.setTranslateZ(n.getZ());
x=n.getX();
y=n.getY();
z=n.getZ();
content.group.getChildren().remove(0);
content.group.getChildren().add(0, sphere);
}
});
I think the problem is in the calculation of the new coordinates, after a bit they end up somewhere on the vector, but after rechecking the math more times than i can count, im officially lost. Can anyone tell me what i am missing or where i went wrong?
Oh nevermind, it was an calculation mistake afterall (though i swear i checked it over a thousand times..)
instead of:
double y_f = k_a2*c_m+a_m*k_c2+k_b2*d_m-k_d2*b_m;
its supposed to be:
double y_f = k_a2*c_m+a_m*k_c2-k_b2*d_m+k_d2*b_m;
I am using the following method to try to find a point (coordinate) that hasn't been previously used, and isn't within the bounds of items that have previously used and coordinates.
The way it works is I am rendering "bases" (RTS top-down game), and I am creating two random variable locations for x and y. I pass these, along with the bases texture, into the following method. The method loops through a list of rectangles that are the rectangles of each previously rendered base. If the point is within any of the rectangles, the method is called again using a different set of coordinates. It does this until it finds a set that isn't within a rectangle. It then adds a new rectangle to the list at these coordinates, and returns them so the game can render a new base.
However, the bases still overlap.
Here is the method:
private Point getCoords(int x, int y, Texture t){
for (int i=bases.size()-1; i> -1; i--) {
if (bases.get(i).contains(new Point(x,y))){
x = new Random().nextInt(map.getWidth() * map.getTileWidth());
y = new Random().nextInt(map.getHeight() * map.getTileHeight());
getCoords(x, y, t);
}
}
bases.add(new Rectangle(x,y,t.getImage().getWidth(), t.getImage().getHeight()));
return new Point(x, y);
}
And here is where it is being called:
switch(ran){
default:
int x = new Random().nextInt(map.getWidth() * map.getTileWidth());
int y = new Random().nextInt(map.getHeight() * map.getTileHeight());
Point p = getCoords(x, y, temp);
map.generateBase("air", p.x, p.y);
break;
}
Any ideas what is wrong here?
Thanks
There are several problems:
Your algorithm might be overwritting good coordinates (free ones) with wrong coordinates, you dont have any condition to exit the loop/recursion if you find a good place
You are checking for if rectangle contains the point, but later you are adding a rectanble, so it may not contain the point, but the rectangle created later may collide
try this
private Point getCoords(int x, int y, Texture t){
boolean found = false;
final int width = map.getTileWidth();
final int height = map.getTileHeight();
while(!found) {
x = new Random().nextInt(map.getWidth() * width);
y = new Random().nextInt(map.getHeight() * height);
for (int i=bases.size()-1; i> -1; i--) {
if (!bases.get(i).intersects(new Rectanble(x,y, width, height))){
found = true;
} else found = false;
}
}
bases.add(new Rectangle(x,y,t.getImage().getWidth(), t.getImage().getHeight()));
return new Point(x, y);
}
*** EDIT: Im not sure if I had to use TileWidth and TileHeight or image width and image height for width and height :D
int x = new Random().nextInt(map.getWidth() * map.getTileHeight());
Maybe a bad copy paste. It may be :
int x = new Random().nextInt(map.getWidth() * map.getTileWidth());
In both codes :-D
Okay so after some playing around, I found the issue is the rectangles that are saved are saved with a fixed location which means as the map moves, the rectangles don't. The fix is to loop through each bases and get the base's map position, rather than screen position, and check against this. Also, I found i was checking for a point in a rectangle, which may be outside the rectangle but leaves my bases overlapping still. So i now check for rectangle-rectangle collision instead
I need to convert a java.awt.geom.Area or java.awt.Shape to java.awt.Polygon. What I know about the are is: isSingular = true, isPolygonal = true. So I think a polygon shuld be able to describe the same area.
I'm not sure that it is worth converting, because Polygon is an old Java 1.0 class that can store only integer coordinates, so you might lose some precision.
