cocos2dx3.5 新增物理引擎分析

最新推荐文章于 2024-04-28 14:28:18 发布

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最新推荐文章于 2024-04-28 14:28:18 发布

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分类专栏： cocos2dx

本文链接：https://blog.csdn.net/liu943367080/article/details/45479891

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World 世界

物理刚体被添加到一个叫世界(World)的容器里，这也是它们被模拟的场所。将bodies,shapes,constraints这些对象添加到物理世界中，将整个物理世界作为一个整体进行更新。物理世界决定了所有这些部件在一起的互动方式。其中，用物理API实现的许多互动都是与PhysicsWorld这个对象有关的。

物理世界

物理世界(PhysicsWorld)对象是进行物理模拟时的一个核心部件。物理世界(PhysicsWorld)与场景(Scene)紧密整合在一起。让我们来看一个我们都会涉及到的例子吧。你住的房子里有厨房吗？你想这个问题的时候，就像是在想你的物理世界一样！现在，你的世界里拥有一些物理刚体(PhysicsBody)对象，就跟食物、刀具、电器这些东西一样!在这个世界中，这些刚体相互作用。它们相互接触，并且对相互的接触做出反应。例如：用刀子切开食物，并把它放到电器中。刀子切到食物了吗？可能切到了。也可能还没有。还可能这个刀子根本就不适合做这个。

PhysicsWorld相关的函数：

/** Adds a joint to the physics world.*/
virtual void addJoint(PhysicsJoint* joint);
/** Remove a joint from physics world.*/
virtual void removeJoint(PhysicsJoint* joint, bool destroy = true);
/** Remove all joints from physics world.*/
virtual void removeAllJoints(bool destroy = true);

/** Remove a body from physics world. */
virtual void removeBody(PhysicsBody* body);
/** Remove body by tag. */
virtual void removeBody(int tag);
/** Remove all bodies from physics world. */
virtual void removeAllBodies();

/** set the gravity value */
void setGravity(const Vect& gravity);

/**
* set the update rate of physics world, update rate is the value of EngineUpdateTimes/PhysicsWorldUpdateTimes.
* set it higher can improve performance, set it lower can improve accuracy of physics world simulation.
* default value is 1.0
* Note: if you setAutoStep(false), this won't work.
*/
inline void setUpdateRate(int rate) { if(rate > 0) { _updateRate = rate; } }

每一个物理世界(PhysicsWorld)都具有与之相关的属性：

-重力(gravity)：全局重力,应用于整个物理世界。默认值为Vec2(0.0f,-98.0f)。

-速度(speed)：设定了物理世界的速度。这里，速度指的是这个模拟世界运动的一种比率。默认值为1.0。

-刷新率：设定了物理世界的刷新率，这里刷新率指的是EngineUpdateTimes/PhysicsWorldUpdateTimes的比值。

-子步(substeps)：设定了物理世界中每次刷新的子步数量。刷新物理世界的过程也被称为步进(stepping)。按照默认设置，物理世界会不停地进行自动刷新。这被称为“自动步进(auto stepping)”，它会自动地进行。你可以通过设定PhysicsWorld::setAutoStep(false)禁用一个物理世界的auto step，然后通过设定PhysicsWorld::step(time)来手动刷新PhysicsWorld。substeps使用比单一框架更加精确的时间增量来刷新物理世界。使用它，我们可以实现更加细致地实现对步进过程的控制，包括更加流畅的运动。

创建一个带有物理世界的场景：

auto scene=Scene::createWithPhysics();

参考：

bool Scene::initWithPhysics()
{
bool ret = false;
do
{
Director * director;
CC_BREAK_IF( ! (director = Director::getInstance()) );

this->setContentSize(director->getWinSize());
CC_BREAK_IF(! (_physicsWorld = PhysicsWorld::construct(*this)));

// success
ret = true;
} while (0);
return ret;
}

获得场景的物理世界

scene->getPhysicsWorld()

