[SDL] SDL Box2D Collision Contact Point & Normal Vector - Box2D 충돌 지점과 법선 벡터

C, C++ 2024. 1. 31. 00:40 |
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오브젝트가 충돌한 포인트를 확인해 보자.

 

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#include <iostream>
#include "SDL.h"
#include "box2d/box2d.h"
 
class DebugDrawer : public b2Draw
{
public:
    DebugDrawer(SDL_Renderer* renderer) {
        this->renderer = renderer;
    }
private:
    SDL_Renderer* renderer;
    void DrawSolidPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color) {}
    void DrawPoint(const b2Vec2& p, float size, const b2Color& color) {}
    void DrawPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color) {
        SDL_SetRenderDrawColor(renderer, 255, 0, 0, SDL_ALPHA_OPAQUE);
        SDL_FRect* rect = new SDL_FRect{ vertices[0].x, vertices[0].y, vertices[1].x
            - vertices[0].x, vertices[3].y - vertices[0].y };
        SDL_RenderDrawRectF(renderer, rect);
    }
    void DrawCircle(const b2Vec2& center, float radius, const b2Color& color) {}
    void DrawSolidCircle(const b2Vec2& center, float radius, const b2Vec2& axis, const b2Color& color) {}
    void DrawSegment(const b2Vec2& p1, const b2Vec2& p2, const b2Color& color) {}
    void DrawTransform(const b2Transform& xf) {}
};
 
int main(int argc, char* argv[]) {
    SDL_Init(SDL_INIT_VIDEO);
    SDL_Window* window = SDL_CreateWindow("SDL Test", SDL_WINDOWPOS_UNDEFINED,
        SDL_WINDOWPOS_UNDEFINED, 640, 480, SDL_WINDOW_RESIZABLE);
    SDL_Renderer* renderer = SDL_CreateRenderer(window, -1, 0);
    SDL_Surface* playerSurface = SDL_LoadBMP("player.bmp");
    SDL_Texture* texture = SDL_CreateTextureFromSurface(renderer, playerSurface);
 
    // World 정의
    b2Vec2 gravity(0.0f, 9.8f);
    b2World world(gravity);
 
    // DebugDraw 정의
    DebugDrawer* debugDrawer = new DebugDrawer(renderer);
    debugDrawer->SetFlags(b2Draw::e_shapeBit | b2Draw::e_jointBit |
        b2Draw::e_centerOfMassBit | b2Draw::e_aabbBit | b2Draw::e_pairBit);
    world.SetDebugDraw(debugDrawer);
 
    // Player 정의
    b2BodyDef playerBodyDef;
    playerBodyDef.type = b2_dynamicBody;
    playerBodyDef.position.Set(0.0f, 0.0f);
    playerBodyDef.linearVelocity = b2Vec2(50.0f, 0.0f);
    playerBodyDef.angularVelocity = 0.2f;
    b2Body* playerBody = world.CreateBody(&playerBodyDef);
    b2PolygonShape dynamicBox;
    dynamicBox.SetAsBox((float)playerSurface->w / 2, (float)playerSurface->h / 2);
    b2FixtureDef fixtureDef;
    fixtureDef.shape = &dynamicBox;
    fixtureDef.density = 1.0f;
    fixtureDef.friction = 0.3f;
    fixtureDef.restitution = 0.5f;
    playerBody->CreateFixture(&fixtureDef);
 
    // Ground 정의
    b2BodyDef groundBodyDef;
    groundBodyDef.position.Set(0.0f, 400.0f);
    b2Body* groundBody = world.CreateBody(&groundBodyDef);
    b2PolygonShape groundBox;
    groundBox.SetAsBox(500.0f, 0.0f);
    SDL_Rect groundRect = { 0, 400, 500, 10 };
    groundBody->CreateFixture(&groundBox, 0.0f);
 
    // Wall 정의
    b2BodyDef wallBodyDef;
    wallBodyDef.position.Set(300.0f, 0.0f);
    b2Body* wallBody = world.CreateBody(&wallBodyDef);
    b2PolygonShape wallBox;
    wallBox.SetAsBox(0.0f, 480.0f);
    SDL_Rect wallRect = { 300, 0, 10, 480 };
    wallBody->CreateFixture(&wallBox, 0.0f);
 
    float timeStep = 1.0f / 500.0f;
    int velocityIterations = 6;
    int positionIterations = 2;
 
    SDL_Event event;
    bool quit = false;
 
    while (!quit) {
        while (SDL_PollEvent(&event)) {
            switch (event.type) {
            case SDL_QUIT:
                quit = true;
                break;
            case SDL_KEYDOWN:
                printf("Key pressed: %s\n", SDL_GetKeyName(event.key.keysym.sym));
                if (event.key.keysym.sym == SDLK_SPACE) {
                    playerBody->SetTransform(b2Vec2(0.0f, 0.0f), 0.0f);
                    playerBody->SetLinearVelocity(b2Vec2(50.0f, 0.0f));
                    playerBody->SetAngularVelocity(0.2f);
                }
                if (event.key.keysym.sym == SDLK_ESCAPE)
                    quit = true;
                break;
 
            default:
                break;
            }
        }
 
        world.Step(timeStep, velocityIterations, positionIterations);
 
        SDL_SetRenderDrawColor(renderer, 255, 255, 255, SDL_ALPHA_OPAQUE);
        SDL_RenderClear(renderer);
 
        // Ground 그리기
        SDL_SetRenderDrawColor(renderer, 220, 140, 20, SDL_ALPHA_OPAQUE);
        SDL_RenderFillRect(renderer, &groundRect);
 