Anyway, you can get a PathIterator from the Shape, and as you iterate it, add new points to a Polygon:
public static void main(String[] args) {
Area a = new Area(new Rectangle(1, 1, 5, 5));
PathIterator iterator = a.getPathIterator(null);
float[] floats = new float[6];
Polygon polygon = new Polygon();
while (!iterator.isDone()) {
int type = iterator.currentSegment(floats);
int x = (int) floats[0];
int y = (int) floats[1];
if(type != PathIterator.SEG_CLOSE) {
polygon.addPoint(x, y);
System.out.println("adding x = " + x + ", y = " + y);
}
iterator.next();
}
}
EDIT As Bill Lin commented, this code may give you a wrong polygon if the PathIterator describes multiple subpaths (for example in the case of an Area with holes). In order to take this into account, you also need to check for PathIterator.MOVETO segments, and possibly create a list of polygons.
In order to decide which polygons are holes, you could calculate the bounding box (Shape.getBounds2D()), and check which bounding box contains the other. Note that the getBounds2D API says that "there is no guarantee that the returned Rectangle2D is the smallest bounding box that encloses the Shape, only that the Shape lies entirely within the indicated Rectangle2D", but in my experience for polygonal shapes it would be the smallest, and anyway it is trivial to calculate the exact bounding box of a polygon (just find the smallest and biggest x and y coordinates).
I am making a java rigid body physics engine, and it has gone great so far, until I tried to implement rotation. I don't know where the problem is coming from. I have methods calculating the moment of inertia of convex polygons and circles using formulas from these websites:
http://lab.polygonal.de/?p=57
http://en.wikipedia.org/wiki/List_of_moments_of_inertia
This is the code for the polygon moment of inertia:
public float momentOfInertia() {
Vector C = centerOfMass().subtract(position); //center of mass
Line[] sides = sides(); //sides of the polygon
float moi = 0; //moment of inertia
for(int i = 0; i < sides.length; i++) {
Line l = sides[i]; //current side of polygon being looped through
Vector p1 = C; //points 1, 2, and 3 are the points of the triangle
Vector p2 = l.point1;
Vector p3 = l.point2;
Vector Cp = p1.add(p2).add(p3).divide(3); //center of mass of the triangle, or C'
float d = new Line(C, Cp).length(); //distance between center of mass
Vector bv = p2.subtract(p1); //vector for side b of triangle
float b = bv.magnitude(); //scalar for length of side b
Vector u = bv.divide(b); //unit vector for side b
Vector cv = p3.subtract(p1); //vector for side c of triangle, only used to calculate variables a and h
float a = cv.dot(u); //length of a in triangle
Vector av = u.multiply(a); //vector for a in triangle
Vector hv = cv.subtract(av); //vector for height of triangle, or h in diagram
float h = hv.magnitude(); //length of height of triangle, or h in diagram
float I = ((b*b*b*h)-(b*b*h*a)+(b*h*a*a)+(b*h*h*h))/36; //calculate moment of inertia of individual triangle
float M = (b*h)/2; //mass or area of triangle
moi += I+M*d*d; //equation in sigma series of website
}
return moi;
}
And this is for the circle:
public float momentOfInertia() {
return (float) Math.pow(radius, 2)*area()/2;
}
I know for a fact that the area functions work fine, I have checked them. I just don't know how to check if the moment of inertia equations are wrong.
For collision detection, I used the separating axis theorem to check for any combination of two polygons and circles, where it can find out whether they are colliding, the normal velocity of the collision, and the contact point of the collision. These methods all work beautifully.
I might also like to say how positions are organized. Every body has a position and a shape, either a polygon or a circle. Each shape has a position, and polygons have individual vertices. So if I want to find the absolute position of a vertex of a polygon-shaped body, I need to add the positions of the body, the polygon, and the vertex itself. The center of mass equation is in absolute position according to the shape, with no account for the body. The center of mass and moment of inertia methods are in the Shape class.