不过首先要保证：

CC_USE_PHYSICS==1.这个宏，控制物理世界的开和关。

物理刚体

物理刚体(PhyicsBody)对象具有位置(position)和速度(velocity)两个属性。可以在PhysicsBody上应用forces、movement、damping和impulses。物理刚体可以是静态的，也可以是动态的。静态的刚体在模拟世界中不会移动，看起来就像它拥有无限大的质量一样。动态的刚体则是一种完全仿真的模拟。它可以被用户手动移动，但更常见的是它们受到力的作用而移动。动态刚体可以与所有的刚体类型发生碰撞。

Cocos2d-x提供了Node::setPhysicsbody()来将物理刚体与一个节点对象关联在一起。

创建一个物理刚体

 
 auto physicsBody = PhysicsBody::createBox(Size(65.0f, 81.0f),PhysicsMaterial(0.1f, 1.0f, 0.0f)); 

 
 physicsBody还有以下函数： 

 
   static PhysicsBody* createCircle(float radius, const PhysicsMaterial& material = PHYSICSBODY_MATERIAL_DEFAULT, const Vec2& offset = Vec2::ZERO);
     /** Create a body contains a box shape. */
     static PhysicsBody* createBox(const Size& size, const PhysicsMaterial& material = PHYSICSBODY_MATERIAL_DEFAULT, const Vec2& offset = Vec2::ZERO);
     /**
      * @brief Create a body contains a polygon shape.
      * points is an array of Vec2 structs defining a convex hull with a clockwise winding.
      */
     static PhysicsBody* createPolygon(const Vec2* points, int count, const PhysicsMaterial& material = PHYSICSBODY_MATERIAL_DEFAULT, const Vec2& offset = Vec2::ZERO);
     
     /** Create a body contains a EdgeSegment shape. */
     static PhysicsBody* createEdgeSegment(const Vec2& a, const Vec2& b, const PhysicsMaterial& material = PHYSICSBODY_MATERIAL_DEFAULT, float border = 1);
     /** Create a body contains a EdgeBox shape. */
     static PhysicsBody* createEdgeBox(const Size& size, const PhysicsMaterial& material = PHYSICSBODY_MATERIAL_DEFAULT, float border = 1, const Vec2& offset = Vec2::ZERO);
     /** Create a body contains a EdgePolygon shape. */
     static PhysicsBody* createEdgePolygon(const Vec2* points, int count, const PhysicsMaterial& material = PHYSICSBODY_MATERIAL_DEFAULT, float border = 1);
     /** Create a body contains a EdgeChain shape. */
     static PhysicsBody* createEdgeChain(const Vec2* points, int count, const PhysicsMaterial& material = PHYSICSBODY_MATERIAL_DEFAULT, float border = 1);
  

 
  virtual PhysicsShape* addShape(PhysicsShape* shape, bool addMassAndMoment = true);
  

 
 physicsBody->setDynamic(false); 

 
 //create a sprite 

 
 auto sprite = Sprite::create( 
 "whiteSprite.png" 
 ); 

 
 sprite->setPosition(s_centre); 

 
 addChild(sprite); 

  精灵设置刚体 

 
 //apply physicsBody to the sprite 

 
 sprite->setPhysicsBody(physicsBody); 

 
 //add five dynamic bodies 

 
 for 
 ( 
 int 
 i = 0; i < 5; ++i) 

{

 
      
 physicsBody = PhysicsBody::createBox(Size(65.0f, 81.0f), 

 
      
 PhysicsMaterial(0.1f, 1.0f, 0.0f)); 

 
      
 //set the body isn't affected by the physics world's gravitational force 

 
      
 physicsBody->setGravityEnable( 
 false 
 ); 

 
      
 //set initial velocity of physicsBody 

 
      
 physicsBody->setVelocity(Vec2(cocos2d::random(-500,500), 

 
      
 cocos2d::random(-500,500))); 

 
      
 physicsBody->setTag(DRAG_BODYS_TAG); 

 
      
 sprite = Sprite::create( 
 "blueSprite.png" 
 ); 

 
      
 sprite->setPosition(Vec2(s_centre.x + cocos2d::random(-300,300), 

 
     s_centre.y + cocos2d::random(-300,300))); 

 
      
 sprite->setPhysicsBody(physicsBody); 

 
      
 addChild(sprite); 