        // Wall 그리기
        SDL_SetRenderDrawColor(renderer, 64, 64, 64, SDL_ALPHA_OPAQUE);
        SDL_RenderFillRect(renderer, &wallRect);
 
        // Player 그리기        
        b2Vec2 playerPosition = playerBody->GetPosition();
        SDL_Rect destRect = { (int)playerPosition.x - playerSurface->w / 2,
            (int)playerPosition.y - playerSurface->h / 2, playerSurface->w, playerSurface->h };
        SDL_RendererFlip flip = SDL_FLIP_NONE;
        float angle = playerBody->GetAngle() * (180 / (float)M_PI);
        SDL_RenderCopyEx(renderer, texture, NULL, &destRect, angle, NULL, flip);
 
        // DebugDraw 그리기
        world.DebugDraw();
 
        // 가장 마지막에 contact point 그리기
        SDL_SetRenderDrawColor(renderer, 0, 255, 0, SDL_ALPHA_OPAQUE);
        for (b2Contact* contact = world.GetContactList(); contact; contact = contact->GetNext()) {
            for (int i = 0; i < contact->GetManifold()->pointCount; i++)
            {
                b2Vec2 point = contact->GetFixtureA()->GetBody()->GetWorldPoint(
                    contact->GetManifold()->points[i].localPoint);
                SDL_FRect rect = { point.x - 5, point.y - 5, 10, 10 };
                SDL_RenderFillRectF(renderer, &rect);
            }
        }
        // A very important point to note if you do this, is that the existence of a contact in these
        // lists does not mean that the two fixtures of the contact are actually touching - it only means
        // their AABBs are touching. If you want to know if the fixtures themselves are really touching
        // you can use IsTouching() to check.
 
        SDL_RenderPresent(renderer);
    }
 
    delete debugDrawer;
 
    SDL_DestroyTexture(texture);
    SDL_FreeSurface(playerSurface);
    SDL_DestroyRenderer(renderer);
    SDL_DestroyWindow(window);
    SDL_Quit();
 
    return 0;
}
  

 

코드를 입력하고 빌드한다.

 

충돌 포인트가 녹색 사각형으로 표시된다.

 

완전히 멈추면 두 개의 포인트가 표시된다.

 

 

이제 검은색으로 법선 벡터 그리는 코드를 추가하자.

 

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// 가장 마지막에 contact point & 법선 벡터 그리기
for (b2Contact* contact = world.GetContactList(); contact; contact = contact->GetNext()) {
    for (int i = 0; i < contact->GetManifold()->pointCount; i++)
    {
        b2Vec2 point = contact->GetFixtureA()->GetBody()->GetWorldPoint(
            contact->GetManifold()->points[i].localPoint);
        SDL_FRect rect = { point.x - 5, point.y - 5, 10, 10 };
        SDL_SetRenderDrawColor(renderer, 0, 255, 0, SDL_ALPHA_OPAQUE);
        SDL_RenderFillRectF(renderer, &rect);
 
        SDL_SetRenderDrawColor(renderer, 0, 0, 0, SDL_ALPHA_OPAQUE);
        SDL_RenderDrawLineF(renderer, point.x, point.y,
            point.x + contact->GetManifold()->localNormal.x * 20, point.y + contact->GetManifold()->localNormal.y * 20);
    }
}
// A very important point to note if you do this, is that the existence of a contact in these
// lists does not mean that the two fixtures of the contact are actually touching - it only means
// their AABBs are touching. If you want to know if the fixtures themselves are really touching
// you can use IsTouching() to check.
  

 

코드를 수정하고 빌드한다.

 

녹색 충돌 포인트 위에 검은색 법선 벡터가 그려진다.

 

 

 

속도(velocity) 벡터는 아래와 같은 코드로 표시할 수 있다.

 

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SDL_SetRenderDrawColor(renderer, 255, 0, 0, SDL_ALPHA_OPAQUE);
b2Vec2 position = playerBody->GetPosition();
SDL_RenderDrawLineF(renderer, position.x, position.y,
    position.x + playerBody->GetLinearVelocity().x * 10, position.y + playerBody->GetLinearVelocity().y * 10);
  

 

 

 

 

※ 참고

Box2D b2ContactListener

 

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Posted by J-sean
:

[SDL] SDL Box2D Add Collision Shape - Box2D 충돌 감지

C, C++ 2024. 1. 30. 20:03 |
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한 오브젝트에 여러개의 Shape을 추가해 충돌을 감지해 보자.

XXXShape이나 FixtureDef를 CreateFixture()에 전달하면 충돌 감지기가 추가된다.

 

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#include <iostream>
#include "SDL.h"
#include "box2d/box2d.h"
 
class DebugDrawer : public b2Draw
{
public:
    DebugDrawer(SDL_Renderer* renderer) {
        this->renderer = renderer;
    }
private:
    SDL_Renderer* renderer;
    void DrawSolidPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color) {}
    void DrawPoint(const b2Vec2& p, float size, const b2Color& color) {}
    void DrawPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color) {
        SDL_SetRenderDrawColor(renderer, 255, 0, 0, SDL_ALPHA_OPAQUE);
        SDL_FRect* rect = new SDL_FRect{ vertices[0].x, vertices[0].y, vertices[1].x
            - vertices[0].x, vertices[3].y - vertices[0].y };
        SDL_RenderDrawRectF(renderer, rect);
    }
    void DrawCircle(const b2Vec2& center, float radius, const b2Color& color) {}
    void DrawSolidCircle(const b2Vec2& center, float radius, const b2Vec2& axis, const b2Color& color) {}
    void DrawSegment(const b2Vec2& p1, const b2Vec2& p2, const b2Color& color) {}
    void DrawTransform(const b2Transform& xf) {}
};
 
int main(int argc, char* argv[]) {
    SDL_Init(SDL_INIT_VIDEO);
    SDL_Window* window = SDL_CreateWindow("SDL Test", SDL_WINDOWPOS_UNDEFINED,
        SDL_WINDOWPOS_UNDEFINED, 640, 480, SDL_WINDOW_RESIZABLE);
    SDL_Renderer* renderer = SDL_CreateRenderer(window, -1, 0);
    SDL_Surface* playerSurface = SDL_LoadBMP("player.bmp");
    SDL_Texture* texture = SDL_CreateTextureFromSurface(renderer, playerSurface);
 