For every body, the constants are being updated according to the force and torque in the body's update method where dt is delta time. I also rotate the polygon based on the difference in rotation, because the vertices are ever changing.
public void update(float dt) {
if(mass != 0) {
momentum = momentum.add(force.multiply(dt));
velocity = momentum.divide(mass);
position = position.add(velocity.multiply(dt));
angularMomentum += torque*dt;
angularVelocity = angularMomentum/momentOfInertia;
angle += angularVelocity*dt;
shape.rotate(angularVelocity*dt);
}
}
Finally, I also have a CollisionResolver class which fixes the collision of two colliding bodies, involving applying the normal force and friction. Here is the class's only method which does all of this:
public static void resolveCollision(Body a, Body b, float dt) {
//calculate normal vector
Vector norm = CollisionDetector.normal(a, b);
Vector normb = norm.multiply(-1);
//undo overlap between bodies
float ratio1 = a.mass/(a.mass+b.mass);
float ratio2 = b.mass/(b.mass+a.mass);
a.position = a.position.add(norm.multiply(ratio1));
b.position = b.position.add(normb.multiply(ratio2));
//calculate contact point of collision and other values needed for rotation
Vector cp = CollisionDetector.contactPoint(a, b, norm);
Vector c = a.shape.centerOfMass().add(a.position);
Vector cb = b.shape.centerOfMass().add(b.position);
Vector d = cp.subtract(c);
Vector db = cp.subtract(cb);
//create the normal force vector from the velocity
Vector u = norm.unit();
Vector ub = u.multiply(-1);
Vector F = new Vector(0, 0);
boolean doA = a.mass != 0;
if(doA) {
F = a.force;
}else {
F = b.force;
}
Vector n = new Vector(0, 0);
Vector nb = new Vector(0, 0);
if(doA) {
Vector Fyp = u.multiply(F.dot(u));
n = Fyp.multiply(-1);
nb = Fyp;
}else{
Vector Fypb = ub.multiply(F.dot(ub));
n = Fypb;
nb = Fypb.multiply(-1);
}
//calculate normal force for body A
float r = a.restitution;
Vector v1 = a.velocity;
Vector vy1p = u.multiply(u.dot(v1));
Vector vx1p = v1.subtract(vy1p);
Vector vy2p = vy1p.multiply(-r);
Vector v2 = vy2p.add(vx1p);
//calculate normal force for body B
float rb = b.restitution;
Vector v1b = b.velocity;
Vector vy1pb = ub.multiply(ub.dot(v1b));
Vector vx1pb = v1b.subtract(vy1pb);
Vector vy2pb = vy1pb.multiply(-rb);
Vector v2b = vy2pb.add(vx1pb);
//calculate friction for body A
float mk = (a.friction+b.friction)/2;
Vector v = a.velocity;
Vector vyp = u.multiply(v.dot(u));
Vector vxp = v.subtract(vyp);
float fk = -n.multiply(mk).magnitude();
Vector fkv = vxp.unit().multiply(fk); //friction force
Vector vr = vxp.subtract(d.multiply(a.angularVelocity));
Vector fkvr = vr.unit().multiply(fk); //friction torque - indicated by r for rotation
//calculate friction for body B
Vector vb = b.velocity;
Vector vypb = ub.multiply(vb.dot(ub));
Vector vxpb = vb.subtract(vypb);
float fkb = -nb.multiply(mk).magnitude();
Vector fkvb = vxpb.unit().multiply(fkb); //friction force
Vector vrb = vxpb.subtract(db.multiply(b.angularVelocity));
Vector fkvrb = vrb.unit().multiply(fkb); //friction torque - indicated by r for rotation
//move bodies based on calculations
a.momentum = v2.multiply(a.mass).add(fkv.multiply(dt));
if(a.mass != 0) {
a.velocity = a.momentum.divide(a.mass);
a.position = a.position.add(a.velocity.multiply(dt));
}
b.momentum = v2b.multiply(b.mass).add(fkvb.multiply(dt));
if(b.mass != 0) {
b.velocity = b.momentum.divide(b.mass);
b.position = b.position.add(b.velocity.multiply(dt));
}
//apply torque to bodies
float t = (d.cross(fkvr)+d.cross(n));
float tb = (db.cross(fkvrb)+db.cross(nb));
if(a.mass != 0) {
a.angularMomentum = t*dt;
a.angularVelocity = a.angularMomentum/a.momentOfInertia;
a.angle += a.angularVelocity*dt;
a.shape.rotate(a.angularVelocity*dt);
}
if(b.mass != 0) {
b.angularMomentum = tb*dt;
b.angularVelocity = b.angularMomentum/b.momentOfInertia;
b.angle += b.angularVelocity*dt;
b.shape.rotate(b.angularVelocity*dt);
}
}
As for the actual problem, both the circles and polygons rotate very slowly and often in wrong directions. I know I am throwing a lot out there, but this problem has been bugging me for a while, and I would appreciate any help I can get.