}

物理调试

打开

#if CC_USE_PHYSICS
getPhysicsWorld()->setDebugDrawMask( PhysicsWorld::DEBUGDRAW_ALL);
#endif

关闭

#if CC_USE_PHYSICS
getPhysicsWorld()->setDebugDrawMask(PhysicsWorld::DEBUGDRAW_NONE);
#endif

连接/关节

关节是一种把接触点联结在一起的方式。每一个关节都有一个从PhysicsJoint对象获得的定义。在两个不同的刚体之间，所有的关节都是联结在一起的。刚体可以是静态的。你可以使用joint->setCollisionEnable(false)来避免相关联的刚体相互碰撞。很多关节的定义需要你提供一些几何数据。很多情况下，关节由锚点来定义。其余的关节定义数据取决于关节的类型。

PhysicsJointFixed:固定关节在一个特定的点上，将两个刚体结合在了一起。如果要创建一些以后会断裂的复杂形状，固定关节是非常有用的。
PhysicsJointFixed* joint = PhysicsJointFixed::construct(sp1->getPhysicsBody(), sp2->getPhysicsBody(), offset);
_scene->getPhysicsWorld()->addJoint(joint);
PhysicsJointLimit:一种限制关节，它利用了两个刚体间最大距离，就如同两个刚体被绳子连在一起一样。
PhysicsJointLimit* joint = PhysicsJointLimit::construct(sp1->getPhysicsBody(), sp2->getPhysicsBody(), Point::ZERO, Point::ZERO, 30.0f, 60.0f);
_scene->getPhysicsWorld()->addJoint(joint);
PhysicsJointPin:针式关节可以让两个刚体独立地围绕锚点进行旋转，就如同它们被钉在一起了一样。
PhysicsJointPin* joint = PhysicsJointPin::construct(sp1->getPhysicsBody(), sp2->getPhysicsBody(), offset);
_scene->getPhysicsWorld()->addJoint(joint);
PhysicsJointDistance:设定两个刚体间的固定距离。
PhysicsJointDistance* joint = PhysicsJointDistance::construct(sp1->getPhysicsBody(), sp2->getPhysicsBody(), Point::ZERO, Point::ZERO);
_scene->getPhysicsWorld()->addJoint(joint);
PhysicsJointSpring:用弹簧来联结两个物理刚体
PhysicsJointSpring* joint = PhysicsJointSpring::construct(sp1->getPhysicsBody(), sp2->getPhysicsBody(), Point::ZERO, Point::ZERO, 500.0f, 0.3f);
_scene->getPhysicsWorld()->addJoint(joint);
PhysicsJointGroove:将一个刚体连到线上，另一个连到点上。
PhysicsJointGroove* joint = PhysicsJointGroove::construct(sp1->getPhysicsBody(), sp2->getPhysicsBody(), Vec2(30, 15), Vec2(30, -15), Vec2(-30, 0));
_scene->getPhysicsWorld()->addJoint(joint);
PhysicsJointRotarySpring:与弹簧关节相似，但是增加了自旋
_scene->getPhysicsWorld()->addJoint(PhysicsJointPin::construct(sp1->getPhysicsBody(), box, sp1->getPosition()));
_scene->getPhysicsWorld()->addJoint(PhysicsJointPin::construct(sp2->getPhysicsBody(), box, sp2->getPosition()));
PhysicsJointRotarySpring* joint = PhysicsJointRotarySpring::construct(sp1->getPhysicsBody(), sp2->getPhysicsBody(), 3000.0f, 60.0f);
_scene->getPhysicsWorld()->addJoint(joint);
PhysicsJointRotaryLimit:与限制关节相似，但是增加了自旋
_scene->getPhysicsWorld()->addJoint(PhysicsJointPin::construct(sp1->getPhysicsBody(), box, sp1->getPosition()));
_scene->getPhysicsWorld()->addJoint(PhysicsJointPin::construct(sp2->getPhysicsBody(), box, sp2->getPosition()));
PhysicsJointRotaryLimit* joint = PhysicsJointRotaryLimit::construct(sp1->getPhysicsBody(), sp2->getPhysicsBody(), 0.0f,(float) M_PI_2);
_scene->getPhysicsWorld()->addJoint(joint);
PhysicsJointRatchet:与套筒扳手的工作类似
_scene->getPhysicsWorld()->addJoint(PhysicsJointPin::construct(sp1->getPhysicsBody(), box, sp1->getPosition()));
_scene->getPhysicsWorld()->addJoint(PhysicsJointPin::construct(sp2->getPhysicsBody(), box, sp2->getPosition()));
PhysicsJointRatchet* joint = PhysicsJointRatchet::construct(sp1->getPhysicsBody(), sp2->getPhysicsBody(), 0.0f, (float)M_PI_2);
_scene->getPhysicsWorld()->addJoint(joint);
PhysicsJointGear:使一对刚体的角速度比率保持是一个常数。
_scene->getPhysicsWorld()->addJoint(PhysicsJointPin::construct(sp1->getPhysicsBody(), box, sp1->getPosition()));
_scene->getPhysicsWorld()->addJoint(PhysicsJointPin::construct(sp2->getPhysicsBody(), box, sp2->getPosition()));
PhysicsJointGear* joint = PhysicsJointGear::construct(sp1->getPhysicsBody(), sp2->getPhysicsBody(), 0.0f, 2.0f);
_scene->getPhysicsWorld()->addJoint(joint);
PhysicsJointMotor:使一对刚体的相对角速度保持是一个常数。
_scene->getPhysicsWorld()->addJoint(PhysicsJointPin::construct(sp1->getPhysicsBody(), box, sp1->getPosition()));
_scene->getPhysicsWorld()->addJoint(PhysicsJointPin::construct(sp2->getPhysicsBody(), box, sp2->getPosition()));
PhysicsJointMotor* joint = PhysicsJointMotor::construct(sp1->getPhysicsBody(), sp2->getPhysicsBody(), (float)M_PI_2);
_scene->getPhysicsWorld()->addJoint(joint);