    // World 정의
    b2Vec2 gravity(0.0f, 9.8f);
    b2World world(gravity);
 
    // DebugDraw 정의
    DebugDrawer* debugDrawer = new DebugDrawer(renderer);
    debugDrawer->SetFlags(b2Draw::e_shapeBit | b2Draw::e_jointBit |
        b2Draw::e_centerOfMassBit | b2Draw::e_aabbBit | b2Draw::e_pairBit);
    world.SetDebugDraw(debugDrawer);
 
    // Player 정의
    b2BodyDef playerBodyDef;
    playerBodyDef.type = b2_dynamicBody;
    playerBodyDef.position.Set(0.0f, 0.0f);
    playerBodyDef.linearVelocity = b2Vec2(50.0f, 0.0f);
    playerBodyDef.angularVelocity = 0.2f;
    b2Body* playerBody = world.CreateBody(&playerBodyDef);
    b2PolygonShape dynamicBox;
    dynamicBox.SetAsBox((float)playerSurface->w / 2, (float)playerSurface->h / 2);
    b2FixtureDef fixtureDef;
    fixtureDef.shape = &dynamicBox;
    fixtureDef.density = 1.0f;
    fixtureDef.friction = 0.3f;
    fixtureDef.restitution = 0.5f;
    playerBody->CreateFixture(&fixtureDef);
    // Player에 shape 추가
    b2PolygonShape another;
    another.SetAsBox(10, 40, b2Vec2(0, -60), 0.0f);
    playerBody->CreateFixture(&another, 1.0f);
    // Creates a fixture from a shape and attach it to this body. This is a convenience function.
    // Use b2FixtureDef if you need to set parameters like friction, restitution, user data, or
    // filtering. If the density is non-zero, this function automatically updates the mass of the body.
    /*
    b2Fixture* temp = NULL;
    for (b2Fixture* fix = playerBody->GetFixtureList(); fix; fix=fix->GetNext()) {
        std::cout << fix->GetFriction() << std::endl;
        if (fix->GetFriction() == 0.2f)
            temp = fix;
        // 여기서 바로 playerBody->DestroyFixture()를 호출하면 fix가 파괴되어 GetNext()를 호출 할 수
        // 없게 된다. 임시 변수에 저장하고 for문을 벗어나면 파괴하자.
    }
    if (temp != NULL)
        playerBody->DestroyFixture(temp);
    // 이 예제에서는 Friction값을 비교해서 삭제할 Fixture를 선택했지만 필요하다면
    // UserData를 설정해서 비교하자.
    */
 
    // Ground 정의
    b2BodyDef groundBodyDef;
    groundBodyDef.position.Set(0.0f, 400.0f);
    b2Body* groundBody = world.CreateBody(&groundBodyDef);
    b2PolygonShape groundBox;
    groundBox.SetAsBox(500.0f, 0.0f);
    SDL_Rect groundRect = { 0, 400, 500, 10 };
    groundBody->CreateFixture(&groundBox, 0.0f);
 
    // Wall 정의
    b2BodyDef wallBodyDef;
    wallBodyDef.position.Set(300.0f, 0.0f);
    b2Body* wallBody = world.CreateBody(&wallBodyDef);
    b2PolygonShape wallBox;
    wallBox.SetAsBox(0.0f, 480.0f);
    SDL_Rect wallRect = { 300, 0, 10, 480 };
    wallBody->CreateFixture(&wallBox, 0.0f);
 
    float timeStep = 1.0f / 500.0f;
    int velocityIterations = 6;
    int positionIterations = 2;
 
    SDL_Event event;
    bool quit = false;
 
    while (!quit) {
        while (SDL_PollEvent(&event)) {
            switch (event.type) {
            case SDL_QUIT:
                quit = true;
                break;
            case SDL_KEYDOWN:
                printf("Key pressed: %s\n", SDL_GetKeyName(event.key.keysym.sym));
                if (event.key.keysym.sym == SDLK_SPACE) {
                    playerBody->SetTransform(b2Vec2(0.0f, 0.0f), 0.0f);
                    playerBody->SetLinearVelocity(b2Vec2(50.0f, 0.0f));
                    playerBody->SetAngularVelocity(0.2f);
                }
                if (event.key.keysym.sym == SDLK_ESCAPE)
                    quit = true;
                break;
 
            default:
                break;
            }
        }
 
        world.Step(timeStep, velocityIterations, positionIterations);
 
        SDL_SetRenderDrawColor(renderer, 255, 255, 255, SDL_ALPHA_OPAQUE);
        SDL_RenderClear(renderer);
 
        // Ground 그리기
        SDL_SetRenderDrawColor(renderer, 220, 140, 20, SDL_ALPHA_OPAQUE);
        SDL_RenderFillRect(renderer, &groundRect);
 