Thanks.
This answer addresses the "I just don't know how to check if the moment of inertia equations are wrong." part of the question.
There are several possible approaches, some of which you may have already tried, and they can be used in combination:
Unit testing
Take your moment of inertia code and apply it to problems with known solutions from a tutorial or textbook.
Dimensional analysis
I would recommend this anyway for any scientific or engineering program. You may have deleted comments for compactness of posted code, but they are important. Annotate each variable that represents a physical quantity with its units. Check that every expression you evaluate has the right units, based on its inputs, for its result variable. For example, in the classic equation F=ma in SI units: F is in Newtons, equivalent to kg.m/(s^2), m is in kg, a is in m/(s^2), so it all balances. Be careful with transitions between physics world coordinates and screen coordinates.
Program simplification
Try working first with only one instance of one very simple shape for which you can do all the calculations by hand. Since some of your problems do not relate to rotation, a circle may be a good first choice because of its symmetry. Debug that, comparing intermediate results to equivalent results from paper-and-pencil (and calculator). Gradually add more instances of the same shape, then debug a single instance of the next shape...
Deliberate error
Given that you suspect your inertia calculations, try setting arbitrary values slightly different from your calculations, and see what differences they make in the display. Are the effects similar to the problems you are seeing? If so, keep it as a hypothesis.
As a more general note, programs that do iterative simulation can be very vulnerable to accumulated floating point error. Unless you have a real need to save space, and have done enough analysis of the numerical stability of your code to be sure float is OK, I strongly recommend using double instead. This is probably not your current problem, but is something that could become an issue later.
The code I'm using in my collision detection code is this:
(note: Vector3f is part of the LWJGL library.)
(Note2:Tri is a class composed of three of LWJGL's Vector3fs. v1, v2, and v3.)
public Vector<Tri> getTrisTouching(Vector3f pos, float radius){
Vector<Tri> tempVec = new Vector<Tri>();
for(int i = 0; i < tris.size(); i++){
Tri t = tris.get(i);
Vector3f one_to_point = new Vector3f(0,0,0);
Vector3f.sub(pos,t.v1,one_to_point); //Storing vector A->P
Vector3f one_to_two = new Vector3f(0,0,0);
Vector3f.sub(t.v2,t.v1, one_to_two); //Storing vector A->B
Vector3f one_to_three = new Vector3f(0,0,0);
Vector3f.sub(t.v3, t.v1, one_to_three); //Storing vector A->C
float q1 = Vector3f.dot(one_to_point, one_to_two) / one_to_two.lengthSquared(); // The normalized "distance" from a to
float q2 = Vector3f.dot(one_to_point, one_to_three) / one_to_three.lengthSquared(); // The normalized "distance" from a to
if (q1 > 0 && q2 > 0 && q1 + q2 < 1){
tempVec.add(t);
}
}
return tempVec;
}
My question is how do I correctly see if a point in space is touching one of my triangles?
To test if your point is inside the triangle, create a ray with its origin at the test point and extend it to infinity. A nice easy one would be a ray which is horizontal ( e.g. y constant, and x increases to infinity. Then count the number of times it intersects with one of your polygon edges. Zero or an even number of intersections means you are outside the triangle. The nice thing about this it works not just for triangles but any polygon.
http://erich.realtimerendering.com/ptinpoly/
The only way I can help you is by providing you with this link.
Unfortunately, I'm not very good with LWJGL Geometry so here you are. - Vector3f
Hope it helps! If it does, please tick the answer to accept.