std::unordered_map<int, Node*> _mouses

bool PhysicsDemo::onTouchBegan(Touch* touch, Event* event)
{
auto location = touch->getLocation();
auto arr = _scene->getPhysicsWorld()->getShapes(location);

PhysicsBody* body = nullptr;
for (auto& obj : arr)
{
if ((obj->getBody()->getTag() & DRAG_BODYS_TAG) != 0)
{
body = obj->getBody();
break;
}
}

if (body != nullptr)
{
Node* mouse = Node::create();
mouse->setPhysicsBody(PhysicsBody::create(PHYSICS_INFINITY, PHYSICS_INFINITY));
mouse->getPhysicsBody()->setDynamic(false);
mouse->setPosition(location);
this->addChild(mouse);
PhysicsJointPin* joint = PhysicsJointPin::construct(mouse->getPhysicsBody(), body, location);
joint->setMaxForce(5000.0f * body->getMass());
_scene->getPhysicsWorld()->addJoint(joint);
_mouses.insert(std::make_pair(touch->getID(), mouse));

return true;
}

return false;
}

void PhysicsDemo::onTouchMoved(Touch* touch, Event* event)
{
auto it = _mouses.find(touch->getID());

if (it != _mouses.end())
{
it->second->setPosition(touch->getLocation());
}
}

void PhysicsDemo::onTouchEnded(Touch* touch, Event* event)
{
auto it = _mouses.find(touch->getID());

if (it != _mouses.end())
{
this->removeChild(it->second);
_mouses.erase(it);
}
}

RayCast：

/** Searches for physics shapes that intersects the ray. */
void rayCast(PhysicsRayCastCallbackFunc func, const Vec2& start, const Vec2& end, void* data);

Vec2 point3 = point2;
auto func = CC_CALLBACK_3(PhysicsDemoRayCast::anyRay, this);
_scene->getPhysicsWorld()->rayCast(func, point1, point2, &point3);
_node->drawSegment(point1, point3, 1, STATIC_COLOR);

contact:

auto contactListener = EventListenerPhysicsContact::create();
contactListener->onContactBegin = CC_CALLBACK_1(PhysicsContactTest::onContactBegin, this);
_eventDispatcher->addEventListenerWithSceneGraphPriority(contactListener, this);