        // Wall 그리기
        SDL_SetRenderDrawColor(renderer, 64, 64, 64, SDL_ALPHA_OPAQUE);
        SDL_RenderFillRect(renderer, &wallRect);
 
        // Player 그리기        
        b2Vec2 playerPosition = playerBody->GetPosition();
        SDL_Rect destRect = { (int)playerPosition.x - playerSurface->w / 2,
            (int)playerPosition.y - playerSurface->h / 2, playerSurface->w, playerSurface->h };
        SDL_RendererFlip flip = SDL_FLIP_NONE;
        float angle = playerBody->GetAngle() * (180 / (float)M_PI);
        SDL_RenderCopyEx(renderer, texture, NULL, &destRect, angle, NULL, flip);
 
        // 가장 마지막에 DebugDraw 그리기
        world.DebugDraw();
 
        SDL_RenderPresent(renderer);
    }
 
    delete debugDrawer;
 
    SDL_DestroyTexture(texture);
    SDL_FreeSurface(playerSurface);
    SDL_DestroyRenderer(renderer);
    SDL_DestroyWindow(window);
    SDL_Quit();
 
    return 0;
}
  

 

코드를 입력하고 빌드한다.

 

실행하면 공룡의 뿔같은 충돌 감지기가 추가된 모습이 보인다.

 

뿔 처럼 생긴 충돌 감지기는 크기, 위치, Density만 설정되어있다.

 

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:

[SDL] SDL Box2D DebugDraw - 디버그 드로우

C, C++ 2024. 1. 30. 16:06 |
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Box2D DebugDraw를 사용해 보자.

 

b2Draw 클래스를 상속해 DebugDraw 클래스를 만들고 사용하면 된다.

 

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#include <iostream>
#include "SDL.h"
#include "box2d/box2d.h"
 
class DebugDrawer : public b2Draw
{
public:
    DebugDrawer(SDL_Renderer* renderer) {
        this->renderer = renderer;
    }
private:
    SDL_Renderer* renderer;
    void DrawSolidPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color) {}
    void DrawPoint(const b2Vec2& p, float size, const b2Color& color) {}
    void DrawPolygon(const b2Vec2* vertices, int32 vertexCount, const b2Color& color) {
        SDL_SetRenderDrawColor(renderer, 255, 0, 0, SDL_ALPHA_OPAQUE);
        SDL_FRect* rect = new SDL_FRect{ vertices[0].x, vertices[0].y, vertices[1].x
            - vertices[0].x, vertices[3].y - vertices[0].y };
        SDL_RenderDrawRectF(renderer, rect);
    }
    void DrawCircle(const b2Vec2& center, float radius, const b2Color& color) {}
    void DrawSolidCircle(const b2Vec2& center, float radius, const b2Vec2& axis, const b2Color& color) {}
    void DrawSegment(const b2Vec2& p1, const b2Vec2& p2, const b2Color& color) {}
    void DrawTransform(const b2Transform& xf) {}
};
 
int main(int argc, char* argv[]) {
    SDL_Init(SDL_INIT_VIDEO);
    SDL_Window* window = SDL_CreateWindow("SDL Test", SDL_WINDOWPOS_UNDEFINED,
        SDL_WINDOWPOS_UNDEFINED, 640, 480, SDL_WINDOW_RESIZABLE);
    SDL_Renderer* renderer = SDL_CreateRenderer(window, -1, 0);
    SDL_Surface* playerSurface = SDL_LoadBMP("player.bmp");
    SDL_Texture* texture = SDL_CreateTextureFromSurface(renderer, playerSurface);
 
    // World 정의
    b2Vec2 gravity(0.0f, 9.8f);
    b2World world(gravity);
 
    // DebugDraw 정의
    DebugDrawer* debugDrawer = new DebugDrawer(renderer);
    debugDrawer->SetFlags(b2Draw::e_shapeBit | b2Draw::e_jointBit |
        b2Draw::e_centerOfMassBit | b2Draw::e_aabbBit | b2Draw::e_pairBit);
    world.SetDebugDraw(debugDrawer);
 
    // Player 정의
    b2BodyDef playerBodyDef;
    playerBodyDef.type = b2_dynamicBody;
    playerBodyDef.position.Set(0.0f, 0.0f);
    playerBodyDef.linearVelocity = b2Vec2(50.0f, 0.0f);
    playerBodyDef.angularVelocity = 0.2f;
    b2Body* playerBody = world.CreateBody(&playerBodyDef);
    b2PolygonShape dynamicBox;
    dynamicBox.SetAsBox((float)playerSurface->w / 2, (float)playerSurface->h / 2);
    b2FixtureDef fixtureDef;
    fixtureDef.shape = &dynamicBox;
    fixtureDef.density = 1.0f;
    fixtureDef.friction = 0.3f;
    fixtureDef.restitution = 0.5f;
    playerBody->CreateFixture(&fixtureDef);
 
    // Ground 정의
    b2BodyDef groundBodyDef;
    groundBodyDef.position.Set(0.0f, 400.0f);
    b2Body* groundBody = world.CreateBody(&groundBodyDef);
    b2PolygonShape groundBox;
    groundBox.SetAsBox(500.0f, 0.0f);
    SDL_Rect groundRect = { 0, 400, 500, 10 };
    groundBody->CreateFixture(&groundBox, 0.0f);
 
    // Wall 정의
    b2BodyDef wallBodyDef;
    wallBodyDef.position.Set(300.0f, 0.0f);
    b2Body* wallBody = world.CreateBody(&wallBodyDef);
    b2PolygonShape wallBox;
    wallBox.SetAsBox(0.0f, 480.0f);
    SDL_Rect wallRect = { 300, 0, 10, 480 };
    wallBody->CreateFixture(&wallBox, 0.0f);
 
    float timeStep = 1.0f / 500.0f;
    int velocityIterations = 6;
    int positionIterations = 2;
 
    SDL_Event event;
    bool quit = false;
 
    while (!quit) {
        while (SDL_PollEvent(&event)) {
            switch (event.type) {
            case SDL_QUIT:
                quit = true;
                break;
            case SDL_KEYDOWN:
                printf("Key pressed: %s\n", SDL_GetKeyName(event.key.keysym.sym));
                if (event.key.keysym.sym == SDLK_SPACE) {
                    playerBody->SetTransform(b2Vec2(0.0f, 0.0f), 0.0f);
                    playerBody->SetLinearVelocity(b2Vec2(50.0f, 0.0f));
                    playerBody->SetAngularVelocity(0.2f);
                }
                if (event.key.keysym.sym == SDLK_ESCAPE)
                    quit = true;
                break;
 
            default:
                break;
            }
        }
 
        world.Step(timeStep, velocityIterations, positionIterations);
 
        SDL_SetRenderDrawColor(renderer, 255, 255, 255, SDL_ALPHA_OPAQUE);
        SDL_RenderClear(renderer);
 
        // Ground 그리기
        SDL_SetRenderDrawColor(renderer, 220, 140, 20, SDL_ALPHA_OPAQUE);
        SDL_RenderFillRect(renderer, &groundRect);
 
        // Wall 그리기
        SDL_SetRenderDrawColor(renderer, 64, 64, 64, SDL_ALPHA_OPAQUE);
        SDL_RenderFillRect(renderer, &wallRect);
 
        // Player 그리기        
        b2Vec2 playerPosition = playerBody->GetPosition();
        SDL_Rect destRect = { (int)playerPosition.x - playerSurface->w / 2,
            (int)playerPosition.y - playerSurface->h / 2, playerSurface->w, playerSurface->h };
        SDL_RendererFlip flip = SDL_FLIP_NONE;
        float angle = playerBody->GetAngle() * (180 / (float)M_PI);
        SDL_RenderCopyEx(renderer, texture, NULL, &destRect, angle, NULL, flip);
 
        // 가장 마지막에 DebugDraw 그리기
        world.DebugDraw();
 
        SDL_RenderPresent(renderer);
    }
 
    // debugDrawer 해제
    delete debugDrawer;
 
    SDL_DestroyTexture(texture);
    SDL_FreeSurface(playerSurface);
    SDL_DestroyRenderer(renderer);
    SDL_DestroyWindow(window);
    SDL_Quit();
 
    return 0;
}
  

 

코드를 입력하고 빌드한다.

 

위 GIF 이미지에서 잘 보이지 않지만 모든 오브젝트의 Shape에 빨간 폴리곤이 그려진다.

 

실제로는 빨간 폴리곤이 잘 보인다.

 

※ 참고

Box2D b2Draw

 

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[SDL] SDL Box2D Collision - Box2D 충돌

C, C++ 2024. 1. 30. 12:23 |
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충돌을 감지하고 어떤 오브젝트가 충돌했는지 확인해 보자.

 

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#include <iostream>
#include "SDL.h"
#include "box2d/box2d.h"
 
int main(int argc, char* argv[]) {
    SDL_Init(SDL_INIT_VIDEO);
    SDL_Window* window = SDL_CreateWindow("SDL Test", SDL_WINDOWPOS_UNDEFINED,
        SDL_WINDOWPOS_UNDEFINED, 640, 480, SDL_WINDOW_RESIZABLE);
    SDL_Renderer* renderer = SDL_CreateRenderer(window, -1, 0);
    SDL_Surface* playerSurface = SDL_LoadBMP("player.bmp");
    SDL_Texture* texture = SDL_CreateTextureFromSurface(renderer, playerSurface);
 
    // World 정의
    b2Vec2 gravity(0.0f, 9.8f);
    b2World world(gravity);
 
    // Player 정의
    b2BodyDef playerBodyDef;
    playerBodyDef.type = b2_dynamicBody;
    playerBodyDef.position.Set(0.0f, 0.0f);
    playerBodyDef.linearVelocity = b2Vec2(50.0f, 0.0f);
    playerBodyDef.angularVelocity = 0.2f;
    b2Body* playerBody = world.CreateBody(&playerBodyDef);
    b2PolygonShape dynamicBox;
    dynamicBox.SetAsBox((float)playerSurface->w / 2, (float)playerSurface->h / 2);
    b2FixtureDef fixtureDef;
    fixtureDef.shape = &dynamicBox;
    fixtureDef.density = 1.0f;
    fixtureDef.friction = 0.3f;
    fixtureDef.restitution = 0.5f;
    playerBody->CreateFixture(&fixtureDef);
    // Player 유저 정보
    const char* playerName = "Player";
    playerBody->GetUserData().pointer = reinterpret_cast<uintptr_t>(playerName);
 
    // Ground 정의
    b2BodyDef groundBodyDef;
    groundBodyDef.position.Set(0.0f, 400.0f);
    b2Body* groundBody = world.CreateBody(&groundBodyDef);
    b2PolygonShape groundBox;
    groundBox.SetAsBox(500.0f, 0.0f);
    SDL_Rect groundRect = { 0, 400, 500, 10 };
    groundBody->CreateFixture(&groundBox, 0.0f);
    // Ground 유저 정보
    const char* groundName = "Ground";
    groundBody->GetUserData().pointer = reinterpret_cast<uintptr_t>(groundName);
 
    // Wall 정의
    b2BodyDef wallBodyDef;
    wallBodyDef.position.Set(300.0f, 0.0f);
    b2Body* wallBody = world.CreateBody(&wallBodyDef);
    b2PolygonShape wallBox;
    wallBox.SetAsBox(0.0f, 480.0f);
    SDL_Rect wallRect = { 300, 0, 10, 480 };
    wallBody->CreateFixture(&wallBox, 0.0f);
    // Wall 유저 정보
    const char* wallName = "Wall";
    wallBody->GetUserData().pointer = reinterpret_cast<uintptr_t>(wallName);
 
    float timeStep = 1.0f / 500.0f;
    int velocityIterations = 6;
    int positionIterations = 2;
 
    SDL_Event event;
    bool quit = false;
 
    while (!quit) {
        while (SDL_PollEvent(&event)) {
            switch (event.type) {
            case SDL_QUIT:
                quit = true;
                break;
            case SDL_KEYDOWN:
                printf("Key pressed: %s\n", SDL_GetKeyName(event.key.keysym.sym));
                if (event.key.keysym.sym == SDLK_SPACE) {
                    playerBody->SetTransform(b2Vec2(0.0f, 0.0f), 0.0f);
                    playerBody->SetLinearVelocity(b2Vec2(50.0f, 0.0f));
                    playerBody->SetAngularVelocity(0.2f);
                }
                if (event.key.keysym.sym == SDLK_ESCAPE)
                    quit = true;
                break;
 
            default:
                break;
            }
        }
 
        world.Step(timeStep, velocityIterations, positionIterations);
 
        for (b2Contact* c = world.GetContactList(); c; c = c->GetNext())
        {
            if (c->IsTouching()) {
                printf("FixtureA: %s\n", (char*)(c->GetFixtureA()->GetBody()->GetUserData().pointer));
                printf("FixtureB: %s\n", (char*)(c->GetFixtureB()->GetBody()->GetUserData().pointer));
                printf("Count: %d\n", c->GetManifold()->pointCount);
            }
            //if (c->GetFixtureA()->IsSensor() == false)
                //c->GetFixtureA()->SetSensor(true);
        }
        // A very important point to note if you do this, is that the existence of a contact in these
        // lists does not mean that the two fixtures of the contact are actually touching - it only
        // means their AABBs are touching. If you want to know if the fixtures themselves are really
        // touching you can use c->IsTouching() to check.
 
        SDL_SetRenderDrawColor(renderer, 255, 255, 255, SDL_ALPHA_OPAQUE);
        SDL_RenderClear(renderer);
 
        // Ground 그리기
        SDL_SetRenderDrawColor(renderer, 220, 140, 20, SDL_ALPHA_OPAQUE);
        SDL_RenderFillRect(renderer, &groundRect);
 
        // Wall 그리기
        SDL_SetRenderDrawColor(renderer, 64, 64, 64, SDL_ALPHA_OPAQUE);
        SDL_RenderFillRect(renderer, &wallRect);
 
        // Player 그리기        
        b2Vec2 playerPosition = playerBody->GetPosition();
        SDL_Rect destRect = { (int)playerPosition.x - playerSurface->w / 2,
            (int)playerPosition.y - playerSurface->h / 2, playerSurface->w, playerSurface->h };
        SDL_RendererFlip flip = SDL_FLIP_NONE;
        float angle = playerBody->GetAngle() * (180 / (float)M_PI);
 
        SDL_RenderCopyEx(renderer, texture, NULL, &destRect, angle, NULL, flip);
        SDL_RenderPresent(renderer);
    }
 
    SDL_DestroyTexture(texture);
    SDL_FreeSurface(playerSurface);
    SDL_DestroyRenderer(renderer);
    SDL_DestroyWindow(window);
    SDL_Quit();
 
    return 0;
}
  

 

코드를 작성하고 빌드한다.

오브젝트 UserData 설정시 SetUserData()를 사용하면 안된다는 것에 주의한다. (아래 참고 참조)

 

실행하면 Player 오브젝트가 던져지고 벽과 바닥에 부딪힌다.

 

부딪힌 오브젝트와 몇 개의 포인트에서 충돌이 발생한지 확인 할 수 있다.

 

바닥에 완전히 정지하면 2개 포인트에서 충돌이 계속 발생한다.

 

※ 참고

Box2D Collision Module

Box2D Dynamic Module - Contacts

Box2D UserData

Box2D SetUserData()

 

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Posted by J-sean
:

[Pygame] Box2D 파이게임 물리 라이브러리

Python 2024. 1. 28. 15:53 |
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파이게임과 2D Rigid Body Simulation Library Box2D를 사용해 보자.

 

다음 명령어로 Box2D를 설치한다.

pip install box2d

 

설치중 에러가 발생한다면 SWIG를 설치하고 설치 디렉토리를 시스템 변수 Path에 등록한다.

SWIG

 

SWIG를 설치하면 에러가 발생하지 않는다.

 

추가로 box2d-kengz를 설치한다.

 

player.png
0.00MB

 

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import math
import pygame
from Box2D import *
 
pygame.init()
pygame.display.set_caption("Physics Test")
screen = pygame.display.set_mode((640, 480))
running = True
player = pygame.image.load("player.png").convert()
 
# World 정의
world = b2World(gravity=(0, 9.8), doSleep=True)
 
# Ground 정의
groundBodyDef = b2BodyDef()
groundBodyDef.position = (0, 400)
groundBody = world.CreateBody(groundBodyDef)
groundShape = b2PolygonShape()
groundShape.SetAsBox(500, 0)
groundBody.CreateFixture(shape=groundShape)
#groundBody = world.CreateStaticBody(position=(0, 400), shapes=b2PolygonShape(box=(500, 0)))
# 위 정의와 동일
 
# Wall 정의
wallBodyDef = b2BodyDef()
wallBodyDef.position = (300, 0)
wallBody = world.CreateBody(wallBodyDef)
wallShape = b2PolygonShape()
wallShape.SetAsBox(0, 400)
wallBody.CreateFixture(shape=wallShape)
#wallBody = world.CreateStaticBody(position=(300, 0), shapes=b2PolygonShape(box=(0, 400)))
# 위 정의와 동일
 
# Player 정의
playerBodyDef = b2BodyDef()
playerBodyDef.type = b2_dynamicBody;
playerBodyDef.position = (0, 0)
playerBodyDef.linearVelocity = (50, 0)
playerBodyDef.angularVelocity = 0.2
playerBody = world.CreateBody(playerBodyDef)
playerShape = b2PolygonShape()
playerShape.SetAsBox(player.get_width()/2, player.get_height()/2)
playerFixtureDef = b2FixtureDef(shape=playerShape)
playerFixtureDef.density = 1
playerFixtureDef.friction = 0.5
playerFixtureDef.restitution = 0.7
playerBody.CreateFixture(playerFixtureDef)
#playerBody = world.CreateDynamicBody(position=(0, 0), linearVelocity=(50, 0),
#                                     angularVelocity=0.2)
#playerFixtureDef = playerBody.CreatePolygonFixture(box=(player.get_width()/2,
#                          player.get_height()/2), density=1, friction=0.5, restitution=0.7)
# 위 정의와 동일
 
timeStep = 1.0 / 300
vel_iters, pos_iters = 6, 2
  
while running:
    for event in pygame.event.get():
        if event.type == pygame.QUIT:
            running = False
        elif event.type == pygame.KEYDOWN and event.key == pygame.K_SPACE:
            playerBody.transform = ((0, 0), 0)
            playerBody.linearVelocity = (50, 0)
            playerBody.angularVelocity = 0.2
        elif event.type == pygame.KEYDOWN and event.key == pygame.K_ESCAPE:
            running = False
    
    # Instruct the world to perform a single step of simulation. It is
    # generally best to keep the time step and iterations fixed.
    world.Step(timeStep, vel_iters, pos_iters)
    # Clear applied body forces. We didn't apply any forces, but you
    # should know about this function.
    world.ClearForces()
     
    screen.fill("white")
    pygame.draw.rect(screen, "brown", (0, 400, 600, 20)) # Ground 그리기
    pygame.draw.rect(screen, "black", (300, 0, 20, 400)) # Wall 그리기
 
    rotated_player = pygame.transform.rotate(player, playerBody.angle * 180/math.pi)
    # Unless rotating by 90 degree increments, the image will be padded larger to hold
    # the new size. If the image has pixel alphas, the padded area will be transparent.
    # Otherwise pygame will pick a color that matches the Surface colorkey or the topleft
    # pixel value.
    screen.blit(rotated_player, (playerBody.position[0] - rotated_player.get_width()/2,
                                 playerBody.position[1] - rotated_player.get_height()/2))
 
    pygame.display.flip()
    
pygame.quit()
  

 

코드를 입력하고 실행한다.

 

GIF 캡쳐 과정에서 화질이 많이 떨어졌지만 강체들의 물리 반응을 확인할 수 있다.

 

pygame.transform.rotate()

rotate an image
rotate(surface, angle) -> Surface

Unfiltered counterclockwise rotation. The angle argument represents degrees and can be any floating point value. Negative angle amounts will rotate clockwise.
Unless rotating by 90 degree increments, the image will be padded larger to hold the new size. If the image has pixel alphas, the padded area will be transparent. Otherwise pygame will pick a color that matches the Surface colorkey or the topleft pixel value.

 

배경을 바꾸거나 Colorkey를 설정하면 캐릭터 주변 패딩을 없앨 수 있다.

 

아래 링크에서 GUI를 구현해 본다.

2024.01.29 - [Python] - [Pygame] Pygame GUI 파이게임 그래픽 유저 인터페이스

 

※ 참고

PyBox2D

PyBox2D Manual

 

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[SDL] SDL Box2D - 물리 라이브러리

C, C++ 2024. 1. 27. 20:44 |
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SDL과 2D Rigid Body Simulation Library Box2D를 사용해 보자.

 

아래 링크에서 Box2D를 다운로드 받고 빌드한다. (CMake를 설치하고 build.bat를 실행하면 된다)

빌드가 완료되면 비주얼 스튜디오 프로젝트를 만들고 Include, Library 디렉토리를 적당히 설정한다.

Box2D

 

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#include <iostream>
#include "SDL.h"
#include "box2d/box2d.h"
 
int main(int argc, char* argv[]) {
    SDL_Init(SDL_INIT_VIDEO);
    SDL_Window* window = SDL_CreateWindow("SDL Test", SDL_WINDOWPOS_UNDEFINED,
        SDL_WINDOWPOS_UNDEFINED, 640, 480, SDL_WINDOW_RESIZABLE);
    SDL_Renderer* renderer = SDL_CreateRenderer(window, -1, 0);
    SDL_Surface* playerSurface = SDL_LoadBMP("player.bmp");
    SDL_Texture* texture = SDL_CreateTextureFromSurface(renderer, playerSurface);
 
    // World 정의
    b2Vec2 gravity(0.0f, 9.8f);
    b2World world(gravity);
 
    // Player 정의
    b2BodyDef playerBodyDef;
    playerBodyDef.type = b2_dynamicBody;
    playerBodyDef.position.Set(0.0f, 0.0f);
    playerBodyDef.linearVelocity = b2Vec2(50.0f, 0.0f);
    playerBodyDef.angularVelocity = 0.2f;
    b2Body* playerBody = world.CreateBody(&playerBodyDef);
 
    b2PolygonShape dynamicBox;
    dynamicBox.SetAsBox((float)playerSurface->w / 2, (float)playerSurface->h / 2);
 
    b2FixtureDef fixtureDef;
    fixtureDef.shape = &dynamicBox;
    fixtureDef.density = 1.0f;
    fixtureDef.friction = 0.3f;
    fixtureDef.restitution = 0.5f;
 
    playerBody->CreateFixture(&fixtureDef);
 
    // Ground 정의
    b2BodyDef groundBodyDef;
    groundBodyDef.position.Set(0.0f, 400.0f);
    b2Body* groundBody = world.CreateBody(&groundBodyDef);
 
    b2PolygonShape groundBox;
    groundBox.SetAsBox(500.0f, 0.0f);
 
    SDL_Rect groundRect = { 0, 400, 500, 10 };
 
    groundBody->CreateFixture(&groundBox, 0.0f);
 
    // Wall 정의
    b2BodyDef wallBodyDef;
    wallBodyDef.position.Set(300.0f, 0.0f);
    b2Body* wallBody = world.CreateBody(&wallBodyDef);
 
    b2PolygonShape wallBox;
    wallBox.SetAsBox(0.0f, 480.0f);
 
    SDL_Rect wallRect = { 300, 0, 10, 480 };
 
    wallBody->CreateFixture(&wallBox, 0.0f);
 
    float timeStep = 1.0f / 500.0f;
    int velocityIterations = 6;
    int positionIterations = 2;
 
    SDL_Event event;
    bool quit = false;
 
    while (!quit) {
        while (SDL_PollEvent(&event)) {
            switch (event.type) {
            case SDL_QUIT:
                quit = true;
                break;
            case SDL_KEYDOWN:
                printf("Key pressed: %s\n", SDL_GetKeyName(event.key.keysym.sym));
                if (event.key.keysym.sym == SDLK_SPACE) {
                    playerBody->SetTransform(b2Vec2(0.0f, 0.0f), 0.0f);
                    playerBody->SetLinearVelocity(b2Vec2(50.0f, 0.0f));
                    playerBody->SetAngularVelocity(0.2f);
                }
                if (event.key.keysym.sym == SDLK_ESCAPE)
                    quit = true;
                break;
 
            default:
                break;
            }
        }
 
        world.Step(timeStep, velocityIterations, positionIterations);
 
        SDL_SetRenderDrawColor(renderer, 255, 255, 255, SDL_ALPHA_OPAQUE);
        SDL_RenderClear(renderer);
 
        // Ground 그리기
        SDL_SetRenderDrawColor(renderer, 220, 140, 20, SDL_ALPHA_OPAQUE);
        SDL_RenderFillRect(renderer, &groundRect);
 
        // Wall 그리기
        SDL_SetRenderDrawColor(renderer, 64, 64, 64, SDL_ALPHA_OPAQUE);
        SDL_RenderFillRect(renderer, &wallRect);
 
        // Player 그리기        
        b2Vec2 playerPosition = playerBody->GetPosition();
        SDL_Rect destRect = { (int)playerPosition.x - playerSurface->w / 2,
            (int)playerPosition.y - playerSurface->h / 2, playerSurface->w, playerSurface->h };
        SDL_RendererFlip flip = SDL_FLIP_NONE;
        float angle = playerBody->GetAngle() * (180 / (float)M_PI);
 
        //printf("%4.2f %4.2f %4.2f\n", playerPosition.x, playerPosition.y, angle);
 
        SDL_RenderCopyEx(renderer, texture, NULL, &destRect, angle, NULL, flip);
        SDL_RenderPresent(renderer);
    }
 
    SDL_DestroyTexture(texture);
    SDL_FreeSurface(playerSurface);
    SDL_DestroyRenderer(renderer);
    SDL_DestroyWindow(window);
    SDL_Quit();
 
    return 0;
}
  

 

코드를 입력하고 빌드한다.

 

GIF 캡쳐 과정에서 화질이 많이 떨어졌지만 강체들의 물리 반응을 확인할 수 있다.

 

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    // Player 정의
    b2BodyDef playerBodyDef;
    playerBodyDef.type = b2_dynamicBody;
    playerBodyDef.position.Set(0.0f, 0.0f);
    playerBodyDef.linearVelocity = b2Vec2(30.0f, 0.0f);
    playerBodyDef.angularVelocity = 1.0f;
    b2Body* playerBody = world.CreateBody(&playerBodyDef);
 
    //b2PolygonShape dynamicBox;
    //dynamicBox.SetAsBox((float)playerSurface->w / 2, (float)playerSurface->h / 2);
    b2CircleShape dynamicBox;
    dynamicBox.m_radius = (float)playerSurface->w / 2;
 
    b2FixtureDef fixtureDef;
    fixtureDef.shape = &dynamicBox;
    fixtureDef.density = 1.0f;
    fixtureDef.friction = 0.3f;
    fixtureDef.restitution = 0.5f;
 
    playerBody->CreateFixture(&fixtureDef);
  

 

Player 캐릭터의 충돌을 감지하는 Shape을 원으로 바꿔보자.

 

스프라이트는 사각형이지만 Circle Shape의 움직임을 보여준다.

 

※ 참고

Box2D Documentation

 

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